‫ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‬

‫)ﻧﺴﺨﻪ ‪ – ۱‬ﺗﻴﺮ ﻣﺎﻩ ‪ ۱۳۸۳‬ﺧﻮﺭﺷﻴﺪﻱ(‬

‫‪٣‬‬
‫ﺍﻣﻴﺮﻣﺴﻌﻮﺩ ﻓﺮﻫﻤﻨﺪ‪ – ١‬ﺑﺎﺑﮏ ﻧﺠﺎﺭ ﺍﻋﺮﺍﺑﻲ – ﮐﺎﺭﻭ ﻟﻮﮐﺎﺱ‬
‫‪٢‬‬

‫ﮔﺮﻭﻩ ﺑﺮﻕ ﻭ ﮐﺎﻣﭙﻴﻮﺗﺮ – ﺩﺍﻧﺶﮐﺪﻩ ﻓﻨﻲ – ﺩﺍﻧﺶﮔﺎﻩ ﺗﻬﺮﺍﻥ‬

‫ﺁﺷﻮﺏ ﭼﻴﺴﺖ؟‬
‫ﻣﻔﻬﻮﻡ ﺁﺷﻮﺏ‪ ،‬ﻳﮑﻲ ﺍﺯ ﻣﻔﺎﻫﻴﻢ ﺟﺪﻳﺪ ﻭ ﺑﻨﻴﺎﺩﻱ ﻋﻠﻢ ﻧﻮﻳﻦ ﺍﺳﺖ ﮐﻪ ﺍﻓﻖ ﺩﺭﮎ ﻣﺎ ﻧﺴﺒﺖ ﺑﻪ ﻫﺴﺘﻲ ﺭﺍ ﺑﺴﻴﺎﺭ ﮔﺴﺘﺮﺵ ﺩﺍﺩﻩ‬
‫ﺍﺳﺖ‪ .‬ﺁﺷﻮﺏ –ﻫﻤﺎﻥﻃﻮﺭ ﮐﻪ ﺍﺯ ﻧﺎﻡﺍﺵ ﭘﻴﺪﺍﺳﺖ‪ -‬ﺭﻓﺘﺎﺭﻱ ﺑﻪ ﻇﺎﻫﺮ ﺗﺼﺎﺩﻓﻲ ﻭ ﺑﻲﻧﻈﻢ ﺍﺳﺖ ﮐﻪ ﺩﺭ ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﭘﺪﻳﺪﻩﻫﺎﻱ‬
‫ﺩﻧﻴﺎﻱ ﻭﺍﻗﻌﻲ ﺭﺥ ﻣﻲﺩﻫﺪ‪ .‬ﭘﺪﻳﺪﻩﻫﺎﻱ ﻣﻌﺮﻭﻓﻲ ﭼﻮﻥ ﺍﺛﺮ ﭘﺮﻭﺍﻧﻪﺍﻱ‪ ٤‬ﺍﺯ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺧﺎﺹ ﺁﺷﻮﺏ ﺍﺳﺖ ﮐﻪ ﺑﻪ ﺯﻭﺩﻱ ﺩﺭ ﻣﻮﺭﺩﺷﺎﻥ‬
‫ﺗﻮﺿﻴﺢ ﺧﻮﺍﻫﻢ ﺩﺍﺩ‪ .‬ﺩﺭ ﺍﻳﻦ ﻧﻮﺷﺘﺎﺭ ﺟﺰ ﻣﻘﺪﻣﻪﺍﻱ ﮐﻮﺗﺎﻩ ﻭ ﭼﻨﺪ ﺗﻌﺮﻳﻒ ﺭﻳﺎﺿﻲ‪ ،‬ﭼﻨﺪﺍﻥ ﺑﻪ ﺧﻮﺩ ﺗﺌﻮﺭﻱﻱ ﺁﺷﻮﺏ ﻧﻤﻲﭘﺮﺩﺍﺯﻡ ﻭﻟﻲ‬
‫ﺑﺎ ﺍﻳﻦﺣﺎﻝ ﻳﺎﺩﺁﻭﺭﻱﻱ ﻣﺠﺪﺩ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺁﻥ ﺑﻲﻓﺎﻳﺪﻩ ﻧﺨﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬
‫ﻣﻲﺩﺍﻧﻴﻢ ﮐﻪ ﺍﺑﺰﺍﺭ ﺗﺤﻠﻴﻞ ﭘﺪﻳﺪﻩﻫﺎﻱ ﻃﺒﻴﻌﻲ ﺑﺮﺍﻱ ﻓﻴﺰﻳﮏﺩﺍﻧﺎﻥ ﻭ ﻣﻬﻨﺪﺳﺎﻥ ﻭ ﺑﻘﻴﻪﻱ ﻋﻠﻮﻣﻲ ﮐﻪ ﻧﻴﺎﺯ ﺑﻪ ﻣﺪﻝﺳﺎﺯﻱ ﻭ ﺗﺤﻠﻴﻞ‬
‫ﺁﻥ ﭘﺪﻳﺪﻩﻫﺎ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺁﻥ ﻣﺪﻝ ﺩﺍﺭﻧﺪ‪ ،‬ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ )ﻳﺎ ﻣﻌﺎﺩﻻﺕ ﺗﻔﺎﺿﻠﻲ( ﺍﺳﺖ‪ .‬ﺍﻳﻦ ﻣﻌﺎﺩﻻﺕ ﮐﻪ ﻣﻲﺗﻮﺍﻧﻨﺪ ﺑﻪ‬
‫ﺻﻮﺭﺕ ﺟﺰﻳﻲ‪ ٥‬ﻳﺎ ﻣﻌﻤﻮﻟﻲ‪ ٦‬ﺑﺎﺷﻨﺪ‪ ،‬ﭼﺎﺭﭼﻮﺏ ﺗﺤﻠﻴﻠﻲﻱ ﻗﻮﻱﺍﻱ ﺑﺮﺍﻱ ﻫﻤﻪﻱ ﺩﺍﻧﺶﻣﻨﺪﺍﻥ ﻋﻠﻮﻡ ﻃﺒﻴﻌﻲ ﻓﺮﺍﻫﻢ ﻣﻲﮐﻨﻨﺪ‪ .‬ﺩﺭ‬
‫ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﻣﻮﺍﺭﺩ ﺑﺮﺍﻱ ﺳﺎﺩﮔﻲﻱ ﺗﺤﻠﻴﻞ‪ ،‬ﻣﺪﻝﻫﺎ ﺑﻪ ﺻﻮﺭﺕ ﺧﻄﻲ ﺗﻘﺮﻳﺐ ﺯﺩﻩ ﻣﻲﺷﻮﻧﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﺻﻮﺭﺕ ﺍﺑﺰﺍﺭﻫﺎﻱ ﺭﻳﺎﺿﻲﻱ‬
‫ﮐﺎﻣﻞﺍﻱ ﺑﺮﺍﻱ ﺗﺤﻠﻴﻞ ﺍﻳﻦ ﭼﻨﻴﻦ ﻣﺴﺎﻳﻠﻲ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ .‬ﺑﺎ ﺍﻳﻦﺣﺎﻝ ﺑﻪ ﻣﺤﺾ ﺍﻳﻦﮐﻪ ﭼﻨﻴﻦ ﺳﺎﺩﻩﺳﺎﺯﻱﺍﻱ ﺍﻧﺠﺎﻡ ﻧﺪﻫﻴﻢ‪ ،‬ﺑﺎ‬
‫ﻣﻌﺎﺩﻻﺕ ﻏﻴﺮﺧﻄﻲﺍﻱ ﻣﻮﺍﺟﻪ ﺷﻮﻳﻢ ﮐﻪ ﭘﺪﻳﺪﻩﻫﺎﻱ ﺟﺪﻳﺪﻱ ﭼﻮﻥ ﭼﺮﺧﻪ ﺣﺪﻱ‪ ٧‬ﺩﺭ ﺁﻥﻫﺎ ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ‪ .‬ﺍﻣﺎ ﺍﻳﻦ ﺗﻨﻬﺎ ﺭﻓﺘﺎﺭ‬
‫ﻣﺘﻔﺎﻭﺕ ﺩﻳﻨﺎﻣﻴﮏ ﻏﻴﺮﺧﻄﻲ ﺑﺎ ﺧﻄﻲ ﻧﻴﺴﺖ‪ .‬ﻣﺪﺕﻫﺎ ﺑﻪ ﺩﻟﻴﻞ ﻭﺟﻮﺩ ﻗﻀﻴﻪﻱ ﭘﻮﺍﻧﮑﺎﺭﻩ‪-‬ﺑﻨﺪﻳﮑﺴﻮﻥ‪ ٨‬ﺗﺼﻮﺭ ﻣﻲﺷﺪ ﮐﻪ ﻳﮏ‬
‫ﺳﻴﺴﺘﻢ ﻳﺎ ﺩﺍﺭﺍﻱ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ )ﭼﻪ ﭘﺎﻳﺪﺍﺭ ﻭ ﭼﻪ ﻧﺎﭘﺎﻳﺪﺍﺭ( ﺍﺳﺖ ﻭ ﻳﺎ ﺩﺍﺭﺍﻱ ﭼﺮﺧﻪﻱ ﺣﺪﻱﺳﺖ‪ .‬ﺍﻟﺒﺘﻪ ﺍﻳﻦ ﻗﻀﻴﻪ ﺗﻨﻬﺎ ﺑﺮﺍﻱ‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭﻡ ﺻﺎﺩﻕ ﺑﻮﺩ‪ ،‬ﺍﻣﺎ ﺑﺎﻭﺭ ﻋﻤﻮﻡ ﺑﺮ ﺁﻥ ﺑﻮﺩ ﮐﻪ ﭼﻨﻴﻦ ﻗﻀﻴﻪﺍﻱ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪﻱ ﺑﺎﻻﺗﺮ ﻧﻴﺰ ﺑﺮﻗﺮﺍﺭ‬
‫ﺍﺳﺖ‪ .‬ﺑﺎ ﺍﻳﻦﺣﺎﻝ ﻣﺸﺎﻫﺪﻩ ﺷﺪ ﮐﻪ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺳﻪ ﺑﻪ ﺑﺎﻻ‪ ،‬ﭘﺪﻳﺪﻩﻱ ﺩﻳﮕﺮﻱ ﻧﻴﺰ ﻋﻼﻭﻩ ﺑﺮ ﺍﻳﻦﻫﺎ ﺭﺥ ﻣﻲﺩﻫﺪ ﻭ ﺁﻥ‬
‫ﻫﻢ ﺁﺷﻮﺏ ﺍﺳﺖ‪.‬‬
‫‪٩‬‬
‫ﺁﺷﻮﺏ –ﺑﻪ ﻣﻔﻬﻮﻡ ﺩﻗﻴﻖ ﻭ ﺭﻳﺎﺿﻲ ﺁﻥ‪ -‬ﭘﺪﻳﺪﻩﺍﻳﺴﺖ ﺑﻪ ﻇﺎﻫﺮ ﺗﺼﺎﺩﻓﻲ ﻭ ﭘﻴﭽﻴﺪﻩ ﮐﻪ ﺩﺭ ﺑﺎﻃﻦ ﻃﺒﻴﻌﺘﻲ ﻗﻄﻌﻲ )ﺩﺭ ﺗﻘﺎﺑﻞ ﺑﺎ‬
‫ﺗﺼﺎﺩﻓﻲ‪ (١٠‬ﺩﺍﺭﺩ‪ .‬ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ ﺍﺯ ﻳﮏ ﻣﻌﺎﺩﻟﻪﻱ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺳﺎﺩﻩ ﻣﻲﺗﻮﺍﻥ ﺭﻓﺘﺎﺭﻫﺎﻱ ﺑﺴﻴﺎﺭ ﭘﻴﭽﻴﺪﻩﺍﻱ ﺭﺍ ﺍﻧﺘﻈﺎﺭ ﺩﺍﺷﺖ‪.‬‬
‫ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺩﻳﻨﺎﻣﻴﮏ ﻣﺮﺗﺒﻪﻱ ﺳﻮﻡ ﺁﺷﻮﺏﻧﺎﮎ ﺭﺍ ﮐﻪ ﺑﻪ ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺘﺲ‪ ١١‬ﻣﺸﻬﻮﺭ ﺍﺳﺖ‪ ،‬ﺩﺭ ﺯﻳﺮ ﻣﻲﺑﻴﻨﻴﺪ‪.‬‬

‫‪1‬‬
‫‪SoloGen@SoloGen.net‬‬
‫‪2‬‬
‫‪Araabi@ut.ac.ir‬‬
‫‪3‬‬
‫‪lucas@ipm.ir‬‬
‫‪4‬‬
‫‪Butterfly Effect‬‬
‫‪5‬‬
‫)‪Partial Differential Equation (PDE‬‬
‫‪6‬‬
‫)‪Ordinary Differential Equation (ODE‬‬
‫‪7‬‬
‫‪Limit Cycle‬‬
‫‪8‬‬
‫‪Poincaré-Bendixon‬‬
‫‪9‬‬
‫‪Deterministic‬‬
‫‪10‬‬
‫‪Stochastic‬‬
‫‪11‬‬
‫‪Lorenz‬‬
 ‫ﺷﮑﻞ ‪ .1‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺁﺯﻣﺎﻳﺶﺍﻱ ﮐﻪ ﻣﻨﺠﺮ ﺑﻪ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﻟﻮﺭﻧﺲ ﻣﻲﺷﻮﺩ‪) x1 .‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ‬
‫ﺑﺎ ‪ x‬ﺩﺭ ﻣﻌﺎﺩﻻﺕ ﺩﺍﺧﻞ ﻣﺘﻦ( ﻣﺘﻮﺳﻂ ﺳﺮﻋﺖ ﭼﺮﺧﺶ ﺳﻴﺎﻝ‪) x 2 ،‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺑﺎ ‪ ( y‬ﻓﺎﺻﻠﻪ‬
‫ﺗﻔﺎﻭﺕ ﺩﻣﺎﻱ ﺍﻓﻘﻲ ﻭ ‪) x3‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺑﺎ ‪ ( z‬ﺗﻔﺎﻭﺕ ﺩﻣﺎﻱ ﻋﻤﻮﺩﻱ ﺍﺳﺖ‪.‬‬

‫‪ x = σ ( y − x ) + u‬‬
‫‪‬‬
‫‪ y = rx − y − xz‬‬ ‫)‪(1‬‬
‫‪ z = −bz + xy‬‬
‫‪‬‬

‫ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺰ ﮐﻪ ﺗﻮﺳﻂ ﻫﻮﺍﺷﻨﺎﺳﻲ ﺑﻪ ﻧﺎﻡ ﺍﺩﻭﺍﺭﺩ ﻟﻮﺭﻧﺘﺲ‪ ١٢‬ﺩﺭ ﺳﺎﻝ ‪ ۱۹۶۳‬ﺑﻪ ﺩﺳﺖ ﺁﻣﺪﻩ ﺍﺳﺖ‪ ،‬ﺑﻴﺎﻥﮔﺮ ﺟﺮﻳﺎﻥ ﻫﻢﺭﻓﺖ ﺩﺭ‬
‫ﻣﺎﻳﻌﺎﺗﻲﺳﺖ ﮐﻪ ﮔﺮﻣﺎ ﺍﺯ ﻃﺮﻳﻖ ﻣﻨﺒﻊﺍﻱ ﺑﻪ ﺁﻥﻫﺎ ﺗﺰﺭﻳﻖ ﻣﻲﺷﻮﺩ‪ .‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺗﺮﮐﻴﺐﺑﻨﺪﻱﺍﻱ ﮐﻪ ﻣﻨﺠﺮ ﺑﻪ ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺘﺲ‬
‫ﻣﻲﺷﻮﺩ ﺭﺍ ﺩﺭ ﺷﮑﻞ )‪ (۱‬ﻣﻲﺑﻴﻨﻴﺪ‪ .‬ﻟﻮﺭﻧﺘﺲ ﻧﺸﺎﻥ ﺩﺍﺩ ﮐﻪ ﺗﻼﻃﻢ‪ ١٣‬ﺩﺭ ﺁﻥ ﻣﺎﻳﻌﺎﺕ ﺗﻮﺳﻂ ﺩﻳﻨﺎﻣﻴﮏ ﺳﺎﺩﻩ ﺷﺪﻩﻱ ﻟﻮﺭﻧﺰ ﻗﺎﺑﻞ ﺑﻴﺎﻥ‬
‫ﺍﺳﺖ]‪ .[Lorenz63‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲﻱ ﺍﻳﻦ ﺩﻳﻨﺎﻣﻴﮏ ﺭﺍ ﺩﺭ ﺷﮑﻞ )‪ (۲‬ﻣﻲﺑﻴﻨﻴﺪ‪.‬‬
‫ﻳﮑﻲ ﺍﺯ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ‪ ،‬ﭼﻴﺰﻱﺳﺖ ﮐﻪ ﺑﻪ ﺣﺴﺎﺳﻴﺖ ﺑﺎﻻ ﺑﻪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﻣﺸﻬﻮﺭ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻳﮏ ﺳﻴﺴﺘﻢ‬
‫ﺁﺷﻮﺏﻧﺎﮎ –ﺑﺮﺧﻼﻑ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﭼﺮﺧﻪﻱ ﺣﺪﻱ ﻳﺎ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ ﭘﺎﻳﺪﺍﺭ‪ -‬ﺑﻪ ﺗﻐﻴﻴﺮﺍﺕ ﮐﻮﭼﮏ ﺣﺎﻟﺖﺍﺵ ﺣﺴﺎﺱ ﺍﺳﺖ‪.‬‬
‫ﺗﻐﻴﻴﺮ ﺑﺴﻴﺎﺭ ﮐﻮﭼﮑﻲ ﺩﺭ ﺣﺎﻟﺖ ﺍﻭﻟﻴﻪ ﺑﺎﻋﺚ ﺗﻐﻴﻴﺮﺍﺕ ﺑﺴﻴﺎﺭ ﻗﺎﺑﻞ ﺗﻮﺟﻪ ﺩﺭ ﺷﺮﺍﻳﻂ ﻧﻬﺎﻳﻲ ﻣﻲﺷﻮﺩ‪ .‬ﻧﻤﻮﻧﻪﻱ ﻣﻌﺮﻭﻑ ﭼﻨﻴﻦ‬
‫ﭘﺪﻳﺪﻩﺍﻱ ﻭﺿﻌﻴﺖ ﺁﺏ ﻭ ﻫﻮﺍ ﻭ ﭘﺪﻳﺪﻩﻱ ﻣﻌﺮﻭﻑ ﺍﺛﺮ ﭘﺮﻭﺍﻧﻪﺍﻳﺴﺖ‪ .‬ﺩﻳﻨﺎﻣﻴﮏ ﻏﻴﺮﺧﻄﻲ ﺟﻮ ﺑﺎﻋﺚ ﻣﻲﺷﻮﺩ ﮐﻪ ﺑﻪ ﺩﻟﻴﻞ ﻧﺪﺍﺷﺘﻦ‬
‫ﻫﻤﻪﻱ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺩﺭ ﺯﻣﺎﻥ ﺷﺮﻭﻉ ﻣﺤﺎﺳﺒﺎﺕ )ﻣﺜﻼ ﻧﺪﺍﺷﺘﻦ ﻭ ﻫﻢﭼﻨﻴﻦ ﻋﺪﻡ ﺩﻗﺖ ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱ ﺩﻣﺎ ﻭ ﺭﻃﻮﺑﺖ ﻭ ‪ ...‬ﺩﺭ ﻫﻤﻪﻱ‬
‫ﻧﻘﺎﻁ ﺳﻄﺢ ﺯﻣﻴﻦ(‪ ،‬ﭘﻴﺶﺑﻴﻨﻲﻱ ﻃﻮﻻﻧﻲ ﻣﺪﺕ ﺍﻣﮑﺎﻥﭘﺬﻳﺮ ﻧﺒﺎﺷﺪ‪ .‬ﻣﺜﺎﻝ ﻣﺸﻬﻮﺭﻱﺳﺖ ﮐﻪ ﻣﻲﮔﻮﻳﺪ ﺑﺎﻝ ﺯﺩﻥ ﭘﺮﻭﺍﻧﻪﺍﻱ ﺩﺭ‬
‫ﮐﺸﻮﺭﻱ ﺩﻳﮕﺮ ﻣﻲﺗﻮﺍﻧﺪ ﺑﺎﻋﺚ ﺑﻪ ﻭﺟﻮﺩ ﺁﻣﺪﻥ ﻳﺎ ﻧﻴﺎﻣﺪﻥ ﺗﻮﻓﺎﻥ ﺩﺭ ﮐﺸﻮﺭ ﺷﻤﺎ ﺷﻮﺩ‪ .‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺍﻳﻦ ﺣﺴﺎﺳﻴﺖ ﺭﺍ ﺩﺭ ﺷﮑﻞ )‪(۳‬‬
‫ﻣﻲﺑﻴﻨﻴﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﺷﮑﻞ‪ ،‬ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺘﺲ ﺑﻪ ﺍﺯﺍﻱ ﺩﻭ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪﻱ ﺑﺴﻴﺎﺭ ﻧﺰﺩﻳﮏ ﺑﻪ ﻫﻢ )ﺑﺎ ﺧﻄﺎﻱ‬

‫‪12‬‬
‫‪Edward Lorenz‬‬
‫‪13‬‬
‫‪Turbulent‬‬
 ‫‪60‬‬

‫‪50‬‬

‫‪40‬‬

‫‪30‬‬

‫‪20‬‬

‫‪10‬‬

‫‪0‬‬
‫‪0‬‬ ‫‪500‬‬ ‫‪1000‬‬ ‫‪1500‬‬ ‫‪2000‬‬ ‫‪2500‬‬ ‫‪3000‬‬

‫ﺷﮑﻞ ‪ .2‬ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲ ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺘﺲ‬

‫ﺍﻭﻟﻴﻪﻱ ‪ ( e(0) = 10−5‬ﺑﺎ ﻫﻢ ﻣﻘﺎﻳﺴﻪ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻣﻲﺑﻴﻨﻴﺪ ﮐﻪ ﺑﺎ ﺍﻳﻦﮐﻪ ﺩﺭ ﺍﺑﺘﺪﺍ ﺍﻳﻦ ﺩﻭ ﺑﺴﻴﺎﺭ ﺷﺒﻴﻪ ﺑﻪ ﻫﻢ ﺭﻓﺘﺎﺭ ﻣﻲﮐﻨﻨﺪ‪،‬‬
‫ﺑﺎ ﺍﻳﻦﺣﺎﻝ ﺩﺭ ﻧﻬﺎﻳﺖ ﺭﻓﺘﺎﺭ ﮐﺎﻣﻼ ﻣﺘﻔﺎﻭﺗﻲ ﭘﻴﺪﺍ ﻣﻲﮐﻨﻨﺪ‪.‬‬
‫‪١٤‬‬
‫ﻭﻳﮋﮔﻲﻱ ﺩﻳﮕﺮ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ‪ ،‬ﺩﺍﺷﺘﻦ ﺟﺎﺫﺏﻫﺎﻱ ﺷﮕﻔﺖ ﺍﺳﺖ‪ .‬ﺑﻪ ﻃﻮﺭ ﮐﻴﻔﻲ‪ ،‬ﺟﺎﺫﺏﻫﺎﻱ ﺷﮕﻔﺖ‪ ،‬ﺟﺎﺫﺏﻫﺎﻳﻲ ﻫﺴﺘﻨﺪ‬
‫ﮐﻪ ﻣﺴﻴﺮ ﺣﺎﻟﺖ ﺑﻪ ﺳﻤﺖ ﺁﻥﻫﺎ ﺟﺬﺏ ﻣﻲﺷﻮﺩ ﻭ ﺩﺭ ﻫﻤﺎﻥﺣﺎﻝ ﺍﺯ ﺁﻥﻫﺎ ﺩﻭﺭ ﻣﻲﺷﻮﺩ‪ .‬ﻧﻤﻮﻧﻪﻱ ﭼﻨﻴﻦ ﺟﺎﺫﺑﻲ ﺭﺍ ﺩﺭ ﺷﮑﻞ )‪(۴‬‬
‫ﻣﺸﺎﻫﺪﻩ ﻣﻲﮐﻨﻴﺪ ﮐﻪ ﻣﺴﻴﺮ ﻓﺎﺯ ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺘﺲ ﺭﺍ ﻧﻤﺎﻳﺶ ﻣﻲﺩﻫﺪ‪ .‬ﻧﻤﻮﻧﻪﻫﺎﻱ ﺩﻳﮕﺮﻱ ﺍﺯ ﭼﻨﺎﻥ ﭼﻴﺰﻱ ﻧﻴﺰ ﺩﺭ ﺑﻘﻴﻪﻱ ﺍﻳﻦ‬
‫ﮔﺰﺍﺭﺵ ﺧﻮﺍﻫﺪ ﺁﻣﺪ‪ .‬ﺟﺎﺫﺏﻫﺎﻱ ﺷﮕﻔﺖ ﺩﺍﺭﺍﻱ ﺑﻌﺪ ﻓﺮﺍﮐﺘﺎﻟﻲ ﻭ ﻏﻴﺮﺻﺤﻴﺢ ﻫﺴﺘﻨﺪ‪.‬‬
‫ﺍﺯ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺩﻳﮕﺮ ﺁﺷﻮﺏ‪ ،‬ﻭﺟﻮﺩ ﻃﻴﻒ ﻓﺮﮐﺎﻧﺴﻲﻱ ﭘﻴﻮﺳﺘﻪ ﺍﺳﺖ‪ .‬ﻣﻲﺩﺍﻧﻴﻢ ﺍﮔﺮ ﺳﻴﺴﺘﻤﻲ ﺩﺍﺭﺍﻱ ﺭﻓﺘﺎﺭ ﺗﻨﺎﻭﺑﻲ ﺑﺎﺷﺪ‪ ،‬ﺩﺍﺭﺍﻱ‬
‫ﻃﻴﻒ ﮔﺴﺴﺘﻪﺍﻳﺴﺖ‪ ،‬ﺍﻣﺎ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ‪ ،‬ﻃﻴﻒ ﭘﻴﻮﺳﺘﻪ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﻣﻘﺎﻳﺴﻪﺍﻱ ﺑﻴﻦ ﻃﻴﻒ ﮔﺴﺴﺘﻪﻱ ﺭﻓﺘﺎﺭﻱ ﺗﻨﺎﻭﺑﻲ ﻭ‬
‫ﻃﻴﻒ ﭘﻴﻮﺳﺘﻪﻱ ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲ ﺭﺍ ﺩﺭ ﺷﮑﻞ )‪ (۵‬ﻣﻲﺑﻴﻨﻴﺪ‪.‬‬

‫ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﭼﻴﺴﺖ؟‬

‫ﺑﻪ ﺩﻟﻴﻞ ﺩﻳﻨﺎﻣﻴﮏ ﭘﻴﭽﻴﺪﻩ ﻭ ﻧﺎﭘﺎﻳﺪﺍﺭﻱﻱ ﺫﺍﺗﻲﻱ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ‪ ،‬ﺍﻳﺪﻩﻱ ﮐﻨﺘﺮﻝ ﺁﻥ –ﺑﻪ ﻃﻮﺭﻱ ﮐﻪ ﺭﻓﺘﺎﺭ ﻣﻮﺭﺩ ﻧﻈﺮ ﺭﺍ ﺍﺯ ﺧﻮﺩ‬
‫ﻧﺸﺎﻥ ﺩﻫﺪ‪ -‬ﻣﻤﮑﻦ ﻧﻤﻲﻧﻤﺎﻳﺪ‪ .‬ﺑﺎ ﺍﻳﻦ ﺣﺎﻝ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﮐﻪ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ ﻗﺎﺑﻠﻴﺖ ﮐﻨﺘﺮﻝﺷﻮﻧﺪﮔﻲ ﺩﺍﺭﻧﺪ ﻭ‬
‫ﺍﻫﺪﺍﻑ ﮐﻨﺘﺮﻟﻲﻱ ﻣﺘﻔﺎﻭﺗﻲ ﺑﺮﺍﻱﺷﺎﻥ ﻗﺎﺑﻞ ﺗﺼﻮﺭ ﺍﺳﺖ‪ .‬ﺍﻳﺪﻩﻫﺎﻱ ﮐﻨﺘﺮﻝ ﻏﻴﺮﺧﻄﻲ ﺑﺮﺍﻱ ﺁﻥﻫﺎ ﻗﺎﺑﻞ ﺍﻋﻤﺎﻝ ﺍﺳﺖ ﻭ ﻋﻼﻭﻩ ﺑﺮ‬
‫ﺍﻳﻦ‪ ،‬ﺑﻪ ﺩﻟﻴﻞ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺧﺎﺹ ﺧﻮﺩ‪ ،‬ﺭﻭﺵﻫﺎﻱ ﮐﻨﺘﺮﻟﻲﻱ ﺟﺪﻳﺪ ﻭ ﺧﺎﺹ ﺧﻮﺩﻱ ﻧﻴﺰ ﻗﺎﺑﻞ ﺍﻋﻤﺎﻝ ﺍﺳﺖ‪ .‬ﺩﺭ ﺍﻳﻦ ﻣﻮﺭﺩ ﺩﺭ‬
‫ﺑﺨﺶﻫﺎﻱ ﺑﻌﺪ ﺑﻪ ﺗﻔﺼﻴﻞ ﺗﻮﺿﻴﺢ ﺧﻮﺍﻫﻢ ﺩﺍﺩ ﻭ ﺗﻨﻬﺎ ﺑﻪ ﺍﻳﻦ ﺍﺷﺎﺭﻩ ﻣﻲﮐﻨﻢ ﮐﻪ ﺍﻫﺪﺍﻑ ﻣﺨﺘﻠﻒ ﮐﻨﺘﺮﻟﻲﺍﻱ ﺑﺮﺍﻱ ﻳﮏ ﺳﻴﺴﺘﻢ‬
‫ﺁﺷﻮﺑﻲ ﻗﺎﺑﻞ ﺗﺼﻮﺭ ﺍﺳﺖ ﮐﻪ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻣﻮﺍﺭﺩ ﺯﻳﺮ ﺍﺷﺎﺭﻩ ﮐﺮﺩ‪:‬‬

‫‪14‬‬
‫‪Strange Attractor‬‬
 ‫)‪Two systems with different initial condition (|e(0)|=1e-5‬‬
‫‪25‬‬

‫‪20‬‬

‫‪15‬‬

‫‪10‬‬

‫‪5‬‬

‫‪0‬‬

‫‪-5‬‬

‫‪-10‬‬

‫‪-15‬‬

‫‪-20‬‬
‫‪0‬‬ ‫‪500‬‬ ‫‪1000‬‬ ‫‪1500‬‬ ‫‪2000‬‬ ‫‪2500‬‬ ‫‪3000‬‬

‫ﺷﮑﻞ ‪ .3‬ﻣﻘﺎﻳﺴﻪ ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲ ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺘﺲ ﺑﻪ ﺍﺯﺍﻱ ﺩﻭ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪﻱ ﺑﺴﻴﺎﺭ ﻧﺰﺩﻳﮏ‬

‫ﺣﺬﻑ ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲ ﻭ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﺑﻪ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ‬ ‫•‬

‫ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﻳﮑﻲ ﺍﺯ ﻣﺴﻴﺮﻫﺎﻱ ﻣﺘﻨﺎﻭﺏ ﻧﺎﭘﺎﻳﺪﺍﺭ‪) ١٥‬ﻭ ﺍﻳﺠﺎﺩ ﭼﺮﺧﻪﻱ ﺣﺪﻱ ﭘﺎﻳﺪﺍﺭ(‬ ‫•‬
‫ﻫﻢﺯﻣﺎﻧﻲ ‪١٦‬ﻱ ﺩﻭ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ‬ ‫•‬
‫ﭘﺎﺩﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‪) ١٧‬ﺿﺪﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ – ﺁﺷﻮﺑﻲﺳﺎﺯﻱ‪(١٨‬‬ ‫•‬
‫‪١٩‬‬
‫ﮐﻨﺘﺮﻝ ﺩﻭﺷﺎﺧﮕﻲ‬ ‫•‬

‫ﻣﻮﺭﺩ ﺍﻭﻝ ﻭ ﺩﻭﻡ ﻭﺍﺿﺢﺍﻧﺪ‪ .‬ﺳﻴﺴﺘﻤﻲ ﺩﺍﺭﺍﻱ ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲ ﺍﺳﺖ ﻭ ﺍﻳﻦ ﺭﻓﺘﺎﺭ ﺑﺮﺍﻱ ﻣﺎ ﻣﻄﻠﻮﺏ ﻧﻴﺴﺖ‪ .‬ﻣﺜﻼ ﺍﻳﻦ ﻣﻲﺗﻮﺍﻧﺪ ﻧﻮﺳﺎﻥ‬
‫ﺁﺷﻮﺑﻲﻱ ﻏﻴﺮﻗﺎﺑﻞ ﻗﺒﻮﻝ ﺩﺭ ﺭﻭﺗﻮﺭ ﻳﮏ ﻣﻮﺗﻮﺭ ﺑﺎﺷﺪ‪ .‬ﺣﺬﻑ ﭼﻨﺎﻥ ﭼﻴﺰﻱ ﻻﺯﻡ ﺍﺳﺖ‪ .‬ﻫﻢﺯﻣﺎﻧﻲﻱ ﺩﻭ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ ﻧﻴﺰ ﺑﻪ‬
‫ﻣﻌﻨﺎﻱ ﺍﻳﻦ ﺍﺳﺖ ﮐﻪ ﺑﺨﻮﺍﻫﻴﻢ ﺣﺎﻟﺖ ﺩﻭ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ ﺩﻗﻴﻘﺎ ﻣﺸﺎﺑﻪ ﻫﻢ ﺷﻮﻧﺪ‪ .‬ﭼﻨﻴﻦ ﮐﺎﺭﻱ ﺩﺭ ﮐﺎﺭﺑﺮﺩﻫﺎﻳﻲ ﻣﺎﻧﻨﺪ ﻣﺨﺎﺑﺮﺍﺕ‬
‫ﻣﻄﺮﺡ ﻣﻲﺷﻮﺩ‪ .‬ﺩﺭ ﻣﻮﺭﺩ ﺍﻳﻦﻫﺎ ﺑﻪ ﻃﻮﺭ ﮐﺎﻣﻞ ﺩﺭ ﺑﺨﺶﻫﺎﻱ ﺑﻌﺪﻱ ﺗﻮﺿﻴﺢ ﺧﻮﺍﻫﻢ ﺩﺍﺩ‪ .‬ﭘﺎﺩﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‪ ،‬ﻣﻮﺭﺩ ﺩﻳﮕﺮﻱ ﺍﺳﺖ‬
‫ﮐﻪ ﺟﺪﻳﺪﺍ ﺗﻮﺟﻪ ﺑﺴﻴﺎﺭﻱ ﺭﺍ ﺑﻪ ﺧﻮﺩ ﺟﻠﺐ ﮐﺮﺩﻩ ﺍﺳﺖ‪ .‬ﭼﻨﻴﻦ ﮐﺎﺭﻱ ﺑﻪ ﺁﻥ ﻣﻌﻨﺎﺳﺖ ﮐﻪ ﺳﻴﺴﺘﻤﻲ ﺭﺍ ﮐﻪ ﺑﻪ ﺧﻮﺩﻱﻱ ﺧﻮﺩ ﺩﺍﺭﺍﻱ‬
‫ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲﺍﻱ ﻧﻴﺴﺖ )ﻣﺜﻼ ﺑﻪ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻟﻲ ﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ(‪ ،‬ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲ ﭘﻴﺪﺍ ﮐﻨﺪ‪ .‬ﻭﺟﻮﺩ ﺁﺷﻮﺏ ﺩﺭ ﺑﻌﻀﻲ ﺍﺯ ﻣﻮﺍﺭﺩ ﭼﻮﻥ‬
‫ﻣﻴﮑﺲ ﮐﺮﺩﻥ ﻣﻮﺍﺩ ﻣﺨﺘﻠﻒ ﻭ ﮐﻨﺘﺮﻝ ﺿﺮﺑﺎﻥ ﻗﻠﺐ ﻻﺯﻡ ﺍﺳﺖ‪ .‬ﮐﻨﺘﺮﻝ ﺩﻭﺷﺎﺧﮕﻲ ﻧﻴﺰ ﺑﺎ ﺍﻳﻦﮐﻪ ﺩﻗﻴﻘﺎ ﺟﺰﻭ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‬
‫ﻣﺤﺴﻮﺏ ﻧﻤﻲﺷﻮﺩ‪ ،‬ﺍﻣﺎ ﺑﻪ ﺁﻥ ﺍﺭﺗﺒﺎﻁ ﺩﺍﺭﺩ‪ .‬ﺑﺎ ﺍﻳﻦﮐﻪ ﺩﺭ ﺍﻳﻦﺟﺎ ﺗﻮﺿﻴﺢ ﭼﻨﺪﺍﻧﻲ ﺩﺭﺑﺎﺭﻩﻱ ﺁﻥ ﺩﺍﺩﻩ ﻧﻤﻲﺷﻮﺩ‪ ،‬ﺍﻣﺎ ﺩﻭﺷﺎﺧﮕﻲ ﻳﮑﻲ‬
‫ﺍﺯ ﭘﺪﻳﺪﻩﻫﺎﻳﻲﺳﺖ ﮐﻪ ﭘﻴﺶ ﺍﺯ ﺁﺷﻮﺑﻲ ﺷﺪﻥ ﺳﻴﺴﺘﻢ ﺭﺥ ﻣﻲﺩﻫﺪ‪ .‬ﺩﻭﺷﺎﺧﮕﻲ ﺑﻪ ﻃﻮﺭ ﺧﻼﺻﻪ ﺑﻪ ﺁﻥ ﻣﻌﻨﺎﺳﺖ ﮐﻪ ﺭﻓﺘﺎﺭ‬

