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1 142, ,

3 iii , ,. chenh@jlu.edu.cn 40 21

4 iv Richard M. Murray ( ) Calefornia Institute of Technology Karl J. Åström Lund Institute of Technology Stephen P. Boyd Stanford University Siva S. Banda Air Force Research Laboratory Roger W. Brockett Harvard University John A. Burns Virginia Tech Munzer A. Dahleh Massachusetts Institute of Technology John C. Doyle California Institute of Technology John Guckenheimer Cornell University Charles J. Holland Department of Defense Pramod P. Khargonekar University of Florida P.R. Kumar University of Illinois P.S. Krishnaprasad University of Maryland Greg J. McRae Massachusetts Institute of Technology Jerrold E. Marsden California Institute of Technology George Meyer NASA Ames Research Center William F. Powers Ford Motor Company Gunter Stein Honeywell International Pravin Varaiya University of California, Berkeley Richard Albaness, Jim Battersssson, Richard Braatz, Dennis Bernstein, Joel Burdick, Raaello D'Andrea, Michael Dickinson, Frank Doyle, Martha Gallivan, Jonathan How, Marc Jacobs,Jared Leadbetter, Jesse Leitner, Steven Low, Hideo Mabuchi, Dianne Newman, Shankar Sastry, John Seinfeld, Eduardo Sontag, Anna Stefanopoulou, Allen Tannenvaum, Claire Tomlin, Kevin Wise

5 v vii K

6 vi A NSF/CSS 85 89

7 vii AFOSR (Air Force Oce of Scientic Research) Richard Murray (Caltech) Roger Brockett (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 Illinois), 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 Maryland DARPA AFOSR murray/cdspanel/

8 viii Fleming [15] 1987 IEEE Transactions on Automatic Control [25] [14] [1, 2, 33, 34] [35] [11, 23] NSF/CSS [1] Marc Q. Jacobs AFOSR Richard M. Murry Pasadena

9 a / 1.2b (enabling technology)

10 2 概要 (a) (b) 图 1.1: 17世纪80年代制造的离心调速器(a) 使导致工业革命的瓦特蒸汽机(b) 的出现成为可能 (a) (b) 图 1.2: 控制的应用 (a) 波音777 线传操控( y by wire) 客机和(b) Seagate Barracuda 36ES2 磁盘驱动器制作为一种手段保证系统存在不确定性时的鲁棒性这一点正好解释了为什么在现代技术社会里反馈控制系统充斥在人们的周围反馈控制系统存在于家庭汽车和家用电器中存在于工厂和通讯系统中存在于运输系统军事装备及太空系统中控制的应用是相当广泛的并涉及大量不同领域的应用这包括机电系统的控制其中利用计算机控制的执行器和传感器调节系统的动态电子系统的控制其中利用反馈来补偿元件或参数变化以保证可靠的可重复的特性信息和决策系统的控制其中根据对未来需求的估计完成有限资源的动态分配在诸如生物医药和经济学等领域也能发现控制规律的应用其中随处可见反馈机制在工程系统中控制也越来越重要如果控制系统不工作了则整个系统将不再工作

11 3 40 (enabling technology) (a) (b) 1.3: (a) (b) NFSNET

13 5 C4ISR 1 (hardware-in-the-loop simulation) 1. 1 C4ISR Command, Control, Communications, Computers, Intelligence, Surveillance, and Reconnaissance

15 set point (y by wire) 2.1 / A/D / D/A

16 8 2.1: 50

17 Bode Nyquist / [9] Pontryagin Bellman

18 10 / data-driven / 2.2a active restraint 2.2b

19 : (a) [6] (b) [32],

20 / F

21 a (a) (b) 2.3: : (a) Honeywell T86, 1953, (b) Chrysler, 1958 Chrysler Imperial ( )[21] b

22 14 TCP/IP (a) (b) 2.4: : (a) 1903 Wright (Flyer) (b) 1987 X-29

23 Wright [19]( 2.4a) Wright Wright 1 2

24 16 F-16 B2 X b Wright Kevin. A. Wise, GPS Gain Scheduled X-36 F-15 Active JDAM (Joint Direct Attack Munition) MMTD (Miniaturized Munition Technology Demonstrator) 4 GEN4 95% 5% 20 90

26 18 2.5:

