增益控制

It consists of three components: the parameters estimating on-line; the calculating of closed-loop critical gain K and frequency ω; evaluating the PID parameters to enable the closed-loop syetem with the given phase margin.

该算法有三部分组成：在线参数估计；计算系统在比例控制下的闭环临界振荡频率ω和临界增益K；确定PID控制器参数使闭环系统具有给定的相位裕量。

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。

Furthermore, a changeable update rule was introduced to accelerate the convergence speed, a forget factor and a predefined error bound were used to enhance the robustness of the algorithm.

同时还提出可变学习增益的方法来加快算法收敛速度；应用遗忘因子和学习律误差容限控制的方法来提高学习算法的鲁棒性。

The cutoff frequency is 264 MHz. OTA (Operational Transconductance Amplifier) is realized in pseudo differential topology to maximize the linearity of the filter. Architecture of transconductance enhanced source degeneration is adopted for the VGA to control the gain, together with a source degeneration capacitance to widen the bandwidth.

滤波器采用5阶Chebyshev近似、GC biquad结构，转折频率为264 MHz，OTA采用伪差分结构以提高滤波器的线性度；VGA采用跨导增强型源级负反馈结构来控制增益，并加入源级负反馈电容进行高频补偿以拓展带宽。

What is more,this method is better than the equivalent transformation of block diagram,and it is a good supplement for equivalent transformation of block diagram and Masson formula method.

是方框图等效变换法和Mason增益公式法的一个很好补充。1化简方法1.1简单方框图化简对于如图1所示的复合控制系统方框图实例1，现求闭环传递函数Φ=CR解：把图1中R和

For a 3D system, formulae for a general polynomial controller applied to the normal form of a system and for the relvant stability index are derived. Thereby the amplitude approximation in terms of control gains of the controlled system is solved.

对于三维系统，研究了作用于标准型下系统的普适的多项式控制器设计以及相应的极限环稳定性指标的计算，建立了受控系统的极限环幅值与控制增益之间的近似解析关系。

The LTR of centralized multivariable control systems is then generalized to decentralized control large-scale interconnected systems by H∞ optimal theory. The difficulty to compute the infimum of H∞-norms of recovery matrices in the set of all possible gains of decentralized observers is avoided.

基于H∞理论，将多变量系统的回路传递再生方法推广于分散控制关联大系统，并避免了在所有可能的分散观测器增益构成的集合上，直接计算再生矩阵的H∞范数下确界的困难。

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。

The controller employed in the original Langford system can be directly designed for a desirable amplitude target and the exact solutions for amplitudes of limit cycles in systems under some special controllers can be obtained.

此外还设计了一些特殊的控制器，在这些控制器作用下，能够写出受控系统极限环幅值与控制增益之间的精确解析关系。

Using this method, the controller design for performance and robustness can be designed separately, which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. Third, to make the vehicle meet the performance index in full flight envelop, a H∞ gain-scheduled controller based on Linear Varying Parameter system are designed. A LPV plant with a linear fractional dependent variable can be represented by upper LFT (Linear Fractional Transformation) interconnection.

通过把非线性系统简化为了线性变参数系统，再有通过线性分式变换将LPV系统转化为一个线性定常系统和不确定性组成的LFT互联形式，使之转换成为一个经典鲁棒控制问题，然后通过求解一组线性矩阵不等式得到变增益H_∞控制器。

I will endeavour to find you some assistance.

我尽力帮你找人帮忙。

At first I only know bruck is the idol of American younglings, afterwards I returned back to Taiwan ,even in Beijing last year ,I saw her poster everywhere, I was so surprised at her charm.

起初我只晓得布鲁克雷德丝是美国少男少女崇拜的偶像，后来回台湾，甚至去年在北京，居然也四处看见她的海报，才惊讶她的魅力之大。