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1、IntroductiontoModernControlTheorySeveralfactorsprovidedthestimulusforthedevelopmentofmoderncontroltheory:a.Thenecessaryofdealingwithmorerealisticmodelsofsystem.b.Theshiftinemphasistowardsoptimalcontrolandoptimalsystemdesign.c.Thecontinuingdevelopmentsindigitalcomputertechnology.d.T
2、heshortcomingofpreviousapproaches.e.Recognitionoftheapplicabilityofwell-knownmethodsinotherfieldsofknowledge.Thetransitionfromsimpleapproximatemodels,whichareeasytoworkwith,tomorerealisticmodels,producestwoeffects.First,alargenumberofvariablesmustbeincludedinthemodels.Second,amorer
3、ealisticmodelismorelikelytocontainnonlinearitiesandtime-varyingparameters.Previouslyignoredaspectsofthesystem,suchasinteractionswithfeedbackthroughtheenvironment,aremorelikelytobeincluded.Withanadvancingtechnologicalsociety,thereisatrendtowardsmoreambitiousgoals.Thisalsomeansdealin
4、gwithcomplexsystemwithalargenumberofinteractingcomponents.Theneedforgreateraccuracyandefficiencyhaschangertheemphasisoncontrolsystemperformance.Theclassicalspecificationsintermsofpercentovershoot,settingtime,bandwidth,etc.haveinmanycasesgivenwaytooptimalcriteriasuchasminimumenergy,
5、minimumcost,andminimumtime operation.Optimizationofthesecriteriamakesitevenmoredifficulttoavoiddealingwithunpleasantnonlinearities.Optimalcontroltheoryoftendictatesthatnonlineartime-varyingcontrollawsareused,evenifthebasicsystemislinearandtime-invariant.Thecontinuingadvancesincompu
6、tertechnologyhavehadthreeprincipaleffectsonthecontrolsfield.Oneoftheserelatestothegiganticsupercomputers.Thesizeandtheclassoftheproblemsthatcannowbemodeled,analyzed,andcontrolledareconsiderablylargethantheywerewhenthefirsteditionofthisbookwaswritten.Thesecondimpactofthecomputertech
7、nologyhastosowiththeproliferationandwideavailabilityofthemicrocomputersinhomesandItheworkplace,classicalcontroltheorywasdominatedbygraphicalmethodsbecauseatthetimethatwastheonlywaytosolvecertainproblems,Noweverycontroldesignerhaseasyaccesstopowerfulcomputerpackagesforsystemsanalysi
8、sanddesign.Theoldgraphical
