Design and implementation of 2DOF spherical inverted pendulum

1.INTRODUCTION Theinvertedpendulumsystemisaclassicalbench markfortheeducationandresearchintheautomation andmechanicalengineeringfield.Manyeducatorsfo cusontheinvertedpendulumcontrolsystembecause theexperimentsexhibittheadvantageandvalidityof moderncontroltheoryveryintuitively.Researchers alsohopetoverifynewalgorithmsonthesystem. Thebasicobjectiveoftheinverted pendulumsystem iskeepingthebalanceofthependulumatthe‘invert ed’status[1～3].Wehavecomparedtheperformance ofthreemoderncontrolm…     

不可再生资源的最优开发与利用

在考虑资源效用最大化的基础上,通过对不可再生资源开发率模型和利用率模型的分析,给出了在有效开发率及有效利用率制约条件下的一种新模型.同时,利用极大值原理对综合模型进行求解,得到了最优控制策略.     

油气资源勘探与开发的不确定性分析及最优策略

基于油气资源勘探与开发的特点,建立了油气藏勘探发现率及储量模型,并在油气价格服从几何布朗运动条件下,以油气开采收益最大化为目标,建立了油气资源勘探与开发的随机最优控制模型,然后运用动态规划方法推导了在状态方程有几何布朗运动、带随机泊松跳过程条件下,值函数所满足的HJB方程,并对最优策略的求解进行了一些讨论.     

A ROBUST DECOMPOSITION OF LINEAR PROGRAMMING USING A GOAL-PARTITIONING METHOD

The Dantzig/Wolfe linear programming decomposition algorithm has had important economicinterpretations as well as a widespread impact on solving large scale linear programming problem.Inthis paper we consider a similar underlying structure,where however there is only one couplinginequality or equation.With this simplification,we demonstrate how to achieve an equitable partitionof the overall coupling resource to individual subproblem constraints through a simple iterationprocedure which appears to be very efficient.     

系统的分散与集中的决策：（Ⅱ）分散控制效果分析

分散集中系统是一种重要的工业过程控制系统．合适的分散度有利于提高系统的性能指标，尤其是动态响应速度和误差时间的积分值都有明显地改善．文中提出若干系统分散的选择原则，并用仿真和理论分析加以证明．     

Method for Risky Multiobjective Group Decision-Making and Its Application

The multiobjective group decision-making problem under risk is common in reality. This paper focuses on the study about risky multiobjective group decision-making problem where the index value is not certain. We give indexes classifying method and index normalizing formula of this type problem. By building objective function that minimizes general weighted distance from every alternative to the relatively best and worst alternative, the optimal membership degree of every decision-maker to every alternative can be obtained, and by building another objective function that minimizes general weighted distance from the optimal membership degree of every decision-maker to every alternative to the group optimal alternative and the group inferior alternative, the optimal membership degree of every decision-maker to every alternative can be obtained, which are both based on probability theory and fuzzy theory. Aftermost a model is established which collects group preferences. This method provides a new idea and     

含有纯滞后对象的控制方法

评述纯滞后对象控制的两种典型方法─—大林算法和纯滞后补偿法的原理、优缺点、设计要求及存在问题，并讨论了两者的联系。     

倾斜导轨上二级倒立摆的控制

本文在已有的倾斜导轨上二级倒立摆数学模型的基础上,采用极点配置方法和线性二次型最优控制器对导轨倾斜45o时的二级倒立摆进行了控制,并用MATLAB进行了控制结果仿真,仿真结果表明,控制效果较好。     

无界报酬向量值折扣马氏决策规划—最优平稳策略及算法

本文主要讨论了无界报酬向量模型的平稳策略问题，给出了改进平稳策略的方法，建立起向量模型的最优方程，获得平稳策略为强最优策略的充要条件．指出最优平稳策略的期望报酬函数必为极大不动点，最后提出一种寻求最优平稳策略的策略迭代算法．     

带观测器的电液力伺服变极点数控系统的设计

本文在阐述变极点最优控制原理及其在电液力伺服系统中的实施之基础上，又进行了变极点控制的离散化处理和离散降维观测器对系统的状态重构，解决了系统稳定性与响应速度的矛盾，为该系统微机控制软、硬件的实观奠定了理论基础