‫‪15‬‬
‫‪Unstable Periodic Orbit‬‬
‫‪16‬‬
‫‪Synchronization‬‬
‫‪17‬‬
‫‪Anticontrol of Chaos‬‬
‫‪18‬‬
‫‪Chaotification‬‬
‫‪19‬‬
‫‪Bifurcation Control‬‬
 ‫ﺷﮑﻞ ‪ .4‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺭﻓﺘﺎﺭ ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺲ ﺑﻪ ﺍﺯﺍﻱ ‪ r = 28 ، σ = 10‬ﻭ ‪b = 8 3‬‬

‫ﺳﺎﺧﺘﺎﺭﻱﻱ ﺳﻴﺴﺘﻢ )ﻣﮑﺎﻥ ﻧﻘﺎﻁ ﺗﻌﺎﺩﻝ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱﻱ ﺁﻥﻫﺎ‪ ،‬ﺗﻌﺪﺍﺩ ﻧﻘﺎﻁ ﺗﻌﺎﺩﻝ‪ ،‬ﻭﺟﻮﺩ ﻳﺎ ﻋﺪﻡ ﻭﺟﻮﺩ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ ﻭ ﻫﻢﭼﻨﻴﻦ‬
‫ﻭﺟﻮﺩ ﭼﺮﺧﻪﻫﺎﻱ ﺣﺪﻱ ﺑﺎ ﻫﻤﻴﻦ ﻣﺸﺨﺼﺎﺕ ﻭ ﺣﺎﻻﺕ( ﺑﺎ ﺗﻐﻴﻴﺮ ﭘﺎﺭﺍﻣﺘﺮﻱ‪ ،‬ﻋﻮﺽ ﺷﻮﺩ‪ .‬ﺩﺭ ﮐﻨﺘﺮﻝ ﺩﻭﺷﺎﺧﮕﻲ ﻳﮑﻲ ﺍﺯ ﺩﻭ ﻫﺪﻑ‬
‫‪ (۱‬ﺑﻪ ﻋﻘﺐ ﺍﻧﺪﺍﺧﺘﻦ )ﻳﺎ ﺟﻠﻮ ﺍﻧﺪﺍﺧﺘﻦ( ﺩﻭﺷﺎﺧﮕﻲ ﻭ ‪ (۲‬ﺗﻐﻴﻴﺮ ﻧﻮﻉ ﺩﻭﺷﺎﺧﮕﻲ )ﭘﺎﻳﺪﺍﺭ‪ ،‬ﻧﺎﭘﺎﻳﺪﺍﺭ ﻭ ‪ (...‬ﻣﻮﺭﺩ ﻧﻈﺮ ﺍﺳﺖ‪ .‬ﺍﺭﺗﺒﺎﻁ‬
‫ﺩﻭﺷﺎﺧﮕﻲ ﺑﺎ ﺁﺷﻮﺏ ﺍﺯ ﺁﻥﺟﺎ ﮐﻪ ﻣﻌﻤﻮﻻ ﭘﻴﺶ ﺍﺯ ﺁﺷﻮﺑﻲ ﺷﺪﻥ ﻳﮏ ﺳﻴﺴﺘﻢ‪ ،‬ﭼﻨﺪﻳﻦ ﻭ ﭼﻨﺪ ﺩﻭﺷﺎﺧﮕﻲ ﺭﺥ ﻣﻲﺩﻫﺪ‪ ،‬ﻣﺸﺨﺺ‬
‫ﺍﺳﺖ‪ .‬ﺑﺎ ﻋﻘﺐ ﺍﻧﺪﺍﺧﺘﻦ ﺩﻭﺷﺎﺧﮕﻲ ﻣﻲﺗﻮﺍﻥ ﺁﺷﻮﺏ ﺭﺍ ﺑﻪ ﺗﺎﺧﻴﺮ ﺍﻧﺪﺍﺧﺖ‪.‬‬

‫ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‬

‫ﺩﺭ ﺍﻳﻦ ﺑﺨﺶ ﺑﻪ ﻣﻌﺮﻓﻲﻱ ﺑﻌﻀﻲ ﺍﺯ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﮐﻨﺘﺮﻝ )ﻳﺎ ﭘﺎﺩﮐﻨﺘﺮﻝ( ﺁﺷﻮﺏ ﻣﻲﭘﺮﺩﺍﺯﻡ‪ .‬ﺑﺮﺍﻱ ﺟﻤﻊﺁﻭﺭﻱﻱ ﺍﻳﻦ ﻓﻬﺮﺳﺖ‬
‫ﺧﻼﺻﻪ ﺗﻨﻬﺎ ﻧﮕﺎﻫﻲ ﺑﻪ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﻣﻘﺎﻻﺕ ﺗﺌﻮﺭﻱﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﭼﻨﺪ ﺳﺎﻝ ﺍﺧﻴﺮ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﻫﻤﻴﻦ ﺍﺭﺟﺎﻋﺎﺕ ﺩﺍﺩﻩ ﺷﺪﻩ‬
‫ﺍﻟﺰﺍﻣﺎ ﺑﻪ ﺍﻭﻟﻴﻦ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺑﺮﺍﻱ ﺁﻥ ﻣﻮﺍﺭﺩ ﺑﺮﻧﻤﻲﮔﺮﺩﺩ‪.‬‬

‫‪٢٠‬‬
‫ﺩﺭ ]‪ [Roy93‬ﻳﮑﻲ ﺍﺯ ﺍﻭﻟﻴﻦ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﮔﺰﺍﺭﺵ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻫﺪﻑ ﺁﻥﻫﺎ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱﻱ ﺷﺪﺕ ﺭﻭﺷﻨﺎﻳﻲ‬
‫ﺧﺮﻭﺟﻲﻱ ﺁﺷﻮﺑﻲ ﻟﻴﺰﺭ ﺑﻮﺩﻩ ﺍﺳﺖ‪ .‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ‪ OPF‬ﺗﻮﺍﻧﺴﺘﻨﺪ ﺗﺎ ﺣﺪ ‪ ۱۵‬ﺑﺮﺍﺑﺮ ﺗﻮﺍﻥ ﺧﺮﻭﺟﻲ ﺭﺍ ﺍﻓﺰﺍﻳﺶ ﺩﻫﻨﺪ‪.‬‬
‫ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺑﺮﺍﻱ ﭘﺎﻳﺪﺍﺭ ﮐﺮﺩﻥ ‪ UPO‬ﺩﺭ ﻣﺪﺍﺭﻫﺎﻱ ﺍﻟﮑﺘﺮﻭﻧﻴﮏ ﻗﺪﺭﺕ ﻧﻴﺰ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ‬
‫ﺑﻪ ]‪ [Kousaka01‬ﻣﺮﺍﺟﻌﻪ ﮐﻨﻴﺪ‪ .‬ﻋﻼﻭﻩ ﺑﺮ ﺍﻳﻦﻫﺎ ﺍﺯ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺑﺮﺍﻱ ﻣﻮﺍﺭﺩ ﭘﺰﺷﮑﻲ ﻧﻴﺰ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ‬
‫ﻧﻤﻮﻧﻪ ﺩﺭ ]‪ [Garfinkel92‬ﺍﺯ ﺗﮑﻨﻴﮏﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺑﺮﺍﻱ ﺣﺬﻑ ﺁﺭﻳﺘﻴﻤﻲ‪ ٢١‬ﻗﺒﻠﻲ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻫﻢﭼﻨﻴﻦ ﺩﺭ‬
‫]‪ [Brandt00‬ﺍﺯ ﺭﻭﺵ ‪ TDFC‬ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﻣﺪﻟﻲ ﺍﺯ ﻓﻴﺒﺮﻱ‪ ٢٢‬ﺷﺪﻥ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻫﻤﺎﻥﻃﻮﺭ ﮐﻪ ﭘﻴﺶﺗﺮ ﮔﻔﺘﻪ ﺷﺪ‪،‬‬
‫ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺍﺧﻴﺮﺍ ﺩﺭ ﻣﺨﺎﺑﺮﺍﺕ ﮐﺎﺭﺑﺮﺩ ﺑﺴﻴﺎﺭ ﺯﻳﺎﺩﻱ ﭘﻴﺪﺍ ﮐﺮﺩﻩ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺧﻼﺻﻪﺍﻱ ﺍﺯ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﺁﻥ ﺩﺭ ﻣﺨﺎﺑﺮﺍﺕ ﺍﻳﻤﻦ ﺑﻪ‬

‫‪20‬‬
‫‪Intensity‬‬
‫‪21‬‬
‫‪Arrhythmias‬‬
‫‪22‬‬
‫‪Ventricular Fibrillation‬‬
‫‪5000‬‬

‫‪4500‬‬
‫‪6000‬‬

‫‪4000‬‬
‫‪5000‬‬
‫‪3500‬‬

‫‪3000‬‬ ‫‪4000‬‬

‫‪2500‬‬
‫‪3000‬‬
‫‪2000‬‬

‫‪1500‬‬ ‫‪2000‬‬

‫‪1000‬‬
‫‪1000‬‬
‫‪500‬‬

‫‪0‬‬ ‫‪0‬‬
‫‪4950 4960 4970 4980 4990 5000 5010 5020 5030 5040 5050‬‬ ‫‪1300‬‬ ‫‪1350‬‬ ‫‪1400‬‬ ‫‪1450‬‬ ‫‪1500‬‬ ‫‪1550‬‬ ‫‪1600‬‬ ‫‪1650‬‬ ‫‪1700‬‬

‫ﺷﮑﻞ ‪ .5‬ﻣﻘﺎﻳﺴﻪ ﻃﻴﻒ ﻓﺮﮐﺎﻧﺴﻲ ﺑﻴﻦ ﺣﺮﮐﺖ ﻣﺘﻨﺎﻭﺏ )ﭼﭗ( ﻭ ﺣﺮﮐﺖ ﺁﺷﻮﺑﻲ )ﺭﺍﺳﺖ(‪ .‬ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ ﮐﻪ ﺑﺮﺧﻼﻑ ﺩﻳﻨﺎﻣﻴﮏ ﻣﺘﻨﺎﻭﺏ‪،‬‬
‫ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺑﻲ‪ ،‬ﻃﻴﻒ ﭘﻴﻮﺳﺘﻪﺍﻱ ﺩﺍﺭﺩ )ﺻﻔﺮ ﻧﺒﻮﺩﻥ ﻭ ﻋﺮﺽ ﺩﺍﺷﺘﻦ ﻃﻴﻒ ﺣﺮﮐﺖ ﺗﻨﺎﻭﺑﻲ ﺑﻪ ﺩﻟﻴﻞ ﺧﻄﺎﻱ ﻣﺤﺎﺳﺒﺎﺕ ﻋﺪﺩﻱ ﻭ ﻣﺤﺪﻭﺩ‬
‫ﺑﻮﺩﻥ ﭘﻨﺠﺮﻩﻱ ﺗﺒﺪﻳﻞ ﻓﻮﺭﻳﻪ ﺍﺳﺖ(‪.‬‬

‫]‪ [Yang04‬ﻣﺮﺍﺟﻌﻪ ﮐﻨﻴﺪ‪ .‬ﻫﻢﭼﻨﻴﻦ ﻓﻬﺮﺳﺘﻲ ﺍﺯ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﺭﻭﺵ ﮐﻨﺘﺮﻝ ﺿﺮﺑﻪﺍﻱ ﺩﺭ ﻣﺨﺎﺑﺮﺍﺕ ﺑﻪ ]‪[Suykens00‬‬
‫ﻣﺮﺍﺟﻌﻪ ﮐﻨﻴﺪ‪ .‬ﻫﻢﭼﻨﻴﻦ ﺩﺭ ]‪ [Chen03‬ﺑﺮﺍﻱ ﺣﻞ ﻣﺴﺎﻟﻪﻱ ﮐﻨﺘﺮﻝ ﺗﺮﺍﻓﻴﮏ ﺷﺒﮑﻪ‪ ٢٣‬ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺩﺭ‬
‫]‪ ،[Vincent00‬ﺁﻭﻧﮓ ﻣﻌﮑﻮﺳﻲ ﺭﺍ ﺑﺎ ﺗﺰﺭﻳﻖ ﺳﻴﮕﻨﺎﻝ ﺧﺎﺭﺟﻲﺍﻱ ﺍﺑﺘﺪﺍ ﺁﺷﻮﺑﻲ ﻣﻲﮐﻨﺪ ﻭ ﺳﭙﺲ ﺑﺎ ﺭﻭﺵﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺑﻲ‬
‫ﺁﻥ ﺭﺍ ﮐﻨﺘﺮﻝ ﻣﻲﮐﻨﺪ‪ .‬ﻫﺪﻑ ﺍﺯ ﭼﻨﻴﻦ ﮐﺎﺭﻱ‪ ،‬ﺍﻧﺠﺎﻡ ﻃﺮﺍﺣﻲﻱ ﻣﺤﻠﻲ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺫﺍﺗﺎ ﻏﻴﺮﺧﻄﻲﺳﺖ‪ .‬ﻃﺮﺍﺣﻲﻱ ﻣﺤﻠﻲ ﺗﻀﻤﻴﻦ‬
‫ﻣﻲﮐﻨﺪ ﮐﻪ ﺩﺭ ﺻﻮﺭﺕ ﻧﺰﺩﻳﮏ ﺷﺪﻥ ﺑﻪ ﺍﻧﺪﺍﺯﻩﻱ ﮐﺎﻓﻲ ﺑﻪ ﻧﻘﻄﻪﻱ ﮐﺎﺭ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱ ﺻﻮﺭﺕ ﻣﻲﮔﻴﺮﺩ ﻭ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺁﺷﻮﺑﻲﺳﺎﺯﻱ‬
‫ﻣﻲﺗﻮﺍﻥ ﻣﻄﻤﺌﻦ ﺑﻮﺩ ﮐﻪ ﭼﻨﻴﻦ ﻧﺰﺩﻳﮏﺷﺪﻧﻲ ﺭﺥ ﺧﻮﺍﻫﺪ ﺩﺍﺩ‪.‬‬
‫ﺑﺮﺍﻱ ﺍﻃﻼﻋﺎﺕ ﺑﻴﺶﺗﺮ ﺩﺭ ﻣﻮﺭﺩ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ]‪ [Andrevskii04‬ﺭﺟﻮﻉ ﮐﻨﻴﺪ‪ .‬ﺩﺭ ﺁﻥ ﻣﻘﺎﻟﻪ ﺗﻨﻬﺎ‬
‫ﺑﻪ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﭘﺮﺩﺍﺧﺘﻪ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺍﺯ ﻣﻴﺎﻥ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﻣﻌﺮﻓﻲ ﺷﺪﻩ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻣﻮﺍﺭﺩﻱ ﭼﻮﻥ ﮐﻨﺘﺮﻝ ﺁﻭﻧﮓﻫﺎ‪،‬‬
‫ﮊﻳﺮﻭﺳﮑﻮﭖ‪ ،‬ﺗﻮﭖ ﺟﻬﻨﺪﻩ‪ ،‬ﻣﻘﺎﺑﻠﻪ ﺑﺎ ﻧﻮﺳﺎﻧﺎﺕ ﮐﺸﺘﻲ‪ ،‬ﺗﻼﻃﻢ ﺩﺭ ﻣﺎﻳﻌﺎﺕ‪ ،‬ﮐﻨﺘﺮﻝ ﺭﻓﺘﺎﺭ ﭼﻨﺪ‪-‬ﻣﺪﻱ‪ ٢٤‬ﺩﺭ ﻟﻴﺰﺭ‪ ،‬ﺣﺬﻑ ﻳﺎ ﺍﻳﺠﺎﺩ‬
‫ﺣﺎﻟﺖ ﺁﺷﻮﺑﻲ ﺩﺭ ﻭﺍﮐﻨﺶ ﺷﻴﻤﻴﺎﻳﻲ ﻣﻮﺳﻮﻡ ﺑﻪ ‪ ،Belousov-Zhabotinsky‬ﻭ ﻫﻢﭼﻨﻴﻦ ﻫﻢﺯﻧﻲﻱ ﺁﺷﻮﺏﻧﺎﮎ ﺑﺮﺍﻱ‬
‫ﺳﺮﻋﺖ ﻳﺎﻓﺘﻦ ﻓﺮﺁﻳﻨﺪ ﻣﺨﻠﻮﻁ ﺷﺪﻥ‪،‬ﮐﻨﺘﺮﻝ ﺟﻤﻌﻴﺖ ﺣﺸﺮﺍﺕ‪ ٢٥‬ﺑﺎ ﺗﻐﻴﻴﺮ ﺍﻧﺪﮎ ﺩﺭ ﺗﻌﺪﺍﺩ ﺣﺸﺮﺍﺕ ﺑﺎﻟﻎ‪ ،‬ﻭ ﺣﺬﻑ ﺣﺎﻟﺖﻫﺎﻱ‬
‫ﺻﺮﻉﺍﻱ ﺩﺭ ﺣﻴﻮﺍﻧﺎﺕ ﺍﺷﺎﺭﻩ ﮐﺮﺩ‪.‬‬

‫ﺗﻌﺎﺭﻳﻒ ﺭﻳﺎﺿﻲ ﺁﺷﻮﺏ‬

‫ﺑﺎ ﻭﺟﻮﺩ ﺁﻥﮐﻪ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ )ﺣﺴﺎﺳﻴﺖ ﺑﻪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ‪ ،‬ﻭﺟﻮﺩ ﺟﺎﺫﺏ ﺷﮕﻔﺖ‪ ،‬ﻃﻴﻒ ﭘﻴﻮﺳﺘﻪ ﻭ …( ﺗﻘﺮﻳﺒﺎ ﻭﺍﺿﺢ‬
‫ﺍﺳﺖ ﻭ ﻫﻢﭼﻨﻴﻦ ﺑﺎ ﻣﺸﺎﻫﺪﻩﻱ ﺭﻓﺘﺎﺭ ﻳﮏ ﺳﻴﺴﺘﻢ ﻣﻲﺗﻮﺍﻥ ﻧﺴﺒﺖ ﺑﻪ ﺁﺷﻮﺑﻲ ﺑﻮﺩﻥ ﻳﺎ ﻧﺒﻮﺩﻥ ﺁﻥ ﺍﻇﻬﺎﺭﻧﻈﺮ ﮐﺮﺩ‪ ،‬ﺍﻣﺎ ﺗﻌﺮﻳﻒ‬
‫ﺩﻗﻴﻖ ﻭ ﻫﻤﻪﺑﺎﻭﺭﻱ ﺍﺯ ﺁﺷﻮﺏ ﻭﺟﻮﺩ ﻧﺪﺍﺭﺩ‪ .‬ﺍﻟﺒﺘﻪ ﭼﻨﻴﻦ ﭼﻴﺰﻱ ﺗﺎ ﺣﺪﻱ ﻗﺎﺑﻞ ﺗﺼﻮﺭﺳﺖ ﭼﻮﻥ ﺁﺷﻮﺏ ﭘﻴﺶ ﺍﺯ ﺁﻥﮐﻪ ﻳﮏ ﻣﻔﻬﻮﻡ‬

‫‪23‬‬
‫‪Internet Congestion Control‬‬
‫‪24‬‬
‫‪Multimode behavior‬‬
‫‪ 25‬ﺣﺸﺮﻩﻱ ‪red flour beetle‬‬
‫ﮐﺎﻣﻼ ﺭﻳﺎﺿﻲ ﺑﺎﺷﺪ‪ ،‬ﻣﻔﻬﻮﻣﻲﺳﺖ ﮐﻪ ﺭﻳﺸﻪﻫﺎﻱﺍﺵ ﺍﺯ ﺣﻮﺯﻩﻱ ﺍﺩﺭﺍﮎ ﺍﻧﺴﺎﻥ ﻭ ﻫﻢﭼﻨﻴﻦ ﺯﺑﺎﻥ ﻃﺒﻴﻌﻲﻱ ﺍﻭ ﻭﺍﺭﺩ ﻋﻠﻢ ﺷﺪﻩ‬
‫ﺍﺳﺖ‪ .‬ﺍﻳﺠﺎﺩ ﺗﺌﻮﺭﻱﺍﻱ ﮐﻪ ﻫﻤﻪﻱ ﺩﺭﮎ ﺍﻧﺴﺎﻥ ﻧﺴﺒﺖ ﺑﻪ ﭼﻨﻴﻦ ﭘﺪﻳﺪﻩﻱ ﻧﻴﻤﻪﻋﻴﻨﻲ‪-٢٦‬ﻧﻴﻤﻪﺫﻫﻨﻲ‪٢٧‬ﺍﻱ ﺭﺍ ﭘﻮﺷﺶ ﺩﻫﺪ‪ ،‬ﮐﺎﺭ‬
‫ﺳﺎﺩﻩﺍﻱ ﻧﻴﺴﺖ‪ .‬ﺑﺎ ﺍﻳﻦﻫﻤﻪ ﭼﻨﺪﻳﻦ ﺗﻌﺮﻳﻒ ﺭﻳﺎﺿﻲﻱ ﻣﺨﺘﻠﻒ ﺑﺮﺍﻱ ﺁﺷﻮﺏ ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﮐﻪ ﮐﻢ ﻭ ﺑﻴﺶ ﻗﺎﺑﻞ ﻗﺒﻮﻝﺍﻧﺪ‪.‬‬
‫ﺩﺭ ﺍﻳﻦ ﺑﺨﺶ ﺗﻨﻬﺎ ﺑﻪ ﻣﻌﺮﻓﻲ ﺑﻌﻀﻲ ﺍﺯ ﺍﻳﻦ ﺗﻌﺎﺭﻳﻒ ﻣﻲﭘﺮﺩﺍﺯﻡ ﻭ ﭼﻨﺪﺍﻥ ﻭﺍﺭﺩ ﺟﺰﻳﻴﺎﺕﺷﺎﻥ ﻧﻤﻲﺷﻮﺩ‪ .‬ﺗﻨﻬﺎ ﺫﮐﺮ ﺍﻳﻦ ﻧﮑﺘﻪ ﻗﺎﺑﻞ‬
‫ﺗﻮﺟﻪ ﺍﺳﺖ ﮐﻪ ﻗﻀﺎﻳﺎﻳﻲ ﮐﻪ ﺩﺭ ﺍﻧﺘﻬﺎﻱ ﺍﻳﻦ ﺑﺨﺶ ﺧﻮﺍﻫﻨﺪ ﺁﻣﺪ ﺩﺭ ﺍﺛﺒﺎﺕ ﺁﺷﻮﺑﻲ ﺑﻮﺩﻥ ﻧﺘﻴﺠﻪﻱ ﺭﻭﺵﻫﺎﻱ ﭘﺎﺩﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺑﻪ‬
‫ﮐﺎﺭ ﮔﺮﻓﺘﻪ ﻣﻲﺷﻮﻧﺪ‪.‬‬

‫ﺩﻳﻨﺎﻣﻴﮏ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫)‪x = f ( x‬‬
‫)‪(2‬‬
‫‪x ∈ D ⊂ ℜ n , f : D  ℜn‬‬

‫ﺗﻌﺎﺭﻳﻒ ﺯﻳﺮ ﺭﺍ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪.‬‬

‫ﺗﻌﺮﻳﻒ ﻣﺠﻤﻮﻋﻪ ﺟﺬﺏﮐﻨﻨﺪﻩ‪ :‬ﻣﺠﻤﻮﻋﻪ ‪ ، B0‬ﻣﺠﻤﻮﻋﻪﻱ ﺟﺬﺏﮐﻨﻨﺪﻩ‪ (1) ٢٨‬ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ ﺍﮔﺮ ﻣﺠﻤﻮﻋﻪﻱ ﺑﺎﺯ‪٢٩‬ﻱ‬
‫ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ﮐﻪ ‪ B0 ⊂ B‬ﺑﺎﺷﺪ ﻭ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ‪ ، x(0) ∈ B‬ﻫﻤﻪﻱ ﭘﺎﺳﺦﻫﺎﻱ ) ‪ x(t‬ﺩﺭ ﺷﺮﻁ ﺯﻳﺮ ﺻﺪﻕ ﮐﻨﺪ‪:‬‬

‫‪lim dist ( x(t ), B0 ) = 0‬‬ ‫)‪(3‬‬

‫∞→ ‪t‬‬

‫ﺗﻌﺮﻳﻒ ﺟﺎﺫﺏ‪ :‬ﻣﺠﻤﻮﻋﻪﻱ ﺑﺴﺘﻪ‪٣٠‬ﻱ ‪ ، B0‬ﺟﺎﺫﺏ‪ ٣١‬ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ ﺍﮔﺮ ﻣﻴﻨﻴﻤﺎﻝ‪ ٣٢‬ﺑﺎﺷﺪ‪ ،‬ﻳﻌﻨﻲ ﻫﻴﭻ ﻣﺠﻤﻮﻋﻪﻱ‬
‫ﺟﺬﺏﮐﻨﻨﺪﻩﻱ ﮐﻮﭼﮏﺗﺮ ﺯﻳﺮﻣﺠﻤﻮﻋﻪﻱ ‪ B0‬ﻧﺒﺎﺷﺪ‪ .‬ﻣﺠﻤﻮﻋﻪﻱ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪﻱ ‪ B‬ﮐﻪ )‪ (3‬ﺩﺭ ﺁﻥ ﺻﺪﻕ ﻣﻲﮐﻨﺪ‪ ،‬ﺑﺴﺘﺮ‬
‫ﺟﺬﺏ‪ ٣٣‬ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺣﺎﻝ ﺗﻌﺮﻳﻒ ﻣﺠﻤﻮﻋﻪﻱ ‪ topologically transitive‬ﺭﺍ ﺍﺭﺍﻳﻪ ﻣﻲﺩﻫﻴﻢ ﮐﻪ ﺩﺭ ﺗﻌﺮﻳﻒ ﺁﺷﻮﺏ ﺑﺴﻴﺎﺭ ﻣﻬﻢ ﺍﺳﺖ‪.‬‬

‫ﺗﻌﺮﻳﻒ ‪ :topologically transitive‬ﻣﺠﻤﻮﻋﻪﻱ ﺑﺴﺘﻪﻱ ﺗﻐﻴﻴﺮﻧﺎﭘﺬﻳﺮ ‪ A‬ﺭﺍ ﻧﺴﺒﺖ ﺑﻪ )‪topologically ،(1a‬‬

‫‪ transitive‬ﻣﻲﻧﺎﻣﻨﺪ ﺍﮔﺮ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ﺩﻭ ﻣﺠﻤﻮﻋﻪﻱ ﺑﺎﺯ ‪ ، U ,V ⊂ A‬ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪﺍﻱ ﺍﺯ ‪ ( x0 ∈ U ) U‬ﻭ ﺯﻣﺎﻥﺍﻱ‬
‫) ‪ ( t ≥ 0‬ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ﮐﻪ ‪ x(t , x0 ) ∈ V‬ﺑﺎﺷﺪ‪.‬‬

‫‪26‬‬
‫‪Semi-Objective‬‬
‫‪27‬‬
‫‪Semi-Subjective‬‬
‫‪28‬‬
‫‪Attracting Set‬‬
‫‪29‬‬
‫‪Open Set‬‬
‫‪30‬‬
‫‪Closed Set‬‬
‫‪31‬‬
‫‪Attractor‬‬
‫‪32‬‬
‫‪Minimal‬‬
‫‪33‬‬
‫‪Basin of Attraction‬‬
‫ﺗﻌﺎﺭﻳﻒ ﻭ ﻗﻀﺎﻳﺎﻱ ﺯﻳﺎﺩﻱ ﺩﺭ ﺍﻳﻦﺑﺎﺭﻩ ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﮐﻪ ﺑﺮﺍﻱ ﻣﻄﺎﻟﻌﻪﻱ ﺁﻥﻫﺎ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ]‪ [Fradkov98‬ﻣﺮﺍﺟﻌﻪ ﮐﺮﺩ‪ .‬ﺩﺭ‬
‫ﺍﻳﻦﺟﺎ ﺑﻪ ﺁﻥﻫﺎ ﻧﻤﻲﭘﺮﺩﺍﺯﻳﻢ ﻭ ﺗﻨﻬﺎ ﺑﻪ ﺍﺭﺍﻳﻪﻱ ﭼﻨﺪ ﺗﻌﺮﻳﻒ ﺍﺯ ﺁﺷﻮﺏ ﺑﺴﻨﺪﻩ ﻣﻲﮐﻨﻴﻢ‪ .‬ﺗﻌﺮﻳﻒ ﺍﺭﺍﻳﻪ ﺷﺪﻩ ﺩﺭ ]‪[Fradkov98‬‬
‫ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺍﺳﺖ‪.‬‬

‫ﺗﻌﺮﻳﻒ ﺁﺷﻮﺏ ‪ :Fradkov‬ﻓﺮﺽ ﮐﻨﻴﻢ ‪ ، D‬ﺟﺎﺫﺏ ‪ topologically transitive‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺩﻳﻨﺎﻣﻴﮑﻲ )‪(2‬‬
‫ﺑﺎﺷﺪ‪ .‬ﺁﻥﮔﺎﻩ ‪ D‬ﺟﺎﺫﺏ ﺷﮕﻔﺖ ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ ﺍﮔﺮ ﮐﺮﺍﻥﺩﺍﺭ‪ ٣٤‬ﺑﺎﺷﺪ ﻭ ﻫﻤﻪﻱ ﭘﺎﺳﺦﻫﺎﻱ ﺁﻥ ﻣﻌﺎﺩﻟﻪ ﮐﻪ ﺍﺯ ‪ D‬ﺁﻏﺎﺯ ﻣﻲﺷﻮﻧﺪ‪،‬‬
‫ﻧﺎﭘﺎﻳﺪﺍﺭ ﻟﻴﺎﭘﺎﻧﻮﻑ ﺑﺎﺷﺪ‪ .‬ﺳﻴﺴﺘﻢ ﻣﻮﺭﺩ ﻧﻈﺮ ﺁﺷﻮﺑﻲ ﺍﺳﺖ ﺍﮔﺮ ﺣﺪﺍﻗﻞ ﻳﮏ ﺟﺎﺫﺏ ﺷﮕﻔﺖ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪.‬‬

‫ﺑﺮﺍﻱ ﺩﻳﻨﺎﻣﻴﮏ ﺯﻣﺎﻥ‪-‬ﮔﺴﺴﺘﻪ‪ ،‬ﺗﻌﺮﻳﻒ ‪ Devaney‬ﻣﻘﺒﻮﻝ ﺍﺳﺖ ]‪ .[Devaney87‬ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ ‪ S‬ﻓﻀﺎﻱ‬

‫(‬ ‫)‬
‫ﺗﻮﭘﻮﻟﻮﮊﻳﮑﻲ ﺑﺎﺷﺪ ﻭ ‪m ، f m‬ﺍﻣﻴﻦ ﺗﮑﺮﺍﺭ ﻧﮕﺎﺷﺖ ‪ f : S  S‬ﺑﺎﺷﺪ‪ ،‬ﻳﻌﻨﻲ‪ f m := f f m −1 , m = 1,2,... :‬ﻭ‬
‫ﻫﻢﭼﻨﻴﻦ ‪ . f 0 = I‬ﺁﻥﮔﺎﻩ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬

‫ﺗﻌﺮﻳﻒ ﻧﻘﻄﻪ ﺗﻨﺎﻭﺑﻲ‪ :‬ﻧﻘﻄﻪﻱ ‪ x* ∈ S‬ﻧﻘﻄﻪﻱ ﺗﻨﺎﻭﺑﻲ ﺑﺎ ﺗﻨﺎﻭﺏ ‪) m‬ﻳﺎ ‪-m‬ﺗﻨﺎﻭﺑﻲ( ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‪ ،‬ﺍﮔﺮ‬
‫) *‪ x* = f m ( x‬ﻭﻟﻲ ‪ . x* ≠ f k ( x* ),1 ≤ k < m‬ﺍﮔﺮ ‪ m = 1‬ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ *‪ x‬ﻧﻘﻄﻪﻱ ﺛﺎﺑﺖ‪ ٣٥‬ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺗﻌﺮﻳﻒ ﺁﺷﻮﺏ ﺍﺯ ﺩﻳﺪﮔﺎﻩ ‪ Devaney‬ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺍﺳﺖ‪:‬‬

‫ﺗﻌﺮﻳﻒ ﺁﺷﻮﺏ ‪ :Devaney‬ﻧﮕﺎﺷﺖ ‪ f : S  S‬ﺁﺷﻮﺑﻲﺳﺖ ﺍﮔﺮ‪،‬‬

‫‪ (۱‬ﻧﮕﺎﺷﺖ ‪ f‬ﺑﻪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺣﺴﺎﺱ ﺑﺎﺷﺪ‪ ،‬ﺑﻪ ﺍﻳﻦ ﻣﻌﻨﺎ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ‪ x ∈ S‬ﻭ ﻫﺮ ﻫﻤﺴﺎﻳﮕﻲ ﺍﺯ ‪x‬‬
‫) ) ‪ δ > 0 ،( ∀ε > 0; N ( x, ε‬ﺍﻱ ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ﮐﻪ ‪ f m ( x ) − f m ( y ) > δ‬ﺑﻪ ﺍﺯﺍﻱ ﻳﮏ ) ‪y ∈ N ( x, ε‬‬
‫ﻭ ﻳﮏ ‪. m ≥ 0‬‬
‫‪ (۲‬ﻧﮕﺎﺷﺖ ‪ topologically transitive ، f‬ﺑﺎﺷﺪ‪.‬‬
‫‪ (۳‬ﻧﻘﺎﻁ ﺗﻨﺎﻭﺑﻲ ﻧﮕﺎﺷﺖ ‪ ، f‬ﻣﺘﺮﺍﮐﻢ‪ ٣٦‬ﺩﺭ ‪ S‬ﺑﺎﺷﻨﺪ‪.‬‬

‫ﺗﻌﺮﻳﻒ ﻣﻔﻴﺪ ﺩﻳﮕﺮ ﺁﺷﻮﺏ ﮔﺴﺴﺘﻪ‪-‬ﺯﻣﺎﻥ‪ ،‬ﺗﻌﺮﻳﻒ ‪ Li‬ﻭ ‪ Yorke‬ﺍﺳﺖ ]‪ .[Li75‬ﺗﻌﺮﻳﻒ ﺁﻥﻫﺎ ﮐﻪ ﺍﻭﻟﻴﻦ ﺗﻌﺮﻳﻒ ﺭﻳﺎﺿﻲ ﺑﺮﺍﻱ‬
‫ﺁﺷﻮﺏ ﺑﻮﺩﻩ ﺍﺳﺖ ﻭ ﺑﺮﺍﻱ ﺣﺎﻟﺖ ﻳﮏ‪-‬ﺑﻌﺪﻱ ﺑﻴﺎﻥ ﺷﺪﻩ ﻭ ﻗﻀﻴﻪﺍﻱ ﻧﻴﺰ ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲﻱ ﺁﺷﻮﺑﻲ ﺑﻮﺩﻥ ﺑﻪ ﻫﻢﺭﺍﻩ ﺩﺍﺷﺖ‪ ،‬ﺑﻌﺪﻫﺎ‬
‫ﺗﻮﺳﻂ ‪ Marotto‬ﺑﻪ ﺣﺎﻟﺖ ﭼﻨﺪ‪-‬ﺑﻌﺪﻱ ﺗﻌﻤﻴﻢ ﻳﺎﻓﺖ ]‪.[Marotto78‬‬

