扰动

During the design, we need not know the exact boundary of disturbances and the size of the residual set can be regulated by modifying the gains, which means the influence of disturbances can be arbitrarily attenuated.

该方法在设计控制器时，不需要知道扰动的确切界，并且状态收敛残集的界可以通过改变增益任意调节，也即扰动对系统的影响可任意减小。

A new switching scheme to the gain of variable structure control signals is proposed. The following important open problems in standard VS-MRAC and MRAC are solved by using the scheme: 1 . a prespecified transient and steady-state performance index for tracking error can be achieved without requiring any information about the plant high frequency gain sign when relative degree of modelled part of plant is one, and 2 . it is shown that as long as the performance indexes are guaranteed for the auxiliary errors, each of which in dynamics is a sub-system with relative degree one, the tracing error will converge to a small residual set in a prespecified transient time when relative degree of modelled part of plant is greater than one.

提出了一种控制增益可切换的变结构自适应律，解决了如下变结构模型参考自适应控制（包括基于调参律的模型参考自适应控制）理论研究中长期没有解决的问题：当对象建模部分相对阶为1、高频增益符号未知且存在非线性输入扰动和未建模动态等情况下，系统跟踪误差可满足预先给定的动态和稳态性能指标；当对象建模部分相对阶大于1且存在非线性输入扰动和未建模动态时，可保证系统跟踪误差在预先给定的过渡过程时间内收敛到一个残差集中； 5。

The result shows that the disturbances enhance the movement of sand, so that the incipient velocity of local sand will lower than that on the flat river bed and lead to instability of river bed and sand ripple consequently.

实验发现，扰动附近水流紊动大大增强，扰动促使局部泥沙在断面平均流速低于平床起动流速的情况下起动，并促使床面失稳形成沙纹。

What this paper discusses rainbow gravitation to fall is cruel bilge model, derived of metric field and scalar quantity field disturb equation, analysed the property that density disturbs to change along with time.

本论文讨论彩虹引力下的暴胀模型，导出了度规场和标量场的扰动方程，分析了密度扰动随时间变化的性质。

The chapter first studies the closedness, semicontinuity and cone semicontinuity of cone efficient point sets and cone weakly efficient point sets of the perturbed objective sets when both the objective maps and constraint maps are continuous and the constraint cone is semicontinuous.

进而还证明了当扰动变量形成Baire空间时，大多数（在Baire分类意义下）约束集或序受扰动的联合锥弱有效解集在连续意义下是稳定的。

The national defence basic project as background and the dynamic model of cotrolled transfer matrix for multiple launch rocket was created in order to reduce the initial disturbance of rocket projectile. The causes that affect the angle change of orientation locator were analyzed by the engineering system dynamic theory base on multibody system transfer matrix method. The simulation of dispersion for multiple launch rocket was implementation, and the affect law between the angle of elevation and side deflection and the control parameters was acquired. The control module was installed on the orientation locator of multiple rocket launcher to control the initial disturbance of rocket that provide new method and theory base and show the engineering system dynamic base on the multibody system transfer matrix method is effective.

本文以国防基础科研项目为背景，建立了通过控制定向器角运动来减小火箭弹起始扰动的多管火箭受控多体系统动力学模型，应用基于多体系统传递矩阵法的工程系统动力学理论，进行了定向器角度运动的影响因素分析，进行了受控多管火箭炮发射动力学和密集度数值仿真，得到了定向器俯仰和侧偏角控制参数对俯仰角和侧偏角的影响规律，为在火箭炮定向器上加装控制集成模块控制火箭弹的起始扰动和射击精度提供了新思路和理论基础，也表明了基于多体系统传递矩阵法的工程系统动力学理论的有效性。

In the study of the stochastic chaos in simple pendulum, the random Melnikov process is derived and the mean-square criterion is used to determine the threshold amplitude of the bounded noise excitation for the onset of the chaos or random chaos in the system. For the coupled simple pendulum and harmonic oscillator, the Melnikov function is used to determine the condition for the onset of chaos in the case of Hamiltonian perturbations. In the case of non-Hamiltonian perturbation, the generalized random Melnikov process and mean-square criterion are used to determine the threshold amplitude of the bounded noise for the onset of random chaos.

