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Analysis and Control Underactuated Mechanical Nonminimum-Phase Systems.

Автор:   Philippe M.
мягкая обложка
100 страниц
2009 год
Издательство:   Книга по Требованию
1994 руб
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Описание:This thesis establishes the formal link between nonminimum phase and underactuation and proposes suitable control techniques. Underactuated mechanical systems have fewer independent actuators than the number of degrees of freedom. Two-link underactuated mechanical systems without friction are shown to be nonminimum phase for those outputs that i) correspond to an arbitrary combination of the coordinates, and ii) are small-time locally controllable. On the control side, the forces present in these systems are separated into two categories, namely the actuator forces (direct effect of the input), and the state-dependent forces (integral effect of the input) such as gravity, Coriolis, centrifugal and possibly aerodynamic forces. The first scheme neglects the direct influence of the input, leading to a minimum-phase, flat approximation. The second strategy does not neglect the nonminimum-phase part but rather transforms it into a delay. These schemes are illustrated on a two-degree-of-freedom helicopter termed the Toycopter. In this system, the aerodynamic force is manipulated by changing the propeller rotation speed while maintaining the angle of attack constant.

Orthomol Immun Junior Сила иммунитета на страже Вашего ребенка Orthomol Immun Junior Сила иммунитета на страже Вашего ребенка

2990 руб
Бесплатная доставка

Fedora Linux

Where Can I Learn More? п‚· The manpages for passwd, useradd, usermod, userdel, groupadd, groupmod, groupdel, vipw, vigr, pwconv, grpconv, crypt (3), passwd (5), shadow (5), group (5), and gshadow (5) 4.8. Control Access to Files All Linux and Unix systems use file permissions or modes to control access to files. Fedora extends this with the user-private-group scheme, which simplifies the configuration of permissions for collaboration. There are two other mechanisms available for file access control: see Lab 8.2, "Using SELinux" and Lab 8.3, "Using Access Control Lists." 4.8.1. How Do I Do That? There are three basic file permissions: read (r) Grants permission to access the contents of a file. There are no restrictions on what can be done with the file contents, so read permission includes permission to view or process the contents of the file, as well as permission to copy the file. On a directory, read permission enables the display of the list of files in the directory; without read permission, you can access a file contained in the directory only if you know the exact name of the file. write (w) Grants permission to write to a file; this includes overwriting existing information, append to the end of the file, and truncate (shorten) the file ...»

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