Modern Control Theory
暫譯: 現代控制理論

Zdzislaw Bubnicki

Modern Control Theory
  • 出版商: Demos Medical Publis
  • 出版日期: 2005-06-23
  • 售價: $1,150
  • 貴賓價: 9.8 折 $1,127
  • 語言: 英文
  • 頁數: 424
  • 裝訂: Hardcover
  • ISBN: 1852338733
  • ISBN-13: 9783540239512

    • 下單後立即進貨 (約5~7天)

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Description

This compact and uniform textbook presents the contemporary state of the art of control theory and its applications. It introduces traditional problems useful in the automatic control of technical processes, as well as current issues, such as decision taking in conditions of uncertainty, use of artificial intelligence methods, or control of complex operations. The methods covered are introduced in a practice-oriented way that allows the reader to easily apply them for the determination of decision algorithms in computer control and management systems. This concise textbook is aimed at students of automatics, robotics, control engineering, and computer sciences.

 

Table of contents


1 General Characteristic of Control Systems...............................................1
1.1 Subject and Scope of Control Theory................................................1
1.2 Basic Terms .......................................................................................2
1.2.1 Control Plant ...............................................................................4
1.2.2 Controller ....................................................................................6
1.3 Classification of Control Systems......................................................7
1.3.1 Classification with Respect to Connection Between Plant and
Controller .............................................................................................7
1.3.2 Classification with Respect to Control Goal...............................9
1.3.3 Other Cases ...............................................................................11
1.4 Stages of Control System Design ....................................................13
1.5 Relations Between Control Science and Related Areas in Science
and Technology .....................................................................................14
1.6 Character, Scope and Composition of the Book..............................15

2 Formal Models of Control Systems ........................................................17
2.1 Description of a Signal ....................................................................17
2.2 Static Plant .......................................................................................18
2.3 Continuous Dynamical Plant ...........................................................19
2.3.1 State Vector Description...........................................................20
2.3.2 “Input-output” Description by Means of Differential Equation24
2.3.3 Operational Form of “Input-output” Description......................25
2.4 Discrete Dynamical Plant ................................................................29
2.5 Control Algorithm ...........................................................................31
2.6 Introduction to Control System Analysis.........................................33
2.6.1 Continuous System...................................................................35
2.6.2 Discrete System........................................................................37

3 Control for the Given State (the Given Output)......................................41
3.1 Control of a Static Plant...................................................................41
3.2 Control of a Dynamical Plant. Controllability.................................44
3.3 Control of a Measurable Plant in the Closed-loop System.............47
3.4 Observability....................................................................................50
VIII Contents
3.5 Control with an Observer in the Closed-loop System .....................55
3.6 Structural Approach.........................................................................59
3.7 Additional Remarks .........................................................................62

4 Optimal Control with Complete Information on the Plant .....................65
4.1 Control of a Static Plant...................................................................65
4.2 Problems of Optimal Control for Dynamical Plants........................69
4.2.1 Discrete Plant ............................................................................69
4.2.2 Continuous Plant.......................................................................72
4.3 Principle of Optimality and Dynamic Programming .......................74
4.4 Bellman Equation ............................................................................79
4.5 Maximum Principle .........................................................................85
4.6 Linear-quadratic Problem................................................................93

5 Parametric Optimization.........................................................................97
5.1 General Idea of Parametric Optimization ........................................97
5.2 Continuous Linear Control System..................................................99
5.3 Discrete Linear Control System.....................................................105
5.4 System with the Measurement of Disturbances.............................107
5.5 Typical Forms of Control Algorithms in Closed-loop Systems ....110
5.5.1 Linear Controller.....................................................................111
5.5.2 Two-position Controller .........................................................112
5.5.3 Neuron-like Controller............................................................112
5.5.4 Fuzzy Controller .....................................................................113

6 Application of Relational Description of Uncertainty.........................117
6.1 Uncertainty and Relational Knowledge Representation ................117
6.2 Analysis Problem...........................................................................122
6.3 Decision Making Problem.............................................................127
6.4 Dynamical Relational Plant ...........................................................130
6.5 Determinization .............................................................................136

7 Application of Probabilistic Descriptions of Uncertainty.....................143
7.1 Basic Problems for Static Plant and Parametric Uncertainty........143
7.2 Basic Problems for Static Plant and Non-parametric Uncertainty152
7.3 Control of Static Plant Using Results of Observations..................157
7.3.1 Indirect Approach ...................................................................158
7.3.2 Direct Approach......................................................................164
7.4 Application of Games Theory........................................................165
7.5 Basic Problem for Dynamical Plant...............................................170
7.6 Stationary Stochastic Process ........................................................174
IX
7.7 Analysis and Parametric Optimization of Linear Closed-loop
Control System with Stationary Stochastic Disturbances....................178
7.8 Non-parametric Optimization of Linear Closed-loop Control System
with Stationary Stochastic Disturbances..............................................183
7.9 Relational Plant with Random Parameter ......................................188

