Optimal_Control_with_Engineering_Applications-[Hans_P._Geering]

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1、HansP.GeeringOptimalControlwithEngineeringApplicationsHansP.GeeringOptimalControlwithEngineeringApplicationsWith12Figures123HansP.Geering,Ph.D.ProfessorofAutomaticControlandMechatronicsMeasurementandControlLaboratoryDepartmentofMechanicalandProcessEngineeringETHZurichSonneggstrasse3CH-8092

2、Zurich,SwitzerlandLibraryofCongressControlNumber:2007920933ISBN978-3-540-69437-3SpringerBerlinHeidelbergNewYorkThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broad-

3、casting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Violationsareliableforprosecutionu

4、ndertheGermanCopyrightLaw.SpringerisapartofSpringerScience+BusinessMediaspringer.com©Springer-VerlagBerlinHeidelberg2007Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprot

5、ectivelawsandregulationsandthereforefreeforgeneraluse.Typesetting:CamerareadybyauthorProduction:LE-TEXJelonek,Schmidt&VöcklerGbR,LeipzigCoverdesign:eStudiCalamaroS.L.F.,Steinen-Broo,Girona,SpainSPIN118801277/3100/YL-543210Printedonacid-freepaperForewordThisbookisbasedonthelecturematerialfo

6、raone-semestersenior-yearundergraduateorfirst-yeargraduatecourseinoptimalcontrolwhichIhavetaughtattheSwissFederalInstituteofTechnology(ETHZurich)formorethantwentyyears.Thestudentstakingthiscoursearemostlystudentsinmechanicalengineeringandelectricalengineeringtakingamajorincontrol.Butthereal

7、soarestudentsincomputerscienceandmathematicstakingthiscourseforcredit.Theonlyprerequisitesforthisbookare:Thereadershouldbefamiliarwithdynamicsingeneralandwiththestatespacedescriptionofdynamicsystemsinparticular.Furthermore,thereadershouldhaveafairlysoundunders