By transforming the nonlinear saturation constraint into the special linear constraint, the problem of solving the feedback controller with saturated actuator is converted to the design of controller with linear constraint. The stochastic stability is ensured by using the intersection of ellipsoid invariant set of different modes existing in the attraction domain of the closed loop system. In this case, solving controllers can be equivalent to a solvability problem of linear matrix inequalities.

通過將非線性飽和約束轉(zhuǎn)化為特殊的線性約束，使具有飽和執(zhí)行器的控制器求解問題轉(zhuǎn)化為線性約束控制器的求解問題向日葵视频在线下载官方下载，利用位于閉環(huán)系統(tǒng)吸引域內(nèi)的不同模態(tài)下橢圓不變集的交集來保證系統(tǒng)的隨機穩(wěn)定性白白在线发布，此時控制器的求解可等效為線性矩陣不等式的可解性問題。

This paper adopted a course keeping nonlinear robust controller based on closed-loop gain shaping algorithm and exact feedback linearization algorithm and a speed robust controller which was based on closed-loop gain shaping algorithm.

該文采用基于閉環(huán)增益成形算法和精確反饋線性化算法的航向保持非線性魯棒控制器與基于閉環(huán)增益成形算法的速度魯棒控制器女人一边做一边潮喷30p。

For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm. The nonlinear PID controller is constituted of a nonlinear items with a robust PID controller.

針對非線性船舶航向保持系統(tǒng)国产视频黄，給出一種基于精確反饋線性化和閉環(huán)增益成形算法的非線性魯棒PID控制器，該非線性PID控制器由非線性函數(shù)項和魯棒PID控制器組成在线观看免费A片视频。

Another nonlinear robust PID controller is wholly based on closed-loop gain shaping algorithm, which includes a nonlinear switching component with a timer. The algorithms improve the robustness of the system and simplify the design of controller, the simulation results show that the course-keeping performance is improved well.

另外在线视频激情，還給出一種完全基于閉環(huán)增益成形算法的非線性魯棒PID控制器，其包含了具有定時功能的開關(guān)元件蜜桃视频未满在线观看免费，兩種非線性PID控制器在提高系統(tǒng)魯棒性能的基礎(chǔ)上久久小视频，簡化了控制器設計，從仿真結(jié)果可以看出日本迷奷系列在线播放97野外，航向保持效果良好成年片精品视频网站在线观看网址。

The algorithm shapes the closed-loop gain without selecting weighting functions in H∞ control algorithm. Its core is to determine the final shape of the transfer function of the closed-loop system, the robust PID controller is directly constructed using parameters having engineering sense. The algorithm guarantees fundamentally that the designed controller has fine control performance and robustness.

該算法避免了常規(guī)H∞控制算法中權(quán)函數(shù)的選擇而對系統(tǒng)進行閉環(huán)增益成形免费观看在线播放A片，其核心是確定閉環(huán)系統(tǒng)傳遞函數(shù)的最后希望的形狀黄网免费看，用閉環(huán)系統(tǒng)具有工程意義的參數(shù)直接構(gòu)造出魯棒PID控制器，從根本上保證了設計出的控制器具有良好的魯棒性和魯棒穩(wěn)定性久精品国产欧美亚洲色aⅴ大片。

The main controller compatible with DS87C550 and P87C552, implements the functions of system resource management and task schedule. The communicatory part, which expands the serial interfaces by TL16C554, implements the communication among the main controller, the remote communication terminal and the field devices. The interface part implements isolation between field devices and monitoring terminal with photoelectric coupling; Solar battery supplies power for the monitoring terminal.

主控部分兼容DS87C550和P87C552兩種MCU29pao在线视频，實現(xiàn)了系統(tǒng)資源的管理與任務調(diào)度；通訊部分采用TL16C554擴展了多個串口欧美性爱老牛视频，實現(xiàn)了主控部分與遠程通信終端及智能儀器之間的通信国产激情图片区；接口部分采用光電耦合技術(shù)實現(xiàn)了現(xiàn)場設備與監(jiān)控終端之間的電氣隔離；采用太陽能供電技術(shù)為監(jiān)控終端提供了電源色哟哟最新入口。

In order to improve the characteristics of transient response,an initial value compensation method based on compensating the difference outputs between current controller and former controller is proposed and compensated math model and response for this system are given.

針對這些問題亚洲人成毛片在线播放器，設計了一種基于補償控制器輸出的初值補償切換算法，并給出了加入初值補償之后的系統(tǒng)數(shù)學模型和響應形式成年人网站免费视频在线观看，以及該算法的具體實現(xiàn)综合激情区小说区图片区。

Experiments show that this kind of controller has better steady state response than the normal fuzzy controller. Secondly, two kinds of compensating method for the nonlinearity of mechanical transmission system are developed.

其三是一種可變結(jié)構(gòu)的模糊控制算法www.日本在线播放，在響應的初期和穩(wěn)態(tài)采用不同結(jié)構(gòu)的模糊控制器，輸入輸出變量的量化也采用不同的臺階在线看的欧美中文免费网站，實驗證明這種控制器比一般的模糊控制器具有更好的穩(wěn)態(tài)響應国产无码网站。

The output of the controller was connected to a group of resistors and inductors to draw the rated value of the controller (35 A minimum).

控制器的輸出端與一組電阻器和電感器相連接，以獲取控制器的額定數(shù)值

The position of controlled structure was positively fed back to controller according to position measure and contraposition control, and position of controller was positively fed back to control structure to control the vibration of controlled structure.

將實際系統(tǒng)模型放置在仿真系統(tǒng)中進行半實物仿真控制加勒比在线精品视频在线观看。通過位置測量一级毛片免费毛片、對位控制，將受控結(jié)構(gòu)位置正饋至控制器九色91，再將控制器位置正饋給控制結(jié)構(gòu)亚洲免费播放黄色网，控制受控結(jié)構(gòu)的振動。