‫ﻗﻀﻴﻪ ‪ :Marotto‬ﺳﻴﺴﺘﻢ ﺩﻳﻨﺎﻣﻴﮑﻲﻱ ﺯﻣﺎﻥ‪-‬ﮔﺴﺴﺘﻪﻱ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫‪X k +1 = f ( X k ), ∈ ℜ n , k = 0,1,2,...‬‬ ‫)‪(4‬‬

‫ﮐﻪ ‪ f‬ﺩﺭ ﺁﻥ ﻣﺸﺘﻖﭘﺬﻳﺮ ﺍﺳﺖ‪ .‬ﺍﮔﺮ ‪ f‬ﺩﺍﺭﺍﻱ ‪ snap-back repeller‬ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ ﺳﻴﺴﺘﻢ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﺑﻪ ﻣﻔﻬﻮﻡ‬
‫‪ Li-Yorke‬ﺁﺷﻮﺑﻲ ﺍﺳﺖ‪ ،‬ﺑﻪ ﻣﻌﻨﺎﻱ ﺍﻳﻦﮐﻪ‪:‬‬

‫‪34‬‬
‫‪Bounded‬‬
‫‪35‬‬
‫‪Fixed Point‬‬
‫‪36‬‬
‫‪Dense‬‬
 ‫‪ (۱‬ﻋﺪﺩ ﻣﺜﺒﺖﺍﻱ ﻣﺎﻧﻨﺪ ‪ N‬ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺩﺍﺭﺩ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ‪ ، p ≥ N‬ﻧﮕﺎﺷﺖ ‪ f‬ﻧﻘﻄﻪﻱ ﺗﻨﺎﻭﺑﻲﺍﻱ ﺑﺎ ﺗﻨﺎﻭﺏ ‪ p‬ﺩﺍﺭﺩ‪.‬‬
‫‪ (۲‬ﻣﺠﻤﻮﻋﻪﻱ ﺷﻤﺎﺭﺵﻧﺎﭘﺬﻳﺮ ‪ S‬ﺍﻱ ﺑﺪﻭﻥ ﻫﻴﭻ ﻧﻘﻄﻪﻱ ﺗﻨﺎﻭﺑﻲﺍﻱ ﺍﺯ ‪ f‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﮐﻪ‬
‫‪f (S ) ⊂ S (۱-۲‬‬
‫‪ (۲-۲‬ﺑﻪ ﺍﺯﺍﻱ ‪) X S ,YS ∈ S‬ﻭ ‪:( X S ≠ YS‬‬

‫‪lim sup f k ( X S ) − f k (YS ) > 0‬‬ ‫)‪(5‬‬

‫∞→ ‪k‬‬

‫‪ (۳-۲‬ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ‪ X S ∈ S‬ﻭ ﻫﺮ ﻧﻘﻄﻪﻱ ‪ Yper‬ﺗﻨﺎﻭﺑﻲﻱ ﻣﺘﻌﻠﻖ ﺑﻪ ‪: f‬‬

‫‪lim sup f k ( X S ) − f k (YS ) > 0‬‬ ‫)‪(6‬‬

‫∞→ ‪k‬‬

‫‪ (۳‬ﺯﻳﺮﻣﺠﻤﻮﻋﻪﻱ ﺷﻤﺎﺭﺵﻧﺎﭘﺬﻳﺮ ‪ S0‬ﺍﺯ ‪ S‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ‪: X S 0 , YS 0 ∈ S 0‬‬

‫‪lim inf f k ( X S 0 ) − f k (YS 0 ) = 0‬‬ ‫)‪(7‬‬

‫∞→ ‪k‬‬

‫ﻧﺮﻡ ﺍﻗﻠﻴﺪﺳﻲﺳﺖ‪.‬‬ ‫ﻭ ﺩﺭ ﻫﻤﻪﻱ ﺭﻭﺍﺑﻂ ﺑﺎﻻ‪،‬‬

‫ﺣﺎﻝ ﻣﺎﻧﺪﻩ ﺍﺳﺖ ﻣﺸﺨﺺ ﺷﻮﺩ ﮐﻪ ‪ snap-back repeller‬ﭼﻪ ﭼﻴﺰﻱﺳﺖ‪ .‬ﺗﻌﺮﻳﻒ ﺍﺑﺘﺪﺍﻳﻲ ﺧﻮﺩ ‪ Marotto‬ﺑﺪﻳﻦ‬
‫ﺻﻮﺭﺕ ﺑﻮﺩﻩ ﺍﺳﺖ‪:‬‬

‫ﺗﻌﺮﻳﻒ ﻧﻘﻄﻪﻱ ﺛﺎﺑﺖ ﻣﻨﺒﺴﻂ ﺷﻮﻧﺪﻩ‪ :‬ﻓﺮﺽ ﮐﻨﻴﺪ ‪ f‬ﺗﺎﺑﻊ ﻣﺸﺘﻖﭘﺬﻳﺮ ﺩﺭ ) ‪) Br (Z‬ﺗﻮﭖ ﺑﺴﺘﻪﺍﻱ ﺩﺭ ﻓﻀﺎﻱ ‪ℜn‬‬
‫ﺑﻪ ﻣﺮﮐﺰ ‪ ( Z‬ﺑﺎﺷﺪ‪ .‬ﻧﻘﻄﻪﻱ ‪ Z ∈ ℜn‬ﻧﻘﻄﻪﻱ ﺛﺎﺑﺖ ﻣﻨﺒﺴﻂ ﺷﻮﻧﺪﻩ‪ f ٣٧‬ﺩﺭ ) ‪ Br (Z‬ﺍﺳﺖ‪ ،‬ﺍﮔﺮ ‪ f (Z ) = Z‬ﻭ‬
‫) ‪) Df ( X‬ﮊﺍﮐﻮﺑﻴﻦ ) ‪ ( f ( X‬ﺩﺍﺭﺍﻱ ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩﺍﻱ ﺑﺎ ﻗﺪﺭ ﻣﻄﻠﻖ ﺑﺰﺭﮒﺗﺮ ﺍﺯ ‪ ۱‬ﺩﺭ ﻫﻤﻪﻱ ﻧﻘﺎﻁ ) ‪ Br (Z‬ﺑﺎﺷﺪ‪.‬‬

‫ﺗﻌﺮﻳﻒ ‪ :snap-back repeller‬ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ ‪ Z‬ﻧﻘﻄﻪﻱﺛﺎﺑﺖ ﻣﻨﺒﺴﻂ ﺷﻮﻧﺪﻩﻱ ‪ f‬ﺩﺭ ) ‪ Br (Z‬ﺑﻪ ﺍﺯﺍﻱ ﻳﮏ‬
‫‪ r > 0‬ﺑﺎﺷﺪ‪ Z .‬ﻳﮏ ‪ snap-back repeller‬ﺑﺮﺍﻱ ‪ f‬ﺍﺳﺖ ﺍﮔﺮ ﻧﻘﻄﻪﻱ ) ‪ X 0 ∈ Br ( Z‬ﻣﺨﺎﻟﻒ ﺑﺎ ‪ Z‬ﺍﻱ‬
‫ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ) ‪ ( X 0 ≠ Z‬ﮐﻪ ‪ f M ( X 0 ) = Z‬ﻭ ‪ det (Df M ( X 0 ) ) ≠ 0‬ﺑﻪ ﺍﺯﺍﻱ ﻳﮏ ﻋﺪﺩ ﻣﺜﺒﺖ ‪. M‬‬

‫ﺑﺎ ﺍﻳﻦﺣﺎﻝ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﮐﻪ ﻗﻀﻴﻪﻱ ‪ Marotto‬ﻣﺸﮑﻼﺗﻲ ﺩﺍﺭﺩ ﻭ ﺁﻥ ﻫﻢ ﺩﺭ ﺗﻌﺮﻳﻒ ﻧﻘﻄﻪﻱ ﺛﺎﺑﺖ ﻣﻨﺒﺴﻂ ﺷﻮﻧﺪﻩﻱ‬
‫ﺁﻥ ﺍﺳﺖ ﮐﻪ ﺷﺮﻁ ﺑﻴﺎﻥ ﺷﺪﻩ ﺩﺭ ﺑﺎﻻ ﻫﻤﻴﺸﻪ ﺩﺭﺳﺖ ﻧﻴﺴﺖ‪ .‬ﻗﻀﻴﻪﻱ ﺯﻳﺮ‪ ،‬ﺻﻮﺭﺕ ﺑﻪﺗﺮﻱ ﺍﺯ ﻗﻀﻴﻪﻱ ﻣﺬﮐﻮﺭ ﺍﺳﺖ ]‪.[Li03‬‬

‫ﻗﻀﻴﻪ ‪ :Marotto-Li-Chen‬ﺳﻴﺴﺘﻢ )‪ (۲‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﮐﻪ ‪ ، Z‬ﻧﻘﻄﻪﻱ ﺛﺎﺑﺖ ﺁﻥ ﺍﺳﺖ‪ .‬ﻫﻢﭼﻨﻴﻦ ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ‬
‫‪ f ( X ) (۱‬ﺩﺭ ) ‪ Br (Z‬ﺑﻪ ﺍﺯﺍﻱ ﻳﮏ ‪ r > 0‬ﺑﻪ ﻃﻮﺭ ﭘﻴﻮﺳﺘﻪ ﻣﺸﺘﻖﭘﺬﻳﺮﺳﺖ‪.‬‬

‫‪37‬‬
‫‪Expanding Fixed Point‬‬
 ‫(‬ ‫)‬
‫‪ (۲‬ﻫﻤﻪﻱ ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩﻱ ) ) ‪ (Df ( X ) ) (Df ( X‬ﺑﺰﺭﮒﺗﺮ ﺍﺯ ‪ ۱‬ﺑﺎﺷﻨﺪ‪.‬‬
‫‪T‬‬

‫‪ (۳‬ﻧﻘﻄﻪﻱ ) ‪ ( X 0 ≠ Z ) X 0 ∈ Br′ ( Z‬ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ﮐﻪ ﺩﺭ ﺁﻥ‬

‫‪Br ′ (Z ) = { X | X − Z ≤ r ′ ≤ r and all eigenvalue s‬‬

‫)‪(8‬‬
‫(‬ ‫)‬
‫}‪of ( Df ( X ) T ( Df ( X ) are larger than 1‬‬

‫(‬ ‫)‬
‫ﺑﻪ ﻃﻮﺭﻱ ﮐﻪ ‪ f M ( X 0 ) = Z‬ﮐﻪ ﺩﺭ ﺁﻥ ‪ f i ( X 0 ) ∈ Br ′ ( Z ), i = 0,1,2,..., M‬ﻭ ‪det Df M ( X 0 ) ≠ 0‬‬
‫ﺑﻪ ﺍﺯﺍﻱ ﻳﮏ ﻋﺪﺩ ﻣﺜﺒﺖ ‪. M‬‬

‫ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‬
‫ﺩﺭ ﻗﺴﻤﺖ ﻗﺒﻞ ﺩﺭ ﻣﻮﺭﺩ ﺁﺷﻮﺏ ﻭ ﺗﻌﺎﺭﻳﻒ ﺁﻥ ﺗﻮﺿﻴﺢ ﺩﺍﺩﻡ‪ .‬ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ ﺑﻪ ﻣﻌﺮﻓﻲﻱ ﺭﻭﺵﻫﺎﻱ ﻣﺨﺘﻠﻒ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‬
‫ﻣﻲﭘﺮﺩﺍﺯﻡ‪ .‬ﻫﻤﺎﻥﻃﻮﺭ ﮐﻪ ﮔﻔﺘﻪ ﺷﺪ‪ ،‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ ﺩﺍﺭﺍﻱ ﻭﻳﮋﮔﻲﻫﺎﻱ ﻣﺨﺘﻠﻔﻲ ﻫﺴﺘﻨﺪ ﮐﻪ ﻳﮑﻲ ﺍﺯ ﻣﻬﻢﺗﺮﻳﻦﺷﺎﻥ‬
‫ﺣﺴﺎﺳﻴﺖ ﺯﻳﺎﺩ ﺑﻪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺍﺳﺖ‪ .‬ﺗﻔﺎﻭﺕ ﺑﺴﻴﺎﺭ ﮐﻮﭼﮑﻲ ﺩﺭ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺑﺎﻋﺚ ﺗﻔﺎﻭﺕ ﺑﺴﻴﺎﺭ ﺩﺭ ﻭﺿﻌﻴﺖ ﺁﻥ ﺩﺭ ﻟﺤﻈﺎﺕ ﺑﻌﺪ‬
‫ﺧﻮﺍﻫﺪ ﺷﺪ ﻭ ﻧﺮﺥ ﺍﻓﺰﺍﻳﺶ ﺁﻥ ﺗﻔﺎﻭﺕ ﻣﺘﻨﺎﺳﺐ ﺑﺎ ‪ Lyapunov exponent‬ﺁﻥ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﺩﺭﺳﺖ ﺑﻪ ﻫﻤﻴﻦ ﺩﻟﻴﻞ‪ ،‬ﺩﺭ ﺍﺑﺘﺪﺍ‬
‫ﺗﺼﻮﺭ ﻣﻲﺷﺪ ﮐﻪ ﮐﻨﺘﺮﻝ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ ﻣﻤﮑﻦ ﻧﺒﺎﺷﺪ ﻭ ﺁﻥﻫﺎ ﺩﺍﺭﺍﻱ ﺩﻳﻨﺎﻣﻴﮏ ﮐﻨﺘﺮﻝﻧﺎﭘﺬﻳﺮ ﻭ ﭘﻴﺶﺑﻴﻨﻲ ﻧﺎﭘﺬﻳﺮﻱ ﺑﺎﺷﻨﺪ‪.‬‬
‫ﺍﻣﺎ ﺩﺭ ﻣﻘﺎﻟﻪﺍﻱ ﺍﺯ ‪ Grebogi ،Ott‬ﻭ ‪– Yorke‬ﮐﻪ ﺍﺯ ﺍﻓﺮﺍﺩ ﺷﺎﺧﺺ ﺁﺷﻮﺏ ﻭ ﮐﻨﺘﺮﻝ ﺁﻥﺍﻧﺪ‪ -‬ﺩﺭ ﺳﺎﻝ ‪ ۱۹۹۰‬ﺍﻣﮑﺎﻥ ﭼﻨﺎﻥ‬
‫ﭼﻴﺰﻱ ﺍﺛﺒﺎﺕ ﺷﺪ ]‪ .[Ott90‬ﻣﻲﺗﻮﺍﻥ ﮔﻔﺖ ﻭﻳﮋﮔﻲﻱ ﺧﺎﺹ ﻭ ﻣﻨﺤﺼﺮ ﺑﻪ ﻓﺮﺩ ﺭﻭﺵ ﺁﻥﻫﺎ ﺍﻳﻦ ﺑﻮﺩ ﮐﻪ ﺍﻣﮑﺎﻥ ﮐﻨﺘﺮﻝ ﺳﻴﺴﺘﻢ‬
‫ﺁﺷﻮﺏﻧﺎﮎ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲﻱ ﺑﺴﻴﺎﺭ ﮐﻮﭼﮑﻲ‪) ٣٨‬ﺍﺯ ﻧﻈﺮ ﺍﻧﺪﺍﺯﻩ( ﺭﺍ ﺑﻪ ﺍﺛﺒﺎﺕ ﻣﻲﺭﺳﺎﻧﺪ‪ .‬ﺍﻳﻦ ﻳﮑﻲ ﺍﺯ ﻭﻳﮋﮔﻲﻫﺎﻱ‬
‫ﻣﻨﺤﺼﺮ ﺑﻪ ﻓﺮﺩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲﺳﺖ ﮐﻪ ﺩﺭ ﺩﻳﻨﺎﻣﻴﮏﻫﺎﻱ ﺩﻳﮕﺮ ﺍﻣﮑﺎﻥﭘﺬﻳﺮ ﻧﻴﺴﺖ‪.‬‬

‫ﺭﻭﺵﻫﺎﻱ ﻣﺨﺘﻠﻔﻲ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ .‬ﺩﺭ ﺑﻌﻀﻲ ﺍﺯ ﺍﻳﻦ ﺭﻭﺵﻫﺎ‪ ،‬ﺍﺯ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺫﺍﺗﻲﻱ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺏﻧﺎﮎ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ ﻭ ﺑﻌﻀﻲ ﺩﻳﮕﺮ ﺗﻨﻬﺎ ﺑﻪ ﮐﺎﺭﮔﻴﺮﻱﻱ ﺭﻭﺵﻫﺎﻱ ﮐﻼﺳﻴﮏ ﺗﺌﻮﺭﻱ ﮐﻨﺘﺮﻝ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ ﻫﺴﺘﻨﺪ‪.‬‬
‫ﺭﻭﺵﻫﺎﻱ ﺩﺳﺘﻪﻱ ﺍﻭﻝ –ﮐﻪ ﺑﻪ ﺯﻭﺩﻱ ﺗﻮﺿﻴﺢ ﺩﺍﺩﻩ ﻣﻲﺷﻮﻧﺪ‪ -‬ﻣﻌﻤﻮﻻ ﺍﺯ ﺳﻪ ﻭﻳﮋﮔﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﮐﻨﻨﺪ‪:‬‬

‫‪٣٩‬‬
‫‪ .۱‬ﺣﺴﺎﺳﻴﺖ ﺑﺴﻴﺎﺭ ﺯﻳﺎﺩ ﺁﺷﻮﺏ ﺑﻪ ﺍﺧﺘﻼﻝ‬
‫‪ ergodicity .۲‬ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺑﻲ‬
‫‪ .۳‬ﺑﺎﺯﮔﺸﺘﻲ ﺑﻮﺩﻥ‪ ٤٠‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ‬

‫ﺣﺴﺎﺳﻴﺖ ﺁﺷﻮﺏ ﺑﻪ ﺍﺧﺘﻼﻑ ﮐﻮﭼﮏ ﺑﺎﻋﺚ ﻣﻲﺷﻮﺩ ﮐﻪ ﻣﺎ ﺑﺘﻮﺍﻧﻴﻢ ﺑﺎ ﺗﻐﻴﻴﺮ ﮐﻮﭼﮏ ﺩﺭ ﻭﺭﻭﺩﻱ‪ ،‬ﺗﻐﻴﻴﺮﺍﺕ ﻗﺎﺑﻞ ﺗﻮﺟﻪﺍﻱ ﺩﺭ ﺣﺎﻟﺖ‬
‫ﺁﻳﻨﺪﻩﻱ ﺳﻴﺴﺘﻢ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪ .‬ﭘﺲ ﺑﺎ ﺍﻧﺘﺨﺎﺏ ﻣﻨﺎﺳﺐ ﻭﺭﻭﺩﻱ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺏ ﺍﺳﺘﻔﺎﺩﻩ ﮐﺮﺩ ﻭ ﺗﻐﻴﻴﺮﺍﺕ ﺑﺰﺭﮔﻲ ﺩﺭ‬
‫ﺭﻓﺘﺎﺭ ﮐﻠﻲﻱ ﺳﻴﺴﺘﻢ ﺍﻳﺠﺎﺩ ﮐﺮﺩ‪.‬‬

‫‪ 38‬ﺑﻪ ﭼﻨﻴﻦ ﺭﻭﻱﮐﺮﺩ ﮐﻨﺘﺮﻝﺍﻱ‪ small control ،‬ﻣﻲﮔﻮﻳﻨﺪ‪.‬‬

‫‪39‬‬
‫‪Perturbation‬‬
‫‪40‬‬
‫‪Recurrence‬‬
‫ﻫﻤﺎﻥﻃﻮﺭ ﮐﻪ ﺍﺯ ﺗﻌﺮﻳﻒﻫﺎﻱ ﻣﺨﺘﻠﻒ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ )ﻣﺎﻧﻨﺪ ﺗﻌﺮﻳﻒ ‪ (Devaney‬ﺑﺮ ﻣﻲﺁﻳﺪ‪ ،‬ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺑﻲ ﺑﻪ ﻫﻤﻪﻱ‬
‫ﻧﻘﺎﻁ ‪ strange attractor‬ﺧﻮﺩ ﺳﺮ ﻣﻲﺯﻧﺪ ﻭ ﻣﻲﺗﻮﺍﻥ ﻣﻄﻤﺌﻦ ﺑﻮﺩ ﮐﻪ ﺩﺭ ﺻﻮﺭﺕ ﺑﻪ ﺍﻧﺪﺍﺯﻩﻱ ﮐﺎﻓﻲ ﺻﺒﺮ ﮐﺮﺩﻥ‪ ،‬ﺣﺘﻤﺎ ﺑﻪ‬
‫ﻫﻤﺴﺎﻳﮕﻲﻱ ﻧﻘﻄﻪﻱ ﻣﻮﺭﺩ ﻧﻈﺮ ﻣﻲﺭﺳﻴﻢ‪ .‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﺧﺎﺻﻴﺖ ﻣﻲﺗﻮﺍﻥ ﮐﻨﺘﺮﻟﺮﻱ ﻃﺮﺍﺣﻲ ﮐﺮﺩ ﮐﻪ ﺗﻨﻬﺎ ﺩﺭ ﻧﺰﺩﻳﮑﻲﻱ‬
‫ﻫﺪﻑ ﻣﻮﺭﺩ ﻧﻈﺮ‪ ،‬ﻓﻌﺎﻝ ﺷﻮﺩ ﻭ ﺩﺭ ﺑﻘﻴﻪﻱ ﻧﻘﺎﻁ ﻫﻴﭻ ﺗﺎﺛﻴﺮﻱ ﺑﺮ ﺩﻳﻨﺎﻣﻴﮏ ﻧﺪﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ .‬ﺑﻪ ﺍﻧﺪﺍﺯﻩﻱ ﺩﻝﺧﻮﺍﻩ ﻧﺰﺩﻳﮏ ﺷﺪﻥ ﺑﻪ‬
‫ﻧﻘﻄﻪﻱ ﻣﻮﺭﺩ ﻧﻈﺮ )ﻣﺜﻼ ﺍﮔﺮ ﻫﺪﻑ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱﻱ ‪ fixed point‬ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺑﻲ ﺑﺎﺷﺪ( ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ ﺑﻪ ﺷﺮﻁ‬
‫ﺁﻥﮐﻪ ﺁﻥ ﻧﻘﻄﻪ ﺩﺭ ﻣﺤﺪﻭﺩﻩﻱ ﺟﺎﺫﺏ ﺷﮕﻔﺖ ﺁﻥ ﺑﺎﺷﺪ‪ ،‬ﺗﻀﻤﻴﻦ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﺑﺎﺯﮔﺸﺘﻲ ﺑﻮﺩﻥ ﺩﻳﻨﺎﻣﻴﮏ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ ﺧﺎﺻﻴﺖ ﺩﻳﮕﺮﻱ ﺍﺳﺖ ﮐﻪ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺁﻥ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﮐﺮﺩ‪ .‬ﺑﺎﺯﮔﺸﺘﻲ ﺑﻮﺩﻥ ﺍﻳﻦ ﺗﻀﻤﻴﻦ ﺭﺍ ﺑﻪ ﻣﺎ ﻣﻲﺩﻫﺪ ﮐﻪ ﺩﺭ ﺻﻮﺭﺗﻲ ﮐﻪ ﻧﮕﺎﺷﺖ ﭘﻮﺍﻧﮑﺎﺭﻩ‪ ٤١‬ﺍﺯ ﺩﻳﻨﺎﻣﻴﮏ ﺗﺸﮑﻴﻞ ﺩﻫﻴﻢ‪،‬‬
‫ﺑﻌﺪ ﺍﺯ ﻃﻲ ﺷﺪﻥ ﺯﻣﺎﻥ ‪ T‬ﺩﻭﺑﺎﺭﻩ ﺑﻪ ﻧﻘﻄﻪﺍﻱ ﺩﺭ ﻫﻤﺴﺎﻳﮕﻲﻱ ﻧﻘﻄﻪﻱ ﭘﻴﺸﻴﻦ ﻣﻲﺭﺳﻴﻢ‪ .‬ﺍﺯ ﺍﻳﻦ ﺧﺎﺻﻴﺖ ﻣﻲﺗﻮﺍﻥ ﺑﺮﺍﻱ‬
‫ﻃﺮﺍﺣﻲﻱ ﮐﻨﺘﺮﻟﺮ ﺍﺳﺘﻔﺎﺩﻩ ﮐﺮﺩ‪.‬‬
‫ﺭﻭﺵﻫﺎﻱ ﺯﻳﺮ ﺟﺰﻭ ﺩﺳﺘﻪﻱ ﺍﻭﻝ ﺣﺴﺎﺏ ﻣﻲﺷﻮﻧﺪ ﻭ ﺩﺭ ﺁﻥﻫﺎ ﺍﺯ ﺧﻮﺍﺹ ﺁﺷﻮﺏ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪:‬‬

‫•‬ ‫)‪Linearization of Poincare Map (OGY method‬‬

‫•‬ ‫)‪Time-Delayed Feedback Control (TDFC or Pyragas method‬‬
‫•‬ ‫) )‪Impulsive Control (Occasional Proportional Feedback (OPF‬‬
‫•‬ ‫‪Conventional + Chaotic Controllers‬‬

‫ﺩﺭ ﻣﻮﺭﺩ ﻫﺮ ﮐﺪﺍﻡ ﺍﺯ ﺍﻳﻦﻫﺎ ﺩﺭ ﺑﺨﺶﻫﺎﻱ ﺑﻌﺪ ﺗﻮﺿﻴﺢ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺩﺭ ﺭﻭﺵﻫﺎﻱ ﺩﺳﺘﻪﻱ ﺩﻭﻡ‪ ،‬ﺍﺯ ﻫﻤﺎﻥ ﺍﻳﺪﻩﻫﺎﻱ ﮐﻨﺘﺮﻝ ﮐﻼﺳﻴﮏ –ﻣﻌﻤﻮﻻ ﺍﻳﺪﻩﻫﺎﻱ ﻣﺘﺪﺍﻭﻝ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﺳﻴﺴﺘﻢﻫﺎﻱ‬
‫ﻏﻴﺮﺧﻄﻲ‪ -‬ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ‪ .‬ﺩﺭ ﺍﻳﻦ ﺭﻭﺵﻫﺎ ﺑﻪ ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺏ ﺑﻪ ﭼﺸﻢ ﺩﻳﻨﺎﻣﻴﮏﺍﻱ ﻏﻴﺮﺧﻄﻲ ﻧﮕﺎﻩ ﻣﻲﺷﻮﺩ ﻭ ﺍﺳﺘﻔﺎﺩﻩﻱ‬
‫ﺧﺎﺹﺍﻱ ﺍﺯ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺁﺷﻮﺏ ﻧﻤﻲﺷﻮﺩ‪ .‬ﺍﻳﻦ ﺭﻭﺵﻫﺎ ﺑﺮﺧﻼﻑ ﻗﺒﻞ ﻣﻨﺠﺮ ﺑﻪ ﮐﻨﺘﺮﻝ ﺳﻴﮕﻨﺎﻝ ﮐﻮﭼﮏ ﻧﻤﻲﺷﻮﺩ ﻣﮕﺮ ﺍﻳﻦﮐﻪ ﺍﺯ‬
‫ﺧﺎﺻﻴﺖ ‪ ergodicity‬ﺁﺷﻮﺏ ﺍﺳﺘﻔﺎﺩﻩ ﺷﻮﺩ ﻭ ﮐﻨﺘﺮﻝ ﺗﻨﻬﺎ ﺩﺭ ﻧﺰﺩﻳﮑﻲﻱ ﻫﺪﻑ ﮐﻨﺘﺮﻟﻲﻱ ﻣﻮﺭﺩ ﻧﻈﺮ ﺍﻋﻤﺎﻝ ﺷﻮﺩ‪ .‬ﺩﺭ ﺁﻥ‬
‫ﺻﻮﺭﺕ ﻣﻲﺗﻮﺍﻥ ﺁﻥﻫﺎ ﺭﺍ ﺭﻭﺵﻫﺎﻱ ﺗﺮﮐﻴﺒﻲ ﻧﺎﻡﮔﺬﺍﺭﻱ ﮐﺮﺩ‪.‬‬

‫ﺑﺮﺍﻱ ﻣﻄﺎﻟﻌﻪﻱ ﺑﻴﺶﺗﺮ ﺩﺭﺑﺎﺭﻩﻱ ﺭﻭﺵﻫﺎﻱ ﻣﺨﺘﻠﻒ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﺪ ﺑﻪ ﻣﻘﺎﻻﺕ ]‪[Fradkov01] ،[Chen97‬‬
‫]‪ [Andrevskii04]،[Andrevskii03a] ،[Boccaletti00] ،[Fradkov02‬ﻭ ﻫﻢﭼﻨﻴﻦ ﻣﺠﻤﻮﻋﻪ ﻣﻘﺎﻻﺕ‬
‫]‪ [Chen00a‬ﺭﺟﻮﻉ ﮐﻨﻴﺪ‪ .‬ﺩﺭ ﺿﻤﻦ ﮐﺘﺎﺏ ]‪ [Fradkov98‬ﻧﻴﺰ ﺗﻮﺻﻴﻒ ﺭﻳﺎﺿﻲ ﻭ ﺩﻗﻴﻘﻲ ﺍﺯ ﺑﻌﻀﻲ ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﮐﻨﺘﺮﻝ‬
‫ﺁﺷﻮﺏ –ﺑﻪ ﻃﻮﺭ ﺧﺎﺹ ﺭﻭﺵﻫﺎﻱ ﻧﺰﺩﻳﮏ ﺑﻪ ﮐﻨﺘﺮﻝ ﮐﻼﺳﻴﮏ ﻏﻴﺮﺧﻄﻲ ﻭ ﺗﻄﺒﻴﻘﻲ‪ -‬ﺍﻧﺠﺎﻡ ﺩﺍﺩﻩ ﺍﺳﺖ‪ .‬ﺑﻌﻀﻲ ﺍﺯ ﺍﻳﻦ ﺭﻭﺵﻫﺎ‬
‫ﺩﺭ ﺑﺨﺶﻫﺎﻱ ﺑﻌﺪﻱ ﺗﻮﺿﻴﺢ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺭﻭﺵ ‪OGY‬‬
‫ﻫﻤﺎﻥﻃﻮﺭ ﮐﻪ ﮔﻔﺘﻪ ﺷﺪ‪ ،‬ﺍﻭﻟﻴﻦ ﺭﻭﺵ ﮐﻨﺘﺮﻝ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ‪ ،‬ﺭﻭﺵﺍﻱ ﻣﻮﺳﻮﻡ ﺑﻪ ‪ OGY‬ﺍﺳﺖ ]‪ .[Ott90‬ﺍﻳﻦ ﺭﻭﺵ ﺍﺯ‬
‫ﺧﻮﺍﺹ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ‪ ،‬ﻳﻌﻨﻲ ﺣﺴﺎﺳﻴﺖ‪ ergodicity ،‬ﻭ ﺑﺎﺯﮔﺸﺘﻲ ﺑﻮﺩﻥ ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲﻱ ﮐﻨﺘﺮﻟﺮ ﻣﻮﺛﺮ ﺁﺷﻮﺏ ﺑﻬﺮﻩ‬
‫ﻣﻲﺑﺮﺩ‪ .‬ﺍﺳﺎﺱ ﮐﺎﺭ ﺁﻥ ﺑﺮ ﺧﻄﻲﺳﺎﺯﻱ ﺣﻮﻝ ﻧﮕﺎﺷﺖ ﭘﻮﺍﻧﮑﺎﺭﻩ ﺍﺳﺖ‪.‬‬
‫ﻓﺮﺽ ﮐﻨﻴﻢ ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺑﻲﻱ ﺯﻳﺮ ﺭﺍ ﺩﺍﺭﻳﻢ‪:‬‬

‫‪41‬‬
‫‪Poincare Map‬‬
 ‫) ‪x = f ( x, u‬‬ ‫‪x ∈ ℜ n , u ∈ ℜm‬‬ ‫)‪(9‬‬

‫ﺣﺎﻝ ﺳﻄﺢ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪:‬‬

‫}‪S = {x | s ( x) = 0‬‬ ‫)‪(10‬‬

‫ﺍﺑﺘﺪﺍ ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝﺷﺪﻩ ﻧﻴﺴﺖ ﻭ ‪ u = 0‬ﺑﺎﺷﺪ‪ .‬ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ ﺩﺭ ﻧﻘﻄﻪﻱ ) ‪ x1 (t1‬ﻣﺴﻴﺮ ﻓﺎﺯ‪ ٤٢‬ﺩﻳﻨﺎﻣﻴﮏ ﺍﺯ‬
‫ﺁﻥ ﺳﻄﺢ ﺑﮕﺬﺭﺩ‪ .‬ﺣﺎﻝ ﺍﻭﻟﻴﻦ ﺗﻘﺎﻃﻊ ﺑﻌﺪﻱﻱ ﻣﺴﻴﺮ ﻓﺎﺯ ﺑﺎ ﺁﻥ ﺳﻄﺢ ﺩﺭ ﻧﻘﻄﻪﻱ ) ‪ ، x1 (t2‬ﻧﮕﺎﺷﺖ ﭘﻮﺍﻧﮑﺎﺭﻩ ﮐﻨﺘﺮﻝ ﻧﺸﺪﻩ ﺭﺍ‬
‫ﻣﺸﺨﺺ ﻣﻲﮐﻨﺪ‪ .‬ﺍﮔﺮ ﺍﮐﻨﻮﻥ ﺍﺛﺮ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻝﺍﻱ ‪ u‬ﺭﺍ ﻧﻴﺰ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ‪ ،‬ﻧﮕﺎﺷﺖ ) ‪ x  P( x, u‬ﺭﺍ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‬
‫ﮐﻪ ﺑﻪ ﻧﮕﺎﺷﺖ ﭘﻮﺍﻧﮑﺎﺭﻩ ﮐﻨﺘﺮﻝ ﺷﺪﻩ‪ ٤٣‬ﻣﺸﻬﻮﺭ ﺍﺳﺖ‪ .‬ﻭﻳﮋﮔﻲﻱ ﺍﻳﻦ ﻧﮕﺎﺷﺖ ﺍﻳﻦ ﺍﺳﺖ ﮐﻪ ﻧﻴﺎﺯﻱ ﺑﻪ ﺩﺍﻧﺴﺘﻦ ﺩﻳﻨﺎﻣﻴﮏ ﺳﻴﺴﺘﻢ‬
‫ﻧﺪﺍﺭﺩ ﻭ ﺑﺎ ﺑﺮﺭﺳﻲﻱ ﺩﺍﺩﻩﻫﺎﻱ ﺯﻣﺎﻧﻲ ﺣﺎﺻﻞ ﺷﺪﻩ ﺍﺯ ﺩﻳﻨﺎﻣﻴﮏ ﻣﻲﺗﻮﺍﻥ ﺁﻥ ﺭﺍ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩ‪.‬‬
‫ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﻧﮕﺎﺷﺖ‪ ،‬ﻣﻲﺗﻮﺍﻥ ﺩﻳﻨﺎﻣﻴﮏ ﺯﻣﺎﻥ‪-‬ﮔﺴﺴﺘﻪﻱ ﺯﻳﺮ ﺭﺍ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩ‪:‬‬

