Disturbance Aspects of Iterative Learning Control
18
0
0
Full text
(2) cial Intelligence 14 (2001) 87-94 Technical reports from the Automatic Control group in Linkoping are available by anonymous ftp at the address ftp.control.isy.liu.se. This report is contained in the
(3) le 2371.pdf..
(4) Abstract Disturbance aspects of Iterative Learning Control (ILC) are considered. By using a linear framework it is possible to investigate the in uence of the disturbances in the frequency domain. The e ects of the design
(5) lters in the ILC algorithm on the disturbance properties can then be analyzed. The analysis is supported by simulations and experiments.. Keywords: Robot control, iterative learning control, disturbance e ects.
(6)
(7) !" # $&%' ()
(8) +* , '- './ 20 1436587:9;=<?>@>A9C<?B D&E
(9) FHG858IHJA7K+LII
(10) 58>AMAM@< ION P"QSRUTWVYX[ZQ]\^X_a`cb{ b
(11) deQg|Sf]}WX[VY~hifj~@Tdkb
(12) op\mhi\UlWqphi\:_jr QgRQ]hiVj\mhilv\mn l{:n?opQxhi\U AqQ]\_jr Rkhs\ml=t \^hiuvQ]VxwyhsX[z&n 8&&^W =e©e¥gUU]j^@igy@²$Wx³W]xy´+x¢We Sg@xxx¢e¡W^©¢ £¤]Oj¥@¥¡W]¦¨xx§¢¦@A@µg@g©#¶U¨ªi S£ ¥U§¬·«¬UCxy¸yAWxge¶U¹x]^¤e®¤g¯Ug°±º@g¥yU]¦ A¥¹gg¶U¶U-i^xe]x»UgUUgC^@y°¼y"^A²$x@W¥kx®!x½#¢]¶U¹@y¹¾]gy¶xC'-W:"g¶U@µW©¢°]Ág]¢¦A®¤½#¿º¶U©¢g@¸¥W©¢°Ugx¶UeÃ-e a£?j§À^W©¢W¦WxWg]¢¹g¶^A² ° x¥²"©ex¢A^
(13) @¸yÄg¥²CAx® ÅQ]z _WVa vwyÆ Ç#@W
(14) yA@x@©ÉÈ¢gx¢¡W"©¢]j¥U¦yAAx@©ÉÈ^egUgº@yy¾]yx. Ê ¬½ ¶ep³Wx´"³Wg^Wx]m°§!ËÍ̬ x a½ £6¥´k@Î ^¥¦ÃÏc¢¡Wjx¢Ð°$@Ѭ¯!¯ÒÇ#@:Wxe ³#Õ ¢g§!^¶ W ¥xx] xÓU ÓÔA^#¥£8¦¬¥U@´ÂU@Î g^¶U¥WUC¦$®ËHÏÖ4²$¢¡WWe©gxW¢^4°W® x]g×W¡v@A&Øe°W®Ù©e¥Â®ÙWÈ@Ú^vÄk×ÜÛcÝAÞ&Ögß]à&Ö4áWâWáWÞWáWáUÈ^½8]©É× ÛcÝAÞ&gÖ ß]à&Ö4áWâUßCã&Ýmã äÍåYæxç:ågè¥é:êpë&ì^íWîè[êêÐæCï'êÐð"ñÍòeëYævó&èôæjåcäHåYæxç:åjè¥éºê õöø÷"ì&ùìWë]êÍúöWöWö.
(15) û ü&ý8þWÿ þ 6ý .
(16) "!# %$&
(17) "' (*)+' ,.-0/1,.2345627'827/9,(:/9,;6,</9,36/9,<=/1,><3,67' ?' ,>/1, @ ,.2?A/9,4"' B27/ @3C ?1' 6DEF,G27
(18) @ ,%2?H' IJ'K?13' ,/9,<0/1,L<3,67' ?A)MJ'8,('K4 @ ON C I*P
(19) 3IQ'R646(3,.27'827/9,S T'R5-U,"' )M/ @ (I-U(I23)VW'R(B277'X273<8-YTZ @ ,.2?9?1/9,< 'L5-U,"'8)+/ @ (B-[(B276) /9(\' "'845276]/1,^()M0_'J-^/9,]I3M27L/1)M4I `;27
(20) 5> `67' ?9? 4a6ITZI)+' , @ 8D EF,bEc237'X27/d`fe3' ,/9,<g_,.27I?h Eiegkjl2
(21) m' (( C )M4527/9,\/9(H2
(22) "'82A27
(23) 5 @ ,.27 ?n(B-U(I276) /1(M( C 44n(6o27 @ ' B-p C 2M27
(24) 5K(' )MS4a67'82/1 ,qI34nJ'823?d-DA
(25) /9(+/1(+' @ )M)M, (/d2 C 'X27/9,r/1,r)+' ,.-s ta 2/ @ (Q' 44?9/ @ '82/1,5(QP
(26) 53+'= ta 2f/1(:( C 44n(6L27=5S2
(27) (7' )Mk' @ 27/9,vu8Dw<D%'f3?9/9,<& @3C 2I27/9,<& 4a67'82/1,xu `3H' ,5+ ` 3' <.' /9,vD ym44?9/ @ 'XN 27/9,(W/9,\ 2
(28) 3_4"' I2(W Tz)+' , C T ' @ 2 C I/1,5< @ ' ,='8?1(I{takTZ C ,vu[t C 2 /9, C (I27I/'8?x ta 2(
(29) "'J`Rtn36,;27
(30) &)+'X|Bf'844?9/ @ '827/9,s' IJ'YTZ mEieg*Dv}H- C (/9,<= ~[4n3/93, @ RTZ ), @ - @ ?9Y2
(31) +/13'0/9(2>'88| C (I227
(32) 5Y/9,4 C 2&(/9<,"'8?H/9,L' ,' 45445/1'827{_' -G( C@
(33) 27
(34) '82 27
(35) 4n3BTZ)+' , @ P T27
(36) P(B-[(B276)/1,{27
(37) 5 , ~U2 @ - @ ?9k/1(/9)M4 `6vDU}-{)MJ'8( C I/1,<Q8Dw< 27
(38) :4'827
(39) S3I 8Tl'{Ita82 )M` 3)M3,.2m/1,K, @ - @ ?9Q2
(40) _|B/9,.2 27I C 3(P/1,=2
(41) Q, ~U2 @ - @ ?9P' IW' 8| C (I276{( C@
(42) {2
(43) "'82l2
(44) W4"'X27
(45) R6 l/9(6 C@ 6vDym,{/1)M4nI27' ,.2/dx66, @ ta 2F_63,SEieg]' ,\8Dw<5D5' ' 4527/d` @ ,.27I?n,5 C ' ?x, 2F_ +)+U6?1/9,<R/9(_27
(46) '822
(47) P
(48) ?9f/9,4 C 2_(/9<,"' ?n/1(_' "' 4[273b/1,\EiegoP
(49) /9?9*27
(50) m4"' ' )M6276(W/9,='4"' 7'8)+ 276/933 646(3,.27'827/9,r T27
(51) 5 @ ,%2?9?93fk27
(52) )+U6? T2
(53) (B-U(I276)/9(f' "'845276s/1,>2
(54) 27
(55) 53 @ ' (I3(3DEieg/9(R'=TZ33UNcTZBW' IhZ4a6,?9[ 4aj @ ,.27I?A)M627
(56) 5[GP
(57) / @
(58) p)M3' ,( 27
(59) "'X2 27
(60) :P
(61) ?9/1,4 C 2k(3 C 6, @ &/1(P4I @ )M4 C 276;tn6TZIf27
(62) @ - @ ?1ta6</9,(3D
(63) S(I27' ,"' I^'8(( C )+4[27/9,^/9,Eieg/1({2
(64) "'82MJ' @
(65) @ - @ ?1K/9( @ ' I/16o C 2M C I/1,<L' ,/d27\2/1)M\/9,.273B`8' ?_R53JJGD[/9, @ \2
(66) \/9)M4?16)M3,.2'82/1 ,o/9(R,5 C (/9,<G' @ )M4 C 273{2
