非线性控制 第一章.ppt

Typical Models 4.Negative-Resistance Oscillator（负阻振荡器） twin-tunnel-diode circuit Basic oscillator circuit Typical driving-point characteristic Typical Models 5.Artificial Neural Network Hopfield neural network model input-output characteristic for the amplifiers Typical Models 5.Artificial Neural Network equilibrium points: Stability analysis: ? Typical Models 6.Adaptive Control destination: （梯度算法） Typical Models 6.Adaptive Control direct model reference adaptive control（直接参考模型自适应控制） model reference：the controllers task is to match a given closed-loop reference model direct：the controller parameters are adapted directly as opposed，estimate the plant parameters ap and kp on-line and use their estimates to calculate the controller parameters Typical Models 7.Common Nonlinearities Typical Models typical memoryless nonlinearities 7.Common Nonlinearities Typical Models input-output characteristics have memory Relay with hysteresis（迟滞中继） Hysteresis nonlinearity（迟滞非线性） magnetic material Backlash nonlinearity（间隙非线性） the hysteresis loop is independent of the amplitude of the input 动态系统：运动状态按确定规律或统计规律随时间演化的一类系统 不稳定焦点 stability properties of the equilibrium points Nonlinear Systems Classification Some Concepts Characteristicsmethods Typical Models Syllabus Research Reasons Classification Dynamic System Linear System Nonlinear System Algebraic Equation （static） Differential Equation (concentration) Difference Equation (distribution) Algebraic Equation （static） Differential Equation (concentration) Difference Equation (distribution) Math Model Classification Model Structure Classification Nonlinear system： In contrast to a linear system, is a system which does not satisfy the superposition principle – meaning that the output of a nonlinear system is not directly proportional to the input. Classification linear system： Nonlinear system： Research Reasons From the practically point of view almost all the real systems are nonlinear. Nonlinearities may be introduced inte