【正文】 倒立擺系統(tǒng)的分類 倒立擺系統(tǒng)誕生之初為單級(jí)直線形式，即僅有的一級(jí)擺桿一端自 由，另一端鉸接于可以在直線導(dǎo)軌上自由滑動(dòng)的小車上。You see, I 39。 said the i nspect or, 39。s hom e. We shal al l r emember Page f or hi s patience and under st andi ng and f or the ki ndl y encouragement he gave us when we went so unwil li ngl y to school. A gr eat m any f orm er pupil s wi l be atending a farewel l di nner i n his next Thur sday. It i s a cur ious coincidence t hat t he day bef ore hi s reti rement , Page wi l have been t eaching f or a total of for ty years. Af ter he has r eti red, he wil l devote hi msel f to gar deni ng. For him, t his wi l be an enti rely new hobby. But this does not m at ter , for, as he has oft en remarked, one i s never t oo ol d t o learn. Leson86 Out of contr ol 失控 As the m an tr ied t o swi ng t he speed boat r ound, the st er ingwheel came away i n hi s hands. He waved desper ately t o his panion, who had been wat er ski ing f or t he last fi ft en m inutes. Bot h m en had hardl y had ti me t o reali ze what was happeni ng when the y wer e thr own violent1y into the sea. The speedboat had st ruck a buoy, but it continued t o move very quickl y acr oss t he water. Bot h men had j ust begun t o swim t owar ds the s hore. they noti ced wi th dismay that the speed boat was moving i n a ci rcle. It now came st raight towar ds them at tr emendous speed. In les than a mi nut e, i t roared past them only a few feet away. Af ter it had pased, t hey swam on as qui ckly as t hey could because t hey knew t hat t he boat would soon r eturn. They had just had enough ti me t o swi m out of danger when t he boat agai n pleted a ci rcle. On t his occasion, however , i t had sl owed down consider abl y. Bef or e l ong, the noi se dr opped plet el y and the boat began to dri ft gent ly acr oss t he water. Leson87 A per fect al ibi 極好的不在犯罪現(xiàn)場(chǎng)的證據(jù) 39。在倒立擺系統(tǒng)中含有極其豐富和 復(fù)雜的動(dòng)力學(xué)行為，如分叉、分形和混沌動(dòng)力學(xué)，這方面的問(wèn)題也值得去探討和研究。s busy wor king, but woul d you mind i ng wi th me to t he Wel l , I 39。 39。f r e r i des39。s house. When he asked i f Lane l ived ther e, t he pol iceman on duty t old hi m t ha t si nce hi s def eat , t he exPr ime Mini st er had gone abroad. On the f oll owi ng day, Cr awley went t o the house again. The same policema n was j ust walki ng slowly past the entr ance, when Crawl ey asked the same quest ion. Though a lit tl e suspici ous t his t ime, the pol i cem an gave him the same answer . The day af ter , Cr awl ey went t o the house once m or e and asked exact ly t he same questi on. This t im e, t he pol iceman l ost his t em per .39。Of cour se I do, 39。 I don39。通過(guò)對(duì)它的研究不僅可以解決控制中的理論問(wèn)題，還將控制理論涉及的相關(guān)主要學(xué)科：機(jī)械、力學(xué)、數(shù)學(xué)、電學(xué)和計(jì)算機(jī)等綜合應(yīng)用。 I know, 39。cl ock. My employer wil l conf ir m t hat I was t her e on ti me. Would a lat er t rain get you t o work on ti me? asked the i nspector . 39。I enjoy cl eani ng windows at night. 39。 (4)耦合特性倒立擺擺桿和小車之間，以及多級(jí)倒立擺系統(tǒng)的上下擺桿之間都是強(qiáng)耦合的。 which have at t imes been si ghted are si mply st range fi sh. Occasi onal y, unusual creatur es ar e washed t o t he shore, but they are r arely caught out at sea. Some ti me ago, however, a pecul iar fi sh was caught near Madagascar . A smal l f i shing boat was car r ied mi les out to sea by the power ful fi sh as it pulled on the li ne. Reali zing t hat thi s was no or di nar y f ish, t he fi sher man made ever y ef ort not to damage i t i n any way. When it was event ualy brought t o shor e, i t was found t o be over t hi r teen feet long. I t had a head l ike a hor se, big bl 。之所以采用欠冗余的設(shè)計(jì)是要在不失系統(tǒng)可靠性的前提下節(jié)約經(jīng)濟(jì)成本或者節(jié)約有效的空間。t t hi nk the wi ndows need cl eaning at t hi s ti me of t he ni ght.39。 answer ed t he m an. 39。 I tol d you yest er day and the day bef ore yesterday,39。 For t unat el y, t he shout i ng woke up m y wi f e who opened t he wi ndow j ust as t he pol i cem an had st ar t ed t o cl i m b t owar ds m e. Lesson93 A nobl e gi f t 崇高的禮物 One of t he m ost f am ous m onum ent s i n t he wor l d, t he St at ue of Li ber t y, was pr esent ed t o t he Uni t ed St at es of Am er i ca i n t he ni eent h cent ur y by t he peopl e of Fr ance . The gr eat st at ue, whi ch was desi gned by t he scul pt or August Bar t hol di , t ook t en year s t o pl et e. The 第 1 頁(yè) 共 44 頁(yè) 第一章 緒論 倒立擺系統(tǒng)的簡(jiǎn)介 倒立擺系統(tǒng)的研究背景 及意義 倒立擺系統(tǒng)的最初分析研究開(kāi)始于二十世紀(jì)五十年代，是一個(gè)比較復(fù)雜的不穩(wěn)定、多變量、帶有非線性和強(qiáng)耦合特性的高階機(jī)械系統(tǒng)，它的穩(wěn)定控制是控制理論應(yīng)用的一個(gè)典型范例 [1]。 Leson88 Trapped in a m ine 困在礦井里 Si x men have been t rapped in a mine f or seventeen hour s. I f they are not br ought to t he sur f ace soon they may l ose t hei r li ves. However , rescue operat ions are pr ovi ng dif fi cul t. I f explosives are used, vi br ati ons wi l l cause the r oof of the m ine t o colapse. Rescue wor ker s are t her efor e dri l ing a hole on the nort h side of the m ine. They i ntend t o bri ng the men up in a speci al capsul e. I f there had not been a har d layer of rock beneath the soi l, t hey woul d have pl eted the j ob in a few hour s. As it is, they have been dr il li ng for sixteen hours and they sti l have a long way to go. Meanwhile, a m icrophone, whi ch was lowered i nto t he mi ne t wo hours ago, has enabled the m en to keep in touch wi th t he cl osest relat ives. Though they are r unni ng out of f ood and dri nk, the m en ar e cheer ful and conf ident that they wil l get out soon. They have been tol d that rescue operat ions ar e pr ogr esing smoothl y. I f they knew how di f icult i t was to dr il l through t he har d r ock, they would lose hear t. Lesson89 A sli p of the t ongue 口誤 People wi l do anything t o see a fr ee showeven i f it is a bad one. When the news got round t hat a vari ety show woul d be present ed at our local ci nem a by the P. and U. Bir d Seed Company, we al l rushed t o see it . We had t o queue f or hour s to get in and t her e must have been several hundr ed peopl e present just bef ore t he show began. Unfor tunat ely, the show was one of the dull est we have ever seen.