系统函数

All equilibrium points of the original system are stable equilibrium points in the adjoint system.

对于一个非线性自治动力系统，存在一个伴随系统，该伴随系统是一个梯度系统，原始系统的所有平衡点都是伴随系统的渐近稳定平衡点，并且每一平衡点存在解析形式的Lyapunov函数。

For a nonlinear autonomous dynamic system, there exists an adjoint system, which is a gradient system. All equilibrium points of the original system are stable equilibrium points in the adjoint system.

对于一个非线性自治动力系统，存在一个伴随系统，该伴随系统是一个梯度系统，原始系统的所有平衡点都是伴随系统的渐近稳定平衡点，并且每一平衡点存在解析形式的Lyapunov函数。

The main works are to extend the related conclusions of continuous time systems to discrete time systems and the determination of state reachable set when bounded control input set is used. The properties of system's incremental gain are studied next.

文中第一步先讨论了应用耗散系统基本理论来界定系统诱导范数的方法：给出了确定有效系统耗散函数的方法：主要工作体现在将连续系统的相关结论推广到了离散系统：以及有界控制输入时系统状态能达集的界定。

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。

The security of PKI system itself is especially emphasized during the system design and implementation process, which is in accordance with the pervasive characteristic of PKI. Second, the concept of a Trusted Key Management Center is introduced for the first time. This technology greatly strengthens key management practices and allows for smooth transition from PKI to Key Management Infrastructure. Third, certificate status mechanisms are investigated in depth, and a certificate revocation performance simulation system is devised. All these work will provide guides to practice and employment of PKI applications. Based on time constraints, a new taxonomy for authenticated dictionaries is proposed. Fourth, formal analysis ofOCSP protocol is carried out; then an efficient and scalable OCSP system is developed. Fifth, the special requirements caused by the working environments of Wireless PKI are analyzed. Based on communicative hashing and dynamic Merkle hash tree, an efficient certificate status validation method suitable for WPKI is presented. Sixth, one important kind of fair exchange protocols is studied, and a new CEMBS based on RSA cryptosystem is proposed. Afterwards, a novel fair exchange protocol totally based on RSA signature scheme is devised.

在系统设计和实现的过程中，考虑到PKI作为普适性安全基础平台的特点，特别强调PKI系统自身的安全性；第二，首次在PKI系统的设计中提出了"可信密钥管理中心"的概念，这一独特设计大大地强化了密钥管理功能的实施，为PKI向密钥管理基础设施的平滑过渡提供了良好的技术准备；第三，对证书状态验证机制进行了深入研究，设计了证书状态模拟系统，以指导PKI系统和应用的部署和实施；在此基础上，基于时间约束首次给出了认证字典的一种新的分类方法；第四，对OCSP协议进行了形式化分析，设计和实现了一种高效、可扩展的OCSP系统；第五，分析了WPKI工作环境对设计安全基础平台提出的特殊要求，结合无线移动设备的具体特点，基于可交换杂凑函数和动态Merkle杂凑树设计出了一种适用于WPKI环境的高效证书状态查询机制；第六，对一类公平交换协议进行了深入的研究，从设计公平交换协议的密码基础结构出发，提出了一种新型的基于RSA密码体制的高效CEMBS；在此工作的基础上，设计了一种基于RSA密码体制的最优化公平交换协议。

The security of PKI system itself is especially emphasized during the system design and implementation process, which is in accordance with the pervasive characteristic of PKI. Second, the concept of a Trusted Key Management Center is introduced for the first time. This technology greatly strengthens key management practices and allows for smooth transition from PKI to Key Management Infrastructure . Third, certificate status mechanisms are investigated in depth, and a certificate revocation performance simulation system is devised. All these work will provide guides to practice and employment of PKI applications. Based on time constraints, a new taxonomy for authenticated dictionaries is proposed. Fourth, formal analysis of OCSP protocol is carried out; then an efficient and scalable OCSP system is developed. Fifth, the special requirements caused by the working environments of Wireless PKI are analyzed. Based on communicative hashing and dynamic Merkle hash tree, an efficient certificate status validation method suitable for WPKI is presented. Sixth, one important kind of fair exchange protocols is studied, and a new CEMBS based on RSA cryptosystem is proposed. Afterwards, a novel fair exchange protocol totally based on RSA signature scheme is devised.

