上海交通大学：《现代控制理论》课程教学资源（讲稿）Chapter 1 Introduction Morden Control Theory（主讲：鲍其莲）

1 MODERN CONTROL THEORY Lecturer:鲍其莲Bao Qilian

MODERN CONTROL THEORY Lecturer：鲍其莲 Bao Qilian 1

2 Reference books C.-T.Chen,Linear System Theory and Design, 3rd Ed.,Oxford University Press,1999. Norman S.Nice,Control System Engineering,6th Ed. Richard C.Dorf,Modern Control Systems,12th Ed.Prentice hall Press,2011 ·现代控制理论基础（第2版)王孝武主编，机械工业出版社

Reference books : •C.-T. Chen, Linear System Theory and Design, 3rd Ed., Oxford University Press, 1999. • Norman S. Nice, Control System Engineering, 6th Ed. • Richard C. Dorf, Modern Control Systems, 12th Ed. Prentice hall Press,2011 • 现代控制理论基础（第2版）王孝武主编，机械工业出版社 2

3 Grading policy: Attendance,homework,quiz: 30% Lab projects and reports: 30% Final project report: 40% 。 Goals:To achieve a thorough understanding about modern control theory and multivariable system design. Prerequisites:Classical control theory Linear algebra

Grading policy: • Attendance, homework, quiz: 30% • Lab projects and reports: 30% • Final project report: 40% • Goals: To achieve a thorough understanding about modern control theory and multivariable system design. • Prerequisites: Classical control theory & Linear algebra 3

4 chapter contents hours An Introduction 2 Mathematic description of dynamic system 3 Linear algebra Space state solutions and realization Stability Analysis Controllability and Observability Lab Project1 7 State feedback and state estimator 8 Fundamentals of optimal control(optional:time permitted) 2 Lab Project2 4 32

chapter contents hours 1 An Introduction 2 2 Mathematic description of dynamic system 4 3 Linear algebra 4 4 Space state solutions and realization 4 5 Stability Analysis 2 6 Controllability and Observability 4 Lab Project1 2 7 State feedback and state estimator 4 8 Fundamentals of optimal control (optional: time permitted) 2 Lab Project2 4 32 4

S Chapter 1 Introduction Objectives: Development of control theory Comparison of classic control theory and modern control theory History of control theory Classic control theory Modern control theory Basic concepts of control systems Theory Design goals and structures of control systems

Chapter 1 Introduction Objectives: • Development of control theory • Comparison of classic control theory and modern control theory • History of control theory • Classic control theory • Modern control theory • Basic concepts of control systems • Design goals and structures of control systems 5

History 6 History 18th Century James Watt's centrifugal governor for the speed control of a steam engine. 1920s Minorsky worked on automatic controllers for steering ships 1930s Nyquist developed a method for analyzing the stability of controlled systems 1940s Frequency response methods made it possible to design linear closed- loop control systems 1950s Root-locus method due to Evans was fully developed 1960s State space methods,optimal control,adaptive control and 1980s Learning controls are begun to investigated and developed Present and on-going research fields.Recent application of modern control theory includes such non-engineering systems such as biological,biomedical, economic and socio-economic systems

History 18th Century James Watt’s centrifugal governor for the speed control of a steam engine. 1920s Minorsky worked on automatic controllers for steering ships. 1930s Nyquist developed a method for analyzing the stability of controlled systems 1940s Frequency response methods made it possible to design linear closed￾loop control systems 1950s Root-locus method due to Evans was fully developed 1960s State space methods, optimal control, adaptive control and 1980s Learning controls are begun to investigated and developed. Present and on-going research fields. Recent application of modern control theory includes such non-engineering systems such as biological, biomedical, economic and socio-economic systems. History 6

History 7 Flyball Governor "Flyball"Governor (1788) Balls fly out Regulate speed of steam engine as speed increases. Reduce effects of variations in load(disturbance rejection) Major advance of industrial revolution Valve closes, Drive belt slowing engine Steam Flyball engine governor Boulton-Watt steam engine http://www.heeg.de/ teamEngine.html

“Flyball” Governor (1788) – Regulate speed of steam engine – Reduce effects of variations in load (disturbance rejection) – Major advance of industrial revolution Balls fly out as speed increases, Valve closes, slowing engine http://www.heeg.de/~roland/SteamEngine.html Flyball governor Steam engine Boulton-Watt steam engine Flyball Governor History 7

History 8 Stage 1:Classical Control Theory (1930~1960) Wiener:Mechanism of Feedback in General Systems 1948 (Control Theory:the science about control and communication in animals or machines) 钱学森：Engineering Control Theory 1954 Main Features: Having no need of accurate mathematical model of controlled object.Setting controller parameters according to frequency characteristic curve.(Satisfying design targets with onsite regulation.) Unable to give an accurate analytical method for controller design

Stage 1：Classical Control Theory (1930~1960) 8 Wiener： Mechanism of Feedback in General Systems 1948 (Control Theory: the science about control and communication in animals or machines) 钱学森：Engineering Control Theory 1954 Main Features: Having no need of accurate mathematical model of controlled object. Setting controller parameters according to frequency characteristic curve. (Satisfying design targets with onsite regulation.) Unable to give an accurate analytical method for controller design. History

History 9 Stage 2:Linear system theory and optimal control (1950~1980) Kalman:Controllability,Observability 1960 Bellman:Dynamic planning,Optimality Principle 1958 庞特里亚金：Maximum Value Principle 1957 =Ax+Bu y=Cx Main Features: Accurate mathematical models,specific design targets,and perfect analytical design methods. 1.The mathematical models must be accurate descriptions of the dynamics of objects.Neither measurement errors nor disturbances in actual engineering have been taken into consideration. 2.Linear conditions,such as Superposition Principle,etc

Stage 2: Linear system theory and optimal control (1950~1980) 9 Kalman: Controllability, Observability 1960 Bellman: Dynamic planning, Optimality Principle 1958 庞特里亚金: Maximum Value Principle 1957 Main Features: Accurate mathematical models, specific design targets, and perfect analytical design methods. 1.The mathematical models must be accurate descriptions of the dynamics of objects. Neither measurement errors nor disturbances in actual engineering have been taken into consideration. 2. Linear conditions, such as Superposition Principle, etc.       y C x x A x Bu History

Introduction 10 System -An interconnection of elements and devices for a desired purpose. Control System-An interconnection of components forming a system configuration that will provide a desired response. Process-The device,plant, or system under control.The input and output relationship Input- Process Output represents the cause-and- effect relationship of the process

System – An interconnection of elements and devices for a desired purpose. Control System – An interconnection of components forming a system configuration that will provide a desired response. Process – The device, plant, or system under control. The input and output relationship represents the cause-and￾effect relationship of the process. Introduction 10