(67) =4 t?16)/9({(I2 C /16^/9,/1( @ I627=2/1)M DEF,I3R2 @ `6Y';P/9 7' ,5<P Tx(I/92 C '82/1,5(H2
(68) kTZ ?1?9 P/1,<<6,3' ?"?1/9,3' A(I-U(I23)3( @ I/1452/1 ,bP/1?9?"tn C (3 J hZ7jnhZ%jc h#7jx¡n¢[h .jF£ hZ7jx¡a¤8h .jF¥ hZ7jx¡n¦h .jF§ hZ7j. hi¨8j. P
(69) 3I J hZ7j77 h#7ja' ,£ h#7jn3,827A27
(70) A(I-U(B273)© C 274 C 2(I/1< ,"' ? uJ27
(71) A TZ3I3, @ (I/1<,' ? ' ,:27
(72) 5HEiegs/1,54 C 2(/9<,"' ? 3(I4a @ 2/9` 3?d-D
(73) 5A`8' I/'8t?16(¥ hZ7ja'8,Q§ h#7jn3,5 27A?9.' /9(I2 C t"' , @ ' ,=)MJ'8( C I3)M3,.2m/1(B2 C It"' , @ Q3(I4a @ 2/9` 3?d-D
(74) Q' /9)V/9,=27
(75) :4' 4a6 /1(2:' ,"'8?9-U3W2
(76) 6a @ 27( T2
(77) W/9(I2 C t"'8, @ 6(H ,R27
(78) `67' ?9?(B-[(B276)ª4a6ITZI)+' , @ 8D y«T C I27
(79) 53(B2764_ C ?1ta+27>53(/9<,2
(80) bEieg¬'8?1< /d27
(81) ) C (I/1,5<s'06( @ /94527/9,p T 27
(82) {(B2'82/1(B27/ @ ' ?454n3B27/93(Q TA27
(83) {5/1(B2 C It"' , @ Y(I/1<,' ?1(6Dv
(84) M( C t( @ /9452{>53, 23( /923'827/9,0h @ - @ ?1j, C )tn33D.
(85) 5 6TZ66, @ P(/9<,"'8? h#7jz/9(27
(86) (' )Mk/9,+' ?9?5/d273'827/9,(6u P
(87) / @
(88) R)MJ' ,(z27
(89) '822
(90) P
(91) ?9_(I3 C 3, @ W/9(%, P,&ta TZA27
(92) I(I2/923'827/9,tn3< /1,(6D y*?9?m2
(93) ; 2
(94) 3\(I/1< ,"' ?9(bP/1?9? @
(95) ' ,<;TZI) /9237'X27/9,]27/d2767'82/1 ,vD
(96) 5;` '8/1' t?93( a h .jn¢[h .jIx¤XhZ%j' ,Rn¦"hZ%jv3,827 (I27' t?9W/9( @ 62 27/9)+ ?923I(3DEc2/9( T @ C I(P' 6(I27I/ @ 27/9,R27 @ , ,W27
(97) _4t5?16)®2f?1/9,3' l(B-[(B276)+(6u.t C 2 ,27
(98) _ 27
(99) 6l
(100) "'8,R27
(101) /9( P/1?9?)+' Q/d2P4a ((/9t?92Mt52'8/1,=TZ6 C 3, @ -S)+' /9,0/9,(I/1<
(102) .2k/9,%2{27
(103) Q/9(I2 C t"'8, @ 4 4a6I27/93( TEieg*DXEF,)+' ,.-(/d2 C 'X27/9,(( C@
(104) {/9,(/9<
(105) .2/9( C ( T C ?UTZI)¯' ,3,< /1,63I/1,< `U/1 P4a/9,.2JD °.
(106)
(107) bTZI) C ?1'82/1,/1,6 C '827/9,hi¨8j:/9(&27' 6,TZ) h ±mI?³ ² T:¨ ´ ´µUju' ,5/92 @ `6( 'GP/9 @ ?'8((b8T:(/d2 C 'X27/9,(b' ,</9,<GTZ) ' ,o4n3,^?9U4 @ ,.27 ?k45t?93)¶2' @ ?9(6s?1U4K(I-U(I23)·4a67'82/1,5< C ,53*tn 2
(108) 0TZ36[NFt' @ K' ,>TZ63[N³TZI_' @ ,.2? D EF,Sh ym/9)M 27Y ¸ 9¹U¨ ´µ º[j7u P
(109) / @
(110) M/9(l T#23,RI6TZ66R27*' (, T2
(111) _I/1< /1,"'8?[4"'84a6( /1,;2
(112) 6?1s8TAEieg*un27
(113) Eieg©' ?9<I/92
(114) )W'8( C (6s27\<6,3'827&27
(115) R/9,4 C 2f27b2
(116) (I-U(I23)»/9 @ 27?d-DEF,=27
(117) 5QTZ' )M6=
(118) 53:2
(119) /1( @ 6(4n,(P27 a¢:½¼. nW¾. n¦&¾. a¤ ½. h° j. P
(120) 3IS¼·/9(27
(121) 5\277'8,(ITZ6T C , @ 27/9,p TP27
(122) b(I-U(I23)¿2sta @ ,.27I?1?93xDEF,Àh ° jQ' , 27
(123) G(6 C 3?Q27
(124) L' I< C )M3,.20 T2
(125) L/9,.`?d`6Á27' ,(ITZ6=T C , @ 2/1 ,(0P/9?1?Q(I)M627/9)M3( )M/92I276]TZ @ ,%` 3,/93, @ DP
(126) @ ' (I;27
(127) "'82bP/1?9?*tn @ ,(/93I3À/1,]2
(128) /9(\4"' 4n3\/9( 345/ @ 273r/9,rÂl/9< C b¨unP
(129) 53R2
(130) R(I/1<,' ?l£ hZ7jPI34I3(6,.27('\(/9<,"' ?l' 6;27b2
(131) TZ36, @ &(/9<,"' ?z, )+' ?9?9-S<6,3'8276>/9,02
(132) @ ,.27I?z(I-U(I23)SDvÃk3, @ &Eieg¾/9( C (3 ' (k' @ )M4?93)M3,.2m27{27
(133) @ ,.`3,.2/1,' ?Itn 2 @ ,%2?(B-U(I276)SD ¥ h#7j. £ hZ7j. T. § hZ7j. ÆlÇ h#7j. Å Ä+. Ä+. Ä+. È. J hZ7j. É hZ7j Ä+. -. Ú ¢¦®?ß®ºÑc¸yÄU@²^©¢W?$x]W©e¢Á]x¢A¨W8g¶Uø°xC² ¥]»Ux¢A ªaßv«x®
(134) (I27 C@ 2 C Q64/ @ 276;/9,0Â/1< C M¨ @ I3(I4a ,(P27{27
(135) Q(I/92 C '827/9, nW. hÊÆ¡qÆlÇ ji¼ ¨¡oƼ. a¢:. Æ ¼ ¨¡oƼ. a¤P. ¼ ¨¡oƼ. n¦&. Æ&¼ Ë ¨ ¡oƼ . h ÌUj. P
(136) 3I_¼MÆ' ,5ÆÇW' 2
(137) H27' ,5(ITZ3T C , @ 27/9,( TU27
(138) H(I-U(I23)©27ktn @ ,.27I?1?93R' , 27
(139) RTZ63[Nct"' @ s'8,sTZ33UNcTZBW' ILI3< C ?'82(:I3(I4a @ 27/d`6?9- Dy(I?1/9<
(140) .2Q)M[5/ @ '827/9, TW2
(141) b(B-[(B276)¿(I2 C@ 2 C I\(
(142) 5P,p/9,pÂl/9< C I0¨b/1(27>?962&27
(143) YEieg¬/1,4 C 2R(I/1<,' ?tn C (6' (+'GTZ63[N³TZI_' I^(/9<,"'8?P' 6^27r27
(144) @ ,%2?P(I/1<,' ? <3,537'X273^t%-p2
(145) TZ36[NFt"' @ =' ,STZ36[NcTZBW'8S4"' B27(P Tz27
(146) @ ,.27 ?1?936D"
(147) /1(| C (B2 @ I3(I4a ,( 27+' 6 ,5/92/1,0 T27
(148) :27' ,(BTZ3 T C , @ 27/9,Kn¢[h .jH/9,06 C '827/9,phi¨8jD
(149) ST C ,"' )M6,%27' ?P4 t?16)/9,oEiegV/9({27G3(I/1<,o' , /1,54 C 2k(/9<,"' ?£ hZ7j( C5@
(150) 027
(151) '82 27
(152) Q6 ÍJ h#7j¾ h#7j Ë Ì. J h#7j. C 4n"'827K' ?9<I/92
(153) )¿TZR2
(154) hZº[j.