‫‪x(k + 1) = P( x(k ), u ),‬‬ ‫‪x(k ) ∈ ℜ n −1 , u (k ) ∈ ℜm‬‬ ‫)‪(11‬‬

‫ﭘﻴﺶ ﺍﺯ ﺍﺩﺍﻣﻪ‪ ،‬ﺫﮐﺮ ﭼﻨﺪ ﻧﮑﺘﻪ ﺿﺮﻭﺭﻱ ﺍﺳﺖ‪ .‬ﺍﺑﺘﺪﺍ ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ ﮐﻪ ﭘﺲ ﺍﺯ ﺗﻘﺎﻃﻊ ﺑﺎ ﻳﮏ ﺳﻄﺢ ﺩﺭ ﻓﻀﺎﻱ ‪-n‬ﺑﻌﺪﻱ ﮐﻪ‬
‫ﺩﺍﺭﺍﻱ ﺗﻮﭘﻮﻟﻮﮊﻱﺍﻱ ‪ n-1‬ﺑﻌﺪﻱ ﺍﺳﺖ‪ ،‬ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺩﻳﻨﺎﻣﻴﮏ ﮔﺴﺴﺘﻪ ﻧﻴﺰ ﻳﮏ ﺑﻌﺪ ﮐﺎﻫﺶ ﻣﻲﻳﺎﺑﺪ‪ .‬ﭘﺲ ﺑﺮﺍﻱ ﺩﻳﻨﺎﻣﻴﮏ‬
‫ﺍﺻﻠﻲﻱ ‪ ۳‬ﺑﻌﺪﻱ )ﺣﺪﺍﻗﻞ ﺑﻌﺪ ﻻﺯﻡ ﺑﺮﺍﻱ ﺁﺷﻮﺑﻲ ﺑﻮﺩﻥ ﻳﮏ ﺳﻴﺴﺘﻢ(‪ ،‬ﺩﻳﻨﺎﻣﻴﮏ ﻣﻌﺎﺩﻝ ‪ ۲‬ﺑﻌﺪﻱﺍﻱ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪ .‬ﻧﮑﺘﻪﻱ‬
‫ﺩﻳﮕﺮ ﺍﻳﻦ ﺍﺳﺖ ﮐﻪ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻧﻮﻉ )ﺗﻨﺎﻭﺑﻲ ﻳﺎ ﺁﺷﻮﺑﻲ ﺑﻮﺩﻥ( ﻣﺴﻴﺮ ﺑﺎﺯﮔﺸﺘﻲ ﺩﺭ ﺩﻳﻨﺎﻣﻴﮏ ﺍﺻﻠﻲ‪ ،‬ﻧﻤﻮﺩ ﺁﻥ ﺩﺭ ﺳﻄﺢ ﭘﻮﺍﻧﮑﺎﺭﻩ ﻧﻴﺰ‬
‫ﻣﺘﻔﺎﻭﺕ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﺍﮔﺮ ﺩﻳﻨﺎﻣﻴﮏ ‪-۱‬ﺗﻨﺎﻭﺑﻲ ﺑﺎﺷﺪ )ﻳﻌﻨﻲ ) ‪ ،( x(t + T ) = x (t‬ﻧﻤﻮﺩ ﺁﻥ ﺩﺭ ﺳﻄﺢ ﭘﻮﺍﻧﮑﺎﺭﻩ ﺑﻪ ﺻﻮﺭﺕ ﻳﮏ‬
‫ﻧﻘﻄﻪ ﺧﻮﺍﻫﺪ ﺑﻮﺩ )ﭼﻮﻥ ﺑﻌﺪ ﺍﺯ ﻳﮏ ﺩﻭﺭﻩﻱ ﺗﻨﺎﻭﺏ‪ ،‬ﺩﻗﻴﻘﺎ ﺑﻪ ﻫﻤﺎﻥ ﻧﻘﻄﻪﻱ ﻗﺒﻠﻲ ﺍﺯ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﻣﻲﺭﺳﺪ ﻭ ﺩﺭ ﺭﻭﻱ ﺳﻄﺢ‬
‫ﭘﻮﺍﻧﮑﺎﺭﻩ ﺗﻨﻬﺎ ﻳﮏ ﻧﻘﻄﻪ ﺭﺍ ﻣﺸﺨﺺ ﻣﻲﮐﻨﺪ(‪ .‬ﺍﮔﺮ ﺩﻳﻨﺎﻣﻴﮏ ﺑﺎ ﺣﺮﮐﺖ ﻧﻮﺳﺎﻧﻲ ﺑﻪ ﻃﻮﺭ ﻣﺠﺎﻧﺒﻲ ﺑﻪ ﻧﻘﻄﻪﺍﻱ ﻫﻢﮔﺮﺍ ﻣﻲﺷﻮﺩ‪،‬‬
‫ﺍﺛﺮﺵ ﺑﺮ ﺳﻄﺢ ﭘﻮﺍﻧﮑﺎﺭﻩ ﻧﻴﺰ ﺑﻪ ﻧﻘﻄﻪﺍﻱ ﻫﻢﮔﺮﺍ ﻣﻲﺷﻮﺩ‪ .‬ﺍﻣﺎ ﺍﮔﺮ ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺑﻲ ﺑﺎﺷﺪ‪ ،‬ﻧﻤﻮﺩ ﺁﻥ ﺩﻳﮕﺮ ﻳﮏ ﻳﺎ ﻣﺠﻤﻮﻋﻪﺍﻱ ﺍﺯ‬
‫ﻧﻘﻄﻪ ﻧﻴﺴﺖ ﻭ ﭘﻴﭽﻴﺪﻩﺗﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬

‫ﺭﻭﺵ ﮐﺎﺭ ﺍﻳﻨﮏ ﺳﺎﺩﻩ ﺍﺳﺖ‪ .‬ﻓﺮﺽ ﮐﻨﻴﺪ ﻣﻲﺧﻮﺍﻫﻴﻢ ﻳﮑﻲ ﺍﺯ ‪UPO‬ﻫﺎﻱ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ ﺭﺍ ﭘﺎﻳﺪﺍﺭ ﺳﺎﺯﻳﻢ‪ .‬ﻧﺘﻴﺠﻪ‪،‬‬
‫ﺍﻳﺠﺎﺩ ﭼﺮﺧﻪ ﺣﺪﻱ‪) ٤٤‬ﻳﺎ ﻣﺪﺍﺭ‪ (٤٥‬ﭘﺎﻳﺪﺍﺭﻱ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﻫﻤﺎﻥﻃﻮﺭ ﮐﻪ ﮔﻔﺘﻪ ﺷﺪ‪ ،‬ﭼﻨﻴﻦ ﭼﺮﺧﻪ ﺣﺪﻱﻱ ﭘﺎﻳﺪﺍﺭﻱ‪ ،‬ﻣﺘﻨﺎﻇﺮﺳﺖ ﺑﺎ‬
‫ﻧﻘﻄﻪﺍﻱ ﺩﺭ ﺻﻔﺤﻪ ﭘﻮﺍﻧﮑﺎﺭﻩ‪ .‬ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ ﭼﻨﺎﻥ ﻧﻘﻄﻪﺍﻱ ﺑﺎ *‪ x‬ﻣﺸﺨﺺ ﺷﺪﻩ ﺑﺎﺷﺪ‪ .‬ﺍﺯ ﺁﻥﺟﺎ ﮐﻪ ﭼﺮﺧﻪﻱ ﺣﺪﻱ ﺍﻭﻟﻴﻪ‬
‫ﻧﺎﭘﺎﻳﺪﺍﺭ ﺑﻮﺩﻩ ﺍﺳﺖ‪ ،‬ﻧﻘﻄﻪﻱ ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺁﻥ ﺩﺭ ﺻﻔﺤﻪﻱ ﭘﻮﺍﻧﮑﺎﺭﻩ ﻧﻴﺰ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﺍﮔﺮ ﺑﺘﻮﺍﻥ ‪ fixed point‬ﻧﮕﺎﺷﺖ‬
‫ﭘﻮﺍﻧﮑﺎﺭﻩ ﺭﺍ )ﮐﻪ ﺗﻮﺻﻴﻒ ﮐﻨﻨﺪﻩﻱ ﺩﻳﻨﺎﻣﻴﮏ ﺯﻣﺎﻥ ﮔﺴﺴﺘﻪ ﺍﺳﺖ( ﭘﺎﻳﺪﺍﺭ ﮐﺮﺩ‪ ،‬ﭘﺲ ﭼﺮﺧﻪ ﺣﺪﻱ ﻧﻴﺰ ﭘﺎﻳﺪﺍﺭ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ‬
‫ﺍﻧﺠﺎﻡ ﭼﻨﻴﻦ ﻋﻤﻠﻲ‪ ،‬ﺍﺑﺘﺪﺍ ﺣﻮﻝ ﻧﻘﻄﻪﻱ ﻣﻮﺭﺩ ﻧﻈﺮ ﺧﻄﻲﺳﺎﺯﻱ ﮊﺍﮐﻮﺑﻲ ﺍﻧﺠﺎﻡ ﻣﻲﺩﻫﻴﻢ‪ .‬ﻳﻌﻨﻲ‪:٤٦‬‬

‫‪42‬‬
‫‪Phase Trajectory‬‬
‫‪43‬‬
‫‪Controller Poincare Map‬‬
‫‪44‬‬
‫‪Limit Cycle‬‬
‫‪45‬‬
‫‪Orbit‬‬
‫‪ 46‬ﻓﺮﺽ ﺷﺪﻩ ﺍﺳﺖ ﮐﻪ ﻧﻘﻄﻪﻱ ﻣﻮﺭﺩ ﻧﻈﺮ‪ ،‬ﻧﻘﻄﻪ ﺛﺎﺑﺖ ﻧﺎﭘﺎﻳﺪﺍﺭﺳﺖ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ‪ u = 0‬ﮔﺮﻓﺘﻪ ﺷﺪﻩ ﺍﺳﺖ ﻭﮔﺮﻧﻪ ﺍﮔﺮ ﻧﻘﻄﻪﺍﻱ ﻏﻴﺮ ﺍﺯ ﻧﻘﻄﻪﻱ ﺛﺎﺑﺖ‬
‫ﻃﺒﻴﻌﻲﻱ ﺳﻴﺴﺘﻢ ﻣﻮﺭﺩ ﻧﻈﺮ ﺑﻮﺩ ﺁﻥﮔﺎﻩ ﻣﻲﺑﺎﻳﺴﺖ ‪ u = u‬ﻣﺘﻨﺎﺳﺐ ﺍﻧﺘﺨﺎﺏ ﺷﻮﺩ‪.‬‬
‫*‬
 ‫‪∂P‬‬
‫=‪A‬‬ ‫)‪(12‬‬
‫‪∂x x = x * , u = 0‬‬
‫‪∂P‬‬
‫=‪B‬‬ ‫)‪(13‬‬
‫‪∂u x = x * , u = 0‬‬

‫ﻭ ﺍﮔﺮ ﺑﻨﻮﻳﺴﻴﻢ‬

‫~‬
‫*‪x = x − x‬‬ ‫)‪(14‬‬

‫ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‬

‫~‬
‫~‪x (k + 1) ≅ A‬‬
‫) ‪x (k ) + Bu (k‬‬ ‫)‪(15‬‬

‫~ ﺩﻗﻴﻖ ﻣﻲﺷﻮﺩ‪ .‬ﺣﺎﻝ ﺍﮔﺮ ﺑﺘﻮﺍﻥ ﮐﻨﺘﺮﻝ‬

‫ﮐﻪ ﺗﻘﺮﻳﺐ ﺩﺭ ﺻﻮﺭﺗﻲ ﮐﻪ ‪x → 0‬‬

‫~‪u (k ) = K‬‬
‫) ‪x (k‬‬ ‫)‪(16‬‬

‫ﺭﺍ ﻃﺮﺍﺣﻲ ﮐﺮﺩ ﮐﻪ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ‪-‬ﺑﺴﺘﻪ‬

‫~) ‪x (k + 1) = ( A − BK‬‬
‫~‬ ‫) ‪x (k‬‬ ‫)‪(17‬‬

‫ﭘﺎﻳﺪﺍﺭ ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ ﻫﺪﻑ ﮐﻨﺘﺮﻟﻲ ﻣﺎ ﮐﻪ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ‪ UPO‬ﺑﻮﺩﻩ ﺍﺳﺖ‪ ،‬ﺍﻧﺠﺎﻡ ﻣﻲﺷﻮﺩ‪.‬‬
‫ﭘﻴﺶ ﺍﺯ ﺁﻥﮐﻪ ﺑﻪ ﭼﮕﻮﻧﮕﻲﻱ ﻃﺮﺍﺣﻲﻱ ‪ K‬ﻣﻄﻠﻮﺏ ﺑﭙﺮﺩﺍﺯﻡ‪ ،‬ﻻﺯﻡ ﺍﺳﺖ ﺫﮐﺮ ﮐﻨﻢ ﮐﻪ ﺗﺎ ﺑﺪﻳﻦﺟﺎ ﺍﺯ ﺧﺎﺻﻴﺖ ﺑﺎﺯﮔﺸﺘﻲ ﺑﻮﺩﻥ‬
‫ﺁﺷﻮﺏ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺍﻣﺎ ﻭﻳﮋﮔﻲﻱ ‪ ergodicity‬ﺁﻥ ﻫﻨﻮﺯ ﺑﻪ ﻃﻮﺭ ﻣﺸﺨﺺ ﺑﻪ ﮐﺎﺭ ﻧﺮﻓﺘﻪ ﺍﺳﺖ‪ .‬ﺍﻳﻦ ﻭﻳﮋﮔﻲ ﺑﺎﻋﺚ‬
‫ﻣﻲﺷﻮﺩ ﺗﺎ ﺑﺘﻮﺍﻧﻴﻢ ﺍﺯ ﮐﻨﺘﺮﻝ ﺳﻴﮕﻨﺎﻝ ﮐﻮﭼﮏ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ‪ .‬ﺑﺮﺍﻱ ﺍﻧﺠﺎﻡ ﭼﻨﻴﻦ ﮐﺎﺭﻱ‪ ،‬ﮐﻨﺘﺮﻝ ﺭﺍ ﻋﻤﻼ ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺍﻋﻤﺎﻝ‬
‫ﻣﻲﮐﻨﻴﻢ‪:‬‬

‫~‪K‬‬‫) ‪x (k‬‬ ‫~ ‪if‬‬

‫‪x(k) < δ‬‬
‫‪u (k ) = ‬‬ ‫)‪(18‬‬
‫‪0‬‬ ‫‪otherwise‬‬

‫ﺑﺎ ﮐﻮﭼﮏ ﮔﺮﻓﺘﻦ ‪ δ‬ﻣﻲﺗﻮﺍﻥ ﻣﻄﻤﺌﻦ ﺑﻮﺩ ﮐﻪ ﺍﻧﺪﺍﺯﻩﻱ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲ ﺑﻴﺶ ﺍﺯ ﺣﺪ ﻣﺸﺨﺼﻲ ﺑﺰﺭﮒ ﻧﻤﻲﺷﻮﺩ‪.٤٧‬‬
‫ﺩﺭ ﺭﻭﺵ ‪ ،OGY‬ﻓﻀﺎ ﺑﻪ ﺩﻭ ‪ manifold‬ﭘﺎﻳﺪﺍﺭ ﻭ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺗﻘﺴﻴﻢ ﻣﻲﺷﻮﺩ ﻭ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻝ ﺑﻪ ﮔﻮﻧﻪﺍﻱ ﺍﻧﺘﺨﺎﺏ ﻣﻲﺷﻮﺩ ﮐﻪ‬
‫ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺑﺮ ﺭﻭﻱ ‪ manifold‬ﭘﺎﻳﺪﺍﺭ ﻗﺮﺍﺭ ﮔﻴﺮﺩ ﻭ ﻫﺮ ﮔﻮﻧﻪ ﺣﺮﮐﺘﻲ ﺩﺭ ﺭﺍﺳﺘﺎﻱ ‪ manifold‬ﻧﺎﭘﺎﻳﺪﺍﺭ ﺣﺬﻑ ﻣﻲﺷﻮﺩ‪ .‬ﺑﺎ‬
‫ﻗﺮﺍﺭ ﮔﺮﻓﺘﻦ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺑﺮ ﺭﻭﻱ ‪ manifold‬ﭘﺎﻳﺪﺍﺭ‪ ،‬ﻣﺴﻴﺮ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ ﻧﻤﺎﻳﻲ ﺑﻪ ﻧﻘﻄﻪ ﺛﺎﺑﺖ ﻣﻴﻞ ﻣﻲﮐﻨﺪ‪.‬‬

‫‪ 47‬ﺍﻧﺪﺍﺯﻩﻱ ﺁﻥ ﮐﻮﭼﮏﺗﺮ ﺍﺯ ‪ σ (K )δ‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﮐﻪ ﺩﺭ ﺁﻥ ) ‪ σ (K‬ﺑﺰﺭﮒﺗﺮﻳﻦ ‪ singular value‬ﻣﺎﺗﺮﻳﺲ ‪ K‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬

‫ﻓﺮﺽ ﮐﻨﻴﺪ ﺳﻴﺴﺘﻢ ﺯﻣﺎﻥ ﮔﺴﺴﺘﻪ ﺩﻭ‪-‬ﺑﻌﺪﻱﺍﻱ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﮐﻪ ﺩﺍﺭﺍﻱ ﻳﮏ ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩ ﭘﺎﻳﺪﺍﺭ ) ‪ ( λs‬ﻭ ﻳﮏ ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩ‬
‫ﻧﺎﭘﺎﻳﺪﺍﺭ ) ‪ ( λu‬ﺍﺳﺖ‪ .٤٨‬ﻳﻌﻨﻲ‪:‬‬

‫‪λs < 1 < λu‬‬ ‫)‪(19‬‬

‫ﺍﮐﻨﻮﻥ ﺩﻭ ﺑﺮﺩﺍﺭ ﻭﻳﮋﻩ ﭼﭗ ﻭ ﺭﺍﺳﺖ ﻫﺮ ﮐﺪﺍﻡ ﺍﺯ ﺍﻳﻦ ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪:‬‬

‫‪Avs = λs vs , wsT A = λs wsT‬‬ ‫)‪(20‬‬

‫‪Avu = λu vu , wuT A = λu wuT‬‬ ‫)‪(21‬‬

‫ﺍﮔﺮ ﺑﺨﻮﺍﻫﻴﻢ ﺣﺮﮐﺖ ﺩﻳﻨﺎﻣﻴﮏ ﺩﺭ ﺟﻬﺖ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺻﻔﺮ ﺑﺎﺷﺪ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻢ‪:‬‬

‫~ ‪wuT‬‬
‫~‪x (k + 1) = 0 ⇒ wuT A‬‬
‫~ ‪x (k ) + wuT Bu = 0 ⇒ wuT λu‬‬
‫‪x (k ) + wuT Bu = 0‬‬ ‫)‪(22‬‬

‫ﮐﻪ ﻧﺘﻴﺠﻪ ﻣﻲﺩﻫﺪ‪:‬‬

‫~ ‪wuT‬‬
‫) ‪x (k‬‬
‫‪u = −λu‬‬ ‫)‪(23‬‬
‫‪wuT B‬‬

‫ﭼﻨﺪ ﻧﮑﺘﻪ ﺩﺭ ﻣﻮﺭﺩ ﺑﻪ ﮐﺎﺭﮔﻴﺮﻱﻱ ﺭﻭﺵ ‪ OGY‬ﻗﺎﺑﻞ ﺫﮐﺮ ﺍﺳﺖ‪ .‬ﻳﮑﻲ ﺍﻳﻦﮐﻪ ﺑﺮﺍﻱ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩﻥ ﻧﮕﺎﺷﺖ ﭘﻮﺍﻧﮑﺎﺭﻩ ﻣﻲﺗﻮﺍﻥ‬
‫ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﺷﻨﺎﺳﺎﻳﻲ ﺍﺳﺘﻔﺎﺩﻩ ﮐﺮﺩ ﻭ ﻣﺪﻝﺍﻱ ﺑﺮﺍﻱ ﺩﺍﺩﻩﻫﺎﻱ ﻭﺭﻭﺩﻱ‪-‬ﺧﺮﻭﺟﻲ ﺗﺨﻤﻴﻦ ﺯﺩ‪ .‬ﻣﺸﮑﻞ ﺩﻳﮕﺮ‪ ،‬ﺩﺭ ﺍﺧﺘﻴﺎﺭ ﻧﺪﺍﺷﺘﻦ‬
‫ﮐﻞ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺣﻞ ﭼﻨﻴﻦ ﻣﺸﮑﻞﺍﻱ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺑﺮﺩﺍﺭ ﻣﺨﺘﺼﺎﺕ ﺗﺎﺧﻴﺮﺩﺍﺭ‪ ٤٩‬ﺍﺳﺘﻔﺎﺩﻩ ﮐﺮﺩ‪ .‬ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ‬
‫ﺧﺮﻭﺟﻲﻱ ﻗﺎﺑﻞ ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱﻱ ﺳﻴﺴﺘﻢ ) ‪ y = h(x‬ﺑﺎﺷﺪ‪ .‬ﺁﻥﮔﺎﻩ ﻣﻲﺗﻮﺍﻥ ﺑﺮﺩﺍﺭ ﺯﻳﺮ ﺭﺍ ﺗﻌﺮﻳﻒ ﮐﺮﺩ‪:‬‬

‫) ‪X (t ) = [ y (t‬‬ ‫]) ‪y (t − T ) ... y (t − (m − 1)T‬‬

‫‪T‬‬
‫)‪(24‬‬

‫ﻭ ﺁﻥﮔﺎﻩ ﮐﻨﺘﺮﻝ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﻋﻤﺎﻝ ﮐﺮﺩ‪:‬‬

‫))‪U (X(t‬‬ ‫‪if y(t - iT) - y* < δ , i = 1,..., m − 1‬‬

‫‪u (k ) = ‬‬ ‫)‪(25‬‬
‫‪0‬‬ ‫‪otherwise‬‬

‫ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ ﮐﻪ ﺍﮔﺮ ‪) m ≥ 2n‬ﮐﻪ ‪ n‬ﺑﻌﺪ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﺍﺳﺖ(‪ ،‬ﺁﻥﮔﺎﻩ ﺑﺮﺩﺍﺭ ‪ X‬ﺑﺎﺯﻧﻤﺎﻳﻲﺍﻱ ﻳﮏ‪-‬‬
‫ﺑﻪ‪-‬ﻳﮏ ﺍﺯ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺍﺳﺖ ]‪.[Takens80‬‬

‫‪ 48‬ﺍﮔﺮ ﻫﺮ ﺩﻭ ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩ ﭘﺎﻳﺪﺍﺭ ﺑﺎﺷﻨﺪ‪ ،‬ﻣﻲﺗﻮﺍﻥ ﻧﺘﻴﺠﻪ ﮔﺮﻓﺖ ﮐﻪ ﭼﺮﺧﻪ ﺣﺪﻱ ﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ‪.‬‬
‫‪49‬‬
‫‪Delay Coordinate Vector‬‬
‫ﺩﺭ ﺑﻪ ﮐﺎﺭﮔﻴﺮﻱﻱ ﺭﻭﺵ ‪– OGY‬ﺑﻪ ﺻﻮﺭﺗﻲ ﮐﻪ ﺍﺭﺍﻳﻪ ﺷﺪ‪ -‬ﻣﻲﺑﺎﻳﺴﺖ ‪manifold‬ﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﻭ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻣﺸﺨﺺ ﺑﺎﺷﻨﺪ‪.‬‬
‫ﭼﻨﻴﻦ ﮐﺎﺭﻱ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺑﺎ ﺍﺑﻌﺎﺩ ﺑﺎﻻ ﻭ ﺁﻥﻫﺎﻳﻲ ﮐﻪ ﮊﺍﮐﻮﺑﻴﻦﺷﺎﻥ ﺩﺍﺭﺍﻱ ﻣﻘﺎﺩﻳﺮ ﻭﻳﮋﻩﻱ ﻣﺰﺩﻭﺝ ﻣﺨﺘﻠﻂ ﻫﺴﺘﻨﺪ ﺳﺎﺩﻩ ﻧﻴﺴﺖ‪.‬‬
‫ﺩﺭ ]‪ [Yu00a‬ﻭ ]‪ [Yu01‬ﺍﻳﺪﻩ ‪ OGY‬ﺗﻌﻤﻴﻢ ﻳﺎﻓﺘﻪ ﺍﺳﺖ ﻭ ‪invariant manifold‬ﻫﺎﻳﻲ ﻣﻌﺮﻓﻲ ﺷﺪﻩﺍﻧﺪ ﮐﻪ ﻭﺍﺑﺴﺘﻪ‬
‫ﺑﻪ ﺑﺮﺩﺍﺭﻫﺎﻱ ﻭﻳﮋﻩﻱ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﻧﻴﺴﺘﻨﺪ‪.‬‬

‫ﺭﻭﺵ ‪TDFC‬‬
‫ﻳﮑﻲ ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﻣﺘﺪﺍﻭﻝ ﮐﻨﺘﺮﻝ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ‪ ،‬ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻓﻴﺪﺑﮏ ﺗﺎﺧﻴﺮﺩﺍﺭ ﺍﺳﺖ‪ .‬ﺑﺮﺧﻼﻑ ﺍﻏﻠﺐ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﮐﻨﺘﺮﻟﻲ‬
‫ﮐﻪ ﺩﺭ ﺁﻥﻫﺎ ﻭﺟﻮﺩ ﺗﺎﺧﻴﺮ ﻧﺎﻣﻄﻠﻮﺏ ﺍﺳﺖ ﻭ ﺗﺤﻠﻴﻞ ﺭﺍ ﺑﺴﻴﺎﺭ ﭘﻴﭽﻴﺪﻩ ﻣﻲﮐﻨﺪ‪ ،‬ﺩﺭ ﺍﻳﻦ ﺭﻭﺵ ﻭﺟﻮﺩ ﺗﺎﺧﻴﺮ ﺑﺎﻋﺚ ﺑﻪ ﻭﺟﻮﺩ ﺁﻣﺪﻥ‬
‫ﺭﻭﺵﺍﻱ ﺳﺎﺩﻩ ﻭ ﻣﻮﺛﺮ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ‪ UPO‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲ ﻣﻲﺷﻮﺩ‪ .‬ﺍﻳﺪﻩ ﺍﻭﻟﻴﻪﻱ ﺑﻪ ﮐﺎﺭﮔﻴﺮﻱ ﺗﺎﺧﻴﺮ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‬
‫ﺗﻮﺳﻂ ‪ Pyragas‬ﺩﺭ ﺳﺎﻝ ‪ ۱۹۹۲‬ﻣﻄﺮﺡ ﺷﺪ ]‪.[Pyragas92‬‬
‫ﺩﻳﻨﺎﻣﻴﮏ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫‪x = f ( x), x ∈ ℜn‬‬ ‫)‪(26‬‬

‫ﺍﮔﺮ ) ‪ x (t‬ﭘﺎﺳﺦﺍﻱ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺑﺎ ﺩﻭﺭﻩ ﺗﻨﺎﻭﺏ ‪ T‬ﻣﻌﺎﺩﻟﻪ ﭘﻴﺶ ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ ﺩﺍﺭﻳﻢ‪:‬‬

‫) ‪x (t ) = f ( x‬‬ ‫)‪(27‬‬

‫) ‪x (t ) = x (t − T‬‬ ‫)‪(28‬‬

‫ﻫﺪﻑ ﮐﻨﺘﺮﻟﻲ‪ ،‬ﻃﺮﺍﺣﻲﻱ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩﻱ ﺳﺎﺩﻩﺍﻳﺴﺖ ﮐﻪ ﺍﻳﻦ ‪ UPO‬ﺭﺍ ﭘﺎﻳﺪﺍﺭ ﮐﻨﺪ‪ .‬ﺍﮔﺮ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ‪-‬ﺑﺴﺘﻪ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ‬
‫ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ‪:‬‬

‫) ) ‪x = f ( x) + K ( x (t ) − x(t − T‬‬ ‫)‪(29‬‬

‫ﻫﻨﮕﺎﻣﻲ ﮐﻪ ﻣﺴﻴﺮ ﺳﻴﺴﺘﻢ ﺑﻪ ﭼﺮﺧﻪ ﺣﺪﻱ ﺑﺎ ﺩﻭﺭﻩ ﺗﻨﺎﻭﺏ ‪ T‬ﻣﻴﻞ ﻣﻲﮐﻨﺪ‪ ،‬ﺟﻤﻠﻪﻱ ﻓﻴﺪﺑﮏ ﺻﻔﺮ ﻣﻲﺷﻮﺩ‪ .‬ﭘﺲ ﻣﺸﺨﺺ ﺍﺳﺖ‬
‫ﮐﻪ ﻣﺴﻴﺮ ﭘﺎﻳﺪﺍﺭ ﺷﺪﻩ‪ ،‬ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﻧﻴﺰ ﻫﺴﺖ‪ .‬ﺛﺎﺑﺖ ﻣﻲﺷﻮﺩ ﮐﻪ ﺍﮔﺮ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ‪-‬ﺑﺴﺘﻪ ) ‪ x (t‬ﺭﺍ ‪-‬ﮐﻪ ‪ UPO‬ﺫﺍﺗﻲ‬
‫ﺩﻳﻨﺎﻣﻴﮏ ﺍﺳﺖ‪ -‬ﺩﻧﺒﺎﻝ ﮐﻨﺪ ﻭ ﻣﺎﺗﺮﻳﺲ ‪ K‬ﻧﻴﺰ ﻧﺎﻭﻳﮋﻩ ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ ﺯﻣﺎﻥ ﺗﺎﺧﻴﺮ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲ ﻣﻀﺮﺑﻲ ﺻﺤﻴﺢ ﺍﺯ ﺩﻭﺭﻩ‬
‫ﺗﻨﺎﻭﺏ ) ‪ x (t‬ﺍﺳﺖ ]‪.[Yu00b‬‬
‫ﭘﻴﺶ ﺍﺯ ﺍﺩﺍﻣﻪ‪ ،‬ﺗﻮﺿﻴﺢ ﻣﺨﺘﺼﺮﻱ ﺩﺭﺑﺎﺭﻩﻱ ﺍﻳﺪﻩﻱ ﮐﻠﻲ ﮐﺎﺭ ﻣﻲﺩﻫﻢ‪ .‬ﺑﺎ ﺍﺿﺎﻓﻪ ﮐﺮﺩﻩ ﺟﻤﻠﻪﻱ ﮐﻨﺘﺮﻟﻲﺍﻱ ﺑﻪ ﺷﮑﻞ‬

‫)) ‪u (t ) = K ( x(t ) − x (t − T‬‬ ‫)‪(30‬‬

‫ﺍﮔﺮ ﺳﻴﺴﺘﻢ ﺍﺯ ﻣﺴﻴﺮ ﻣﺘﻨﺎﻭﺏ ﻣﻮﺭﺩ ﻧﻈﺮ ﺧﻮﺩ ﺩﻭﺭ ﺷﻮﺩ‪ ،‬ﭼﻮﻥ ﺑﻴﻦ ) ‪ x(t‬ﻭ ) ‪ x(t − T‬ﺗﻔﺎﻭﺕ ﺑﻪ ﻭﺟﻮﺩ ﻣﻲﺁﻳﺪ ﺳﻴﮕﻨﺎﻝ‬
‫ﺧﻄﺎﻳﻲ ﺩﺭﻳﺎﻓﺖ ﻣﻲﮐﻨﺪ )ﺑﻪ ﺷﺮﻁ ﻣﺘﻨﺎﻭﺏ ﺑﻮﺩﻥ ﺗﻮﺟﻪ ﮐﻨﻴﺪ(‪ .‬ﺍﻣﺎ ﻫﻨﮕﺎﻣﻲ ﮐﻪ ﻣﺴﻴﺮ ﺳﻴﺴﺘﻢ ﺑﻪ ﺣﺎﻟﺖ ﺗﻨﺎﻭﺏ ﻣﻮﺭﺩ ﻧﻈﺮ ﻧﺰﺩﻳﮏ‬
‫ﻣﻲﺷﻮﺩ‪ ،‬ﺍﻳﻦ ﺟﻤﻠﻪ ﺻﻔﺮ ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺑﺮﺍﻱ ﺍﻋﻤﺎﻝ ‪ ،TDFC‬ﻻﺯﻡ ﺍﺳﺖ ﻣﻘﺪﺍﺭ ‪ T‬ﻣﺸﺨﺺ ﺑﺎﺷﺪ‪ .‬ﭼﻨﻴﻦ ﮐﺎﺭﻱ ﻳﺎ ﻣﺴﺘﻠﺰﻡ ﺣﻞ ﺩﻳﻨﺎﻣﻴﮏ ﺳﻴﺴﺘﻢ ﻭ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩﻥ‬
‫ﻣﻌﺎﺩﻟﻪ ‪ UPO‬ﻣﻮﺭﺩ ﻧﻈﺮ ﺍﺳﺖ )ﮐﻪ ﺩﺭ ﺣﺎﻟﺖ ﮐﻠﻲ ﮐﺎﺭﻱ ﺑﺴﻴﺎﺭ ﭘﻴﭽﻴﺪﻩ ﺍﺳﺖ( ﻭ ﻳﺎ ﺗﻮﺳﻂ ﺭﻭﺵﻫﺎﻱ ﺳﻌﻲ ﻭ ﺧﻄﺎ ﺍﻧﺠﺎﻡ‬
 ‫ﺷﮑﻞ ‪ .6‬ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺑﻲ ‪Rössler‬‬

‫ﻣﻲﺷﻮﺩ‪ .‬ﺍﻟﺒﺘﻪ ﺭﻭﺵﻫﺎﻱ ﻋﺪﺩﻱﺍﻱ ﻧﻴﺰ ﺑﺮﺍﻱ ﺍﻳﻦ ﮐﺎﺭ ﻭﺟﻮﺩ ﺩﺍﺭﻧﺪ ﮐﻪ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻣﻲﺗﻮﺍﻧﻴﺪ ﺑﻪ ]‪ [Chen99a‬ﻭ‬
‫]‪ [Yu00b‬ﻣﺮﺍﺟﻌﻪ ﮐﻨﻴﺪ‪.‬‬
‫ﻋﻼﻭﻩ ﺑﺮ ﺣﺎﻟﺖ ﺳﺎﺩﻩﻱ ﺍﺭﺍﻳﻪ ﺷﺪﻩ‪ ،‬ﻓﺮﻡ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﻤﻴﻢ ﺩﺍﺩ‪:‬‬

‫‪‬‬ ‫‪M‬‬
‫‪‬‬
‫‪u (t ) = K  x (t ) − RM ∑ rm −1 x(t − mT ) ‬‬ ‫)‪(31‬‬
‫‪‬‬ ‫‪i =1‬‬ ‫‪‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ‬

‫‪1‬‬
‫= ‪RM‬‬ ‫‪M‬‬
‫)‪(32‬‬
‫‪∑r‬‬
‫‪i =1‬‬
‫‪m −1‬‬ ‫) ‪x(t − mT‬‬

‫ﺗﺤﻠﻴﻞ ﺍﻳﻦﮔﻮﻧﻪ ﺳﻴﺴﺘﻢﻫﺎ ﭘﻴﭽﻴﺪﻩﺍﻧﺪ ﻭ ﺑﺎ ﻭﺟﻮﺩ ﺍﻳﻦﮐﻪ ﺩﺭ ﻋﻤﻞ ﺑﺴﻴﺎﺭ ﺑﻪ ﮐﺎﺭ ﻣﻲﺭﻓﺘﻪﺍﻧﺪ‪ ،‬ﺍﻣﺎ ﺗﺎ ﭼﻨﺪ ﺳﺎﻝ ﭘﻴﺶ‪ ،‬ﺗﺤﻠﻴﻞ ﺩﻗﻴﻘﻲ‬
‫ﺍﺯ ﭘﺎﻳﺪﺍﺭﻱﻱ ﺁﻥ ﻭﺟﻮﺩ ﻧﺪﺍﺷﺖ‪ .‬ﺑﺎ ﺍﻳﻦﻭﺟﻮﺩ ﺩﺭ ﺍﻳﻦ ﺍﻭﺍﺧﺮ ﺗﺤﻠﻴﻞﻫﺎﻳﻲ ﺍﺯ ﺍﻳﻦ ﺳﻴﺴﺘﻢﻫﺎ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻳﮑﻲ ﺍﺯ ﭼﻨﺎﻥ ﻧﺘﺎﻳﺠﻲ ﺩﺭ‬
‫ﺯﻳﺮ ﻣﻲﺁﻳﺪ‪:‬‬

‫ﺍﮔﺮ ﺩﻳﻨﺎﻣﻴﮏ ﺧﻄﺎﻱ ﺑﻴﻦ ‪ UPO‬ﺫﺍﺗﻲ ﻭ ﺩﻳﻨﺎﻣﻴﮏ ﺗﺤﺖ ﮐﻨﺘﺮﻝ ﺭﺍ ﺑﻨﻮﻳﺴﻴﻢ‪ ،‬ﺩﺍﺭﻳﻢ‪:‬‬

‫) ) ‪e = f ( x, x ) + K ( x(t ) − x (t − T‬‬ ‫)‪(33‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ) ‪ e(t ) = x(t ) − x (t‬ﻭ ) ‪ . f ( x, x ) = f ( x ) − f ( x‬ﺍﮔﺮ ﮊﺍﮐﻮﺑﻴﻦ ﺩﺭ ﻣﺴﻴﺮ ‪ UPO‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ‬

