closed loop tracking

This model was composed of a tracking process model based on activity network diagram and multi sub closed loop processes, a Boolean matrix description model of tracking sections and associations among sections, a matrix style organization structure and a quality problem driven organization model.

该模型包含基于活动网络图的多个闭环子过程的追踪过程模型、追踪过程节点及节点间联系的布尔矩阵描述模型，以及矩阵式的管理组织结构和以质量问题为驱动的组织模型。

The result indicates that the first order P-type open-closed loop iterative learning control can implement gait tracking well.

结果表明，一阶P型开闭环学习控制能够很好实现仿生腿对人工腿步态的跟踪。

By introducing the auxiliary signals and normalized signals with memory functions and appropriate choice of controller parameters, the variable structure controller developed guarantees the global stability of the closed-loop system, and the tracking error can be arbitrarily small.

通过辅助信号和带有记忆功能的正规化信号，并适当选择控制器参数，所提出的变结构控制（VSC）能保证闭环系统的全局稳定性，且跟踪误差可调整到任意小。

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。

Lyapunov stability analysis method proves that the closed-loop system is semi-globally uniformly stable and the tracking error can be made arbitrarily small. ( 2) In order to improve the performance of sliding mode control, sliding mode control method is combined with different kinds of observers.

Lyapunov稳定性分析方法证明了闭环系统半全局一致稳定以及跟踪误差可以任意小。为了提高滑模控制的性能，将滑模控制方法与观测器的方法相结合。