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 CompensationExperiment 4.1Experiment of Series LeadCompensation 4.2Experiment of Series LagCompensation 4.3Requirements of the ExperimentReport4.4Experiment Notes4.5Experiment 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 AssignmentExperiment 5.1Pole Assignment PrincipleIntroduction 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 Controllabilityand Pole Assignment 5.3Experiment Instruction 5.4Requirements of the ExperimentReport 5.4Experiment Notes Chapter 6Design Experiment ofPID Controller 6.1Analysis on MathematicalModel of PID Controller 6.2Design Experiment of PIDController 6.2.1Proportional (P) ControlExperiment 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 Instruction6.4Requirements for the ExperimentReport6.5Experiment NotesChapter 7The Linear QuadraticRegulator Optimal ControlAlgorithm (LQR) ControlExperiment 7.1The Theoretical Analysis 7.1.1The LQR Optimal ControlTheory7.1.2LQR Control Algorithm7.2The Simulation of LQRController 7.2.1Weight Q’s Influence onthe System Responses 7.2.2Eliminate the Steady-StateError 7.3The Actual Control of LQRController 7.4Experimental Steps 7.5Experiment Instruction7.6Requirements of the ExperimentReport Chapter 8Fuzzy Controller Design for Ball-beam System8.1Introduction of Ball-beamSystem8.1.1Structure of Ball-beam System8.1.2The Structure of Ball-beamSystem8.2The Modelling of Ball-beamSystem8.2.1The Analysis of ModellingMethods6.2.4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-beamSystem8.2.3Modelling of Ball-beam Systemby Lagrange Method8.2.4Ball-beam System ModellingAnalysis8.3Fuzzy Controller Design8.3.1The Component and Principleof Fuzzy Controller8.3.2The Design and Experiment ofFuzzy Controller for Ball-beamSystem8.3.3The Realize of Ball-beam SystemFuzzy Controller8.3.4Improvement and Simulation of theBall－beam Fuzzy Controller8.4The Physical Control System ofBall-beam System8.5summaryChapter 9BP－PID Controller Designand Experiment9.1Neural Network Control(NNC)9.1.1The Methodology of NNC9.1.2The Design of BP-PIDController9.2BP-PID Controller Structureand Algorithm9.2.1BP-PID Controller Structure9.2.2BP-PID Control Algorithm9.2.3Convergence and Stability Analysisof BP-PID Controller9.3BP-PID Controller Design