(155) /1(PI3 C@ 30/1,K()M' 4454I/'X27Q(6,(' (W27
(156) Q/d2767'82/1,5(k45 @ 36vD y¯<3,67' ?vTZ ) C ?'RTZ C 4n"'82/1,5<+2
(157) QEieg/1,54 C 2k(/9<,"' ?/9(P</d`3,0t.-. Õ. £ 7Î. hZ7j½ÏYh .j Zh £ h#7jx¡oÐkh .j3ÍJÑ hZ7j. hÊÒ%j. P
(158) 3I\ÍJÑ hZ7jH6, 23(P27
(159) Q)MJ' ( C 6>6 k(I/1< ,"' ?/ Dw8D ÍJÑ hZ7j¾ 5hZ7j Ë. É hZ7j. ÍJ h#7j Ë. § hZ7j. Õ. h ÓUj. ' ,bÏ®'8,\Ðp' IP?1/9,J'83u%4a ((/9t?d-b,5,[N @ ' C (' ?Êu ?d276(6D5U/1, @ *£ Î hZ7jl/1( @ )M4 C 273 NF?9/1,8uP/92
(160) otn 2
(161) ¯ÍJÑ hZ7j' ,q£ h#7j< /9` 3,^ ` 3M27
(162) =P
(163) ?9S27/9)+S/9,.273B`8' ?ÊuA, ,[N @ ' C (7' ? ?d276/9,< @ ' ,Kta @ ' I/160 C 2JD EiegÔ
(164) "'8(sta63,' ,®' @ 2/9` qI3(IJ' @
(165) ¬' ITZs' ?9)M(I2s2FÀ @ ' 3(G' ,5®, C )M6BN C (:4 C t?1/ @ 'X27/9,(:
(166) "'J`Mtn36,G4 C t?9/1(I
(167) 3vDym)M,<SJ' I?1/93 @ ,.27I/1t C 27/9,(Q, ,( h³g_' /1<>¨ ´µµUj7uhÊÃm/96<s¨ ´´ ° j7uh³Õ0UY¨ ´´Ì%j ' ,5hÊÃk P/d27\¨ ´ ´ÌUju"P
(168) /9?9R @ 3,.2 ( C B` -[(_ Tx2
(169) *'8J' TvEieg^'8k</9` 3,Y/1,;h³Õ0U¨ ´´ µUj' ,;hÊ}_/93,b' ,YÖ C ¨ ´ ´µUjD
(170) {6( C ?d27(Q4I3(I3,.276/9,;27
(171) {4"'84a6:' {O~U273,5(/9,(Q TA27
(172) {I3( C ?92(Q46(3,.23G/1, h³× C ,,"'8((I,K' ,S±kI?c ² TA¨J´´.Ø%j' ,GhʱkI?c8² TA¨ ´´µUj7D[
(173) 5f)+' /1, @ ,.27/9t C 2/1 ,=/1, 27
(174) /9(4"' 4n3Q/1(:2
(175) +TZI3 C 6, @ -G)+' /9,L' ,"' ?d-U(/9( TH27
(176) +/9(I2 C t"'8, @ +4 4a6I27/93( T Eieg*D
(177) R4"'84a6*/9(*I<.' ,/936s' (mTZ ?1?9 P(3DxEF,s[ @ 27/9, ° 2
(178) REiegÁ' ?9</d27
(179) 5)454n3B27/93( /1,Y<3,537'8?a'8k/1( @3C (I(6vu[P
(180) /9?9*/9,=[ @ 27/9,(_Ì&'8,bºQ27
(181) k6a @ 27( T?9.' Y' ,b)M3'XN ( C I3)M3,.2+/9(I2 C t"'8, @ 6(M' \/9,.`6(I27/9<.'823vDHU @ 2/1 ,^ÒS27
(182) 6, @ ,.2'8/1,({(I/1) C ?1'827/9,( 27
(183) "'X2:( C 454aB27(f2
(184) 27
(185) 53I627/ @ '8?' ,"' ?d-U(/9(3DÙl~[4n3/9)M3,.27( @ '8/93s C 2:,r' ,s/9, C (BN 27I/' ?Ita82_'8P27
(186) 6,\46(6,%23=/9,=[ @ 2/1,\Ó5DUÂl/1,' ?1?d-M( )+ @ , @ ? C (/9,( '8k</9` 3, /1,>[ @ 27/9,>Ø[D. Ú. 6ÿ [þ ÿ ^ÿWþ. Û=ÜZÝ X Þß. à áâ. âUã.
(187) Q C 3(B27/9,>/9( , ½2
(188) :TZ?1?9 P/1,5<Dn×Q/d`6,K2
(189) :(I-U(B273)5 ,6>t.-=6 C '827/9,hB¨8j7u
(190) ©(
(191) ' ?1?2
(192) ?923I(*Ï' ,0Ð]/9,K2
(193) C 4a"'X27Q3 C '82/1 ,ph³Ò.j_tn @
(194) (I3,;( C@
(195) >27
(196) '82 27
(197) Q6 ÍJ hZ7j @ IJ' (I3(*/9,0' ,K' 44I4/1'82Q_'J-5ä
(198) _)+' /9,R/9(( C 3(P
(199) 6, @
(200) U(/9,<:ÏÀ' ,Ðr' @ ,.` 3< 3, @ u. t C (I2,3(I(' ,/1,5å C N 3, @ : T/9(I2 C t"' , @ 3(6D"EF,\27
(201) /9( 4"' 4n327
(202) @ ,.`6<6, @ &' ,=It C (B27,6((P/1(I( C 6( P/1?9? ta)M3,.27/9,6+t5/96å-P
(203) /9?1H27
(204) W)+' /9,{'82I276,%2/1 ,R/1(,R/9(I2 C t' , @ P'8(4n @ 2(3DXæ
(205) /1?9 27
(206) {3' ?9/93(I24"'84a6(:,rEieg @ ,(I/166(/d2 C '827/9,(:P
(207) 6+' ?9)+ (I2Q,S%, P?16< TA27
(208) (I-U(I23)27=tn @ ,.27 ?1?93s_' (Q'J` '8/1?1' t?9R27
(209) C ({ TH( )+{%/9,r T'\4/9I/ )M[6?l/9,;27
(210) 3(I/1<,r THEieg©' ?9</d27
(211) 5)+(*
(212) "' (ftn @ )M{)+ {' ,5s)+ @ )M)+ ,vD y*,r ~5' )M4?9{ T'\)M[53?t"'8(3r)M62
(213) UrTZ @
(214) U(/9,<K' 44I4I/'82 ?d276(Q/1,;2
(215) C 4n"'827M6 C '827/9,G/1(:4I3(I3,.276/1,ohZ+çkU `3M¨ ´ ´ÓUj P
(216) 6M)M62
(217) [5(QTZ :t C (I2 º.