8 Uncertain Variables and Their Applications.........................................193
8.1 Uncertain Variables .......................................................................193
8.2 Application of Uncertain Variables to Analysis and Decision
Making (Control) for Static Plant ........................................................201
8.2.1 Parametric Uncertainty ...........................................................201
8.2.2 Non-parametric Uncertainty ...................................................205
8.3 Relational Plant with Uncertain Parameter....................................211
8.4 Control for Dynamical Plants. Uncertain Controller .....................216

9 Fuzzy Variables, Analogies and Soft Variables ...................................221
9.1 Fuzzy Sets and Fuzzy Numbers.....................................................221
9.2 Application of Fuzzy Description to Decision Making (Control) for
Static Plant ...........................................................................................228
9.2.1 Plant without Disturbances .....................................................228
9.2.2 Plant with External Disturbances............................................233
9.3 Comparison of Uncertain Variables with Random and Fuzzy
Variables ..............................................................................................238
9.4 Comparisons and Analogies for Non-parametric Problems ..........242
9.5 Introduction to Soft Variables........................................................246
9.6 Descriptive and Prescriptive Approaches. Quality of Decisions ...249
9.7 Control for Dynamical Plants. Fuzzy Controller ...........................255

10 Control in Closed-loop System. Stability ...........................................259
10.1 General Problem Description.......................................................259
10.2 Stability Conditions for Linear Stationary System......................264
10.2.1 Continuous System...............................................................264
10.2.2 Discrete System....................................................................266
10.3 Stability of Non-linear and Non-stationary Discrete Systems .....270
10.4 Stability of Non-linear and Non-stationary Continuous Systems 277
10.5 Special Case. Describing Function Method.................................278
10.6 Stability of Uncertain Systems. Robustness ................................282
10.7 An Approach Based on Random and Uncertain Variables..........291
10.8 Convergence of Static Optimization Process...............................295

11 Adaptive and Learning Control Systems ............................................299
11.1 General Concepts of Adaptation..................................................299
X Contents
11.2 Adaptation via Identification for Static Plant ..............................303
11.3 Adaptation via Identification for Dynamical Plant ......................309
11.4 Adaptation via Adjustment of Controller Parameters..................311
11.5 Learning Control System Based on Knowledge of the Plant.......313
11.5.1 Knowledge Validation and Updating....................................314
11.5.2 Learning Algorithm for Decision Making in Closed-loop
System..............................................................................................317
11.6 Learning Control System Based on Knowledge of Decisions....319
11.6.1 Knowledge Validation and Updating....................................319
11.6.2 Learning Algorithm for Control in Closed-loop System......321

12 Intelligent and Complex Control Systems ..........................................327
12.1 Introduction to Artificial Intelligence ..........................................327
12.2 Logical Knowledge Representation.............................................328
12.3 Analysis and Decision Making Problems ....................................332
12.4 Logic-algebraic Method...............................................................334
12.5 Neural Networks ..........................................................................341
12.6 Applications of Neural Networks in Control Systems.................346
12.6.1 Neural Network as a Controller ............................................346
12.6.2 Neural Network in Adaptive System....................................348
12.7 Decomposition and Two-level Control........................................349
12.8 Control of Complex Plant with Cascade Structure ......................355
12.9 Control of Plant with Two-level Knowledge Representation......358

13 Control of Operation Systems.............................................................363
13.1 General Characteristic..................................................................363
13.2 Control of Task Distribution........................................................365
13.3 Control of Resource Distribution.................................................371
13.4 Control of Assignment and Scheduling .......................................375
13.5 Control of Allocation in Systems with Transport ........................382
13.6 Control of an Assembly Process..................................................386
13.7 Application of Relational Description and Uncertain Variables .391
13.8 Application of Neural Network ...................................................398

Conclusions..............................................................................................401
Appendix..................................................................................................405
References................................................................................................411
Index ........................................................................................................419

商品描述(中文翻譯)

**描述**

這本簡潔且統一的教科書介紹了控制理論及其應用的當代技術現狀。它介紹了在技術過程自動控制中有用的傳統問題，以及當前的議題，例如在不確定條件下的決策、人工智慧方法的使用或複雜操作的控制。所涵蓋的方法以實踐為導向的方式介紹，使讀者能夠輕鬆應用於計算機控制和管理系統中的決策算法的確定。這本簡明的教科書旨在針對自動化、機器人技術、控制工程和計算機科學的學生。