在系统设计和实现的过程中，考虑到PKI作为普适性安全基础平台的特点，特别强调PKI系统自身的安全性；第二，首次在PKI系统的设计中提出了"可信密钥管理中心"的概念，这一独特设计大大地强化了密钥管理功能的实施，为PKI向密钥管理基础设施的平滑过渡提供了良好的技术准备；第三，对证书状态验证机制进行了深入研究，设计了证书状态模拟系统，以指导PKI系统和应用的部署和实施；在此基础上，基于时间约束首次给出了认证字典的一种新的分类方法；第四，对OCSP协议进行了形式化分析，设计和实现了一种高效、可扩展的OCSP系统；第五，分析了WPKI工作环境对设计安全基础平台提出的特殊要求，结合无线移动设备的具体特点，基于可交换杂凑函数和动态Merkle杂凑树设计出了一种适用于WPKI环境的高效证书状态查询机制；第六，对一类公平交换协议进行了深入的研究，从设计公平交换协议的密码基础结构出发，提出了一种新型的基于RSA密码体制的高效CEMBS；在此工作的基础上，设计了一种基于RSA密码体制的最优化公平交换协议。

As a result, the mass matrix, the stiffness matrix, the damping matrix and the excitation coefficient matrices of the dynamics differential equations are random parameter matrices. According to the minimum deviation rule of the mean squares between the random parameter system and the deterministic parameter system, the random mean square deviation vector function between the two systems has been set up and the deterministic parameter system has been solved.

应用Newton-Euler矢量法对挂接车辆系统建立了质量阵、刚度阵、阻尼阵和激励系数阵皆为随机参数阵的八自由度随机参数系统动力学微分方程，并按照随机参数系统与确定性参数系统之间的均方值偏差最小的原则，建立了两系统之间的随机均方偏差矢量函数，由此解出了相应的确定性参数系统

The dissertation gives a brief description about the developing situation and control theory of robot firstly, and then the underlying idea and characteristic of CTC are introduced in detail. Subsequently three classes of control strategies with compensation control structure which are based on CTC are proposed. The overall idea is that the system of robotic manipulators is decomposed as two parts: one is nominal system with perfect knowledge of dynamic model and the other is system with uncertainties. CTC is used to control nominal system. For uncertainties system, we utilize the regressor of robotic system or bounding function on uncertainties to design different compensation controllers. The outputs of the two parts control the robotic

本论文首先介绍机器人的发展概论概况，然后对计算力矩控制算法的基本思想和主要特点作详细的阐述，紧接着探讨基于计算力矩结构不确定性机器人的补偿控制方案，其中的基本思想都是将不确定性机器人系统分解成标称系统和不确定系统：对于标称系统，采用计算力矩控制；对于不确定系统，利用机器人系统的回归矩阵或集中不确定性上界的包络函数，设计不同的补偿控制器。

This paper presents the portfolio selection problem of two-attribute money and creates a model of portfolio selection based on two-attribute money, which can both contain the existing portfolio models and overcome the above-mentioned deficiencies. A series of new concepts is put forward, such as, holding wealth, obtainable wealth, short-term utility function, short-term expectation-variance utility function, state-expectation-variance utility function, short-term expectation-variance utility curve, long-term expectation-variance utility curve, margin utility contribution force, additional contribution force, profit-risk exchange rate and optimal portfolio expansion curve; The state-expectation-variance analytical method is developed from the expectation-variance analytical method; A set of systematic theories concerning two-attribute portfolio selection is thus established.

本文提出了两属性货币的证券组合选择问题；创建了既能包含现有证券组合选择模型又能克服上述两点不足的两属性证券组合选择模型；提出了持有财富、可获财富，短期效用函数，短期期望—方差效用函数、状态—期望—方差效用函数，短期期望—方差效用曲线、长期期望—方差效用曲线，边际效用贡献力，附加贡献力，收益—风险替换率，最优证券组合扩展线等一系列新概念；把期望—方差分析方法发展成状态—期望—方差分析方法；建立了两属性证券组合选择模型的一套系统的理论。

The three control systems respectively were as follows:(1) The measuring part of the first one was displacement piezoelectric sensor. A pair of piezoelectric sensor/actuator was collocated by each side of the first solar array plate. The compensator was H = 2395-s;(2) The measuring part of the second one was also displacement piezoelectric sensor.A pair of piezoelectric sensor/actuator was collocated by each side of the whole solarfan.Tthe compensator was H = 244s;(3) The measuring part of the third one was velocity piezoelectric sensor.A pair of piezoelectric sensor/actuator was collocated by each side of the three solars array plates near to the body of satellite.

三种控制系统分别是：(1)、采用压电位移传感器，压电传感器／驱动器对同位布置于内板的边缘，控制器补偿函数为H=2395s~(1／2)；(2)采用压电位移传感器，压电传感器／驱动器对同位布置于整个太阳帆板的边缘，这是一种理想的情况，控制器补偿函数为H=244s~(1／2)；(3)采用压电速率传感器，压电传感器／驱动器对同位布置于靠近星体的三块基板边缘，控制器补偿函数为H=2370s~(1／2)。

In the negative and interrogative forms, of course, this is identical to the non-emphatic forms.

。但是，在否定句或疑问句里，这种带有"do"的方法表达的效果却没有什么强调的意思。

Go down on one's knees;kneel down

屈膝跪下。。。下跪祈祷