扰动

The adaptive nonlinear damping and changing energy function are used to counteract the effects of the unmodeled dynamics and unknown bounded disturbances on the system.

针对一类重要的多输入多输出非线性参数化系统提出了一种新的鲁棒自适应控制器的设计方法，采用自适应非线性阻尼和变能量函数法来抑制未建模动态和扰动对系统的影响。

However, the control performance of the PMSM drive is still influenced by uncertainties, which usually features parameter variations, external load disturbances, unmodelled and nonlinear dynamics. To achieve high-performance PMSM drive, which has great ability of adaptation and better performance against disturbances, advanced control schemes have to be developed to deal with these uncertainties.

然而，由于永磁同步电机驱动系统受电机参数变化、外部负载扰动、对象未建模和非线性动态等不确定性的影响，要获得高性能的永磁同步电机驱动系统，必须研究先进的控制策略以解决这些不确定性的影响，使系统具有较强的自适应能力和抗干扰能力。

The recursive least-squares estimation method is used to estimate the parameters in the modelled part of the robot dynamics, and the parameters is used to form the feedback control based upon the so-called"inverse system method". The unmodelled part of the robot dynamics is compensated by a learning control law. This not only increases the learning convergence speed and the control system robustness, but also extends the control method to non-repetitive tasks after sufficient learning.

采用递推最小二乘辩识方法来辩识机器人动力学特性中可建模部分的模型参数，并以此来构成反馈控制策略，而对未建模动特性和未知扰动的影响采用学习控制的方法予以克服，从而提高了学习控制过程的收敛速度和鲁棒性，拓宽了它的适用范围。

It isshown by theories and simulations that uncertain effects such as frictions and external disturbancesor unmodelled dynamices can be eliminatated and global exponential stability or global uniform ultimate boundedness stability can be guaranteed.

理论和仿真均证明，系统的不确定性诸如摩擦力、外部扰动及未建模动力学带来的不确定性影响，均可被设计的控制律补偿，最后可保证全局指数收敛或全局一致最后有界的结果。

The simulation results show that with the scheme, the influence of rolling angular velo city on command output can be moderated, and seeker antiˉperturbation is improved.

仿真 结果表明该方案可以降低滚动角速度对指令输出的影响，提高导引头隔离弹体扰动的能力。

The diversity of LH08 station was the lowest, and the diversity difference of every station was significant. The analysis on species diversity index and advantage curve showed that community structure of zoobenthos on every station was less effected, indicating that the sea area was on mild artificial disturbance status.

位于港池的LH08站多样性最低，各站位的多样性差异显著；物种多样性指数和K-优势曲线的分析显示，各站位的底栖动物群落结构没有受到较大影响，表明该海域处于轻度人为扰动的状态。

The effects on the stability of intertidal sediments disturbed by zoobenthos have been concerned by marine sedimentology, marine biology and marine geology in interdisciplinary field. The bioturbation impacts micro mechanism of the sediment erosion.

生物洞穴对潮滩沉积物扰动的影响研究越来越受到海洋沉积学、海洋生物学、海洋地质学等学科交叉的重视，并影响潮滩沉积物侵蚀的细观机理。

According to the analysis of general sm all signal stability m ethod,the conclusion can be drawn that the algebraic- equation constraints and the coupling between state variables are responsible for the complex dynam ic behavior of the systems.

文中首先对研究系统稳定问题的小扰动方法进行了分析，认为非线性动力系统的代数方程约束和各状态量之间的耦合关系是造成系统动态特性十分复杂的重要原因，进而利用同伦函数的概念给出了一种确定线性化系统中特征值与状态变量对应关系的方法。

The results show that for a supersonic shear layer without reaction, a disturbance can make the shear layer become unstable, this results in one vortex or more than one vortex. The combination and seperation of vortex can intensify the mixing. But it is not easy for supersonic reacting shear layer with exotherm to become unstable with disturbance, and the effect duration is very long.

结果表明，对完全气体的超声速剪切层流动，一定的激励方式能使原先较为稳定的剪切层流动变得不稳定，产生单涡或多涡结构，发生多涡间的合并，使混合加剧；但对于存在放热现象的反应超声速剪切层流动，外加激励方式不易使流动从稳定变为不稳定，而且外加扰动的作用特征时间也较长，实际应用前景不乐观。

The Governor model and its parameters obviously affect the calculation results of the steady-state value after the disturbance, and slightly affect the magnitude of first swing of line power.

调速器模型及参数对系统扰动后稳态值的计算结果影响比较显著，而对于功率第1摆幅度影响很小。

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。