【簡介】 Description Linear systems theory is the cornerstone of control theory and a well-established discipline that focuses on linear differential equations from the perspective of control and estimation. In this textbook, Joao Hespanha covers the key topics of the field in a unique lecture-style format, making the book easy to use for instructors and students. He looks at system representation, stability, controllability and state feedback, observability and state estimation, and realization theory. He provides the background for advanced modern control design techniques and feedback linearization, and examines advanced foundational topics such as multivariable poles and zeros, and LQG/LQR. The textbook presents only the most essential mathematical derivations, and places comments, discussion, and terminology in sidebars so that readers can follow the core material easily and without distraction. Annotated proofs with sidebars explain the techniques of proof construction, including contradiction, contraposition, cycles of implications to prove equivalence, and the difference between necessity and sufficiency. Annotated theoretical developments also use sidebars to discuss relevant commands available in MATLAB, allowing students to understand these important tools. The balanced chapters can each be covered in approximately two hours of lecture time, simplifying course planning and student review. Solutions to the theoretical and computational exercises are also available for instructors. Easy-to-use textbook in unique lecture-style format Sidebars explain topics in further detail Annotated proofs and discussions of MATLAB commands Balanced chapters can each be taught in two hours of course lecture Solutions to exercises available to instructors 【目錄】 Table of Contents Part II: SYSTEM REPRESENTATION Chapter 1: STATE-SPACE LINEAR SYSTEMS Chapter 2: LINEARIZATION Chapter 3: CAUSALITY, TIME INVARIANCE, AND LINEARITY Chapter 4: IMPULSE RESPONSE AND TRANSFER FUNCTION OF STATESPACE SYSTEMS Chapter 5: SOLUTIONS TO LTV SYSTEMS Chapter 6: SOLUTIONS TO LTI SYSTEMS Chapter 7: SOLUTIONS TO LTI SYSTEMS: THE JORDAN NORMAL FORM Part II: STABILITY Chapter 8: INTERNAL OR LYAPUNOV STABILITY Chapter 9: INPUT-OUTPUT STABILITY Chapter 10: PREVIEW OF OPTIMAL CONTROL Part III: CONTROLLABILITY AND STATE FEEDBACK Chapter 11: CONTROLLABLE AND REACHABLE SUBSPACES Chapter 12: CONTROLLABLE SYSTEMS Chapter 13: CONTROLLABLE DECOMPOSITIONS Chapter 14: STABILIZABILITY Part IV: OBSERVABILITY AND OUTPUT FEEDBACK Chapter 15: OBSERVABILITY Chapter 16: OUTPUT FEEDBACK Chapter 17: MINIMAL REALIZATIONS Part V: POLES AND ZEROS OF MIMO SYSTEMS Chapter 18: SMITH-MCMILLAN FORM Chapter 19: STATE-SPACE ZEROS, MINIMALITY, AND SYSTEM INVERSES Part VI: LQR/LQG OPTIMAL CONTROL Chapter 20: LINEAR QUADRATIC REGULATION (LQR) Chapter 21: THE ALGEBRAIC RICCATI EQUATION (ARE) Chapter 22: FREQUENCY DOMAIN AND ASYMPTOTIC PROPERTIES OF LQR Chapter 23: OUTPUT FEEDBACK Chapter 24: LQG/LQR AND THE Q PARAMETERIZATION Chapter 25: Q DESIGN