The stability of a nonlinear control system which consists of a sector bounded nonlinear gain in cascade with a fixed linear PID controller is analyzed using Popov stability criterion.
针对一类由非线性增益函数与典型PID控制器级联组成的非线性系统，采用波波夫判据对此类闭环控制系统进行稳定性分析。
Study the control of backup granularity and demarcation criterion, and divide backup data to satisfy the system requirement according to backup window and system stability.
研究了备份粒度控制。讨论备份粒度的划分依据，根据备份窗口和系统稳定性划分备份数据，使备份粒度满足系统要求。
The phase detection criterion, localizer freedom option, the way of control as well as the system stability mentioned in the system design are specially discussed.
并就总体设计中涉及的相位检测准则、定位器自由度的选择、控制方法以及系统稳定性等问题的解决方法作了专门论述。
Through designing and realizing foot sensor system, this research is order to on-line access ZMP point, and use it as walking stability criterion to control humanoid robot achieve stable walking.
本文以ZMP稳定性判据作为仿人机器人步态行走的稳定性判据，主要研究如何设计并实现仿人机器人脚底传感系统在线获取ZMP，并对机器人进行稳定性控制。
Through designing and realizing foot sensor system, this research is order to on-line access ZMP point, and use it as walking stability criterion to control humanoid robot achieve stable walking.
本文以ZMP稳定性判据作为仿人机器人步态行走的稳定性判据，主要研究如何设计并实现仿人机器人脚底传感系统在线获取ZMP，并对机器人进行稳定性控制。
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