In this thesis , the closed - loop input shaping is the focus . we would discuss how to design input shaper combining the pd control and stating feedback control . because the input shaping delay the input , and we would discuss the stability of the closed - loop input shaping system 近期对输入成型的研究主要集中在开环情形，本文将重点研究系统的闭环输入成型控制，将输入成型技术结合pd (比例微分)控制、 lqg最优控制这些反馈控制技术，完成前馈与反馈的互补。
Abstract : this paper considers the decentralized stabilization problem via local state feedback control laws for a class of large - scale linear discrete - time systems with delay interconnections . a sufficient condition for decentralized stabilizability is derived and is expressed as a system of linear matrix inequalities . furthermore , the problem of designing a decentralized state feedback control law with smaller feedback gain parameters is formulated as a convex optimization problem , and latter can be solved by using existing efficient convex optimization techniques . the obtained controller enables the closed - loop systems to be not only stable , but also of any prescribed stability degree 文摘:用一组线性矩阵不等式给出一类线性离散时滞大系统分散能镇定的一个充分条件，进而，通过建立和求解一个凸优化问题，提出了具有较小反馈增益参数的分散稳定化状态反馈控制律的设计方法.所得到的控制器不仅使得闭环系统是稳定的，而且还可以使得闭环系统状态具有给定的衰减度
The basal idea is to design a state feedback control law such that the closed - loop systems are regular , stable , and impulse - free , while the cost index of the closed - loop systems is within a certain bound for all these admissible uncertainties , [ n recent years , there has been fully researched and obtained much work for the problem of guaranteed cost control with uncertain systems , along with the development of robust control of uncertain systems 其基本思想就是针对不确定系统设计一个反馈控制器，使得其闭环系统不仅是稳定的，而且对于所有容许的不确定，其相应的性能指标不超过某个确定的上界。近几年，随着不确定系统鲁棒控制研究所取得的进展，不确定系统的保成本控制问题又得到了广泛的研究，取得了很多的成果。
Modeling of controlled process and designing of control algorithms for the experiments is given in chapter three . take inverted pendulum as an example , first , the modeling and controller designing of single and double inverted pendulum is introduced , the method of adding matlab / simulink experiment models to the web - based virtual laboratory is given , the physical single inverted pendulum is controlled with pid control and state feedback control algorithms , and the results is analyzed , compared properly with corresponding simulations 以倒立摆实验为例，浙江工业大学硕士学位论文一摘要介绍一、二级倒立摆实验在服务器端的建模、控制算法的设计过程，以及将matlab / simulink实验模型添加到网络虚拟实验室的方法，同时还实现了一级倒立摆实物的pid控制及状态反馈控制，并与相应仿真实验作了适当的分析比较。
By means of linear matrix inequalities , a sufficient condition is given such that a prescribed discrete singular system is admissible and strictly passive . moreover , under certain conditions , a static state feedback control law is designed such that the resulting closed - loop system is both admissible and strictly passive 利用线性矩阵不等式，给出离散广义系统容许且严格无源的充分条件，并且基于此条件在一定假设下给出存在状态反馈控制器，使得闭环系统容许且严格无源的充分条件。
At first , the robust h control for uncertain nonlinear systems with norm bounded uncertainties is studied , based on a positive definite solution of hamilton - jacobi - issacs inequality ( hji ) , a sufficient condition is given such that the closed loop system is asymptotically stable and its l2 - gain is less than or equal to a prescribed value . using this condition state feedback control law and an output feedback control law which ensured robust hx performance of the closed - loop system are derived . due to the difficulty to solve hji , a method is proposed which do not require solving it by using an appropriate lyapunov function 首先，研究了范数有界型不确定非线性系统鲁棒h _控制问题，基于hamilton - jacobi - issacs不等式( hji ) ，给出了闭环系统渐近稳定且l _ 2 -增益有限的状态反馈和输出反馈设计算法。考虑求解hji的困难性，针对不确定非线性系统，通过适当地选择lyapunov函数，提出了求解非线性系统鲁棒h _控制问题的算法，可以避免求解hji 。
The robust h control problems of nonlinear systems with state perturbations are studied . the corresponding sufficient conditions for the solvability of h control problems via the state feedback control , the output control and the output control based on observers are put forward , while the design methods of these kind controller are proposed . then the performance criteria design is discussed for a class of nonlinear uncertain systems with state perturbations and state ' s derivative perturbations as well 探讨了仅存在状态摄动的不确定非线性系统的鲁棒h _控制问题，给出了此类系统的状态反馈、输出反馈以及基于观测器的输出反馈的h _控制问题有解的充分条件和控制器的设计方法；在此基础上，进一步探讨了同时含有状态摄动和状态导数摄动的不确定非线性系统的鲁棒性能准则设计问题。
This paper will design an h robust controller to be used acceleration state feedback , control , or , furthermore , both speed and acceleration state feedback control , which can rapidly restore synchronous state under the condition unbalanced loads or uncertain disturbances . the result of acceleration , speed and position dynamically synchronized control is achieved 设计状态反馈控制器作为动态同步控制器，对加速度进行补偿控制，进一步，对加速度和速度同时进行补偿控制，使系统在不平衡负载或不确定性扰动下快速恢复同步，以实现位置、速度和加速度三重动态同步。
The author choosed weighting matrix for different sea conditions , designed the controller and the rudder / fin joint control system . finally , the author simulated the controller with matlab . according to the simulation curves and data , we could find that the controller designed using state feedback control theory has nice control performance on rearing and rolling , but the control performance on pitching is not very good 为不同的海情选取了加权阵，求出控制器，完成了船舶舵鳍联合控制系统的设计工作最后，用matlab语言对控制器进行仿真，从仿真曲线和仿真数据可以看出，使用状态反馈h ~控制理论设计出来的控制器对艏摇与横摇有较好的控制效果，而对横荡控制效果不理想，基本达到控制目的。
Based on a duralumin flexible beam with piezoelectric films attached , distributed parameter modal described by partial difference equations is builded , and then turned into a set of two order systems with the method of modal analyse . state feedback control and independent modal control is investigated . and simulation of the closed - loop system with thest two methods is performed in matlab 并用模态分析的方法，将系统的偏微分方程模型转化成了模态模型；研究了状态反馈和独立模态方法；进一步完善了软件界面以及软件功能；在实际系统中，应用状态反馈算法，有效抑制了悬臂梁在受到外界瞬时脉冲扰动和激振引起的一阶、二阶模态振动。
