Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

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Results revealed that the large side insulation of the stator bar in slot is available for ultrasonic pulse-echo testing; Coupling transducer on the surface of a practical stator bar could minimize the influence on the measurements of velocity, contributing no destructivity of the ultrasonic testing for stator insulation; The simultaneity of same velocity and higher attenuation can be used to detect insulation delamination from conductors; Compared with the wide sides of the bars in slot, the short sides of the bars near the exit from slot and the end bars had a same velocity and a higher attenuation; The velocity might be exactly measured on the shot sides of the bars near the exit from slot and the end bars, while the attenuation might not, which were examined though filed tests; V min decreased greatly and V av decreased slightly with the service time of the bars.

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Based on structural singular value theory, the robust control model for vibration response is built, and the design method of μ- synthesis controller is presented. The main ideal is as follows: by introducing fictive uncertainty, the robust performance problem of vibration response is transformed into the robust stability problem of the augmented system. It can be solved by D K iteration.

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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.

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X6 3?,large specific surface area and adsorbent capacity However,most molecules and hydrated ions can not enter the aperture pass because of their size over the aperture diameter of palygorslote except less simple ones Furthermore,Palygorskite adsorbs water molecule choosingly In most cases the absorbing of palygorskite is by its outside surface that works in the form of colloid and ion exchange other than i...

但是由于凹凸棒石孔道直徑小于大多數(shù)分子及水合離子的直徑，除少數(shù)簡(jiǎn)單分子和離子外强奸网站网址大全，多數(shù)分子和離子都不能進(jìn)入凹凸棒石孔道久久综合国产一区二区，而且凹凸棒石選擇性吸附水分子，因而在多數(shù)情況下最新亚洲国产精品丝袜在线观看，凹凸棒石對(duì)吸附質(zhì)的吸附不是內(nèi)表面吸附视频二区一区在线，而是外表面吸附。并且外表面吸附是膠體和離子交換吸附www午夜三片。本文闡述了凹凸棒石的孔道直徑国产激情高清视频、吸附選擇性、體系pH 值及凹凸棒石和蒙脫石膠體顆粒的互相作用對(duì)凹凸棒石吸附性能應(yīng)用的制約久久国内精品。

The problems of robust stability and robust stabilization for interval systems were discussed. A necessary and sufficient condition for the robust stability of a line segment polynomial was proposed. The tested results of robust stability of a polynomial polytope and robust stabilization of an interval system were obtained in terms of the condition.

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Then after analysising each characteristics of phosphate glass material, the fiber rod-in-tube by invaginating core rod, inside cladding and outside cladding is used to fabricate the Er/Yb phosphate glass fiber successfully by polishing and vacuumizing fiber rod-in-tube.

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By abration experiment, the impact action between pin and particle is studied, and the impact position is revealed according to abrated position and abrated degree in a pin, by which the structure design of GLS pin mill is suggested based on this analysis.

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Based on these, an improving μ-synthesis is presented, with which the high-purity distillation is designed well. 2. The robust performance problem of MIMO plant is explained with the plant direction angle, which shows that the robust performance varies with different input uncertainties and the μ-synthesis should be applied correctly according to the uncertainty structure. 3. Condition number and bandwidth are the important items for robust performance design in MIMO system. The H〓 two-block problems can not deal with the robust performance design of MIMO system because of the condition number cancellation. A general μ-synthesis procedure for MIMO system with uncertainties is presented. 4. For the SISO system, the object function in robust performance is amplified by at most 〓 than that of H〓 two-block problems in value: So the robust performance of SISO system can be done with the H〓 two-block problems to avoid the complicated μ-synthesis procedure. 5. All the conclusions and methods presented in this paper are demonstrated by some typical design examples.

