Có 17+ tài liệu thuộc chủ đề "Hệ thống phi tuyến"
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ĐIỀU KHIỂN CÂN BẰNG CON LẮC NGƯỢC SỬ DỤNG BỘ ĐIỀU KHIỂN CUỐN CHIẾU. Con lắc ngược, Điều khiển cuốn chiếu, Hệ thống phi tuyến. Bài báo trình bày việc thiết kế bộ điều khiển ổn định thời gian thực để cân bằng con lắc ngược dùng phương pháp cuốn chiếu. Kết quả thực nghiệm của phương pháp đề xuất...
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1.2 Mô hình diễn tả hệ thống điều khiển. Hệ thống điều khiển hở và hệ thống điều khiển kín.. Các hệ thống lấy mẫu dữ liệu. 2.5 Hàm truyền đạt của hệ thống rời rạc 2.6 Ứng dụng MatLab. ỔN ĐỊNH CỦA HỆ THỐNG ĐIỀU KHIỂN TUYẾN TÍNH.. 5.1 Tính điều khiển được của các hệ thống liên tục.....
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In this case, the output of the plant is the sensed vehicle speed, y, and the input to the plant is the throttle angle, u, as shown in Figure 1.1. Typically, control systems are designed so that the plant output follows some reference input (the driver-specified speed in the case of our cruise control example) while achieving some level of...
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[l, 1lT then notice that 4.24 = &. Notice that. A real symmetric n x rz matrix P is said to be positive semidefinite (denoted P 2 0, which is not an element-wise inequality) if xTPz 2 0 for all IL. 0 for all IL. is also positive semidefinite (def- inite) for all X >. for JJ E [l, 001,...
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Neural Networks and Fuzzy Systems. Few technologies have been used for such a vast variety of applications as neural networks and fuzzy systems. 50 Neural Networks and Fuzzy Systems. In the next chapter we will provide a variety of optimization methods that may be used to help specify the parameters used to define neural networks and fuzzy systems.. 3.2 Neural...
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Here, as in many adaptive control methods, the adaptive schemes are de- signed to search for a parameter set which minimizes a cost function, while maintaining, or seeking to achieve, certain closed-loop properties (e.g., sta- bility) of the adaptive system. For insta#nce, we may seek to adjust the parameters of a neural network or fuzzy system (which we treat as...
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For instance, we use function approximation ideas in the develop- ment of models for control design and analysis, and conventional adaptive control generally involves the on-line tuning of linear functions (linear ap- proximators) to match unknown linear functions (ẹg., tuning a linear model to match a linear plant with constant but unknown parameters) as we dis- cussed in Chapter 1....
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Since the linear concept of phase does not carry over to the nonlinear world, we will not consider many of the traditional control design techniques such as using Bode and Nyquist plots. Instead, we will use Lyapunov-based design techniques where a controller is chosen to help decrease a measure of the system error.. The purpose of the controller is typically...
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It also allows, for example, the use of traditional adaptive feedba#ck linearization when the model of the plant dynamics is only valid. In high-consequence systems, this may be very dangerous since the instability may not be apparent unless the closed-loop system is pushed to its limits. If the system subsequently becomes unstable at these extreme opera,ting conditions (such as at...
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Indirect Adaptive Control. In the previous chapter we explained_how to develop stable direct adap- tive controllers of the form u = .F(z, O), where .F is an approximator and 8 E RP is a vector of adjustable parameters. The approximator may be defined using knowledge of the system dynamics or using a generic univer- sal approximator. We found that as...
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On the other hand, for the purposes of this application chapter we do not require such generality: As will be shown, the inverted pendulum fits a particular class of systems, that of input-output feedback linearizable plants, and this knowledge may be used to more fully exploit the power of the adaptive techniques presented earlier.. 9.2 Control of Input-Output Feedback Linearizable...
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10.1 Overview. 10.2 Partial Information Framework. 10.3 Output-Feedback Systems. (10.11). (10.13). du1 29 + d $2 + g1(y)] (10.14). (10.15. (10.16). j=o ar (10.18). (10.19). (10.20). x2 = u (10.21). c = C?, (10.22). x max (p) +W2JP12 (10.24). 10.4 Separation Principle for Stabilization. (10.25). u = h&c, Y>- (10.26). Y = h(x, 4 (10.27). (10.29). (10.30) y=Cx+Du. Definition 10.1:...
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11.1 Overview. 11.2 Control of Systems in Adaptive Tracking Form. (11.4) so that Z = x - 2 decays as &. and rewrite (11.8) as. (11.10). (11.11). (11.12). (11.13). (11.14). (11.15). and rewrite (11.15) as. (11.16). (11.17). (11.18). (11.19) where c2 >. (11.20) where es = vum,3 - ~2 (x2). 4~ (11.21). (11.22) ei subsystem ( 1 <. (11.24) (where...
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12.1 Overview. 12.2 Nonadaptive Stabilization: Jet Engine. System (12.1) then. 12.2 Nonadaptive Stabilization: Jet Engine 403. 12.2.1 State-Feedback Design. Lemma 12.1: For system (lZ.Z), with the choice of the control law G(x. 3P2kIR44 (12.3) where kl and k2 are positive scalars satisfying the inequalities,. so that the last equation in (12.2) becomes Y+!I = u’. (12.10) Here, as in [115],...
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13.1 Overview. 13.2 Discrete-Time Systems. 13.2 Discrete-Time Systems 439. 13.2 Discrete-Time Systems 441. 13.2.2 Canonical Forms. 13.2 Discrete-Time Systems 443. (13.12). 13.3 Static Controller Design. 13.3.1 The Error System and Lyapunov Candidate. 13.3 Static Controtler Design 445. k2, (13.13). (13.14). (13.15). k-+cc (13.17). 13.3.2 State Feedback Design. h(k), (13.18). (13.19). 13.3 Static Controller Design 447. ATPA-P=-Q (13.20). P(~(k))~(k), (13.22) where...
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14.1 Overview. 14.2 Decentralized Systems. Z2) (14.6) FZ = ks(y + d3 sin(e. 14.3 Static Controller Design. 14.3.1 Diagonal Dominance. (14.10). Starting from the right hand side of (14.11) we find. (14.11). (14.12). (14.13). 72 so (14.11) is satisfied. 14.3.2 State-Feedback Control. (14.14) with bound. (14.15). (14.16). Lemma 14.1: Given a nonnegative continuous function y. ~,(I4 I d 5 14”~(14>....
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15.1 Overview. Adaptive fuzzy and neural systems do not exist as an isolated topic devoid of relationships to other fields. It is important to understand how they relate to other fields in order to strengthen your understanding of them, and to see how general the ideas on adaptation are.. We have emphasized that the methods of this book have their...