‫‪ J = ∂f ( x, x ) ∂x‬ﺑﻨﻮﻳﺴﻴﻢ‪ ،‬ﺁﻥﮔﺎﻩ ﻗﻀﻴﻪ ﺯﻳﺮ ﺭﺍ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ )]‪ [Chen99a‬ﻭ ]‪.([Yu00b‬‬
 ‫ﺷﮑﻞ ‪ .7‬ﮐﻨﺘﺮل ‪ TD‬ﺳﯿﺴﺘﻢ ‪ Rössler‬ﻣﻨﺠﺮ ﺷﺪﻩ ﺑﻪ ﭘﺎﻳﺪﺍﺭﻱ ‪-۱ UPO‬ﺗﻨﺎﻭﺑﻲ‬

‫ﻗﻀﻴﻪ‪ :‬ﺑﺮﺍﻱ ﺩﻳﻨﺎﻣﻴﮏ ﺧﻄﺎﻱ ﺑﺎﻻ‪ ،‬ﺍﮔﺮ ﺩﻭ ﻣﺎﺗﺮﻳﺲ ﺛﺎﺑﺖ ﻣﺘﻘﺎﺭﻥ ﻣﺜﺒﺖ‪-‬ﻣﻌﻴﻦ ‪ P‬ﻭ ‪ ، Q‬ﻭ ﻣﺎﺗﺮﻳﺲ ﺑﻬﺮﻩﻱ ﺛﺎﺑﺖ ‪ K‬ﻭﺟﻮﺩ‬
‫ﺩﺍﺷﺘﻪ ﺑﺎﺷﻨﺪ ﮐﻪ ﻣﻌﺎﺩﻟﻪ ﺭﻳﮑﺎﺗﻲ‪ ٥٠‬ﺯﻳﺮ‬

‫‪J T ( x) P + PJ ( x) + PKQ −1 K T P + PK + K T P + Q‬‬ ‫)‪(34‬‬

‫ﻳﺎ ﺻﻔﺮ ﺑﺎﺷﺪ ﻳﺎ )ﻧﻴﻤﻪ(‪-‬ﻣﻨﻔﻲ‪-‬ﻣﻌﻴﻦ ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ ) ‪ e(t‬ﺑﻪ ﺍﻧﺪﺍﺯﻩﻱ ﮐﺎﻓﻲ ﮐﻮﭼﮏ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﻭ ﺩﺭ ﺯﻣﺎﻥ ﺑﻲﻧﻬﺎﻳﺖ ﺑﻪ ﺻﻔﺮ‬
‫ﻣﻴﻞ ﻣﻲﮐﻨﺪ‪.‬‬

‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻟﻲ ﺍﺯ ﭼﮕﻮﻧﮕﻲﻱ ﮐﺎﺭﮐﺮﺩ ﺍﻳﻦ ﺭﻭﺵ‪ ،‬ﺗﺎﺛﻴﺮ ﺍﻳﻦ ﺭﻭﺵ ﺑﺮ ﺳﻴﺴﺘﻢ ‪ Rössler‬ﺁﻭﺭﺩﻩ ﻣﻲﺷﻮﺩ‪ .‬ﺩﻳﻨﺎﻣﻴﮏ ﺳﻴﺴﺘﻢ‬
‫‪ Rössler‬ﮐﻨﺘﺮﻝ ﺷﺪﻩﻱ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫‪ x  0 − 1 − 1   x  0  0 0‬‬ ‫‪0 0‬‬ ‫‪‬‬

‫‪ y  = 1 0.2‬‬ ‫‪0   y  + 0  + 0 − kc‬‬ ‫‪0  y (t ) − y (t − Τ)‬‬
‫‪‬‬ ‫‪‬‬ ‫)‪(35‬‬
‫‪  ‬‬
‫‪ z   z 0 − 5.7  z  0.2 0 0‬‬ ‫‪0 0‬‬ ‫‪‬‬

‫ﮐﻪ ‪ kc‬ﺛﺎﺑﺘﻲﺳﺖ ﮐﻪ ﺑﺎﻳﺪ ﻣﺸﺨﺺ ﺷﻮﺩ‪ .‬ﺍﮔﺮ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﻧﺸﺪﻩ ﺑﺎﺷﺪ )ﻳﻌﻨﻲ ‪ ،( kc = 0‬ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ‬
‫ﻣﺸﺨﺺ ﺷﺪﻩ ﺩﺭ ﺷﮑﻞ )‪ (۶‬ﺍﺳﺖ )ﺷﮑﻞﻫﺎﻱ ﺍﻳﻦ ﺑﺨﺶ ﺍﺯ ]‪ [Chen99a‬ﺑﺮﺩﺍﺷﺖ ﺷﺪﻩﺍﻧﺪ(‪ .‬ﭘﺲ ﺍﺯ ﺍﻧﺘﺨﺎﺏ ‪ kc = 0.4‬ﮐﻪ‬
‫ﺷﺮﻭﻁ ﻣﺴﺎﻟﻪ ﺭﺍ ﺑﺮﺁﻭﺭﺩ ﻣﻲﮐﻨﺪ ﻭ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﺗﻄﺒﻴﻘﻲ ﺑﺮﺍﻱ ﭘﻴﺪﺍ ﮐﺮﺩﻥ ‪ ، T‬ﻧﺘﺎﻳﺞ ﺯﻳﺮ ﺣﺎﺻﻞ ﻣﻲﺷﻮﺩ‪ .‬ﺭﻭﺵ ﭘﻴﺪﺍ ﮐﺮﺩﻥ‬
‫ﺩﻭﺭﻩ ﺗﻨﺎﻭﺏ ﺩﺭ ﺁﺧﺮ ﺍﻳﻦ ﺑﺨﺶ ﺗﻮﺿﻴﺢ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ‪ ،‬ﻭ ﺣﺎﻝ ﮐﺎﻓﻲﺳﺖ ﺑﺪﺍﻧﻴﻢ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ﻣﻘﺎﺩﻳﺮ ﺍﻭﻟﻴﻪ ﻣﺨﺘﻠﻒ‪ ،‬ﺩﻭﺭﻩ‬
‫ﺗﻨﺎﻭﺏﻫﺎﻱ ﻣﺘﻔﺎﻭﺗﻲ ﭘﻴﺪﺍ ﻣﻲﮐﻨﺪ ﮐﻪ ﻫﻤﻪ ﺩﺍﺭﺍﻱ ﮐﻮﭼﮏﺗﺮﻳﻦ ﻣﻘﺴﻮﻡﻋﻠﻴﻪ ﻣﺸﺘﺮﮐﻲ ﻫﺴﺘﻨﺪ‪ .‬ﻧﺘﻴﺠﻪ ﺭﺍ ﺑﻪ ﺍﺯﺍﻱ ﮐﻮﭼﮏﺗﺮﻳﻦ‬
‫ﺩﻭﺭﻩ ﺗﻨﺎﻭﺏ ) ‪ ( T = 5.8609‬ﺩﺭ ﺷﮑﻞ )‪ (۷‬ﻭ ﺑﻪ ﺍﺯﺍﻱ ﺩﻭﻣﻴﻦ ﺩﻭﺭﻩ ﺗﻨﺎﻭﺏ ) ‪ ( T = 11.7117‬ﺩﺭ ﺷﮑﻞ )‪ (۸‬ﻣﻲﺑﻴﻨﻴﺪ‪.‬‬

‫‪50‬‬
‫‪Riccati‬‬
 ‫ﺷﮑﻞ ‪ .8‬ﮐﻨﺘﺮل ‪ TD‬ﺳﯿﺴﺘﻢ ‪ Rössler‬ﻣﻨﺠﺮ ﺷﺪﻩ ﺑﻪ ﭘﺎﻳﺪﺍﺭﻱ ‪-۲ UPO‬ﺗﻨﺎﻭﺑﻲ‬

‫ﻧﺘﺎﻳﺠﻲ ﺩﺭﺑﺎﺭﻩﻱ ﺗﺤﻠﻴﻞ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻧﺎﺧﻮﺩﮔﺮﺩﺍﻥ‪ ٥١‬ﻭ ﻣﺎﺗﺮﻳﺲ ﺑﻬﺮﻩﻱ ﻭﻳﮋﻩ‪ ،‬ﺗﺤﻠﻴﻞﻫﺎﻱ ﭘﻴﺸﻴﻦ ﺍﻋﺘﺒﺎﺭﻱ ﻧﺪﺍﺭﺩ‪ .‬ﻳﮑﻲ‬
‫ﺍﺯ ﮐﺎﺭﻫﺎﻳﻲ ﮐﻪ ﺑﺮﺍﻱ ﺣﻞ ﺍﻳﻦ ﺣﺎﻟﺖ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﺪﻩ‪ ،‬ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺁﻧﺎﻟﻴﺰ ‪ Melnikov‬ﺍﺳﺖ ﮐﻪ ﺩﺭ ]‪ [Cai02‬ﺑﺮﺍﻱ ﺣﺎﻟﺖ‬
‫ﺳﺎﺩﻩﺍﻱ ﺍﻧﺠﺎﻡ ﺷﺪﻩ‪.‬‬

‫ﺭﻭﺵﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺿﺮﺑﻪﺍﻱ‪ ٥٢‬ﻭ ﮐﻨﺘﺮﻝ ‪OPF‬‬

‫ﻳﮑﻲ ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﻣﺘﺪﺍﻭﻝ ﻭ ﺳﺎﺩﻩﻱ ﮐﻨﺘﺮﻝ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺏ‪ ،‬ﺭﻭﺵ ‪ OPF‬ﺍﺳﺖ‪ .‬ﺍﺳﺎﺱ ﺍﻳﻦ ﺭﻭﺵ ﺑﺴﻴﺎﺭ ﺷﺒﻴﻪ ﺑﻪ ﺍﻳﺪﻩﻱ‬
‫‪ OGY‬ﺍﺳﺖ ﻭ ﺣﺘﻲ ﻣﻲﺗﻮﺍﻥ ﺗﻔﺴﻴﺮﻱ ‪-OGY‬ﮔﻮﻧﻪ ﺍﺯ ﺁﻥ ﺩﺍﺷﺖ‪ .‬ﻓﺮﺽ ﮐﻨﻴﺪ ‪UPO‬ﺍﻱ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ ﮐﻪ ﺩﺍﻣﻨﻪﺍﻱ‬
‫ﻣﺘﻔﺎﻭﺕ ﺍﺯ ﺩﺍﻣﻨﻪﻱ ﻣﻮﺭﺩ ﻧﻈﺮ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ .‬ﺍﮔﺮ ﺧﺮﻭﺟﻲﺍﻱ ﺍﺳﮑﺎﻟﺮ ﺍﺯ ﺩﻳﻨﺎﻣﻴﮏ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ ) )) ‪ ( y (t ) = h( x (t‬ﻭ ﺑﺨﻮﺍﻫﻴﻢ‬
‫ﺍﻳﻦ ﺧﺮﻭﺟﻲ ﺩﺭ ﺩﺍﻣﻨﻪﻱ ﺛﺎﺑﺖ * ‪ y‬ﭘﺎﻳﺪﺍﺭ ﺷﻮﺩ‪ ،‬ﺁﻥﮔﺎﻩ ﻣﻲﺗﻮﺍﻥ ﺧﻄﺎﻱ ﺑﻴﻦ ﻣﻘﺪﺍﺭ ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱ ﺷﺪﻩ ﺩﺭ ﻧﻘﻄﻪﺍﻱ ﺧﺎﺹ ﺑﺎ ﻣﻘﺪﺍﺭ‬
‫ﺩﺍﻣﻨﻪﻱ ﻣﻮﺭﺩ ﻧﻈﺮ ﺭﺍ ﺑﻪ ﻋﻨﻮﺍﻥ ﻭﺭﻭﺩﻱﻱ ﮐﻨﺘﺮﻟﻲ ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﮐﺮﺩ‪ .‬ﻣﺜﻼ ﺍﻳﻦ ﻧﻘﻄﻪ ﻣﻲﺗﻮﺍﻧﺪ ﺟﺎﻳﻲ ﺑﺎﺷﺪ ﮐﻪ ﻣﻴﻨﻴﻤﻢ ﻳﺎ‬
‫ﻣﺎﮐﺰﻳﻤﻢ ) ‪ y (t‬ﺭﺥ ﻣﻲﺩﻫﺪ‪ .‬ﺍﮔﺮ ﺍﻳﻦ ﻧﻘﺎﻁ ﺭﺍ ﺑﺎ ‪ yk‬ﻧﺸﺎﻥ ﺩﻫﻴﻢ‪ ،‬ﺁﻥﮔﺎﻩ ﮐﻨﺘﺮﻝ ‪ OPF‬ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺧﻮﺍﻫﺪ‬
‫ﺑﻮﺩ]‪:[Hunt91‬‬

‫) *‪ K ( yk − y‬‬ ‫‪if y k − y * < δ‬‬

‫‪uk = ‬‬ ‫)‪(36‬‬
‫‪0‬‬

‫ﭼﻨﻴﻦ ﺳﻴﺴﺘﻤﻲ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﺻﻮﺭﺕ ﻳﮏ ‪ OGY‬ﺑﺎ ﻧﮕﺎﺷﺖ ﭘﻮﺍﻧﮑﺎﺭﻩﻱ ﻳﮏ‪-‬ﺑﻌﺪﻱﺍﻱ ﺩﺍﻧﺴﺖ ﮐﻪ ﻣﻌﺎﺩﻟﻪ ﻣﻘﻄﻊ ﭘﻮﺍﻧﮑﺎﺭﻩﻱ‬
‫ﺁﻥ ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺍﺳﺖ‪:‬‬

‫‪51‬‬
‫‪non-autonomous‬‬
‫‪52‬‬
‫‪Impulsive Control‬‬
 ‫‪∂h‬‬
‫= )‪s ( x‬‬ ‫‪f ( x,0) = y (t ) = 0‬‬ ‫)‪(37‬‬
‫‪∂x‬‬

‫ﺩﺭ ﺍﻳﻦ ﺭﻭﺵ ﻫﺮﮔﺎﻩ ﻣﻘﺪﺍﺭ ﺧﺮﻭﺟﻲﻱ ﻣﻮﺭﺩ ﺩﺭ ﺯﻣﺎﻧﻲ ﮐﻪ ﺑﻪ ﺣﺪﺍﮐﺜﺮ )ﻳﺎ ﺣﺪﺍﻗﻞ( ﺍﻧﺪﺍﺯﻩﻱ ﺧﻮﺩ ﺭﺳﻴﺪﻩ ﺍﺳﺖ –ﻳﻌﻨﻲ ﺩﺭ ﻫﻨﮕﺎﻣﻲ‬
‫ﮐﻪ ﺩﺭ ﻣﺎﮐﺰﻳﻤﻢ )ﻳﺎ ﻣﻴﻨﻴﻤﻢ( ﺗﻨﺎﻭﺏ ﺍﺳﺖ‪ -‬ﺑﺎ ﻣﻘﺪﺍﺭ ﻣﻮﺭﺩ ﻧﻈﺮ ﺗﻔﺎﻭﺕ ﺩﺍﺷﺖ‪ ،‬ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲﺍﻱ ﻣﺘﻨﺎﺳﺐ ﺑﺎ ﺁﻥ ﺧﻄﺎ ﺍﻋﻤﺎﻝ‬
‫ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺩﺭﺳﺖ ﻫﻤﺎﻥﻃﻮﺭ ﮐﻪ ‪ OPF‬ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻋﻨﻮﺍﻥ ﺣﺎﻟﺖ ﺧﺎﺹ ﻭ ﻳﮏ ﺑﻌﺪﻱﻱ ﺭﻭﺵ ‪ OGY‬ﺩﺍﻧﺴﺖ‪ ،‬ﻣﻲﺗﻮﺍﻥ ﺁﻥ ﺭﺍ ﺑﻪ‬
‫ﻋﻨﻮﺍﻥ ﺭﻭﺵﺍﻱ ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺿﺮﺑﻪﺍﻱ ﻧﻴﺰ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺖ‪ .‬ﮐﻨﺘﺮﻝ ﺿﺮﺑﻪﺍﻱ‪ ،‬ﮐﻨﺘﺮﻟﻲﺍﻳﺴﺖ ﮐﻪ ﺍﻋﻤﺎﻝ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲ‬
‫ﺑﻪ ﺻﻮﺭﺕ ﺿﺮﺑﻪﻫﺎﻳﺴﺖ ﮐﻪ ﺗﻨﻬﺎ ﺩﺭ ﺯﻣﺎﻥﻫﺎﻱ ﮔﺴﺴﺘﻪﺍﻱ ﺻﻮﺭﺕ ﻣﻲﮔﻴﺮﺩ ﻭ ﻣﻲﺗﻮﺍﻧﺪ ﺣﺎﻟﺖ ﺩﻳﻨﺎﻣﻴﮏ ﺭﺍ ﻧﺎﮔﻬﺎﻥ ﺗﻐﻴﻴﺮ ﺩﻫﺪ‪.‬‬
‫ﺗﺌﻮﺭﻱﻱ ﺭﻳﺎﺿﻲﻱ ﺍﻳﻦ ﺭﻭﺵﻫﺎ‪ ،‬ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺿﺮﺑﻪﺍﻳﺴﺖ‪ ٥٣‬ﮐﻪ ﺗﻮﺳﻂ ‪ Bainov ،Lakshmikantham‬ﻭ‬
‫‪ Simeonov‬ﻣﻌﺮﻓﻲ ﺷﺪﻩ ﺍﺳﺖ ]‪ .[Lakshmikantham89‬ﭘﺲ ﺍﺯ ﺁﻥ ﺳﺎﻝ ‪ ۱۹۹۷‬ﺍﻳﺪﻩﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺿﺮﺑﻪﺍﻱ ﺑﺮ‬
‫ﭘﺎﻳﻪﻱ ﺗﺌﻮﺭﻱ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺿﺮﺑﻪﺍﻱ ﻣﻌﺮﻓﻲ ﺷﺪ ]‪ .[Yang97‬ﻗﻀﺎﻳﺎﻱ ﻣﻌﺮﻓﻲ ﺷﺪﻩ ﭘﺎﻳﺪﺍﺭﻱﻱ ﮐﻠﻲ ﺳﻴﺴﺘﻢ ﻣﻮﺭﺩ‬
‫ﺑﺮﺭﺳﻲ ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺯﻣﺎﻥ ﺑﻴﻦ ﺿﺮﺑﻪﻫﺎ‪ ،‬ﺍﻧﺪﺍﺯﻩﻱ ﺿﺮﺑﻪﻫﺎ ﻭ ‪ ...‬ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻭﺭﻧﺪ‪ .‬ﺍﻳﺪﻩﻱ ﺍﺻﻠﻲﻱ ﻗﻀﺎﻳﺎﻱ ﺍﻳﻦ ﺭﻭﺵ‪،‬‬
‫ﻣﻘﺎﻳﺴﻪﻱ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﺑﺎ ﺳﻴﺴﺘﻢ ﺩﻳﮕﺮﻱ ﺑﻪ ﻧﺎﻡ ﺳﻴﺴﺘﻢ ﻣﻘﺎﻳﺴﻪ‪ ٥٤‬ﮐﻪ ﮐﺮﺍﻥﺍﻱ ﺍﺯ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﻣﺸﺨﺺ ﻣﻲﮐﻨﺪ ﻭ ﺩﺭ‬
‫ﺻﻮﺭﺕ ﺍﺛﺒﺎﺕ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﻣﻘﺎﻳﺴﻪ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱﻱ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﻧﻴﺰ ﺍﺛﺒﺎﺕ ﻣﻲﺷﻮﺩ‪ .‬ﺩﺭ ﺍﻳﻦﺟﺎ ﺧﻼﺻﻪﺍﻱ ﺍﺯ ﻗﻀﺎﻳﺎﻱ ﻣﻌﺎﺩﻻﺕ‬
‫ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺿﺮﺑﻪﺍﻱ ﻭ ﻗﻀﺎﻳﺎﻱ ﭘﺎﻳﺪﺍﺭﻱﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﮐﻨﺘﺮﻝﺷﺪﻩ ﺭﺍ ﻣﻲﺁﻭﺭﻡ )]‪.([Yang04] ،[Suykens00‬‬

‫ﺳﻴﺴﺘﻢ ﺩﻳﻨﺎﻣﻴﮑﻲﻱ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫) ‪x = f (t , x‬‬ ‫)‪(38‬‬

‫ﮐﻪ ‪ f : ℜ+ × ℜn  ℜn‬ﭘﻴﻮﺳﺘﻪ ﺍﺳﺖ‪ .‬ﻣﺠﻤﻮﻋﻪﻱ ﮔﺴﺴﺘﻪﻱ } ‪ {τ k‬ﮐﻪ ﺩﺭ ﺁﻥ‬

‫‪τ 1 < τ 2 < ... < τ k < τ k +1‬‬ ‫)‪(39‬‬

‫ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﺣﺎﻝ ﻣﻲﺗﻮﺍﻥ ﺑﺮﺩﺍﺭ ﭘﺮﺵ ﺩﺭ ﺁﻥ ﺯﻣﺎﻥﻫﺎ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﮐﺮﺩ‪:‬‬

‫) ‪U (k , x) = ∆x t = t = x (tk+ ) − x (tk−‬‬ ‫)‪(40‬‬

‫‪k‬‬

‫ﺍﻳﻨﮏ ﺳﻴﺴﺘﻢ ﺿﺮﺑﻪﺍﻱ ﺍﻳﻦﮔﻮﻧﻪ ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪:‬‬

‫‪ x = f (t , x ),‬‬ ‫‪t ≠ τk‬‬

‫‪‬‬
‫‪∆x = U (k , x), t = τ k‬‬ ‫‪i = 1,2,...‬‬ ‫)‪(41‬‬
‫‪ +‬‬
‫‪ x(t0 ) = x0 ,‬‬ ‫‪t0 ≥ 0‬‬

‫‪53‬‬
‫‪Impulsive Differential Equation‬‬
‫‪54‬‬
‫‪Comparison System‬‬
 ‫ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲﻱ ﭘﺎﻳﺪﺍﺭﻱﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺿﺮﺑﻪﺍﻱ‪ ،‬ﺗﻌﺎﺭﻳﻒ ﺯﻳﺮ ﺭﺍ ﻻﺯﻡ ﺩﺍﺭﻳﻢ‪:‬‬

‫ﺗﻌﺮﻳﻒ‪ V : ℜ+ × ℜn  ℜ+ :‬ﺭﺍ ﻣﺘﻌﻠﻖ ﺑﻪ ﮐﻼﺱ ‪ ν 0‬ﻣﻲﻧﺎﻣﻴﻢ ﺍﮔﺮ‪:‬‬

‫‪ V .‬ﺩﺭ ﻣﺤﺪﻭﺩﻩﻱ ‪ (τ k −1 ,τ k ] × ℜn‬ﺑﻪ ﺍﺯﺍﻱ ﻫﻤﻪﻱ ‪ x ∈ ℜn‬ﭘﻴﻮﺳﺘﻪ ﺑﺎﺷﺪ ﻭ ﺣﺪ ﺯﻳﺮ ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‬

‫) ‪lim + V (t , y ) = V (τ k+ , x‬‬ ‫)‪(42‬‬

‫) ‪( t , y ) → (τ k , x‬‬

‫‪ V .۲‬ﺑﻪ ﻃﻮﺭ ﻣﺤﻠﻲ ﺩﺭ ‪ x‬ﻟﻴﭙﺸﻴﺘﺰﻱ‪ ٥٥‬ﺑﺎﺷﺪ‪.‬‬

‫ﺗﻌﺮﻳﻒ‪ :‬ﺑﺮﺍﻱ ‪ (t , x ) ∈ (τ k −1 ,τ k ] × ℜn‬ﺗﻌﺮﻳﻒ ﻣﻲﮐﻨﻴﻢ‪:‬‬

‫‪D +V (t , x ) = lim sup‬‬

‫‪h→0‬‬
‫‪1‬‬
‫]) ‪[V (t + h, x + hf (t , x)) − V (t , x‬‬ ‫)‪(43‬‬
‫‪h‬‬

‫ﺗﻌﺮﻳﻒ ﺳﻴﺴﺘﻢ ﻣﻘﺎﻳﺴﻪ‪ :‬ﺍﮔﺮ ‪ V ∈ν 0‬ﺑﺎﺷﺪ ﻭ ﻓﺮﺽ ﮐﻨﻴﻢ ﮐﻪ‬

‫‪D +V (t , x ) ≤ g (t ,V (t , x )),‬‬ ‫‪t ≠τk‬‬

‫‪‬‬ ‫)‪(44‬‬
‫‪V (t , x + U (k , x )) ≤ ψ k (V (t , k )), t = τ k‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ g : ℜ + × ℜ+ → ℜ +‬ﭘﻴﻮﺳﺘﻪ ﺑﺎﺷﺪ ﻭ ‪ ψ k : ℜ+  ℜ +‬ﻏﻴﺮﮐﺎﻫﺸﻲ ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ ﺳﻴﺴﺘﻢ ﺩﻳﻨﺎﻣﻴﮑﻲ ﺯﻳﺮ‬

‫‪ω = g (t , x),‬‬ ‫‪t ≠ τk‬‬
‫‪‬‬
‫‪ω (τ k ) = ψ k (ω (τ k )), t = τ k‬‬
‫‪+‬‬
‫‪i = 1,2,...‬‬ ‫)‪(45‬‬
‫‪ +‬‬
‫‪ω (t0 ) = ω0 ≥ 0,‬‬ ‫‪t0 ≥ 0‬‬

‫ﺳﻴﺴﺘﻢ ﻣﻘﺎﻳﺴﻪﻱ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﮐﻪ ﺳﻴﺴﺘﻢ ﻣﻘﺎﻳﺴﻪ‪ ،‬ﺗﮏ‪-‬ﺑﻌﺪﻱﺳﺖ‪.‬‬

‫ﺗﻌﺮﻳﻒ ﺗﻮﭖ‪ :‬ﺗﻮﭖ‪ ٥٦‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪:‬‬

‫{‬
‫‪S ρ = x ∈ ℜn | x 2 < ρ‬‬ ‫}‬ ‫)‪(46‬‬

‫ﺗﻌﺮﻳﻒ ﺗﺎﺑﻊ ﮐﻼﺱ ‪ : K‬ﺗﺎﺑﻊ ‪ α‬ﻣﺘﻌﻠﻖ ﺑﻪ ﮐﻼﺱ ‪ K‬ﺍﺳﺖ ﺍﮔﺮ ‪ α‬ﭘﻴﻮﺳﺘﻪ ﻭ ﺍﮐﻴﺪﺍ ﺻﻌﻮﺩﻱ ﺑﺎﺷﺪ ﻭ‬
‫ﻫﻢﭼﻨﻴﻦ ‪ α (0) = 0‬ﺷﻮﺩ‪.‬‬

‫‪55‬‬
‫‪Lipschitzian‬‬
‫‪56‬‬
‫‪Ball‬‬
‫ﺍﻳﻨﮏ ﻗﻀﻴﻪﻱ ﺯﻳﺮ ﺭﺍ ﺑﻴﺎﻥ ﻣﻲﮐﻨﻴﻢ‪ .‬ﺍﻳﻦ ﻗﻀﻴﻪ ﺑﻴﻦ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﻭ ﺳﻴﺴﺘﻢ ﻣﻘﺎﻳﺴﻪ ﺗﮏ‪-‬ﺑﻌﺪﻱ ﺍﺭﺗﺒﺎﻁ ﺑﺮﻗﺮﺍﺭ‬
‫ﻣﻲﮐﻨﺪ‪.‬‬

‫ﻗﻀﻴﻪ )ﻗﻀﻴﻪ ‪ 3.2.1‬ﺍﺯ ]‪ :([Lakshmikantham89‬ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ ﺳﻪ ﺷﺮﻁ ﺯﻳﺮ ﺑﺮﻗﺮﺍﺭ ﺑﺎﺷﺪ‪:‬‬

‫‪1. V : ℜ+ × S ρ  ℜ+ , ρ > 0 , V ∈ν 0 , D +V (t , x ) ≤ g (t ,V (t , x )) , t ≠ τ k‬‬ ‫)‪(47‬‬

‫‪ ρ 0 > 0 .۲‬ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ﺑﻪ ﻃﻮﺭﻱ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ‪ x ∈ S ρ 0‬ﻭ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ‪ k‬ﺍﻱ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪:‬‬

‫‪a) x + U (k , x ) ∈ S ρ0‬‬ ‫)‪(48‬‬

‫‪b) V (t , x + U (k , x) ) ≤ ψ k (V (t , x )), t = τ k , x ∈ S ρ 0‬‬ ‫)‪(49‬‬

‫‪ .۳‬ﺷﺮﻁ ﺯﻳﺮ ﺑﺮﺍﻱ ) ‪ V (t , x‬ﺩﺭ ‪ ℜ+ × S ρ‬ﺑﺮﻗﺮﺍﺭ ﺑﺎﺷﺪ‪:‬‬

‫‪β x‬‬‫) ‪( ) ≤ V (t, x ) ≤ α ( x‬‬

‫‪2‬‬ ‫‪2‬‬
‫)‪(50‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ α‬ﻭ ‪ β‬ﻣﺘﻌﻠﻖ ﺑﻪ ﮐﻼﺱ ‪ K‬ﺍﻧﺪ‪.‬‬

‫ﺩﺭ ﺍﻳﻦ ﺻﻮﺭﺕ ﻭﻳﮋﮔﻲﻱ ﭘﺎﻳﺪﺍﺭﻱﻱ ﺳﻴﺴﺘﻢ ﻣﻘﺎﻳﺴﻪ‪ ،‬ﻭﻳﮋﮔﻲﻱ ﭘﺎﻳﺪﺍﺭﻱﻱ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﺭﺍ ﻧﺘﻴﺠﻪ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﻗﻀﻴﻪﻱ ﺯﻳﺮ ﺩﺭ ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﻣﻘﺎﻳﺴﻪ )ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ( ﻧﻈﺮ ﻣﻲﺩﻫﺪ )ﺑﺮﺍﻱ ﺩﻳﺪﻥ ﻓﺮﻡ ﮐﻠﻲﺗﺮﻱ ﺍﺯ ﻗﻀﻴﻪﻱ‬
‫ﺯﻳﺮ ﺑﻪ ]‪ [Li01‬ﻣﺮﺍﺟﻊ ﮐﻨﻴﺪ(‪.‬‬

‫ﻗﻀﻴﻪ‪ :‬ﺍﮔﺮ ‪ g (t , ω ) = λ (t )ω‬ﻭ ] ‪ ٥٧ λ ∈ C 1 [ℜ + , ℜ +‬ﺑﺎﺷﺪ ﻭ ‪ ψ k (ω ) = d kω‬ﮐﻪ ﺩﺭ ﺁﻥ ﺑﻪ ﺍﺯﺍﻱ ﻫﻤﻪﻱ‬

‫‪k‬ﻫﺎ‪ ،‬ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﭘﺎﻳﺪﺍﺭ ﻧﻤﺎﻳﻲﺳﺖ ﺍﮔﺮ‬

‫‪λ (τ k +1 ) + log(γd k ) ≤ λ (τ k ), ∀k, γ > 1‬‬ ‫)‪(51‬‬

‫‪λ(t ) ≥ 0‬‬ ‫)‪(52‬‬

‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻧﻤﻮﻧﻪ‪ ،‬ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱﻱ ﻧﻮﺳﺎﻥﺳﺎﺯ ‪ Chua‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﺌﻮﺭﻱ ﮐﻨﺘﺮﻝ ﺿﺮﺑﻪﺍﻱ ﺭﺍ ﺑﺮﺭﺳﻲ ﻣﻲﮐﻨﻴﻢ‪ .‬ﺩﻳﻨﺎﻣﻴﮏ‬
‫ﻧﻮﺳﺎﻥﺳﺎﺯ ‪ Chua‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮﺳﺖ‪:‬‬

‫‪k‬‬
‫‪ 57‬ﺍﮔﺮ ﺗﺎﺑﻌﻲ ﻣﺘﻌﻠﻖ ﺑﻪ ‪ C‬ﺑﺎﺷﺪ‪ ،‬ﺧﻮﺩﺵ ﻭ ‪ k‬ﻣﺸﺘﻖ ﺁﻥ ﭘﻴﻮﺳﺘﻪ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬
 ‫ﺷﮑﻞ ‪ .9‬ﻧﻮﺳﺎﻥﺳﺎﺯ ‪Chua‬‬

‫])‪ x = α 0 [y − x − f ( x‬‬
‫‪‬‬
‫‪ y = x − y + z‬‬ ‫)‪(53‬‬
‫‪ z = − β y − γ z‬‬
‫‪‬‬ ‫‪0‬‬ ‫‪0‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ﻣﺸﺨﺼﻪ ﺗﮑﻪﺍﻱ‪-‬ﺧﻄﻲﻱ ﺩﻳﻮﺩ ‪ Chua‬ﺍﺳﺖ‪:‬‬

‫‪f ( x) = b0 x +‬‬
‫‪1‬‬
‫) ‪(a0 − b0 )( x + 1 − x − 1‬‬ ‫)‪(54‬‬
‫‪2‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ a0 < b0 < 0‬ﺛﺎﺑﺖ ﻫﺴﺘﻨﺪ‪ .‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺭﻓﺘﺎﺭ ﺍﻳﻦ ﻧﻮﺳﺎﻥﺳﺎﺯ ﺭﺍ ﺑﻪ ﺍﺯﺍﻱ ‪، γ = 0.5 ، β = 20 ، α = 15‬‬
‫‪75‬‬ ‫‪120‬‬
‫‪ b = −‬ﺩﺭ ﺷﮑﻞ )‪ (۹‬ﻣﻲﺑﻴﻨﻴﺪ‪.‬‬ ‫‪ a=−‬ﻭ‬
‫‪7‬‬ ‫‪7‬‬

‫‪ X = [x‬ﺑﮕﻴﺮﻳﻢ‪ ،‬ﻣﻲﺗﻮﺍﻥ ﻧﻮﺷﺖ‪:‬‬ ‫ﺍﮔﺮ ] ‪z‬‬

‫‪T‬‬
‫‪y‬‬

‫) ‪X = AX + Φ( X‬‬ ‫)‪(55‬‬

 ‫ﮐﻪ ﺩﺭ ﺁﻥ‬

‫ﺷﮑﻞ ‪ .10‬ﺗﺎﺛﻴﺮ ‪ k‬ﺑﺮ ﺯﻣﺎﻥ ﺑﻴﻦ ﭘﺎﻟﺲﻫﺎﻱ ﭘﺎﻳﺪﺍﺭﮐﻨﻨﺪﻩ‬

‫‪− α 0‬‬ ‫‪α0‬‬ ‫‪0 ‬‬

‫‪A =  1‬‬ ‫‪−1‬‬ ‫‪1 ‬‬ ‫)‪(56‬‬
‫‪ 0‬‬ ‫‪− β0‬‬ ‫‪− γ 0 ‬‬
‫‪ − α 0 f ( x) ‬‬
‫‪Φ ( X ) = ‬‬ ‫‪0‬‬ ‫‪‬‬
‫‪‬‬ ‫)‪(57‬‬
‫‪‬‬ ‫‪0‬‬ ‫‪‬‬

‫ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﻣﻌﺎﺩﻻﺕ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝﺷﺪﻩ ﺑﺎ ﮐﻨﺘﺮﻝ ﺿﺮﺑﻪﺍﻱ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲﺁﻳﺪ‪:‬‬

‫‪ X = AX + Φ ( X ),‬‬ ‫‪t =τk‬‬

‫‪‬‬ ‫)‪(58‬‬
‫‪∆X t =τ k = BX‬‬
 ‫ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻗﻀﺎﻳﺎﻱ ﺑﻪ ﺩﺳﺖ ﺁﻣﺪﻩ ﺩﺭ ﻗﺴﻤﺖ ﭘﻴﺶ‪ ،‬ﻧﺘﻴﺠﻪﻱ ﺯﻳﺮ ﺭﺍ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬

