In order to solve the problem that the ripple-effect analy- sis for the operational architecture of air defense systems （OAADS） is hardly described in quantity with previous modeling approaches, a supernetwork model...In order to solve the problem that the ripple-effect analy- sis for the operational architecture of air defense systems （OAADS） is hardly described in quantity with previous modeling approaches, a supernetwork modeling approach for the OAADS is put for- ward by extending granular computing. Based on that operational units and links are equal to different information granularities, the supernetwork framework of the OAADS is constructed as a “four- network within two-layer” structure by forming dynamic operating coalitions, and measuring indexes of the ripple-effect analysis for the OAADS are given combining with Laplace spectral radius. In this framework, via analyzing multidimensional attributes which inherit relations between operational units in different granular scales, an extended granular computing is put forward integrating with a topological structure. Then the operation process within the supernetwork framework, including transformation relations be- tween two layers in the vertical view and mapping relations among functional networks in the horizontal view, is studied in quantity. As the application case shows, comparing with previous modeling approaches, the supernetwork model can validate and analyze the operation mechanism in the air defense architecture, and the ripple-effect analysis can be used to confirm the key operational unit with micro and macro viewpoints.展开更多
This paper presents several neural network based modelling, reliable optimal control, and iterative learning control methods for batch processes. In order to overcome the lack of robustness of a single neural network,...This paper presents several neural network based modelling, reliable optimal control, and iterative learning control methods for batch processes. In order to overcome the lack of robustness of a single neural network, bootstrap aggregated neural networks are used to build reliable data based empirical models. Apart from improving the model generalisation capability, a bootstrap aggregated neural network can also provide model prediction confidence bounds. A reliable optimal control method by incorporating model prediction confidence bounds into the optimisation objective function is presented. A neural network based iterative learning control strategy is presented to overcome the problem due to unknown disturbances and model-plant mismatches. The proposed methods are demonstrated on a simulated batch polymerisation process.展开更多
An artificial neural network(ANN) constitutive model is developed for high strength armor steel tempered at 500 C, 600 C and 650 C based on high strain rate data generated from split Hopkinson pressure bar(SHPB) exper...An artificial neural network(ANN) constitutive model is developed for high strength armor steel tempered at 500 C, 600 C and 650 C based on high strain rate data generated from split Hopkinson pressure bar(SHPB) experiments. A new neural network configuration consisting of both training and validation is effectively employed to predict flow stress. Tempering temperature, strain rate and strain are considered as inputs, whereas flow stress is taken as output of the neural network. A comparative study on Johnsone Cook(Je C) model and neural network model is performed. It was observed that the developed neural network model could predict flow stress under various strain rates and tempering temperatures. The experimental stressestrain data obtained from high strain rate compression tests using SHPB, over a range of tempering temperatures(500e650 C), strains(0.05e0.2) and strain rates(1000e5500/s) are employed to formulate Je C model to predict the high strain rate deformation behavior of high strength armor steels. The J-C model and the back-propagation ANN model were developed to predict the high strain rate deformation behavior of high strength armor steel and their predictability is evaluated in terms of correlation coefficient(R) and average absolute relative error(AARE). R and AARE for the Je C model are found to be 0.7461 and 27.624%, respectively, while R and AARE for the ANN model are 0.9995 and 2.58%, respectively. It was observed that the predictions by ANN model are in consistence with the experimental data for all tempering temperatures.展开更多
Sonic log is the most versatile reservoir evaluation tool that has been introduced to the industry. Compaction,erosion and over pressurized zone can be evaluated by sonic log.Also primary porosity can be determined fr...Sonic log is the most versatile reservoir evaluation tool that has been introduced to the industry. Compaction,erosion and over pressurized zone can be evaluated by sonic log.Also primary porosity can be determined from compressional sonic wave transit time and secondary porosity will be calculated by comparing sonic derived porosity log with neutron and density based porosity log.On the other hand all of the rock mechanical properties can be evaluated using simultaneous use of compressional and shear sonic wave transit time.It is essential to have展开更多
A multiple model tracking algorithm based on neural network and multiple-process noise soft-switching for maneuvering targets is presented.In this algorithm, the＂current＂statistical model and neural network are runn...A multiple model tracking algorithm based on neural network and multiple-process noise soft-switching for maneuvering targets is presented.In this algorithm, the＂current＂statistical model and neural network are running in parallel.The neural network algorithm is used to modify the adaptive noise filtering algorithm based on the mean value and variance of the＂current＂statistical model for maneuvering targets, and then the multiple model tracking algorithm of the multiple processing switch is used to improve the precision of tracking maneuvering targets.The modified algorithm is proved to be effective by simulation.展开更多
