Parametric worst-case analysis by prabi method : application to flexible space structures
7
0
0
Texte intégral
(2) "!
(3) $#%!&#
(4) ' %()*,+-
(5) . %/
(6) . , 102 3
(7) 4#56 7 98 % %8/: <;-=>@? ACBEDGF>IHKJ$*L;MNO>IPQ>RBEJ S T-U V WXZY'T-U\[/]-^_]K['`Ea4bdc@a'T2e f'ahgjikbLlnm4odpQpqV@r_cRgsrEcutha4]MvCwyxEb"z{a 7|M}hFB~>@_F+ I-@dQ'@h {_Iss yId yIy-_@sRGQRhh 9 R h 2¡ y¢y5d_{_94 y£Id4h ysn ys.L¤Iy"QC¥¦§Iq_d_u)IyE¨uI¤_¢II"h dQI@_M @ {_Iss uu"h{ I@hy {Is@IR '5 I d_{_94 y ©Qy ªhQ «¥ ¥I I Rsy4 5sd_{_94 y©@Q422I{R¨.- yys¬Qn Gy§_{Rs yI\u %s@ yIss ¥ ¦§I94 @u®@¯¯R@ss dh ©h$ yIL°n@ss ±_ @³²d4 s @4Quª´nQ Rn s²dh_ µ_©@@4 {_L@y94 y/@³ yI74QRª¶uL yIss ³yI@ @y/¥ .¥ 5 I. d_{_94 yh{h¥ · ¸Q¹Cº»@BEJK}+¼-_{_94 y'¨~E ysQR½2@@ yIyI¾4¿RI y@4 IyRÀª_@sR Á ¥§Â\¦2½Ã Ä'Å/Ʀ§Ã Â Ç K yI y@ yI.Ks9 d42@hy@R IIEª d"h95Q_@%9yZÈ@h¿uI. @Ru@9 "h@~¨u5RRsI¬5_@{ R h©d.4Q5.5Q _d)9y4Q5@sh¿L_@) @hy4Gy99y9@L5Q I@hh ys¥"¾IQ\7@{³4y2_ZR yh@@y94 y yI@ @y7£¬Q.E {@sh@¬³2I{$GIs y _7yy{É Iʲ@hIL_R yhË4n yQ%_@ _d_uh¥ ¾Iy°nI@4µRs¤_I@n{I.'ÌÀª_@sR/y4ª ¨._94Q@ hn R{~2@{ÌR'Í Î @À9II"hd._Ì\~ d5y ./n'Gy°nIhd4 ¬yIRI¬_IIyQQ{~@_ 4@ yIhQ § È@h¿uI yd @Q Î @$ÏÑÐÓÒËGy%IE ysQ_7 yI±QI@ I. IyIh<y°nIyu9 @' y{I@°nI._d y y4 ¨-._ Q .hd©@_{ \4¿RIyyh¥ ¦§IIy"Q£IIyQ{£hs{4@%¨n y% I. IyRª h'@³'@ Q @Iy@4I dE u 5s© @9QQI@ ÔGQ@h@s ¨.Õ µ_ÖIRª 4 {_@_{_94 yh@4 yI@_{_9h hdR Rhn s²dIs Iu ¥ ×Ø"ÙÚMÛÜÝRØ@Þ{ß«Þ{à2áâ¶ßOãåä'Ù æç~è.é«â«ê~áé¶éÚêEÞ{ë ìé¶ãåéçhì5ÛCÞ ì4áé¶ãjÞ{ê Ükí~áê4â¶ã îEä Þyâ«ãåæê. Ê yI²@{ @ _' I@dM yI 4Q5@R y_ _ yIn¨Qh{ _ I hE¨E_y@4 E ys¿y R4E y 2¡ yL yIRhn s²dE µhyy/_I@4 {_Ld_{_5ª 4 y55I. n ¥M¦§@hZÖs y_ ¨s¬Qy¡ yI @s¬Qhu¨E_I_d7h¬u¨4 Qy_ yI§9_ª y¡¿CI2Iy"Q 7IIy~¿RsE y I% yIss unª dyII³{Is@_@$²@@ yILd_{_94 y©Qy h¥ yI\h@@_ _ IZ_@In{5_II / yI {_Iss Ê@_R 9_/µÈ@4¿RIs³@Q4hy_k 9QI@ IyE¿R@4Q5d_y72s Àª_@sR¥ ï ¥ðR¦ Ç\ñ ò¦óӽà ñ Å'ðR¦2Â\ô©ðIðõ ô Ç ðRÅ\½ô ñÇ ðuôÄ Ã Âö¼ Ç ½ Ç õ ô©¦2½2Æ Ä'ôÂ'¦§¾Æ Ç ¦§Ã Âø÷ Å Ç ò ¦ó ï ¥ Áqù x_wxEúahû«wiOziOüQa4bdû«i ýzyx_û«iOr_b7xEb"ü'ú5ikb@ikúxEgnwrþhcutû«bat{t üEikwa{zhû«iOr_b ò4 2@2h@Rh @'GQsE2I¬5Iy4y4 y\ ys9@sI _@I@hh y_ R h1Í : ÿ
(8) ÿ ÔÁÕ ÿ 2Ihy @s @E ys¿ @ I y y Q55@y5h yI@hh ysn /@)2@hy yI9sIª IR
(9) §@E¨uRu5Ru@5'R yIR 2Gh.R@Q{Ì R4²@@/Í.
