Емельянов С.В. Новые типы обратной связи
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ЕМЕЛЬЯНОВ Станислав Васильевич, КОРОВИН Сергей Константинович
НОВЫЕ ТИПЫ ОБРАТНОЙ СВЯЗИ. УПРАВЛЕНИЕ ПРИ НЕОПРЕДЕЛЕННОСТИ
Редактор Е.Ю. Звеэкинскад Компьютерная графика Е.Ф. Тюриной, А.С. Фурсова
Компьютерная верстка А.П. Носова
ИБ №41861
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Отпечатано в Московской типографии Х*2 РАН 121099 Москва Г-99, Шубинский пер., 6
336 |
New Types of Feedback |
Contents
Preface |
8 |
Introduction |
11 |
Part |
I |
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The main principles of design automatic control sys- |
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tems |
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C h a p t e r 1. |
Principles of design linear automatic control systems |
17 |
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1.1. |
Statement of a control problems and preliminzu-ies |
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17 |
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1.2. |
Principle of load control |
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28 |
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1.3. |
Principle of perturbation |
control |
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31 |
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1.4. |
Principle of compensation |
in an indirect meeisurement |
of pertiu-- |
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bation |
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35 |
1.5. |
Double-channel principle |
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40 |
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1.6. |
The method of /f-representation or the method of a built-in model |
49 |
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1.7. |
Deep feedback, namely, a high gedn |
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56 |
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1.7.1. |
Statement of the problem, its peculicuities and |
the idea of |
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its solution |
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56 |
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1.7.2. |
Problems and limitations of the method of deep feedback |
58 |
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1.7.3. |
On the structural stability of systems with a deep feedback |
62 |
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1.7.4. The method of the state space in the analysis |
of systems |
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with a deep feedback |
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64 |
1.7.5.Geometrical interpretation of systems with a deep feedback 65
1.7.6.The effect exerted by amplitude constraints on systems
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with a deep feedback |
65 |
1.8. |
Literciry comments |
66 |
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Chapter 2. |
Certain principles of constructing nonlinear |
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controllers |
68 |
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2.1. |
On-off feedback |
68 |
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2.1.1. |
Main concepts |
68 |
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2.1.2. |
Sliding mode at a point |
71 |
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2.1.3. |
Switching mode |
73 |
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2.1.4. |
On the strength of a switching mode |
75 |
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2.1.5. |
On-off stabilization of objects with self-levelling |
76 |
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2.1.6. |
On-off stabilization with a high relative order |
78 |
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2.1.7. |
Robust stabilization: discontinuity, continuity, and infor- |
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mation concerning the state |
78 |
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2.1.8. |
Robust stabiVzation of an object with the first relative order |
80 |
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2.1.9. |
Sliding mode on an interveJ |
81 |
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2.1.10. Actual sliding mode on an interveJ |
82 |
Contents |
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337 |
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2.1.11. On-off stabilization of a generetlized object |
83 |
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2.2. |
Stabilization of an object with an indefinite operator |
84 |
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2.2.1. |
Basic principles |
84 |
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2.2.2. |
Principle of a cascade control |
88 |
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2.2.3. |
Structure of objects with caiscade control |
92 |
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2.2.4. |
Stabilization of interval objects |
94 |
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2.2.5. |
Interval stability |
96 |
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2.2.6. |
Bcksic principles of the adaptive stabilization theory . . . |
100 |
2.3. |
Stabilization by a controller with a V2u-ying structure |
108 |
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2.3.1. |
Astatic servo system |
109 |
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2.3.2. |
Second order astatism |
114 |
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2.3.3. |
Astatism of order m |
115 |
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2.3.4. |
Astatic servo system of varying structure |
116 |
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2.3.5. |
Sliding mode on the whole straight line |
120 |
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2.3.6. |
Analysis of the strength of systems of varying structure |
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relative to perturbation parameters |
123 |
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2.3.7. |
Systems of V£u-ying structure at the presence of an external |
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force |
125 |
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2.3.8. |
Quasirelay representation of a ф-сеИ |
128 |
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2.3.9. |
Limitations, disadvantages, emd problems of the theory of |
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systems of varying structure |
130 |
2.4. |
Literciry comments |
131 |
Part II. New types of feedback
C h a p t e r 3. |
Basic principles of the theory of new |
types of feed |
