Firstly , studied feed - forward neural network and put forward a new algorithm on bp network , called bp algorithm based on robust error function ( bparef ) , and the algorithm is proved to be effective for approaching nonlinear system 首先研究了前馈神经网络，提出了基于鲁棒误差函数的bp神经网络的算法，并且验证了其对非线性系统逼近的有效性。
Finally , considering that it is difficult to measure the state for robot manipulator , an observer is designed to form the state of hydraulic serve robot . based on control theory , a robust controller with state observer is designed 最后，考虑到液压伺服并联机器人系统状态难以直接测量，设计了观测器以重构状态，并基于鲁棒控制理论，通过求解两个riccati不等式，设计了基于状态观测器的液压伺服驱动并联机器人的鲁棒控制器。
3 . under the conditions of sound velocity perturbation and the unmodel dynamic , active structure acoustic control system with robust h _ controller is simulated in this thesis . the performance of the robust h _ controller is compared with standard controller , the results show that the robust h _ controller possess famous robust performance 3 .对基于鲁棒h _控制理论的结构振动声辐射主动控制系统,在考虑流体声速摄动和未建模动态的影响下进行了仿真研究,同标称控制器的性能对比表明,鲁棒h _控制器具有令人满意的的稳定鲁棒和性能鲁棒性。
Design method of the electromechanical actuator controller based on the robust mixed h2 / h * control theory is studied , taking advantage of the priority of the linear matrix inequation in solving the problems of the multiobject control , the robust mixed h2 / h * control problem of the electromechanical actuator under the condition of parameter perturbation and external disturbance can be transformed to the solving of the linear matrix inequation 研究了基于鲁棒h _ 2 h _混合控制理论的电动舵机的控制器设计方法，利用线性矩阵不等式在多目标综合控制问题求解方面的优势，将存在参数摄动及外部扰动时的电动舵机的鲁棒h _ 2 h _混合控制问题转化为线性矩阵不等式问西北工业大学博士学位论文题并进行求解。
The new method of design robust h _ asac controller with mixed uncertainty is presented . the main ideal of the new method is as follows : the reduced modals are taken as additional disturbance for system , the original problem is transformed into the problem of robust performance design for the parameter uncertain system . then the parameter uncertain problem is reduced to the standard h _ control problem to solve 2 .首次基于鲁棒h _控制理论,提出了设计具有复合摄动的结构振动声辐射系统鲁棒h _控制器的新方法,即:通过将未建模动态作为系统的附加干扰,把复合摄动问题的鲁棒性能设计问题转化为参数不确定系统的鲁棒性能设计问题,然后将参数不确定问题变化为标准h _控制问题求解。