(218) ,.2?[3(I/1<,+' I ' 445?1/93+' ,R2
(219) ?d276(A' IW6(/9<,3M27*</9` P' @ ,.` 3< 3,.2HEieg @ ' ?9</d27
(220) 5)è3(I4/92 C , @ 3B2' /9,.27/93(R/9,27
(221) 5Y4I @ 3(I(R)M[6?ÊDEF,8Dw<5DWhÊ×QI/1,56`U(.- ¸ 9¹¨J´´.Ò%j2
(222) PEiegq/9,4 C 2A(I/1<,' ?"/1(TZI) C ?1'823Y' (A' ,M452/1)M/9J'82/1,+4It?93)Su C (/9,< ' ,='4/9/n)M[53? u56( C ?d27/9,<{/9,='2/1)Mf5)+' /1, C 4a'827/9,<R6 C '827/9,bTZH27
(223) m/1,54 C 2 (/9<,"' ? D"EF,LhʱkI?c ² T¨ ´´ µUjA/d2P/1(P(
(224) 5P,K
(225) Á(B-U(I276)/153,.27/ @ 'X27/9, @ ' ,Sta C (I3S27 t C /9?1'K?9 ªI3?9/1,3' Q)M[6?A TW'8,L/9, C (B27I/' ?AIta82P
(226) 5/ @
(227) 2
(228) 3,G/9( C (I3GTZ 3(I/1< ,> Tl' ,K' 44I4I/'82QEiegÀ' ?9</d27
(229) 5)KuP
(230) 5/ @
(231) 0/1(k' ?9({276(I23>/9,K ~[4a6/9)M3,.27(6D é ¹ ê. ë O ìX Rí3î5 ¸Ê!³ìX . EF,L2
(232) /1(( @ 2/1,L27
(233) Y' /9)/1(27K3I/9` Y2
(234) +T C ,"' )M3,.27' ?6IQ3 C '82/1,G27
(235) "'X2ON ( @ /9ta6(*
(236) ©27
(237) 5&6 m `?d`6(:' (P27
(238) /923'827/9,(k4 @ 63vDn
(239) &3I/9`8'82/1,0 Tl2
(240) 3I C 4n"'82/1,5<Y6 C '827/9,K/1(PTZ) C ?1'8276>' (W2
(241) :TZ?9?1 P/9,<Y?93)M)+'5D ï âUßßLðvñ e62MÍ ò taQ ,3>' ( Í ò ªhi¨ Ë. a3jc . hÊØ%j. /ÊDó D827
(242) W5/1(B2 C It"' , @ WTZ3 6Il(I/1<,' ?t527' /9,3RP/d27
(243) C 2A' ,.-REieg/9,4 C 23u/ÊDó D8P
(244) 3, £ôWõÁ5D5
(245) 3,K27
(246) Q3I (I/1< ,"' ?/9( C 4a"'X2730' @6@ I/1,5<+2. Õ. GÏYhB¨ Ð n¢%j JÍ ½ ¡ hi¨ Ï{j3Í ò ¡ a¤XhÊÏQ¥ Ë Ë Ë ¡sn¦hÊÏQ§ § 7 Î x j ¡oÏÐa¢X§ Ë. ÍJÎ. ÿ. Õ. Õ. ¥ Î. j. h µUj. à vö7ñ g_)t5/1,/9,<Y3 C '82/1,5(RhZº[juzhi¨8ju'8,Lh³Ò%j</d`6( ÍJÎ. Õ. Í ò Ë. n¢XÏQ£ Ë. a¢8ÏÐ ÍJ ¡pa¢XÏЧ Ë. a¤¥ 7Î. Õ Ë. n¦8§ Î. Õ. h ´Uj. ÷m(I/1,<M27
(247) '82 Ë. a¢£ . Í ò ¡a¤¥ ¡n¦ § . ÍJ Ë. hB¨JUj. </d`3( ÍJÎ. Õ. GÏYhB¨ Ð n¢%j JÍ ½ ¡ hi¨ Ï{j3Í ò ¡ a¤XhÊÏQ¥ Ë Ë Ë ¡sn¦hÊÏQ§ § 7 Î x j ¡oÏÐa¢X§ Ë. Õ. ¥ Î. Õ j. hB¨ ¨8j. P
(248) / @
(249) >/9(P2
(250) Q3(I/1I303( C ?d2JD
(251) +/9a3I3, @ b6 C '827/9,h µUjm
(252) "' (Q27
(253) I3M2F-U4a6( T_/d`U/1,<K276)M(3Dz
(254) (B2&23I) /1(SÍ ò / Dw8D2
(255) +3It52'8/1,6LP
(256) 6,27
(257) 53Y/1(,0Eieg®46(3,.23Dl
(258) Y 27
(259) 6&5/d`[/9,< 276)M( @ )MKTZI)27
(260) K?9.' ]'8,^)MJ'8( C I3)M3,.2=/9(I2 C t' , @ 6(\6(4n @ 27/d`3?d-uW' , 27
(261) -]6,%23\2
(262) s3 C '82/1 ,/1,(?9/9<
(263) .27?d-]/dx66,%2=_'J-U(3D
(264) s?9,<p C ,6a @ 27(S, Ò.
(265) 27
(266) &3Im T27
(267) 53(&273I)M(*P/1?9?ltnR'8,"' ?d-[63s/9,r[ @ 27/9,(fÌ\' ,;ºYta6?1 QDay¬6( C ?d2 @ I6(4n,/9,<&2Q3 C '82/1,;hʵUj/9(H46(3,.23\/9,;h øl' ,53/93/n' ,5b÷k?1/d`U/¨J´´.Ò%jzTZ2
(268) 4n3,K?1U4 @ ' (I' ,STZ ?1' S/1(B2 C It"' , @ 3(m,?d-D. é ¹é. ù ìX "ú $[ xûûìX nü !#¸ !³ìX .
(269) @ ,.`6<6, @ =454n3B27/93(&' +623I)+/9,6t.-s27
(270) +
(271) )M<6,3 C (4"'8I2 T_2
(272) /dx63, @ 3 C '82/1,hʵUj'8,K'+( C5ý+@ /93,.2 @ ,/d27/9,KTZ @ ,.` 3< 3, @ /9(P2
(273) "'82 þ ÏYh Í3ÿ. j þþ ¨ . Ë. Ðkh Í3ÿ. j³a¢[h Í3ÿ . j þ . ¨. . hB¨ ° j. . hB¨JÌUj. P
(274) / @
(275) >)MJ' ,5(k2
(276) "'82 þ ¨ Ë. Ðkh Í3ÿ . j³a¢[h Í3ÿ . j þ. ¨ þ ÏYh Í ÿ . j þ.
