巯基吡啶氧化锌去屑洗发水稳定性的研究

以ZPT(巯基吡啶氧化锌)为去屑剂对洗发水进行稳定性的研究，筛选了几种稳定剂，对含ZPT洗发水的稳定性进行比较分析，提出了各种稳定剂在洗发水配制过程中应注意的问题。     

无拖曳卫星的推进器不确定下鲁棒控制器设计

以低轨环境下无拖曳卫星控制器设计为研究对象,对于给定结构的无拖曳卫星,考虑推进器增益存在不确定时的鲁棒控制器设计。首先,简要介绍无拖曳卫星的概念及原理;之后,对带有不确定性的无拖曳卫星控制系统进行分析与建模,并对其进行LFT不确定性建模,最后利用μ分析和D-K迭代设计出满足鲁棒性能的鲁棒控制器。仿真结果说明鲁棒控制器的有效性。     

双足机器人稳定步行模式预测控制实现方法的研究

针对现有的预测控制生成步行模式方法中忽略了参数间关系和参数取值范围的问题进行探讨.预测控制通过控制质心运动生成步行模式以实现ZMP目标轨迹跟踪,根据预测控制器模型研究参数间的关系,并通过极点分析讨论其取值范围,提出关键参数在容许取值范围内,可以保证系统的稳定性,并生成满足稳定步行的质心运动.通过仿真实验分析了在存在扰动情况下,关键参数取适当值,能够生成稳定的步行模式.     

Controller design for nonlinear systems using the Contoured Robust Controller Bode plot

In this paper, we develop the Contoured Robust Controller Bode (CRCBode) plot and demonstrate its use in the design of robust controllers for nonlinear single‐input single‐output (SISO) systems. The CRCBode plot shows contours (level sets) of a robust performance quantity on the Bode magnitude and phase plots of the controller. An iterative frequency domain loop‐shaping design approach is employed to eliminate all intersections of the controller frequency response with certain ‘forbidden regions,’ indicating that a standard SISO robust stability and performance criterion is satisfied. Nonlinearities are accounted for by avoiding the maximum forbidden regions over a structured uncertainty set consisting of linearizations of the system dynamics about several operating points. We demonstrate this technique by designing and experimentally verifying a flow‐rate controller for a butterfly‐valve based liquid cooling system, which is robust to valve nonlinearities and flow disturbances. Finally, we compare this compensator with one generated using an automated H _∞ synthesis algorithm and discuss the advantages of the CRCBode approach. Copyright © 2013 John Wiley & Sons, Ltd.     

A generalized robust H ∞ filtering for singular Markovian jump systems and its applications

In this paper, a generalized robust H _∞ filtering method is proposed for a class of singular Markovian jump systems, whose generality is mainly embodied that the desired filter could bear perturbances in terms of uncertainties on its parameter matrices. Firstly, an LMI condition of robust mode‐dependent filter is developed. Based on the given result, a new approach to mode‐independent H _∞ filter is presented, which establishes a direct connection between mode‐dependent and mode‐independent filters. Secondly, when the transition rate matrix is with elementwise bounded uncertainties or partially unknown, sufficient conditions of such robust mode‐dependent and mode‐independent filters are all developed within LMI frameworks. Finally, a numerical example is used to demonstrate the effectiveness of the proposed methods. Copyright © 2013 John Wiley & Sons, Ltd.     

A quantitative feedback solution to the multivariable tracking error problem

This paper introduces a novel solution for the multi‐input multi‐output (MIMO) quantitative feedback theory control design problem with tracking error specifications. Looking for a minimum controller overdesign, the technique finds new controller quantitative feedback theory bounds based on necessary and sufficient conditions for the existence of suitable associated prefilter matrix elements. It improves previous approaches to the subject and includes (i) the possibility of a free selection of the nominal plant, (ii) a less conservative application of the Schwartz inequality to decisively reduce the potential controller overdesign, (iii) a methodology to design independently the elements of the prefilter matrix, and (iv) a scope of application to both sequential and nonsequential MIMO controller design methods. The benefits of the new control design technique are illustrated by means of two examples. The first one, a standard 2 × 2 MIMO problem, is provided for comparison purposes with previous approaches. The second example, included as a major control challenge, deals with a well‐known demanding distillation column benchmark problem. Copyright © 2013 John Wiley & Sons, Ltd.     

