律

Firstly, applying spectral factorization to minimize an integral square performance criterion containing tracking error and control energy, an optimal control law for the nominal model is derived on condition of control energy constraint. Then, for model uncertainty, using spectral factorization to minimize the variance of the actual system performance from the nominal performance over all frequency range, a robust controller design method is abtained, which has optimal robustness of the system nominal performance to model errors.

首先针对控制对象的标称模型应用谱分解最小化一个包含跟踪误差和控制能量在内的积分平方性能指标，导出一个控制能量约束条件下的最优控制律；然后再针对模型不确定性应用谱分解最小化实际系统性能和标称性能在整个频段上的方差，得到一个鲁棒控制器的设计方法，可使系统的标称性能对模型误差具有最优的鲁棒性。

We consider multisensor statistical interval estimation fusion for the purpose of estimation of a parameter θ.

最后，用计算机数值模拟数据，比较了在各种固定融合律下，分布式Neyman-Pearson判决的性能。

This paper queries the main viewpoint and the argument support of the unitary training theory, from the perspective of the text structure, the talent theory citing, the antinomy of the two criterion, certain less convincing argumentation, false of science and the backer's restrictive thinking, accelerate introspectiveness, development and transcendence of the unitary training theory and brings forward a consummate image for this system.

以一元训练理论文本方式解构、天才理论的借鉴、"二律背反"例证的出现、部分论据引证效度问题、科学证伪角度、支持者思维定势的影响6个框架内容，质疑一元训练理论主流观点及论据支撑方面的若干问题，旨在促进一元训练理论自省、发展、超越的过程，最后就理论体系完善方向提出设想。

When predictive state is out of invariant set, using dual mode control structure, the extra variable on the fixed state-feedback law is introduced for feasible input.

当预测状态在不变集之外时，采用双模控制结构，在固定的控制律上引入额外变量保证了输入可行性。

Each of these paths, to and from the target, is subject to the inverse square law of propagation.

每个路径，去到目标或来自目标的，遵从传播的反向平方律。

Chapter 5 deals with the solvable theorem of adaptive inverse optimal control problems for a class of stochastic nonlinear systems driven by Wiener noises of unknown covariance. The systems are depicted by It〓 stochastic differential equations. By using an adaptive backstepping algorithm and stochastic control Lyapunov functions, the designing procedure of control laws of global asymptotic stability in probability and adaptive inverse optimal stabilization in probability are presented systematically. Adaptive control laws and parameter update laws can be obtained at the same time by this design scheme.

在第5章中，针对具有方差不确定Wiener噪声扰动和未知定常参数的随机非线性系统（假设方差的F—范数是一个常数或一个缓慢变化的量，对其进行在线辨识），给出并证明了自适应逆最优控制问题可解定理，基于随机Lyapunov定理和It〓微分规则，采用自适应Backstepping设计方法，系统地设计了全局依概率渐近稳定和自适应逆最优控制策略，这种设计方法可同时获得控制策略和自适应律，计算机数值仿真结果表明该控制算法是有效性的。

In our thesis, contents are organized as following In Chapter 1 we present our topic's internal and overseas research situations, theoretical and practical significance, and introduce the research object and contents, and the main contributions of this dissertation. Chapter 2 reviews the development of the stability results for nonlinear systems and some relevant recent results, which include Lyapunov and LaSalle-Yoshizawa theorems for nonlinear systems, and stochastic edition for stochastic nonlinear systems. Sontag's formula for systems affine in control is presented in the frame of CLF. The concepts of disturbance attenuation and the inverse optimality are also explained in this Chapter. In chapter 3 we present the solvable theorem of inverse optimal gain assignment problem, design the inverse optimal controller and the inverse optimal tracking controller for strict-feedback nonlinear continuous systems with unknown time-varing bounded disturbances and constant unknown parameters using an adaptive backstepping algorithm, which are nonlinear, continuous and are easier to realize. These designs are fully systematic and the algorithm can be directly coded in symbolic software. The results of simulation show the effectiveness of the control algorithms.

论文的结构如下：在第1章中，给出了本文研究课题的研究现状、理论意义和实际应用，并介绍了本文的研究对象、研究内容以及主要贡献；在第2章中，针对确定性非线性系统和随机非线性系统，分别介绍了Lyapunov定理、LaSalle-Yoshizawa定理及其随机版本；对仿射系统，在控制Lyapunov函数框架下，给出了Sontag公式；同时给出了非线性系统扰动抑制和逆最优控制问题的基本概念；在第3章中，针对具有未知时变有界扰动和未知定常参数的一类不确定非线性系统，给出并证明了逆最优增益配置可解定理，使用自适应Backstepping算法和均值定理，系统地设计了自适应逆最优控制器和逆最优跟踪器，这种设计方法可同时获得逆最优控制策略和自适应律，简单明了，仿真结果表明该控制算法的有效性，并给出了性能估计。

I will put My law in their inward parts, and in their hearts will I write it.

我要将我的律法放在他们里面，写在他们心上。

We also know that law is made not for the righteous but for lawbreakers and rebels, the ungodly and sinful, the unholy and irreligious; for those who kill their fathers or mothers, for murderers

因为律法不是为义人设立的，乃是为不法和不服的，不虔诚和犯罪的，不圣洁和恋世俗的，弑父母和杀人的

A Mason is obliged by his Tenure, to obey the moral law: and if he rightly understands the Art, he will never be a stupid Atheist nor an irreligious Libertine .

1梅森是有责任由他的任期内，要遵守道德律：如果他是正确的理解，艺术方面的兴趣，他将永远不会是一个愚蠢的无神论者，也不是一个非宗教libertine 。

According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm～150rpm时取得最大值，此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世，形体几无变化。