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Pole-placement and Inner model tuning methods are discussed finally;(2) For the linear derivative action, several different tracker-differentiators are presented to improve the quality of the derivative signals;(3) A neural network tuning method is given for the nonlinear PID controller which includes the above tracker-differentiator;(4) For the linear integral action, a nonlinear pre-phase integrator is studied in order to decrease the phase delay problem; Simulation results show that the nonlinear PID controller including the pre-phase integrator posseses better performance in both fast and stable property, and strong ability of anti-disturbance;(5) A simple optimal criteria is introduced to optimize the parameters of the nonlinear PID controller based on the pre-phase integrator.

仿真研究表明，由此形成的非线性复合积分PID控制系统，具有快速而平稳的过渡过程和超强的干扰抑制能力；(5)采用物理意义简单明确的目标函数的优化设计方法，对上述非线性PID控制器进行参数整定，达到了满意控制典型工业过程的目的。通过对直线电机伺服系统的仿真研究，表明该种非线性控制器具有同时跟踪多个目标的优越性能。

So in this paper based on the characteristics and the optimum state theory of the vehicle, some kinds of control schemes are compared and discussed, and the fuzzy PID control scheme is adopted at last. The relation between air-cushion pressure and fan rotational speed on the optimum driving state is studied. The cushion pressure is used as controlled variable and the fan revolution is used as regulated variable. And transducer and fan motor are actuators.Based on the structure and operating properties of half-tracked air-cushion vehicle, the control system scheme and structure are presented. A control scheme using the self-tuning PID fuzzy logical controller is adopted. Fuzzy rules are set up and some researches have been done for fuzzy tuning method. At the same time the real-time measurement scheme by computer control is proposed, and electric circuits are designed. In the control system of half-tracked air-cushion vehicle cushion pressure P〓 is used as controlled variable and the fan speed n〓 as regulated variable.

因此本文以半履带式气垫车的特性和最佳工作状态理论为指导，通过对各种控制方法的比较与探讨，提出采用模糊PID控制方案，并且研究了在最佳工作状态下垫压及风机转速的关系，提出气垫压力作为控制参数，变频器和风机电机为执行机构，风机转速为调节量；主要进行了自整定模糊PID控制器的设计，研究了自整定PID模糊控制器的实现方法，编制了模糊控制规则，制定了模糊控制参数查询表，并分析了影响自整定模糊控制器相关的影响因素，确定了模糊控制表；为了实现半履带式气垫车的自动控制，还提出了计算机模糊控制系统的原理与结构，设计了相应的测量电路与控制软件。

PSO is a population-based optimization algorithm, which mimics the social behavior of animals in a flock. It makes use of individual and group memory to update each particle position allowing global and local search optimization. The objective function considered was the total weight of the structure subjected to stresses, displacements and forces constraints. The effects of the parameters were investigated as well and such combination of tuning parameters promote a better global search behavior avoiding premature convergence while rapidly converging to the optimal solution. Results showed the effectiveness of the proposed method by comparing with ANSYS Design Optimization Tool (zero-order method). The PSO with the tuning parameters makes it an ideal method for offshore wind turbines foundations optimization tasks.(2) A reliability analysis method for pile foundation bearing axial loads based PSOThe performance function of pile foundation's axially bearing capacity sometimes is nonlinear and complex, on the basis of geometric meaning of structural reliability index, an optimum model with PSO for structural reliability analysis under arbitrary random variables was established, The PSO algorithm is very efficient to solve global optimization problemsIts use in structural reliability field presents not only the advantage of its facility of implementation, but also the possibility to obtain the design point and the failure probability with a good accuracy. In addition, PSO is a zero order algorithm, for no derivative is necessary for its implementation.

本文的研究针对桩式海上风机基础结构的特点，在国内外有关研究成果的基础上对海上风机基础结构优化设计理论和可靠度方法一些相关问题进行了较为深入的研究，具体做了以下几个方面的工作：(1)基于粒子群优化的桩式海上风机基础确定性优化设计方法桩式海上风机基础的优化设计是一个复杂的、非线性约束的优化问题，针对传统的基于梯度信息的优化方法在处理非线性问题中易陷入局部最优解的问题，本文将一种耦合惩罚函数的PSO算法引入到海上风机基础结构概念设计中，PSO算法是从群体动物聚集觅食这一活动中受到启发而发展的，该算法利用个体和群体的信息共享不断改进自身的位置从而进行局部和全局最优搜索，本文中以桩和三脚架连接段直径及壁厚为设计变量，以基础总重量作为优化的目标函数，在给定的约束条件下建立了三脚架基础优化数学模型，另外本文还研究了PSO参数变化对结果的影响，协调的参数组合可以避免陷入早熟收敛而能够快速的获得全局的最优解，通过与ANSYS优化模块的计算结果比较验证了该方法的有效性，本方法为海上风机基础的确定性设计提供了一条有效的途径。

In order to overcome the drawback of the GPC in the parameters tuning, a new GPC with variable parameter design based on BP Neural Networks is presented and the on-line tuning of the output softness factor a and the control increment weight λ are achieved.

