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At the end, using back-stepping technique, control laws are designed for each control variable to guarantee the globally uniformly ultimately boundedness of all state variables and the convergency of system output.

控制规律的设计仍采用反步法(Back-stepping)，对于每个不确定项，都设计了一个动态估计环节以应对其影响，最终保证了全部状态变量的一致最终有界性和系统输出的收敛性。

Stabilizing control scheme for 2-D polynomial nonlinear systems is considered based on negative eigenvalue placement, which has potential value for back-stepping control development.

我们还给出了基于特征根负定配置的二维多项式非线性系统镇定控制，给后推法控制器设计带来潜在价值。

First state reconstruction techniques are used to transform the DC motor model into a cascaded structure and,then,nonlinear adaptive back-stepping controller is designed which is robust to the parameter uncertainties and load torque disturbance.

首先通过状态重构将直流电机系统模型转化为级联结构，其次考虑参数不确定及转矩干扰设计具有鲁棒性的自适应反向步进控制器。

The development of WAMs technique could help the realization of proposed global control concept, and the time delay of WAMs signals within a certain range is acceptable. With the proposed concept, an excitation controller is designed for generators using back-stepping technique and is contrasted with the decentralized/local controller designed by the same technique.

广域测量系统WAMs(Wide-area Measurement Systems)技术的发展为该思想的实现提供帮助，各发电机在通过WAMs得到系统COI信息后，动态的跟踪COI的变化以达到同步运行，且一定范围内的WAMs信号时滞是被允许的。

The dynamic surface controller design method of the nonlinear autopilot for high maneuver missile is developed. Based on the smooth second-order dynamic sliding mode, the designed virtual controls are smooth enough and needn't smooth by integral filters when designing the inner loop controller with back-stepping method. So it overcomes the problem of explosion of terms.

提出了高机动非线性导弹自动驾驶仪的动态面控制器设计方法，该方法基于光滑二阶动态滑模，所设计的虚拟控制足够光滑，在利用反步法设计内环控制器时不需要进行积分滤波克服了反步法所带来的项数膨胀问题。

Based on the analysis the phenomenon of jet interaction, a mode of missile with jet interaction amplification factor is set up. For overcoming the disadvantages of uncertainties and unknown disturbance, the back-stepping control structure based on NDO is designed in virtue of NDO's approaching ability. The overall system guarantees that all signals involved are asymptotically stable by Lyapunov method.

针对导弹气动参数的不确定性及外界干扰对导弹控制性能的影响，利用非线性干扰观测器对干扰的逼近特性，结合反演控制设计了非线性导弹自动驾驶仪，并基于Lyapunov方法，给出了整本系统的稳定性证明。

Considering the in-matching uncertainties,we developed an explicit back-stepping design algorithm and applied to the design of high-order sliding mode controller under in-matching conditions.

此外还建立了基于非线性系统相对度的学习控制以及基于遗传算法的模糊控制等算法；并采用非线性微分几何控制等思想，给出了鲁棒与自适应控制器设计方法；最后将有关算法具体应用于移动机器人系统，仿真和实时控制实验结果证明了有效性。

This paper presents a nonlinear robust adaptive excitation control design procedure for multi machine power systems using back-stepping method. The control objective is to drive machine power angle and frequency to the steady-state operation point, and guarantee that the close-loop system is adaptive to the uncertainties of generator damping coefficient and d-axis reactance, and robust to model errors or bounded disturbances.

利用反步法设计了多机电力系统中的非线性鲁棒自适应励磁控制方案，控制目标是调节发电机功角和频率至稳态运行点的极小领域，并使闭环系统对发电机阻尼系数和电抗参数的不确定性具有自适应能力，且对模型误差和外部有界干扰具备鲁棒性，同时保证各控制器是分散化和本地化的。

David's sudden emotional back-stepping probably would've been a catastrophe for me even under the best of circumstances, given that I am the planet's most affectionate life-form (something like a cross between a golden retriever and a barnacle)...I had become addicted to David...It all begins when the object of your adoration bestows upon you a heady, hallucinogenic dose...of thunderous love and roiling excitement...When the drug is withheld, you promptly turn sick, crazy and depleted (not to mention resentful of the dealer who encouraged this addiction in the first place but who now refuses to pony up the good stuff anymore -- despite the fact that you know he has it hidden somewhere, goddamn it, because he used to give it to you for free)...

考虑到我是这个星球上最富情感的生命形式（类似于一种金毛猎犬与藤壶属生物的杂交品种），即便在最好的情况下，大卫突然的情感变故对我来说本来很可能是灾难性的……我痴迷于大卫已经到了无力自拔的地步……当你崇拜的对象给予你某种令人飘然陶醉的迷幻药时，这种毒瘾就开始上身了……是那种电闪雷鸣的惊天动地强烈的爱……当这种迷药停止供给时，你立即感到恶心、疯狂和枯竭，更不要说对当初鼓励你上瘾但现在却拒绝花钱再供给你这种好东西的毒贩子的怨恨……既便你明知他将迷幻药藏在某处，该死，因为他过去是免费给你的。

First, we consider nonholonomic chained systems with modeling error, in this section,based on back-stepping , using the so-called adding a integrator , state-scaling technique , we design discontinuous feedback law,such that the trival solution of the closed-loop systems global strong stable; Second,we consider high-order nonholonomic chained systems with modeling errors and external disturbances, in this section,using input/state-scaling and integrator backstepping methods , we design discontinuous feedback law and give out the switching strategy, such that the closed-loop systems global /C-exponential stable; Finally, we consider a class of more general power chained form systems with particular drift-terms, in this section , using Lyapunov method, we design time-varying feedback law , such that the closed -loop systems p—exponential stable.

第一部分考虑的模型为带有模型误差的高阶非完整链系统，我们运用加幂积分器、State-scaling技巧以及基于Back-stepping方法构造出不连续反馈律，从而使得所讨论系统的闭环系统的平凡解全局强稳定；第二部分考虑的模型为带有模型误差的不确定高阶非完整链系统，这一部分我们运用input／state scaling和integrator backstepping方法构造出不连续反馈律，并给出切换策略，使得所对应的闭环系统全局κ-指数稳定；第三部分考虑的系统是形式更为一般的且带有特殊形式漂移项的幂链系统，利用Lyapunov函数方法，设计出时变反馈律，从而使得相应的闭环系统ρ-指数稳定。

As of Tuesday, Google's results were still censored in China.

截至周二，谷歌的搜索结果仍受中国审查。

In order to make the positive action increase and negative one decrease, the sub-forces of the social factors must be adjusted to form a centripetal force.

在这一过程中，人的主体性发挥是社会有机体健康发展的灵魂。