(10) ÿ : ÿ Ôï Õ
(11) ÿ Ç yI9 y@E 7_ y¡¿ @ GI@4 _ @Rh"hdRhn @IIÌuIE2qÔO\@@4 {_dÕ@_{_5ª 4 yh{h¥ òh
(12)
(13) MRhI § yI2I@hh y_9@_{Eª 94 y%¨Q4 : . 5 I9IQ5@K¨EsI5_ I/@_{Eª 94 y2¨. y@C_4Q@°nIhd4 \@ \ I IQ5@C¨~s@§_ME ys¿ _d Í )@ Ô QÕ ½2. "4 ¨¨~E ysQ@Ò @Ò _@_ y¡¿ _@ Ò s. h_"/Rh9dn .¥ ¥ y @'¨E_yE @/GsE2I¬5~³Í Ò . . Ò : . _@øÒ . . . Ò Ô nÕ. : ¦ IZ_ y¡¿ _@ 2I{ y@4 IyZ@y94 y § ¨E_y_ @h_/d©IyE¨nR. {_¬n GyyRGQ @Ry4y4 9R yh GQö yI§Ry4y4 y .E ysQ _ Ihn uI@§R yh GE©.7u7²@y §{Rh R¨h@5n ¥ ¦§Ih yIZyhIyhn {E /n yI©hsn .uª´su/u y@'Í ÿ : ÿ #! ÿ "! ÿ "!. &Ô %Õ $ ÿ ! ÿ ! òh Í ( $ ÿ ' ' ' ÿ. . ÿ ! )! ! ÂE5I@hh ys d_{_94 yh{q_³E ys¿ h . _@d._)QIöE ys¿ ' ¥ðuR yh Ô %QÕ³h_ yLÍ ÿ ' : ' ÿ ' +* Ô -QÕ ' ÿ ' ), 2I * @ , _y5²d y¡ ysQ@IQ Q yRRd4 yd. ¨s9Q {E y ÿ ' @79.I9hn y s {R "hGy ²" s dhsn .uª¶uµIhn s²Iª h_ L_ yI7u ¥ò4 @QI9 I. 9IQ yE G I/GQsE2I¬ yu{d \Iy"h $ /Í. . * . , . * , /0 Ô<;_Õ . * *1/ 0 3254 / @6. , ,7/ 0 98:4 / 2I+. ÿ / / @4¿Rd. yµ¨E_I9_ I{_@I ¨E_yI ÿ _d 4 I>/ = yI.{Ìh5 udQ«¥ ñ @/§~@9_µ/ .4Q¬Ih % I yE y9I. n yEª Z_ Rhh / 9R yh62@Q {E %I _d9Q @5n §@ _y/I_ hy_ ¥. ¦§I±¼½ Ç'ñ ¤_@In{'2IQ±9s¢. @¡ {µ IyshÈ@9s@I IQ@\d Q I54E¨E_y_@h E ys¿<_ ¨ Ó I QR {E ö E hyy7/@@4 {_$@_{_94 yh{h¥©ò4 @y I9³ 4QRª¶u%RQ y¡²"hE ysQ9_" I@9sd_R@y5h ª y9¨Q y? 7_@¤RI_ yA @6CEB D : I7u¨y9_§ I 4E¨E_@h\E ys¿Cu IF @6CB D : _ G7 I GE2sI¬ 4 _K°n@_ @Ô«ò ~¨us¬QI HÁ G7G nÕ\Í. I CKJOLND M I CQP 6RTSVUXWEY[Z\ D LNM I \6] ^_E` I \a ac b INdfe cb P ^gE` D D Ihde i b D Zj B:k c b ] Ihde Zj Bk c b ] P i b D I i1b lmI i b P B inb D Zj Bk D c b ]po P I i b P B I i b oqZj Bk D c b ] inb D P ^srTtQ` D D D Z I i b k i b D I k ]\ Z I i b k i b D I k ]p] P o> i b D oqZj B:k D c b ] P i b D P B i b D lmI i b P ^srurv` D D D i bD k \ ZI ib k i bD I k ] P l ibD l ibD P ibD k D \ D k D P ibD P ^srVwE` x$Ihyy @Ï 5' z ' 8 _@ z _yu. "4ª ¨hd @¬n_³_@ yI ©hE¨E_y@4E ys¿ _ R yIR 2_@7 y_ ' 9_ hyQy-C I: = __ ²@¡ yh @Iss Gy I yIII¬£Ô 2 0 8 Õ_@L yI I9@_hsn .uª¶u R h1Ô ' ' Õ¥ ñ 9_d_¬%2¡ yI¨usQ@-I yE ysQ@E IGsE2I¬ 4¿RIyy @§_d R¨.)Í. 'Ò ' Ò _@øÒ{y y Ò Ô Á nÕ : : ¦§I³°n@_ @)Ô E| ª Á nÕ_y ¨±4I _d$_ _@sn h@h¿u@.sQ9_f@6CEB D : h7I_ d'R {_I¥ ñ I u @h hIR . 9uI9hyh_C_4I@¥ ðu@C yI74Q9IR y_ µ_ I_ y¡¿}@6CEB D : %d " d GQ9 yI/GE2sI¬5§~³Í Î ²@y ~4Q9IR ©¨E_y_ @ Ò ' _@Ò{y @R@h n7@y5h y\¨E_y_ Ò ÔG.°n@E ysQ@ Á Q Õ4 ~ I òQIIIE¨°n@_ ³Ô Á~ï Õ4 Î In¨\sAq Î {_@ Ghö9_ y¡¿~ @øðuu¨ ¯°n@_ª qÔ ÁQÁ Õ 5²@@E ys¿q Î {_@ Gh_ y¡¿ Ï @ s yI yIs{°n@_ª 1Ô ÁH Õ¤ Ó²@@Ò z5 @6Ò-Ï u °n@_ª qÔ G Õ Î ²@@_@h9IR y:@6CEB D : 2¡ y°n@E ysQµÔQ| Õ4¥. "h suQ @ÉGy yI£Rhn y¡²dE ysQÉ"n _2¨us @E ys¿ @6CB D : _E/ µR4²@@ q yI IIÌuIE2 @_{_9h h{£@h yI¯ R. ysQ@ _I¬$2I{É IÖ°Qd_¡ É_5 IÖIhn s²dh_ I " @ @ ©Qy H I @_ \I yI%_¿u_ @ 5I_Z@y94 y%h@¡ ys¨us )R. ysQ@/. "4ª ¨h¥ ¤hsn .)uq_d)Gy I7hn y-"n _¨nh~ yIR. ysQ@-4QydQ@ y/@_{_94 y QI@ I.2Ry ysQ@2I{_dR4²@@s yI GsE2I¬5~³Í Î IZ_¿u__y@@ yIyCR. ysQ9Ô 8 Ï Õ 4yydQ@ y yI9s@s_© @ s ¨u¡ LRsy4ª Ô A Ï K)ÕZ_@5-¬¨u yIs¬Qhu¨.ª 5y Rh_ L2s q yI7E©. s¬Qhu¨E_I_ @6CuB D : Ï N)Õ Î I'5I_@y@@ yIyZRy ysQ Ô 8 4yydQ@ yI E¿R9h@s ¨ns Rsy4ª Ô A Ï Õ_@Ö5¬Qs¨QhÊuq yIh¬Rª ¨4 Qy Rh_ 2s 9 @I¬I. s¬Qhu¨E_I _ @ CB D : ¥ ½2h_yÌR Í.