(277) /9( @ /d273I/1 , @ '8,¾tns`[/963©/9,¾'o±P-[ C /9(I2>/1' <7'8)KuW' ,¾P/d27
(278) ¾Ï ¨G2
(279) @ ,5/92/1 ,L/9(:27
(280) "'82Q2
(281) +±k-U C /1(B2 @6C I` \Ðkh Í ÿ j³a¢5h Í ÿ j*(I
(282) C ?9GtaM
(283) 6?1rP/92
(284) /9,' C ,/d2 @ /9 @ ?10P/92
(285) @ 3,.23=/9,À¡{¨ D f,^2
(286) ; 2
(287) 3Y
(288) "' ,vut.-^?962I27/9,<Ï tn;' ?923 P/92
(289) ;<.' /9,;?93(I(*27
(290) "'8,;,8ua/9,;( )+&TZ3 C 6, @ -07'8,< u27
(291) 5R(I27' t/9?1/d2F->I3</9, @ ' ,;tn /1, @ 3' (6vD
(292) Y4/93b4"' /9TZQ27
(293) Y/1, @ 3' (6p(I2'8t/1?9/d2F-I3</9,/9(&2
(294) "'822
(295) b6I @ ' ,K, 2PtnQ3?9/1)M/9,"'823 @ )M4?96276?9- D
(296) /1(PP/9?1?tn:T C I2
(297) 3P/9( @6C ((I3;tn3?9 QD. é ¹
(298). n¸FìX¸Ê!³ûn 7ì" O¸ !³. . &<62H(I)M*/9,/92/'8?n/9,(I/1<
(299) .2/1,.2&27
(300) 5*' (B-U)+4[27 2/ @ 44n3B27/93( Tx2
(301) *'8?1< /d27
(302) )¬2
(303) ?1' S' ,S)MJ' ( C 6)M3,.2*5/1(B2 C It"' , @ 3(k' :/9,/d27/1' ?9?9-b,3<?9 @ 276vDø `U/16K2
(304) "'82W2
(305) /923'827/d`Q4I @ 3 C I @ ,.`6<6(m2
(306) Q' (I-U)M452 27/ @ 6I (/9<,"' ? u C (I/1,5<Y6 C '827/9,hʵUj7u ta @ )M6( Mh Í3ÿ. . . jl ¨. ¨ Ë. ÏYh Í ÿ . ÏYh Í ÿ j Ðmh Í ÿ cj n¢5h Í ÿ Ë. Ë j ih ¨. . jj. ò h \ Í3ÿ . . j. hB¨3º[j. ò 6, 2+2
(307) bÂ" /93f27' ,(BTZ)M( T_2
(308) +' (I-U)M4527827/ ' ,5 ,' ? P
(309) 3I '8, C @ 3IS6(4n @ 27/d`3?d-DmEc2>/9( @ ?9J' I?9-À(I33,À27
(310) "'X20t.- C (I/1,5<]Ï ¨L/d2K/1(K/1)M4n((I/1t5?1 27G3?9/1)M/9,"'82027
(311) 5K6I @ )M4?96276?9- ut C 2\'8(MP/9?9?ktnK(36,]?1'8276M2
(312) 3I>'8K 27
(313) 6 ' 5`8' ,.2'8<3(P/d27
(314) L27
(315) /9( @
(316) / @ 8Dl A-U4/ @ ' ?9?9-Ï/9( @
(317) (I3,' (R'0?9«4"'8(( ?d276&P/d27
(318) C ,/d2<.' /9,GTZQ?9 ¬TZ6 C 3, @ /16(P
(319) / @
(320) /9)+45?1/93(Q27
(321) "'X22
(322) M?1 ªTZI3 C 6, @ -G4"' B2 TÍ ò @ ' ,KtnI3 C5@ 30( C t5(I2'8,%2/'8?1?d-D Ó.
(323) &þ Hÿ ký. ï ð" K ã . ð âUã. !. y. , C )&ta6 T t(6I`8'827/9,( @ , @ 3I,/1,5<;27
(324) Y
(325) "' ,?9/9,<> TP?9.' L/9(I2 C t"' , @ 3( @ ' , taQ)+' C (I/1,5<b3 C 'X27/9,ph µUjDg_ ,(/93 I(I2k27
(326) @ '8(&ϯõ¬¨' ,50§ õÁ[uP
(327) / @
(328) )MJ' ,(m27
(329) "'82m27
(330) 6M' I,b)+3' ( C 3)M6,%2/9(I2 C t' , @ 6(3Dv
(331) 5/1(:/9)M4?1/93(f2
(332) C 4a"'X27 3 C '82/1 ,. Õ. ÍJ7Î. ¬hB¨ Ë. Ða¢.j ÍJ ¡a¤ hZ¥ Ë. Õ. ¥ Î. j. hB¨ Ò%j.
(333) *?9.' Y/9(I2 C t"' , @ 3( @ ,.27I/1t C 27k27&2
(334) k3IHt%-M2
(335) 3/9_/da36, @ 6(Wtn62F33,\2
(336) /923'827/9,(6D5EcT'/9(I2 C t"'8, @ :/9(W TzI34n627/d27/d`:,'82 C If/9,\27
(337) f(I3,(If27
(338) "'X2_27
(339) 5f/9(I2 C BN t"' , @ :(/9<,"' ?9( ¥ h#7jÀ¥ Î h#7jTZW'8?1?vau[2
(340) @ ,%2/9t C 2/1,=2R27
(341) f6IW/dx66, @ 3 C '82/1 ,>/9(m635Dn
(342) 5/1(*' (( C )M4527/9,;/9(m?9/9 3?d-STZ 27
(343) ?9.' K/1(B2 C It"' , @ &P
(344) 6TZ ~5' )M4?9M?1.'8s/1(B2 C It"' , @ 3(Q C R2=<7'J`U/d2'82/1,' ?TZ @ 6( @ ' ,stn{ ~[4n @ 23r27\tn 7'82
(345) 3P(I/1)M/9?' P C /9,<Y5/9a3I3,.2*/d2767'82/1 ,(3D. Õ. g ,(I/16+' ?1(I;27
(346) b(/d2 C '82/1 ,P
(347) 53,qÏ ¨u27
(348) 6S' I\,s)MJ'8( C I3)M3,.2+/9(I2 C BN _ t"' , @ 3( '8,b¥ h#7jÀ¥ahZ7j";aDU
(349) /1( @ I6(4n,(_2&2
(350) *6 _/dx66, @ f6 C '827/9, ÍJÎ. Õ. ½ÏYhB¨. Ða¢j ÍJ ¡½hi¨ Ë Ë. ÏRj3Í ò ¡a¤8hÊÏ. ¨XjF¥ Ë. hB¨JÓUj.