For the problem of large network load generated by the Gnutella resource-searching model in Peer to Peer （P2P） network, a improved model to decrease the network expense is proposed, which establishes a duster in P2P...For the problem of large network load generated by the Gnutella resource-searching model in Peer to Peer （P2P） network, a improved model to decrease the network expense is proposed, which establishes a duster in P2P network, auto-organizes logical layers, and applies a hybrid mechanism of directional searching and flooding. The performance analysis and simulation results show that the proposed hierarchical searching model has availably reduced the generated message load and that its searching-response time performance is as fairly good as that of the Gnutella model.展开更多
Passive Optical Networks(PONs)are considered as the preferred solution for broadband fibre-based access networks.This is because PONs present low cost deployment,low energy consumption and also meet high bandwidth dem...Passive Optical Networks(PONs)are considered as the preferred solution for broadband fibre-based access networks.This is because PONs present low cost deployment,low energy consumption and also meet high bandwidth demands from end users.In addition,end users expect a high availability for access networks,while operators are more concerned about reducing the failure impact(number of clients affected by failures).Moreover,operators are also interested in reducing the cost of the access network.This paper provides a deep insight into the consequences that the physical topology and design decisions cause on the availability,the failure impact and the cost of a PON.In order to do that,the physical layout of the PON deployment area is approximated by a network geometric model.A PON deployed according to the geometric model is then assessed in terms of failure impact,availability and cost.This way,the effects of different design decisions and the physical layout on these three parameters are evaluated.In addition,the tradeoffs between availability,failure impact and cost caused by planning decisions and the physical topology are identified and pinpointed.展开更多
In the forward channel of a networked control system （NCS）, by defining the network states as a hidden Markov chain and quantizing the network-induced delays to a discrete sequence distributing over a finite time in...In the forward channel of a networked control system （NCS）, by defining the network states as a hidden Markov chain and quantizing the network-induced delays to a discrete sequence distributing over a finite time interval, the relation between the network states and the network-induced delays is modelled as a discrete-time hidden Markov model （DTHMM）. The expectation maximization （EM） algorithm is introduced to derive the maximumlikelihood estimation （MLE） of the parameters of the DTHMM. Based on the derived DTHMM, the Viterbi algorithm is introduced to predict the controller-to-actuator （C-A） delay during the current sampling period. The simulation experiments demonstrate the effectiveness of the modelling and predicting methods proposed.展开更多
Modern battlefield doctrine is based on mobility, flexibility, and rapid response to changing situations. As is well known, mobile ad hoc network systems are among the best utilities for battlefield activity. Although...Modern battlefield doctrine is based on mobility, flexibility, and rapid response to changing situations. As is well known, mobile ad hoc network systems are among the best utilities for battlefield activity. Although much research has been done on secure routing, security issues have largely been ignored in applying mobile ad hoc network theory to computer technology. An ad hoc network is usually assumed to be homogeneous, which is an irrational assumption for armies. It is clear that soldiers, commanders, and commanders-in-chief should have different security levels and computation powers as they have access to asymmetric resources. Imitating basic military rank levels in battlefield situations, how multilevel security can be introduced into ad hoc networks is indicated, thereby controlling restricted classified information flows among nodes that have different security levels.展开更多
The accuracy of present flatness predictive method is limited and it just belongs to software simulation. In order to improve it, a novel flatness predictive model via T-S cloud reasoning network implemented by digita...The accuracy of present flatness predictive method is limited and it just belongs to software simulation. In order to improve it, a novel flatness predictive model via T-S cloud reasoning network implemented by digital signal processor(DSP) is proposed. First, the combination of genetic algorithm(GA) and simulated annealing algorithm(SAA) is put forward, called GA-SA algorithm, which can make full use of the global search ability of GA and local search ability of SA. Later, based on T-S cloud reasoning neural network, flatness predictive model is designed in DSP. And it is applied to 900 HC reversible cold rolling mill. Experimental results demonstrate that the flatness predictive model via T-S cloud reasoning network can run on the hardware DSP TMS320 F2812 with high accuracy and robustness by using GA-SA algorithm to optimize the model parameter.展开更多
