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A Time-Varying Control Method Based on Taylor Series Approximation
Shuang Zhang,Zuojun Shen 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, a time-varying control method based on Taylor series approximation is proposed. By approximation, a time-varying system can be explicated as a polynomial function of the independent variable, and a time-varying control law can be derived. For a time-varying system, this control law guarantees the actual control result as similar as the promising one of a linear time-invariant control method, such as the proportional feedback scheduling or the gain scheduling. A benchmark control problem of stabilizing an inverted pendulum with an oscillating center of mass is used to illustrate the effectiveness of the new method. Stability analysis is also conducted using the state-of-art singular perturbation margin (SPM) approach.