第 1 章绪论 ·····································1__eol__1.1 自动控制的基本概念·················1__eol__1.1.1 自动控制的定义·····················1__eol__1.1.2 控制理论的发展过程················1__eol__1.1.3 自动控制系统的组成················2__eol__1.1.4 自动控制系统的基本控制__eol__方式···································4__eol__1.2 自动控制系统的分类·················6__eol__1.3 对自动控制系统的基本要求········7__eol__1.4 控制系统实例···························8__eol__1.4.1 电冰箱制冷控制系统················8__eol__1.4.2 函数记录仪···························9__eol__1.4.3 炉温控制系统······················ 10__eol__本章小结······································ 11__eol__习题············································ 11__eol__第2 章控制系统的数学模型············· 13__eol__2.1 微分方程的建立······················ 13__eol__2.2 传递函数······························· 14__eol__2.2.1 传递函数的基本概念·············· 14__eol__2.2.2 传递函数的性质··················· 15__eol__2.2.3 典型环节及其传递函数··········· 16__eol__2.3 结构图·································· 17__eol__2.3.1 结构图的组成和绘制·············· 17__eol__2.3.2 结构图的等效变换················· 18__eol__2.4 信号流图······························· 23__eol__2.4.1 信号流图的基本概念·············· 23__eol__2.4.2 信号流图的绘制··················· 24__eol__2.4.3 梅森增益公式及其应用··········· 25__eol__本章小结······································ 26__eol__习题············································ 27__eol__第3 章线性系统的时域分析············· 29__eol__3.1 典型输入信号························ 29__eol__3.2 自动控制系统的时域性能__eol__指标····································· 31__eol__3.3 一阶系统的时域分析··············· 32__eol__3.3.1 一阶系统的数学模型·············· 32__eol__3.3.2 一阶系统的单位阶跃响应及__eol__性能分析··························· 32__eol__3.3.3 一阶系统的单位斜坡响应及__eol__性能分析··························· 33__eol__3.3.4 一阶系统的单位加速度响应及__eol__性能分析··························· 33__eol__3.3.5 一阶系统的单位脉冲响应及__eol__性能分析··························· 34__eol__3.4 二阶系统的时域分析··············· 34__eol__3.4.1 二阶系统的数学模型·············· 34__eol__3.4.2 二阶系统的单位阶跃响应········ 35__eol__3.4.3 欠阻尼二阶系统的动态性能__eol__分析································ 37__eol__3.4.4 二阶系统的单位斜坡响应········ 42__eol__3.4.5 二阶系统性能的改善·············· 44__eol__3.5 高阶系统的时域分析··············· 46__eol__3.6 稳定性分析···························· 48__eol__3.6.1 系统稳定的充分必要条件········ 49__eol__3.6.2 劳斯判据··························· 50__eol__3.6.3 相对稳定性························ 53__eol__3.7 稳态误差······························· 54__eol__3.7.1 误差的定义························ 54__eol__3.7.2 输入引起的稳态误差·············· 55__eol__3.7.3 静态误差系数······················ 56__eol__3.7.4 扰动作用下的稳态误差··········· 59__eol__3.7.5 改善系统稳态精度的方法········· 60__eol__本章小结······································ 62__eol__习题············································ 63__eol__第4 章根轨迹法 ····························· 67__eol__4.1 根轨迹的基本概念··················· 67__eol__4.1.1 根轨迹······························ 67__eol__4.1.2 根轨迹方程························· 68__eol__4.2 根轨迹图的绘制法则··············· 70__eol__4.3 参数根轨迹···························· 80__eol__4.4 利用根轨迹分析系统性能········· 82__eol__4.4.1 已知根轨迹增益确定闭环极点__eol__和传递函数························· 82__eol__4.4.2 已知系统性能指标确定闭环__eol__极点································· 83__eol__4.4.3 增加开环零点对系统性能的__eol__影响································· 84__eol__4.4.4 增加开环极点对系统性能的__eol__影响································· 87__eol__本章小结······································ 88__eol__习题············································ 89__eol__第5 章线性系统的频域分析············· 92__eol__5.1 频率特性的基本概念··············· 92__eol__5.1.1 频率特性的定义··················· 92__eol__5.1.2 频率特性的表示方法·············· 93__eol__5.2 典型环节及系统频率特性········· 94__eol__5.2.1 典型环节的频率特性·············· 95__eol__5.2.2 开环系统的频率特性·············103__eol__5.3 频域特性法的稳定性分析········109__eol__5.3.1 奈奎斯特稳定判据················109__eol__5.3.2 稳定裕度··························114__eol__5.3.3 开环对数幅频特性曲线与__eol__系统性能之间的关系·············117__eol__本章小结·····································126__eol__习题···········································127__eol__第6 章控制系统设计······················131__eol__6.1 概述····································131__eol__6.2 PID 控制器··························· 131__eol__6.2.1 PID 控制器概述·····