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back |
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135 |
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3.1. |
Preliminaries |
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135 |
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3.2. |
Systems of basic concepts |
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137 |
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3.2.1. |
Signal-operator |
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137 |
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3.2.2. |
Types of dynamical objects |
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138 |
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3.2.3. |
Bineu-y operation |
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139 |
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3.2.4. |
Types of controlling devices |
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140 |
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3.2.5. |
New types of feedbeick |
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140 |
3.3. |
Structural synthesis of Ыпгц-у systems |
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141 |
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3.3.1. |
Stabilization of em indefinite object |
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141 |
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3.3.2. |
Nonlinecufeedback as a meeins of suppressing uncertainty |
148 |
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3.3.3. |
Filtration problem |
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150 |
C h a p t e r 4. |
Theory of the coordinate-operator feedback |
154 |
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4.1. |
Stabilization of Type 2 object with unknown parameters and ex |
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ternal action |
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155 |
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4.1.1. |
Scadarization principle and the equation of гт object in the |
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space of errors |
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156 |
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4.1.2. |
Some remarks concerning the statement of |
the problem |
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and its genercdization |
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157 |
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4.1.3. |
Coordinate-operator ph2kse sp2u;e |
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161 |
4.2. |
CO-algorithms of stabiUzation |
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164 |
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4.2.1. |
Direct compensation |
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165 |
338 |
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New Types of Feedback |
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4.2.2. |
Asymptotic evaluation or an indirect measurement of the |
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0-perturbation |
165 |
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4.2.3. |
Compensation of the wave O-perturbation |
166 |
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4.2.4. |
On-ofT CO-stabilization |
168 |
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4.2.5. Remarks concerning the strength of systems with a relay |
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co-feedback |
171 |
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4.2.6. |
Linear CO-algorithms of stabilization |
172 |
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4.2.7. |
Integral relay CO-algorithm of stabilization |
176 |
Chapter 5. |
Higher-order sliding modes |
170 |
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5.1. |
Some preliminsu-y information from the theory of a sliding mode |
179 |
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5.1.1. |
Equations of sliding |
180 |
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5.1.2. |
On the inviuisuice of equations of sliding relative to per- |
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turbations satisfying the matching condition |
182 |
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5.1.3. |
Equations of actual sliding |
183 |
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5.1.4. |
Remarks concerning the order of sliding |
187 |
5.2. |
Algorithms of Type 2 sliding |
191 |
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5.2.1. |
Asymptotic algorithms of Type 2 sliding |
193 |
5.2.2.Discontinuous asymptotic algorithms of Type 2 sliding . . 196
5.2.3.Finite algorithms of Type 2 sliding: linear feedback . . . . 197
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5.2.4. |
Finite algorithms of Type 2 sliding: on-off feedback . . . |
199 |
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5.2.5. |
Algorithm of torsion |
200 |
5.3. |
Output finite stabilization |
202 |
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Chapter 6. |
Theory of operator feedback |
206 |
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6.1. |
On the purpose of the operator feedback |
206 |
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6.2. |
Motion equations in the coordinate-operator feedbeick |
209 |
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6.3. |
Static operator feedbitck |
211 |
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6.3.1. |
Static operator and coordinate-operator feedback |
212 |
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6.3.2. Static operator and dynamical coordinate-operator feedback215 |
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6.3.3. |
Inertia coordinate-operator feedbiick |
215 |
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6.3.4. |
Inertia relay coordinate-operator feedback |
217 |
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6.3.5. Inertia relay coordinate-operator feedback for an unknown |
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parameter in control |
221 |
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6.3.6. |
Integral-relay coordinate-operator feedback |
222 |
Chapter 7. |
Theory of the operator-coordinate feedback |
225 |
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7.1. |
Dynamical statism and operator-coordinate feedback |
225 |
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7.2. |
Motion equations of an operator-coordinate object |
228 |
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7.3. |
Static OC-controller |
229 |
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7.4. |
Integral OC-controller |
231 |