27 MEMS (a) (b) (c) 2.6: (a) 1024x1024 CCD (b) MEMS (c) (sensor web pod) 1 MEMS Micro Electromechanical System

28 20 Hideo Mabuchi (Caltech) Hideo Mabuchi 20

29 Mabuchi (disruptive technology)

30 22

32 24

33 25 3 5

34 Wilbur Wright, 1901 [30] (enabling technology) 20 Wright Wright (Flyer) 16 " "

35 / Mark Barron William Powers, Mark Barron Bill Powers 1996 IEEE/ASME Transactions on Mechatronics [6] Barron Powers

36 28 90% 600 o F 315 o C 80% 1000 o F (540 o C) [37] 2005 HC % 2005 CO % % [6] 1950

37 (a) (b) 3.1: (a) F-18 " (y-by-wire)" (b) X-45 (UCAV) SISO R&D SISO " " " "

38 30 [3] " " - [29] " " IF-THEN-ELSE F-16 B-2 3.2

39 : ATC " " GPS ATC

40 [37] 3.3 /

41 : [37] MEMS

42 34 [10] ( ) " " SDIO

43 Random Early Detection RED 0 100% RED Van Jacobson North American Network Operator' Group meeting, 1982 [20] (control of networks) (control over networks),

44 : UUNET TCP

45 TCP IP

46 38 P. K. Kumar, Univ. of Illinos, Urbana-Champaign (OSI)

47 LTI Bode 60 Bode

48 Lyapunov 1890 Lyapunov Stephen Boyd, Stanford Bellman 50 Pontryagain Bellman Lyapunov Lyapunov Bellman Lyapunov MPC MPC

49 National Research Council [32] :

50 42 [36] HVAC 1 HVAC HVAC 1 HVAC Heating, Ventilation, Air Condition and Refrigeration

51 C4ISR Command, Control, Communications, Computers, Intelligence, Surveillance, and Reconnaissance 3.3 Norbert Wiener, The Human Use of Human Beings: Cybernetics and Society, 1950 [42] " " 1948 MIT Norbert Wiener [41] H. S. Tsien 1954

44 [40] Computer Numerically Controlled, CNC Unimation 1961 20 60 70 80 Articial Intelligence, AI (a) (b) 3.

52 44 [40] Computer Numerically Controlled, CNC Unimation Articial Intelligence, AI (a) (b) 3.6: (a) (Sojourner) (b) Sony AIBO (Sojourner) Sony AIBO Sony AIBO " " AI IEEE (Robotics and Automation Society) (Control Systems Society) (Computer Society) 80 90

53 Wiener

54 46 " " compliance Robocup Robocup Raaello D'Andrea, Cornell Robocup F2000 F180 F m 3m 3.7 Cornell Cornell 1999 F

55 : F Cornell Cornell

56 48 " " variable autonomy

57 "Robodoc" [4] Intuitive Surgrical Davinci [31] 3.8 Computer Motion ZEUS [26]

58 50 3.8: Computer Motion Inc. ZEUS T M / 3.4 Mahlon B. Hoagland and B. Dodson, The Way Life Works, 1995 [17]

59 DNA DNA DNA 3.9 / Volterra / RNA

60 52 3.9: [16] PCR

61 E. coli 40% TetR [7] TetR E. coli E. coli OK, [5, 43] λ / [28]

62 54 [13] 3.10

63 : A B 1 C 3.3 Image Guided Therapy, IGT Image Guided Surgery, IGS IGT IGS

64 56 Kalman Magnetic Resonance Imagery, MRI IGT IGS 3.5

65 (a) (b) 3.11: (a) IV (b) %

66 Adersa Aspen Fechnology Honeywell Hi-Spec Invensys Shell Global Solution[38] 20% ITRS (International Technology Roadmap for Semiconductors) 10% 20% Raman

67 (a) (b) 3.12: (a) Tylenol (b) Monte Carlo 60% 20%

68 60 (Hydrodynamic Capillary Separation) (Particle Size Distribution, PSD) PSD PSD PSD

69 PSD Cross Direction, CD 1-D CD Machine Derection, MD, Kappa CD CD enabling technology

70 62 PH PH DNA, RNA, (inducer) Jm105 (E. coli Jm105) CAT E. coli Jm105 GFP CAT CAT GFP GFP 1992 (Aequorea victoria) GFP 3.6,

71 PDES /

72 64 70 Black-Scholes-Mertan

74 66 Brown Rabitz [12] [12] ( 20 )