(351) R?9.' ;5/1(B2 C It"' , @ RP/1?9?l' @ 2Q' (*'bI/9`U/9,<b276)(/9)M/1?1' *2b27
(352) &/1,5/92/' ?3I+Í ò D EF,;'{2F-U4/ @ ' ? @ ' (I&a¤ ua'8,K2
(353) ?923*Ï' ta827
(354) K T?9 ©4"' (I(m2F-U4a8unP
(355) 5/ @
(356) ;)M3' ,( 27
(357) "'X2{¨ ÏV/9(: TA
(358) /9<
(359) r4"' ((f2F-U4n DzÕ C ?92/145?9-U/9,<K2
(360) 3(IR2F_=P/9?1?l</9` M'\t"' ,r4"'8(( Ë ?d273PP/d27
(361) ;'M4"' (I(mt' ,0' C ,02
(362) Qt"' ,5P/952
(363) ; T27
(364) @ ?9(6;?9[4S(B-[(B276)KDa
(365) 4a ((/9t/9?1/d27/93(A27QI3 C@ k2
(366) 6a @ 27(H T27
(367) P?9.' M/9(I2 C t"'8, @ k
(368) 3, @ P34n3,5( ,M2
(369) 6?'82/1 ,(
(370) /94ta 2F_63,27
(371) YTZ3 C 6, @ - @ ,.23,.2M TP27
(372) b?1.'8/9(I2 C t"' , @ S' ,2
(373) @3C 2BNF >TZ3 C 6, @ -K T27
(374) 5 ?923kÏ+D ÷m(I/1,<+3 C 'X27/9,phi¨ ÓUj2
(375) '8(I-U)M4527 2/ @ 6 3u"(/9)M/1?1' 270hi¨Jº[ju5ta @ )M3( {h Í3ÿ. . . j. ¨ ¨ Ë. ÏYh Í ÿ . Ïbh Í ÿ j Ðkh Í ÿ cj n¢[h Í ÿ Ë. Ë jOhB¨. . jIj. ò h h b 3Í ÿ . j Ë. a¤8h Í3ÿ . j$#;h Í3ÿ . jj hB¨ Ø%j. P
(376) 3I%#3,8273(k27
(377) Â" C /93 27' ,(BTZ)» T27
(378) &?1' 05/1(B2 C It"' , @ Dx
(379) 5/1(m ~[46(BN (/9, @ ?13' ?d-S/9?1? C (I27'823(P27
(380) Qt5(3B`8'827/9,;'8ta `Q27
(381) '82P27
(382) :TZ6 C 3, @ - @ ,.276,.2* Tl¥u 27
(383) @6C 2INc pTZ6 C 3, @ /16( THx¤' ,q¨ Ï I3(4n @ 27/d`6?9-rP/9?1?A 273I)M/1,+
(384) ¬3?9? Ë 27
(385) QEieg¾'8?1< /d27
(386) )
(387) ' ,?93(P?9.' K/1(B2 C It"' , @ 3(k TI34n62/92/9` @
(388) "'87' @ 2736D. Hÿ :ý6þ &þ Hÿ Âý. ©â%ð"ãJ â[ßLâ &. '. S ã . ( . ð âUã. ). Õ J'8( C I3)M3,.2M/9(I2 C t"'8, @ 6 ({' +)M+?9/183?d-L20tnb T_7' ,5) @
(389) "' ' @ 23P
(390) / @
(391) 0 )MJ' ,(M27
(392) '82+§ Î h#7j* § Zh 7j&/1,q<6,3' ?ÊDA
(393) 6SP/1?9?P
(394) 3, @ 0' ?9_'J-U(btnK5/d`[/9,<. Õ. Ø.
(395) 276)M(*,K27
(396) /9<
(397) .2f
(398) ' ,>(I/15 T6 C '827/9,hʵUj27
(399) "'X2*4I6` 3,.2 ÍJ TZ) 23,5/1,<Y27 36D%EF,\I3A27 @ , @ 6,%27'82*,+27
(400) k/9,5å C 6, @ f8Tx27
(401) 5*)MJ' ( C 6)M3,.2 /9(I2 C t"'8, @ /92f/1(f
(402) 53R' (( C )M3r27
(403) "'82* +õª\' ,s¥=õª5Dx
(404) /9(:/9)+45?1/93(f2
(405) "'82YÍ ò õ5ux'8, C (/9,< 3 C '82/1 ,hi¨8jH27
(406) /9(P</9` 3(P27
(407) "'X2 ÍJ . n¢X£ Ë Ë. a¦8§ . hB¨JµUj.
(408) b(I @ ,L23I)è,L2
(409) YI/1<
(410) %2
(411) "'8,(I/1Y/1( @ ' C (6t.-s27
(412) @ ,.` 3,.27/9,"' ?ATZ36[N t"' @ uU' ,M(/9, @ k2
(413) /1(23)¬/1(H' ?dW'J-U(H46(3,.227
(414) /9,.273I3(B2TZI)' ,MEieg`U/96P4n/1,.2 /1(P,S27
(415) 5 (I2P23)SDÙ C '82/1,5(RhÊÒ%j' ,LhB¨Xj2< 27
(416) 6WP/92
(417) ;Âl/9< C I{¨< /9` . Õ. £ Î. ¾ÏYhB¨ Ë. Ðn¢%jc£ Ë. Ï&Ð,+§ . hB¨J´Uj. P
(418) 3I%+/1( 2
(419) :277'8,(ITZ6PT C , @ 2/1, +. ¨ ¨_¡qÆ&¼. h° U j. y*(I( C )MR27
(420) 53,s27
(421) "'X2f§ /1(f'\(I2'X27/9,"' B->(B27 @
(422) "' (I2/ @ 4 @ 6((fP/d27
(423) s(4n @ 27' ?6,(/d2F-¦"h juU' ,Y?1 2Ju%/9,\(I27'827/9,"' I/92F- u.-¢[h j3,827m2
(424) *(I4a @ 27' ?6,(/d2F-b8T£ DUÙ C 'XN 27/9,hB¨ ´UjA2
(425) 3,K</d`6( ¢5h Í ÿ -. . j ¨. Ë. þ Ï Ð/+ þ 0 -¦h Í ÿ þ Ïbhi¨ Ð a¢.j þ 0 Ë . j. h ° ¨8j. Ãm6, @ Q27
(426) Q(I4a @ 27' ?6,(/d2F-K Tl6I /1,K3 C 'X27/9,phi¨ µUjAtn @ )M3( 3h Í3ÿ. -21. . jl ¨. Ë. þ n ¢XÏ&Ð,+ þ 0 ¦h Í3ÿ þ Ïbhi¨ Ðn¢j þ 0 Ë . jB¡. þ a¦ þ 0 -¦"h Í3ÿ . j. h ° ° j. cE 2W/9( @ ?9J'8TZ )«6 C '827/9,Gh °° j27
(427) "'8227
(428) m)+' <,/d2 C 5f T27
(429) 5*3I(4n @ 277'8?x6,(/d2FP/1?9?ltn` 3I-0?1' <&TZkTZI3 C 6, @ /93(:P
(430) 6 þ ÏYhB¨ Ðn¢%j þ /1( @ ?9(2\,8Dxym(:' , Ë /1?9? C (I27'82/1,r?962о 5 3 ¢ 4 hB¨ jPP
(431) 3I /1(Q'=
(432) /9<
(433) [Nc4"' (I( ?923: 276)M/1,5/1,< Ë 698 7 698 27
(434) Q6(/96 @ ,%` 3I<3, @ &454n3B27/93(k Tz27
(435) QEieg¾' ?9<I/92
(436) ) '8,:a3 ¢/1(k'{)M[6?v T 27
(437) W27' ,5(ITZ3T C , @ 2/1,{n¢%D
(438) P?96T#245?1 2A/9,MÂl/9< C I ° (
(439) P(27
(440) 45/9, @ /94"' ?tn3
(441) ' `U/9 T þ ÏYhB¨ Ða¢.j þ P
(442) 6,Yϯ¯¨_P
(443) /9?1W2
(444) WI/1<
(445) .245?1 2(
(446) P(27
(447) 5W(7' )MW C '8,%2/92F-P
(448) 3, Ë Ïª/1(k'{?9½4"' (I( ?9233D"Ec2k/9( @ ?9J' 27
(449) '82 P
(450) 3,S27
(451) 5&Ï ?923P/1(P/9,.27U C@ 3K27
(452) :
(453) /9<
(454) TZ6 C 3, @ -05/1(B2 C It"' , @ &/9)M4"' @ 2 @ ' ,0tnQ6 C@ 6vD. Õ. Ec2=/9(=(36,27
(455) "'82\t%-^/1,.2U C@ /9,<qÏ /d2=/9(\4n((I/1t?9s27I3 C5@ s27
(456) >)+3' ( C 3)M6,%2 /9(I2 C t"' , @ b/9)M4"' @ 2,r27
(457) 5YEieg¬' ?9<I/92
(458) )Sut C 2P/92
(459) L2
(460) Y45/ @ M27
(461) "'82Q2
(462) Y6I /1,2
(463) \27'X|B @ 27B-TZ?9?9P/9,<sP/9?1?, 2{276,27s63ID
(464) =6)+' , TP27'X|B @ 27BTZ?9?1 P/9,<b'8,05/1(B2 C It"' , @ &I3 C@ 27/9,SP/1?9?z/1,=27
(465) 5/1(k(6,(ta @ ,.277'8/ @ 27B-D µ.
