error loop

It can guarantee the global boundness of closed loop signals and make the output tracking error arbitrarily small.

它能保证闭环系统信号的全局有界性，并使输出跟踪误差任意小。

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Based on this identified model, zero phase error tracing controller ( ZPETC) is designed. Closed-loop band width is increased to 100 rad/ s or so.

基于闭环系统辨识模型设计了零相位误差前馈控制器（ZPETC），ZPETC将闭环系统带宽拓宽为100rad/s左右。

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In order to improve the control precision and energy saving efficiency, through adding split range controller inside control loop, controls warm/ cool water and humidifier/ dehumidifier to avoid wasting energy and control error fluctuating.

考虑精确度和节能效果，通过在控制环中增加分程控制器，对冷热水及加湿与去湿进行控制避免能源的浪费及控制的持续波动。

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The analog Phase Locked Loop has high sensitivity and low measurement error, so it is widely used in the receiver of such equipment as interferometer, continuous-wave radar, telemetering device, etc. However, it has the problem of track stability.

模拟锁相环灵敏度高、测量误差小，因而大量地应用于干涉仪、连续波雷达、遥测等设备接收机中，但其存在环路跟踪稳定性的问题。

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For a class of nonlinear time-varying repetitive systems with time delay 、 initial deviation 、 output error and condition disturbances, in arbitrary initial condition, the PD type closed-loop iterative learning tracking control problem which satisfies the global Lipschitz conditions is investigated.

针对一类存在初始偏差、输出误差和状态扰动的时滞非线性时变重复系统，在任意初值条件下，研究了系统满足全局Lipschitz条件下的PD型闭环迭代学习跟踪控制问题。

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An on line learning algorithm based on the error gradient descent method is proposed. the stability of closed loop system is proved in Lyapunov ′ s sense.

为此提出一种基于对角递归神经网络的非线性噪声有源自适应控制方法，并给出一种基于误差梯度下降的在线学习算法，同时证明了闭环控制系统在Lyapunov意义下的稳定性。

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