For wireless ad hoc networks simulation, node＇s mobility pattern and traffic pattern are two key elements. A new simulation model is presented based on the virtual reality collision detection algorithm in obstacle en...For wireless ad hoc networks simulation, node＇s mobility pattern and traffic pattern are two key elements. A new simulation model is presented based on the virtual reality collision detection algorithm in obstacle environment, and the model uses the path planning method to avoid obstacles and to compute the node＇s moving path. Obstacles also affect node＇s signal propagation. Considering these factors, this study implements the mobility model for wireless ad hoc networks. Simulation results show that the model has a significant impact on the performance of protocols.展开更多
Feedback control systems wherein the control loops are closed through a real-time network are called networked control systems （NCS）. The defining feature of an NCS is that information is exchanged using a network a...Feedback control systems wherein the control loops are closed through a real-time network are called networked control systems （NCS）. The defining feature of an NCS is that information is exchanged using a network among control system components. Two new concepts including long time delay and short time delay are proposed. The sensor is almost always clock driven. The controller or the actuator is either clock driven or event driven. Four possible driving modes of networked control systems are presented. The open loop mathematic models of networked control systems with long time delay are developed when the system is driven by anyone of the four different modes. The uniformed modeling method of networked control systems with long time delay is proposed. The simulation results are given in the end.展开更多
Now, a rapidly growing concern for the environmental protection and resource utilization has stimulated many new activities in the in dustrialized world for coping with urgent environmental problems created by the ste...Now, a rapidly growing concern for the environmental protection and resource utilization has stimulated many new activities in the in dustrialized world for coping with urgent environmental problems created by the steadily increasing consumption of industrial products. Increasingly stringent r egulations and widely expressed public concern for the environment highlight the importance of disposing solid waste generated from industrial and consumable pr oducts. How to efficiently recycle and tackle this problem has been a very impo rtant issue over the world. Designing products for recyclability is driven by environmental and economic goals. To obtain good recyclability, two measures can be adopted. One is better recycling strategy and technology; the other is design for recycling (DFR). The recycling strategies of products generally inclu de: reuse, service, remanufacturing, recycling of production scraps during the p roduct usage, recycle (separation first) and disposal. Recyclability assessment is a very important content in DFR. This paper first discusses the content of D FR and strategies and types related to products recyclability, and points out th at easy or difficult recyclability depends on the design phase. Then method and procedure of recyclability assessment based on ANN is explored in detail. The pr ocess consists of selection of the ANN input and output parameters, control of t he sample quality and construction and training of the neural network. At la st, the case study shows this method is simple and operative.展开更多
Tax is very important to the whole country, so a scientific tax predictive model is needed. This paper introduces the theory of the cloud model. On this basis, it presents a cloud neural network, and analyzes the main...Tax is very important to the whole country, so a scientific tax predictive model is needed. This paper introduces the theory of the cloud model. On this basis, it presents a cloud neural network, and analyzes the main factors which influence the tax revenue. Then if proposes a tax predictive model based on the cloud neural network. The model combines the strongpoints of the cloud model and the neural network. The experiment and simulation results show the effectiveness of the algorithm in this paper.展开更多
A fuzzy modeling method for complex systems is studied. The notation of general stochastic neural network (GSNN) is presented and a new modeling method is given based on the combination of the modified Takagi and Suge...A fuzzy modeling method for complex systems is studied. The notation of general stochastic neural network (GSNN) is presented and a new modeling method is given based on the combination of the modified Takagi and Sugeno's (MTS) fuzzy model and one-order GSNN. Using expectation-maximization(EM) algorithm, parameter estimation and model selection procedures are given. It avoids the shortcomings brought by other methods such as BP algorithm, when the number of parameters is large, BP algorithm is still difficult to apply directly without fine tuning and subjective tinkering. Finally, the simulated example demonstrates the effectiveness.展开更多
