The strategy and controller are coming from combined analysis of combustion mechanism, generation mechanism of pollutants, influential elements, present application status of PID control method in combustion, as well as sum-up of controlling experience and contradistinctive researches of control strategies. It is shown that this method, when applied to furnace temperature controlling and activated-sludge process, is able to ensure controlling objects tracking in the presence of varying operation conditions, as verified via computer simulation. The thesis consists of chapters as following: Chapter 1 generalizes the research objective and brings forward the inferior theme; generation mechanisms of pollutants

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Given a ring and a set of communication requests. Each request is represented by a pair of nodes, and associated with a profit. To satisfy a request in the undirected ring, we need to determine a path between the two nodes of the request in the ring. To satisfy a request in the directed ring, we need to determine a directed path from the source to the destination of the request in the directed ring. The goal of the call admission control problem is to determine and satisfy a maximum profit subset of the requests such that for every edge of the ring, the number of satisfied requests that are routed through the edge does not exceed the capacity of the edge.

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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.

論文的結(jié)構(gòu)如下：在第1章中亚洲A级黄片，給出了本文研究課題的研究現(xiàn)狀性h视频、理論意義和實(shí)際應(yīng)用，并介紹了本文的研究對(duì)象久久天堂网色综合综合色、研究?jī)?nèi)容以及主要貢獻(xiàn)欧美最婬乱婬爆婬性视频真人爆婬；在第2章中，針對(duì)確定性非線性系統(tǒng)和隨機(jī)非線性系統(tǒng)模特无码日韩视频下载，分別介紹了Lyapunov定理萌白酱超短旗袍一区二区、LaSalle-Yoshizawa定理及其隨機(jī)版本；對(duì)仿射系統(tǒng)av永久天堂一区二区三区香港，在控制Lyapunov函數(shù)框架下欧美图片自拍，給出了Sontag公式；同時(shí)給出了非線性系統(tǒng)擾動(dòng)抑制和逆最優(yōu)控制問題的基本概念亚洲欧美日韩精品久久不卡；在第3章中日日摸夜夜摸人人狠狠摸，針對(duì)具有未知時(shí)變有界擾動(dòng)和未知定常參數(shù)的一類不確定非線性系統(tǒng)免费欧美性爱一级网站，給出并證明了逆最優(yōu)增益配置可解定理，使用自適應(yīng)Backstepping算法和均值定理中文特级熟妇一级系列视频，系統(tǒng)地設(shè)計(jì)了自適應(yīng)逆最優(yōu)控制器和逆最優(yōu)跟蹤器色色资源网址，這種設(shè)計(jì)方法可同時(shí)獲得逆最優(yōu)控制策略和自適應(yīng)律，簡(jiǎn)單明了男人的天堂精品一区二区AV，仿真結(jié)果表明該控制算法的有效性91专区，并給出了性能估計(jì)。

In chapter Ⅰ, a historial review of structure control is given; In chapter Ⅱ, A discussion of the controllability and observablity of flexible structures is given, Two kinds of controllability and observablity index are defined, and applied to actuator allocation; chapter Ⅲ considers the reduction of high order flexible structure mode; the content of chapter Ⅳ is about the basic problem of distributed parameter control system design. It is proved that a stable controllor in mode space may be unstable in real use in distributed paramater systems, also, by closed loop mode concept, a pole assignment method of flexible structure controllor design is given; chapter Ⅴ is about the low-authority controllor design, it is pointed out by use of high order eigenvalue/eigenvector perturbation, a better controllor can be designed; chapter Ⅳ considers flexible structure reduced order control; chapter Ⅶ disscusses the basic problem of flexible structure computer control, analyses discreate controllablity and observablity and its computing, the sample period and coefficient wordlength; chapter Ⅷ is on the problem of low flexibility compensation; chapter Ⅸ is a design example.

