Robotics process control book Part 5 docx

... The second part of the proof - necessity - is much harder to prove. The choice of µ for computations is usually µ = I (3.2 .55 ) Controllability of continuous systems The concept of controllability ... theory of automatic control. Definition of controllability of linear system dx(t) dt = A(t)x(t) + B(t)u(t) (3.2 .56 ) is as follows: A state x(t 0 ) = 0 of the system ( 3.2 .56 ) is control...

Ngày tải lên: 10/08/2014, 02:21

... discontinuous control. Automat. i Telemech., 3 ,5, 5, 1949, 1949, 1 950 . J. R. Ragazzini and L. A. Zadeh. The analysis of sampled-data control systems. AIEE Trans., 75: 141 – 151 , 1 952 . R. Bellman. ... is c ∗ y = Kc x (2.2 .57 ) and K is some constant. Equations ( 2.2 .54 ), (2.2 .55 ) in conjunction with (2.2 .56 ), (2.2 .57 ) yield H y ∂c y ∂t + G ∂c y ∂σ = K G (Kc x − c y ) (2.2 .5...

Ngày tải lên: 10/08/2014, 02:21

... 55 non-stationary, 154 random, 152 response, 14, 15 space discretisation, 41 state space model, 95 stationary, 154 stochastic, 152 expected value, 153 realisation, 152 variance, 153 vector mean value, 154 random ... density, 156 probability, 146 conditional, 146 density, 152 joint density, 150 law of distribution, 147 theory, 146 probability density, 150 process, 12 analysis,...

Ngày tải lên: 10/08/2014, 02:21

... (T 1 + T 2 )x 1 T 1 T 2 dx 2 dt = x 1 114 Dynamical Behaviour of Processes 0 5 10 15 0,0 0 ,5 1,0 1 ,5 t ζ =1,3 ζ =1,0 ζ =0 ,5 ζ =0,2 y/Z s Figure 4.1.4: Step responses of the second order ... 4 1 T 2 k 2 s 1,2 = −ζ ±  ζ 2 − 1 T k 3 .5 Exercises 1 05 W. H. Ray. Advanced Process Control. McGraw-Hill, New York, 1981. M. Athans and P. L. Falb. Optimal Control. Maˇsinostrojen...

Ngày tải lên: 10/08/2014, 02:21

... [dB] 10 −3 10 −2 10 −1 10 0 10 1 −300 − 250 −200 − 150 −100 50 Frequency [rad/min] Phase [deg] Figure 4.3.11: Bode diagram for the third order system. 138 Dynamical Behaviour of Processes 0 0. 05 0.1 0. 15 0.2 0. 25 0.3 0. 35 0.4 −0.2 −0.18 −0.16 −0.14 −0.12 −0.1 −0.08 −0.06 −0.04 −0.02 0 Re Im Figure ... Frequency Analysis 1 45 −2 .5 −2 −1 .5 −1 −0 .5 0 50 −40 −30 −20 −10 0 10...

Ngày tải lên: 10/08/2014, 02:21

... 2 .5 3 3 .5 4 4 .5 5 -5 -4 -3 -2 -1 0 1 2 3 4 5 x 10 -4 Ti me [ s] g/g soil x 4 x 4 Project ional DNN Observer x 4 DNN Observer without projection Figure 7. Estimation of x 4 (t) (5 s) As ... System an Control Letters Vol3, pp 47 -52 Nicosia, S., Tomei, P. & A. Tornambe (1988), A nonlinear observer for elastic robot, IEEE Journal of Robotics and Automation , v.4,pp...

Ngày tải lên: 21/06/2014, 20:20

... unknown process and by using the information about on-line changes to process control laws. 1.2 An Example of Process Control We will now demonstrate problems of process dynamics and control ... is c ∗ y = Kc x (2.2 .57 ) and K is some constant. Equations ( 2.2 .54 ), (2.2 .55 ) in conjunction with (2.2 .56 ), (2.2 .57 ) yield H y ∂c y ∂t + G ∂c y ∂σ = K G (Kc x − c y ) (2.2 .58...

Ngày tải lên: 27/06/2014, 18:20

... Introduction Templates 35 Question: Music is an important part of society. People like music for many different masons. Why do you think music is such an important part of people's ... Profession, no. 1 (20 05) , 170-71. 33 Introduction Templates 39 Question: Do you think that the famous Thai resort of Phuket can recover from the ir.astation of the 20 05...

Ngày tải lên: 07/07/2014, 13:20

... 350 nm to 1 050 nm. We selected 6 spectral wavelengths in this study centred at 400 .5 nm, 50 0 .5 nm, 600 .5 nm, 700 nm, 800 nm and 900 nm. These selected 6 bands are based on the Wehrli 19 85 ... Monitoring, Control and Effects of Air Pollution 78 (a) (b) (c) (d) (e) (f) Fig. 3. AOT map for (a) 400 .5 nm, (b) 50 0 .5 nm, (c) 600 .5 nm, (d) 700 nm, (e) 800...

Ngày tải lên: 19/06/2014, 14:20