The performance of the model algorithm control method is partially based on the accuracy of the system＇s model. It is difficult to obtain a good model of a nonlinear system, especially when the nonlinearity is high. ...The performance of the model algorithm control method is partially based on the accuracy of the system＇s model. It is difficult to obtain a good model of a nonlinear system, especially when the nonlinearity is high. Neural networks have the ability to ＂learn＂the characteristics of a system through nonlinear mapping to represent nonlinear functions as well as their inverse functions. This paper presents a model algorithm control method using neural networks for nonlinear time delay systems. Two neural networks are used in the control scheme. One neural network is trained as the model of the nonlinear time delay system, and the other one produces the control inputs. The neural networks are combined with the model algorithm control method to control the nonlinear time delay systems. Three examples are used to illustrate the proposed control method. The simulation results show that the proposed control method has a good control performance for nonlinear time delay systems.展开更多
基金supported by the National Natural Science Foundation of China(61272011)
文摘In order to solve the problem that the ripple-effect analy- sis for the operational architecture of air defense systems （OAADS） is hardly described in quantity with previous modeling approaches, a supernetwork modeling approach for the OAADS is put for- ward by extending granular computing. Based on that operational units and links are equal to different information granularities, the supernetwork framework of the OAADS is constructed as a “four- network within two-layer” structure by forming dynamic operating coalitions, and measuring indexes of the ripple-effect analysis for the OAADS are given combining with Laplace spectral radius. In this framework, via analyzing multidimensional attributes which inherit relations between operational units in different granular scales, an extended granular computing is put forward integrating with a topological structure. Then the operation process within the supernetwork framework, including transformation relations be- tween two layers in the vertical view and mapping relations among functional networks in the horizontal view, is studied in quantity. As the application case shows, comparing with previous modeling approaches, the supernetwork model can validate and analyze the operation mechanism in the air defense architecture, and the ripple-effect analysis can be used to confirm the key operational unit with micro and macro viewpoints.
基金Supported by UK EPSRC (grants GR/N13319 and GR/R 10875)
文摘This paper presents several neural network based modelling, reliable optimal control, and iterative learning control methods for batch processes. In order to overcome the lack of robustness of a single neural network, bootstrap aggregated neural networks are used to build reliable data based empirical models. Apart from improving the model generalisation capability, a bootstrap aggregated neural network can also provide model prediction confidence bounds. A reliable optimal control method by incorporating model prediction confidence bounds into the optimisation objective function is presented. A neural network based iterative learning control strategy is presented to overcome the problem due to unknown disturbances and model-plant mismatches. The proposed methods are demonstrated on a simulated batch polymerisation process.
文摘An artificial neural network(ANN) constitutive model is developed for high strength armor steel tempered at 500 C, 600 C and 650 C based on high strain rate data generated from split Hopkinson pressure bar(SHPB) experiments. A new neural network configuration consisting of both training and validation is effectively employed to predict flow stress. Tempering temperature, strain rate and strain are considered as inputs, whereas flow stress is taken as output of the neural network. A comparative study on Johnsone Cook(Je C) model and neural network model is performed. It was observed that the developed neural network model could predict flow stress under various strain rates and tempering temperatures. The experimental stressestrain data obtained from high strain rate compression tests using SHPB, over a range of tempering temperatures(500e650 C), strains(0.05e0.2) and strain rates(1000e5500/s) are employed to formulate Je C model to predict the high strain rate deformation behavior of high strength armor steels. The J-C model and the back-propagation ANN model were developed to predict the high strain rate deformation behavior of high strength armor steel and their predictability is evaluated in terms of correlation coefficient(R) and average absolute relative error(AARE). R and AARE for the Je C model are found to be 0.7461 and 27.624%, respectively, while R and AARE for the ANN model are 0.9995 and 2.58%, respectively. It was observed that the predictions by ANN model are in consistence with the experimental data for all tempering temperatures.
文摘Sonic log is the most versatile reservoir evaluation tool that has been introduced to the industry. Compaction,erosion and over pressurized zone can be evaluated by sonic log.Also primary porosity can be determined from compressional sonic wave transit time and secondary porosity will be calculated by comparing sonic derived porosity log with neutron and density based porosity log.On the other hand all of the rock mechanical properties can be evaluated using simultaneous use of compressional and shear sonic wave transit time.It is essential to have
文摘A multiple model tracking algorithm based on neural network and multiple-process noise soft-switching for maneuvering targets is presented.In this algorithm, the＂current＂statistical model and neural network are running in parallel.The neural network algorithm is used to modify the adaptive noise filtering algorithm based on the mean value and variance of the＂current＂statistical model for maneuvering targets, and then the multiple model tracking algorithm of the multiple processing switch is used to improve the precision of tracking maneuvering targets.The modified algorithm is proved to be effective by simulation.
