3.1 系统的数学模型 3.2 系统的时域分析 3.3 系统的根轨迹分析 3.4 系统的频域分析 3.5 系统的性质分析 3.6 离散系统的分析

频率特性 典型环节的频率特性 系统的开环频率特性 频域稳定性判据 稳定裕度 频率特性分析

频率特性 典型环节的频率特性 系统的开环频率特性 频域稳定性判据 稳定裕度 频率特性分析

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

1 5.1 H2 PID Controllers for the First-Order Plant 2 5.2 Quantitative Tuning of H2 PID Controllers 3 5.3 H2 PID Controllers for the Second-Order Plant 4 5.4 Control of Inverse Response Processes 5 5.5 PID Controllers Based on the Maclaurin Series Expansion 6 5.6 PID Controllers with the Best Achievable Performance 7 5.7 Choice of the Filter

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