(14) Î @£4E¨E_y@4LE ys¿3@6CB D : R4²@@¡ yqdnª s ¨' ±¡ { I¬I. ³@®E s¬Qhu¨E_I _y"Qs ¨©@Q yI¬Q@ @©@y94 y @h Î @Rhh 9 ys99RR' Ô -nÕQq2I{q @²" s dRQ y¡²"hE ysQq µIyE¨uR9sIsª _2_dqE¿Rs©yId yIyIsy4 @h_ _yh@. Q _ÔGQdRª´suµhsn .uª¶udÕ 4Qn n@@5RRd2@{@QZ"hRhh h. µQyIh' d GQ yI _@sR¥¦§Ih I y_9I/G.°Q@h@h7%@ "/O hIQI¬¥ .¥ ¥ u Ru@5_¥¦§@/ I @7_Rª IE ysQIyhn ys ysQF @ : E y s ¿ 6 @ B @ ¢ I s y 4 @ Î 8 Ï _@ 8 Ï NC D I_ -¨Qhy @ s ¨ y' yI2Rhn sª ²dE 9 yIII¬%d_{_94 yh{Ô 2 @ 8 Õ-sC I 8 ¥¾IQZ @\{I4 _y{In 9@{9 y@E \Í 2 _RIQMs@IR _ y¡¿ h@Zh_/yh99h@5Í $ Ô Á nÕ 0 0 2I ¤ yI$uI%"h£III yqRª Ô Á Õ7_d @)uI%"h_% y_ . 4Qn ys Ô ï ÕR¶¥ ¥nQI I/ yE y§ IRª /4¿Ih¡ yC¥.
(15). . . . ahw%þyr_cRb"ü7r/tû´xQþ4ikg¡ikû ahw{t @a4wawxQüEikcut Ê)I¨usQ@@dÔ/ _I¨uy¡ @ Q5. ÁG7G nÕ ï ¥ï. @Iy"h '_ I. 59sI_-_d E¿Rsy_ª I@ @yIsy4 @@~¨Ldh y@R¯G@_{Eª 94 yhR²d¬I{E ysQ£4Q7 µ {_I¡ q"IdI_y¥ ¦§I. yIs y_y9@LIhy9 Rh²@I7_qIIy~¿nª 9_ ¨79.I_§ I {_I¡ ¤uudyII{Eª R@¥ òh RI_ y% yI {_I¡ ³RQ_)L@y94 y @h5Í (' Nv Ô Á %Õ ¦§I%RQ_q%dQI@R.quµIO4. ¥ 9 @@_ 4@Zh22I1 yhIyhn {K I\hu4kª ²dhsQ {C I/{@yQ §°n@E ysQ7_ ' K4uI hIE2¤ÔOò~¨n¬@ Á G7G uÕ- y@E 2 yI I OQ4. 4Q@ s R y5_d © QÐ {RKuu"hyI@M_@ @ IÐ 7 {R @ OQ4%ÔO2Ihy K I\{Rh _/ R -QÕ4¥-± IhQ QZ {_Iss £uudyII {R@2h" Rh hy9s@4¿I4 ¥ 5¬h@h{_uh. yIZsE KR y_d4§dh ©h5I5ª @_5dn s ¢_@"@@I_y IOhLh_@I_ µd _@I~¿RE .µ2¡ yIR 5 u ²dI@y94 y7 d4 ¬yIRI¬¯_@ö yIhy4GQQ2 u¯I¬¯h9IR {E ysQ@_ 9¥. . !#"%$'&)(+*-,/.. 98 3 8;:. 98 =< 8;:. 10 $ 024365 7 0 $ 0 3. >98. ò ~¨u¬IµÔ Á G7G uÕ@Q9 IE2Ê @_ -Q£ @ yIss "I@@_yI OQ4Q 8 ÏK1 @¬Q@_" y I I OQ4Q¥¦§Ih\s _@®Gy IQ9s@dQsn uE yÉs yIʨu4Is ®_@ y_@s¡ Q yIÊR.ª 8 Ï K _sE@ Öh9IR yL.s$_@ 4I{E yh± Iq y_@s¡ $uu"h{ I@hy){R@¤ÔOh ²@¬QI Á Õ7ÍKs 95h@I¬Qq L5E¨Q_@¬ 8 Ï N I 9@ y_@s¡ Q¥. 4 . S ( λ = 1) DRMAX R θ0. θN. Stable Unstable. DRMIN. ¾¬@¥ Á ¥I I¨u4I¡ _Ks@ yIss S ( λ = 1) θ0. θ. 1. θ2 θi θ. Stable. N. Unstable. ¾¬@¥ ï ¥I´ y_ ¨/4Qn¨Qhy¬@4\ E§_{Is@ yIss u¨h{h§_I¬Ê IµE¿Rs y@@ yIyRsy4ª R yI@y5h y'¨E_y_ s.RI¬5 9@ {_Isª ¡ / @{ ¬y_ ¥.¾II I9QQ\Isy4 9Q Iy _2 @R {_@h7"4 hh£ II9@_dn s # _@IO4 £©¬¨5u I 4Q@Rs uI%"h©_ I9E ys} ¿ @ CB D : ÍCQ 'C I9E¿R_M 9Is h¬hu¨E_I.