非线性控制 Nonlinear Control(Hassan K. Khalil)(高清完整版).pdf

非线性控制 Nonlinear Control(Hassan K. Khalil)(高清完整版).pdf

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tta0HassanK.KhalilNonlinearControlGlobalEditionNonlinearControlGlobalEditionHassanK.KhalilDepartmentofElectricalandComputerEngineeringMichiganStateUniversityPEARSONBostonColumbusIndianapolisNewYorkSanFranciscoUpperSaddleRiverAmsterdamCapeTownDubaiLondonMadridMilanMunichParisMontrealTorontoDelhiMexicoCitySaoPauloSydneyHongKongSeoulSingaporeTaipeiTokyoVicePresidentandEditorialDirector,ECS:

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SPiGlobalCreditsandacknowledgmentsborrowedfromothersourcesandreproduced,withpermission,inthistextbookappearonappropriatepagewithintext.PearsonEducationLimitedEdinburghGateHarlowEssexCM202JEEnglandandAssociatedCompaniesthroughouttheworldVisitusontheWorldWideWebat:

PearsonEducationLimited2015TherightsofHassanK.KhaliltobeidentifiedastheauthorofthisworkhavebeenassertedbyhiminaccordancewiththeCopyright,DesignsandPatentsAct1988.AuthorizedadaptationfromtheUnitedStatesedition,entitledNonlinearControl,1stEdition,ISBN978-0-133-49926-1,byHassanK.Khalil,publishedbyPearsonEducation2015.Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedinanyformorbyanymeans,electronic,mechanical,photocopying,recordingorotherwise,withouteitherthepriorwrittenpermissionofthepublisheroralicensepermittingrestrictedcopyingintheUnitedKingdomissuedbytheCopyrightLicensingAgencyLtd,SaffronHouse,6-10KirbyStreet,LondonEClN8TS.Alltrademarksusedhereinarethepropertyoftheirrespectiveowners.Theuseofanytrademarkinthistextdoesnotvestintheauthororpublisheranytrademarkownershiprightsinsuchtrademarks,nordoestheuseofsuchtrademarksimplyanyaffiliationwithorendorsementofthisbookbysuchowners.BritishLibraryCataloguing-in-PublicationDataAcataloguerecordforthisbookisavailablefromtheBritishLibrary10987654321TypesetbySPiGlobalPrintedandboundbyCourierWestfordISBN10:

1-292-06050-6ISBN13:

978-1-292-06050-7TomyparentsMohamedandFat-hiaandmygrandchildrenMaryam,Tariq,Aya,andTessneemContentsPreface1Introduction1.1NonlinearModels1.2NonlinearPhenomena1.3OverviewoftheBook1.4Exercises.2Two-DimensionalSystems2.12.22.32.42.52.6QuaIitativeBehaviorofLinearSystems.QualitativeBehaviorNearEquilibriumPoints.MultipleEquilibria.LimitCycles.NumericalConstructionofPhasePortraitsExercises.3StabilityofEquilibriumPoints43.1BasicConcepts.3.2Linearization.3.3LyapunovsMethod.3.4TheInvariancePrinciple.3.5ExponentialStability.3.6RegionofAttraction.3.7ConverseLyapunovTheorems.3.8Exercises.Time-VaryingandPerturbedSystems4.1Time-VaryingSystems.4.2PerturbedSystems.4.3BoundednessandUltimateBoundedness4.4Input-to-StateStability.4.5Exercises.7.111313202122272933363943454949555766707380828787929710611185Passivity5.1MemorylessFunctions.5.2StateModels.5.3PositiveRealTransferFunctions5.4ConnectionwithStability5.5Exercises.6Input-OutputStability6.1CStability.6.2CStabilityofStateModels.6.32Gain.6.4Exercises.7StabilityofFeedbackSystems7.1PassivityTheorems.7.2TheSmall-GainTheorem7.3AbsoluteStability.7.3.1CircleCriterion.7.3.2PopovCriterion7.4Exercises.8SpecialNonlinearForms8.1NormalForm.8.28.38.4ControllerFormObserverForm.Exercises.9StateFeedbackStabilization9.1BasicConcepts.9.2Linearization.9.3FeedbackLinearization.9.4PartiaIFeedbackLinearization9.5Backstepping.9.6Passivity-BasedControl.9.7ControlLyapunovFunctions.9.8Exercises.10RobustStateFeedbackStabilization10.1SlidingModeControl.10.2LyapunovRedesign.10.3High-GainFeedback10.4ExercisesCONTENTS115115119124127130133133139144149153154164167169176180183183191199206209209211213219223229234239.243244263269271CONTENTS11NonlinearObservers11.1LocalObservers.11.2TheExtendedKalmanFilter11.3GlobalObservers.11.4High-GainObservers.11.5Exercises.12OutputFeedbackStabilization12.1Linearization.12.2Passivity-BasedControl.12.3Observer-BasedControl.12.4High-GainObserversandtheSeparationPrinciple12.5RobustStabilizationofMinimumPhaseSystems12.5.1RelativeDegreeOne.12.5.2RelativeDegreeHigherThanOne12.6Exercises.13!

