142
,
130025,
email: chenh@jlu.edu.cn
iii
2002
6
30
142
,
130025,
. Email: chenh@jlu.edu.cn
40
21
iv
Richard M. Murray (
)
Calefornia Institute of Technology
Karl J. Åström
Pramod P. Khargonekar
Lund Institute of Technology
University of Florida
Stephen P. Boyd
P.R. Kumar
Stanford University
University of Illinois
Siva S. Banda
P.S. Krishnaprasad
Air Force Research Laboratory
University of Maryland
Roger W. Brockett
Greg J. McRae
Harvard University
Massachusetts Institute of Technology
John A. Burns
Jerrold E. Marsden
Virginia Tech
California Institute of Technology
Munzer A. Dahleh
George Meyer
Massachusetts Institute of Technology
NASA Ames Research Center
John C. Doyle
William F. Powers
California Institute of Technology
Ford Motor Company
John Guckenheimer
Gunter Stein
Cornell University
Honeywell International
Charles J. Holland
Pravin Varaiya
Department of Defense
University of California, Berkeley
Richard Albaness, Jim Battersssson, Richard Braatz, Dennis Bernstein, Joel Bur-
dick, Raaello D'Andrea, Michael Dickinson, Frank Doyle, Martha Gallivan, Jonathan
How, Marc Jacobs,Jared Leadbetter, Jesse Leitner, Steven Low, Hideo Mabuchi, Di-
anne Newman, Shankar Sastry, John Seinfeld, Eduardo Sontag, Anna Stefanopoulou,
Allen Tannenvaum, Claire Tomlin, Kevin Wise
v
vii
1
1
2
7
2.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3
. . . . . . . . . . . . . . . . . . . 17
2.4
. . . . . . . . . . . . . . . . . . . . . . . 19
3
25
3.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.3
. . . . . . . . . . . . . . . . . . . . . . . . . 43
3.4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.5
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4
69
4.1
. . . . . . . . . . . . . . . . . . . . . . . . . 69
4.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . 71
4.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.4
K-12
. . . . . . . . . . . . . . . . . 73
4.5
. . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5
79
5.1
. . . . . . . . . . . . . . . . . . . . . 79
5.2
. . . . . . . . . . . . . . . . . . . . . . . . 80
vi
5.3
. . . . . . . . . . . . . . . . . . . . . . . 80
5.4
. . . . . . . . . . . . . . . . 82
5.5
. . . . . . . . . . . . . . . . . . . . . . . . . 82
5.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
A NSF/CSS
85
89
vii
2000
4
AFOSR (Air Force
O ce of Scienti c Research)
Richard Murray
(Caltech)
Roger Brock-
ett
(Harvard), John Burns
(VPI), John Doyle
(Caltech)
Gunter
Stein
(Honeywell)
Karl Åström (Lund Institute of
Technology), Siva Banda (Air Force Research Lab), Stephen Boyd (Stanford),
Munxrt Dahleh (MIT), John Guckenheimer (Cornell), Charles Holland (DDR
&
E),
Pramod Khargonekar (University of Florida), P.R. Kumar (University of Illi-
nois), P.S. Krishnsprasad (University of Maryland), Greg McRae (MIT), Jerrold
Marsden (Caltech), George Meyer (NASA), William Powers (Ford)
Pravin
Varaiya (UC Berkeley).
Karl Åström, Stephen Boyd, Roger
Brockett, John Doyle, Richard Murray
Gunter Stein
2000
7
16
17
Maryland
DARPA
AFOSR
http://www.cds.caltech.edu/ murray/cdspanel/
viii
2000
6
1988
Fleming
[15]
1987
IEEE Transactions on Automatic
Control
[25]
[14]
[1, 2, 33, 34]
[35]
[11, 23]
NSF/CSS
[1]
2001
9
11
Marc Q. Jacobs
AFOSR
Richard M. Murry
Pasadena 2002.06
1
1
1.1
1.2a
/
1.2b
(enabling technol-
ogy)
2
(a)
(b)
1.1: 17
80
(a)
(b)
(a)
(b)
1.2:
(a)
777
( y by wire)
(b) Seagate
Barracuda 36ES2
3
40
(enabling
technology)
•
•
•
•
(a)
(b)
1.3:
(a)
(b) NFSNET
4
20
1.3
5
•
•
•
C4ISR
1
•
(hardware-in-the-loop
simulation)
•
1.
1
C4ISR
Command, Control, Communications, Computers, Intelligence, Surveillance,
and Reconnaissance
6
2.
3.
4.
5.
7
2
2.1
set point
( y by wire)
2.1
/
A/D
/
D/A
8
2.1:
50
2.1
9
20
20
40
Bode
Nyquist
/
[9]
20
60
Pontryagin
Bellman
20
80
20
10
/
data-driven
/
2.2a
active restraint
2.2b
2.1
11
2.2:
(a)
[6]
(b)
[32]
,
12
1950
/
F-16
2.2
2.2
13
20
2.3a
(a)
(b)
2.3:
: (a) Honeywell T86
,
1953
,
(b) Chrysler
, 1958
Chrysler Imperial
(
)[21].
1958
2.3b
14
TCP/IP
(a)
(b)
2.4:
: (a) 1903
Wright
(Flyer)
(b) 1987
X-29
2.2
15
Wright
[19](
2.4a)
Wright
Wright
1
2
16
F-16
B2
X-29
2.4b
Wright
Kevin. A. Wise,
20
90
GPS
Gain Scheduled
X-36
F-15 Active
JDAM (Joint Direct Attack Munition)
MMTD (Miniatur-
ized Munition Technology Demonstrator)
4
GEN4
95%
5%
20
90
2.3
17
2.3
2.5
18
2.5:
2.4
19
2.4
40
MEMS
1
2.6
(a)
(b)
(c)
2.6:
(a) 1024x1024 CCD
(b)
MEMS
(c)
(sensor web pod)
1
MEMS
Micro Electromechanical System
20
Hideo Mabuchi
(Caltech)
Hideo Mabuchi
20
2.4
21
Mabuchi
(disruptive technology)
22
2.4
23
5
24
25
3
5
•
•
•
•
•
26
3.1
Wilbur Wright, 1901
[30]
(enabling technology)
20
Wright
Wright
(Flyer)
16
"
"
3.1
27
/
Mark Barron
William Powers,
Mark Barron
Bill Powers
1996
IEEE/ASME Transactions
on Mechatronics
[6]
Barron
Powers
20
60
20
70
20
70
1970
1971
1975
1977
20
70
28
90%
600
o
F
315
o
C
80%
1000
o
F
(
540
o
C
)
[37]
2005
HC
1970
2%
2005
CO
1970
10%
1970
7%
[6]
1950
3.1
29
(a)
(b)
3.1: (a) F-18
"
( y-by-wire)"
(b) X-45
(UCAV)
SISO
R&D
SISO
"
"
"
"