Robust consensus for uncertain multi‐agent systems with discrete‐time dynamics

This paper investigates robust consensus for multi‐agent systems with discrete‐time dynamics affected by uncertainty. In particular, the paper considers multi‐agent systems with single and double integrators, where the weighted adjacency matrix is a polynomial function of uncertain parameters constrained into a semialgebraic set. Firstly, necessary and sufficient conditions are provided for robust consensus based on the existence of a Lyapunov function polynomially dependent on the uncertainty. In particular, an upper bound on the degree required for achieving necessity is provided. Secondly, a necessary and sufficient condition is provided for robust consensus with single integrator and nonnegative weighted adjacency matrices based on the zeros of a polynomial. Lastly, it is shown how these conditions can be investigated through convex programming by exploiting linear matrix inequalities and sums of squares of polynomials. Some numerical examples illustrate the proposed results. Copyright © 2013 John Wiley & Sons, Ltd.     

PROCESS CONTROL PERSPECTIVE FOR PROCESS ANALYTICAL TECHNOLOGY: INTEGRATION OF CHEMICAL ENGINEERING PRACTICE INTO SEMICONDUCTOR AND PHARMACEUTICAL INDUSTRIES

FDA's Process Analytical Technology (PAT) initiative provides an unprecedented opportunity for chemical engineers to play significant roles in the pharmaceutical industry. In this article, the authors provide their perspectives on (1) the need for chemical engineering principles in pharmaceutical development for a thorough process understanding; (2) applications of chemical engineering principles to meet the challenges from the semiconductor and pharmaceutical industries; and (3) the integration of chemical engineering practice into the semiconductor and pharmaceutical industries to achieve process understanding and the desired state of quality-by-design. A real-world case study from the semiconductor industry is presented to demonstrate how a classic chemical engineering concept, mixing homogeneity, can be implemented by inducing forced flow to ensure an excellent copper electrochemical plating process performance and to improve product quality substantially. Further, a case study of brake system design is discussed with the concept of Dr. Taguchi's robust engineering design to illustrate how quality-by-design can be achieved through appropriate experimental design, in conjunction with the discussion on the concept of quality-by-design in pharmaceuticals. Third, a case study of freeze-dried sodium ethacrynate is presented to demonstrate the vital importance of controlling the processing factors to achieve the desired product stability. Finally, the problems of the current pharmaceutical manufacturing mode, the opportunities and engineering challenges during implementation of PAT in the pharmaceutical industry, and the role of chemical engineering in implementation of PAT is discussed in detail.     

混合H2／H∞控制问题的降阶控制器

考虑混合H2／H∞控制问题的降阶控制器的设计问题．基于线性矩阵不等式（LMI）,分别‘给出了连续和离散情形下混合H2／H∞问题的降阶控制器的设计．     

基于小波神经网络补偿的飞艇滑模控制

平流层飞艇具有非线性、参数慢时变等特征,在滞空期间,还受到阵风及大气紊流的影响．将反推滑模技术用于实现飞艇姿态的鲁棒控制,保证了系统稳定．为避免变结构控制中固有的抖振现象,使用自回归小波神经网络（Self—RecurrentWaveletNeuralNetworks,SR—WNN）实时调整开关增益的大小,网络的自回归单元可以克11~,J、波函数的振荡特性,使得估计更为平滑．仿真结果表明：控制器能够适应飞艇结构参数变化及外部扰动的影响,获得强的鲁棒性与好的动态性能．