目錄
前言
Chapter l System Model 1
1.2.2 Transfer Function 4
1.2.3 The Statespace Model 7
1.3Transition from One Mathematical Model to Another 17
1.3.1From Differential Equation to Transfer Function for SISO Systems17
1.3.2From Transfer Function to Differential Equation for SISO Systems 18
1.3.3From G(s) to g(t) and Vice Versa18
1.3.4 From State Equations to Transfer Function Matrix18
1.3.5From Transfer Function Matrix to State Equations for SISO Systems 20
1.4 Summary 23
Appendix: Three Power Generation Models23
Chapter 2 Linear Transformation of State Vector32
2.1 Linear Algebra32
2.2Transform to Diagonal Form and Jordan Form 37
Chapter 3Solution of State Space Model 48
3.2 Solution ofLTI State Equations48
3.3.1 Properties51
3.3.2Calculating the state transition matrix 55
3.4 Discretization 63
3.5 Solution of DiscreteTime Equation 65 4.2 Definition 74
4.3.1 Lyapunovs Second Method85
4.3.2State Dynamics Stability Criteria for Continuous Linear Systems 93
4.3.3State Dynamics Stability Criteria for Discrete Systems 101
Chapter 5Controllability and Observability 106
5.2 Definition107
5.2.1 Controllability107
5.2.2 0bservability108
5.3.1Controllable Criteria 109
5.3.2Controllable Examples 115
5.3.4 0bservable Examples120
5.4 DualitySystem123
5.4.1 Definition123
5.4.2 Properties ofDuality Systems124
5.5.1Controllability Canonical Form of Single-Input Systems126
5.5.20bservability Canonical Form of Single-Output Systems 131
5.5.3 Example133
5.5.40bservability and Controllability Canonical Form of Multi lnput Multi-Output Systcms 136
5.6 System Decomposition137
5.6.1Controllability Decomposition 137
5.6.3 Controllability and Observability Decomposition143
5.6.4 Minimum Realization 148
Chapter 6 State Feedback and Observer 159
6.2 Linear Feedback 159
6.2.2 0utput Feedback 160
6.3.1Sufficient and Necessary Condition for Arbitrary Pole Assignment162
6.3.2Methods to Assign the Poles ofa System 165
6.3.3 Examples169
6.4 State Estimator 174
6.4.1Introduction 174
6.5State Feedback Based on State Estimator187
Appendix:State Feedback and Observer for Main Steam-temperature Control in Power Plant Steamboiler Generation System 190
Excrciscs193
參考文獻196