本书介绍了控制系统分析和设计中的一些重要概念。这是一本清晰易懂，适用于高等院校控制系统课程的教科书，是为学习电气、机械、航空航天或化学工程的高年级本科生编写的。学习本书之前应具备下列预备知识：微分方程方面的基础课程，拉普拉斯变换，向量矩阵分析，电路分析，力学和热力学基础。

本书为自动控制系统的经典教材，详细介绍了连续控制系统(包括电气系统、机械系统、流体动力系统和热力系统)的数学模型建模方法，动态系统的瞬态和稳态分析方法，根轨迹分析和设计方法，频率域的分析和设计方法，以及PID控制器和变形PID控制器的设计方法；同时还比较详细地介绍了现代控制理论中的核心内容，状态空间分析和设计方法。最后还简要地介绍了20世纪80年代至90年代发展起来的称为“后现代控制理论”的鲁棒控制系统。全书自始至终，贯穿了用MATLAB工具分析和设计各类控制系统问题。

本书可作为高等学校工科(电气、机械、航空航天、化工等)高年级学生自动控制系统课程的教材，也可供与自动控制系统方面的技术相关的教师、研究生、科研和工程技术人员参考。

Chapter 1 Introduction to Control Systems

 1-1 Introduction

 1-2 Examples of Control Systems

 1-3 Closed-Loop Control Versus Open-Loop Control

 1-4 Design and Compensation of Control Systems

 1-5 Outline of the Book

Chapter 2 Mathematical Modeling of Control Systems

 2-1 Introduction

 2-2 Transfer Function and Impulse-Response Function

 2-3 Automatic Control Systems

 2-4 Modeling in State Space

 2-5 State-Space Representation of Scalar Differential Equation Systems

 2-6 Transformation of Mathematical Models with MATLAB

 2-7 Linearization of Nonlinear Mathematical Models

 Example Problems and Solutions

 Problems

Chapter 3 Mathematical Modeling of Mechanical Systems and Electrical Systems.

 3-1 Introduction

 3-2 Mathematical Modeling of Mechanical Systems

 3-3 Mathematical Modeling of Electrical Systems

 Example Problems and Solutions

 Problems

Chapter 4 Mathematical Modeling of Fluid Systems and Thermal Systems

 4-1 Introduction

 4-2 Liquid-Level Systems

 4-3 Pneumatic Systems

 4-4 Hydraulic Systems

 4-5 Thermal Systems

 Example Problems and Solutions

 Problems

Chapter 5 Transient and Steady-State Response Analyses

 5-1 Introduction

 5-2 First-Order Systems

 5-3 Second-Order Systems

 5-4 Higher-Order Systems

 5-5 Transient-Response Analysis with MATLAB

 5-6 Routh's Stability Criterion

 5-7 Effects of Integral and Derivative Control Actions on System Performance

 5-8 Steady-State Errors in Unity-Feedback Control Systems

 Example Problems and Solutions

 Problems

Chapter 6 Control Systems Analysis and Design by the Root-Locus Method

 6-1 Introduction

 6-2 R0ot-Locus Plots

 6-3 Plotting Root Loci with MATLAB

 6-4 Root-Locus Plots of Positive Feedback Systems

 6-5 Root-Locus Approach to Control-Systems Design

 6-6 Lead Compensation

 6-7 Lag Compensation

 6-8 Lag-Lead Compensation

 6-9 Parallel Compensation

 Example Problems and Solutions

 Problems

Chapter 7 Control Systems Analysis and Design by the Frequency-Response Method

 7-1 Introduction

 7-2 Bode Diagrams

 7-3 Polar Plots

 7-4 Log-Magnitude-versus-Phase Plots

 7-5 Nyquist Stability Criterion

 7-6 Stability Analysis

 7-7 Relative Stability Analysis

 7-8 Closed-Loop Frequency Response of Unity-Feedback Systems

 7-9 Experimental Determination of Transfer Functions

 7-10 Control Systems Design by Frequency-Response Approach

 7-11 Lead Compensation

 7-12 Lag Compensation

 7-13 Lag-Lead Compensation

 Example Problems and Solutions

 Problems

Chapter 8 PID Controllers and Modified PID Controllers

 8-1 Introduction

 8-2 Ziegler-Nichols Rules for Tuning PID Controllers

 8-3 Design of PID Controllers with Frequency-Response Approach

 8-4 Design of PID Controllers with Computational Optimization Approach

 8-5 Modifications of PID Control Schemes

 8-6 Two-Degrees-of-Freedom Control

 8-7 Zero-Placement Approach to Improve Response Characteristics

 Example Problems and Solutions

 Problems

Chapter 9 Control Systems Analysis in State Space

 9-1 Introduction

 9-2 State-Space Representations of Transfer-Function Systems

 9-3 Transformation of System Models with MATLAB

 9-4 Solving the Time-Invariant State Equation

 9-5 Some Useful Results in Vector-Matrix Analysis

 9-6 Controllability

 9-7 Observability

 Example Problems and Solutions

 Problems.

Chapter 10 Control Systems Design in State Space

 10-1 Introduction

 10-2 Pole Placement

 10-3 Solving Pole-Placement Problems with MATLAB

 10-4 Design of Serve Systems

 10-5 State Observers

 10-6 Design of Regulator Systems with Observers

 10-7 Design of Control Systems with Observers

 10-8 Quadratic Optimal Regulator Systems

 10-9 Robust Control Systems

 Example Problems and Solutions

 Problems

Appendix A Laplace Transform Tables

Appendix B Partial-Fraction Expansion

Appendix C Vector-Matrix Algebra

References

Index