文摘For the problem of large network load generated by the Gnutella resource-searching model in Peer to Peer （P2P） network, a improved model to decrease the network expense is proposed, which establishes a duster in P2P network, auto-organizes logical layers, and applies a hybrid mechanism of directional searching and flooding. The performance analysis and simulation results show that the proposed hierarchical searching model has availably reduced the generated message load and that its searching-response time performance is as fairly good as that of the Gnutella model.
基金Norwegian University of Science and Technology(Project 43255)
文摘Passive Optical Networks(PONs)are considered as the preferred solution for broadband fibre-based access networks.This is because PONs present low cost deployment,low energy consumption and also meet high bandwidth demands from end users.In addition,end users expect a high availability for access networks,while operators are more concerned about reducing the failure impact(number of clients affected by failures).Moreover,operators are also interested in reducing the cost of the access network.This paper provides a deep insight into the consequences that the physical topology and design decisions cause on the availability,the failure impact and the cost of a PON.In order to do that,the physical layout of the PON deployment area is approximated by a network geometric model.A PON deployed according to the geometric model is then assessed in terms of failure impact,availability and cost.This way,the effects of different design decisions and the physical layout on these three parameters are evaluated.In addition,the tradeoffs between availability,failure impact and cost caused by planning decisions and the physical topology are identified and pinpointed.
基金supported in part by the National Natural Science Foundation of China (60774098 60843003+3 种基金 50905172)the Science Foundation of Anhui Province (090412071 090412040)the University of Science and Technology of China Initiative Foundation
文摘In the forward channel of a networked control system （NCS）, by defining the network states as a hidden Markov chain and quantizing the network-induced delays to a discrete sequence distributing over a finite time interval, the relation between the network states and the network-induced delays is modelled as a discrete-time hidden Markov model （DTHMM）. The expectation maximization （EM） algorithm is introduced to derive the maximumlikelihood estimation （MLE） of the parameters of the DTHMM. Based on the derived DTHMM, the Viterbi algorithm is introduced to predict the controller-to-actuator （C-A） delay during the current sampling period. The simulation experiments demonstrate the effectiveness of the modelling and predicting methods proposed.
基金the National Natural Science Foundation of China (60773049)the Natural Science Foundationof Jiangsu Province (BK2007086)the Fundamental Research Project of Natural Science in Colleges of Jiangsu Province(07KJB520016).
文摘Modern battlefield doctrine is based on mobility, flexibility, and rapid response to changing situations. As is well known, mobile ad hoc network systems are among the best utilities for battlefield activity. Although much research has been done on secure routing, security issues have largely been ignored in applying mobile ad hoc network theory to computer technology. An ad hoc network is usually assumed to be homogeneous, which is an irrational assumption for armies. It is clear that soldiers, commanders, and commanders-in-chief should have different security levels and computation powers as they have access to asymmetric resources. Imitating basic military rank levels in battlefield situations, how multilevel security can be introduced into ad hoc networks is indicated, thereby controlling restricted classified information flows among nodes that have different security levels.
基金Project(E2015203354)supported by Natural Science Foundation of Steel United Research Fund of Hebei Province,ChinaProject(ZD2016100)supported by the Science and the Technology Research Key Project of High School of Hebei Province,China+1 种基金Project(LJRC013)supported by the University Innovation Team of Hebei Province Leading Talent Cultivation,ChinaProject(16LGY015)supported by the Basic Research Special Breeding of Yanshan University,China
文摘The accuracy of present flatness predictive method is limited and it just belongs to software simulation. In order to improve it, a novel flatness predictive model via T-S cloud reasoning network implemented by digital signal processor(DSP) is proposed. First, the combination of genetic algorithm(GA) and simulated annealing algorithm(SAA) is put forward, called GA-SA algorithm, which can make full use of the global search ability of GA and local search ability of SA. Later, based on T-S cloud reasoning neural network, flatness predictive model is designed in DSP. And it is applied to 900 HC reversible cold rolling mill. Experimental results demonstrate that the flatness predictive model via T-S cloud reasoning network can run on the hardware DSP TMS320 F2812 with high accuracy and robustness by using GA-SA algorithm to optimize the model parameter.
