《控制理论》课程教学资源（参考书籍）定量过程控制理论 Quantitative Process Control Theory_Chapter 01 Introduction（上海交通大学：张卫东）

Quantitative Process Control Theory Weidong Zhang Shanghai Jiaotong University wdzhang@sjtu.edu.cn 4口，+@，4定4=定0C

Quantitative Process Control Theory Weidong Zhang Shanghai Jiaotong University wdzhang@sjtu.edu.cn

Chapter 1 Introduction 4口，+@，4定4=定0C Zhang.W.D..CRC Press.2011 Version 1.0 2/31

Chapter 1 Introduction Zhang, W.D., CRC Press, 2011 Version 1.0 2/31

Introduction 11.1 A Brief History of Control Theory 21.2 Design of Feedback Control Systems 3 1.3 Consideration on Control System Design 41.4 What This Book is About 5References for Reading 4口，+@，4定4定90C Zhang.W.D..CRC Press.2011 Version 1.0 3/31

Introduction 1 1.1 A Brief History of Control Theory 2 1.2 Design of Feedback Control Systems 3 1.3 Consideration on Control System Design 4 1.4 What This Book is About 5 References for Reading Zhang, W.D., CRC Press, 2011 Version 1.0 3/31

Section 1.1 A Brief History of Control Theory 1.1 A Brief History of Control Theory Development of Control Theory 1990-2010: 300B.C. 1920-1930: 1970-1990: Water Bode/ Model (Linear matrix Clocks Nyquist predictive control etc. inequality)? Control Theory Research 1950-1960: 1980-1990: 1868: J.C. Modern Robust Maxwell control control theory theory Figure:Selected historical developments of control systems Zhang.W.D..CRC Press.2011 Version 1.0 4/31

Section 1.1 A Brief History of Control Theory 1.1 A Brief History of Control Theory Development of Control Theory Figure: Selected historical developments of control systems Zhang, W.D., CRC Press, 2011 Version 1.0 4/31

Section 1.1 A Brief History of Control Theory The birth of control ①Inomased enpine speed caees fly halls to move eu Soen moetiag shan theory: Maxwell's paper provided the first rigorous Taratle valve mathematical analysis of a feedback control system for a centrifugal governor ③Stcam flow rodocod,ben3 reuming speed to setpoint Figure:Fly ball governor(From Goodwin's ppt) 4口，+@，4定4=定0C Zhang.W.D..CRC Press.2011 Version 1.0 5/31

Section 1.1 A Brief History of Control Theory The birth of control theory: Maxwell’s paper provided the first rigorous mathematical analysis of a feedback control system for a centrifugal governor Figure: Fly ball governor (From Goodwin’s ppt) Zhang, W.D., CRC Press, 2011 Version 1.0 5/31

Section 1.1 A Brief History of Control Theory Classical Control Theory During the World Wars,the development of feedback control systems became a matter of survival. Tools:Frequency domain techniques Important results: Bode stability criterion(1927) o Nyquist stability criterion (1932) (An indispensable means for analyzing and designing control systems even today) Problems that need to be clarified for deeper and more comprehensive studies.For example: Mathematically,what is the objective of control system design? How is the control system optimized in the design? 4口+0：4定4生定9QC Zhang,W.D..CRC Press.2011 Version 1.0 6/31

Section 1.1 A Brief History of Control Theory Classical Control Theory During the World Wars, the development of feedback control systems became a matter of survival. Tools: Frequency domain techniques Important results: Bode stability criterion (1927) Nyquist stability criterion (1932) (An indispensable means for analyzing and designing control systems even today) Problems that need to be clarified for deeper and more comprehensive studies. For example: 1 Mathematically, what is the objective of control system design? 2 How is the control system optimized in the design? Zhang, W.D., CRC Press, 2011 Version 1.0 6/31

Section 1.1 A Brief History of Control Theory Classical Control Theory During the World Wars,the development of feedback control systems became a matter of survival. Tools:Frequency domain techniques Important results: Bode stability criterion(1927) o Nyquist stability criterion (1932) (An indispensable means for analyzing and designing control systems even today) Problems that need to be clarified for deeper and more comprehensive studies.For example: Mathematically,what is the objective of control system design? 2 How is the control system optimized in the design? Zhang,W.D..CRC Press.2011 Version 1.0 6/31

