key issues

1
P
????? ??????
??? ??? ??? ?????? 85-84 ???? ????
2
???? ???? Applied Nonlinear Control By J.
Jacques and E. Slotine ??? ?? ???? Nonlinear
System Analysis By M. Vidyasagar Nonlinear
Systems By H. K. Khalil Nonlinear Systems
Analysis, Stability and Control By S. Sastry
3
???? ???? 1- ????? (15 ????) 2- ??? ??? (25
????) 3- ??? ??? (25 ????) 5- ?????? ????? (30
????) 6- ????? ???? ??? ??? (15 ????) 7- ??
????? ( 20 ????) ? ????? ????? ????? ?????? ???.
8- ?????? (10 ????) ????? ???????? ?? ???? ????
?? ???. 9- ????? ? ????? ????? ?? ?? ????? ????
????? (60 ????) ????? ????? ???? ?? ??? ?? ???
??? ??? ???? ???. 200 ???? ?? ???? ?? ???? ????
????? ?????? ? ?? ?????
4
???? ???? ???? ????? 1- ?????? ????? ?????
????? (?????? 10 ????) (????? ????? ???? ??
??? ??? ??? ??? ???? ???.) 2- ???? ?????? ????
?????? ??? ????? ?? ????? ?? ?? ????? ????? ??
????? ???? ????? ??? ????? 1.5 (?????? 15
????) 3- ????? ????? ?? ??? ???? ??? ( ?????? 10
????) 4- ????? ???? ???? ? ????? ?? (?????? 15
????) 5- ????? ????? (?? ???? ?? ?? ?????? ?????)
????? ?? ???? ????? (?????? 10 ????) ??????
????? ????? ?????? ?????? ??? ?????? ?????? ??? ?
????? ?? ?? ??? ???? ?? ?? ?????? ????? ??????
??? ? ???? ???? ????? ?? 0.5 ??? ????? ??.