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Chapter 1Introduction1

1.1The History of Control Theory1

1.2Simulation Tools3

1.3Outlines of the Book4

Chapter 2State Space Representation6

2.1Basic System Models6

2.2State Space Description7

2.3Selection of State Variables10

2.4Linear Transform of Stateª²space Model19

2.5Transfer Function Matrix21

2.6Stateª²space Expression of Discrete System28

2.7Matlab Functions for State Space Model29

Exercise38

Chapter 3Solution of Linear Time Invariant State Equations39

3.1Solution of Continuous Homogeneous State Equations39

3.2Solution of Continuous Nonhomogeneous State Equations46

3.3Solution of Discrete State Equations49

3.4Matlab Functions for Solutions of State Space Model50

Exercise51

Chapter 4Controllability and Observability52

4.1Problem Formulation52

4.2Controllability55

4.3Observability71

4.4Duality Principle73

4.5Matlab Functions for Control Analysis76

Exercise84

Chapter 5Feedback and State Observer Design86

5.1State Feedback and Output Feedback86

5.2Pole Placement for LTI System92

5.3State Observer Design98

5.4Matlab Functions for Feedback Design104

Exercise116

Chapter 6Stability Analysis of State Space Models118

6.1Lyapunov Stability118

6.2Lyapunov First Method121

6.3Preliminaries125

6.4Lyapunov Second Method128

6.5Matlab Functions for Stability Analysis136

Exercise139

Chapter 7Optimal Control141

7.1Introduction of Optimal Control141

7.2Linear Quadratic Optimal Control143

7.3Matlab Functions for Linear Quadratic Problem148

Exercise150


References153

AppendixUAVs Control Systems154