镇定

The problems of robust stabilization of interval plants,diamond plants,and multilinear polytope of plants which are formed byconnecting more than one uncertain plants in series are discussed.

讨论了不确定区间对象族，不确定菱形对象族及多对象串联所构成的多线性凸多面体对象族的鲁棒镇定，并分别给出了顶点镇定结果。

The sufficient conditions to guarantee robust exponential stability for the closed-loop systems are obtained based on Linear Matrix Inequality, moreover, the approach of design of robust H# output feedback controller is introduced.3 The problem of reliable H# control for a class of Lur"e systems with polytopic uncertainties is studied when all control components are operational as well as when some control components experience failures, the design approach of reliable H# controller is also obtained.4 Considering a class of uncertain Lur"e singular system with time-delays, the problem of robust stability is investigated based on Barbalats Lemma and nonsingular linear transformation of model reduction.

针对一类不确定Lur'e奇异时滞系统，基于Barbalat引理以及非奇异降阶变换，讨论了Lur'e奇异时滞系统的鲁棒稳定问题，提出了鲁棒H_∞状态浙江大学博士学位论文反馈控制器的设计方法。5、针对一类具有饱和执行器的不确定Lur'e奇异系统，提出了时滞依赖的鲁棒稳定与鲁棒二次镇定的充分条件，所的结果不需要参数的整定。6、针对任意协方差有界的有色噪声，讨论了一类不确定Lur'e奇异系统的鲁棒凡滤波问题，得出了鲁棒几滤波器设计的充分条件。7、针对一类不确定Lur'e时滞系统，通过线性变换，把它转换成奇异系统，根据奇异系统鲁棒控制理论所得出的鲁棒稳定与鲁棒镇定控制器设计的充分条件具有很小的保守性。

Last, we study one of the applications of the norm form to the problem of local feedback asymptotic stabilization.

同时讨论了该标准形在局部反馈渐近镇定中的应用，该结果适用于解决局部反馈渐近镇定的临界问题。

Based on the discussion of contradict model's exist condition and learning method, a Internal Model Control strategy that may used in on-line self-adapting adjust and self-collected is presented. The strategy settles the problem in identification and control of the no self-balance object by using feedback compensatory sangfroid implement. And it also settled the unable on-line problem due to the slow training speed through separating control process and on-line study process.

在讨论了逆模型的存在条件和学习方法的基础上，本文提出了一种可以在线自适应调整的、镇定的内模控制方法，通过加入反馈补偿镇定器，解决了无自平衡对象的辨识问题与控制问题，同时通过将控制过程和在线学习过程分开的方法解决了由于训练速度慢而造成的不能在线问题。

Based on the discussion of contradict model's exist condition and learning method, a Internal Model Control strategy that may used in on-line self-adapting adjust and self-collected is presented.

在讨论了逆模型的存在条件和学习方法的基础上，本文提出了一种可以在线自适应调整的、镇定的内模控制方法，通过加入反馈补偿镇定器，解决了无自平衡对象的辨识问题与控制问题，同时通过将控制过程和在线学习过程分开的方法解决了由于训练速度慢而造成的不能在线问题。

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Consequently the NN adaptive unit is added into the control loop according to the NN on-line approximate property. Lastly the chapter combines the proposed shortest path-planning method and the adaptive tracking method in order to stabilize the NWMR about a posture through the shortest path. Many simulations are carried out on MATLAB and the simulation results are very feasible and reasonable. Chapter 5 proposes a new localization method for the WMR running on inclined planes based on fusion of clinometric and an odometric data by Kalman filter.

本文首先求得了在斜面上运行的NWMR动力学系统的状态方程；接着选择了适当形式的系统输出方程，采用非线性系统解耦方法对该系统实现了输入—输出线性化，并应用线性系统方法进行镇定；然后提出了基于人工神经网在线逼进NWMR动力学特性的自适应跟踪控制方法；最后将本文最短距离路径规划方法与跟踪控制方法相结合实现了NWMR系统状态镇定，并通过仿真实验证明了该方法的有效性。

The paper is concerned with the robust stabilization of uncertain systems with delayed state and input, a sufficient condition for the stablization of the system is derived by using a memoryless linear state feedback control law.

主要研究了具有状态和输入均带有时滞的线性不确定系统的鲁棒镇定问题，进而导出了系统可以用一个无记忆的状态反馈控制率鲁棒镇定的充分条件，最后提出了一个鲁棒稳定化控制器的设计方法。

It is argued that this problem can be solved using linear matrix inequality although it has been proved that the simultaneous stabilizability of three linear systems is rationally undecidable.

虽然三对象同时镇定问题被证明不是有理可解，然而本文认为基于线性矩阵不等式可解此问题，并给出了直接传输部分相等时同时镇定问题的解。

And the system was assuaged base on the central manifold theorem. A fuzzy sliding-mode controller was designed for the system for better performance.

基于精确反馈线性化理论镇定了可线性化子系统，基于中心流形定理镇定了该系统的不稳定的零动态。

The absorption and distribution of chromium were studied in ryeusing nutrient culture technique and pot experiment.

采用不同浓度K2CrO4(0，0.4，0.8和1.2 mmol/L)的Hoagland营养液处理黑麦幼苗，测定铬在黑麦体内的亚细胞分布、铬化学形态及不同部位的积累。

By analyzing theory foundation of mathematical morphology in the digital image processing, researching morphology arithmetic of the binary Image, discussing two basic forms for the least structure element: dilation and erosion.

通过分析数学形态学在图像中的理论基础，研究二值图像的形态分析算法，探讨最小结构元素的两种基本形态：膨胀和腐蚀；分析了数学形态学复杂算法的基本原理，把数学形态学的部分并行处理理念引入到家实际应用中。