文摘For wireless ad hoc networks simulation, node＇s mobility pattern and traffic pattern are two key elements. A new simulation model is presented based on the virtual reality collision detection algorithm in obstacle environment, and the model uses the path planning method to avoid obstacles and to compute the node＇s moving path. Obstacles also affect node＇s signal propagation. Considering these factors, this study implements the mobility model for wireless ad hoc networks. Simulation results show that the model has a significant impact on the performance of protocols.
基金the National Natural Science Foundation of China (60474076)Natural Science Foundationof Jiangxi Province, China (2007GZS0899)Scientific Research Foundation of Jiangxi Provincial Education Department, China(GJJ08238).
文摘Feedback control systems wherein the control loops are closed through a real-time network are called networked control systems （NCS）. The defining feature of an NCS is that information is exchanged using a network among control system components. Two new concepts including long time delay and short time delay are proposed. The sensor is almost always clock driven. The controller or the actuator is either clock driven or event driven. Four possible driving modes of networked control systems are presented. The open loop mathematic models of networked control systems with long time delay are developed when the system is driven by anyone of the four different modes. The uniformed modeling method of networked control systems with long time delay is proposed. The simulation results are given in the end.
文摘Now, a rapidly growing concern for the environmental protection and resource utilization has stimulated many new activities in the in dustrialized world for coping with urgent environmental problems created by the steadily increasing consumption of industrial products. Increasingly stringent r egulations and widely expressed public concern for the environment highlight the importance of disposing solid waste generated from industrial and consumable pr oducts. How to efficiently recycle and tackle this problem has been a very impo rtant issue over the world. Designing products for recyclability is driven by environmental and economic goals. To obtain good recyclability, two measures can be adopted. One is better recycling strategy and technology; the other is design for recycling (DFR). The recycling strategies of products generally inclu de: reuse, service, remanufacturing, recycling of production scraps during the p roduct usage, recycle (separation first) and disposal. Recyclability assessment is a very important content in DFR. This paper first discusses the content of D FR and strategies and types related to products recyclability, and points out th at easy or difficult recyclability depends on the design phase. Then method and procedure of recyclability assessment based on ANN is explored in detail. The pr ocess consists of selection of the ANN input and output parameters, control of t he sample quality and construction and training of the neural network. At la st, the case study shows this method is simple and operative.
文摘Tax is very important to the whole country, so a scientific tax predictive model is needed. This paper introduces the theory of the cloud model. On this basis, it presents a cloud neural network, and analyzes the main factors which influence the tax revenue. Then if proposes a tax predictive model based on the cloud neural network. The model combines the strongpoints of the cloud model and the neural network. The experiment and simulation results show the effectiveness of the algorithm in this paper.
文摘A fuzzy modeling method for complex systems is studied. The notation of general stochastic neural network (GSNN) is presented and a new modeling method is given based on the combination of the modified Takagi and Sugeno's (MTS) fuzzy model and one-order GSNN. Using expectation-maximization(EM) algorithm, parameter estimation and model selection procedures are given. It avoids the shortcomings brought by other methods such as BP algorithm, when the number of parameters is large, BP algorithm is still difficult to apply directly without fine tuning and subjective tinkering. Finally, the simulated example demonstrates the effectiveness.
基金supported by the Brain Korea 21 PLUS Project,National Research Foundation of Korea(NRF-2013R1A2A2A01068127NRF-2013R1A1A2A10009458)Jiangsu Province University Natural Science Research Project(13KJB510003)
文摘The performance of the model algorithm control method is partially based on the accuracy of the system＇s model. It is difficult to obtain a good model of a nonlinear system, especially when the nonlinearity is high. Neural networks have the ability to ＂learn＂the characteristics of a system through nonlinear mapping to represent nonlinear functions as well as their inverse functions. This paper presents a model algorithm control method using neural networks for nonlinear time delay systems. Two neural networks are used in the control scheme. One neural network is trained as the model of the nonlinear time delay system, and the other one produces the control inputs. The neural networks are combined with the model algorithm control method to control the nonlinear time delay systems. Three examples are used to illustrate the proposed control method. The simulation results show that the proposed control method has a good control performance for nonlinear time delay systems.