©{E ys9 @6CEB D : yh@@§ E§_{IsI²@Is ¥. >7. ?7. µ¬QhIy-h" yII9@_-d_{_94 y%"Qs ³9O_9Gy I³ yIss ÖI OQ4 \¥¦§Ih©_ ¡ yh{E ¨_¬Qs I @Q .q£9E¨uI¬Q_I¬)@4ª 4ys¨Q 9I9yI@ @yIsy4 @§2Iy"Q ÔOh²@¬Iy ï Õ¥ Ç s h{E ysQ)uId )_@³GQ 4Iyn %dn s q @@y5h y @Q4Q yI 5I_yId yIy§Rsy4 8 Ï N /ÔO2¡ y 8 Ï N Õ h9IR yC¥¦§@h2 @_{_94 y ¨Q y{ GQ9.®4QyRI¬¤ yÊ yI ©5GE2sI¬5°n@_ @/Í : : 8 Ï K Ô Á -nÕ : Ð 8 Ï K _@Cµ_9@¬ I hR²@¬QI{E dh yI QI @6B : '{In )"_@ 2I{µ9s@s9 h @ CB : /@4yQ . _@qC hMdI yEyI sR²dI¡ yId. yy{R@ ( ' yh@I% E§_{I «¥ ¥@Q I R yh< yh@@§ 9"4Q9 @@ {_I¥. )7. A@. B. B. 3. DC C. ELFHG. , I. E+FHG. , JI K. 3. CRIy sI y¬\I I@h¡ yh{5E n¨ y_§I R hhÖyh_¥~@¦§qI _ÊIyR y4~.¤ 4Q@h@ {I_n . _@ yIss . Ô ' o : ©§@@ {_I.Õ4¥I¦§I 5h IRRQsQ¬)sE ³IIy~¿RsE y% yI7 y_@s¡ nu"h{ @Ihy'{Is@ 8 nLÍ 8 7o$Ð 7o : Ð Ð )Ô Á ;Õ ¦§I's h{E ys¨Qs¬Qy¡ yI \O h¨Qh GQ'@s¬Q³ª Rhu 92¡ y±µ_ 9_'@@4 {_Ö@y94 y d.h_d yI³R. yy{M@_{_94 y @Q4QR§Iyy4yd._ { yh¥. M B. B C 6<AN B. B C 6<.
(16) y. φ phi_p. 1. "$#&%('*)+(,.-. .. φ. .. φ. x’ = Ax+Bu y = Cx+Du. 1. 1. −. :4:<;4=4=. Delay: 380ms 2nd order Pade − K. ηi. eta. . η eta_p i. 1 s. .. η i eta_pp. 1. [1 1 1]. − −. s. Mux. 1. u. K + +. 2ξ c. K. ωc. K. K. ωc. 2 λi. i. ¾Ks¬d¥ @¥KðR_ h¡ y9RRhs@¬£Í@sR{Ìnª´I¬{_ y hIy4ª hn y_ ¤Ô z Õ I¥2½Ã ñ Å'ðR¦ Æ2à Â\¦2½Ã òqà ¾ Ç ðu¼ Ç Æ©ôƽ Ç M¾ ¦øÍ ÆòKÃ/ðuôÄ\ªòKÃÃ'¼ Ç Â Ç ònó/ðu ð i. I¥ Á£ù. wrþhgsahú üQaOýb@ikû¶iOrEb. 9 @© . E I\¼½ Ç\ñ -_@In{5Zssd yy_ qðu ð@à _IIhE ysQ¥Z¦§IIyIh 4d {9s _d_N s@¬³ @y@@ yIy_ yIy2E¿Rhn y ~6_µ¬Q yE ysQI@q@h4{Ek 9²I .Ö2s $ È@h¿uI$ QL¬QhIy_ .¥/¦§I$Ru@_9Ê"h@~¨u 9RRhs@¬%@Q"hs9I¡²d9 y yÌ'sn 54@Q @ _ h¡ yQsCE¿R§¬5RR7Ô Õ2_@@s I ²@{ Iyh-Èd4¿Rs@s©5RR.n yI©_ ¬h@h{E QZÔ 7 Õu y@E 2Í. 3 < . . <. .
(17). 0 . . . . . .
(18). . . . Ð
(19). 3K < . . . Ô Á Q| Õ. Â y_ @Í Î ÍII y_I¬QI§dn s _-_ s¡ yÔpnÕ Î ÍRGyh/9RR yE y/¨4 Q Ô y Õ : 0 Õ Î
(20) ÍR y{°nI_II _ s¡ yÔ Õ. Î Í@yE yhss /Ih Ô y Õ Î ÍRGyh/I@yE ysQ¤ÔOy E{Õ Î
(21) ÍRGyhI9Is@¬³Ô
(22)
(23) Õ Î ÍI9RIC@ _ 4@E ysQ¨Q4 : Ð K Ð 7 Ð 0 ÍRGyh y7h _n ysh¨Qh§II_ y_ Î. . $. Î Î.
(24). $. . $ . /
(25). . 3 $ . . $.
(26). 3 $.
