jλ变换与离散振荡指标Md在海洋机器人控制系统动态综合中的应用

本文给出由连续系统的S域,到离散领域?的转换的通式。并给出了离散传递函数W(?)的基本属性、离散振荡指标Md的基本概念、?变换的稳定判据、二阶无静差数字随动系统的动态综合、Md综合在海洋机器人航向控制中的应用。

This paper has proposed the converison from continuous system domain s to discrcte frequency do-main jλ. the basic conccpt of discrcte oscillation index Md,the stability criterion for the discrets systemsdescribcd byjλtransformation,the dynamic synthcsis of sccond order asiatic digital following systems andapplication of Md in dynamic synthesis of heading control for undcrsca robot.