‫ﻧﺘﻴﺠﻪ‪ :‬ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ ‪ d1‬ﺑﺰﺭﮒﺗﺮﻳﻦ ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩ )‪ ( I + BT )( I + B‬ﺑﺎﺷﺪ ﮐﻪ ﺩﺭ ﺁﻥ ‪ B‬ﻣﺎﺗﺮﻳﺲ ﻣﺘﻘﺎﺭﻧﻲﺳﺖ‪ ،‬ﻭ‬
‫‪ ρ R (I + B ) ≤ 1‬ﺑﺎﺷﺪ ﮐﻪ ﺩﺭ ﺁﻥ )⋅( ‪ ρ R‬ﺷﻌﺎﻉ ﻃﻴﻔﻲ ﺭﺍ ﻣﺸﺨﺺ ﻣﻲﮐﻨﺪ ﻭ ﻫﻢﭼﻨﻴﻦ ‪ q‬ﺑﺰﺭﮒﺗﺮﻳﻦ ﻣﻘﺪﺍﺭ ﻭﻳﮋﻩﻱ‬
‫) ‪ ( A + AT‬ﻭ ﭘﺎﻟﺲﻫﺎ ﺭﺍ ﻫﻢﻓﺎﺻﻠﻪ ﺑﺎ ﻓﺎﺻﻠﻪﻱ ﺯﻣﺎﻧﻲﻱ ‪ ∆τ‬ﺍﻧﺘﺨﺎﺏ ﮐﺮﺩﻩ ﺑﺎﺷﻴﻢ‪ .‬ﺍﮔﺮ ﺷﺮﻁ ﺯﻳﺮ ﺑﺮﻗﺮﺍﺭ ﺑﺎﺷﺪ‬

‫‪1‬‬
‫‪0 ≤ q + 2 α 0 a0 ≤ −‬‬ ‫‪log(ζd1 ), ζ > 1‬‬ ‫)‪(59‬‬
‫‪∆τ‬‬

‫ﺁﻥﮔﺎﻩ ﻣﺒﺪﺍ ﮐﻨﺘﺮﻝ ﺿﺮﺑﻪﺍﻱ ﺷﺪﻩﻱ ﻧﻮﺳﺎﻥﺳﺎﺯ ‪ ،Chua‬ﭘﺎﻳﺪﺍﺭ ﻣﺠﺎﻧﺒﻲﻱ ﮐﻠﻲ ‪٥٨‬ﺳﺖ‪.‬‬

‫ﺗﺨﻤﻴﻨﻲ ﺑﺮﺍﻱ ﺣﺪ ﺑﺎﻻﻱ ﺯﻣﺎﻥ ﺑﻴﻦ ﭘﺎﻟﺲﻫﺎ ﺍﺯ ﺷﺮﻁ ﻧﺘﻴﺠﻪﻱ ﺣﺎﺻﻞ ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

‫) ‪log(ζd1‬‬
‫= ‪∆τ , max‬‬ ‫‪, ζ → 1+‬‬ ‫)‪(60‬‬
‫‪q + 2 α 0 a0‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦﮐﻪ ‪ B‬ﭼﮕﻮﻧﻪ ﺍﻧﺘﺨﺎﺏ ﺷﺪﻩ ﺑﺎﺷﺪ‪ ،‬ﻧﺎﺣﻴﻪﻱ ﭘﺎﻳﺪﺍﺭ ﻣﻤﮑﻦ ﺑﺮﺍﻱ ‪ ∆τ‬ﻫﺎ ﺗﻐﻴﻴﺮ ﻣﻲﮐﻨﺪ‪ .‬ﺍﮔﺮ ‪ B‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ‬

‫‪k 0‬‬ ‫‪0‬‬

‫‪B =  0 − 1 0 ‬‬
‫‪‬‬ ‫)‪(61‬‬
‫‪ 0 0 − 1‬‬

‫ﺍﻧﺘﺨﺎﺏ ﮐﻨﻴﻢ‪ ،‬ﺍﺯ ﺁﻥﺟﺎ ﮐﻪ ‪ ρ R ( I + B) ≤ 1‬ﺍﺳﺖ‪ ،‬ﻧﺘﻴﺠﻪ ﻣﻲﺷﻮﺩ ﮐﻪ ‪ . − 2 ≤ k ≤ 0‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ‪ d1 ،‬ﻧﻴﺰ ﺑﺮﺍﺑﺮ‬
‫‪ d1 = (k + 1) 2‬ﻣﻲﺷﻮﺩ‪ .‬ﺩﺭ ﺷﮑﻞ )‪ ،(۱۰‬ﺗﺎﺛﻴﺮ ﻣﻘﺪﺍﺭ ‪ k‬ﺭﺍ ﺑﺮ ﻣﺤﺪﻭﺩﻩﻱ ﻗﺎﺑﻞ ﻗﺒﻮﻝ ‪ ∆τ‬ﺑﺮﺍﻱ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ‪-‬‬
‫ﺑﺴﺘﻪ ﻣﻲﺑﻴﻨﻴﺪ‪ .‬ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﮐﻪ ﺗﺨﻤﻴﻦ ﺩﻗﻴﻖ ﻭﻗﺘﻲﺳﺖ ﮐﻪ ‪ . ζ → 1+‬ﭘﺲ ﻓﺎﺻﻠﻪﻫﺎﻱ ﺯﻣﺎﻧﻲﺍﻱ ﭘﺎﻳﺪﺍﺭﻧﺪ ﮐﻪ ﺯﻳﺮ ﻣﻨﺤﻨﻲﻱ‬
‫ﻣﺮﺑﻮﻁ ﺑﻪ ‪ ζ → 1+‬ﺑﺎﺷﻨﺪ‪ .‬ﺩﺭ ﺿﻤﻦ ﺩﻗﺖ ﮐﻨﻴﺪ ﮐﻪ ﻧﺘﺎﻳﺞ ﺣﺎﺻﻞ‪ ،‬ﺷﺮﻁ ﮐﺎﻓﻲﺳﺖ ﻭ ﻧﻪ ﻻﺯﻡ – ﺩﺭ ﻧﺘﻴﺠﻪ ﺳﻴﺴﺘﻤﻲ ﻣﻤﮑﻦ‬
‫ﺍﺳﺖ ﺑﺎ ﻭﺟﻮﺩ ﺭﻋﺎﻳﺖ ﻧﮑﺮﺩﻥ ﺷﺮﻁ ﺩﺍﺩﻩ ﺷﺪﻩ‪ ،‬ﭘﺎﻳﺪﺍﺭ ﺑﺎﻗﻲ ﺑﻤﺎﻧﺪ‪.‬‬

‫ﺑﺮﺍﻱ ﻣﺸﺎﻫﺪﻩﻱ ﻗﻀﺎﻳﺎﻱ ﺑﻴﺶﺗﺮ ﻭ ﻫﻢﭼﻨﻴﻦ ﮐﺎﺭﺑﺮﺩ ﺁﻥ ﺩﺭ ﻫﻢﺯﻣﺎﻧﻲ ﺑﻪ ]‪ [Suykens00‬ﻭ ]‪ [Yang04‬ﻣﺮﺍﺟﻌﻪ ﮐﻨﻴﺪ‪.‬‬
‫ﺩﺭ ]‪ [Guan00‬ﺍﺯ ﺗﺌﻮﺭﻱﻱ ﮐﻨﺘﺮﻝ ﺿﺮﺑﻪﺍﻱ ﺑﺮﺍﻱ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱﻱ ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﺗﻮﺳﻂ ﺳﻴﮕﻨﺎﻝ ﺗﻨﺎﻭﺑﻲﻱ ﺧﺎﺭﺟﻲﺍﻱ ﺗﺤﺮﻳﮏ‬
‫ﻣﻲﺷﻮﺩ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﻭ ﻗﻀﺎﻳﺎﻱ ﺩﻗﻴﻘﻲ ﺑﻪ ﻋﻨﻮﺍﻥ ﺷﺮﻁ ﭘﺎﻳﺪﺍﺭﻱ ﻣﻄﺮﺡ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺭﻭﺵﻫﺎﻱ ﮐﻨﺘﺮﻝ ﮐﻼﺳﻴﮏ ﻭ ﺗﺮﮐﻴﺒﻲ‬

‫‪58‬‬
‫‪Globally Asymptotically Stable‬‬
 ‫ﺷﮑﻞ ‪ .11‬ﻧﮕﺎﺷﺖ ‪ Henon‬ﮐﻨﺘﺮﻝ ﻧﺸﺪﻩ‬

‫ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﻣﺘﺪﺍﻭﻝ ﮐﻨﺘﺮﻝ ﻏﻴﺮﺧﻄﻲ ﻧﻴﺰ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺩﺭ ﻭﺍﻗﻊ‪ ،‬ﺩﺭ ﺍﻳﻦ ﺭﻭﺵﻫﺎ ﺑﺪﻭﻥ ﺩﺭ‬
‫ﻧﻈﺮ ﮔﺮﻓﺘﻦ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺧﺎﺹ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ‪ ،‬ﻃﺮﺍﺣﻲ ﺑﻪ ﻣﺎﻧﻨﺪ ﻳﮏ ﺳﻴﺴﺘﻢ ﺑﺎ ﺩﻳﻨﺎﻣﻴﮏ ﻏﻴﺮﺧﻄﻲ ﺻﻮﺭﺕ ﻣﻲﮔﻴﺮﺩ‪ .‬ﻭﻳﮋﮔﻲﻱ‬
‫ﺑﺎﺭﺯ ﺍﻳﻦ ﺭﻭﺵﻫﺎ ﺍﻳﻦ ﺍﺳﺖ ﮐﻪ ﺩﺭ ﺻﻮﺭﺗﻲ ﮐﻪ ﺑﺮﺍﻱ ﺣﺎﻟﺖ ﮐﻠﻲﺷﺎﻥ ﺍﺛﺒﺎﺕ ﭘﺎﻳﺪﺍﺭﻱ ﻭ ‪ ...‬ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ ،‬ﺑﺮﺍﻱ ﺣﺎﻟﺖ ﺧﺎﺹ‬
‫ﺁﺷﻮﺑﻲ ﻧﻴﺰ ﭼﻨﺎﻥ ﺍﺛﺒﺎﺗﻲ ﺑﺮﻗﺮﺍﺭ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﻭ ﺍﺯ ﺁﻥﺟﺎ ﮐﻪ ﺗﺌﻮﺭﻱﻱ ﮐﻼﺳﻴﮏ ﮐﻨﺘﺮﻝ‪ ،‬ﺗﺎﮐﻨﻮﻥ ﭘﻴﺶﺭﻓﺖ ﻗﺎﺑﻞ ﻣﻼﺣﻈﻪﺍﻱ ﮐﺮﺩﻩ‬
‫ﺍﺳﺖ‪ ،‬ﻣﻌﻤﻮﻻ ﭼﻨﺎﻥ ﻃﺮﺍﺣﻲﻫﺎﻳﻲ ﭼﻨﻴﻦ ﻭﻳﮋﮔﻲﻫﺎﻳﻲ ﺭﺍ ﺧﻮﺍﻫﻨﺪ ﺩﺍﺷﺖ‪ .‬ﺍﻣﺎ ﺍﺯ ﻃﺮﻑ ﺩﻳﮕﺮ ﭼﻮﻥ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺁﺷﻮﺏ ﺩﺭ ﻧﻈﺮ‬
‫ﮔﺮﻓﺘﻪ ﻧﺸﺪﻩ ﺍﺳﺖ‪ ،‬ﻧﺘﻴﺠﻪ ﺑﺎﺯﺩﻩ ﻣﻮﺛﺮ ﻭ ﺧﻮﺏ ﻃﺮﺍﺣﻲﻫﺎﻱ ﻭﻳﮋﻩﻱ ﺁﺷﻮﺏ ﻣﺎﻧﻨﺪ ﺭﻭﺵ ‪ OGY‬ﻳﺎ ‪ TDFC‬ﺭﺍ ﻧﺨﻮﺍﻫﻨﺪ ﺩﺍﺷﺖ‪.‬‬
‫ﺑﻪ ﻃﻮﺭ ﻣﺸﺨﺺ ﻭﻳﮋﮔﻲﻱ ﮐﻨﺘﺮﻝ ﺳﻴﮕﻨﺎﻝ ﮐﻮﭼﮏ ﻣﻌﻤﻮﻻ ﺑﺮﺍﻱ ﺁﻥﻫﺎ ﺑﺮﻗﺮﺍﺭ ﻧﻴﺴﺖ‪.‬‬
‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺍﻳﻦ ﺭﻭﺵﻫﺎ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻃﺮﺍﺣﻲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ‪ backstepping‬ﺍﺷﺎﺭﻩ ﮐﺮﺩ ﮐﻪ ﺁﺷﻮﺏ ﺣﺬﻑ‬
‫ﺷﺪﻩ ﻭ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ ﭘﺎﻳﺪﺍﺭ ﺷﺪﻩ ﺍﺳﺖ )]‪ [Harb02a‬ﻭ ]‪.([Harb02b‬‬

‫ﺍﻳﺪﻩﺍﻱ ﮐﻪ ﺑﺮﺍﻱ ﺗﺮﮐﻴﺐ ﺭﻭﺵﻫﺎﻱ ﮐﻼﺳﻴﮏ ﻭ ﻭﻳﮋﮔﻲﻫﺎﻱ ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺑﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ‪ ،‬ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺧﺎﺻﻴﺖ‬
‫‪ ergodicity‬ﺁﺷﻮﺏ ﺍﺳﺖ‪ .‬ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﮐﻪ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻝ ﺍﻋﻤﺎﻝ ﻧﻤﻲﺷﻮﺩ‪ ،‬ﻣﮕﺮ ﺍﻳﻦﮐﻪ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺑﻪ ﻫﻤﺴﺎﻳﮕﻲﻱ ﺑﻪ‬
‫ﺍﻧﺪﺍﺯﻩ ﮐﺎﻓﻲ ﮐﻮﭼﮏﺍﺵ ﻧﺰﺩﻳﮏ ﺷﺪﻩ ﺑﺎﺷﺪ‪ .‬ﺍﮔﺮ ﻧﻘﻄﻪﻱ ﻣﻮﺭﺩ ﻧﻈﺮ ﺟﺰﻭ ﺟﺎﺫﺏ ﺷﮕﻔﺖ ﺩﻳﻨﺎﻣﻴﮏ ﺑﺎﺷﺪ‪ ،‬ﻣﻄﻤﺌﻦ ﻫﺴﺘﻴﻢ ﮐﻪ ﺩﺭ‬
‫ﺯﻣﺎﻥ ﻣﺤﺪﻭﺩ ﺑﻪ ﺍﻧﺪﺍﺯﻩﻱ ﮐﺎﻓﻲ ﺑﻪ ﺁﻥ ﻧﻘﻄﻪ ﻧﺰﺩﻳﮏ ﺧﻮﺍﻫﻴﻢ ﺷﺪ‪ .‬ﺍﻳﻦ ﺍﻳﺪﻩ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻃﺮﺍﺣﻲﻱ ﺑﻬﻴﻨﻪ ﺧﻄﻲ ﻣﺤﻠﻲ ‪LQR‬‬
‫ﺑﺮﺍﻱ ﭘﺎﻧﺪﻭﻝ ﻣﻌﮑﻮﺱ ﺁﺷﻮﺑﻲ ﺷﺪﻩ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺳﻴﮕﻨﺎﻝ ﺗﺤﺮﻳﮏ ﺧﺎﺭﺟﻲ ﺩﺭ ]‪ [Vincent00‬ﺑﻪ ﮐﺎﺭ ﺭﻓﺘﻪ ﺍﺳﺖ‪ .‬ﻫﻢﭼﻨﻴﻦ‬
‫ﭼﻨﻴﻦ ﺍﻳﺪﻩﺍﻱ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺩﻳﻨﺎﻣﻴﮏﻫﺎﻱ ﮔﺴﺴﺘﻪ‪-‬ﺯﻣﺎﻥ ﻧﻴﺰ ﺑﻪ ﮐﺎﺭ ﺭﻓﺘﻪ ﺍﺳﺖ ]‪ .[Farahmand03b‬ﺑﺪﻳﻦ ﺻﻮﺭﺕ‬
‫ﮐﻪ ﺧﻄﻲﺳﺎﺯﻱﺍﻱ ﺣﻮﻝ ﻧﻘﻄﻪﻱ ﺛﺎﺑﺖ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺩﻳﻨﺎﻣﻴﮏ ﺁﺷﻮﺑﻲ ﺻﻮﺭﺕ ﮔﺮﻓﺘﻪ ﺍﺳﺖ ﻭ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺁﻥ ﻃﺮﺍﺣﻲﻱ ﮐﻨﺘﺮﻟﺮ‬
‫‪ LQR‬ﺍﻧﺠﺎﻡ ﮔﺮﻓﺘﻪ ﺍﺳﺖ‪ .‬ﺍﻋﻤﺎﻝ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲ ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺍﻧﺘﺨﺎﺏ ﺷﺪﻩ ﺍﺳﺖ‪:‬‬

‫) ‪− Kx (k‬‬ ‫‪x(k) - x * < θ‬‬

‫‪u (k ) = ‬‬ ‫)‪(62‬‬
‫‪0‬‬ ‫‪otherwise‬‬
 ‫‪threshold = 1.0‬‬ ‫‪threshold = 1.0‬‬
‫‪1‬‬ ‫‪0.5‬‬

‫‪x1‬‬
‫‪0‬‬

‫‪control effort‬‬
‫‪0.5‬‬

‫‪states‬‬
‫‪x2‬‬ ‫‪-0.5‬‬
‫‪0‬‬
‫‪-1‬‬

‫‪-0.5‬‬ ‫‪-1.5‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬
‫‪k‬‬ ‫‪k‬‬
‫‪threshold = 0.1‬‬ ‫‪threshold = 0.1‬‬
‫‪2‬‬ ‫‪0.03‬‬

‫‪0.02‬‬
‫‪1‬‬ ‫‪x1‬‬

‫‪control effort‬‬
‫‪0.01‬‬
‫‪states‬‬

‫‪0‬‬ ‫‪x2‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪-0.01‬‬

‫‪-2‬‬ ‫‪-0.02‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬
‫‪k‬‬ ‫‪k‬‬

‫ﺷﮑﻞ ‪ .13‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺷﺪﻩ ﺑﻪ ﺍﺯﺍﻱ ﺩﻭ ﻣﻘﺪﺍﺭ ﻣﺨﺘﻠﻒ ﭘﺎﺭﺍﻣﺘﺮ ‪θ‬‬

‫ﮐﻪ ‪ θ‬ﭘﺎﺭﺍﻣﺘﺮﻱ ﻗﺎﺑﻞ ﺗﻨﻈﻴﻢ ﺍﺳﺖ ﻭ ﻫﻤﺴﺎﻳﮕﻲﻱ ﻓﻌﺎﻟﻴﺖ ﮐﻨﺘﺮﻟﺮ ﺭﺍ ﻣﺸﺨﺺ ﻣﻲﮐﻨﺪ ﻭ ‪ K‬ﻧﻴﺰ ﺑﻬﺮﻩﻱ ﺣﺎﻟﺖ ﺑﻪ ﺩﺳﺖ ﺁﻣﺪﻩ‬
‫ﺍﺯ ﺭﻭﺵ ‪ LQR‬ﻳﺎ ﻫﺮ ﺭﻭﺵ ﺩﻳﮕﺮﻱ ﺍﺳﺖ‪ .‬ﺍﻳﻦ ﺍﻳﺪﻩ ﺑﺮﺍﻱ ﻧﮕﺎﺷﺖ ‪ Henon‬ﺯﻳﺮ –ﮐﻪ ﺩﺭ ﺷﮑﻞ )‪ (۱۱‬ﻣﺴﻴﺮ ﺣﺎﻟﺖ ﺁﻥ ﺭﺍ‬
‫ﻣﺸﺎﻫﺪﻩ ﻣﻲﮐﻨﻴﺪ‪ -‬ﭘﻴﺎﺩﻩﺳﺎﺯﻱ ﺷﺪﻩ ﺍﺳﺖ‪:‬‬

‫‪x1 (k + 1) = −1.4 x12 + x 2 + 1 + u‬‬

‫)‪(63‬‬
‫‪x 2 (k + 1) = 0.3 x1‬‬

‫ﺩﺭ ﺷﮑﻞ )‪ (۱۲‬ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﺑﻪ ﺍﺯﺍﻱ ﺩﻭ ﻣﻘﺪﺍﺭ ﻣﺨﺘﻠﻒ ‪ θ‬ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺩﻳﺪﻩ ﻣﻲﺷﻮﺩ ﮐﻪ ﻫﺮﭼﻪ ﻣﻘﺪﺍﺭ ‪ θ‬ﺑﺰﺭﮒﺗﺮ‬
‫ﺑﺎﺷﺪ‪ ،‬ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﺳﺮﻳﻊﺗﺮﺳﺖ ﻭ ﻫﺮﭼﻪ ﮐﻮﭼﮏﺗﺮ ﺑﺎﺷﺪ‪ ،‬ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﮐﻨﺪﺗﺮﺳﺖ‪ .‬ﺩﻟﻴﻞ ﺍﻳﻦ ﻣﻮﺿﻮﻉ‪ ،‬ﺯﻣﺎﻥ ﻻﺯﻡ ﺑﺮﺍﻱ ﺭﺳﻴﺪﻥ‬
‫ﺑﻪ ﻫﻤﺴﺎﻳﮕﻲﻱ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ ﻣﻮﺭﺩ ﻧﻈﺮﺳﺖ‪ .‬ﻣﻘﺎﻳﺴﻪﺍﻱ ﺑﻴﻦ ﺍﻧﺮﮊﻱﻱ ﻻﺯﻡ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﺑﻪ ﺍﺯﺍﻱ ﺍﺑﻌﺎﺩ ﻣﺨﺘﻠﻒ ﻫﻤﺴﺎﻳﮕﻲ –‬
‫ﮐﻪ ﺑﺎ ‪ θ‬ﻣﺸﺨﺺ ﻣﻲﺷﻮﺩ‪ -‬ﺩﺭ ﺷﮑﻞ )‪ (۱۳‬ﻣﺸﺎﻫﺪﻩ ﻣﻲﮐﻨﻴﺪ‪.‬‬

‫‪0.7‬‬

‫‪0.6‬‬

‫‪0.5‬‬
‫)‪energy of u(t‬‬

‫‪0.4‬‬

‫‪0.3‬‬

‫‪0.2‬‬

‫‪0.1‬‬

‫‪0‬‬
‫‪0‬‬ ‫‪0.1‬‬ ‫‪0.2‬‬ ‫‪0.3‬‬ ‫‪0.4‬‬ ‫‪0.5‬‬ ‫‪0.6‬‬ ‫‪0.7‬‬ ‫‪0.8‬‬ ‫‪0.9‬‬ ‫‪1‬‬
‫‪theta‬‬

‫ﺷﮑﻞ ‪ .12‬ﺗﺎﺛﻴﺮ ‪ θ‬ﺑﺮ ﺍﻧﺮﮊﻱﻱ ﻻﺯﻡ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ – ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ‬

‫ﮐﻪ ﻫﺮ ﭼﻘﺪﺭ ‪ θ‬ﺑﺰﺭﮒﺗﺮ ﻣﻲﺷﻮﺩ‪ ،‬ﺍﻳﻦ ﺍﻧﺮﮊﻱ ﻧﻴﺰ ﺍﻓﺰﺍﻳﺶ ﻣﻲﻳﺎﺑﺪ‪.‬‬
‫ﺩﺭ ﻧﻬﺎﻳﺖ ﺭﻭﺵ ﮐﻼﺳﻴﮏ ﺩﻳﮕﺮﻱ ﮐﻪ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺑﻪ ﮐﺎﺭ ﺭﻓﺘﻪ ﺍﺳﺖ‪ ،‬ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩﻱ ‪ PI‬ﺣﺎﻟﺖ ﺍﺳﺖ‬
‫]‪ .[Jiang02‬ﺩﺭ ﺍﻳﻦ ﺭﻭﺵ ﻣﺪﻝ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻧﺪ‪:‬‬

‫‪x = Ax + g ( x) + u‬‬
‫‪y = Cx‬‬ ‫)‪(64‬‬
‫‪x ∈ ℜ ,u ∈ ℜ , y ∈ ℜ‬‬
‫‪n‬‬ ‫‪n‬‬ ‫‪1‬‬

‫ﻭ )‪ g (x‬ﻫﻢ ﺑﻪ ﻃﻮﺭ ﭘﻴﻮﺳﺘﻪ ﻣﺸﺘﻖﭘﺬﻳﺮ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﻣﻲﺷﻮﺩ‪ .‬ﺛﺎﺑﺖ ﻣﻲﺷﻮﺩ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ‬

‫‪‬‬ ‫‪t‬‬
‫‪‬‬
‫‪u = λ  B( Kx + k ∫ ( y − ys )dτ ‬‬ ‫)‪(65‬‬
‫‪‬‬ ‫‪0‬‬ ‫‪‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ‬

‫‪1‬‬ ‫‪if x ∈ Ω xs‬‬

‫‪λ =‬‬ ‫)‪(66‬‬
‫‪0‬‬ ‫‪otherwise‬‬

‫ﻭ ‪ ، Ω x s‬ﻫﻤﺴﺎﻳﮕﻲﻱ ﮐﻮﭼﮑﻲ ﺍﻃﺮﺍﻑ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ ﻣﻮﺭﺩ ﻧﻈﺮ ﺍﺳﺖ‪ ،‬ﺍﮔﺮ ﺟﻤﻼﺕ ﺣﺪ ﺟﻤﻼﺕ ﻣﺮﺗﺒﻪﻱ ﺩﻭ ﺑﻪ ﺑﺎﻻﻱ‬
‫)‪ g (x‬ﺩﺭ ﻧﺰﺩﻳﮏﻱ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ ﻣﻮﺭﺩ ﻧﻈﺮ )ﮐﻪ ﺑﺎ )‪ g (e‬ﻧﺸﺎﻥﺍﺵ ﻣﻲﺩﻫﻴﻢ( ﺑﻪ ﺻﻔﺮ ﻣﻴﻞ ﮐﻨﺪ ﻭ ﺧﻮﺩﺵ ﻧﻴﺰ ﺻﻔﺮ‬
‫ﺑﺎﺷﺪ‪ ،‬ﻳﻌﻨﻲ‪:‬‬

‫‪g (0) = 0‬‬ ‫)‪(67‬‬

‫) ‪g (e‬‬
‫‪lim‬‬ ‫‪=0‬‬ ‫)‪(68‬‬
‫‪e →0‬‬ ‫‪e‬‬

‫ﺁﻥﮔﺎﻩ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺗﻮﺳﻂ ﻃﺮﺍﺣﻲﺍﻱ ﮐﻪ ) ‪ (A + B K‬ﭘﺎﻳﺪﺍﺭ ﮐﻨﺪ‪ ،‬ﮐﻨﺘﺮﻝ ﮐﺮﺩ‪ .‬ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ‪ B ، A‬ﻭ ‪ K‬ﺑﺪﻳﻦ‬
‫ﺻﻮﺭﺕ ﺗﻌﺮﻳﻒ ﺷﺪﻩﺍﻧﺪ‪:‬‬

‫‪ A 0‬‬ ‫‪B‬‬

‫‪A=‬‬ ‫‪‬‬ ‫‪, B =   , K = [K‬‬ ‫]‪k‬‬ ‫)‪(69‬‬
‫‪C 0‬‬ ‫‪0 ‬‬

‫ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ ﮐﻪ ﺩﺭ ﺍﻳﻦ ﺭﻭﺵ ﻧﻴﺰ ﺍﺯ ﺍﻳﺪﻩﻱ ‪ ergodicity‬ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
 ‫‪٥٩‬‬
‫ﻫﻢﺯﻣﺎﻧﻲ‬
‫ﻫﻢﺯﻣﺎﻧﻲﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺩﻳﻨﺎﻣﻴﮑﻲ ﭘﺪﻳﺪﻩﺍﻳﺴﺖ ﮐﻪ ﺩﺭ ﺳﺎﻝﻫﺎﻱ ﺍﺧﻴﺮ ﺗﻮﺟﻪ ﺑﺴﻴﺎﺭﻱ ﺭﺍ ﺑﻪ ﺧﻮﺩ ﺟﻠﺐ ﮐﺮﺩﻩ ﺍﺳﺖ‪ .‬ﻫﻢﺯﻣﺎﻧﻲ ﺩﻭ‬
‫ﺳﻴﺴﺘﻢ ﺩﻳﻨﺎﻣﻴﮑﻲ ﺑﻪ ﺯﺑﺎﻥ ﺳﺎﺩﻩ ﻳﻌﻨﻲ ﺍﻋﻤﺎﻝ ﺗﻐﻴﻴﺮﺍﺗﻲ ﺩﺭ ﺩﻭ ﺳﻴﺴﺘﻢ ﺑﻪ ﻃﻮﺭﻱ ﮐﻪ ﻫﺮ ﺩﻭﻱ ﺁﻥﻫﺎ ﻳﮏ ﺭﻓﺘﺎﺭ ﺍﺯ ﺧﻮﺩ ﻧﺸﺎﻥ‬
‫ﺩﻫﻨﺪ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺩﺭ ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﺍﻧﺘﻘﺎﻝ ﺩﺍﺩﻩ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺨﺎﺑﺮﺍﺗﻲ‪ ،‬ﻃﺮﻑ ﮔﻴﺮﻧﺪﻩ ﻭ ﻓﺮﺳﺘﻨﺪﻩ –ﻫﺮ ﺩﻭ‪-‬‬
‫ﻣﻲﺑﺎﻳﺴﺖ ﺑﻪ ﻳﮏ ﺳﻴﮕﻨﺎﻝ ﺣﺎﻣﻞ‪ ٦٠‬ﻳﮏﺳﺎﻥ ﺩﺳﺖﺭﺳﻲ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻨﺪ‪ .‬ﻳﮏﺳﺎﻥ ﺑﻮﺩﻥ ﺳﻴﮕﻨﺎﻝ ﺩﺭ ﻣﺨﺎﺑﺮﺍﺕ ﮐﻼﺳﻴﮏ ﻣﻌﺎﺩﻝ‬
‫ﻫﻢ ﻓﺮﮐﺎﻧﺲ ﻭ ﻫﻢ ﻓﺎﺯ ﺑﻮﺩﻥ ﺩﻭ ﺳﻴﮕﻨﺎﻝ ﺳﻴﻨﻮﺳﻲ ﺍﺳﺖ‪ .‬ﺍﺯ ﻃﺮﻑ ﺩﻳﮕﺮ‪ ،‬ﻫﻢﺯﻣﺎﻧﻲ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺏﻧﺎﮎ ﻧﻴﺰ ﺑﻪ ﺩﻟﻴﻞ‬
‫ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﺍﺣﺘﻤﺎﻟﻲ ﻭ ﻣﺘﻨﻮﻉﺍﺵ )ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺩﺭ ﻣﺨﺎﺑﺮﺍﺕ ﺍﻳﻤﻦ‪ (٦١‬ﻣﻬﻢ ﺍﺳﺖ‪ .‬ﺩﺭ ﺍﻳﻦ ﻧﻮﻉ ﻫﻢﺯﻣﺎﻧﻲ ﺧﺮﻭﺟﻲﻱ ﺩﻭ‬
‫ﺳﻴﺴﺘﻢ ﺁﺷﻮﺏﻧﺎﮎ ﻣﻲﺑﺎﻳﺴﺖ ﺑﻪ ﻭﺳﻴﻠﻪﻱ ﮐﻨﺶﺍﻱ ﮐﻪ ﺩﻭ ﺳﻴﺴﺘﻢ ﺗﻮﺳﻂ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲ ﺑﺮ ﻫﻢ ﻣﻲﮔﺬﺍﺭﻧﺪ‪ ،‬ﺗﺎ ﺣﺪ ﻣﻤﮑﻦ‬
‫ﻳﮏﺳﺎﻥ ﺷﻮﺩ‪ .‬ﻧﮑﺘﻪﻱ ﻣﻬﻢ ﻭ ﻗﺎﺑﻞ ﺗﻮﺟﻪ ﺍﻳﻦ ﺍﺳﺖ ﮐﻪ ﭼﻨﻴﻦ ﮐﺎﺭﻱ ﺗﺎ ﭼﻨﺪ ﺳﺎﻝ ﭘﻴﺶ ﻏﻴﺮﻣﻤﮑﻦ ﺗﻠﻘﻲ ﻣﻲﺷﺪ‪ .‬ﺩﻟﻴﻞ ﺍﻳﻦ‬
‫ﺗﺼﻮﺭ‪ ،‬ﻧﺎﭘﺎﻳﺪﺍﺭﻱﻱ ﺫﺍﺗﻲﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲﺳﺖ )ﮐﻪ ﻣﺜﻼ ﺑﺎ ﻣﺜﺒﺖ ﺑﻮﺩﻥ ‪ Lyapunov Exponent‬ﺁﻥ ﻧﻤﻮﺩ ﭘﻴﺪﺍ‬
‫ﻣﻲﮐﻨﺪ( ﮐﻪ ﺑﺎﻋﺚ ﻣﻲﺷﻮﺩ ﺑﺮﺧﻼﻑ ﺧﻴﻠﻲ ﺍﺯ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺩﻳﮕﺮ ﻣﺎﻧﻨﺪ ﻧﻮﺳﺎﻥﺳﺎﺯﻫﺎﻱ ﺳﻴﻨﻮﺳﻲ ﺗﻔﺎﻭﺕ ﺑﺴﻴﺎﺭ ﺟﺰﻳﻲ ﺩﺭ ﺷﺮﺍﻳﻂ‬
‫ﺍﻭﻟﻴﻪ ﺩﻭ ﺳﻴﺴﺘﻢ‪ ،‬ﺗﻐﻴﻴﺮﺍﺕ ﻗﺎﺑﻞ ﺗﻮﺟﻬﻲ ﺩﺭ ﻧﺘﻴﺠﻪﻱ ﻧﻬﺎﻳﻲ ﺍﻳﺠﺎﺩ ﮐﻨﺪ‪ .‬ﭘﺲ ﺳﻌﻲ ﺩﺭ ﺗﻨﻈﻴﻢ ﺩﻗﻴﻖ ﭘﺎﺭﺍﻣﺘﺮﻫﺎ ﻭ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺩﻭ‬
‫ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ‪ ،‬ﻣﺤﮑﻮﻡ ﺑﻪ ﺷﮑﺴﺖ ﺍﺳﺖ‪ .‬ﺑﺎ ﺍﻳﻦ ﺣﺎﻝ ﺩﺭ ﺳﺎﻝ ‪ Pecora ،۱۹۹۰‬ﻭ ‪ Carroll‬ﻧﺸﺎﻥ ﺩﺍﺩﻧﺪ ﮐﻪ ﺩﺭ ﺷﺮﺍﻳﻄﻲ‬
‫ﺑﺎ ﺍﻳﺠﺎﺩ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎﻱ ﻭ ﺍﻋﻤﺎﻝ ﺁﻥ ﺑﻪ ﺳﻴﺴﺘﻢ‪ ،‬ﻣﻲﺗﻮﺍﻥ ﺁﻥ ﺩﻭ ﺭﺍ ﻫﻢﺯﻣﺎﻥ ﮐﺮﺩ ]‪ .[Pecora90‬ﭘﻴﺶ ﺍﺯ ﻣﻌﺮﻓﻲﻱ ﺍﻳﻦ‬
‫ﺭﻭﺵ ﺧﻮﺏ ﺍﺳﺖ ﻫﻢﺯﻣﺎﻧﻲ ﺭﺍ ﺑﻪ ﻃﻮﺭ ﺭﻳﺎﺿﻲ ﻓﺮﻣﻮﻝﺑﻨﺪﻱ ﮐﻨﻴﻢ ]‪.[Nijmeijer97‬‬

‫ﻓﺮﺽ ﮐﻨﻴﺪ ‪ k‬ﺳﻴﺴﺘﻢ ﺑﻪ ﻫﻢ ﻣﺘﺼﻞ ﺯﻳﺮ ﺭﺍ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪:‬‬

‫‪S i : x i = Fi ( x1 , x 2 ,..., x k , t ), i = 1,..., k‬‬ ‫)‪(70‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ . Fi : ℜn1 × ℜn2 × ... × ℜn k × ℜ+ → ℜn i‬ﺑﺮﺍﻱ ﻫﺮ ‪ ، τ ∈ ℜ‬ﺍﭘﺮﺍﺗﻮﺭ ﺍﻧﺘﻘﺎﻝ ﺯﻣﺎﻧﻲ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ‬

