But the robust performance is improved obviously when the closed loop gain shaping control algorithm is introduced into the ship motion system on the basis of neural network control in the thesis.

本文在神经网络直接控制船舶运动控制基础上，引入闭环增益成形算法构成闭环控制，以提高系统对环境干扰和过程参数摄动的鲁棒性。

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The fractional Brownian motion based fractal Image with desired fractional dimension can be generated by applying its shaping filter to a Gaussian distributed white process.

用成形滤波器对高斯分布的白色过程滤波，便可以得到具有期望分数维的布朗运动分形图形。

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