Abstract : this paper developed time domain integral constraints on error response for siso feedback control systems caused by nominal plant ' s near cancellation of stable pole - zero near the j - axis . these integral constraints should be satisfied by any feedback control systems . these integral constraints give new insight into the inherent trade - offs . it will result in the settling time longer or the infinite norm of the error response larger when there are near cancellations of stable pole - zero near the j - axis . hence , when feedback control systems are designed , it is necessary to avoid the compensator ' s poles and zeros nearly cancelling the nominal ' s zeros and poles ( even if these poles and zeros are stable ) 文摘:导出了单输入单输出反馈控制系统误差响应基于名义系统稳定的零、极点近似相消的时间域积分约束,此积分约束是任何反馈控制系统均应满足的.这一约束给出了单输入单输出反馈系统固有折中的新的观点.名义系统稳定的零、极点近似相消的存在导致反馈控制系统的调节时间延长或者误差响应的无穷范数变大.因此,在反馈控制系统设计中,尽量避免补偿器的零、极点与名义系统的极、零点近似相消(即使这些零、极点是稳定的)
In fact , the control of revising factor consulted on line is composed by two fuzzy controller . one is double input and single output fuzzy system with controlling construction of if e and ec then a . the other is the double input and single output fuzzy system with controlling construction of if e and ec then occupying parameter of adjusting pulse 修正因子在线插值模糊控制实际上由两个模糊控制器构成，一是“ if偏差and偏差变化率then修正因子”的双输入单输出模糊控制器，采用控制查询表的方式求取修正因子：二是“ if偏差and偏差变化率then占空比参数”的双输入单输出模糊控制器，采用无量化模糊数模型。
Based on the research of siso case , we employ the method of feedforward compensation to decouple multiple input and multiple output ( mimo ) plant . it is the key point to design h2 - optimization compensator with the approach of l2 - norm optimization so as to apply directly the result of siso case to the decoupled system 在对单输入单输出的对象研究基础之上，作者采用相对增益法和前馈补偿方法对多输入多输出( mimo )的对象进行前馈补偿解耦，在这一过程中关键就是引入频域l _ 2范数优化的方法对补偿器进行设计使之具有h _ 2优化的特点。
A fuzzy controller with two input variables and one output variable is considered to be suitable to control weld pool width . the input variables of the fuzzy controller are the variation of the welding pool width and its rate , and the output variable is the welding currert 本文对熔宽模糊控制器的结构以及模糊控制变量的选择进行了讨论，在此模糊控制系统中采用双输入单输出的模糊控制器模型，即采用熔宽的变化及其变化率作为模糊控制器的两输入量，采用焊接电流作为模糊控制器的输出量。
First , in view of the basic theory for fuzzy control , this section mainly discusses the interpolation nature of single - input single - output and double - input single - output mamdani algorithm , and explains the basic idea of fuzzy interpolation , in which the number of control rules can be reduced , improving the calculating speed of fuzzy controller 首先，在模糊控制基本理论基础上，重点对单输入单输出和双输入单输出mamdani算法的插值机理进行了论述，阐述了模糊插值的基本思想，通过模糊插值来减少规则的数量，提高了模糊控制器的计算速度。