‫) ‪ (σ τ x )(t ) = x (t + τ‬ﺗﻌﺮﻳﻒ ﻣﻲﮐﻨﻴﻢ‪ .‬ﺗﺎﺑﻊ ‪ Q‬ﺭﺍ ﺑﺮ ﺭﻭﻱ ) ‪ xi (t‬ﻫﺎ ﺗﻌﺮﻳﻒ ﻣﻲﮐﻨﻴﻢ‪.‬‬

‫ﺗﻌﺮﻳﻒ ﻫﻢﺯﻣﺎﻧﻲ‪ :‬ﭘﺎﺳﺦ ) ‪ ... ، x2 (t ) ، x1 (t‬ﻭ ) ‪ xk (t‬ﺳﻴﺴﺘﻢﻫﺎﻱ ‪ ... ، S 2 ، S1‬ﻭ ‪ S k‬ﺑﺎ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ )‪، x1 (0‬‬
‫)‪ ... ، x2 (0‬ﻭ )‪ xk (0‬ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻓﺮﺍﺗﺎﺑﻊ‪ Qi ( x1 ,.., xk , t ) ٦٢‬ﻫﻢﺯﻣﺎﻥ ﺍﺳﺖ ﺍﮔﺮ‬

‫‪Qi (σ τ1 x1 ,...,σ τ k xk , t ) ≡ 0,‬‬ ‫‪i = 1,..., k‬‬ ‫)‪(71‬‬

‫ﺑﻪ ﺍﺯﺍﻱ ‪ ∀t ∈ ℜ‬ﻭ ﻣﻘﺎﺩﻳﺮﻱ ﺍﺯ ‪ . τ 1 ,...,τ k‬ﺍﻳﻦ ﺳﻴﺴﺘﻢﻫﺎ ﺑﻪ ﻃﻮﺭ ﺗﻘﺮﻳﺒﻲ ﻫﻢﺯﻣﺎﻥﺍﻧﺪ ﺍﮔﺮ ﻫﻤﻪﻱ ﺷﺮﺍﻳﻂ ﻣﺎﻧﻨﺪ ﻗﺒﻞ ﺑﺎﺷﺪ‬
‫ﻭ ﻫﻢﭼﻨﻴﻦ ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ‪ ε ∈ ℜ‬ﮐﻪ‬

‫‪Qi (σ τ 1 x1 ,...,σ τ k xk , t ) < ε ,‬‬ ‫‪i = 1,..., k‬‬ ‫)‪(72‬‬

‫‪59‬‬
‫‪Synchronization‬‬
‫‪60‬‬
‫‪Carrier Signal+‬‬
‫‪61‬‬
‫‪Secure Communication‬‬
‫‪62‬‬
‫‪Functional‬‬
 ‫ﺩﺭ ﺿﻤﻦ ‪ S1 ,..., S k‬ﺑﻪ ﻃﻮﺭ ﻣﺠﺎﻧﺒﻲ ﻫﻢﺯﻣﺎﻥ ﺍﺳﺖ ﺍﮔﺮ‬

‫‪lim Qi (σ τ 1 x1 ,...,σ τ k xk , t ) = 0,‬‬ ‫‪i = 1,..., k .‬‬ ‫)‪(73‬‬

‫∞→ ‪t‬‬

‫ﻫﻤﻪﻱ ﺍﻳﻦ ﺗﻌﺎﺭﻳﻒ ﺍﮔﺮ ﺑﻪ ﺟﺎﻱ ) ‪ Qi ( x1 ,.., xk , t‬ﻫﺎ ﺍﺯ ) ‪ Qi ( y1 ,.., yk , t‬ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ ﮐﻪ ) ) ‪yi (t ) = hi ( xi (t‬‬
‫ﺧﺮﻭﺟﻲﻱ ﺳﻴﺴﺘﻢﻫﺎ ﺑﺎﺷﻨﺪ ﺑﻪ ﻫﻢﺯﻣﺎﻧﻲﻱ ﺧﺮﻭﺟﻲ‪ ٦٣‬ﻧﻴﺰ ﻗﺎﺑﻞ ﺗﻌﻤﻴﻢ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺗﻌﻤﻴﻢ ﺑﻴﺶﺗﺮ ﻣﻲﺗﻮﺍﻥ ‪ τ i‬ﻫﺎ ﺭﺍ ﻧﻴﺰ ﻣﺘﻐﻴﺮ‬
‫ﺑﺎ ﺯﻣﺎﻥﺍﻱ ﮐﻪ ﮔﺮﻓﺖ ﮐﻪ ﺩﺍﺭﺍﻱ ﺣﺪ ﻣﺸﺨﺺ ﻭ ﺛﺎﺑﺖﺍﻱ ﻫﺴﺘﻨﺪ‪.‬‬
‫ﺣﺎﻟﺖ ﺧﺎﺹ ﺍﻳﻦ ﺗﻌﺎﺭﻳﻒ ﻭﻗﺘﻲ ﺍﺳﺖ ﮐﻪ ﺑﺮﺍﻱ ﺍﺭﺗﺒﺎﻁ ﺩﻭ ﺳﻴﺴﺘﻢ ﺗﻌﺮﻳﻒ ﮐﻨﻴﻢ‪:‬‬

‫) ‪Q1 ( x1 , x2 ) = Q2 ( x1, x2 ) = Q( x1 , x2 ) = x1 (t ) − x2 (t‬‬ ‫)‪(74‬‬

‫ﺍﻳﻨﮏ ﻣﺴﺎﻟﻪﻱ ﻫﻢﺯﻣﺎﻧﻲ ﮐﺮﺩﻥ ﺩﻭ ﺳﻴﺴﺘﻢ ﻣﻌﺎﺩﻝ ﻣﻲﺷﻮﺩ ﺑﻪ ﺻﻮﺭﺕ ﭘﻴﺪﺍ ﮐﺮﺩﻥ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲﺍﻱ ﮐﻪ ﺍﻳﻦ ﺳﻴﺴﺘﻢﻫﺎ ﺭﺍ ﺑﺎ‬
‫ﺗﻮﺟﻪ ﺑﻪ ﻳﮑﻲ ﺍﺯ ﺍﻳﻦ ﺷﺮﺍﻳﻂ ﻫﻢﺯﻣﺎﻧﻲ‪ ،‬ﻫﻢﺯﻣﺎﻥ ﮐﻨﺪ‪.‬‬

‫ﻓﺮﺽ ﮐﻨﻴﻢ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺩﻭ ﺳﻴﺴﺘﻢ ‪ S1‬ﻭ ‪ S 2‬ﺭﺍ ﻫﻢﺯﻣﺎﻥ ﮐﻨﻴﻢ‪ .‬ﺩﻭ ﺍﺳﺘﺮﺍﺗﮋﻱﻱ ﻣﺨﺘﻠﻒ ﻫﻢﺯﻣﺎﻧﻲ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺖ‪:‬‬

‫ﻫﻢﺯﻣﺎﻧﻲ ﺍﺭﺑﺎﺏ‪-‬ﺭﻋﻴﺘﻲ‪) ٦٤‬ﻳﺎ ﻣﺤﺮﮎ‪-‬ﭘﺎﺳﺦﺩﻩ‪(٦٥‬‬ ‫•‬

‫ﻫﻢﺯﻣﺎﻧﻲ ﻣﺘﻘﺎﺑﻞ‬ ‫•‬

‫ﺩﺭ ﺭﻭﺵ ﺍﻭﻝ‪ ،‬ﻳﮑﻲ ﺍﺯ ﺳﻴﺴﺘﻢﻫﺎ ﻧﻘﺶ ﻧﺴﺨﻪﻱ ﻣﺮﺟﻊ ﺭﺍ ﺍﻳﻔﺎ ﻣﻲﮐﻨﺪ ﻭ ﺩﻳﮕﺮﻱ ﺳﻌﻲ ﻣﻲﮐﻨﺪ ﺑﺎ ﺩﺭﻳﺎﻓﺖ ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺁﻥ‬
‫ﻧﺴﺨﻪﻱ ﻣﺮﺟﻊ ﺗﺎ ﺣﺪ ﻣﻤﮑﻦ ﺑﺎ ﺁﻥ ﻫﻢﺯﻣﺎﻥ ﺷﻮﺩ‪ .‬ﭘﺲ ﻳﮑﻲ ﺍﺯ ﺳﻴﺴﺘﻢﻫﺎ ﻋﻤﻼ ﻫﻴﭻ ﺗﻐﻴﻴﺮﻱ ﺩﺭ ﺧﻮﺩﺵ ﻧﻤﻲﺩﻫﺪ ﻭ ﺳﻴﮕﻨﺎﻝ‬
‫ﮐﻨﺘﺮﻟﻲ ﻓﻘﻂ ﺑﻪ ﺩﻭﻣﻲ ﺍﻋﻤﺎﻝ ﻣﻲﺷﻮﺩ‪ .‬ﻣﻲﺗﻮﺍﻥ ﻧﻤﻮﻧﻪﻫﺎﻱ ﻣﺸﺎﺑﻪﺍﻱ ﺍﺯ ﺍﻳﻦ ﺩﻳﺪﮔﺎﻩ ﻫﻢﺯﻣﺎﻧﻲ ﺭﺍ ﺩﺭ ﺗﺌﻮﺭﻱﻱ ﮐﻼﺳﻴﮏ ﮐﻨﺘﺮﻝ‬
‫ﻧﻴﺰ ﻳﺎﻓﺖ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ‪ ،‬ﮐﻨﺘﺮﻝ ﻣﺪﻝ‪-‬ﻣﺮﺟﻊ‪ ٦٦‬ﺩﻗﻴﻘﺎ ﺑﻪ ﻫﻤﻴﻦ ﺻﻮﺭﺕ ﺍﺳﺖ ﻭ ﮐﻨﺘﺮﻟﺮ ﻣﻲﺑﺎﻳﺴﺖ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝﺷﻮﻧﺪﻩ‬
‫ﺭﺍ ﺟﻮﺭﻱ ﻫﺪﺍﻳﺖ ﮐﻨﺪ ﮐﻪ ﻣﺎﻧﻨﺪ ﺳﻴﺴﺘﻢ ﻣﺮﺟﻊﺍﻱ ﮐﻪ ﺑﻪ ﻃﻮﺭ ﺟﺪﺍﮔﺎﻧﻪ ﻣﺸﺨﺺ ﺷﺪﻩ ﺍﺳﺖ ﺭﻓﺘﺎﺭ ﮐﻨﺪ‪ .‬ﻳﺎ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻟﻲ ﺩﻳﮕﺮ‪،‬‬
‫ﺍﻳﻦ ﺷﺒﻴﻪ ﺑﻪ ﺭﻓﺘﺎﺭ ﻳﮏ ﺭﻭﻳﺖﮔﺮ‪ ٦٧‬ﺩﺭ ﮐﻨﺘﺮﻝ ﮐﻼﺳﻴﮏ ﺍﺳﺖ ﮐﻪ ﻣﻲﺑﺎﻳﺴﺖ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻃﻼﻋﺎﺕ ﺩﺭﻳﺎﻓﺖ ﺷﺪﻩ ﺍﺯ ﻳﮏ‬
‫ﺳﻴﺴﺘﻢ ﺩﻳﮕﺮ‪ ،‬ﺣﺎﻟﺖ ﺩﺭﻭﻧﻲﻱ ﺁﻥ ﺭﺍ ﺗﺨﻤﻴﻦ ﺑﺰﻧﺪ‪ .‬ﺑﻪ ﻫﻤﻴﻦ ﺩﻟﻴﻞ‪ ،‬ﺍﻳﻦ ﻧﻮﻉ ﺭﻭﻱﮐﺮﺩ ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲﻱ ﺳﻴﺴﺘﻢ ﻫﻢﺯﻣﺎﻥﺳﺎﺯ ﺑﻪ‬
‫ﺭﻭﻱﮐﺮﺩ ﻫﻢﺯﻣﺎﻥﺳﺎﺯﻫﺎﻱ ﺭﻭﻳﺖﮔﺮﻱ‪ ٦٨‬ﻧﻴﺰ ﻣﺸﻬﻮﺭ ﺍﺳﺖ‪.‬‬

‫ﻫﻢﺯﻣﺎﻧﻲ ﺑﻪ ﺭﻭﺵ ﺗﺠﺰﻳﻪ ﻣﺤﺮﮎ‪-‬ﭘﺎﺳﺦﮔﻮ‬

‫ﺍﻳﻨﮏ ﺍﻳﺪﻩﻱ ﺍﺳﺎﺳﻲﻱ ﭼﻨﺪ ﺭﻭﺵ ﻣﺨﺘﻠﻒ ﺑﺮﺍﻱ ﻫﻢﺯﻣﺎﻥﺳﺎﺯﻱﻱ ﺩﻭ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ ﺭﺍ ﻣﻌﺮﻓﻲ ﻣﻲﮐﻨﻢ‪ .‬ﺍﺑﺘﺪﺍ ﺍﻳﺪﻩﻱ ﻣﺤﺮﮎ‪-‬‬
‫ﭘﺎﺳﺦﮔﻮﻱ ‪ Pecora‬ﻭ ‪ Carroll‬ﮐﻪ ﺍﻭﻟﻴﻦ ﺭﻭﺵ ﻫﻢﺯﻣﺎﻧﻲﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﺷﻮﺑﻲﺳﺖ ]‪ .[Pecora90‬ﻓﺮﺽ ﮐﻨﻴﺪ‬
‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺩﻭ ﻧﺴﺨﻪﻱ ﻳﮏﺳﺎﻥ ﺍﺯ ﺳﻴﺴﺘﻢ ﺩﻳﻨﺎﻣﻴﮑﻲ‬

‫‪63‬‬
‫‪Output Synchronization‬‬
‫‪64‬‬
‫‪Master-Slave‬‬
‫‪65‬‬
‫‪Drive-Response‬‬
‫‪66‬‬
‫‪Model Reference Control‬‬
‫‪67‬‬
‫‪Observer‬‬
‫‪68‬‬
‫‪Observer-Based Synchronization‬‬
 ‫‪x = f ( x ), x ∈ ℜn‬‬ ‫)‪(75‬‬

‫ﺭﺍ ﺑﺎ ﻫﻢ ﻫﻢﺯﻣﺎﻥ ﮐﻨﻴﻢ )ﻣﺜﻼ ﺍﻳﻦ ﻣﻲﺗﻮﺍﻧﺪ ﺩﻭ ﻧﻮﺳﺎﻥﺳﺎﺯ ﻳﮏﺳﺎﻥ ﺑﺎﺷﺪ ﮐﻪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪﻱ ﻣﺘﻔﺎﻭﺗﻲ ﺩﺍﺭﻧﺪ ﻭ ﺑﻪ ﺩﻟﻴﻞ ﻃﺒﻴﻌﺖ‬
‫ﺁﺷﻮﺑﻲﺷﺎﻥ ﺑﺎ ﮔﺬﺭ ﺯﻣﺎﻥ ﺗﻔﺎﻭﺕ ﺣﺎﻟﺖ ﺯﻳﺎﺩﻱ ﭘﻴﺪﺍ ﻣﻲﮐﻨﻨﺪ(‪ .‬ﻳﮑﻲ ﺍﺯ ﺳﻴﺴﺘﻢﻫﺎ ﺭﺍ ﻣﺤﺮﮎ ﻣﻲﮔﻴﺮﻳﻢ ﻭ ﺩﻳﮕﺮﻱ ﺭﺍ ﭘﺎﺳﺦﺩﻩ ﻭ‬
‫ﺁﻥﻫﺎ ﺭﺍ ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺗﺠﺰﻳﻪ ﻣﻲﮐﻨﻴﻢ‪:‬‬

‫) ‪z d = Z ( z d , yd‬‬
‫‪Drive System : ‬‬ ‫)‪(76‬‬
‫) ‪ y d = Y ( zd , yd‬‬
‫) ‪z r = Z ( z r , yd‬‬
‫‪Response System : ‬‬ ‫)‪(77‬‬
‫) ‪ y r = Y ( zr , yr‬‬

‫ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﮐﻪ ﺩﺭ ﺳﻴﺴﺘﻢ ﭘﺎﺳﺦﺩﻩ‪ ،‬ﺑﺨﺶﺍﻱ ﺍﺯ ﺩﻳﻨﺎﻣﻴﮏ ﺗﻮﺳﻂ ﺳﻴﮕﻨﺎﻝ ‪ yd‬ﺗﺤﺮﻳﮏ ﻣﻲﺷﻮﺩ‪ .‬ﺷﺮﻁ ﻫﻢﺯﻣﺎﻧﻲ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ‬
‫ﺯﻳﺮ ﻣﺸﺨﺺ ﻣﻲﮐﻨﻴﻢ‪:‬‬

‫‪lim z d (t ) − zr (t ) → 0‬‬ ‫)‪(78‬‬

‫∞→ ‪t‬‬

‫‪lim yd (t ) − yr (t ) → 0‬‬ ‫)‪(79‬‬

‫∞→ ‪t‬‬

‫ﺣﺎﻝ ﺍﮔﺮ ﺩﻳﻨﺎﻣﻴﮏ ﺧﻄﺎ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫) ‪ez = f 0 (ez , t‬‬ ‫)‪(80‬‬

‫) ‪e y = f1 (ez , e y , t‬‬ ‫)‪(81‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ ez = zd − zr‬ﻭ ‪ ، e y = yd − yr‬ﺁﻥﮔﺎﻩ ﻗﻀﻴﻪﻱ ﺯﻳﺮ ﺭﺍ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪.‬‬

‫ﻗﻀﻴﻪ‪ :‬ﻓﺮﺽ ﮐﻨﻴﺪ‪:‬‬

‫‪ (۱‬ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪﻱ )‪ z r (0) ، z d (0‬ﻭ )‪ ، yd (0‬ﭘﺎﺳﺦﻫﺎﻱ ) ‪ z d (t‬ﻭ ) ‪ yd (t‬ﺩﺭ ﺑﺎﺯﻩﻫﺎﻱ ﺯﻣﺎﻧﻲﻱ‬
‫‪٦٩‬‬
‫ﺑﻲﻧﻬﺎﻳﺖ ﺑﺰﺭﮒ ﻭﺟﻮﺩ ﺩﺍﺭﻧﺪ ﻭ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ ‪ ez = 0‬ﺩﺭ ) ‪ ، ez = f 0 (ez , t‬ﺑﻪ ﻃﻮﺭ ﻋﻤﻮﻣﻲ ﻳﮏﻧﻮﺍﺧﺖ ﭘﺎﻳﺪﺍﺭ ﻣﺠﺎﻧﺒﻲ‬
‫ﺑﺎﺷﺪ‪.‬‬
‫‪ e y = f1 (ez , e y , t ) (۲‬ﭘﺎﻳﺪﺍﺭ ﻭﺭﻭﺩﻱ‪-‬ﺑﻪ‪-‬ﺣﺎﻟﺖ ) ‪ (ISS‬ﺑﺎ ﻭﺭﻭﺩﻱﻱ ‪ ez‬ﺑﺎﺷﺪ‪.‬‬
‫‪70‬‬

‫ﺩﺭ ﺁﻥ ﺻﻮﺭﺕ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪﺍﻱ‪ ،‬ﻫﺪﻑ ﻫﻢﺯﻣﺎﻧﻲ ﺑﺮﺁﻭﺭﺩ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻧﻤﻮﻧﻪ‪ ،‬ﻫﻢﺯﻣﺎﻧﻲﻱ ﺩﻭ ﺳﻴﺴﺘﻢ ﺩﻳﻨﺎﻣﻴﮑﻲ ﻟﻮﺭﻧﺘﺲ‪ ٧١‬ﺭﺍ ﮐﻪ ﻣﻲﺗﻮﺍﻧﺪ ﺑﻪ ﺍﺯﺍﻱ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺧﺎﺻﻲ ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲ ﺩﺍﺷﺘﻪ‬
‫ﺑﺎﺷﺪ ﺑﺮﺭﺳﻲ ﻣﻲﮐﻨﻴﻢ ]‪ .[Lorenz63‬ﻣﻌﺎﺩﻻﺕ ﺩﻳﻨﺎﻣﻴﮏ ﺑﺪﻳﻦ ﺻﻮﺭﺕﺍﻧﺪ‪:‬‬

‫‪69‬‬
‫‪Globally Uniformly Asymptotically Stable‬‬
‫‪70‬‬
‫‪Input-to-State Stable‬‬
‫‪71‬‬
‫‪Lorenz‬‬
 ‫‪ x = σ ( y − x ) + u‬‬
‫‪‬‬
‫‪ y = rx − y − xz‬‬ ‫)‪(82‬‬
‫‪ z = −bz + xy‬‬
‫‪‬‬

‫‪٧٢‬‬
‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ σ , r , b > 0‬ﻫﺴﺘﻨﺪ‪ .‬ﺑﺪﻭﻥ ﻭﺍﺭﺩ ﺷﺪﻥ ﺑﻪ ﺟﺰﻳﻴﺎﺕ ﻣﻲﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﮐﻪ ﺣﺎﻟﺖﻫﺎﻱ ﺍﻳﻦ ﺩﻳﻨﺎﻣﻴﮏ ﮐﺮﺍﻥﺩﺍﺭ‬
‫ﺍﺳﺖ‪ .‬ﺣﺎﻝ ﺍﮔﺮ ﺑﺨﻮﺍﻫﻴﻢ ﻫﺪﻑ ﻫﻢﺯﻣﺎﻧﻲ ﺭﺍ ﺑﺮﺍﻱ ﺍﻳﻦ ﺩﻭ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﮐﻨﻴﻢ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫) ‪ x1 = σ ( y1 − x1‬‬
‫‪‬‬
‫‪ y1 = rx1 − y1 − x1 z1‬‬ ‫)‪(83‬‬
‫‪ z = −bz + x y‬‬
‫‪‬‬ ‫‪1‬‬ ‫‪1 1‬‬

‫) ‪ x2 = σ ( y2 − x2‬‬
‫‪‬‬
‫‪ y 2 = rx1 − y2 − x1 z2‬‬ ‫)‪(84‬‬
‫‪ z = −bz + x y‬‬
‫‪ 2‬‬ ‫‪2‬‬ ‫‪1 2‬‬

‫ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﮐﻪ ﻣﻌﺎﺩﻟﻪﻱ ﺍﻭﻝ ﺯﻳﺮﺳﻴﺴﺘﻢ ‪ Y‬ﺭﺍ ﻣﻲﺳﺎﺯﺩ ﻭ ‪ x1‬ﻧﻴﺰ ﺑﻪ ﻋﻨﻮﺍﻥ ﺳﻴﮕﻨﺎﻝ ﻣﺤﺮﮎ ﻋﻤﻞ ﻣﻲﮐﻨﺪ‪ .‬ﻣﻌﺎﺩﻻﺕ ﺧﻄﺎ ﺭﺍ‬
‫ﻣﻲﻧﻮﻳﺴﻴﻢ‪:‬‬

‫) ‪ex = σ (e y − ex‬‬
‫‪‬‬
‫‪e y = −e y + x1ez‬‬ ‫)‪(85‬‬
‫‪‬‬
‫‪ez = −bez + x1e y‬‬

‫[‬
‫‪ ، ey‬ﺧﺎﺻﻴﺖ )‪ (۱‬ﺭﺍ ﺩﺍﺭﺩ‪ .‬ﺍﮔﺮ ﺍﻧﺘﺨﺎﺏ ﮐﻨﻴﻢ‪:‬‬ ‫‪ez‬‬ ‫]‬
‫‪T‬‬
‫ﺍﺑﺘﺪﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﻴﻢ ﮐﻪ ﺳﻴﺴﺘﻢ ﺗﺸﮑﻴﻞ ﺷﺪﻩ ﺍﺯ‬

‫= ) ‪V (e , e‬‬
‫‪(e‬‬ ‫‪2‬‬
‫‪y‬‬ ‫‪+ ez2‬‬ ‫)‬ ‫)‪(86‬‬
‫‪y‬‬ ‫‪z‬‬
‫‪2‬‬

‫ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬

‫) ‪V (e y , ez ) = −e 2y − bez2 ≤ − max( 2,2b)V (ey , ez‬‬ ‫)‪(87‬‬

‫ﭘﺲ ﻣﻲﺗﻮﺍﻥ ﻧﺘﻴﺠﻪ ﮔﺮﻓﺖ ﮐﻪ ) ‪ V (e y , ez‬ﺑﻪ ﺻﻮﺭﺕ ﻧﻤﺎﻳﻲ ﮐﺎﻫﺶ ﻣﻲﻳﺎﺑﺪ‪ .‬ﻫﻢﭼﻨﻴﻦ ﻣﻌﺎﺩﻟﻪ‪:‬‬

‫‪ex = σex‬‬ ‫)‪(88‬‬

‫‪72‬‬
‫‪Bounded‬‬
‫ﭘﺎﻳﺪﺍﺭ ﻧﻤﺎﻳﻲﺳﺖ ﻭ ) ‪ ex = σ (e y − ex‬ﺑﺎ ﻭﺭﻭﺩﻱﻱ ‪ ISS ، e y‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ )ﺑﻪ ﺩﻟﻴﻞ ﮐﺮﺍﻥﺩﺍﺭ ﺑﻮﺩﻥ ‪ e y‬ﻭ ﭘﺎﻳﺪﺍﺭﻱ ﻧﻤﺎﻳﻲ(‪.‬‬
‫ﭘﺲ ﺷﺮﺍﻳﻂ ﻗﻀﻴﻪ ﺑﺮﻗﺮﺍﺭﺳﺖ ﻭ ﺩﻭ ﺳﻴﺴﺘﻢ ﻫﻢﺯﻣﺎﻥ ﺧﻮﺍﻫﻨﺪ ﺷﺪ‪.‬‬
‫ﺍﮔﺮ ﺑﻪ ﺟﺎﻱ ‪ x1‬ﺍﺯ ‪ y1‬ﺑﺮﺍﻱ ﻫﻢﺯﻣﺎﻧﻲ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ‪ ،‬ﺑﺎﺯ ﻣﻲﺗﻮﺍﻥ ﺍﺛﺒﺎﺕ ﮐﺮﺩ ﮐﻪ ﺩﻭ ﺳﻴﺴﺘﻢ ﻫﻢﺯﻣﺎﻥ ﺧﻮﺍﻫﻨﺪ ﺷﺪ‪ .‬ﺍﻣﺎ ﺍﮔﺮ‬
‫‪ z1‬ﺭﺍ ﺑﻪ ﻋﻨﻮﺍﻥ ﺳﻴﮕﻨﺎﻝ ﻫﻢﺯﻣﺎﻧﻲ ﺑﮕﻴﺮﻳﻢ‪ ،‬ﻣﻲﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﮐﻪ ﻗﺎﺩﺭ ﺑﻪ ﻫﻢﺯﻣﺎﻧﻲ ﻧﺨﻮﺍﻫﻴﻢ ﺑﻮﺩ‪.‬‬
‫ﺩﺭ ﻭﺍﻗﻊ ﺑﺎ ﺍﻳﻦﮐﻪ ﻣﻲﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﮐﻪ ﺑﺎ ﻫﺮ ﺳﻴﮕﻨﺎﻝ ﺍﺳﮑﺎﻟﺮﻱ ﻣﻲﺗﻮﺍﻥ ﺩﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﻫﻢﺯﻣﺎﻥ ﮐﺮﺩ‪ ،‬ﺍﻣﺎ ﺍﻳﻦ ﺳﻴﮕﻨﺎﻝ ﺍﻟﺰﺍﻣﺎ‬
‫ﻳﮑﻲ ﺍﺯ ﺣﺎﻟﺖﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﻧﺨﻮﺍﻫﺪ ﺑﻮﺩ ]‪.[Wang98‬‬

‫‪٧٣‬‬
‫ﻫﻢﺯﻣﺎﻧﻲ ﺑﺎ ﺭﻭﺵﻫﺎﻱ ﻣﺒﺘﻨﻲ ﺑﺮ ﭘﺴﻴﻮ ﺑﻮﺩﻥ‬
‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻧﻤﻮﻧﻪﺍﻱ ﺩﻳﮕﺮ ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﻫﻢﺯﻣﺎﻧﻲ‪ ،‬ﺭﻭﺷﻲ ﺭﺍ ﻣﻌﺮﻓﻲ ﻣﻲﮐﻨﻢ ﮐﻪ ﺑﺮ ﺍﺳﺎﺱ ﺍﻳﺪﻩﻱ ‪ passivity‬ﻋﻤﻞ ﻣﻲﮐﻨﺪ‪.‬‬
‫ﭘﻴﺶ ﺍﺯ ﻣﻌﺮﻓﻲﻱ ﺭﻭﺵ‪ ،‬ﺗﻌﺎﺭﻳﻔﻲ ﺭﺍ ﺑﻴﺎﻥ ﻣﻲﮐﻨﻢ ]‪.[Pogromsky98‬‬

‫ﺳﻴﺴﺘﻢ ﺩﻳﻨﺎﻣﻴﮑﻲ ﻣﺴﺘﻘﻞ ﺍﺯ ﺯﻣﺎﻥ ﺯﻳﺮ ﺭﺍ –ﮐﻪ ﺍﻓﺎﻳﻦ ﺩﺭ ﻭﺭﻭﺩﻱﻱ ﮐﻨﺘﺮﻝ ﺍﺳﺖ‪ -‬ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫‪ x = f ( x) + g ( x)u‬‬
‫‪‬‬ ‫)‪(89‬‬
‫) ‪ y = h( x‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ x(t ) ∈ ℜ n‬ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ‪ u (t ) ∈ ℜm ،‬ﻭﺭﻭﺩﻱﻱ ﺳﻴﺴﺘﻢ ﮐﻪ ﻓﺮﺽ ﻣﻲﺷﻮﺩ ﮐﺮﺍﻥﺩﺍﺭ ﻭ ﭘﻴﻮﺳﺘﻪ ﺑﺎﺷﺪ‪،‬‬
‫‪ y (t ) ∈ ℜl‬ﺧﺮﻭﺟﻲﻱ ﺁﻥ ﻭ ‪ f : ℜn → ℜn‬ﻭ ‪ g : ℜn → ℜn + m‬ﻣﺎﺗﺮﻳﺲﻫﺎﻱ ﻫﻤﻮﺍﺭﻱ‪ ٧٤‬ﻫﺴﺘﻨﺪ‪ .‬ﻫﻢﭼﻨﻴﻦ‬
‫‪ f (0) = 0‬ﺍﺳﺖ ﻭ ‪ h : ℜn → ℜl‬ﻧﻴﺰ ﻧﮕﺎﺷﺘﻲ ﻫﻤﻮﺍﺭ ﺍﺳﺖ‪ .‬ﺳﻴﺴﺘﻢ ‪ semipassive‬ﺭﺍ ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺗﻌﺮﻳﻒ‬
‫ﻣﻲﮐﻨﻴﻢ‪:‬‬

‫ﺗﻌﺮﻳﻒ ‪ Semipassive‬ﺑﻮﺩﻥ‪ :‬ﺳﻴﺴﺘﻢ ﻣﺸﺨﺺ ﺷﺪﻩ ﺩﺭ ﺑﺎﻻ ‪ semipassive‬ﺍﺳﺖ ﺍﮔﺮ ﺗﺎﺑﻊ ﭘﻴﻮﺳﺘﻪﻱ ﻏﻴﺮﻣﻨﻔﻲﻱ‬
‫‪ V : ℜn → ℜ+‬ﻭ ﺗﺎﺑﻊ ‪ H : ℜn → ℜ‬ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ﺑﻪ ﻃﻮﺭﻱ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﻭ ﻫﺮ ﻭﺭﻭﺩﻱﻱ‬
‫ﻗﺎﺑﻞ ﻗﺒﻮﻝ‪ ،‬ﻧﺎﺗﺴﺎﻭﻱ ﺍﺗﻼﻑ‪ ٧٥‬ﺯﻳﺮ ﺑﻪ ﺍﺯﺍﻱ ﺯﻣﺎﻥﻫﺎﻱ ‪ 0 ≤ t0 ≤ t < Tu , x0‬ﮐﻪ ‪ Tu ,x0‬ﺣﺪ ﺑﺎﻻﻳﻲﺳﺖ ﺍﺯ ﺯﻣﺎﻥ ﻭﺟﻮﺩ ﭘﺎﺳﺦ‬
‫ﺑﺮﺍﻱ ﻣﻌﺎﺩﻻﺕ ﭘﻴﺸﻴﻦ ﺩﺭ ﺁﻥ ﺑﺮﻗﺮﺍﺭ ﺑﺎﺷﺪ‪:‬‬

‫‪t‬‬
‫‪V ( x(t ), t ) − V ( x(t0 ), t0 ) ≤ ∫ (u (τ ), y (τ ) − H ( x (τ )))dτ‬‬ ‫)‪(90‬‬
‫‪t0‬‬

‫ﻭ ﺩﺭ ﺁﻥ ‪ H‬ﺩﺭ ﺑﻴﺮﻭﻥ ﮐﺮﻩﺍﻱ ﻧﺎﻣﻨﻔﻲﺳﺖ‪ ،‬ﻳﻌﻨﻲ‪:‬‬

‫‪∃ρ > 0; x > ρ ⇒ H ( x) ≥ 0‬‬ ‫)‪(91‬‬

‫‪73‬‬
‫‪Passivity-based Synchronization‬‬
‫‪74‬‬
‫‪Smooth‬‬
‫‪75‬‬
‫‪Dissipation‬‬
 ‫‪100‬‬ ‫‪100‬‬

‫‪80‬‬
‫‪0‬‬
‫‪60‬‬

‫‪-100‬‬ ‫‪40‬‬

‫‪20‬‬

‫‪control effort‬‬
‫‪-200‬‬
‫)‪error(dB‬‬

‫‪0‬‬
‫‪-300‬‬
‫‪-20‬‬

‫‪-400‬‬ ‫‪-40‬‬

‫‪-60‬‬
‫‪-500‬‬
‫‪-80‬‬

‫‪-600‬‬ ‫‪-100‬‬
‫‪0‬‬ ‫‪5‬‬ ‫‪10‬‬ ‫‪15‬‬ ‫‪20‬‬ ‫‪25‬‬ ‫‪0‬‬ ‫‪5‬‬ ‫‪10‬‬ ‫‪15‬‬ ‫‪20‬‬ ‫‪25‬‬
‫‪T‬‬ ‫‪T‬‬

‫ﺷﮑﻞ ‪ .14‬ﺍﻧﺪﺍﺯﻩﻱ ﺧﻄﺎ )ﺩﺭ ﻣﻘﻴﺎﺱ ﻟﮕﺎﺭﻳﺘﻤﻲ( ﻭ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲ ﺑﺮﺍﻱ ﻫﻢﺯﻣﺎﻥﺳﺎﺯﻱﻱ ﺩﻭ ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺰ ﺑﺎ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵﻫﺎﻱ ‪ Passivity-based‬ﺑﻪ ﺍﺯﺍﻱ ‪ r = 28 ، σ = 10‬ﻭ ‪b = 8 3‬‬

‫ﺣﺎﻝ ﺍﮔﺮ ﺩﻭ ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ‪:‬‬

‫‪ xi = fi ( xi ) + g1 ( xi )ui‬‬

‫‪‬‬ ‫‪i = 1,2‬‬ ‫)‪(92‬‬
‫) ‪ yi = hi ( xi‬‬

‫ﻭ ﻭﺭﻭﺩﻱﻱ ﺁﻥﻫﺎ ﺭﺍ ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺗﻌﺮﻳﻒ ﮐﻨﻴﻢ‪:‬‬

‫) ‪u1 = −γ ( y1 − y2 ), u2 = −γ ( y2 − y1‬‬ ‫)‪(93‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ γ‬ﻋﺪﺩ ﻣﺜﺒﺖ )ﻳﺎ ﻣﺎﺗﺮﻳﺲ ﻣﺜﺒﺖ‪-‬ﻣﻌﻴﻦ‪ (٧٦‬ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ ﻣﻲﺗﻮﺍﻥ ﺍﺛﺒﺎﺕ ﮐﺮﺩ ﮐﻪ ﻫﻤﻪﻱ ﭘﺎﺳﺦﻫﺎﻱ ﺳﻴﺴﺘﻢ ﮐﻮﭘﻞ‬
‫ﺷﺪﻩ‪ ،‬ﮐﺮﺍﻥﺩﺍﺭ ﻫﺴﺘﻨﺪ‪.‬‬

