By the research in this paper , the problems of stability and tracking for nonlinear systems have been properly solved by using backstepping and lyapunov synthesis method and supervisory control and error compensation ; the adaptive fuzzy control problems of nonlinear continuous systems have also been properly solved . the schemes presented can guarantee the global stability of the closed - loop control systems with tracking error converging to zero , while the modeling error exists . they can improve the performance of the systems and their robustness 通过本文的研究，较好地将后推法、李亚普诺夫综合方法、监督控制及误差补偿相结合，解决了一类非线性系统的稳定性问题和跟踪问题；接着解决了siso 、 mimo非线性连续系统的模型参考自适应模糊控制问题，提出的模糊控制器设计方案在建模误差存在的情况下，能够保证闭环系统全局稳定，且系统跟踪误差收敛到零。
After that , the problem of choosing sample time in the discretized variable structure control of continuous - time systems is analyzed . some common methods of variable structure control for the discrete - time system are dissertated , and the discrete equation reaching conditions are improved . a new reaching law based on attenuating variable rate control which is verified as a chattering - free reaching law in theory is presented and its " correctness is validated by simulation 论文首先简要地回顾了连续系统的变结构控制，然后分析了将连续系统的变结构控制离散化后应用在离散系统时采样时间选取的问题；论述了直接针对离散系统的变结构控制的一些常用的方法，改进了离散变结构控制的等式到达条件；在此基础上，提出了一类新的离散系统的趋近律方法? ?衰减变速趋近律，并从理论上证明了它是一种无抖振的趋近律，通过仿真验证理论的正确性。
Abstract : the parallel computer ' s resource can be used efficiently by proper task partitioning and parallel granularity controlling . by analyzing the characteristic of simulation program , this paper points out a task partitioning algorithm which take state equations as core and right - hand function as object . the algorithm has been used in the automatic parallel tools which we have developed and the application results have showed good effect on parallel simulation 文摘:有效地进行任务划分、控制并行粒度，才能充分利用并行计算机的资源，通过对复杂连续系统仿真程序特点的分析，提出了以状态方程为核心、以右函数段的计算为主要对象的自动任务划分算法，使用结果表明具有很好的并行效果。
While the augmentation approach generallyresults in higher state dimension and thus high computational cost , especiallythe systems under investigation involves multiple delays and the delays are large . for continuous - time systems , the delayed problems can in principle be treatedby the infinite - dimensional operator riccati equations which are di ? cult to beunderstood and implemented 然而,当系统有多个时滞且时滞较大时,增广系统将会导致系统维数增加,计算量增大。连续系统的时滞问题通常用到无穷维算子的riccati方程,这种算子方程既难于理解又不便应用。
By use of - perturbation method with spatial discretization , the hydraulic transient system controlled by quasilinear partial differential equation was converted to a time - continuous linear system , so that the inverse problem of hydraulic transients under limited pressure could be sol ed with the optimal control theory for time - continuous systems 采用-摄动法并经过空间离散，将由拟线性偏微分方程控制的有压瞬变流系统转化为时间连续线性系统，从而使有压瞬变流限压控制反问题能应用时间连续系统最优控制理论来求解。
These systems are different from not only the continuous systems that are described with differential equations but also the discrete systems that are described with difference equations . the used knowledge is not applicable to these new problems . the demand to study these systems prompts the development of theory of discrete event dynamical systems ( deds ) 由于这些系统不同于用微分方程描述的连续系统，也不同于用差分方程描述的离散系统(数字系统) ，以往的理论体系已难以适用于这些新的问题，基于对这类系统行为和性能研究的需要，推动了离散事件动态系统( discreteeventdynamicalsystem ， deds )理论的形成和发展。
So the sliding mode variable structure controller was discussed , which has strong robustness against the disturbance , and the chattering phenomenon inherited from vsc was taken advantage to regular valve vibration for the purpose of avoiding coagulation on it , while precision of level control can be almost unaffected . but for the reason of control limitation , especially the acceleration insufficiency , the continuous time quasi - sliding mode vsc for one class of controllable system , as the substitution of ideal sliding mode control system , which was impossible to implemented , was researched , including the three essentials , reaching condition in particular , and the chattering ex - pression was given . furthermore , the effect to quasi - sliding mode motion and chatter - ing expression by extent disturbance was also analyzed 由于控制量相对受限制，并且主要体现在控制量加速不足方面，无法实现理想的滑模变结构控制，因此本文研究了一类能控系统在这种情况下的连续系统准滑模变结构控制，包括变结构控制三要素，尤其是到达条件；并且针对塞棒挂渣问题，给出了该情况下抖振的表达式；鲁棒性方面，分析了外界扰动对准滑模运动的影响，并且给出了外扰作用下抖振的表达式。
The delta operator is introduced to the h9 filter problem of discrete system , which is significant for the anti - disturbance of the high - speed sampled system . in the delta domain system , the coefficient of the gain matrix of the estimator is approaching to that of the continuous - time system . which not only guarantees the stability and the performance of the system but also avoids the also avoids the defects the z domain when the sampling periods is approaching to zero 滤波问题中，这对于高速采样系统的抗干扰及状态估计具有很大的理论及实际意义，当采样周期趋近于零时，估计器的反馈增益矩阵及闭环极点趋近于连续系统的反馈增益矩阵及闭环极点，从而可以采用离散的设计方法获得连续系统的性能，既保证了系统的性能及稳定性，又避免了z域内设计的缺点。
Hence analysis and design of nonlinear sampled - data systems has been , in recent years , a subject of growing interest in the international community of control research . when a continuous - time plant is controlled using a digitally implemented controller , it is often faced that a continuous - time plant is transformed into its equivalent discrete - time model . a digital controller is usually designed on the base of approximate discrete - time models of the continuous - time nonlinear systems because it is difficult to obtain the closed form of the exact discrete - time model for nonlinear control systems 利用计算机等一类离散控制装置来控制连续时间的受控对象时，都会遇到把连续时间系统化为等价的离散时间系统的问题，通过采样器和保持器来实现离散时间的采样控制，对于非线性连续受控系统，由于连续系统的时间离散化后一般得不到其等价的精确离散化模型表示的有限形式，实际上由其近似离散化模型代替来设计控制器，而近似会引起信号失真，那么基于近似离散化模型上设计的采样控制器，它是否同样对原连续受控系统有效
Through newton ’ s law of motion , the continuous model of the cantilever is built . the author discretizes the model through lumped mass method and supposed modal method , analyzes the discretized model through influence coefficients method . compare the results of the two models ; the general analysis method of non - uniform beams is obtained 其次,对悬臂梁结构进行了理论分析,应用牛顿运动定律,建立了悬臂梁系统的连续模型,并用集中质量法和假设模态法对悬臂梁系统进行了离散化,运用影响系数法对离散化后的系统进行了分析,并把分析结果和连续系统进行了对比,得到了变截面梁的一般分析方法。
