The conclusion which , for a given non - extremal admissible control , another admissible control can be constructed such that the corresponding value of the objective functional decreases is proved , based on the result , an optimality condition is obtained and the strong variational method which solves optimal control problem is presented and the associated convergence result is proved also 证明了对任一非极值允许控制函数，均可构造另一允许控制函数，使最优控制问题相应的目标泛函值有一下降量。在此基础上得到了最优控制问题最优性必要条件，并给出了求解该最优控制问题的强变分法及算法的收敛性结果。
The reason lies in three aspects : first , nonlinear systems have no precise mathematical models , and can only be acquainted from experience or the relationship between their input and output datum . second , their control objects can not be depicted by precise input control functions 这是因为未知非线性系统没有精确的数学模型可以利用，只能从经验或者其输入输出数据方面认识它，而且其控制目标不能用一个输入控制函数精确地表达，运行过程中有许多不确定性因素。
The control system make use of the advantage of c + + which is suitable to visit hardware , and package many control function into dll , so realizes the opening and makes user convenient to control and further development . moreover , the software system provide several drawing mode such as line and circle , 该控制系统利用c + +便于底层访问控制的优势，通过动态链接库（ dll ）编写运动控制函数直接对硬件接口进行访问，并把系统的各种控制功能通过动态链接库（ dll ）提供给用户，实现开放化，使用户方便地实现对系统深层运动控制，进行二次开发及设备改造。
The content as following : designing and realizing of the arithmetic of the controlling function which control the running of the test programs , including the analyzing the old running arithmetic of the platform , putting forward a new running arithmetic according to the foreign similar software and realizing it . designing and realizing of separation between the running functional module and the controls " windows that acts as the display function , including the closing and destroying the user module ' s programming windows , resuming the destroyed windows , realizing the running function without knowing the controls " and the user modules " windows " handle . designing and realizing of control function , including confirm , start and text 本文重点讨论了作者在《 vxi总线测试软件平台》项目中负责优化平台运行性能、提高平台运行稳定性和完成部分控件功能的工作，主要包括以下几方面的内容： 1 .运行控制函数的运行调度算法的设计与实现，包括对平台原有运行控制函数运行算法的分析，对国外同类产品的分析，新算法的提出和实现等； 2 .实现运行功能模块与显示窗口无关，包括关闭子模块对应编程窗口和恢复的实现，运行功能与控件和子模块编程窗口的实现，对运行时窗口的处理等； 3 .部分控件功能的设计和实现，包括确定按钮控件、开始控件和标题栏控件等设计和实现；另外，本文还对作者负责部分程序功能的测试进行了简单介绍。
The control of beam halo - chaos becomes a critical problem in the development of high intensity accelerator . efforts to remove the halo by collimation have been largely unsuccessful since the halos almost always regenerate . the mechanisms of halos are complex , such as nonlinear resonances and chaotic behavior etc . considering this , professor fang jin - qing who works in china institute of atomic energy pointed out that the theory of chaos control can be used to control beam halos . he presented the method to control halos by using nonlinear functions , which means nonlinear function g is added to the right of ion radial self - edlctric force equation and some nonlinear function are selected to control beam halos in simulations . in paper [ 69 ] , controllerg = - 0 . 15sin ( rmax - am ) 2 was used and the halo intensity was decreased to 0 . 1078 , the halos are removed partly 束晕?混沌的控制是新一代强流加速器研制的关键问题，随着强流离子束应用前景的日趋广阔而日益成为研究的热点。传统机械限束器因无法解决束晕的再生而收效甚微，因为束晕的形成有着其内在动力学机制?非线性共振以及混沌等。基于此，中国原子能科学院研究员方锦清将混沌控制的理论和方法开创性的运用于束晕?混沌的控制上，提出了控制束晕?混沌的非线性控制策略，即在粒子径向所受束自生场力方程的右边加上非线性控制函数g ：并选取一些非线性函数如等进行了控制的模拟研究，将束晕强度控制在0 . 1078左右，取得了初步的控制效果。
This dissertation studies mainly the identification and the optimal control problem in parabolic pdes , including the existence of solutions of state equations and optimal solutions of the optimal control and the identification problems , optimality conditions , the relation between the state functions and the control functions ( identification parameters ) , the algorithms of infinite - dimensional optimization problems deriving from the identification and the optimal control problem of distributed parameter system 本文主要研究抛物型分布参数系统辨识与最优控制问题，包括状态方程解和辨识与最优控制问题最优解的存在性、最优性条件、状态函数与控制函数(识别参数)之间的关系及求解基于辨识与最优控制问题而产生的无穷维最优化问题的算法。
Also in this paper , we modify the control function object function and the separation condition of system , and point out more precise and more correct conditions . in the view of material mechanics and structural mechanics , we analyze the results we get and make them more persuaded 另外，本文还对前人工作中的目标函数、控制函数及系统解体条件进行了研究和改进，提出了更加准确、更加科学的目标函数、控制函数和系统解体条件，并且我们还对所得到的结果从材料力学和结构力学上进行了分析，使得所得结果更具有依据和说服力。
Secondly , the driver is designed by studying spi , motors controller and the the embed linux kernel . and the put the driver into the embed linux operating system . thirdly , on the base of the motor controller and the driver , the api function and bottom control function is designed studying the motors characteristics 再次,在完成多电机控制器及其驱动程序的基础上,根据仿生康复手需要实现的康复功能及其硬件特性,开发了相应的api函数和底层控制函数,用来实现仿生康复手的各种康复运动和对运动过程中数据的采集、保存等操作。
