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1、Slotine•LiAPPLIEDNONLINEARCONTROL!iAPPLIEDNONLINEARCONTROLJean-JacquesESlotineWeipingLiAppliedNonlinearControlJEAN-JACQUESE.SLOTINEMassachusettsInstituteofTechnologyWEIPINGLIMassachusettsInstituteofTechnology'PrenticeHallEnglewoodCliffs,NewJersey07632LibraryofCongressCat
2、aloging-in-PublicationDataSlotine,J.-J.E.(Jean-JacquesE.)Appliednonlinearcontrol/Jean-JacquesE.Slotine,WeipingLip.cm.Includesbibliographicalreferences.ISBN0-13-040890-51,Nonlinearcontroltheory.I.Li,Weiping.II.Title.QA402.35.S56199190-33365629.8'312-dc20C1PEditorial/produ
3、ctionsupervisionandinteriordesign:JENNIFERWENZELCoverdesign:KARENSTEPHENSManufacturingBuyer:LORIBULWIN=^=©1991byPrentice-Hall,Inc.^=&=ADivisionofSimon&SchusterTkEnglewoodCliffs,NewJersey07632Allrightsreserved.Nopartofthisbookmaybereproduced,inanyformorbyanymeans,withoutp
4、ermissioninwritingfromthepublisher.PrintedintheUnitedStatesofAmerica2019181716151413121]ISBND-13-DHDfiTa-SPrentice-HallInternational(UK)Limited,LondonPrentice-HallofAustraliaPty.Limited,SydneyPrentice-HallCanadaInc.,TorontoPrentice-HailHispanoamericana,S.A.,MexicoPrentic
5、e-HallofIndiaPrivateLimited,NewDelhiPrentice-HallofJapan,Inc.,TokyoSimon&SchusterAsiaPte.Ltd.,SingaporeEditoraPrentice-HalldoBrasil,Ltda.,RiodeJaneiroToOurParentsContentsPrefacexi1.Introduction11.1WhyNonlinearControl?11.2NonlinearSystemBehavior41.3AnOverviewoftheBook121.
6、4NotesandReferences13PartI:NonlinearSystemsAnalysis14IntroductiontoPartI142.PhasePlaneAnalysis172.1ConceptsofPhasePlaneAnalysis182.1.1PhasePortraits182.1.2SingularPoints202.1.3SymmetryinPhasePlanePortraits222.2ConstructingPhasePortraits232.3DeterminingTimefromPhasePortra
7、its292.4PhasePlaneAnalysisofLinearSystems302.5PhasePlaneAnalysisofNonlinearSystems322.6ExistenceofLimitCycles362.7Summary382.8NotesandReferences382.9Exercises38VI113.FundamentalsofLyapunovTheory403.1NonlinearSystemsandEquilibriumPoints413.2ConceptsofStability473.3Lineari
8、zationandLocalStability533.4Lyapunov'sDirectMethod573.4.1PositiveDefiniteFunctionsandLyapunovFunctions5