rackingandRegulation13.1Tracking.13.2RobustTracking.13.3TransitionBetweenSetPoints13.4RobustRegulationviaIntegralAction13.5OutputFeedback.13.6ExercisesAExamplesA.lPendulum.A.2Mass-SpringSystem.A.3Tunnel-DiodeCircuitA.4Negative-ResistanceOscillatorA.5DC-to-DCPowerConverter.A.6BiochemicalReactor.A.7DCMotor.A.8MagneticLevitation.A.9ElectrostaticMicroactuatorA.10RobotManipulator.A.11InvertedPendulumonaCartA.12TranslationalOscillatorwithRotatingActuatorBMathematicalReview.927527627828128328929329429529830030830831031531932232432633033433734134134334534734935035235335435635735936110CCompositeLyapunovFunctionsC.1CascadeSystems.C.2InterconnectedSystems.C.3SingularlyPerturbedSystems.DProofsBibliographySymbolsIndexCONTENTS367367369371375381392394PrefaceThisbookemergesfrommyearlierbookNonlinearSystems,butitisnotafourtheditionofitnorareplacementforit.ItsmissionandorganizationaredifferentfromNonlinearSystems.WhileNonlinearSystemswasintendedasareferenceandatextonnonlinearsystemanalysisanditsapplicationtocontrol,thisbookisintendedasatextforafirstcourseonnonlinearcontrolthatcanbetaughtinonesemester（fortylectures）.Thewritingstyleisintendedtomakeitaccessibletoawideraudiencewithoutcompromisingtherigor,whichisacharacteristicofNonlinearSystems.Proofsareincludedonlywhentheyareneededtounderstandthematerial;otherwisereferencesaregiven.Inafewcaseswhenitisnotconvenienttofindtheproofsintheliterature,theyareincludedintheAppendix.WiththesizeofthisbookabouthalfthatofNonlinearSystems,naturallymanytopicshadtoberemoved.Thisisnotareflectionontheimportanceofthesetopics;ratheritismyjudgementofwhatshouldbepresentedinafirstcourse.InstructorswhousedNonlinearSystemsmaydisagreewithmydecisiontoexcludecertaintopics;tothemIcanonlysaythatthosetopicsarestillavailableinNonlinearSystemsandcanbeintegratedintothecourse.Anelectronicsolutionmanualisavailabletoinstructorsfromthepublisher,nottheauthor.TheinstructorswillalsohaveaccesstoSimulinkmodelsofselectedexercises.TheInstructorResourceCenter（IRC）forthisbook（www.pearsonglobaljkhalil）containsthesolutionmanual,theSimulinkmodelsofselectedexamplesandthepdfslidesofthecourse.TogainaccesstotheIRC,pleasecontactyourlocalPearsonsalesrepresentative.ThebookwastypesetusingToJEX.ComputationsweredoneusingMATLABandSimulink.ThefiguresweregeneratedusingMATLABorthegraphicstoolofToJEX.Iamindebtedtomanycolleagues,students,andreadersofNonlinearSystems,andreviewersofthismanuscriptwhosefeedbackwasagreathelpinwritingthisbook.IamgratefultoMichiganStateUniversityforanenvironmentthatallowedmetowritethebook,andtotheNationalScienceFoundationforsupportingmyresearchonnonlinearfeedbackcontrol.HassanKhalilPearsonwouldliketothankandacknowledgeLaluSeban（NationalInstituteofTechnology,Silchar）andZhiyunLin（ZhejiangUniversity）fortheircontributionstotheGlobalEdition,andSunandaKhosla（writer）,RatnaGhosh（JadavpurUniversity）,andNikhilMarriwala（KurukshetraUniversity）forreviewingtheGlobalEdition.11Chapter1IntroductionThechapterstartsinSection1.1withadefinitionoftheclassofnonlinearstatemodelsthatwillbeusedthroughoutthebook.Itbrieflydiscussesthreenotionsassociatedwiththesemodels:

existenceanduniquenessofsolutions,changeofvariables,andequilibriumpoints.Section1.2explainswhynonlineartoolsareneededintheanalysisanddesignofnonlinearsystems.Section1.3isanoverviewofthenexttwelvechapters.1.1NonlinearModelsWeshalldealwithdynamicalsystems,modeledbyafinitenumberofcoupledfirstorderordinarydifferentialequations:

X1f1（t,X1,.,Xn,U1,.,Um）X2f2（t,X1,.,Xn,U1,.,Um）whereXidenotesthederivativeofXiwithrespecttothetimevariabletandu1,u2,.,Umareinputvariables.Wecallx1,x2,.,Xnthestatevariables.Theyrepresentthememorythatthedynamicalsystemhasofitspast.Weusuallyuse1314CHAPTER1.INTRODUCTIONvectornotationtowritetheseequationsinacompactform.Definef1（t,x,u）X=u=,J（t,x,u）=fn（t,x,u）andrewritethenfirst-orderdifferentialequationsasonen-dimensionalfirst-ordervectordifferentialequationx=f（t,x,u）（1.1）Wecall（1.1）thestateequationandrefertoxasthestateanduastheinput.Sometimesanotherequation,y=h（t,x,u）（1.2）isassociatedwith（1.1）,therebydefiningaq-dimensionaloutputvectorythatcomprisesvariablesofparticularinterest,likevariablesthatcanbephysicallymeasuredorvariablesthatarerequiredtobehaveinaspecifiedmanner.Wecall（1.2）theoutputequationandrefertoequations（1.1）and（1.2）togetherasthestate-spacemodel,orsimplythestatemodel.SeveralexamplesofnonlinearstatemodelsaregiveninAppendixAandin