Learning control for gradually varying references in iteration domain was considered in this research, and a composite iterative learning control strategy was proposed to enable a plant to track unknown iteration-depe...Learning control for gradually varying references in iteration domain was considered in this research, and a composite iterative learning control strategy was proposed to enable a plant to track unknown iteration-dependent trajectories. Specifically, by decoupling the current reference into the desired trajectory of the last trial and a disturbance signal with small magnitude, the learning and feedback parts were designed respectively to ensure fine tracking performance. After some theoretical analysis, the judging condition on whether the composite iterative learning control approach achieves better control results than pure feedback contro! was obtained for varying references. The convergence property of the closed-loop system was rigorously studied and the saturation problem was also addressed in the controller. The designed composite iterative learning control strategy is successfully employed in an atomic force microscope system, with both simulation and experimental results clearly demonstrating its superior performance.展开更多
Co87Nb10Zr3,Co76Nb19Zr5,Co64Nb26Zr10 and Co64Nb16Zr20 amorphous films were deposited on noncrystalline glass substrates by DC unbalanced magnetron sputtering. The compositions of amorphous films were tailored in the l...Co87Nb10Zr3,Co76Nb19Zr5,Co64Nb26Zr10 and Co64Nb16Zr20 amorphous films were deposited on noncrystalline glass substrates by DC unbalanced magnetron sputtering. The compositions of amorphous films were tailored in the light of the individual deposition rate of Co,Nb and Zr. The amorphous films with the anticipated composition were prepared by means of co-sputtering Co,Nb and Zr targets simultaneously. It is indicated that there is interaction among three targets during co-sputtering. The morphology and composition of the films were observed by SEM,AFM and EDS. The structure and magnetic property were measured by XRD and physical property measurement system(PPMS) . The coercivity changes with the composition,varying from 240 to 1 600 A/m. After vacuum isothermal annealing at temperatures of 475,500,525 and 550 ℃ for 15 and 30 min,respectively,it is found that high Nb content is beneficial to improving thermal stability of amorphous films. The crystallized films have the mean grain size of 2-19 nm.展开更多
基金Projects(61127006,61325017)supported by the National Natural Science Foundation of China
文摘Learning control for gradually varying references in iteration domain was considered in this research, and a composite iterative learning control strategy was proposed to enable a plant to track unknown iteration-dependent trajectories. Specifically, by decoupling the current reference into the desired trajectory of the last trial and a disturbance signal with small magnitude, the learning and feedback parts were designed respectively to ensure fine tracking performance. After some theoretical analysis, the judging condition on whether the composite iterative learning control approach achieves better control results than pure feedback contro! was obtained for varying references. The convergence property of the closed-loop system was rigorously studied and the saturation problem was also addressed in the controller. The designed composite iterative learning control strategy is successfully employed in an atomic force microscope system, with both simulation and experimental results clearly demonstrating its superior performance.
基金Project(2007CB607602) supported by the National Basic Research Program of China
文摘Co87Nb10Zr3,Co76Nb19Zr5,Co64Nb26Zr10 and Co64Nb16Zr20 amorphous films were deposited on noncrystalline glass substrates by DC unbalanced magnetron sputtering. The compositions of amorphous films were tailored in the light of the individual deposition rate of Co,Nb and Zr. The amorphous films with the anticipated composition were prepared by means of co-sputtering Co,Nb and Zr targets simultaneously. It is indicated that there is interaction among three targets during co-sputtering. The morphology and composition of the films were observed by SEM,AFM and EDS. The structure and magnetic property were measured by XRD and physical property measurement system(PPMS) . The coercivity changes with the composition,varying from 240 to 1 600 A/m. After vacuum isothermal annealing at temperatures of 475,500,525 and 550 ℃ for 15 and 30 min,respectively,it is found that high Nb content is beneficial to improving thermal stability of amorphous films. The crystallized films have the mean grain size of 2-19 nm.
