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1、LectureNotesinControlandInformationSciencesEditedbyM.Thoma72A.IsidoriNonlinearControlSystems:AnIntroductionSpringer-VerlagBerlinHeidelbergNewYorkTokyoSeriesEditorM.ThomaAdvisoryBoardA.V.BalakrishnanL.D.DavissonA.G.J.MacFarlaneH.Kwakernaak.1.L.MasseyYaZ.TsypkinA.J.
2、ViterbiAuthorProf.AlbertoIsidoriDipartimentodiInformaticaeSistemisticaUniversit&diRoma,,LaSapienza-18ViaEudossiana00184Rome(Italy)ISBN3-540-15595-3Springer-VerlagBerlinHeidelbergNewYorkTokyoISBN0-38?-15595-3Springer-VerlagNewYorkHeidelbergBerlinTokyoLibraryofCongr
3、essCataloginginPublicationDataIsidor[,Alberto:Nonlinearcontrolsystems:anintroduction/A.Isidori.Berlin;Heidelberg;NewYork;Tokyo:Springer1985.(Lecturenotesincontrolandinformationsciences;Vol.72)NE:GTThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeor
4、partofthematerialisconcerned,specificallythoseoftranslation,reprinting,re-useofillustrations,broadcasting,reproductionbyphotocopyingmachineorsimilarmeans,andstorageindatabanks,under§54oftheGermanCopyrightLawwherecop!esaremadeforotherthanprivateuse,afeeispayabteto"
5、VerwertungsgeseHschaftWort=,Munich.©Springer-VerlagBerlin,Heidelberg1985PdntedinGermanyOffsetprinting:Mercedes-Druck,BerlinBinding:L~deritzundBauer,Berlin2161/3020-543210PREFACEThisvolumewasplannedasatextbookforagraduatecourseonnonlinearmultivariablefeedbacksystem
6、s.MostofitwaspreparedwhiletheauthorwasteachingasimilarcourseattheDepartmentofSystemsSciencesandMathematicsoftheWashingtonUniversityinSt.Louis,inthe1983fallsemester.Thepurposeof-thevolumeistopresentaself-containeddescriptionofthefundamentalsofthetheoryofnonlinearfe
7、edbackcontrolsystems,withspecialemphasisonthedifferential-geometricapproach.Inthelastdecade,differentialgeometryhasproventobeassuccessfultothestudyofnonlinearsystemsasLaplacetransformandcomplexfunctionstheorywereinthe'50stothestudyofsingle-inputsingle-outputlinear
8、systemsandlinearalgebrainthe'60stothestudyofmultivariablelinearsystems.Typical"synthesis"problemslikedisturbanceisolation,noninteraction,shapingoftheinp
