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  Modern C...
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《ModernControlTheory》与中文教材《控制理论基础》相配合，便于理科学生通过双语教学获得控制理论知识的同时，掌握必要的专业英语阅读能力，配合本科双语教学的需要。本书内容主要包括：线性系统的数学描述、状态转移矩阵、线性系统的运动分析、线性系统的能控性和能观性、Matlab实现、系统运动的稳定性、状态反馈和输出反馈、观测器设计和最优控制原理等。

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• Contents
  Preface
  Chapter 0 Backgrounds 1
  0.1 Development of Control Theory 1
  0.2 Main Contents of Modern Control Theory 2
  Chapter 1 Mathematical Description of Systems 4
  1.1 Example 4
  1.2 Basic Definitions 5
  1.3 System Descriptions 6
  1.4 Finding State Equations from High-Differential Operator Representation 7
  1.4.1 Controllable Canonical Form 7
  1.4.2 Observable Canonical Form 9
  1.4.3 Other Special Form 9
  1.5 Block Diagram 11
  1.6 Transfer Function from State Space Representation 12
  1.6.1 Definition 12
  1.6.2 Calculation for the Transfer Function Matrix 13
  1.7 Composite Systems 14
  1.7.1 Tandem Connection 15
  1.7.2 Parallel Connection 16
  1.7.3 Feedback Connection 17
  1.8 Equivalent Transformation 17
  1.8.1 Equivalent Transformation of the State Space Description for Linear Systems 17
  1.8.2 Diagonal Canonical Form and Jordan Canonical Form of the System 18
  1.8.3 Invariance of the System Matrix and Transfer Function Matrix 20
  1.9 Application of MATLAB in the Representation of Linear Systems 21
  1.10 Exercises 25
  Chapter 2 Solutions 27
  2.1 State Transition Matrix 27
  2.2 Matrix Exponential 30
  2.2.1 Definition 30
  2.2.2 Properties of the Matrix Exponential 31
  2.2.3 Calculations for the Matrix Exponential 32
  2.3 Solution of Linear Time-Invariant Systems 37
  2.4 Solution of Linear Time-Varying Systems 39
  2.5 Linear Discrete Time-Invariant Systems 41
  2.5.1 Discretization of Linear Discrete Time-Invariant Systems 41
  2.5.2 Solutions of the Linear Discrete Time-Invariant Systems 43
  2.6 MATLAB for Linear System Motion Analysis 43
  2.7 Exercises 47
  Chapter 3 Controllability and Observability 49
  3.1 Definitions 49
  3.1.1 Controllability 50
  3.1.2 Observability 50
  3.2 Controllability of Linear Continuous Systems 51
  3.2.1 Time-Invariant Systems 51
  3.2.2 Time-Varying Systems 57
  3.2.3 Controllability Index 57
  3.3 Observability of Linear Continuous Systems 58
  3.3.1 Time-Invariant Systems 58
  3.3.2 Time-Varying Systems 60
  3.3.3 Observability Index 60
  3.4 Principle of Duality 61
  3.5 Controllable and Observable Canonical Forms of SISO 62
  3.6 Structural Decomposition of Linear Systems 65
  3.6.1 Controllability and Observability of Linear Time-Invaxiant Systems with Nonsingular Transformation 65
  3.6.2 Controllability Decomposition 65
  3.6.3 Observable Decomposition 68
  3.6.4 Canonical Decomposition 68
  3.7 MATLAB Application for Controllability and Observability 69
  3.8 Exercises 73
  Chapter 4 Irreducible Realizations 75
  4.1 Introduction 75
  4.2 The Realization of Transfer Function Matrix of SISO Control Systems 75
  4.3 The Realization of Transfer Function Matrix of MIMO Control Systems 77
  4.4 The Minimal Realization 80
  4.5 Irreducible Realization by MATLAB 83
  4.6 Exercises 86
  Chapter 5 Stability 87
  5.1 Definitions 87
  5.2 Stability Criteria 88
  5.2.1 Routh Criterion 88
  5.2.2 Root Locus Method 90
  5.2.3 The First Method of Lyapunov 100
  5.2.4 The Second Method of Lyapunov 102
  5.2.5 Krasovsky Discriminance 106
  5.2.6 Variable Gradient Method 108
  5.3 Application of MATLAB in Stability 110
  5.4 Exercises 112
  Chapter 6 Feedbacks 114
  6.1 Definitions 114
  6.1.1 State Feedbacks 114
  6.1.2 Output Feedbacks 115
  6.1.3 Derivative Feedback 115
  6.2 The Effects of Controllability and Observability by Feedback 115
  6.2.1 State Feedbacks 115
  6.2.2 Output Feedbacks 116
  6.3 Pole Assignment 117
  6.3.1 SISO Case 118
  6.3.2 MIMO Case 121
  6.4 Stabilization 123
  6.5 Decoupling 124
  6.5.1 The Statement of Decoupling Control Problem 124
  6.5.2 Necessary and Sufficient Conditions for Decoupling Systems with the State Feedback 125
  6.6 Application of MATLAB in Feedback 128
  6.6.1 State Feedback and Pole Assignment by MATLAB 128
  6.6.2 Decoupling by MATLAB 132
  6.7 Exercises 137
  Chapter 7 Observers 140
  7.1 Basic Concepts 140
  7.2 Full-Dimensional State Observers 141
  7.3 Reduced-Dimensional State Observers 143
  7.4 Feedback System with State Observers 146
  7.5 Design State Observers by MATLAB 148
  7.6 Exercises 150
  Chapter 8 Optimal Control 152
  8.1 Optimal Control Problems 152
  8.1.1 Examples 152
  8.1.2 Description of Optimal Control Problems 153
  8.2 The Calculus of Variations to the Optimal Control 154
  8.2.1 The Basis of Functional and Variation 155
  8.2.2 The Eulerian Equation 156
  8.2.3 Conditional Extremum 157
  8.2.4 The Calculus of Variation 159
  8.3 Linear Quadratic Regulator Problems 161
  8.3.1 The Statement of LQR 161
  8.3.2 The Finite-Time State Regulator Problems 162
  8.3.3 The Infinite-Time State-Regulator Problems 165
  8.3.4 The Output-Regulator Problems 166
  8.3.5 The Tracking Problems 167
  8.4 The Application of MATLAB in Optimal Control Problems 169
  8.5 Exercises 174
  Bibliography 176