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一、引言从1932年Nyguist提出频域稳定性判据开始,到1945年出现了Bode图,1947年出现了Nichols图,从而奠定了古典控制理论的基石。六十年代现代控制理论的发展,使古老的频域法研究受到很大的冲击。计算机特别是微型计算机的广泛应用,为古典频域法的新生提供了机会。1974年,Rosenbrock的名著问世,开创了控制系统CAD的崭新局面。众所周知,频域分析具有清晰的物理概念,一条频域曲线所包含的信息远比一条时域响应曲线丰富,频域指标对于鲁棒性系统的设计具有重要的指导意义,因而又成了当今控制界的一个热门课题。同时,统计表明目
I. INTRODUCTION Starting from the Nyquist frequency stability criterion proposed in 1932, Bode plots appeared in 1945 and Nichols plots appeared in 1947, laying the cornerstone of classical control theory. The development of modern control theory in the 1960s has brought a great impact on the study of the old frequency domain. The widespread use of computers, especially microcomputers, provides an opportunity for freshmen in classical frequency domain methods. In 1974, Rosenbrock’s masterpiece came out, creating a new situation in the control system CAD. It is well-known that the frequency domain analysis has a clear physical concept. The information contained in a frequency domain curve is far more abundant than the response curve in a time domain. The frequency domain index has an important guiding significance for the design of a robust system and thus becomes the current control A hot topic in the community. At the same time, statistics show that the goal