(466) 50. 0. 0. −50. −50 −100. dB. dB. −100 −150. −150 −200 −200 −250. −250 −300. −4. −2. 0. −300. 2. −4. −2. 0. 2. º¿Ú ©¢¢¦®pC®á® $ª j« ªaß cª « ª «« Ü®?£6s× $ª « ß®8Ǭ¢¦A¶@× $ª «c©¢&³ÖÐ^Wx :þ 6ý 10. 10. 10. 10. 10. Frequency (rad/s). <;>=. I. @?. ÿ. . ACB. @?. ÿ. . 10. 10. 10. Frequency (rad/s). ED. ¢. @?. ÿ. . F;. G=. @?. ÿ. H. "=. @?. ÿ. . vÊßrÜ ð ã J. {/9?9? C (B27'827:27
(467) 5f/9(I2 C t"' , @ Q4 4a6I27/93(P'R(I/1) C ?1'827/9,K ~5' )M4?9QP/9?9?vta*(I2 C /16vD
(468) + ~5' )M4?9b/9('K(/9)+45?1/ 33( @ /9452/1, T 'S(/9,<?9bIta82W|B/1,.2&)M[6?16' (&' C t5?1Q/9,%23<'827 3D"
(469) /9( @ I622/1)MQ646(3,.27'827/9,>/9(P</d`3,0t.. h ¡ ¨8j h ° ÌUj ¨ jM0 8 °LK h Ë P
(470) 3I K «[ ´ º=/1(:2
(471) M)+ )+6,.2&8T_/9,3B27/1'5D
(472) M(I-U(B273)è/9( @ ,.2?9?16Lt.-;2
(473) /9( @ I622/1)MøONmNF6< C ?1'827 ¼Yh j . 0. PT. Æbh jQPSRb¡. . h Ë. ¨8j . h ° º[j. P
(474) 3IUPVRG¨ ° Øb' ,5CPT¯5óºDa
(475) 5&TZ36[NcTZ I_' ?d276*/9(f'b5 C t?9/da36,[N 27/1'827/9,S646(6,%23;t.KXW. ÆÇUh j. h ¨8j Ë 0 0 0. h ° Ò%j. P
(476) 3I KGW /1(:2
(477) M' (( C )M3G)M)M3,.2 T_/9,6I27/1'5Dv
(478) 5+)MU3?l/1(:(I/1) C ?'X273 C I( /1,<G¨ UÃm(7' )M4?9/1,5<+TZI3 C 3, @ -Dn
(479) ' 445?1/9306TZ66, @ Q27'X|B @ 27B-=(
(480) P,0/1,0Âl/9< C QÌ[D
(481) ?923kÐo/9( @
(482) (6,>/9,>'{
(483) C /9(I2/ @ ut C 2k)M[6?t"' (I3vu_'J-St%- @
(484) 5[(I/1,5< Ðp. 3 ¢4. Õ. hB¨. ËY698. j. h ° ÓUj. P
(485) 3IZn3 ¢M3,8273(Q'+,)M/9,"' ? @ ?1 (3s?9U4027' ,(BTZ3*T C , @ 2/1,>t52'8/1,6 C (/9,<b2
(486) )M[6? Tk27
(487) S4n3,q?1U4q(I-U(I23)SDAEc2+/1(+' (I( C )M3o27
(488) "'82{2
(489) 3I0/9(+'rÌ\[ 6 {/1, ?d273 /9(:' KGW un/ÊDó Dn27
(490) )+ )+6,.2Q TA/1,53I2/'\/9,;27
(491) 5R)M[6?l T2
(492) R(B-[(B276)KDx
(493) 6S8 } C 2I273B_ I27
(494) Y
(495) /9<
(496) b4"'8(( ?923mh
(497) 53k Tx( @ ,Y6 jTZP
(498) / @
(499) b27
(500) 5m<.'8/1,M276,(A27 ,WTZl
(501) /1<
(502) RTZ3 C 6, @ /93(6Dg_
(503) 5[(I/1,5<QÐ' @6@ I/1,5<Q2f27
(504) /9(6(/9<,Y C ?9 u P/d27
(505) @3C 2INF8 ´.
(506) 30. 100 80. 20 60 10 rad/s. rad. 40 0. 20 0. −10 −20 −20 −40 −30 −0.5. −60 −0.5. Ú?¢¦®k஺£¤i׺Ç#sxC^y@x¢x¢A ®ºÇ#¢¦A¶A׺Ç#sxC^yáW]©¢¢4° A®. 0. 0.5. 1. 1.5. 2. 2.5. 3. 0. sec. 0.5. 1. 1.5. 2. 2.5. 3. sec. U]. _^a] `. TZ6 C 3, @ -{ T"27
(507) 5W
(508) /9<
(509) {4"' (I( ?d273l3 C ' ?U27Q5óº*27/9)M3(l2
(510) ±P-[ C /9(I2ATZI3 C 3, @ -u </9` 3( 27
(511) ±k-U C /9(I2 @6C I` {34/ @ 23s/9,sÂl/9< C I&ºuP
(512) / @
(513) r' ?9(\(I
(514) P(*a¢{TZ @ )M4"' /9( ,vD Âl/9< C ºS' ?1(IS(
(515) P(:27
(516) /9<
(517) .2Q
(518) "' ,r(/9{ TA2
(519) @ ,.` 3< 3, @ @ /d273I/1 ,^hi¨ ÌUj_TZ ϯ¨' ,KÏ @
(520) (I3,>' (k'M?9 ©4"' (I( ?923P6(4n @ 27/d`3?d-D. 1 0.8 learning circle. 0.6 0.4. Im. 0.2 0 −0.2 −0.4 −0.6 −0.8. stab. circle. −1 0. 0.5. 1. 1.5. Úß ¢¦®º$Ý®:ª ¬W« ]¤s× W :® Ó@©eeÃß Â@× ^ ÒiWY¶U @C ]Wx¢#¦AU$]©¢'C³ ^x^¥UW¦$x$¿ºU©¢A²#x¥]xW©¤]²yxU¢¡W]]©¢©É°W®® Wg¶ÖÐW]Â× Re. LD. bc;)=. @?. ÿ. . d;. ¢. =fe. \D. ¢. B. ,B. S=.
(521) I(I2<.' ?H/1(27;/9,.`6(I27/9<.'82=
(522) 27
(523) Y?1.'8/9(I2 C t"' , @ \/9,5å C 6, @ 6({27
(524) YEieg ' ?9</d27
(525) 5)KDn
(526) {?96T#2:4' I2* THÂl/9< C RÒY(
(527) 5P(:2
(528) R' 454?1/93r?9.' ;5/1(B2 C It"' , @ M' (:' T C , @ 27/9,Q T[2/1)M8DJ
(529) /9(5/1(B2 C It"' , @ (I/1<,' ?/9(z' 44?9/16'X2v27
(530) (' )M27/9)+ `6I- @ - @ ?1 ' (&'064a 27/d27/d`\5/1(B2 C It"' , @ Dl
(531) 5b/9<
(532) .2&4"' I2& TPÂ/1< C bÒK(
(533) 5P(27
(534) Y)+'X~[/1) C ) 3IWTZP3' @
(535) 0/d2767'82/1 ,KP/d27
(536) 0' ,SP/92
(537) C 2P2
(538) Ï:N ?9236D Âl/9< C ;Ó(
(539) P(\27
(540) 5s(4n @ 2 C ). Tg ' (='T C , @ 27/9, T/d273'827/9,vDWg_?13' ?d-^2
(541) ¨ .