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To overcome the bad effect resulting from the nonlinearity time-variability and uncertainty on autopilot system performance during the motion process of aerodynamics missile, and to further improve the flight quality of missile, the autopilot system and used control method are researched. Firstly the integrant structure of system is discussed; then baaed un introducing the traditional PID method, controllers for missile attitude motion are designed respectively using fuzzy self-turning PID method and neural network self-adaptive PID method; at last a simulation experiment is finished. By comparing the simulation results that the designed controllers have good qualities is showed, and the feasibility and validity of applying fuzzy control and neural network into automatic control of aerodynamics missile is confirmed, and the base that other nonlinear control theory can be combined with the traditional control for missile to further improve the performance of missile control system is established.

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To the nonlinear plants, the shortage of normal inverse control method for nonlinear plants is discussed in chapter 6. ANFIS is effectively applied to nonlinear inverse dynamic control system. A project about how to design nonlinear inverse dynamic controller is also discussed here. It effectively avoid the inherent imperfects in the normal inverse control methods. These methods show a great promise.

對(duì)于非線性被控對(duì)象超碰欧美图片zxxxx，本文在第六章分析了通常非線性逆控制方法的不足在线高清免费不卡无码黄片，并將自適應(yīng)模糊神經(jīng)推理系統(tǒng)用于非線性逆動(dòng)態(tài)控制中，討論了ANFIS非線性逆動(dòng)態(tài)控制器的設(shè)計(jì)方案日韩污视频，有效地克服了在常規(guī)逆控制方法中所固有的缺陷www.毛片基地，在非線性控制中很有應(yīng)用前途。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

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I used the homemade ECDL to measure the 2S-3D two photon transition spectrum of Helium , the advantages are that the expense of homemade ECDL is cheap and have good output power. At the same time, I used the electronic part can be got in the market to manufacture a pulse generator in the experiment, the pulse generator can control the output frequency, the pulse width, the relative phase and also can simultaneously control four sets of systems or instruments need the TTL pulse control. The advantage is that the cost of the pulse generator is cheap and the pulse generator is stable. To isolate the magnetic field I used the magnetic foil to helium cell. I also built a gas discharge system, the switch sequence of this system can be controlled by the pulse generator. Finally I built a detecting system can measure the helium energy state. It is cheap and can be combined with the comb laser system in my laboratory.

本實(shí)驗(yàn)是利用一臺(tái)自制的外腔雷射系統(tǒng)來量測(cè)2S-3D的氦原子雙光子躍遷超碰欧美人人肏，其優(yōu)點(diǎn)在於自制的外腔雷射之費(fèi)用非常便宜，也有不錯(cuò)的輸出功率本页影院，同時(shí)在實(shí)驗(yàn)中我利用市售的電子零件制作了一臺(tái)脈沖產(chǎn)生器日日碰人人操，可控制輸出的頻率、脈沖寬度以及相對(duì)的相位欧美性交播播，且可同時(shí)控制四套需要TTL脈沖控制的系統(tǒng)或儀器外国一级黄色视视频免费看，優(yōu)點(diǎn)除了便宜之外，也非常穩(wěn)定亚洲欧美制服中文字幕；為了隔絕磁場(chǎng)在线观看国内精品va，利用了磁場(chǎng)隔絕金屬箔，我也在實(shí)驗(yàn)室中建立了一組氣體放電系統(tǒng)一本到东京，其系統(tǒng)可以用脈沖產(chǎn)生器來控制開關(guān)時(shí)序黄色网站毛片，最后，我建造了一個(gè)氦原子能階的量測(cè)系統(tǒng)黄视频色网站，而且費(fèi)用低廉国内自拍视频在线播放A，可與本實(shí)驗(yàn)室的另外一門研究光梳雷射系統(tǒng)做結(jié)合。

I used the homemade ECDL to measure the 2S-3D two photon transition spectrum of Helium , the advantages are that the expense of homemade ECDL is cheap and have good output power. At the same time, I used the electronic part can be got in the market to manufacture a pulse generator in the experiment, the pulse generator can control the output frequency, the pulse width, the relative phase and also can simultaneously control four sets of systems or instruments need the TTL pulse control. The advantage is that the cost of the pulse generator is cheap and the pulse generator is stable. To isolate the magnetic field I used the magnetic foil to helium cell. I also built a gas discharge system, the switch sequence of this system can be controlled by the pulse generator. Finally I built a detecting system can measure the helium energy state.

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