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preface
chapter 0  backgrounds
  0.1  development of control theory
  0.2  main contents of modern control theory
chapter 1  mathematical description of systems
  1.1  example
  1.2  basic definitions
  1.3  system descriptions
  1.4  finding state equations from high-differential operator representation
    1.4.1  controllable canonical form
    1.4.2  observable canonical form
    1.4.3  other special form
  1.5  block diagram
  1.6  transfer function from state space representation
    1.6.1  definition
    1.6.2  calculation for the transfer function matrix
  1.7  composite systems
    1.7.1  tandem connection
    1.7.2  parallel connection
    1.7.3  feedback connection
  1.8  equivalent transformation
    1.8.1  equivalent transformation of the state space description for linear systems
    1.8.2  diagonal canonical form and jordan canonical form of the system
    1.8.3  invarianee of the system matrix and transfer function matrix
  1.9  application of matlab in the representation of linear systems
  1.10  exercises
chapter 2  solutions
  2.1  state transition matrix
  2.2  matrix exponential
    2.2.1  definition
    2.2.2  properties of the matrix exponential
    2.2.3  calculations for the matrix exponential
  2.3  solution of linear time-invariant systems
  2.4  solution of linear time-varying systems
  2.5  linear discrete time-invariant systems
    2.5.1  discretization of linear discrete time-invariant systems  "
    2.5.2  solutions of the linear discrete time-invariant systems
  2.6  matlab for linear system motion analysis
  2.7  exercises
chapter 3  controllability and observability
  3.1  definitions
    3.1.1  controllability
    3.1.2  observability
  3.2  controllability of linear continuous systems
    3.2.1  time-invariant systems
    3.2.2  time-varying systems
    3.2.3  controllability index
  3.3  observability of linear continuous systems
    3.3.1  time-invariant systems
    3.3.2  time-varying systems
    3.3.3  observability index
  3.4  principle of duality
  3.5  controllable and observable canonical forms of siso
  3.6  structural decomposition of linear systems
    3.6.1  controllability and observability of linear time-invariant systems with nonsingular transformation
    3.6.2  controllability decomposition
    3.6.3  observable decomposition
    3.6.4  canonical decomposition
  3.7  matlab application for controllability and observability
  3.8  exercises
chapter 4  irreducible realizations
  4.1  introduction
  4.2  the realization of transfer function matrix of siso control systems..
  4.3  the realization of transfer function matrix of mimo control systems
  4.4  the minimal realization
  4.5  irreducible realization by matlab
  4.6  exercises
chapter 5  stability
  5.1  definitions
  5.2  stability criteria
    5.2.1  routh criterion
    5.2.2  root locus method
    5.2.3  the first method of lyapunov
    5.2.4  the second method of lyapunov
    5.2.5  krasovsky discriminance
    5.2.6  variable gradient method
  5.3  application of matlab in stability
  5.4  exercises
chapter 6  feedbacks
  6.1  definitions
    6.1.1  state feedbacks
    6.1.2  output feedbacks
    6.1.3  derivative feedback
  6.2  the effects of controllability and observability by feedback
    6.2.1  state feedbacks
    6.2.2  output feedbacks
  6.3  pole assignment
    6..3.1  siso case
    6.3.2  mimo case
  6.4  stabilization
  6.5  decoupling
    6.5.1  the statement of decoupling control problem
    6.5.2  necessary and sufficient conditions for decoupling systems with the state feedback
  6.6  application of matlab in feedback
    6.6.1  state feedback and pole assignment by matlab
    6.6.2  decoupling by matlab
  6.7  exercises
chapter 7  observers
  7.1  basic concepts
  7.2  dimensional state observers
  7.3  reduced-dimensional state observers
  7.4  feedback system with state observers
  7.5  design state observers by matlab
  7.6  exercises
chapter 8  optimal control
  8.1  optimal control problems
    8.1.1  examples
    8.1.2  description of optimal control problems
  8.2  the calculus of variations to the optimal control
    8.2.1  the basis of yhnctional and variation
    8.2.2  the eulerian equation
    8.2.3  conditional extremum
    8.2.4  the calculus of variation
  8.3  linear quadratic regulator problems
    8.3.1  the statement of lqr
    8.3.2  the finite-time state regulator problems
   8.3.3  the infinite-time state-regulator problems
   8.3.4  the output-regulator problems
   8.3.5  the tracking problems
  8.4  the application of matlab in optimal control problems.-
  8.5  exercises
bibliography