(542) 20. 10. 2. hwith Q filter. hwithout Q filter. 15 10. 0. 10 −2. k ∞. 10 || e ||. Nm. 5 0. 10. −5 −10. 10. −4. −6. −15 −20 −0.5. 10. −8. Ú ¢¦® ®:£¤i׺£¤@W¨^egUgº@yW®Ç#¢¦A¶A× ¨vÄgxW
(543) ¡U®^¢gx¢Ak® 0. 0.5. 1. 1.5. 2. 2.5. 3. 0. 2. sec. 4. 6. 8. 10. Iteration. ji. jk. /1,.2U C@ 2/1 ,K8T' ?923 Ï®6 C@ 6( 27
(544) @ ,.`3I<3, @ Q(4n36K8T2
(545) fEieg' ?1< /d27
(546) ) ' ,S27
(547) 6QP/1?9?' ?9(+, 2kta @ ,%` 3I<3, @ 27M63Y Tl2
(548) Q3I6D"y*?9J'85-K'8T#276P, /923'827/9,=P
(549) 3,K27
(550) ?923kϬ/9( C (3S27
(551) 56,3I< -=/9,K2
(552) :3I
(553) ' (k' ?1)M(B2P3' @
(554) 3 /92( ,"'8?`8' ? C {' ,r'8?1(I=/1,;2
(555) R(4n @ 27 C ) /d2:/9(f4a ((/9t?9R27=(I3R27
(556) '82*2
(557) 3I{/1(f,5 2 ) C@
(558) @
(559) "' ,< '8T#23W2
(560) (B2m/d2767'82/1 ,vD
(561) A, ~U2(I234/1(2 /1,.27I[ C@ H' )MJ' ( C 6)+6,.2/9(I2 C t"'8, @ 8uX§ u'8,:27
(562) /9(/1( @
(563) (3, ' (z/9( @ I62A2/1)MP
(564) /d27H,/9(A4I @ 3((P/d27
(565) (I27' ,"' I&56`U/'X27/9,Ì[ °jl ¨J 4Lm D
(566) 2/1)M )+' /9,>tn3
(567) "'J`U/9m/9(k(
(568) P,>/9,;Â/1< C &Ø{P
(569) 5/1?9&2
(570) TZI3 C 6, @ -K)+' /9,>454n3B27/93( ' (I
(571) P,/9,Âl/1< C Aµ5DJÂl/1< C ØW(
(572) P(27
(573) 5H6I(/9<,"' ?.6,3I< -Q' ,5Q2
(574) A)+'X~[/1) C ) 3I'8(lT C , @ 27/9,{ T/d273'827/9,vD8
(575) 4?9 2 T"2
(576) 3,53<8- @ ?9J'8?d-/9?1? C (B277'X273(2
(577) "'82l2
(578) C ( TÏ6 C@ 3(l2
(579) _6 6,3I< - @ ' C (I3{t.-Q27
(580) H)MJ' ( C 6)M3,.2A/9(I2 C t"' , @ D8
(581) T ' @ 2m27
(582) "'X2m2
(583) R)+'X~[/1) C )3I*tn3
(584) ' ` 3(:/9,s'b(I/1)M/9?' mT ' (
(585) /9,;/9,>2
(586) &2F @ ' (I3(f/9( ~[4?1' /9,3=t.-+27
(587) "'82H27
(588) 5*)+'X~[/1) C )«3IH/1( T?9TZI3 C 6, @ - @
(589) "' ' @ 23 ' ,5b
(590) 6, @ , 2_'8a @ 23\t.-+27
(591) @
(592) / @ * TzÏMDUEF,\Âl/1< C mµ2
(593) *(I4a @ 27 C )« Tv27
(594) 5m4n(/d27/9,\6I (/9<,"' ?A /1((
(595) P,P/d27
(596) ' ,rP/92
(597) C % 2 n ?d2736Dz
(598) bI3 C@ 27/9,8T_27
(599) 5Y
(600) /9<
(601) Ë J TZ6 C 3, @ -04' I2P T27
(602) 56IP(4n @ 2 C )/9( @ ?9J' I?9-\(
(603) P,vD. o. ºÿ ºý8þ. váâ X ßâ. pq. ã.
(604) =6( C ?d27(M4I3(I3,.276^/9,27
(605) =4I6`U/9 C (M( @ 27/9,({P/9?1?_, tn=/1?9? C I( 27'823 C (/9,< ' ,qyf}W}Eiçm}m¨Jº.s/9, C (B27/1' ? Ita82JDAÂ"{'r)M=27
(606) 5 C <
(607) o53( @ 9/ 4527/9,o Tm2
(608) 27 @
(609) ,/ @ ' ?z4"' B2k T2
(610) Q ~[4n3/9)M3,.2'8?(I62 C 4>(I3bhʱm ?³ ² T¨ ´´µ%jD EF,q2
(611) /9(+O~5' )M4?1KEieg«/9(+' 44?9/16q2G2
(612) 6R|B/1,.2(3D
(613) S ta 2M
(614) ' (+'s2 2'8?W T*ÓXN Nc :Âqt C 2*TZP27
(615) 27
(616) I3P/9(I2_|B/9,.27(mEieg½/9(*,5 2f'844?9/16vDxÙA' @
(617) s8T27
(618) P|B/9,%2(f' I )M[6?16s' (m'+27' ,(BTZ3PT C , @ 27/9,;6( @ I/14[27/9,>TZ ) 27
(619) Eieg @ ,.27I?z/1,54 C 2*2+2
(620) )MJ' ( C 6>)M 27 W4a (/d27/9,S,=27
(621) :Ita82JD
(622) :TZ63t"' @ @ ,.2?9?163u"/9)M4?16)M3,.276 t.-y*}W}*u /9(l%/9,<:/9,R4"' ' ?1?93?UP/92
(623) R27
(624) Eieg'8,{(/9, @ 27
(625) @ ,.27I?1?93l/1(lIU/9,< _6?1? u52
(626) @ ?9(I3S?1U4bTZI) TZ36, @ Q'8,< C ?1' _4n(I/92/1,\2R)MJ' ( C 6K' ,< C ?1' @ ' , taK6( @ I/1tn3 C (/9,<'r?9 6M?1/9,J'8Y/9( @ 2702/1)MK)M[6?ÊD
(627) 5>)M[53?9(b' I ¨¨.
Related documents
By looking at management development from a business driven perspective, the purpose of this thesis is to investigate how the HR function endorses management development to suit
Figure 4.26: A comparison of the diagonalized Newton method with approxi- mate line search and the scaled partanized Frank-Wolfe method with exact line search for solving instances
Division of Fluid and Mechatronic Systems (Flumes) Linköping University. SE-581 83
Both USA and Great Britain have reduced the number of fire fatalities steadily over the last three decades, and now have a lower fire death rate per capita compared to Sweden..
Detta leder alltså till att extern personal kommer att behövas under sommarperioden eller konjukturtoppar, även om Skanska skulle få tag på egen personal i framtiden.. Genom att
6.1 The analog recording chain, versus the digital recording chain in studio production: All the changes listed above have changed the recording chain in the studio, and the record
Mahmud & Greys (2011) föreslagna modell om relationsmarknadsföring inom den politiska kontexten är en modell som skulle kunna ge vägledning om hur de svenska partierna kan
The adhesives showed approximately the same break force sensitivity level in relation to each other before and after ageing ranging highest to lowest in break force sensitivity;