從而形成一種改進(jìn)的μ綜合方去，并對(duì)精餾塔病態(tài)對(duì)象進(jìn)行了魯棒性能設(shè)計(jì)一级A一级a毛片爱片免费看免免，得到令人滿意的結(jié)果91部精品国产费观；（2）利用對(duì)象的方向角解釋了MIMO對(duì)象魯棒性能設(shè)計(jì)出現(xiàn)問題的原因，并提出不同輸入攝動(dòng)形式下系統(tǒng)的魯棒性能問題也并不相同一级又黄又粗毛片视频，因此利用μ綜合處理魯棒性能設(shè)計(jì)時(shí)aaaaaa性欧洲，應(yīng)根據(jù)不同的攝動(dòng)情況采用不同的結(jié)構(gòu)進(jìn)行設(shè)計(jì)：（3）條件數(shù)問題和帶寬問題是MIMO系統(tǒng)魯棒性能設(shè)計(jì)的兩個(gè)主要問題，指出由于條件數(shù)對(duì)消的存在使得一般H〓兩塊問題無法處理MIMO系統(tǒng)的魯棒性能設(shè)計(jì)久久伊人精品免费视频，而μ綜合方法則是處理MIMO系統(tǒng)魯棒性能設(shè)計(jì)的有效方法国产天天在线视频，并給出了其處理MIMO系統(tǒng)魯棒性能設(shè)計(jì)的一般性方法；（4）提出對(duì)于SISO系統(tǒng)H〓兩塊問題（S/T問題最新福利一区、S/KS問題）的設(shè)計(jì)指標(biāo)函數(shù)與魯棒性能設(shè)計(jì)的μ指標(biāo)函數(shù)在數(shù)值上最大差〓倍成性交免费视频，因此對(duì)于一般SISO系統(tǒng)的魯棒性能設(shè)計(jì)可以簡(jiǎn)單地用一般的H〓的兩塊問題處理，而避免μ綜合設(shè)計(jì)的復(fù)雜過程小蝌蚪视频破解软件下载安装；（5）本文中提出的結(jié)論和算法都利用H〓/μ發(fā)展中的典型例子：Doyle-Stein問題欧美一级性爰，Safonov的戰(zhàn)斗機(jī)模型，精餾塔對(duì)象等進(jìn)行了設(shè)計(jì)驗(yàn)證在线播放免费黄色网页视频。

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?5th july - 揚(yáng)奇煜FABIEN![棒棒堂-小煜] | ?8th july - 小馬![棒棒堂-小馬] | ?14th august - 模笵棒棒堂生日!

th july：揚(yáng)奇煜FABIEN![棒棒堂-小煜]

?11th june - 翁瑞迪BEN![棒棒堂-阿本] | ?5th july - 揚(yáng)奇煜FABIEN![棒棒堂-小煜] | ?8th july - 小馬![棒棒堂-小馬]

lollipop：棒棒糖

>>,他從畫報(bào)上剪下一個(gè)肌肉男,手里拿著一根棒棒糖,上書三個(gè)字母"POP",既是英文"棒棒糖"(lollipop)的結(jié)尾,又是英文"流行、時(shí)髦"的意思. 由此,"波普藝術(shù)"(Pop Art)一詞誕生. 少年時(shí)候的沃霍爾已是個(gè)鋒芒畢露的藝術(shù)學(xué)生,在師長(zhǎng)的鼓勵(lì)下,

lollipop：(棒棒堂)

模范棒棒堂是一個(gè)綜藝節(jié)目,里面選出了若干個(gè)男孩...在06年11月的某一期,通過了N次淘汰賽和征選會(huì),最終確定了敖犬,王子,威廉,阿偉,小杰,小煜6個(gè)人,組成了少男團(tuán)體棒棒堂.(LOLLIPOP)正式出道.

flame carbon：弧焰碳精棒,發(fā)光碳精棒,發(fā)弧光碳棒

flame cap ==> 焰暈,藍(lán)色焰暈 | flame carbon ==> 弧焰碳精棒,發(fā)光碳精棒,發(fā)弧光碳棒 | flame carbon arc lamp ==> 發(fā)光碳精棒弧光燈