非线性系统

The nonlinear dynamic model was expressed based on the format of SISO affine nonlinear system. Then the system was represented into the standard Byres-Isidori format base on the diffeomorphism transform.

使用SISO仿射非线性系统描述了所建立的自行车机器人非线性动力学模型，利用非线性微分同胚变换将该系统化成了Byres-Isidori非线性系统的标准型形式。

The feedback linearization,system lacunarity and optimization control of the nonlinear control system are discussed.

对非线性控制系统设计理论上的难点问题进行了探讨，就非线性控制系统的反馈线性化、系统间隙度和非线性系统的优化控制进行了分析。

Considering the vehicular SG cruise integrating model under braking condition influenced by some factors of nonlinearity, time-delay and the disturbance, a new nonlinear SMITH predictor is designed to compensate the time delays of control variable in advance. Furthermore, with the resort of pure delay operator, extension of the Lie derivative and the Lie bracket, some issues of SISO nonlinear system with time delays in state variable are resolved, which cover the input-output linearization, invertability of coordinate transformation and the disturbance decoupling problem.the staged transformation and design technique, the vehicle deceleration tracking control and the SG cruise disturbance decoupling control under braking condition are carried out effectively using proposed control method.

在建立制动工况下车辆走-停巡航系统集成模型基础上，针对其非线性、时滞特性以及目标车减速度干扰的影响，提出一种改进的非线性SMITH预估补偿方法，以消除控制变量时滞，并结合时滞算子、扩展李导数和扩展李括号方法，研究并解决了SISO状态变量时滞非线性系统的输入输出线性化、坐标变换的可逆性以及输出干扰解耦问题，实现了SISO时滞非线性系统的综合控制。

Based on this, this paper develops the modal series method, expounds its mathematic foundation and theory system, and compares it with the linear modal analysis and the method of norm form of vector fields.

开发了基于模态级数法的HVDC/AC互联电力系统分析软件包，通过此软件可以得到系统的非线性响应，获得非线性系统零输入响应的近似闭式解，进行系统模态分析、非线性模态交互作用分析，并为控制系统设计提供有价值的特征信息。

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。

The inverse model of the system which can be established by neural network according to the UAV's movement is connected with the object controlled so that the nonlinear and correlative system will become linear and irrelated. PID reactive control is used to improve the performance.

根据无人机发生故障时非线性运动的特点，确定适当的神经网络结构建立无人机非线性系统的逆系统，并与被控对象串连可以对非线性耦合系统进行线性化解耦，然后引入PID反馈控制进一步提高神经网络逆控制系统的性能。

Resultantly, the individual warm/cold events in ENSO cycle appear to be partially locked to the annual cycle, and also exhibit obvious irregularity both in amplitude and in lasting time.

本文第四章研制设计了一包含海洋表面边界层和大气辐合反馈过程的热带太平洋海气耦合异常模式，进而利用该模式对ENSO循环进行了较为真实的模拟，通过对模式ENSO循环的演变特征及其形成机制的细致分析，建立了-ENSO循环的非线性分析模式，并提出了ENSO循环形成的一种更为客观的理论，指出：1）和观测事实类似，模式ENSO循环确实涉及了三种主要时间尺度过程即LF、QB和AC，其中LF为3-4年主周期振荡，QB占总方差10～20%；2）ENSO循环的正反馈机制是不稳定海气相互作用过程，且这一不稳定过程的发展在暖态中明显强于冷态；3）ENSO循环的负反馈机制在冷暖态中表现不同，在冷态消亡过程中，这种负反馈过程主要表现为西边界反射产生的时滞效应，但在暖态消亡过程中不存在类似的时滞效应，其负反馈过程主要表现为在海气耦合不稳定充分发展时伴随的赤道两侧冷水上翻过程的加强以及非线性过程的衰减作用抑制了不稳定的发展并最终使得系统回复至冷态；4）ENSO循环的3-4年主周期振荡是一非线性系统的自激振荡现象，其形成是线性系统的本征模即准两年振荡通过非线性机制产生的周期加倍所致，其中&单向性&大气辐合反馈加热过程对其形成至关重要；5）虽然年循环过程对ENSO循环形成没有本质影响，但它可明显影响ENSO循环的具体振幅和位相，使得ENSO对季节循环有明显的&锁相&特征，并且也使得ENSO循环在振幅大小和时间长短方面呈现出明显的不规则性。

Coal load in ball tube of pulverizing system is affected by many factors, this paper analyzes these factors and their relations.

由于神经网络技术的发展，神经网络在非线性控制方面显示出强大的优势，同时近年来出现的逆系统方法对于多变量非线性系统的控制指出了一条可算是光明的道路，鉴于以上两项技术的优越性，本文提出对BMPS进行神经网络逆系统控制的方法，首先通过机理分析的方法建立了BMPS的非线性动态数学模型，并依此模型设计了神经网络逆系统控制方案，由于此方案中需要用到球磨机磨筒内负荷的反馈，但是磨内负荷是一个不能直接测量的量，而且其测量方法是多年来人们一直在努力的方向却又一直不能较好地解决，本文提出对其进行神经网络测量的思想和方法，这一方法的仿真试验和现场实测结果均表明其研发造价低廉的优越性和测量较为准确的实用性。

Firstly, a class of affine nonlinear systems are considered. The single-layered neural networks are used to approximate the nonlinear functions of the systems. Stable adaptive control algorithms are presented based on system states feedback and system output feedback respectively. The boundary of the tracking error is guaranteed. Then, by using the technique of input-output linearization, the stable adaptive control method for general nonlinear systems is proposed. Finally, the effectiveness of the proposed adaptive control algorithms are verified through the simulation researches for the control of robot manipulator.

首先考虑一类仿射非线性系统，利用单层神经网络去逼近系统的非线性函数，分别给出了基于系统状态反馈和输出反馈的稳定自适应控制算法，确保系统的跟踪误差有界；然后利用输入输出线性化方法，给出广义非线性系统的自适应控制方法；最后通过在机械手位置跟踪控制中的仿真研究，验证了所提方法的有效性。

Finally, according to market conditions and market products this article paper analyzes the trends in the development of camera technology, and designs a color night vision camera.

最后根据市场情况和市面上产品的情况分析了摄像机技术的发展趋势，并设计了一款彩色夜视摄像机。

Only person height weeds and the fierce looks stone idles were there.

只有半人深的荒草和龇牙咧嘴的神像。