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For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm. The nonlinear PID controller is constituted of a nonlinear items with a robust PID controller.

针对非线性船舶航向保持系统，给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒PID控制器，该非线性PID控制器由非线性函数项和鲁棒PID控制器组成。

Another nonlinear robust PID controller is wholly based on closed-loop gain shaping algorithm, which includes a nonlinear switching component with a timer. The algorithms improve the robustness of the system and simplify the design of controller, the simulation results show that the course-keeping performance is improved well.

另外，还给出一种完全基于闭环增益成形算法的非线性鲁棒PID控制器，其包含了具有定时功能的开关元件，两种非线性PID控制器在提高系统鲁棒性能的基础上，简化了控制器设计，从仿真结果可以看出，航向保持效果良好。

Stretching the neck to the collarbone, shoulder shaping very good.

颈部的伸展对锁骨、肩头塑形极有好处。

The Collective Security Law, although as a shaping law, will gradually weight more and more in international relations.

集体安全法虽然是一个正在成形中的法律，但其在国际关系中的分量将越来越重。

The non-spherical lens is another shaping system that is used to collimate the beam of LD, and the theoretic performance could be perfect.

非球面柱透镜是另一类特殊结构的柱透镜，在用于半导体激光束准直时，理论上可以达到完全准直的效果。

Then, both the stationary and non-stationary random response of hysteretic system with cubic rigidity and sticky damp were deduced and calculated. In the research of colored white noise, the filter for shaping the power spectral density was designed and the random state response of enlarged vector was gotten. With this, the experimental power spectral curve was changed into colored white noise and the random response could be easily calculated.

对平稳白噪声，给出了平稳响应的求解方法并对平稳状态下的模型参数对响应的影响进行了比较与分析；在有色白噪声的研究里，通过有色白噪声的扩阶方法和构造成型滤波器来计算有色白噪声的响应，从而解决一类工程实际振动问题的仿真模拟。

In the period, the centre of new-vernacular literature located in Wuhan, the commonalty tradition gradually Came into being, and the new standard was also shaping up.

在此期间，新文学中心落址武汉，新文学的大众传统在战争情势下逐渐成形，新的文学规范与格局也初具规模。

The value-pluralism underlines cultural diversity and shaping effect of a specific language, heritage of historical practice to the individual,which produces a certain kind of ideological resonance with the communalism.

伯林的多元论与自由主义存在内在的紧张，多元论并不能推导出自由主义，而是削弱了自由主义的道德基础。

Not only Henri Matisse discovered the applications of complanation, decroativeness and solid color, the particular forms of representation and the simple, imagery, relaxing shaping models, but he also had an intensive study of the harmonious relation of object and self, the reality of likeness and unlikeness, pursuit of representation and hence put them into his works.

马蒂斯不但从东方绘画中发现了平面化的、装饰性的、纯色彩的运用形式，在构图上对空间、透视和空白的特殊表现形式，以及简约、意象、轻松的造型特征，而且对中国绘画的物我相融关系、"似与不似"的真实观、"追求表现"等观念有着深入的研究，并且将之融入自己的绘画中。

After the other. The subject discuss Auto end-lock carton shaping condition, changing way, agglutinate angles and agglutinate complementary angle, analysis five type Auto end-lock carton structure, they are rectangular parallelepiped, vertical rectangle-terrace, prismoid, non-conventional type. By analysis discovery some discipline of Folding carton of Auto end-lock.

先后讨论了折叠纸包装自锁底结构的成型先决条件、折叠纸包装自锁底结构的变化方式、粘合角与粘合余角计算，并对直角六面体、棱台型、正六棱柱型、异棱柱、异型五种折叠纸盒自锁底结构进行分析，归纳出折叠纸包装自锁底结构的一般规律。

Pradeep Indulkar, a senior official at the Maharashtra state Home Ministry say 101 human were killed and 287 injured.

马哈拉施特拉邦内政部高级官员Pradeep Indulkar称，有101人在冲突中丧生，287人受伤。

Mark Frei, a senior vice president of West, says 80% of West's homeagents have some college education, compared with 30% of those whowork in office-based call centers.

Frei说，该公司80%在家办公的人员都拥有本科学位，而在公司电话中心工作的人中只有30%拥有本科学位。