Above, analysis for multivariable control systems with respect to nominal and robust st ability as well as nominal and robust performan has been assessed. It was assumed that the spec- ifications for robustness were given in terms of weight matrices Wu(s) and Wu2(s), and that the performance specifications similarly were given by weight matrices Wpi(s) and Wp2()

In this chapter a number of tools for the analysis of multivariable systems will be given.In particular, this will indude poles and zeros of multivariable sy stems the generalized Nyquist Theorem for st ability analysis of multivariable sy stems, and frequency responses for multi-

In order to be able to design a robust compensator to control a given pro cess, it is necessary not only to specify a nominal mo del of the process, but also the model uncert ainty to which the control sy stem has to be robust. The compensator is required to make the output follow variations in the reference signal and to attenuate disturbances. Hence to design the com- pensator

本书的取材是以80年代末以来国内外发表的有关废水生物处理的研究论文为主，其内容涉及除污泥消化处理之外的所有废水生物处理技术和方法。本着求新的目的，书中对许多传统方法未加或只是稍加论述。全书共分九章，其中前七章基本按照反应器形式的不同，介绍各种单元操作方法和处理工艺，后两章着重介绍目前比较热门的生物难降解物质处理和生物脱氮的研究发展状况。书中的分类方法不尽合理，例如将生物转盘列入固定床生物处理技术中加以介绍，仅是从它截然不同于生物流化床但又是生物膜法而考虑的

第一部分 电阻电路的分析 第二部分 动态电路的分析 第三部分 正弦稳态分析

一、选择题(共20p每小题1p)(请直接圈出你的选择,例如:(A) 1、图示电路,求i

一、选择题(共20p每小题1p) CBACA BCCBD CABBC CABCA 二、计算题(共5小题,每题8分) 1、解:

9.1线性系统的状态空描述 9.2状态方程求解 9.3可控性与可观测性 9.4状态反馈与状态观测器

7.1非线性系统问题概述 7.2常见非线性因素对系统影响 7.3描述函数 7.4描述函数分析法

5.1频率特性 5.2典型环节和开环频率特性 5.3奈奎斯特判据 5.4稳定裕度 5.5闭环频率特性