[40-166] slotine & li 1991 applied nonlinear control - prentice hall

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1、AppliedNonlinearControlJEAN-JACQUESE.SLOTINEMassachusettsInstituteofTechnologyWEIPINGLIMassachusettsInstituteofTechnology'PrenticeHallEnglewoodCliffs,NewJersey07632LibraryofCongressCataloging-in-PublicationDataSlotine,J.-J.E.(Jean-JacquesE.)Appliednonlinea

2、rcontrol/Jean-JacquesE.Slotine,WeipingLip.cm.Includesbibliographicalreferences.ISBN0-13-040890-51,Nonlinearcontroltheory.I.Li,Weiping.II.Title.QA402.35.S56199190-33365629.8'312-dc20C1PEditorial/productionsupervisionandinteriordesign:JENNIFERWENZELCoverdesi

3、gn:KARENSTEPHENSManufacturingBuyer:LORIBULWIN=^=©1991byPrentice-Hall,Inc.^=&=ADivisionofSimon&SchusterTkEnglewoodCliffs,NewJersey07632Allrightsreserved.Nopartofthisbookmaybereproduced,inanyformorbyanymeans,withoutpermissioninwritingfromthepublisher.Printed

4、intheUnitedStatesofAmerica2019181716151413121]ISBND-13-DHDfiTa-SPrentice-HallInternational(UK)Limited,LondonPrentice-HallofAustraliaPty.Limited,SydneyPrentice-HallCanadaInc.,TorontoPrentice-HailHispanoamericana,S.A.,MexicoPrentice-HallofIndiaPrivateLimited

5、,NewDelhiPrentice-HallofJapan,Inc.,TokyoSimon&SchusterAsiaPte.Ltd.,SingaporeEditoraPrentice-HalldoBrasil,Ltda.,RiodeJaneiroContentsPrefacexi1.Introduction11.1WhyNonlinearControl?11.2NonlinearSystemBehavior41.3AnOverviewoftheBook121.4NotesandReferences13Par

6、tI:NonlinearSystemsAnalysis14IntroductiontoPartI142.PhasePlaneAnalysis172.1ConceptsofPhasePlaneAnalysis182.1.1PhasePortraits182.1.2SingularPoints202.1.3SymmetryinPhasePlanePortraits222.2ConstructingPhasePortraits232.3DeterminingTimefromPhasePortraits292.4P

7、hasePlaneAnalysisofLinearSystems302.5PhasePlaneAnalysisofNonlinearSystems322.6ExistenceofLimitCycles362.7Summary382.8NotesandReferences382.9Exercises38VI113.FundamentalsofLyapunovTheory403.1NonlinearSystemsandEquilibriumPoints413.2ConceptsofStability473.3L

8、inearizationandLocalStability533.4Lyapunov'sDirectMethod573.4.1PositiveDefiniteFunctionsandLyapunovFunctions583.4.2EquilibriumPointTheorems613.4.3InvariantSetTheorems683.5SystemAnalysisBasedonLyapunov'sDirect