Dynamic programming for impulse controls

This paper describes the theory of feedback control in the class of inputs which allow delta-functions and their derivatives. It indicates a modification of dynamic programming techniques appropriate for such problems. Introduced are physically realizable bang-bang-type approximations of the “ideal” impulse-type solutions. These may also serve as “fast” feedback controls which solve the terminal control problem in arbitrary small time. Examples of damping high-order oscillations in finite time are presented.     

对重催I/A'S系统三冲量控制回路的探讨

本文主要对广州石油化工总厂重油催化裂化装置的复杂回路——三冲量控制在I/A'S系统的实现进行探讨和实施。     

Gait Generation and Stabilization for Nearly Passive Dynamic Walking Using Auto‐distributed Impulses

We propose a state feedback control design via linearization for flexible walking on flat ground. First, we generate nearly passive limit cycles, being stable or not, using impulsive toe‐off actuations. The term ‘nearly passive’ means that the dynamics is completely passive almost everywhere except at the toe‐off moment. A feature of our gait generation method is that walking gaits are characterized only by amounts of supplied energy, and we observe that other variables, including input torques, are auto‐balanced via our method. After gait generation, we design a feedback controller considering robustness and input saturation. As a result, each limit cycle can be matched with its respective controller classified only by energy levels. We have verified that walking speeds monotonically increase by adding more energy, and the ankle joint plays a significant role in compass‐gait walking. Finally, instead of applying impulsive torques, we discuss a practical issue regarding realistic control inputs that ensure stable gait transitions as energy levels are elevated.     

工业锅炉汽包水位模糊自适应PID控制研究

针对汽包锅炉给水过程的特点，采用了一种模糊自适应PID控制器，将该控制器应用于锅炉汽包水位三冲量控制系统，以期望达到水位的静特性．MATLAB仿真结果表明，与传统PID控制器相比，该控制器取得了良好的动静态性能和鲁棒性能．     

Uncertain impulsive differential systems of fractional order: almost periodic solutions

In this paper, we investigate the existence and stability of almost periodic solutions of impulsive fractional-order differential systems with uncertain parameters. The impulses are realised at fixed moments of time. For the first time, we determine the impact of the uncertainties on the qualitative behaviour of such systems. The main criteria for the existence of almost periodic solutions are proved by employing the fractional Lyapunov method. The global perfect robust uniform-asymptotic stability of such solutions is also considered. We apply our results to uncertain impulsive neural network systems of fractional order.     

On the formation of delusions.

Four principles are identified that account for most delusion formation. The most important of these is transference--transference to the world at large. The second is the defense against pseudohomosexual impulses as described by Freud (and generally misunderstood). The third is the learning within the family of bizarre meanings of concepts which are assumed erroneously to be the meanings other people use. The fourth is the need to have a more or less consistent understanding of one's life and experiences. Therapeutic implications are drawn. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Response of dynamic systems to renewal impulse processes: Generating equation for moments based on the integro-differential Chapman–Kolmogorov equations

In the present paper the method is developed for the derivation of differential equations for statistical moments of the state vector (response) of a non-linear dynamic system subjected to a random train of impulses. The arrival times of the impulses are assumed to be driven by a non-Poisson counting process. The state vector of the dynamic system is then a non-Markov process and no method is directly available for the derivation of the equations for response moments. The original non-Markov problem is converted into a Markov one by recasting the excitation process with the aid of an auxiliary, pure-jump stochastic process characterized by a Markov chain. Hence the conversion is carried out at the expense of augmentation of the state space of the dynamic system by auxiliary Markov states. For the augmented problem the sets of forward and backward integro-differential Chapman–Kolmogorov equations are formulated. The general, generating equation for moments is obtained with the aid of the forward and backward integro-differential Chapman–Kolmogorov operators. The developed method is illustrated by the examples of several renewal impulse processes.     

锅炉汽包水位的复合控制研究

针对工业生产中锅炉汽包的水位控制问题,分析了3种影响锅炉汽包水位控制的因素：给水扰动、蒸汽量扰动、燃料量扰动.介绍了锅炉汽包水位的3种控制方案：单冲量控制、双冲量控制和三冲量控制.对这3种控制方案比较后认为,锅炉汽包水位的三冲量控制是更合理的控制方案.使用和利时MACSV5.2.4软件进行组态,按照项目实施的过程,进行测点统计、控制器正反作用判断,并按照锅炉水位三冲量控制方案进行编程和画图.在生产中,工艺人员只在图形上操作,即可完成对锅炉汽包水位的控制.     

Integro-differential Chapman-Kolmogorov equation for continuous-jump Markov processes and its use in problems of multi-component renewal impulse process excitations

In the present paper the applications of the integro-differential Chapman-Kolmogorov equation to the problems of pure-jump stochastic processes and continuous-jump response processes are discussed. The pure-jump processes considered herein are the counting Poisson process, a two-state jump process, and a multi-state jump process. The differential equations governing the Markov state probabilities are obtained from the degenerate, pure differential form, of the general, integro-differential Chapman-Kolmogorov equation, with the aid of the jump probability intensity functions. The continuous-jump response process is the response of a dynamic system to a multi-component renewal impulse process excitation. The excitation consists of a number of n statistically independent random trains of impulses, each of which is driven by an Erlang renewal process with parameters ν_j,k_j. Each of the impulse processes is characterized by an auxiliary zero-one jump stochastic process, which consists of k_j negative exponential distributed phases. The Markov states for the whole problem are determined by the coincidences of the phases of the individual jump processes. Thus the response probability distribution may be characterized by a joint probability density-discrete distribution of the state variables of the dynamic system and of the states of the pertinent Markov chain. The explicit integro-differential equations governing the joint probability density-discrete distribution of the response are obtained from the general forward integro-differential Chapman-Kolmogorov equation, after the determination of the jump probability intensity functions for the continuous-jump and pure-jump processes.