(27). 3. Í@_n h¨§I I_ ¤ÔG{ E{Õ Í@h99hQ ysh¨Qh2I5@sI¬. ¦µh9I4 yI |_ ±{Rh59uIh¶Z)I@Rh~ Ô K| 9RRhn .4d{Rh©¼-R\²@¡ yhÕZ Q yRRd4s @ u y_ÌQ'n 94@Q §I@Q I¡k {KIQI¬n Mu/Iy4y4 y .E _@%¨~dR~R 9.I9hn §{d_@4n yQh9IR {E ysQ¥ ¦§I2 h _MIE {5@R "Q yC°n@_ @2_d yhIyhn .$ö£9QL@ ª¶Gys@R±§~u I IR{ÌR_¬{_ IE2²@¬@ Ô nÕ¥ ¦§I§R¬{_ ©@Iss 2 2¡ y7 yIh_n ysh¨Qh@_{_94ª _ ¤Ô !
(28) uÕd.h@ QuGQ yI@_{Eª 94 y I@4 {_n dQsn 2_K¨nhR9RRsI¬9hyQy È@h¿uI©"hd~¨nMs.h~GQM{_d I @§_ @Ih§È@h¿RsI5RR.h-Ö I hn s¨h5IIyE _d/ I°n@-RG- hQ ysh¨Qh@IyE ysQy_ @¥ ¦§I²dy %@)Ô Õ/%sdRh"h@Ihn §sq"RR. $. 9. / 0 # 2435)468 :4> @4@ @*> D A*> ?. 1. =*> =4=4@. ¦K_I Á ¥IÂQ9s@¨E_I. K. +. 2 λi. 7, 0 8 C*> ? :4> @ :4>B:. / 0 # 2435)461 =*> ? @*> @ A*>B:. +. 1/I. s. s. . sI y®_@É yIÊ4Q@ @¯Ô Õ³I. n y yI su¨y_\ yI E ys¨QsI yL yµs±dRR sI y±{E ysd¥§¦§@hy4Gy§ yI R¬{_§s 2I{ I@4 {_@_{_9h h{Id._K4_yh2Q"@4G@ 4¿u {4 $Ï ÐÒ yhIyhn {E $y°nIy$ y d GQ Àª_d_u Ô« . I¥ QÕ4¥ ðu@u yII@hh y_@_{_94 yh§¨. y2y@'Í M F F : 0 Ô HÁ G Õ Â9@_¨E_IÊ_ ¨E_ysQ@q@y5h yq¯R ª I~QLs¤ {_I Á ¥ ¾IyhI@yE ysQµ¨EsI.7Ô Õ_y ¬¨hG2RGQE ysQQI¥ ½2h_yÌ³Í ðn {_I¡ ³¬Qs@ _dL yIss ³R_ 2I{L_y%¬Qs@¬ d5Iyhn .³_y h¿u@. hy§_M_ ¨ ¨E _y_ @ Í Ò Ð [ G 7 H H Ô ï Õ %»"HFhBE»"N³NO>Qº + Ç Á.ï É{Rh)ðR ð@à hn yh Ô y Õ)@µ"hh¢d GQ9.uõ³E yyöõ³_{4QI ðu@hZ2s J ILKö .{II°nIÔOò ñ _sQ a4û x_gse HÁ GKG nÕ¥ ¦§I±4Qn ys£@Ö"hhRs¬QI s QyIh£ y ¨Q_ª´su% I©dn s 5 2Is\yE y Gus@¬ "4ª ¡²dE ysQ@§s yhy9§©Í Î @_@I2u y Î Qssª¶ %"h@~¨uC yIyh¨n I@ y@ yI./I¬ G.°Q@h@h7I@hh y_n Î ys¨Qq4n yQ_5 Iq²dy È@4¿RIsÊ5RRq Is KR~_@@y5h y'I@hh ysn ¥. $. 8;:. . $ $ $. J. 3. . I¥ ï±ù. L. x_wxEúahû«wiOzNMr_w{tûÊzyxEthaxEb"x_g ~tit þ ú9ahû @rü. . ù U\[\fPO. ¦§IL¼©½ Ç\ñ IIyQ{$ddhÉ_II$ yÊ yI ïï y Ô ÁRQÁ~ï Õµ{RÊIyIh 2s -I@hh y_ @_{_94 yh{ yµ²@@Ö I yIss £_y¬Ö_d£ yI @_{_94 y'©Qy §¥ ¾{ .E IZhn uI$ @$ Mhsn .%u R @Zdh Ry4y4 y 52s 7 9Is2"hyu5{RhM y d2°nIs 2yhIyhn y_ ¨©_@ yI24QQ ysuIQ@Kd@~¨usQ ÔGy$ h9hd yI'@s¬QI È@h¿RsI'G.°Q@h@h5©I@R Õ¥ðud"yIs y'2s-"5h9@_{_@s2¡ y) yI I.IE¨uR®u®4QQ ysuIQ@RsÉÀª´@_R ÔOh . ysQ @¥ nÕ¥ ¦§Ih©L@y9s h.£@y94 _ µ9Q yª R@4. 9©QÌ 2s R9 h@Iy§@_{_9h h{ Í
(29) G 7 X H Ô ïRÁ Õ. 3. 3 . . 3. 3 93 3 93 93K 93 . Âh¢I9@_-¨EsI9yQI9Í K 7 K 7 _@_ 2¡ y_ ¨ ¨~E ysQ@.I/Í Ò 7 1 H ¥. 3. 3. ¦Is}ÊR @~R yIL@4ys¨Q ¨~s@_¨. Q ÔO«¥ ¥" @5hIyhn \"Qs )³@y94 y d4~Õ.
