前言
第1章概述
第2章二阶系统数学建模实验
2.1便携式单自由度机械臂的数学
建模原理
2.2单自由度机械臂系统数学建
模实验
2.2.1直流电动机的参数辨识
实验
2.2.2电动机的阶跃响应实验
2.3实验指导书
2.4实验报告要求
2.5实验注意事项
第3章控制系统的根轨迹校正
实验
3.1被控对象的传递函数与根
轨迹图分析
3.2根轨迹超前校正系统设计
与实验
3.3根轨迹滞后校正系统设计
与实验
3.4实验指导书
3.5实验报告要求Chapter 4Frequency Compensation
Experiment
4.1Experiment of Series Lead
Compensation
4.2Experiment of Series Lag
Compensation
4.3Requirements of the Experiment
Report
4.4Experiment Notes
4.5Experiment Instruction
Experiment Handout for Automatic Control Theory and Application自动控制理论与应用实验指导CONTENTS目录 Chapter 5Pole Assignment
Experiment
5.1Pole Assignment Principle
Introduction
5.2Analysis of the POFR-Arm Poles Assiguments to Improve System Performance
5.2.1State Space Model of the
POFR-Arm System
5.2.2Check the Condition of Controllability
and Pole Assignment
5.3Experiment Instruction
5.4Requirements of the Experiment
Report
5.4Experiment Notes
Chapter 6Design Experiment of
PID Controller
6.1Analysis on Mathematical
Model of PID Controller
6.2Design Experiment of PID
Controller
6.2.1Proportional P Control
Experiment
6.2.2Proportional Plus Derivative
PD Control Experiment
6.2.3Proportional Integral PI
Control Experiment
第4章频率法校正实验
4.1串联超前校正实验
4.2串联滞后校正实验
4.3实验指导书
4.4实验报告要求
4.5实验注意事项
第5章极点配置实验
5.1极点配置原理简介
5.2单自由度机械臂极点配置对
改善控制系统性能的分析
5.2.1单自由度机械臂系统的状态
空间模型
5.2.2检查系统的能控性与极点配
置条件
5.3实验指导书
5.4实验报告要求
5.5实验注意事项
第6章PID控制器设计实验
6.1PID控制器的数学模型分析
6.2PID控制器设计实验
6.2.1比例（P）控制实验
6.2.2比例微分（PD）控制实验
6.2.3比例积分（PI）控制
实验
6.2.4Proportional Integral Differential
PID Control Experiment
6.3Experiment Instruction
6.4Requirements for the Experiment
Report
6.5Experiment Notes
Chapter 7The Linear Quadratic
Regulator Optimal Control
Algorithm LQR Control
Experiment
7.1The Theoretical Analysis
7.1.1The LQR Optimal Control
Theory
7.1.2LQR Control Algorithm
7.2The Simulation of LQR
Controller
7.2.1Weight Q’s Influence on
the System Responses
7.2.2Eliminate the Steady-State
Error
7.3The Actual Control of LQR
Controller
7.4Experimental Steps
7.5Experiment Instruction
7.6Requirements of the Experiment
Report
Chapter 8Fuzzy Controller Design for Ball-beam System
8.1Introduction of Ball-beam
System
8.1.1Structure of Ball-beam System
8.1.2The Structure of Ball-beam
System
8.2The Modelling of Ball-beam
System
8.2.1The Analysis of Modelling
Methods6.2.4比例积分微分（PID）
控制实验
6.3实验指导书
6.4实验报告要求
6.5实验注意事项
第7章线性二次型最优控制算法LQR控制实验
7.1理论分析
7.1.1线性二次型最优控制原理
7.1.2系统LQR控制算法
7.2LQR控制器的仿真
7.2.1权值Q对系统响应的影响
7.2.2消除稳态误差
7.3LQR控制器的实际控制
7.4实验步骤
7.5实验指导书
7.6实验报告要求
第8章针对球杆系统的模糊
控制器设计实验
8.1球杆系统简介
8.1.1球杆系统组成
8.1.2球杆系统控制结构
8.2球杆系统的数学模型建立
8.2.1建模方法的选择
8.2.2The Parameters of Ball-beam
System
8.2.3Modelling of Ball-beam System
by Lagrange Method
8.2.4Ball-beam System Modelling
Analysis
8.3Fuzzy Controller Design
8.3.1The Component and Principle
of Fuzzy Controller
8.3.2The Design and Experiment of
Fuzzy Controller for Ball-beam
System
8.3.3The Realize of Ball-beam System
Fuzzy Controller
8.3.4Improvement and Simulation of the
Ball－beam Fuzzy Controller
8.4The Physical Control System of
Ball-beam System
8.5summary
Chapter 9BP－PID Controller Design
and Experiment
9.1Neural Network Control
NNC
9.1.1The Methodology of NNC
9.1.2The Design of BP-PID
Controller
9.2BP-PID Controller Structure
and Algorithm
9.2.1BP-PID Controller Structure
9.2.2BP-PID Control Algorithm
9.2.3Convergence and Stability Analysis
of BP-PID Controller
9.3BP-PID Controller Design
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