反馈控制系统

Compared with deterministic systems, the infinitesimal generator for the system is a second-order differential operation. In this dissertation, we designed the quartic control Lyapunov function and systematically design the state-feedback and output feedback adaptive controller using integrator backstepping methodology. The closed-loop system is asymptotically stable in the large.

与确定性系统相比，随机系统的Lyapunov函数的微分运算包含二阶导，所以设计适当形式的控制Lyapunov函数十分关键，本文设计了四次型的控制Lyapunov函数，并应用积分反推技术，给出了状态反馈及输出反馈自适应控制器和鲁棒自适应控制器的设计方法，证明了闭环系统概率意义下的渐近稳定性和有界稳定性。

Firstly, the strict-feedback nonlinear systems with unknown virtual control coefficients bi have been studied and the problem of its inverse optimality has been solved, that isThe new solvable theorem of inverse optimal gain assignment problem has been proposed through the method of modular design for the original system.

本论文的内容安排如下：第一部分把上述严格反馈系统进一步推广为具有未知虚拟控制系数bi的严格反馈系非线性统并研究其逆最优问题，即第二部分对于推广之前的系统利用模块设计方法提出新的逆最优增益配置定理。

In Chapter 4 we discuss the solvable theorem of adaptive inverse optimal control problems, and proceed with controller designs of global asymptotic stability in probability, adaptive inverse optimal stabilization in probability and output-feedback adaptive inverse optimal stabilization in probability for strict-feedback stochastic nonlinear continuous systems with additive standard Wiener noises and constant unknown parameters using It〓's differentiation rule and an adaptive backstepping algorithm. Control laws and adaptive laws can be obtained at one time by this design scheme. Many simulations have been performed to validate the properties of the proposed adaptive control scheme.

在第4章中，针对具有标准Wiener噪声扰动和未知定常参数的不确定随机非线性系统，提出并证明了自适应逆最优控制问题可解定理，构造了适当形式的四次型随机控制Lvapunov函数，基于It〓微分规则和自适应Backstepping算法，系统地设计了全局依概率渐近稳定控制器、自适应逆最优控制器、输出反馈逆最优控制器以及在设计中如何处理二阶Hessian矩阵函数的方法，这种方法可同时获得控制律和自适应律，通过实例仿真，表明该控制算法是有效性的。

The plans of controlling the PMSM include the open-loop control and the close-loop control. The open-loop timing control system has no feedback of the current and the position.

永磁同步电机的控制方法分为开环和闭环，开环调速系统不需要进行速度反馈或位置反馈，故系统结构简单、易于控制。

The system selects selsyn as the monitor of position feedback. The system controls the output of DC according to the error value that the feedback signal from the selsyn is compared with the input.

整个系统是根据位置反馈装置的反馈信号与系统的输入信号（利用传感器等元件采集的目标信号）的误差值，来控制电机的输出，进而控制座椅的运动。

So we designed a adaptive synchronizing controller based on hereinbefore hardware environment: first a small magnitude reference signal r is outputted to system through the signal card (to ensure that the vibrating system works in a linear state), and this signal is sent to the moving coil of vibrator through the power amplifier, so vibration is produced through electromagnetic induction. Secondly the vibration signal can feedback to the data acquiring card in the servo system through the acceleration sensor on the Vibroseis reactor M〓 and the base-plate M〓, then the computer can get the current vibrating state y〓 of the coil of vibrator according to the feedback information from the data acquiring card, and give a real time comparing between the current state y〓 and the reference output y〓 of the set-in reference model with current reference input being r , then regulates the correlative controlling parameters according to the error e〓=y〓-y〓 till y〓→y〓, finally normal signal sweeping begins with a certain phase fixed. Meanwhile a synchronization signal for seismic signal record is sent to seismograph from synchronization signal outputting component in the Vibroseis system to perform the controlling process of synchronization of sweeping phases.

为此，我们基于以上的硬件环境设计了一个自适应同步控制器：首先通过信号发生卡对系统输出小幅度的参考信号r(从而保证振动系统工作处于线性状态)，信号通过前置放大器、功率放大器等送到激震器动圈，并通过电磁感应产生振动，振动信号通过可控震源激震器反应块M〓和基板M〓上的加速度传感器反馈给伺服系统中的数据采集卡，工控计算机根据采集卡的反馈信息，获取当前激震器动圈的振动状态y〓，并实时地将该状态与内置的参考模型在当前参考输入r下的参考输出y〓进行辨识，再将两者输出误差e〓＝y〓-y〓对系统的有关控制参数进行调整，直至y〓→y〓，最后在经过某一固定的相位后，开始信号的正常扫描过程，与此同时，由可控震源系统的同步信号输出部件向地震仪送出一地震信号记录同步信号，进而完成扫描相位同步控制过程。

A robust output feedback controller is advanced by using the DRNN-based observer presented above, so that the output-matching and lipschitz conditions are not imposed on the uncertainties; Robust adaptive controller is used in a class of nonlinear systems based on neural networks and H〓 methods, thereby the constraint on uncertainties with largest known boundness is removed, not as in H〓 methods.

利用本文的动态神经网络鲁棒观测器，设计了鲁棒输出反馈控制器，取消了已有结果对未知动态的输出匹配条件的限制；结合静态神经网和H〓控制方法，对一类非线性系统设计了鲁棒自适应反馈控制器，克服了H〓控制要求不确定性最大可能界已知的不足，其最大优点是仅要求网络逼近误差有界，且不要求网络权的离线训练。

He wrote in 1954:"Feedback is a method of controlling a system by reinserting into it the results of its past performance."

他在1954年这样写到：&反馈是这样一种对系统进行控制的方式：它通过把系统过去的表现重新输入系统之中而完成对系统的控制。&

To improve the system damping, the supplementary control of UPFC is proposed, with its input as the active power or the bus voltage angle difference of the tie line, and its output as the modulation signal to the main control.

UPFC的辅助控制则通过线路功率反馈或母线电压相位差反馈，产生控制信号以调制前述各定值控制中的参考值，如母线电压调制或线路功率调制，以增加系统阻尼，平息持续振荡，并通过小干扰分析考察了辅助控制的效果。

Coal load in ball tube of pulverizing system is affected by many factors, this paper analyzes these factors and their relations.

由于神经网络技术的发展，神经网络在非线性控制方面显示出强大的优势，同时近年来出现的逆系统方法对于多变量非线性系统的控制指出了一条可算是光明的道路，鉴于以上两项技术的优越性，本文提出对BMPS进行神经网络逆系统控制的方法，首先通过机理分析的方法建立了BMPS的非线性动态数学模型，并依此模型设计了神经网络逆系统控制方案，由于此方案中需要用到球磨机磨筒内负荷的反馈，但是磨内负荷是一个不能直接测量的量，而且其测量方法是多年来人们一直在努力的方向却又一直不能较好地解决，本文提出对其进行神经网络测量的思想和方法，这一方法的仿真试验和现场实测结果均表明其研发造价低廉的优越性和测量较为准确的实用性。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。