Theoretical Study of Double Cost Function Linear Quadratic Regulator(LQR)

Double cost function linear quadratic regulator (DLQR) is developed from LQR theory to solve an optimal control problem with a general nonlinear cost function. In addition to the traditional LQ cost function, another free form cost function was introduced to express the physical need plainly and optimize weights of LQ cost function using the search algorithms. As an instance, DLQR was applied in determining the control input in the front steering angle compensation control (FSAC) model for heavy duty vehicles. The brief simulations show that DLQR is powerful enough to specify the engineering requirements correctly and balance many factors effectively. The concept and applicable field of LQR are expanded by DLQR to optimize the system with a free form cost function.

浅谈小学生自我教育的特点

小学生的自我教育对其人生有很大裨益，只有从小养成良好的道德修养品质，长大后才能够成为社会有用人才。

Calculation method for trajectory following control for autonomous vehicles

The current literature lacks uniform calculation methods for following trajectory control for autonomous vehicles,including the calculation of errors,determination of tracking points,and design of feedforward controllers.Hence,a complete calculation method is proposed to address this gap.First,a control equation in the form of an error is obtained according to the dynamic equation of the vehicle coordinate system and the trajectory following model.Secondly,the deviation of the vehicle state is obtained according to the current vehicle s state and the following control model.Finally,a linear quadratic regulator(LQR)controller with feedforward control is designed according to the characteristics of the dynamic equation.With the proposed LQR,the simulation of computational time,anti-interference,and reliability analysis of the trajectory following control is performed by programming using MATLAB.The simulation outcomes are then compared with the experimental results from the literature.The comparison indicates that the proposed complete calculation method is effective,reliable,and capable of achieving real-time and anti-interference following control performance.The simulation results with or without feedforward control show that the steady-state error is eliminated and that good control performance is obtained by introducing feedforward control.

试论农业和工业生产的平衡发展

目前的世界经济，比例失调，粮食生产总量不足，工业生产能力超限度过剩，需要进行控制性调节，争取平衡发展，避免社会性灾难。

Mechanism of T cell regulation by microRNAs

MicroRNAs （miRNAs） are small, non-coding single-stranded RNAs that can modulate target gene expression at post- transcriptional level and participate in cell proliferation, differentiation, and apoptosis. T cells have important functions in acquired immune response; miRNAs regulate this immune response by targeting the mRNAs of genes involved in T cell developmentp proliferationj differentiationp and function. For instancep miR-181 family members function in progression by targeting Bcl2 and CD69, among others. MiR-17 to miR-92 clusters function by binding to CREB 1, PTEN, and Bim. Considering that the suppression ofT cell-mediated immune responses against tumor cells is involved in cancer progression, we should investigate the mechanism by which miRNA regulates T cells to develop new approaches for cancer treatment.

A New Tuning Method for Two-Degree-of-Freedom Internal Model Control under Parametric Uncertainty

Internal model control （IMC） yields very good performance for set point tracking, but gives sluggish response for disturbance rejection problem. A two-degree-of-freedom IMC （2DOF-IMC） has been developed to overcome the weakness. However, the setting of parameter becomes a complicated matter if there is an uncertainty model. The present study proposes a new tuning method for the controller. The proposed tuning method consists of three steps. Firstly, the worst case of the model uncertainty is determined. Secondly, the parameter of set point con- troller using maximum peak （Mp） criteria is specified, and finally, the parameter of the disturbance rejection con- troller using gain margin （GM） criteria is obtained. The proposed method is denoted as Mp-GM tuning method. The effectiveness of Mp-GM tuning method has evaluated and compared with IMC-controller tuning program （IMCTUNE） as bench mark. The evaluation and comparison have been done through the simulation on a number of first order plus dead time （FOPDT） and higher order processes. The FOPDT process tested includes processes with controllability ratio in the range 0.7 to 2.5. The higher processes include second order with underdarnped and third order with nonminimum phase processes. Although the two of higher order processes are considered as difficult processes, the proposed Mp-GM tuning method are able to obtain the good controller parameter even under process uncertainties.

Robust Non-fragile PID Controller Design for the Stroke Regulation of Metering Pumps

This job focuses on the stroke regulation of a class of high-precision metering pumps.A parametertuning method of robust non-fragile PID（proportional-integral-derivative）controllers is proposed with the assumption that a PID controller has additive gain perturbations.An H-infinite robust PID controller can be obtained by solving a linear matrix inequality.This approach can guarantee that the closed-loop control systems is asymptotically stable and the H-infinite norm of the transfer function from the disturbance to the output of a controlled system is less than a given constant to attenuate disturbances.The simulation case shows that the control performance of the proposed strategy is significantly better than the traditional PID approach in the situation with perturbations of controller parameters.

Experimental analysis on adjusting performance of vapor-liquid two-phase flow controller

The vapor-liquid self-adjusting controller is an innovative automatic regulating valve.In order to ensure adjusted objects run safely and economically,the controller automatically adjusts the liquid flux to keep liquid level at a required level according to physical properties of vapor-liquid two-phase fluid.The adjusting mechanics,the controller’s performance and influencing factors of its stability have been analyzed in this paper.The theoretical analysis and successful applications have demonstrated this controller can keep the liquid level steady with good performance.The actual application in industry has shown that the controller can satisfactorily meet the requirement of industrial production and has wide application areas.

