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现代控制理论是控制类专业学生必须掌握的重要基础理论。本书是编者在多年双语教学实践经验基础上，参考国外优秀教材，按照我国课程教学大纲的要求编写的。 全书分8章，主要内容包括状态空间分析法、数学基础知识、线性系统的状态响应、线性系统的可控性和可观性、李雅普若夫稳定性分析、线性系统的状态综合(状态反馈、输出反馈和状态观测器)和最优控制的基本方法。除第1章外，其余各章均编写了多个应用型例题，同时还配有一定数量的练习题和思考题，帮助学生了解和掌握理论方法及其在工程实践中的应用。 本书可作为普通高等院校控制类专业本科生和非控制类专业（如电子类、机电类）研究生的教材与参考书，也可供广大工程科技人员学习参考。
Contents
Chapter 1Introduction to Control Theoryt1
1．1Historical Review and Classical Control Theoryt1
1．1．1Historical Review of Automatic Controlt1
1．1．2Classical control theoryt5
1．2Modern Control Theoryt7
1．3Design of Control Systemst9
1．4Outline of This Bookt12
Chapter 2Preliminary Mathematical Knowledget14
2．1Foundations of matrix algebrat14
2．1．1Matricest14
2．1．2Algebraic operations with matricest17
2．1．3Matrix Operationst18
2．2Vectors and Vector Spacest20
2．2．1Vectort20
2．2．2Vector Spaces and Subspacest23
2．3Linear Algebrat26
2．3．1Eigenvalue and Eigenvector of A Square Matrixt26
2．3．2Linear Algebraic Equationst28
2．3．3Similarity Transformationt29
2．3．4Diagonal Form and Jordan Formt31
2．3．5Cayley_Hamiton Theoremt36
2．3．6Definiteness of A Scalar Function and Quadratic Formt38
Exercisest39
Chapter 3State Variables and the State_Space Description of Dynamic Systemst41
3．1State_Space Representation of Dynamic Systemst41
3．1．1State and State Variablest41
3．1．2State_Space Representationt44
3．1．3Block Diagrams and Simulation Diagramst50
3．2Obtaining State Equationst52
3．2．1From the Block Diagramt52
3．2．2From Input_Output Representationt54
3．2．3Equivalence Transformation of State_Space Representationt67
3．3Transfer Function And Realizationst68
3．4State_Space Representation of Linear Discrete_Time Systemst72
3．5Summariest76
Exercisest76
Problemst78
Chapter 4Time Response of Linear Systemst80
4．1Solution of LTI State Equationst80
4．1．1Linear Homogeneous State Equationst80
4．1．2The State Transition Matrixt83
4．1．3Linear Nonhomogeous State Equationst87
4．2Numerical Solution of State Equationst89
4．3Solution of Linear Discrete_Time State Equationst92
4．4Discretization of Continuous_Time Systemst94
Exercisest96
Problemst98
Chapter 5Controllability and Observabilityt99
5．1Corollaries of Cayley_Hamilton Theoremt100
5．2Controllability and Observability of LTI Systemst101
5．2．1Controllability Definition and Rank Criteriont101
5．2．2Observability Definition and Rank Criteriont110
5．2．3Controllable Canonical Form and Observable Canonical Formt115
5．2．4Principle of Dualityt118
5．3Structural Decomposition of LTI systemst119
5．4Controllability， Observability and Transfer Functiont125
5．5Controllability and Observability of Discrete_Time Systemst128
5．5．1Controllability of Discrete_Time Systemst128
5．5．2Observability of Discrete_Time Systemst131
5．5．3Controllability and Observability After Samplingt133
Exercisest135
Problemst137
Chapter 6Lyapunov Stabilityt139
6．1Preliminary Examplest139
6．2Stability Conceptst141
6．2．1Equilibrium Statet141
6．2．2Stability Definitionst142
6．3First Method of Lyapunovt144
6．3．1Eigenvalue Criterion for Linear Time_invariant Systemt144
6．3．2Eigenvalue Criterion for Linearized Time_invariant Systemst146
6．4Second Method of Lyapunovt148
6．5Lyapunov Equationt153
Exerciset155
Problemst156
Chapter 7State Feedback and State Observert157
7．1State Feedback and Output Feedbackt158
7．1．1State Feedbackt158
7．1．2Output Feedbackt160
7．2Pole Placement using State feedbackt161
7．3Pole placement using Output Feedbackt165
7．4State Observert167
7．4．1Full_Dimensional Observert167
7．4．2Reduced_Dimensional State Observert171
7．5Feedback From Estimated Statest175
7．6The Engineering Applications of StateFeedback and Observert178
7．6．1State Feedback Controller Design For The Inverted Pendulum[9]t178
7．6．2Asymptotic Tracking And Disturbance Rejectiont182
7．6．3System Stabilizationt188
7．6．4System Decouplingt191
Exercisest197
Problemst199
Chapter 8Optimal Controlt201
8．1Problem Formulationt201
8．2Preliminaries：The extremum problem of functionalt205
8．2．1Functional and The Calculus of Variationt206
8．2．2The Extremum Problem of Functional Without Constraintst210
8．3The Variational Approach to Optimal Control Problemst221
8．4Minimum Principle and Its Applicationt228
8．4．1Pontryagin’sMinimum Principlet228
8．4．2Application of Minimum Principlet232
Exercisest243
Problemst245
Answers to Selected Exercisest248
Experiment 1： Modeling and Stability Analysis of the Inverted Pendulum Systemt252
Experiment 2： Design State Feedback Controller for the Inverted Pendulum Systemt255
Referencest257……
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