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7.5. Principle properties and perculisirities of biniiry systems of stabi- |
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lization with different types of feedback |
235 |
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7.6. |
Discontinuous OC-feedback |
237 |
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7.6.1. |
Integral relay OC-controller |
237 |
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7.6.2. |
Type 2 sliding modes in an OC-loop |
241 |
Contento |
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339 |
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Chapter 8. |
Limitatione, the physical foundations of the compen |
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sation of perturbations, and the stabilization of forced motion |
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in bynary systems |
246 |
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8.1. |
Constraint on the operator variable |
247 |
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8.2. |
On the global behavior of a binary system |
252 |
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8.3. |
Physical foundations of the compensation of uncertainty |
255 |
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8.4. |
On the compensation of the coordinate perturbation |
256 |
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Chapter 0. |
Differentiation of signals |
262 |
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9.1. |
Statement of the dufferentiation problem |
262 |
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9.1.1. |
Filtration |
264 |
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9.1.2. |
RC-chain |
265 |
9.2. |
9.1.3. |
Discrete-difference approximations |
269 |
Differentiating servo systems |
271 |
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9.2.1. |
Linear differentiator |
272 |
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9.2.2. |
Relay differentiator |
276 |
9.3. |
9.2.3. |
Differentiator of a varying structure |
280 |
Asymptotic binary servo differentiator |
283 |
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9.4. |
Finite binary differentiator |
287 |
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9.5. |
Nonstandard differentiating systems |
288 |
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9.5.1. |
Differentiator with a "small" amplitude of discontinuities |
289 |
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9.5.2. |
Nonstandard binary differentiator |
291 |
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9.5.3. Results of discrete simulation of a nonstandard Ыпги-у dif |
297 |
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ferentiator |
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Chapter 10. |
Suboptimal stabilization of an uncertain plant |
300 |
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10.1. Statement of the optimal stabilization problem |
300 |
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10.2. Example of an optimal stabilization problem under imcertainty . |
302 |
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10.3. Optimal stabilization "in the mean" |
303 |
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10.4. Minimax optimal stabilization |
304 |
10.5.Stabilization with the use of a reference model and deep feedback 306
10.6.Stabilization with the methods of the binary control theory . . . 308
10.6.1. System of a variable structure |
310 |
10.6.2. Binary stabilization with the integral CO-feedback . . . . |
311 |
10.6.3. Stabilization with the use of Type 2 sliding |
312 |
10.7. Reduction of the problem of suboptimetl stabilization to that of |
313 |
asymptotic invariance |
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10.7.1. Basic concepts of the asymptotic invariance theory . . . . |
314 |
10.7.2. Suboptimal lineskrly quadratic stabilization |
316 |
Conclusion |
319 |
References |
322 |
Index |
328 |
340 |
New Types of Feedback |
Preface
In this monograph we consider one of the central problems of the automatic control theory, namely, the stabilization problem and the method of its solution in their evolution. Beginning with the simplest statement of this problem, we gradually make it more complicated analyzing in detail the possibilities of different methods of solution. The complication begins with the increase in the uncertainty factors is the statement of the problem, and the methods of solution become more complicated respectively. This approach makes it possible to consider the general trends in the development of the principles and methods of the theory of automatic control. The latter fact is obviously very important since, in the new situation, the mastering of the general mechanisms of formation of control may prove to be useful.
It should be pointed out that the authors do not suppose that the proposed point of view concerning the development of the automatic control theory is the only possible approach since the problem under consideration (in fact, this is the problem of the mechanism of regeneration of feedback) is far from being trivial since different means of describing this mechanism are possible. The larger the number of these means, the better since they bring us closer to the understanding of the fundamental mechanisms of the functioning of feedbeick. This is very significant both theoretically and practically since the modern methods of stabilization are oriented, in the main, to an "intensive" solution of the problem whereas nature demonstrates remarkable examples of solving stabilization problems with the use of very limited means and under rather strained circumstances.
This essential difference testifies that a genuine feedback theory |
has |
not been worked out yet, that many things are not yet clear, and that |
the |
principal discoveries in this sphere are yet to come. |
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Investigating this complicated and delicate problem, we are far from laying claim to grasping the crux of the matter, but we are sure that the theory that we propose directly concerns the matter and seems to be quite natural.
Some words are due about the structure of the monograph. As was already pointed out, we try to go from simple things to more complicated ones and begin, naturally, from linear objects and the methods of the theory of linear control system. Since we lay special stress on the principles of problem solving and on the conceptual interpretation of the results, we tried to evade mathematically strict statements and proofs. It stands to reason that all f2icts and statements presented in the book can be strictly substantiated, and many of them are well know from literature.