**目錄**

1. 控制系統的一般特徵...............................................1
1.1 控制理論的主題和範疇................................................1
1.2 基本術語........................................................................2
1.2.1 控制對象..................................................................4
1.2.2 控制器......................................................................6
1.3 控制系統的分類..........................................................7
1.3.1 根據對象與控制器之間的連接進行分類................................7
1.3.2 根據控制目標進行分類.................................................9
1.3.3 其他情況..................................................................11
1.4 控制系統設計的階段....................................................13
1.5 控制科學與相關科學技術領域的關係.................................14
1.6 本書的特點、範圍和組成................................................15

2. 控制系統的形式模型....................................................17
2.1 信號的描述..................................................................17
2.2 靜態對象......................................................................18
2.3 連續動態對象............................................................19
2.3.1 狀態向量描述........................................................20
2.3.2 通過微分方程的“輸入-輸出”描述............................24
2.3.3 “輸入-輸出”描述的運算形式.................................25
2.4 離散動態對象............................................................29
2.5 控制算法....................................................................31
2.6 控制系統分析的介紹................................................33
2.6.1 連續系統................................................................35
2.6.2 離散系統................................................................37

3. 給定狀態（給定輸出）的控制........................................41
3.1 靜態對象的控制..........................................................41
3.2 動態對象的控制。可控性...........................................44
3.3 在閉環系統中可測量對象的控制.................................47
3.4 可觀察性....................................................................50
3.5 在閉環系統中使用觀察者的控制.................................55
3.6 結構方法....................................................................59
3.7 附加說明....................................................................62

4. 完全信息下的最優控制................................................65
4.1 靜態對象的控制..........................................................65
4.2 動態對象的最優控制問題........................................69
4.2.1 離散對象................................................................69
4.2.2 連續對象................................................................72
4.3 最優性原則和動態規劃..............................................74
4.4 貝爾曼方程................................................................79
4.5 最大原則....................................................................85
4.6 線性-二次問題........................................................93

5. 參數優化........................................................................97
5.1 參數優化的一般思想..................................................97
5.2 連續線性控制系統..................................................99
5.3 離散線性控制系統..................................................105
5.4 具有擾動測量的系統................................................107
5.5 閉環系統中控制算法的典型形式..............................110
5.5.1 線性控制器..........................................................111
5.5.2 兩位置控制器......................................................112
5.5.3 類神經控制器......................................................112
5.5.4 模糊控制器..........................................................113

6. 不確定性的關係描述的應用........................................117
6.1 不確定性和關係知識表示..........................................117
6.2 分析問題....................................................................122
6.3 決策問題....................................................................127
6.4 動態關係對象..........................................................130
6.5 確定化........................................................................136

7. 不確定性的概率描述的應用........................................143
7.1 靜態對象和參數不確定性的基本問題......................143
7.2 靜態對象和非參數不確定性的基本問題.................152
7.3 使用觀察結果控制靜態對象..................................157
7.3.1 間接方法................................................................158
7.3.2 直接方法................................................................164
7.4 博弈理論的應用........................................................165
7.5 動態對象的基本問題..............................................170
7.6 平穩隨機過程..........................................................174

8. 不確定變數及其應用....................................................193
8.1 不確定變數................................................................193
8.2 不確定變數在靜態對象分析和決策（控制）中的應用......201
8.2.1 參數不確定性......................................................201
8.2.2 非參數不確定性..................................................205
8.3 具有不確定參數的關係對象....................................211
8.4 動態對象的控制。不確定控制器..............................216

9. 模糊變數、類比和軟變數..............................................221
9.1 模糊集合和模糊數..................................................221
9.2 模糊描述在靜態對象決策（控制）中的應用..............228
9.2.1 無擾動的對象....................................................228
9.2.2 具有外部擾動的對象............................................233
9.3 不確定變數與隨機和模糊變數的比較......................238
9.4 非參數問題的比較和類比......................................242
9.5 軟變數的介紹........................................................246
9.6 描述性和規範性方法。決策的質量..........................249
9.7 動態對象的控制。模糊控制器.................................255

10. 閉環系統中的控制。穩定性........................................259
10.1 一般問題描述........................................................259
10.2 線性穩態系統的穩定性條件..................................264
10.2.1 連續系統............................................................264
10.2.2 離散系統................................................................266
10.3 非線性和非穩態離散系統的穩定性.........................270
10.4 非線性和非穩態連續系統的穩定性.......................277
10.5 特殊情況。描述函數..............................................

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