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The notion of affine quadratic stability is proposed for uncertain delayed systems. Based on such a notion, methods of robust stability and robust H〓 performance analysis for uncertain linear delayed systems with affine parameter uncertainty are developed by using linear matrix inequalities.

本章提出了不确定时滞系统仿射二次稳定的概念，对于具有仿射参数不确定性的线性时滞系统，基于仿射二次稳定概念，利用线性矩阵不等式给出了鲁棒稳定性和鲁棒H〓性能分析方法。

Based on an introduction to the robust control of uncertain linear systems and a survey on the past and recent contributions to the related polynomial algebraic method, state space method and frequency domain method, this dissertation focuses on the robust control problem of uncertain linear systems in frequency and time domain.

本文首先就不确定线性系统的鲁棒控制问题作一扼要的介绍和概括，并分多项式代数方法、状态空间方法和频率域方法对其历史发展及其研究现状进行了比较全面的综述。

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

The interval of seismic design results is obtained by considering the bound of uncertain design parameters and the reliability of designs by current seismic code and sensitivity of design results to the uncertain inputs can be checked with this method.

由该界限分析和设计方法可以得到设计结果的区间，从而可以评价确定性设计结果的可靠性和设计结果对输入不确定性参数的敏感性

This paper discusses such problems which are easily solved incorrectly in limitedteaching as, segment function is uncertain not to be elementary function, elementary function is un-certain to be continuous in its field of definition, unlimited variable is uncertain to be infinity, theinfinitely many infinitesimal is uncertain to be infinitesimal, the multiplication of two non- infinitesi-mal is uncertain not to be infinitesimal.

1分段函数不一定不是初等函数我们知道初等函数的定义是：常数和基本初等函数经过有限次的四则运算或复合，用一个解析式表示的函数叫初等函数。教材中的定义强调的"有限次"和"一个解析式"，使很多同学产生"非有限次"和"非一个解析式"的函数就不是初等函数的误解。例1f=ceox，s xx！0为分段函数，但也可以表示为f=e12(x-x2")+cos12(x+x2#"$)-1，故为初等函数。

For uncertain linear optimization, the choice of uncertain set and transformation of robust counterpart were investigated.

对于不确定线性优化问题，研究了不确定集的选择以及模型鲁棒对等式转化方法。

In Chapter 5, some knowledge about large-scale system and methods for investigating them are introduced, Lyapunov function, differential inequality, Razumikhin theorem, matrix norm and measure methods have been used to discuss the stability of uncertain large-scale system with delays and decay estimates for uncertain time-varying large-scale system with delays, the criteria of stability and decay estimates for uncertain large-scale system with delays are given.

第五章首先介绍了大系统的有关知识以及时滞大系统研究的方法，然后利用Lyapunov函数法、微分不等式法、Razumikhin定理法、矩阵范数与测度法研究了不确定定常时滞大系统的稳定性以及不确定时变时滞大系统的稳定性与系统衰减率的估计问题，得到了系统稳定的判别条件以及系统衰减率的估计。

Based on the description of uncertain linear and area objects, intersection degrees for parts of uncertain linear and area objects are represented quantitatively. By calculating correlation degrees between spatial vectors composed of these measurement units and spatial relation vectors determined by 9-intersection model, a new model is presented for topological relations between uncertain linear objects and fuzzy region, which could distinguish the type of topological relations through quantitative analysis method.

在时不确定线状目标和面状目标进行描述的基础上，对不确定线状目标与面状目标各组成部分之间的相交程度进行了定量表达，通过计算这些度量组成的空间向量与9-交集模型确定的空间关系向量之间的相关度，提出了一种不确定线状目标和面状目标之间拓扑关系的描述模型，通过定量的方法来对其空间拓扑关系进行判别。

Based on the review of progress in parametric uncertainty nonlinear system control theory, it is noticed that design methods based on feedback linearization are the main parts and the author proposes a robust controller design method for a nonlinear parametrization uncertain system satisfying feedback linearization and triangularity conditions,and a robust output tracking controller for a nonlinear parametrization uncertain system based on the identification of uncertain parameters.

在对该领域研究进展分析的基础上，针对满足三角形条件和反馈线性化条件的非线性参数化不确定系统提出了一种鲁棒控制器设计方法，并针对非线性参数化不确定系统提出了基于参数识别的鲁棒输出跟踪器的设计方法。后者是本文为飞机防滑刹车系统设计输出跟踪器的理论基础，同时也是本文的创新点之一。在对结合力产生本质讨论的基础上，分析了滑水现象产生的原因和预防措施。

Aiming at the uncertain attribute value in alternative evaluation, an uncertain aggregator based on uncertain information is presented.

针对方案评估中属性信息的不确定性，提出了一个基于不确定信息的多属性集结算子。

The absorption and distribution of chromium were studied in ryeusing nutrient culture technique and pot experiment.

采用不同浓度K2CrO4(0，0.4，0.8和1.2 mmol/L)的Hoagland营养液处理黑麦幼苗，测定铬在黑麦体内的亚细胞分布、铬化学形态及不同部位的积累。

By analyzing theory foundation of mathematical morphology in the digital image processing, researching morphology arithmetic of the binary Image, discussing two basic forms for the least structure element: dilation and erosion.

通过分析数学形态学在图像中的理论基础，研究二值图像的形态分析算法，探讨最小结构元素的两种基本形态：膨胀和腐蚀；分析了数学形态学复杂算法的基本原理，把数学形态学的部分并行处理理念引入到家实际应用中。