75 Flexible AC Transmission Systems, FATCS (Wide Area Measurement System, WAMS),

76 68

77 NSF IEEE CSS [1] A Jim Batterson 4.1

78 70 Urbana-Champaign (the Coordinated Science Laboratory, CSL) Santa Barbara (the Center for Control Engineering and Computation, CCEC) (the Institute of systems Research, ISR) (the Control and Dynamical Systems, CDS) (the Department of Systems Science and Mathematics, SSM) (the Dutch Institute of Systems and Control, DISC

79 CDS 110: (Kristi Morgansen Richard Murray ) (CDS) CDS 110 /

80 72 Hideo Mabuchi Michael Dickinson ( ) Matlab Simulink MATLAB SIMULINK Modelica 4.3

81 4.4 K ROBCUP FIRST 4.4 K-12 K-12 GUIs

82 74 2 K-12 K-12 K-12 COMAP COMAP COMAP 20 Eisenhower National Clearinghouse K-12 K-12 NASA Langley (High Performance Computing and Communications Program, HPCCP), 8 4.5

83 [39] [8, 9, 27] "Out of control" [22] CD-ROM CM-ROM [18] Amazon.com Johns Hopkins Wilson J. Rugh

84 76 MATLAB Modelica Modelica

85 NSF/CSS [1] IFAC IFAC 8 PID The U.S. Air Force Reserch Laboratory

86 78

87 ,, (Multidisciplinary University Research Initiative, MURI)

88 AI 5.3

89 Santa Barbara CCEC CDS

90 Brockett [11]

91 MATLAB CDROM IFAC 5.6

92 84

93 85 A NSF/CSS NSF IEEE CSS [1] CDS IEEE Urbana-Champain 68

94 86 NSF/CSS IEEE NSF /

95 87 NSF/CSS 6. NSF (Research Experiences for Undergraduates) NSF (Integrative Graduate Education and Research Training Program, IGERT) (Course, Curriculum, and Laboratory Improvement Program, CCII) 7. IEEE CSS 8. NSF (ASEE) 10.

96 88 NSF/CSS

97 89 [1] P. Antsaklis, T. Basar, R. DeCarlo, N. H. McClamroch, M. Spong, and S. Yurkovich, editors. Report on the NSF/CSS workshop on new directions in control engineering education. IEEE Control Systems Magazine, 19(5):53-57, Available at spong/workshop. [2] M. Athans, J. J. S. Sentieiro, and M. A. Dahleh. Workshop on future directions in systems and control theory. Cascais, Portugal, June [3] S. Banda, J. C. Doyle, R. M. Murray, J. Paduano, J. Speyer, and G. Stein. Research needs in dynamics and control for uninhabited aerial vehicles. Panel Report, November Available at murray/notes/uav-nov97.html. [4] W. L. Bargar, A. Bauer, and M. Borner. Primary and revision total hip replacement using the Robodoc (R) system. Clinical Orthopaedics and Related Research, (354):8291, [5] N. Barkai and S. Leibler. Robustness in simple biochemical networks. Nature, 387(6636):913917, [6] M. B. Barron and W. F. Powers. The role of electronic controls for future automotive mechatronic systems. IEEE Transaction on Mechatronics, 1(1):8089, [7] A. Becskei and L. Serrano. Engineering stability in gene networks by autoregulation. Nature, 405(6786):590593, [8] S. Bennett. A History of Control Engineering: Peter Peregrinus, London, 1986.

98 90 Bibliography [9] S. Bennett. A History of Control Engineering: Peter Peregrinus, London, [10] T. R. Bewley. Flow control: New challenges for a new Renaissance. Progress in Aerospace Sciences, 37:2158, [11] R. W. Brockett. New issues in the mathematics of control. In B. Engquist and W. Schmid, editors, Mathematics Unlimited-2001 and Beyond, pages Springer Verlag, New York, [12] E. Brown and H. Rabitz. Some mathematical and algorithmic challenges in the control of quantum dynamics phenomena. Journal of Mathematical Chemistry, 31:1763, [13] M. H. Dickinson, C. T. Farley, R. J. Full, M. A. R. Koehl, R. Kram, and S. Lehman. How animals move: An integrative view. Science, 288:100106, [14] European Commission. Workshop on future and emerging control systems. November, Available at ftp://ftp.cordis.lu/pub/ist/docs/ka4/report controlws.pdf. [15] W. H. Fleming, editor. Future Directions in Control Theory: A Mathematical Perspective. SIAM, Philadelphia, [16] D. Hanahan and R. A. Weinberg. The hallmarks of cancer. Cell, 100:5770, [17] M. B. Hoagland and B. Dodson. The Way Life Works. Times Books, New York, [18] G. M. Homsy, H. Aref, K. Breuer, S. Hocqreb, and J. R. Kose. Multimedia Fluid Mechanics. Cambridge University Press, Cambridge, UK, [19] T. P. Hughes. Elmer Sperry Inventor and Engineer. The John Hopkins University Press, London, [20] V. Jacobson. Notes on using RED for queue management and congestion avoidance. Presentation, North American Network Operators'Group Meeting, June, Available at

