上海交通大学：《力学仿生——启示与探索》课程教学资源（论文资料）陆地仿生_2013-基于气动肌肉驱动的仿蛙腿跳跃机构控制系统研究

上海交通大学：《力学仿生——启示与探索》课程教学资源（专利资料）陆地仿生（2015）一种双动平台并联仿生髋关节试验机的控制系统及其方法

1、关于本课程 2、材料制造及应用 3、数字化与数字化制造技术 4、数字化控制系统简介

Deterministic lOR Optimal control and the riccati equation · Lagrange multipliers The Hamiltonian matrix and the symmetric root locus Factoids: for symmtric R

Bounded gain There exist very easy ways of testing(analytically) whether S Gu)< SISO Bounded Gain Theorem: Gain of generic stable system

MIMO Systems Singular Value Decomposition Multivariable Frequency Response Plots Copyright 2001 by Jonathan How

Closed-loop system analysis Robustness State-space -eigenvalue analysis Frequency domain- Nyquist theorem Sensitivity Copyright 2001 by Jonathan How

State-Space Systems e Ful-state feedback Control How do we change the poles of the state-space system? Or, even if we can change the pole locations Where do we change the pole locations to? How well does this approach work?

State-Space Systems Open-loop Estimators Closed-loop Estimators Observer Theory (no noise)-Luenberger IEEE TAC Vol 16, No. 6, pp. 596-602, December 1971 Estimation Theory(with noise)-Kalman Copyright [2001 by JOnathan dHow

第1节需求管理( Demand Management) 1.1需求管理的重要性 1.2生产运作管理的计划与控制系统