(30) {@s¨9 yI's y_ ¨\y{ {_I¡ 9uud ª $$ IIhy/yQR@h¥ @h5n y_5 yh¢ÖÍ _@ R{@Q y $ ²d y ¡ y sQ@q4QÓsu @Is@¬Éd_{_94 yh{L yI$7± Rhn s²dE _y9Í 2 _@ 8 ¥ ¦§I s¬Qy¡ yI64Qu¨$ hy¬.© @ {_$ I¡ $ R_ E @7dn s 7 7 H 7 _@ @ B : /@ @ B : @9_LI_ yh y@E @4yQ $ IÓhIyQ $@yC 94 y ¨4 Q¯C _Rª IyQQ{I% I yIss qdQI@IQ¥ Ç ±IIy~¿RsEª uudyII yQR@§¬¨hu)$ Í Ò Ð Ô ïQï Õ O4 ' IÊ5n Lsn . ys@¬$. Is ) y@E L I 9s@s_yI@ @yÊR. ysQ64Q5@R . E Ö I IQ5@n"Qs 8 Ï K M_5n M yI25 d_ I Isy4 @§4Q9IR .E _ yIh2n 9I¡ª E y)"Q¡ ysQ@¥ðuÊ IµI¬I. s¬Qhu¨E_I)( @6B D : _d£s y9h¬u¨4 Q2I{hÊ" 49II ¨hC y O ¨h9GQZI¬QyRu Ó2s 7_ {Z@@4 ª ys¤@y94 yC¬¨7¨Qhy³y{¤RGyE µ @QI@ I.§ yI R
(31) ¥ hyu yI\R. ysQ Iys@¬QM y/ I2GQ§ y@E ©I @ \_y2RhRI¬ O4 QyGQ2 I%QI@ I.§2I: _ @h@y94 y _y7I 5s¬QIs²dhQ .¥ Ç @{qRGQE ysQ£4QI£d ¨¨Es@I'GQ2 @ @ 2_d_¬¥ ¦§I. 9I4 9II¬@_{_9h h{/Ô : _@ : Õ9_ ¨ µ yI²@{ 9È@h¿uI 9M uI¥ ¦§IZyIs ZQ-4¿R" y9"_@2 @5RR\Z I @sÈ@4¿RIs%5RR hn yuyh¬@_ 2@ s ©¨Qhy5h@s ¨ y%@y94 y§I@4 {_n ¥nðu @R. 8 Ï N °nIs 7yh@. Q {E ys¨Q @@_{_94 y'©Qy §¥. C. 3. < E+FHG. , 3 3 I. B B. B. 3. . 3 3 I. B DC 6<. 3. $. Ç {_Iss Rs4 Qhh{Rs@¬ % I/ @¡ª ¨ I_I5Ô Ò Ò : Õ©yh@. Q y9Q²@¬@-I¥ ¦§IZRQ9s9@QM-"hhh9IR y9u yI29_9 ²@I@_{_9h y@h¬y@Rs@¬@¥@³ II_@d I E y {_I¡ nu"h{ @IhyÔ 8 H Õ_@ @hhy ¨@y94 y4I²@¬I{E ysQ@§Iyhn .s yI6 @~¨$ d$ hLIs y)GQ I5I9@_-hRª ²@¬QIy_ 4¥nÃ'I__I@.4E y@E - yI© {Eª Iss ¬Qs_IIy~¿Rs_ 2°nIs yE GnI¬d¥ ¦9h9I4 y\ yI/. Is yR_ yIh2@_R ©G§¨E_y¡ª d@y94 yI¡ ys _ @4Q 5s@ yIss @~¨Q'"h"hGy9LÍ. $. 3. Z I M D I M D ] FZ B F. . ∆. ] Z B ] Z . . ]. I¾ Q\.{ hQ Qd y_ I¬9IsyId yIyR.ª Rys¨Qµ yys¬Qn Gy§_{Rs® I$y{ yÉ I I._y {_I¡ "I@@_y¥§¦§IRy ysQ$¡ª §~u IQ¬Q@_~ y @ yIss "@@I_y/ IOh¥ ðud~ IR y_d4 @ y_@s¡ %5.Iy5_I¬' I R. ysQ29¬uRIIy~¿uE ysQ_ I yIss uudyII yQR@h¥ ðu@4.s¨QM@_{_94 yM4QR²@¬@y_ @MÔGÌQ 2¡ y Õ{Ih¨Q®n® Iqs y_ ¨q_{{®5_¿u_ yI@ @yRsy4 Ô 8 Ï Õ5@~¨Q"h¯_ I_ ¥ Ç §4¿R"4 µÔOh/ ysQ ï ¥ ï Õ4n I. @E y@. Plant P(s). K(s) M(s). . ¾¬@¥ d¥ h@h{_Ï q Ð Ò GQIE â¶æhæëåç_æ : ) !" # Ø $â«ãåà2á " % Oß á'&è~áê~äì ß â " Ø Ù M Ú Û Ü *Oß ãåí~í~ãåê* () ) + ,-/. . 01 2 2 ) 3 4 5 6 276 6 698 â«é çáâ ( ááê =*> ? Þ{ê.í ;4= 2.3 )46 í~á % Þ{è~ë @â *ß«ãåí.í~ãåê* 0:+<; 0= > 27?) 5 274 6 ¦I ï ¥RÀª´@_R . @¡ { GsE¢ I {_I¡ LdQI@IµIR s§~R y~) I y_@s¡ L_yI¥C¦§I. 5@_ @hu¨¬Q 9 @ B : ¥ sRhC9sI9_. ELFHG. , C. . I¥ ÊÀ. W x_b"xEg ~t{it ¼Z¨usQ@yIs yd¢dh h9@_y 2s Àª _@sR. @¡ {%IyE¨uIqu¤ µR hyhn 9õ Ç ¦ª ò Ç\ñ u"~¿u./Í ACBEDGFFEHGI7Ô ñ _ ahû2xEgse Á G7GIÁ Õ@ H A J/Ô /Is@4 a4ûx_gse Á G7G nÕ¥.¦§I¨~d _¬Qs @5 y{ÌRK /"IdÀ2sII Zd2Ry4@y .%@hy¥_¾Iy I _IIhE ysQdQsn _C¨us yI\9Q 9dQ {_n yh 7IIÀª_d_u§§ yIGQI_ _M yI IQIh IdRh ¬QhIyÏËÐ±Ò Gy1RI .µ ²@¬Iy @¥\¦§@µyy{ö_ @{ yhIyhn {E 2I{)5I9 @ %_- yI%"h @@_ )Ò I_ y¨uR yQ Ì_¨h52s 7s9I¡²d_@Ish_ sÌI IQ¥"¦§@Iy@s h@ {\³²@dRs@¬ yI Is yI% {E y Iyhn y_ 7h¿u@.Qs9I §"Qy I' yI@y5h y'¨E_y_ ¥ ¦§IIy@s RId._{h@Rhys@¬£ @µ@sR{Ìnª R¬{_ I. n yE ysQ_ @9R Rh9 Ôk²@¬QIy QÕ4¥ ¦§IhnyhE ¨\¨~E ysQ@ Ò Ð 7