99 Bibliography 91 [21] F. Rowsone Jr. What it's like to drive an auto-pilot car. Popular Science Monthly, April Available at [22] K. Kelly. Out of Control. Addison-Wesley, Reading, MA, Available at [23] P. R. Kumar. New technological vistas for systems and control: The example of wireless networks. Control Systems Magazine, 21(1):2437, [24] W. S. Levine. Control System Fundamentals. CRC Press, Boca Raton, FL, [25] A. H. Levis, S. I. Marcus, W. R. Perkins, P. Kokotovic, M. Athans, R. W. Brockett, and A. S. Willsky. Challenges to control: A collective view. IEEE Transactions on Automatic Control, AC-32(4):275285, [26] J. Marescaux, J. Leroy, M. Gagner, F. Rubino, D. Mutter, M. Vix, S. E. Butner, and M. K. Smith. Transatlantic robot-assisted telesurgery. Nature, 413:379380, [27] O. Mayr. The Origins Of Feedback Control. MIT Press, Cambridge, MA, [28] H. H. McAdamsz and L. Shapiro. Circuit simulation of genetic networks. Science, 269(5224):650656, [29] G. H. McCall and J A. Corder. New World Vistas: Air and Space Power for the 21st Century. United Strtes Air Force, Washington, D.C., [30] M. W. McFarland, editor. The Papers of Wilbur and Orville Wright. McGraw-Hill, New York, [31] F. W. Mohr, V. Falk, A. Diegeler, and R. Autschbach. Computer-enhanced coronary artery bypass surgery. Journal of Thoracic and Cardiovascular Surgery, 117(6): , [32] National Research Council. Embedded, Everywhere: A Research Agenda for Networked Systems of Embedded Computers. National Academy Press, Washington, D.C., 2001.

100 92 Bibliography [33] National Science Foundation. NSF workshop for high school teachers of mathematics and science. American Control Conference, June, Available at hswkshop.html. [34] National Science Foundation. NSF workshop on dynamic data-driven application systems. March, Available at [35] H. Nijmeijer and J. M. Schumacher. Four decades of mathematical system theory. In J. W. Polderman and H. L. Trentelman, editors, The Mathematics of Systems and Control: From Intelligent Control to Behavioral Systems, pages Univ. of Groningen, The Netherlands, [36] P. Parrilo. Structured Semidenite Programs and Semialgebraic Geometry Methods in Robustness and Optimization. Ph.D. thesis, California Institute of Technology, Control and Dynamical System, Pasadena, CA, [37] W. F. Powers and P. R. Nicastri. Automotive vehicle control challenges in the 21st century. Control Engineering Practice, 8:605618, [38] S. J. Qin and T. A. Badgwell. A survey of industrial model predictive control technology. Control Engineering Practice, 11(7):733764, [39] Scientic American. Special issue on Automatic Control. September [40] H. S. Tsien. Engineering Cybernetics. McGraw-Hill, New York, [41] N. Wiener. Cybernetics: Or Control and Communication in the Animal and the Machine. John Wiley, New York, [42] N. Wiener. The Human Use of Human Beings: Cybernetics and Society. Houghton Miin, Boston, [43] T. M. Yi, Y. Huang, M. I. Simon, and J. C. Doyle. Robust perfect adaptation in bacterial chemotaxis through integral feedback control. Proceedings of the National Academy of Sciences, 97(9): , 2000.

关于2007年硕士研究生培养方案修订几点要求的说明

关于2007年硕士研究生培养方案修订几点要求的说明学科门类 : 管理学一级学科 : 管理科学与工程管理信息系统学科培养方案 ( 二级学科代码 :1201Z1) 一学科概况管理信息系统是一个集管理科学信息技术和行为科学等多学科交叉的综合性学科本学科主要研究如何利用信息技术提高