在随机混沌研究中，应用随机Melnikov过程的均方准则研究了单摆在有界噪声激励下发生混沌或随机混沌时有界噪声激励的临界幅值；对于耦合的单摆-谐振子系统，先用Melnikov函数研究了在哈密顿扰动下发生混沌的必要条件；然后用推广的随机Melnikov过程方法研究了在非哈密顿扰动下发生随机混沌的必要条件；用最大Lyapunov指数及Poincaré截面方法结果与上述理论结果作了对比。

Chapter four studies the chaotic responses in a system consisting of simple pendulum and harmonic oscillator under bounded noise excitation. Firstly, the Melnikov function of the two-degree-of-freedom system under Hamiltonian perturbation is derived. The essential condition of the autonomous system for the probable onset of chaos is obtained, the Poincare maps of the system under small Hamiltonian perturbation and the effect of increasing perturbation on the Poincare maps are studies. Then for the non-autonomous system under damping and harmonic or bounded noise excitation, the largest Lyapunov exponent and Poincare maps are calculated. From the analysis of the largest Lyapunov exponent, the critical criterion for the onset of chaos, and the conclusion that the threshold of bounded noise amplitude for the onset of chaos in the system increases as the intensity parameter of Wiener process increases are obtained. The result from the analysis of Poincare maps is in agreement with that obtained from the Largest Lyapunov exponent. The effect of varying damping coefficient and intensity parameter of Wiener process is also analyzed.

第四章研究了有界噪声激励下的两自由度单摆—谐振子系统的混沌运动，首先推导了该两自由度系统仅在Hamilton扰动下的Melnikov函数，得到该自治系统可能产生混沌的必要条件；研究了该系统在小的Hamilton扰动和增大摄动情形下的Poincare截面；然后对有阻尼、谐和或有界噪声激励下的非自治系统数值计算了其最大Lyapunov指数和Poincare截面；从Lyapunov指数分析得到了这个两自由度系统产生混沌运动的临界条件及产生混沌的临界激励幅值随Wiener过程强度参数值的增大而增大的结论，Poincare截面分析的结果亦符合Lyapunov指数分析的结论；研究了Wiener过程强度参数、阻尼系数变化对Poincare截面的影响。

The conditional nonlinear optimal perturbation is a new theoretical method proposed by Mu,et al in 2003, which is an extension of the linear singular vector to nonlinear regimes. It has become a powerful tool to study some issues of nonlinear systems like predictability, sensitivity and so on, because it overcomes the defect of LSV for not representing the fastest developing perturbation of a nonlinear system.

条件非线性最优扰动是Mu等2003年提出的一个新的理论方法，它是线性奇异向量在非线性情形的推广，克服了线性奇异向量不能代表非线性系统最快发展扰动的缺陷，成为非线性系统可预报性和敏感性等研究新的有效工具。

The conditional nonlinear optimal perturbation is a new theoretical method proposed by Mu , et al in 2003, which is an extension of the linear singular vector to nonlinear regimes. It has become a powerful tool to study some issues of nonlinear systems like predictability, sensitivity and so on, because it overcomes the defect of LSV for not representing the fastest developing perturbation of a nonlinear system.

摘要条件非线性最优扰动是 Mu 等2003年提出的一个新的理论方法，它是线性奇异向量在非线性情形的推广，克服了线性奇异向量不能代表非线性系统最快发展扰动的缺陷，成为非线性系统可预报性和敏感性等研究新的有效工具。

Singer Leona Lewis and former Led Zeppelin guitarist Jimmy Page emerged as the bus transformed into a grass-covered carnival float, and the pair combined for a rendition of "Whole Lotta Love".

歌手leona刘易斯和前率领的飞艇的吉他手吉米页出现巴士转化为基层所涵盖的嘉年华花车，和一双合并为一移交&整个lotta爱&。

This is Kate, and that's Erin.

这是凯特，那个是爱朗。