(32) G É I Ö s ö ¿ I d 4 h y s d _ { _ 9 4 yh{_" 7 X s ÊH y_ÌQh$n ÊQh4QIn 7uÊ yILI¬9hn yRsª _¬{_ Ï IE2³Q²@¬@ %_@ I%GsE2I¬ d yIdE µÍ. . 3. KMLONGPRQTSGUWV K K. / 1. M KX K M K X K /. 1. /. 1 F. X. K /. 1 F. X. K /. 1ZY. X \7, ]_^. K /. 1[Y. X. >B>B>. #a` 4 × X 7 ,× X 7 ,, X K 7 ,, X K 7 \, X K 7 ô{@y94 -I / 9d.E .9s9 yI ÏËÐÖÒ yhIyhn {E ¥"¦§I @7 y@4 Iy5_§Ò 54Q5"Q¤ - y_R_¬Q@_ ï ï IR{Ìu¥ ô©{ IsR{̳_)"54¿RIyy .³/__ ys9. I ï ï Rn s E ys¿C¥ ½2Is y2QR ysI. @ I9@_ @_{_94 y/4QRª ²@¬I{E ysQI99 h/ {_I ï ¥ QI©@QIsu{d_{ yhy uI@ ._I@hhª y_n M I yIss £_y¬ EÀ¯yhIyhn y yI @_sR±_ I±¬Q )uudyhId±@h" I5 {_Iss R_¥¦§I uudyhI"d'dh Is y$$ @Lh@¡ ys¨Q³I_IÖÔ Ò Ò : Õ³Ô« M 7 ,. 3. $.
(33) 1 3. 1 Demux. Mux. 5. 2. 2 Demux. Mux. Demux. Mux. 6 9. 30. 7. 11. 9 11. 8 10. 4 6. 7. 20. 8 Demux. Mux. 12 yy. φ. x’ = Ax+Bu y = Cx+Du. . φ. 1 s. 10. 12. ... φ phi_pp. 1 s. 10. +. 1/I 1/I. −. Delay: 380ms 2nd order Pade − + +. K. ηi. stability domain minimal robustness search maximal robustness search Robustness margins : PRABI-analysis mu−analysis (mu−tool) mu−analysis (lmilab). 40. (%). 4. 50. 3. 5. . ηi. 1 s. 1 s. .. ηi. K. ωc. 2ξ c. −10. K [1 1 1]. 2. λi. −20 − −. Mux. u. −30. K + +. +. 0. + +. K. 2. λi. + +. + +. K. ωc. −40. i. i. −50 −50. K(s). K¾ s¬d¥ %R¥@Å\@4 {_Èd4¿Rs@s @hhy_k /Ô¶Ï Õ ²@¬QI -QÕÍQI_£@_ 4 dE yIs yIyE¨nR. u\hª«G@@ ysQ ACB ITD -°nIs Zyh@. Q {E ys¨Q _% Iq y_@s¡ ¯I_¯GQ yIµGI@y94 y 4QR²@¬QIy_ @n¨Q ¬Q_ Ö2Ishª«G@@ ysQ ACB¬¨§%d.s9 y/ yIss 9¬Qss IhQ _ I I9@_"@y5h y'4QR²@¬@y_ 7_s @I¬Q @/G.°Q@h@h7¬y@Rs@¬5§¨Qhy²@IQ¥ ¾Iy¢ @'4Q9IR y_ @I ys9\"n _¨uh I. . ys@¬Q%@_ %¨Qhy) ¬@¡²d_n ÔOI7_£_§~u ²@@® Q5)4¿I_9I2Ihy ACBEDEF FEHGI)IyE¨uR³ I ¬uR9 QsI 92¡ y7/QI¬5¬yIRI¬2Is ACB ITD O_yÕ%IR 9©n % LI¬Is¬Qn y@E 5¼½ Ç\ñ 5_Rª IyQQ{¤~¨QI/Gy°nI@4µ¬y@Rs@¬@¥ £ Ih7 È@h¿uI y@4 Iy/" I/"Q /¨ 9dQ ª yn d.h@ QI ~Ös§~R95y @³À II"h "_ÌnG.°nIh@h7¬yIRI¬5IIyQQ{I¥. d¥Æ2à Â/Æò Å ðuà Â'ð. ¦ I7d_{_94 y5©Qy hy_{{LIIs.µ ³ § È@h¿uI@hhy_k n¼½ Ç'ñ _IIyR{ @' @E2 @d ys@h@h_ @\ {_I¡ 5QI@ I.M9.I @Q .LQµ I°n@ss )§ I ñ ~QL@y94 y Rhn s²dE £ÔO«¥ ¥@ I%9_ y¡ ¿ @ B : Õ¥"õ s@s_K_@ E¿R9y@@ yIy Rsy4 @'@C ~D ¨Q%"hhµI_ yI y_@s¡ Rs¥ Ç u9R y_ /Iy"h § @)R. d@~¨ "h®{I.{̱_d@ .± II7_7 74hn ©s y_ ¨IyR4.M yIIy~¿uE y y_@s¡ nu"h{ @Ihy/yQRsdh¥ ¦§I Rd_¡ 'dh ©h/Ihn s²dh_ @ QI@ I.. 0 %. 50 (%). ¾¬@¥-@¥C½2Id yIy/_@sR ) yI95n h@s ¨ . ysQµÔ Ò Ò : Õ M h_É_ Öd¤h¿n yh@I® Ö I¤IyIh yI@ 4n yQC~ un @ Ô /_I¨uy¡ _@ 9. HÁ GKG uÕ¥ ¦§Ih7 Ihn y ~ yIII¬<@_{_9h h{ ÔkGQ s@ y@4M yIm =s_'²@s ¬Qs/ òK÷ ÖRs¬QdÕ_y @ .µ 9Is9 h yI yyQ49_§ @7 @ s ¨u¡ 9_ y¡F ¿ @ CB D : ¥. $. . . ñ. %R¥2½2ô¾Kô½ô Ʃô©ð Qh 5¥d¥sd¥ Æ'¥Ä\Eu9 = ¥ E¨ Ç ¥C¼-{ÌEy @½¥~ðu9¡ yÔ ÁG7IG Á Õ¥4À W x_b"x_g ~tit§xEbü\t Ebdû @atit. ûr.rEgsþ{r ¥@¦§@/õ)E uyÌR©d_¥ Ç ¥Âh9E¨RÌu« Ç ¥ @¥ò _@ õ£¥Æ©@s_Ô Á G7G uÕ"¥ ~© Ï z{rEbdû«wyrEgMû´r.rEgþy r ¥¦§I õ)E uyÌR@¥ /_I¨uy¡ .@õq¥d@ 5¥ Q9%Ô HÁ GKG nÕ4¥IòIÌdh ©h d_{_94 yhKQI@ Mhn yRR. ¬5_@@~. _ RQ y¡²"hE ysQ¥ TcRwr a{x_bLSZrEbdû«wyrEgSZrEb 4a4wya4bzya'W T/S