Section 1.1 A Brief History of Control Theory Classical Control Theory During the World Wars, the development of feedback control systems became a matter of survival. Tools: Frequency domain techniques Important results: Bode stability criterion (1927) Nyquist stability criterion (1932) (An indispensable means for analyzing and designing control systems even today) Problems that need to be clarified for deeper and more comprehensive studies. For example: 1 Mathematically, what is the objective of control system design? 2 How is the control system optimized in the design? Zhang, W.D., CRC Press, 2011 Version 1.0 6/31

Section 1.1 A Brief History of Control Theory Modern Control Theory In the 1960's,modern control theory established itself as a paradigm for automatic controls design in the U.S. Tools:State space method Important results: Linear Quadratic (LQ)regulator(Kalman,1960) (The idea controls the control theory research in the past half centenary) oKalman filter (Kalman,1960) Problems that need to be clarified for deeper and more comprehensive studies.For example: How does the design relate to the frequency response? How to treat the model uncertainty problem? which is treated in classical control theory with notions like the gain margin and phase margin 4口，4心4定4生，定QC Zhang.W.D..CRC Press.2011 Version 1.0 7/31

Section 1.1 A Brief History of Control Theory Modern Control Theory In the 1960’s, modern control theory established itself as a paradigm for automatic controls design in the U.S. Tools: State space method Important results: Linear Quadratic (LQ) regulator (Kalman, 1960) (The idea controls the control theory research in the past half centenary) Kalman filter (Kalman, 1960) Problems that need to be clarified for deeper and more comprehensive studies. For example: 1 How does the design relate to the frequency response? 2 How to treat the model uncertainty problem? (which is treated in classical control theory with notions like the gain margin and phase margin) Zhang, W.D., CRC Press, 2011 Version 1.0 7/31

Section 1.1 A Brief History of Control Theory Modern Control Theory In the 1960's,modern control theory established itself as a paradigm for automatic controls design in the U.S. Tools:State space method Important results: Linear Quadratic (LQ)regulator(Kalman,1960) (The idea controls the control theory research in the past half centenary) o Kalman filter (Kalman,1960) Problems that need to be clarified for deeper and more comprehensive studies.For example: 1How does the design relate to the frequency response? 2How to treat the model uncertainty problem? (which is treated in classical control theory with notions like the gain margin and phase margin) Zhang.W.D..CRC Press.2011 Version 1.0 7/31

Section 1.1 A Brief History of Control Theory Modern Control Theory In the 1960’s, modern control theory established itself as a paradigm for automatic controls design in the U.S. Tools: State space method Important results: Linear Quadratic (LQ) regulator (Kalman, 1960) (The idea controls the control theory research in the past half centenary) Kalman filter (Kalman, 1960) Problems that need to be clarified for deeper and more comprehensive studies. For example: 1 How does the design relate to the frequency response? 2 How to treat the model uncertainty problem? (which is treated in classical control theory with notions like the gain margin and phase margin) Zhang, W.D., CRC Press, 2011 Version 1.0 7/31

Section 1.1 A Brief History of Control Theory Robust Control Theory Model uncertainty is fully considered in robust control theory. Robustness:Insensitive to the model uncertainty. Tools:Combined frequency domain and state space method Important results: Youla parameterization (Youla et al.,1976) (Important idea in modern design methods) Hoo control (Zames,1981) State space solution to the Hoo control(Doyle et al.,1989) Problems that need to be clarified for deeper and more comprehensive studies.For example: How does the design relate to the frequency response? How to reduce the complexity of the design and the result? 4口，+@4定4生定QC Zhang.W.D..CRC Press.2011 Version 1.0 8/31

Section 1.1 A Brief History of Control Theory Robust Control Theory Model uncertainty is fully considered in robust control theory. Robustness: Insensitive to the model uncertainty. Tools: Combined frequency domain and state space method Important results: Youla parameterization (Youla et al., 1976) (Important idea in modern design methods) H∞ control (Zames, 1981) State space solution to the H∞ control (Doyle et al., 1989) Problems that need to be clarified for deeper and more comprehensive studies. For example: 1 How does the design relate to the frequency response? 2 How to reduce the complexity of the design and the result? Zhang, W.D., CRC Press, 2011 Version 1.0 8/31