1 4.1 Traditional Design Methods 2 4.2 H∞ PID Controllers for the First-Order Plant 3 4.3 H∞ PID controller and the Smith Predictor 4 4.4 Quantitative Performance and Robustness 5 4.5 H∞ PID Controllers for the Second-Order Plant 6 4.6 All Stabilizing PID Controllers for Stable Plants

1 3.1 Norms and System Gains 2 3.2 Internal Stability and Performance 3 3.3 Controller Parameterization 4 3.4 Robust Stability and Robust Performance 5 3.5 Robustness of Systems with Time Delays

1 2.1 Process Dynamic Responses 2 2.2 Rational Approximations for Time Delay 3 2.3 Time Domain Performance Indices 4 2.4 Frequency Response Analysis 5 2.5 Transformation of Two Commonly Used Models 6 2.6 Design Requirements and Method Comparison

1 1.1 A Brief History of Control Theory 2 1.2 Design of Feedback Control Systems 3 1.3 Consideration on Control System Design 4 1.4 What This Book is About 5 References for Reading

本教学大纲是针对北京大学生命科学院和医学部本科生学习的无机化学课程编写的。本课程为生命科学院和医学部学生的基础课，它是本科生在一年级时的必修课程。课程的主要内容包括：化学热力学和结构化学的基本知识，酸碱电离等四大平衡的基本理论，有关气体、液体和溶液的基本概念，元素及其化合物的基本性质和定性分析等。本课程的目的是要求学生掌握无机化学的基本概念、基本理论、元素及无机化合物的基本性质规律以及定性分析方法，为学生后续化学课以及相关专业课的学习打好基础

I. 平均分析方法与边际分析方法 II. 寡头市场中的战略与定价 III. 垄断 IV. 产品差异 V. 企业理论 VI. 论企业的分工性质 VII. 新兴古典经济学的基本方法 VIII. 纵向关系与产业集群的市场条件 IX. 兼并与收购 X. 市场结构与盈利能力

1 8.1 Controller Parameterization for General Plants 2 8.2 H∞ PID Controllers for Unstable Plants 3 8.3 H2 PID Controllers for Unstable Plants 4 8.4 Performance Limitation and Robustness 5 8.5 Maclaurin PID Controllers for Unstable Plants 6 8.6 PID Design for the Best Achievable Performance 7 8.6 All Stabilizing PID Controllers for Unstable Plants

1 7.1 The Feature of Integrating Systems 2 7.2 H∞ PID Controllers for Integrating Plants 3 7.3 H2 PID Controllers for Integrating Plants 4 7.4 Controller Design for General Integrating Plants 5 7.5 Maclaurin PID Controllers for Integrating Plants 6 7.6 Best Achievable Performance of a PID Controllers

1 6.1 The Quasi-H∞ Smith Predictor 2 6.2 The H2 Optimal Controller and the Smith Predictor 3 6.3 Equivalents of the Optimal Controller 4 6.4 The PID Controller and High-Order Controllers 5 6.5 Choice of Weighting Functions 6 6.6 Simplified Tuning for Quantitative Robustness

课程目的和基本要求：·课程性质 技术基础 ·基础知识要求 数学分析(或者高等数学),离散数学 ·主要特点 抽象和形式化 理论证明和构造性 基本模型的建立与性质