(34) S nm ¥ ò ~¨us¬QI 5¥ Ô HÁ G7G nÕ4¥ Ä'@_s Í °n@_¡ R Rn s²dh_ Rª´sd @ Iss R h9_@RQ¥ IIE ysQ ³)nn y R4Q5@R%ª @@ yZR¿9s@hh s @IZd_{_ 4 y°nI¥ V 4t4a TZ Y R['T ¥ ò ñ sðC¥s ñ ¥ ¾I{_d_{_@ Æ'¥Æ©@_9"4 ys Ô HÁ GKG QÕ4 ¥ .{II°Q@%G9 @Q4.4{Ek hn y¶¥ ^Qb"ü Obdû´ahwb"x_û«iOr_b@bxEgMSZrEb 4ahwahb"z{a9X§ b EbxEú5iOzt x_b"ü³S-r_b@û¶wrEgKr "û«wc@zhû«cRwyat\ik b xz{a ¥. /_II4 .7¼M¥s . ' . . . . . . +. . .
(35) . $ (. -. *. ) ,. MI. × 0 0 0 0 0 " !&× % 0 " , ! 0 " × \:\ 0 %%:\ " 0 %':\ 0 % , %. F. I. × 0 0 0 0. 0 " """ 0 """ ! 0 """# 0 """# 0 """# 0 """ '. . Y. I. × 0 0 0 0 × 0 0 0 0 × 0 0 0 0 × 0 0 0 0 × 0 0 0 0. . I. . I. . I. × 0 0 0 0. × 0 0 0 0. × 0 0 0 0. \. × 0 0 0#. × 0 0 0 ,. 0 " % 0 " % 0 " ! 0 " ! 0 "# 0 "#. × 0 0 0 ,. " % , \. × 0 0 0 '. × 0
(36) 0 ! ," 0 '&× % ". × 0 0 0 × × 0 0 0 ,. × 0 0 0 % × 0 0 0 \ × 0 0 0 0 × 0 0 0" × 0 0 0 \ × 0 0 0 0 × 0 × 0 × 0 0 0 \ ¦K_I5I¥R´ yh{E 0 yI¡ {Ô #. 0 % '' 0 ,. C. 0 # \% , 0 %!! \ # , , ' # \ %+ \ 0#. ×. $ $ y× y× Õ . OLNI M. . LNI M. O × × ×.
(37) . 0 ! ,# : % : \ \ 0 & , ! # ! \+ 0 \:\ # 0 % , , 0 '% \. × × × y×. ×000.
(38)
Documents relatifs
O papel da cidade da agricultura familiar do semiárido: o exemplo do submédio São Francisco Ludivine Eloy, Pedro Castelo Branco Silveira, Eldonice Barros, Geneviève Cortes,
L’analyse et la conception d’un système de chauffage par induction des matériaux composites nécessitent une modélisation 3D des phénomènes électromagnétiques et thermiques
The pneumatic nebulizer attached to the sample line can momentarily, on command, inject a known concentration of metals solution providing a real-time span calibration.. The system
The aim of this paper is to propose an efficient and low-cost treatment of chemical mechanical polishing wastewater process based on electrocoagulation with iron
It is also a real-time texture synthesis algorithm, but the quality of the results is not good enough due to the simple sample patches selection method in the tiles filling
• Neighbour component: Two primitive components are said to be neighbour; if they offer the same interface, the same functionality and are implemented in different
All non-H atoms were found by direct methods (Frenz, 1978) and the structures were refined successfully with a full- matrix least-squares procedure using
The GaN MISHEMT represents an ideal structure for normally-off power GaN electron devices since the dielectric layer reduces significantly the gate leakage; unfortunately the
