上海交通大学：《现代控制理论 Modern Control Theory》课程教学资源（课件讲稿）第五章 系统稳定性

5.1 引言 5.2 实现和最小实现 5.3 线性定常系统的最小实现

5.1 引言 5.2 实现和最小实现 5.3 线性定常系统的最小实现

3.1 线性系统的外部稳定性 3.2 系统的内部稳定性 3.3 李亚普诺夫判定稳定性方法

• Classification of systems • State variable description • State space model of linear systems • Linear-time-invariant systems • Linearization • Transfer function and state space model

• Concepts of linear Ordinary Differential Equations • Solution of linear state equations • Similarity Transformation • Discretization of state space model • Realization of rational transfer functions • Canonical forms

• Definition of controllability • Definition of observability • Detective methods for controllability • Detective methods for observability • Decomposition

• Optimal control from Hamilton-Pontryagin Equation • Optimal Control Law for Linear System with Quadratic Performance Index • Design procedure and examples

• State feedback and design of feedback matrix • Design of state estimator • Feedback control with estimated states

• Input-output stability • Internal stability • Lyapunov theorem • Stability analysis of LTI systems