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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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.

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