针对广义预测控制算法中控制参数整定困难这一缺陷，提出了一种基于BP神经网络变参数设计的广义预测控制算法，实现了广义预测控制中的输出柔化系数α和控制增量加权系数入的在线调整。

Popularised by Davey Graham, who had been inspired by Arabic oud tuning while living in Morocco. D modal tuning D-A-d-g-a-d' is now encountered in Celtic music and contemporary music.

由Davey Graham推广起来的调弦，这个调弦是他在摩洛哥时从阿拉伯音乐调弦中得到的灵感，形式和弦D D-A-d-g-a-d'与赛而特音乐及现代音乐中常常可以碰到。

D modal tuning: D-A-d-g-a-d' and D-A-d-a-d'-d' Popularised by Davey Graham, who had been inspired by Arabic oud tuning while living in Morocco. D modal tuning D-A-d-g-a-d' is now encountered in Celtic music and contemporary music.

形式调弦D D-A-d-g-a-d' and D-A-d-a-d'-d'由Davey Graham推广起来的调弦，这个调弦是他在摩洛哥时从阿拉伯音乐调弦中得到的灵感，形式和弦D D-A-d-g-a-d'与赛而特音乐及现代音乐中常常可以遇到。

Model of adaptive session is analyzed, and available bandwidth' future estimation is achieved. The fuzzy nonlinear approximation of immune' suppresser is fulfilled by fuzzy rules' self-tuning with self-tuning factor in full domain. Then, in order to improve the traditional PID algorithm fuzzy nonlinear approximation is combined with immune feedback mechanism to adjust PID factors during the course of multimedia transmission.

分析多媒体流自适应节模型，实现IP网络可用带宽的预估计，采用全论域范围内带有自调整因子的模糊规则自调整方法进行免疫抑制量的模糊非线性逼近，并与免疫反馈机理相结合，多媒体流传输过程中自适应整定PID参数以改进传统PID算法。

Adjusting insertion depth of the tuning screw pin at any moment can reach tuning effect to make waveguide device match to load of resonant cavity well in order to adapt to everchanging equivalent load of resonant cavity in course of working so as to realize real time control of energy coupling. The invention helps to increase working accuracy and efficiency of PCVD technique, and prevent damage on system device from microwave so as to raise useful service life of system. Features are: simple structure, stable performance, convenient for fabrication.

本发明通过在谐振腔设置调谐销钉，可随时调节销钉的插入深度来达到调谐的效果，能使波导装置很好地与谐振腔负载匹配，以适应加工过程中谐振腔等效负载的不断变化，实现能量耦合的实时控制；同时有助于提高PCVD工艺的加工精度和效率，避免微波对系统器件的损坏，提高等离子体谐振腔微波系统的有效使用寿命；本发明还具有结构简单，性能稳定，便于加工和制作的特点。

Considering the inconvenience of regulation and difficulty of parameter tunning as AC servo system in practical situation, three ways of intelligent control approach to realize auto-tuning and autorecognization of AC servo system, are proposed, which is a robust controller based on two-degrees-offreedom with no tuning to controller, a auto-tuning controller based on fuzzy reasoning with no inertia recognization but tuning parameter of controller, a strategy recognizing inertia of servo system and tuning parameter or structure of controller automatically. In the same time, these control strategies are analyzed from the theory and reliability. The comparative analysis of three measures on strong and weak points is made by simulation and experiment results.

针对交流伺服系统在实际应用中存在的系统调试不便、参数调整困难等问题，提出了实现交流伺服系统自调整和自识别等智能化控制策略的三条途径：一是具有控制器无调整特点的二自由度鲁棒性控制器；二是惯量无识别但需自动调整控制器参数的模糊推理自调整控制器，三是自动识别伺服系统转动惯量并自动调整控制器参数和结构的方案，从理论分析和可实现性两方面对这些控制方案进行了论述，并通过仿真和实验研究，对比分析了各种方案的优缺点，得到了一些有益的结果。

Then, in terms of the proposed tuning scheme and frequency-domain control theory, some decupling control methods are studied for the multivariable processes with time delays. The main contribution lies in: 1 For single-parameter diagonal controllers and full matrix controllers of the multivariable control system, a robust tuning scheme is proposed.

首先，给出了系统面临乘性输入、乘性输出，以及加性不确定性时，保证系统鲁棒稳定性的充分条件，并依据此条件，提出了计算控制参数整定范围的解析方法；然后，给出了参数估计方法，用来在参数整定范围内预测初始控制参数；最后，通过主导极点或幅值率调节方法，进一步优化出满足时域设计指标的控制参数值。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。