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  计算机图形学(第三版)
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  软件工程导论(第三版)
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本书主要介绍机械工程、电气工程等工程系统分析与控制的基础理论，主要内容包括工程系统（简称系统）的数学模型、时域分析、根轨迹分析、频域分析，以及工程系统控制设计等。本书的特点是以"工程控制系统—建模—分析—设计”为主线，**突出工程系统控制性能的分析及设计，不强调严格的数学推演，在继续保持第1 版内容的系统性和完整性的基础上，侧重基本概念、思想方法的理解和应用，适应传授理论知识和培养创新能力并重的需要。

目 录 第1 章 绪论 ················································································································.1 1.1 控制与反馈控制 ···································································································.1 1.2 开环控制和闭环控制 ·····························································································.4 1.2.1 开环控制 ···································································································.4 1.2.2 闭环控制 ···································································································.4 1.3 控制系统的分类 ···································································································.5 1.4 控制理论的发展历程 ·····························································································.7 1.5 控制系统性能的基本要求和设计 ··············································································.9 1.5.1 控制系统性能的基本要求 ··············································································.9 1.5.2 控制系统的设计 ·························································································.10 习题 ························································································································.11 第2 章 控制系统的数学模型 ·······················································································.12 2.1 数学模型概述 ·····································································································.12 2.2 控制系统的微分方程 ····························································································.13 2.2.1 控制系统微分方程的建立 ·············································································.13 2.2.2 非线性微分方程的线性化 ·············································································.17 2.3 控制系统的状态方程 ····························································································.20 2.3.1 基本概念 ··································································································.20 2.3.2 线性系统状态空间表达式的建立 ····································································.23 2.4 控制系统的传递函数 ····························································································.26 2.4.1 传递函数的定义和特性 ················································································.26 2.4.2 传递函数的计算 ·························································································.28 2.4.3 传递函数的基本形式 ···················································································.29 2.4.4 典型环节的传递函数 ···················································································.30 2.5 控制系统的框图 ··································································································.35 2.5.1 框图的组成及建立步骤 ················································································.35 2.5.2 框图的等效变换 ·························································································.36 2.5.3 梅逊公式 ··································································································.43 2.6 控制系统的传递函数 ····························································································.47 2.6.1 闭环控制系统的开环传递函数 ·······································································.47 2.6.2 闭环控制系统的闭环传递函数 ·································��·····································.48 2.7 应用MATLAB 建立系统数学模型 ···········································································.51 2.7.1 传递函数的MATLAB 模型 ···········································································.51 2.7.2 状态空间表达式的MATLAB 模型 ··································································.55 习题 ························································································································.58 第3 章 控制系统的时域分析 ·······················································································.66 3.1 概述 ·················································································································.66 3.2 控制系统的典型输入信号 ······················································································.67 3.3 控制系统时域响应的求解 ···

谭跃刚，工学博士，现为武汉理工大学机电工程学院教授、博士生导师。研究方向为机器人及其控制、控制理论与应用、机械装备动态监测技术与应用。