Containment control for heterogeneous multi-agent systems with time delay via an output regulation approach

This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output regulation.The leaders are treated as exosystems and an modified output regulation error is designed,which can deal with more than one leader in containment control,then the containment problem will be turned into an output regulation problem.A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal,which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the leaders.The system stability for time-delay containment is proved by the output regulation method instead of the Lyapunov method.Finally,a numerical example is given to illustrate the validity of the theoretical results.

Stochastic Differential Game Model for Decentralized Power Control with Wisdom Regulation Factor in Wearable Audio-Oriented BodyNets

In this study, aiming at the characteristics of randomness and dynamics in Wearable Audiooriented BodyNets （WA-BodyNets）, stochastic differential game theory is applied to the investigation of the problem of transmitted power control inconsumer electronic devices. First, astochastic differential game model is proposed for non-cooperative decentralized uplink power control with a wisdom regulation factor over WA-BodyNets with a onehop star topology.This model aims to minimize the cost associated with the novel payoff function of a player, for which two cost functions are defined： functions of inherent power radiation and accumulated power radiation darmge. Second, the feedback Nash equilibrium solution of the proposed model and the constraint of the Quality of Service （QoS） requirement of the player based on the SIR threshold are derived by solving the Fleming-Bellman-Isaacs partial differential equations. Furthermore, the Markov property of the optimal feedback strategies in this model is verified.The simulation results show that the proposed game model is effective and feasible for controlling the transmitted power of WA-BodyNets.

Study of Comparative Saturated Sliding Mode Control and LQR Controller

The saturation problem is the one of the most common handicaps for applying to real applications, especially the actuator saturation. This paper focuses on the robustness of the sliding mode control （SMC） which incorporates a saturation constraint technique compared to classical linear quadratic regulator （LQR） with saturation. In the first step, the authors present a design methodology of SMC of a class of linear saturated systems. The authors present the structure of the saturation, after that the synthesis of the sliding surface is formulate as a problem of root clustering, which leads to the development of a continuous and non-linear control law that ensures the reaching condition of the sliding mode. The second step is devoted to present briefly the LQR controller technique. Finally, to validate results, the authors demonstrate an example of a quarter of vehicle system.

Finite Sample Properties of Virtual Reference Feedback Tuning Control

In this paper, finite sample properties of virtual reference feedback tuning control are considered, by using the theory of finite sample properties from system identification. To design a controller in closed loop system structure, the idea of virtual reference feedback tuning is proposed to avoid the identification process corresponding to the plant model. After constructing one identification cost without any knowledge of plant model, the author derives one bound on the difference between the expected identification cost and its sample identification cost under the condition that the number of data points is finite. Also the correlation between the plant input and external noise is considered in the derivation of this bound. Furthermore, the author continues to derive one probability bound to quantify this difference by using some probability inequalities and control theory.

Bidirectional regulation of fragile X mental retardation protein phosphorylation controls rhodopsin hornoeostasis

Homoeostatic regulation of the light sensor, rhodopsin, is critical for the maintenance of light sensitivity and survival of photore- ceptors. The major fly rhodopsin, Rhl, undergoes light-induced endocytosis and degradation, but its protein and mRNA levels remain constant during light/dark cycles. It is not clear how translation of Rhl is regulated. Here, we show that adult photorecep- tors maintain a constant, abundant quantity of ninaE mRNA, which encodes Rhl. We demonstrate that the Fmrl protein associ- ates with ninaE mRNA and represses its translation. Further, light exposure triggers a calcium-dependent dephosphorylation of Fmrl, which relieves suppression of Rhl translation. We demonstrate that Mts, the catalytic subunit of protein phosphatase 2A （PP2A）, mediates light-induced Fmrl dephosphorylation in a regulatory B subunit of PP2A （CKa）-dependent manner. Finally, we show that blocking light-induced Rhl translation results in reduced light sensitivity. Our results reveal the molecular mechanism of Rhl homoeostasis and physiological consequence of Rhl dysregulation.

语文预习作业制的实施

语文预习作业制的实施○杨玉来（南昌市十一中所谓预习作业制，简而言之就是学生在学习新课之前，按教师的要求，预先自学，动手操作的制度。其最大特点是动手操作，培养学生边读边思，“不动笔不读书”的学风，并形成制度，学习行为由控制性调节逐步转化成自觉性调节，以...

Active steering control strategy for articulated vehicles

To improve maneuverability and stability of articulated vehicles, we design an active steering controller, including tractor and trailer controllers, based on linear quadratic regulator(LQR) theory. First, a three-degree-of-freedom(3-DOF) model of the tractor-trailer with steered trailer axles is built. The simulated annealing particle swarm optimization(SAPSO) algorithm is applied to identify the key parameters of the model under specified vehicle speed and steering wheel angle. Thus, the key parameters of the simplified model can be obtained according to the vehicle conditions using an online look-up table and interpolation. Simulation results show that vehicle parameter outputs of the simplified model and Truck Sim agree well, thus providing the ideal reference yaw rate for the controller. Then the active steering controller of the tractor and trailer based on LQR is designed to follow the desired yaw rate and minimize their side-slip angle of the center of gravity(CG) at the same time. Finally, simulation tests at both low speed and high speed are conducted based on the Truck Sim-Simulink program. The results show significant effects on the active steering controller on improving maneuverability at low speed and lateral stability at high speed for the articulated vehicle. The control strategy is applicable for steering not only along gentle curves but also along sharp curves.