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Another nonlinear robust PID controller is wholly based on closed-loop gain shaping algorithm, which includes a nonlinear switching component with a timer. The algorithms improve the robustness of the system and simplify the design of controller, the simulation results show that the course-keeping performance is improved well.

另外，还给出一种完全基于闭环增益成形算法的非线性鲁棒PID控制器，其包含了具有定时功能的开关元件，两种非线性PID控制器在提高系统鲁棒性能的基础上，简化了控制器设计，从仿真结果可以看出，航向保持效果良好。

The algorithm shapes the closed-loop gain without selecting weighting functions in H∞ control algorithm. Its core is to determine the final shape of the transfer function of the closed-loop system, the robust PID controller is directly constructed using parameters having engineering sense. The algorithm guarantees fundamentally that the designed controller has fine control performance and robustness.

该算法避免了常规H∞控制算法中权函数的选择而对系统进行闭环增益成形，其核心是确定闭环系统传递函数的最后希望的形状，用闭环系统具有工程意义的参数直接构造出鲁棒PID控制器，从根本上保证了设计出的控制器具有良好的鲁棒性和鲁棒稳定性。

The main controller compatible with DS87C550 and P87C552, implements the functions of system resource management and task schedule. The communicatory part, which expands the serial interfaces by TL16C554, implements the communication among the main controller, the remote communication terminal and the field devices. The interface part implements isolation between field devices and monitoring terminal with photoelectric coupling; Solar battery supplies power for the monitoring terminal.

主控部分兼容DS87C550和P87C552两种MCU，实现了系统资源的管理与任务调度；通讯部分采用TL16C554扩展了多个串口，实现了主控部分与远程通信终端及智能仪器之间的通信；接口部分采用光电耦合技术实现了现场设备与监控终端之间的电气隔离；采用太阳能供电技术为监控终端提供了电源。

In order to improve the characteristics of transient response,an initial value compensation method based on compensating the difference outputs between current controller and former controller is proposed and compensated math model and response for this system are given.

针对这些问题，设计了一种基于补偿控制器输出的初值补偿切换算法，并给出了加入初值补偿之后的系统数学模型和响应形式，以及该算法的具体实现。

Experiments show that this kind of controller has better steady state response than the normal fuzzy controller. Secondly, two kinds of compensating method for the nonlinearity of mechanical transmission system are developed.

其三是一种可变结构的模糊控制算法，在响应的初期和稳态采用不同结构的模糊控制器，输入输出变量的量化也采用不同的台阶，实验证明这种控制器比一般的模糊控制器具有更好的稳态响应。

The output of the controller was connected to a group of resistors and inductors to draw the rated value of the controller (35 A minimum).

控制器的输出端与一组电阻器和电感器相连接，以获取控制器的额定数值

The position of controlled structure was positively fed back to controller according to position measure and contraposition control, and position of controller was positively fed back to control structure to control the vibration of controlled structure.

将实际系统模型放置在仿真系统中进行半实物仿真控制。通过位置测量、对位控制，将受控结构位置正馈至控制器，再将控制器位置正馈给控制结构，控制受控结构的振动。

Robust stability criteria, the design methods of robust stabilizing controller and guaranteeing certain robust performance controller for linear time-delay system with norm-bounded uncertainties or convex polyhedron uncertainties are studied in this paper by delay independent method and delay dependent method.

针对具有范数有界不确定参数和凸多面体不确定参数的线性不确定时滞系统，分别给出了它们时滞无关指定鲁棒H~∞性能约束可镇定的充分必要条件以及相应的控制器设计方法，结果以线性矩阵不等式的n浙江大学博士学位论文形式给出。

The scheme gave rise to a controller that clearly decomposed into a conventional linear model-based controller plus a nonlinear correction term.

这种方法所设计的控制器，可以分解为两个部分：一个基于线性模型的线性控制器；和一个基于模型非线性部分的校正环节。

As a release controller, you are the custodian of the source code released by configuration controller.

作为释放控制器，则是由配置控制器发布源代码的保管人。

We got alerted a couple of times while we were down south that HETs were on the way to bring us back up north because things were going to go hot again, but it was just rumors.

南下的途中我们不只一次得到警告说重型装备运输车将拉着我们重新北上，因为局势正在变得重新紧张起来，但这只是谣传。

It's the one where they find the ghost in the salt mine.

这一集是演他们在盐矿找到鬼