‫ﺣﺎﻝ ﺍﮔﺮ ﻓﺮﺽ ﮐﻨﻴﻢ ﮐﻪ ﺳﻴﺴﺘﻢ ﻣﺸﺨﺺ ﺷﺪﻩ ﺩﺭ ﺑﺎﻻ ﺩﺍﺭﺍﻱ ﺭﺗﺒﻪﻱ ﻧﺴﺒﻲﻱ ‪ (1,...,1)T‬ﺑﺎﺷﺪ‪ ،‬ﺁﻥﮔﺎﻩ ﻣﻲﺗﻮﺍﻥ ﺁﻥ ﺭﺍ ﺑﻪ‬
‫ﻓﺮﻡ‬

‫‪ yi = a ( zi , yi ) + bi ( zi , yi )ui‬‬

‫‪‬‬ ‫‪i = 1,2‬‬ ‫)‪(94‬‬
‫) ‪ zi = q( zi , yi‬‬

‫ﺩﺭ ﺁﻭﺭﺩ‪ .‬ﺁﻥﮔﺎﻩ ﻗﻀﻴﻪﻱ ﺯﻳﺮ ﺩﺭ ﻣﻮﺭﺩ ﻫﻢﺯﻣﺎﻧﻲﻱ ﺁﻥﻫﺎ ﺻﺎﺩﻕ ﺍﺳﺖ‪.‬‬

‫‪76‬‬
‫‪Positive Definite‬‬
 ‫‪40‬‬

‫‪20‬‬

‫‪0‬‬
‫‪Z‬‬

‫‪-20‬‬

‫‪-40‬‬
‫‪40‬‬

‫‪20‬‬

‫‪0‬‬

‫‪-20‬‬ ‫‪20‬‬
‫‪15‬‬
‫‪10‬‬
‫‪Y‬‬ ‫‪5‬‬
‫‪-40‬‬ ‫‪0‬‬
‫‪-5‬‬
‫‪X‬‬

‫ﺷﮑﻞ ‪ .15‬ﻣﺴﻴﺮ ﻓﺎﺯ ﺩﻳﻨﺎﻣﻴﮏ ﺧﻄﺎ ﺩﺭ ﻓﺮﺁﻳﻨﺪ ﻫﻢﺯﻣﺎﻥﺳﺎﺯﻱﻱ ﺩﻭ ﺳﻴﺴﺘﻢ ﻟﻮﺭﻧﺰ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵﻫﺎﻱ‬
‫‪ Passivity-based‬ﺑﻪ ﺍﺯﺍﻱ ‪ r = 28 ، σ = 10‬ﻭ ‪b = 8 3‬‬

‫ﻗﻀﻴﻪ‪ :‬ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ‬

‫‪ (۱‬ﺗﻮﺍﺑﻊ ‪ q, a, b1, b2‬ﭘﻴﻮﺳﺘﻪ ﻭ ﺑﻪ ﻃﻮﺭ ﻣﺤﻠﻲ ﻟﻴﭙﺸﻴﺘﺰ ﺑﺎﺷﺪ‪.‬‬
‫‪ (۲‬ﺳﻴﺴﺘﻢﻫﺎﻱ )‪ (۹۴‬ﺍﺯ ﻭﺭﻭﺩﻱ ‪ ui‬ﺑﻪ ﺧﺮﻭﺟﻲﻱ ‪ semipassive yi‬ﺑﺎﺷﺪ ﻭ ﺩﺍﺭﺍﻱ ﺗﺎﺑﻊ ﺫﺧﻴﺮﻩﻱ ‪Vi : ℜn  ℜ+‬‬
‫ﺑﻲﮐﺮﺍﻥ ﺑﺎﺷﻨﺪ‪.‬‬
‫‪ (۳‬ﺗﺎﺑﻊ ﻣﺜﺒﺖ‪-‬ﻣﻌﻴﻦ ‪ V0 : ℜn − m  ℜ+‬ﺑﺎ ﻫﻤﻮﺍﺭﻱﻱ ‪ C 2‬ﻭ ﻫﻢﭼﻨﻴﻦ ﻋﺪﺩ ﻣﺜﺒﺖ ‪ α‬ﺍﻱ ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ﺑﻪ ﻃﻮﺭﻱ‬
‫ﮐﻪ ﻧﺎﺗﺴﺎﻭﻱﻱ ﺯﻳﺮ ﺑﻪ ﺍﺯﺍﻱ ﻫﻤﻪﻱ ‪ z1 , z2 ∈ ℜn − m‬ﻭ ‪ y1 ∈ ℜm‬ﺑﺮﻗﺮﺍﺭ ﺑﺎﺷﺪ‪:‬‬

‫‪(∇V0 ( z1 − z2 ))T (q( z1 , y1 ) − q ( z2 , y1 )) ≤ −λ z1 − z2 2‬‬ ‫)‪(95‬‬

‫‪ (۴‬ﻣﺎﺗﺮﻳﺲ ) ‪ b1 (z1 , y1 ) + b2 ( z 2 , y2‬ﻣﺜﺒﺖ ﻣﻌﻴﻦ ﺑﺎﺷﺪ‪.‬‬

‫ﺁﻥﮔﺎﻩ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪﺍﻱ‪ γ ،‬ﺍﻱ ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ‪ γ > γ‬ﻫﻤﻪﻱ ﺣﺎﻟﺖﻫﺎﻱ ﺳﻴﺴﺘﻢ ﻣﺘﺼﻞ ﺷﺪﻩ ﮐﺮﺍﻥﺩﺍﺭﻧﺪ‬
‫ﻭ ﻫﻢﭼﻨﻴﻦ ﻫﺪﻑ ﻫﻢﺯﻣﺎﻧﻲ ﻧﻴﺰ ﺗﺎﻣﻴﻦ ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺍﻳﻦﮐﻪ ﻣﻘﺪﺍﺭ ‪ γ‬ﭼﻘﺪﺭ ﺍﺳﺖ ﺑﻪ ﻣﺪﻝ ﺳﻴﺴﺘﻢ ﻭ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺑﺴﺘﮕﻲ ﺩﺍﺭﺩ‪ .‬ﺭﻭﺵ ﺗﻄﺒﻴﻘﻲﺍﻱ‪ ٧٧‬ﻣﺒﺘﻨﻲ ﺑﺮ ﺭﻭﺵ ‪Speed‬‬
‫‪ Gradient‬ﺑﺮﺍﻱ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩﻥ ‪ γ‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﮐﻪ ﺍﺯ ﺁﻭﺭﺩﻥ ﺁﻥ ﺻﺮﻑﻧﻈﺮ ﻣﻲﺷﻮﺩ )ﺑﺮﺍﻱ ﻣﻄﺎﻟﻌﻪ ﺩﺭﺑﺎﺭﻩﻱ ﺭﻭﺵ ‪،SG‬‬
‫ﻣﻲﺗﻮﺍﻧﻴﺪ ﺑﻪ ]‪ [Fradkov96‬ﻣﺮﺍﺟﻌﻪ ﮐﻨﻴﺪ(‪ .‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺧﻄﺎﻱ ﺑﻴﻦ ﺣﺎﻟﺖﻫﺎ ﻭ ﻫﻢﭼﻨﻴﻦ ﺍﻧﺪﺍﺯﻩﻱ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲ ﺭﺍ ﺑﺮﺍﻱ‬
‫ﻫﻢﺯﻣﺎﻧﻲﻱ ﺩﻭ ﺩﻳﻨﺎﻣﻴﮏ ﻟﻮﺭﻧﺰ ﺩﺭ ﺷﮑﻞ )‪ (۱۴‬ﻣﻲﺑﻴﻨﻴﺪ‪ .‬ﺩﺭ ﺷﮑﻞ )‪ ،(۱۵‬ﻣﺴﻴﺮ ﺣﺎﻟﺖ ﺧﻄﺎﻱ ﺑﻴﻦ ﺩﻭ ﺳﻴﺴﺘﻢ ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩ ﺷﺪﻩ‬
‫ﺍﺳﺖ‬
‫ﻋﻼﻭﻩ ﺑﺮ ﺁﻥ ﺩﺭ ]‪ [Farahmand03a‬ﻧﻴﺰ ﺍﻳﺪﻩﻫﺎﻱ ﭘﻴﺸﻴﻦ ﺑﻪ ﺧﺎﻧﻮﺍﺩﻩﻱ ﻏﻴﺮﺧﻄﻲﺍﻱ ﺍﺯ ﮐﻮﭘﻠﻴﻨﮓﻫﺎ ﺑﻪ ﻓﺮﻡ‬

‫‪u1 = −γα ( y1 − y2 ) , u2 = −u1‬‬ ‫)‪(96‬‬

‫ﺑﺎ ﻗﻴﺪﻫﺎﻱ‬

‫‪yTα ( y ) ≥ 0‬‬ ‫)‪(97‬‬

‫‪2‬‬
‫‪yTα ( y ) ≥ γ y‬‬ ‫)‪(98‬‬

‫ﺗﻌﻤﻴﻢ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﻧﺘﺎﻳﺞ ﻣﻲﺗﻮﺍﻥ ﺧﺎﻧﻮﺍﺩﻩﻱ ﻭﺳﻴﻌﻲ ﺍﺯ ﮐﻨﺘﺮﻟﺮﻫﺎﻱ ﻏﻴﺮﺧﻄﻲ ﺭﺍ )ﮐﻪ ﻣﻲﺗﻮﺍﻧﻨﺪ ﺷﺎﻣﻞ‬
‫ﮐﻨﺘﺮﻟﺮﻫﺎﻱ ﻫﻮﺵﻣﻨﺪ ﻣﺎﻧﻨﺪ ﮐﻨﺘﺮﻟﺮﻫﺎﻱ ﻋﺼﺒﻲ ﻭ ﻓﺎﺯﻱ ﻫﻢ ﺑﺎﺷﻨﺪ( ﺑﺮﺍﻱ ﻫﻢﺯﻣﺎﻥﺳﺎﺯﻱﻱ ﺩﻭ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ ﺑﻪ ﮐﺎﺭ ﺑﺮﺩ‪ .‬ﺩﺭ‬
‫ﺁﺯﻣﺎﻳﺶﻫﺎﻳﻲ ﻣﺸﺎﻫﺪﻩ ﺷﺪ ﮐﻪ ﮐﻨﺘﺮﻟﺮ ﻏﻴﺮﺧﻄﻲ ﻣﻲﺗﻮﺍﻧﺪ ﺳﺮﻳﻊﺗﺮ ﺧﻄﺎ ﺭﺍ ﺑﻪ ﺻﻔﺮ ﻣﻴﻞ ﺩﻫﺪ‪.‬‬

‫ﭘﺎﺩﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ‬
‫ﻫﺪﻑ ﺍﺻﻠﻲﻱ ﻣﻬﻨﺪﺳﻲﻱ ﮐﻨﺘﺮﻝ ﺗﺎ ﭼﻨﺪﻱ ﭘﻴﺶ ﺍﻳﺠﺎﺩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﺑﻮﺩ‪ .‬ﺍﮐﺜﺮ ﻃﺮﺍﺣﻲﻫﺎ ﺑﻪ ﮔﻮﻧﻪﺍﻱ ﺍﻧﺠﺎﻡ ﻣﻲﺷﺪ ﮐﻪ‬
‫ﺳﻴﮕﻨﺎﻝ ﻣﻮﺭﺩ ﻧﻈﺮ ﺑﺮ ﻣﻘﺪﺍﺭ ﺍﺯ ﭘﻴﺶ ﺗﻌﻴﻴﻦ ﺷﺪﻩﺍﻱ ﭘﺎﻳﺪﺍﺭ ﺷﻮﺩ ﻳﺎ ﺍﻳﻦﮐﻪ ﺳﻴﮕﻨﺎﻝ ﺩﻳﮕﺮﻱ ﺭﺍ ﺗﻌﻘﻴﺐ ﮐﻨﺪ‪ .‬ﻧﺎﭘﺎﻳﺪﺍﺭﻱ ﺩﺭ‬
‫ﻣﻬﻨﺪﺳﻲﻱ ﮐﻨﺘﺮﻝ ﻧﺎﻣﻄﻠﻮﺏ ﺷﻨﺎﺧﺘﻪ ﻣﻲﺷﺪ ﻭ ﺩﻗﻴﻘﺎ ﺑﻪ ﻫﻤﻴﻦ ﺩﻟﻴﻞ‪ ،‬ﺍﮐﺜﺮ ﺗﺌﻮﺭﻱﻱ ﮐﻨﺘﺮﻝ ﺩﺭﺑﺎﺭﻩﻱ ﺍﻳﺪﻩﻫﺎﻱ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱﺳﺖ‪.‬‬
‫ﺑﺎ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻦ ﺍﻳﻦ ﺩﻳﺪﮔﺎﻩ‪ ،‬ﺁﺷﻮﺏ ﻧﺎﻣﻄﻠﻮﺏ ﻣﺤﺴﻮﺏ ﻣﻲﺷﺪ‪ .‬ﺭﻭﺵﻫﺎﻱ ﻣﺨﺘﻠﻔﻲ ﺑﺮﺍﻱ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱﻱ ﻳﮏ ﺳﻴﺴﺘﻢ ﺁﺷﻮﺑﻲ‬
‫–ﭼﻪ ﺗﻌﺎﺩﻝ ﭘﺎﻳﺪﺍﺭ ﻭ ﭼﻪ ﭼﺮﺧﻪﻱ ﺣﺪﻱﻱ ﭘﺎﻳﺪﺍﺭ‪ -‬ﻣﻄﺮﺡ ﺷﺪﻩ ﺍﺳﺖ ﮐﻪ ﺑﻌﻀﻲ ﺍﺯ ﺁﻥﻫﺎ ﺭﺍ ﺩﺭ ﻗﺴﻤﺖﻫﺎﻱ ﻗﺒﻞ ﻣﺸﺎﻫﺪﻩ ﮐﺮﺩﻳﺪ‪.‬‬
‫ﺑﺎ ﺍﻳﻦ ﻭﺟﻮﺩ‪ ،‬ﺍﺧﻴﺮﺍ ﮐﺎﺭﺑﺮﺩﻫﺎﻳﻲ ﻣﻄﺮﺡ ﺷﺪﻩ ﺍﺳﺖ ﮐﻪ ﺍﻳﺠﺎﺩ ﺳﻴﮕﻨﺎﻝ ﺁﺷﻮﺑﻲ ﻧﻪ ﺗﻨﻬﺎ ﻣﻀﺮ ﻧﻴﺴﺖ‪ ،‬ﺑﻠﮑﻪ ﻣﻄﻠﻮﺏ ﻫﻢ ﻫﺴﺖ‪ .‬ﺑﻪ‬
‫ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﮐﺎﺭﺑﺮﺩ ﺁﻥ ﺩﺭ ﻣﺨﻠﻮﻁ ﮐﺮﺩﻥ ﻣﺎﻳﻌﺎﺕ ﮐﻪ ﺑﺎﻋﺚ ﺳﺮﻳﻊﺗﺮ ﺷﺪﻥ ﺁﻥ ﻋﻤﻞ ﻧﺴﺒﺖ ﺑﻪ ﺣﺮﮐﺖ ﺗﻨﺎﻭﺑﻲ‬
‫ﻣﻲﺷﻮﺩ )]‪ ([Ottino92‬ﻭ ﺍﻳﺠﺎﺩ ﺳﻴﮕﻨﺎﻝ ﺁﺷﻮﺑﻲ ﺑﺮﺍﻱ ﻣﺨﺎﺑﺮﺍﺕ ﺍﻳﻤﻦ ﺍﺷﺎﺭﻩ ﮐﺮﺩ )]‪.([Yang04‬‬
‫ﺩﺭ ﺍﻳﻦ ﺑﺨﺶ ﺧﻼﺻﻪﺍﻱ ﺍﺯ ﭼﻨﺪ ﺭﻭﺵ ﺑﺮﺍﻱ ﭘﺎﺩﮐﻨﺘﺮﻝ ﺁﺷﻮﺏ ﺍﺭﺍﻳﻪ ﻣﻲﺩﻫﻢ‪.‬‬

‫ﻓﺮﺽ ﮐﻨﻴﺪ ﺳﻴﺴﺘﻢ ﮔﺴﺴﺘﻪ‪-‬ﺯﻣﺎﻥ ﺯﻳﺮ ﺭﺍ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪:‬‬

‫‪xk +1 = f ( xk ) + uk‬‬
‫)‪(99‬‬
‫‪xk ∈ ℜn , uk ∈ ℜ n‬‬

‫‪77‬‬
‫‪Adaptive‬‬
 ‫ﺷﮑﻞ ‪ .16‬ﻧﻤﻮﺩﺍﺭ ﺗﻨﺎﻭﺏ‪ ۴-‬ﭘﺎﻳﺪﺍﺭ ﺑﺮﺍﻱ ‪ logistic map‬ﺑﺎ ‪ – p=3.5‬ﺷﮑﻞ )‪ (a‬ﻧﻤﻮﺩﺍﺭ ﺩﺭ ﻃﻮﻝ ﺯﻣﺎﻥ‬
‫ﺁﻥ ﺍﺳﺖ ﻭ ﺷﮑﻞ )‪ (b‬ﻧﮕﺎﺷﺖ )‪ x( k + 1‬ﺑﻪ ) ‪ x(k‬ﺁﻥ‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ) ‪ f ( xk‬ﺑﻪ ﻃﻮﺭ ﭘﻴﻮﺳﺘﻪ ﻣﺸﺘﻖﭘﺬﻳﺮﺳﺖ ﻭ ‪ f (0) = 0‬ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ‪ x* = 0‬ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ ﺳﻴﺴﺘﻢ ﺑﺪﻭﻥ‬
‫ﮐﻨﺘﺮﻝ ) ‪ ( uk = 0‬ﺁﻥ ﺍﺳﺖ‪ .‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲﻱ ‪ uk‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﺁﺷﻮﺑﻲ ﮐﻨﻴﻢ‪ .‬ﺩﺭ ﺿﻤﻦ‬
‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﻧﺪﺍﺯﻩﻱ ‪ uk‬ﻣﺤﺪﻭﺩ ﺑﺎﺷﺪ‪ ،‬ﻳﻌﻨﻲ‪:‬‬

‫‪uk‬‬ ‫∞‬
‫‪≤ ε , ∀k ≥ 0‬‬ ‫)‪(100‬‬

‫ﺍﻳﺪﻩﻱ ﮐﻠﻲﻱ ﺍﻳﻦ ﺭﻭﺵ )ﻭ ﺭﻭﺵﻫﺎﻱ ﺁﺷﻮﺑﻲﺳﺎﺯﻱ ﺩﻳﮕﺮ(‪ ،‬ﻣﺜﺒﺖﮐﺮﺩﻥ ‪ Lyapunov Exponent‬ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝﺷﺪﻩ‬
‫ﺍﺳﺖ ﺩﺭ ﺣﺎﻟﻲ ﮐﻪ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﮐﺮﺍﻥﺩﺍﺭ ﺑﺎﻗﻲ ﺑﻤﺎﻧﺪ‪ .‬ﺍﮔﺮ ﺑﻪ ﻳﺎﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﺪ‪ ،‬ﺩﺭ ﻗﺴﻤﺖﻫﺎﻱ ﭘﻴﺸﻴﻦ ﮔﻔﺘﻢ ﮐﻪ ﻭﻳﮋﮔﻲﻱ‬
‫ﻣﺸﺘﺮﮎ ﻫﻤﻪﻱ ﺗﻌﺎﺭﻳﻒ ﺁﺷﻮﺏ )ﻣﺜﻼ ﺗﻌﺮﻳﻒ ‪ (Fradkov‬ﻭﺟﻮﺩ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ ﻭ ﺩﺭ ﻫﻤﺎﻥﺣﺎﻝ‪ ،‬ﮐﺮﺍﻥﺩﺍﺭ ﺑﻮﺩﻥ ﭘﺎﺳﺦ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ‬
‫ﭼﻨﻴﻦ ﮐﺎﺭﻱ‪ ،‬ﻣﻲﺗﻮﺍﻥ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻝ ﺭﺍ ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﺍﻧﺘﺨﺎﺏ ﮐﺮﺩ‪:‬‬

‫) ‪uk = σxk (modε‬‬ ‫)‪(101‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ mod ε‬ﺑﻪ ﺍﻳﻦ ﻣﻌﻨﺎﺳﺖ ﮐﻪ ﺍﮔﺮ ﻗﺪﺭﻣﻄﻠﻖ ﭘﺎﺳﺦ ﺑﺰﺭﮒﺗﺮ ﺍﺯ ‪ ε‬ﺷﺪ‪ ،‬ﺁﻥﻗﺪﺭ ﺍﺯ )ﺑﻪ( ﺁﻥ ﮐﻢ )ﻳﺎ ﺯﻳﺎﺩ( ﻣﻲﺷﻮﺩ ﮐﻪ‬
‫ﺑﻴﻦ ) ‪ (−ε , ε‬ﺑﻴﺎﻓﺘﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﺻﻮﺭﺕ ﻣﻲﺗﻮﺍﻥ ﻣﻄﻤﺌﻦ ﺑﻮﺩ ﮐﻪ ﺍﻧﺪﺍﺯﻩﻱ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻝ ﺑﻴﺶ ﺍﺯ ‪ ε‬ﻧﺨﻮﺍﻫﺪ ﺷﺪ‪ .‬ﻣﻲﺗﻮﺍﻥ‬
‫ﻧﺸﺎﻥ ﺩﺍﺩ ﮐﻪ ﺩﺭ ﺻﻮﺭﺗﻲ ﮐﻪ ‪ σ >> 1‬ﺑﺎﺷﺪ‪ ،‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺩﺭ ﺍﻃﺮﺍﻑ ﻧﻘﻄﻪﻱ ﺗﻌﺎﺩﻝ ﻗﺒﻠﻲﺍﺵ ﺁﺷﻮﺑﻲ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﺍﻳﻦ ﺭﻭﺵ‬
‫ﺑﻪ ﻧﺎﻡ ﺭﻭﺵ ‪ Chen-Lai‬ﻣﻌﺮﻭﻑ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺩﻗﻴﻖﺗﺮ ﺑﻴﺎﻥ ﺷﺪﻥ ﮔﺰﺍﺭﻩﻫﺎﻱ ﭘﻴﺸﻴﻦ‪ ،‬ﺑﻪ ﻗﻀﻴﻪﻱ ﺯﻳﺮ ﺗﻮﺟﻪ ﮐﻨﻴﺪ‬
‫]‪:[Wang00a‬‬

‫ﻗﻀﻴﻪ‪ :‬ﻓﺮﺽ ﮐﻨﻴﺪ ﮐﻪ ﻣﺒﺪﺍ ﺳﻴﺴﺘﻢ )‪ (۹۹‬ﭘﺎﻳﺪﺍﺭ ﻧﻤﺎﻳﻲ ﺑﺎﺷﺪ‪ .‬ﺁﻥﮔﺎﻩ ﮐﻨﺘﺮﻟﻲ ﺑﻪ ﺷﮑﻞ )‪ (۱۰۱‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﺁﻥﮔﺎﻩ ﺩﻭ ﻋﺪﺩ‬
‫ﻣﺜﺒﺖ ‪ q‬ﻭ ‪ r‬ﻭﺟﻮﺩ ﺩﺍﺭﻧﺪ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ‪ ε < q‬ﻭ ‪ x0 < rε‬ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪:‬‬

‫‪xk < rε , ∀k > 0‬‬ ‫)‪(102‬‬

 ‫ﺷﮑﻞ ‪ .18‬ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲ ﺑﺮﺍﻱ ‪ logistic map‬ﮐﻨﺘﺮﻝ ﺷﺪﻩ ﺑﻪ ﺍﺯﺍﻱ ‪p = 3.5, σ = 10, ε = 0.01‬‬

‫ﻋﻼﻭﻩ ﺑﺮ ﺁﻥ‪ ،‬ﻋﺪﺩ ‪ N‬ﺭﺍ ﺑﻪ ﮐﻪ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﺷﺪﻩ ﺍﺳﺖ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫‪N ≥ f ′( x) , for x < rε‬‬ ‫)‪(103‬‬

‫ﺍﮔﺮ‬

‫‪σ ≥ N + ec‬‬ ‫)‪(104‬‬

‫ﮐﻪ ‪ c‬ﻋﺪﺩ ﻣﺜﺒﺘﻲﺳﺖ‪ ،‬ﺁﻥﮔﺎﻩ ﻫﻤﻪﻱ ‪Lyapunov Exponent‬ﻫﺎﻱ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝﺷﺪﻩ‪ ،‬ﮐﺎﻣﻼ ﻣﺜﺒﺖ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬

‫ﻧﺘﻴﺠﻪ ﻣﺸﺎﺑﻬﻲ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﮐﻪ ﻣﺒﺪﺍﺷﺎﻥ ﭘﺎﻳﺪﺍﺭ ﻧﻴﺴﺖ ﻧﻴﺰ ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﮐﻪ ﺍﺯ ﺁﻭﺭﺩﻥ ﺁﻥ ﺻﺮﻑﻧﻈﺮ ﻣﻲﺷﻮﺩ‬
‫]‪.[Wang00a‬‬
‫ﺷﺒﻴﻪﺳﺎﺯﻱﻫﺎﻳﻲ ﺍﺯ ﺗﺎﺛﻴﺮ ﺍﻳﻦ ﺭﻭﺵ ﺑﺮ ﺭﻭﻱ ﺳﻴﺴﺘﻢ ‪ logistic map‬ﺯﻳﺮ‬

‫ﺷﮑﻞ ‪ .17‬ﺭﻓﺘﺎﺭ ﺁﺷﻮﺑﻲ ﺑﺮﺍﻱ ‪ logistic map‬ﮐﻨﺘﺮﻝ ﺷﺪﻩ ﺑﻪ ﺍﺯﺍﻱ ‪p = 3.5, σ = 10, ε = 0.01‬‬
 ‫‪xk +1 = pxk (1 − xk ) + uk‬‬
‫)‪(105‬‬
‫) ‪uk = σxk (mod ε‬‬

‫ﺑﻪ ﺍﺯﺍﻱ ﭘﺎﺭﺍﻣﺘﺮﻱ ﮐﻪ ﺑﻪ ﺧﻮﺩﻱﻱ ﺧﻮﺩ ﺁﺷﻮﺑﻲ ﻧﻴﺴﺖ ) ‪) ( p = 3.5‬ﺷﮑﻞ )‪ ((۱۶‬ﺭﺍ ﺩﺭ ﺷﮑﻞﻫﺎﻱ )‪ (۱۷‬ﻭ )‪ (۱۸‬ﻣﻲﺑﻴﻨﻴﺪ‪.‬‬
‫ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ ﮐﻪ ﺣﺘﻲ ﺑﻪ ﺍﺯﺍﻱ ﻣﻘﺎﺩﻳﺮ ﺑﺴﻴﺎﺭ ﮐﻮﭼﮏ ‪) ε‬ﮐﻪ ﺍﻧﺪﺍﺯﻩﻱ ﺳﻴﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﻲ ﺭﺍ ﻣﺸﺨﺺ ﻣﻲﮐﻨﺪ(‪ ،‬ﺭﻓﺘﺎﺭ‬
‫ﺁﺷﻮﺏﮔﻮﻧﻪ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺩﺭ ﻣﺮﺍﺣﻞ ﺑﻪ ﺩﺳﺖ ﺁﻣﺪﻥ ﺍﻳﻦ ﻗﻀﻴﻪ ﺍﺛﺒﺎﺕ ﻣﻲﺷﻮﺩ ﮐﻪ ‪ Lyapunov Exponent‬ﺳﻴﺴﺘﻢ‪ ،‬ﻣﺜﺒﺖ ﻣﻲﺷﻮﺩ ﻭ ﻫﻢﭼﻨﻴﻦ‬
‫ﭘﺎﺳﺦﻫﺎ ﮐﺮﺍﻥﺩﺍﺭ ﺑﺎﻗﻲ ﺧﻮﺍﻫﻨﺪ ﻣﺎﻧﺪ‪ .‬ﺍﻳﻦﻫﺎ ﺷﺮﺍﻳﻂ ﻻﺯﻡ ﺑﺮﺍﻱ ﺁﺷﻮﺑﻲ ﺑﻮﺩﻥ ﻳﮏ ﺳﻴﺴﺘﻢﺍﻧﺪ‪ ،‬ﺍﻣﺎ ﺑﻪ ﻫﻴﭻﻭﺟﻪ ﺷﺮﺍﻳﻂ ﮐﺎﻓﻲﺍﻱ‬
‫ﻧﻴﺴﺘﻨﺪ‪ .‬ﺩﺭ ﺑﺨﺶﻫﺎﻱ ﭘﻴﺸﻴﻦ ﺗﻮﺿﻴﺢ ﺩﺍﺩﻡ ﮐﻪ ﺗﻌﺮﻳﻒ ﻫﻤﻪﺑﺎﻭﺭﻱ ﺩﺭﺑﺎﺭﻩﻱ ﺁﺷﻮﺏ ﻭﺟﻮﺩ ﻧﺪﺍﺭﺩ‪ ،‬ﺍﻣﺎ ﺗﻌﺮﻳﻒﻫﺎﻳﻲ ﻣﺎﻧﻨﺪ ﺗﻌﺮﻳﻒ‬
‫‪ Li-Yorke‬ﺗﻘﺮﻳﺒﺎ ﻗﺎﺑﻞ ﻗﺒﻮﻝ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﻫﻤﻴﻦ ﺩﺭ ﺍﻳﻦﮔﻮﻧﻪ ﻗﻀﺎﻳﺎ‪ ،‬ﺳﻌﻲ ﻣﻲﺷﻮﺩ ﮐﻪ ﺑﺮﻗﺮﺍﺭﻱﻱ ﭼﻨﺎﻥ ﺷﺮﻃﻲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ‬
‫ﺍﺯ ﻗﻀﻴﻪﻱ ‪ Marotto‬ﺛﺎﺑﺖ ﺷﻮﺩ )ﻗﻀﻴﻪﻱ ‪ Marotto‬ﺑﺮﺍﻱ ﺍﺛﺒﺎﺕ ﺁﺷﻮﺑﻲ ﺑﻮﺩﻥ ﺍﺯ ﻧﻮﻉ ‪ Li-Yorke‬ﺍﺳﺖ(‪ .‬ﺩﺭ ﻧﺘﻴﺠﻪ‬
‫ﻣﻲﺗﻮﺍﻥ ﻣﻄﻤﺌﻦ ﺑﻮﺩ ﮐﻪ ﺳﻴﺴﺘﻢ ﺣﺎﺻﻞ ﺷﺪﻩ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﻌﺮﻳﻒ ﻣﺸﺨﺼﻲ ﺁﺷﻮﺑﻲ ﺍﺳﺖ‪.‬‬
‫ﺗﻌﻤﻴﻢﻫﺎﻱ ﻣﺨﺘﻠﻔﻲ ﺍﺯ ﺍﻳﻦ ﺭﻭﺵ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ .‬ﻣﺜﻼ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺗﻮﺍﺑﻌﻲ ﻣﺎﻧﻨﺪ ﺩﻧﺪﺍﻥ‪-‬ﺍﺭﻩﺍﻱ ﻳﺎ ﺳﻴﻨﻮﺳﻲ ﺑﻪ ﺟﺎﻱ ‪ mod‬ﺍﺳﺘﻔﺎﺩﻩ‬
‫ﮐﺮﺩ ]‪ .[Wang00b‬ﻫﻢﭼﻨﻴﻦ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﺗﺪﺭﻳﺞ ﺳﻴﮕﻨﺎﻝ ﺭﺍ ﺑﻪ ﺳﻤﺖ ﺁﺷﻮﺑﻲ ﺑﻮﺩﻥ )ﻣﺜﺒﺖ ﺑﻮﺩﻥ ‪Lyapunov‬‬
‫‪ (Exponent‬ﻣﻴﻞ ﺩﺍﺩ‪ .‬ﭼﻨﻴﻦ ﮐﺎﺭﻱ ﺑﻪ ﺭﻭﺵ ‪ Lai-Chen‬ﻣﻌﺮﻭﻑ ﺍﺳﺖ )ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﮐﻪ ﺭﻭﺵ ﭘﻴﺸﻴﻦ‪ Chen-Lai ،‬ﻧﺎﻡ‬
‫ﺩﺍﺷﺖ(‪.‬‬

‫ﮐﻨﺘﺮﻝ ﺩﻭﺷﺎﺧﮕﻲ‬
‫ﺩﺭ ﺍﻳﻦ ﻧﺴﺨﻪﻱ ﮔﺰﺍﺭﺵ ﺗﻮﺿﻴﺢ ﺑﻴﺶﺗﺮﻱ ﻧﺴﺒﺖ ﺑﻪ ﺁﻥﭼﻪ ﺩﺭ ﻣﻘﺪﻣﻪ ﮔﻔﺘﻪ ﺷﺪ ﺩﺭﺑﺎﺭﻩﻱ ﺩﻭﺷﺎﺧﮕﻲ ﻭ ﮐﻨﺘﺮﻝ ﺁﻥ ﺩﺍﺩﻩ‬
‫ﻧﻤﻲﺷﻮﺩ‪ .‬ﻋﻼﻗﻪﻣﻨﺪﺍﻥ ﻣﻲﺗﻮﺍﻧﻨﺪ ﺑﻪ ]‪ [Abed86‬ﻭ ]‪ [Abed87‬ﮐﻪ ﺍﻳﺪﻩﻫﺎﻱ ﺍﺻﻠﻲﻱ ﮐﻨﺘﺮﻝ ﺩﻭﺷﺎﺧﮕﻲ ﺩﺭ ﺁﻥ ﻣﻌﺮﻓﻲ‬
‫ﺷﺪﻩ ﺍﺳﺖ ﻭ ]‪ [Abed93‬ﮐﻪ ﺧﻼﺻﻪﺍﻱ ﺍﺯ ﮐﺎﺭﻫﺎﻱ ﺍﻧﺠﺎﻡ ﺷﺪﻩ ﺗﺎ ﺳﺎﻝ ‪ ۱۹۹۳‬ﻭ ﻫﻢﭼﻨﻴﻦ ]‪ [Wang92‬ﺑﺮﺍﻱ ﮐﺎﺭﺑﺮﺩﻱ ﺍﺯ‬
‫ﺁﻥ ﺗﺌﻮﺭﻱﻫﺎ ﻣﺮﺍﺟﻌﻪ ﮐﻨﻨﺪ‪ .‬ﻫﻢﭼﻨﻴﻦ ﺩﺭ ]‪ [Chen00b‬ﺧﻼﺻﻪﺍﻱ ﺍﺯ ﺭﻭﺵﻫﺎﻱ ﻣﺨﺘﻠﻒ ﮐﻨﺘﺮﻝ ﺩﻭﺷﺎﺧﮕﻲ ﺗﺎ ﺳﺎﻝ ‪۲۰۰۰‬‬
‫ﺟﻤﻊﺁﻭﺭﻱ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﻣﻨﺎﺑﻊ‬
‫‪1.‬‬ ‫]‪[Abed86‬‬ ‫‪E. H. Abed and J.-H. Fu, “Local feedback stabilization and bifurcation‬‬
‫‪control, I. Hopf Bifurcation,” Systems & Control Letters, vol. 7, pp.11-17, 1986.‬‬
‫‪2.‬‬ ‫]‪[Abed87‬‬ ‫‪E. H. Abed and J.-H. Fu, “Local feedback stabilization and bifurcation‬‬
‫‪control, II. Stationary Bifurcation,” Systems & Control Letters, vol. 8, pp. 467-473, 1987.‬‬
‫‪3.‬‬ ‫]‪[Abed93‬‬ ‫‪E.H. Abed and H.O. Wang, “Feedback Control of Bifurcation and‬‬
‫‪Chaos in Dynamical Systems,” in N.S. Namachchivaya and W. Kliemann (eds.), Recent‬‬
‫‪Developments in Stochastic and Nonlinear Dynamics: Applications to Mechanical‬‬
‫‪Systems, CRC Press, 1993.‬‬
‫‪4.‬‬ ‫‪[Andrevskii03] B.R. Andrevskii and A. L. Fradkov, “Control of Chaos: Methods and‬‬
‫‪Applications. I. Methods,” Automation and Remote Control, vol. 64, no. 5, pp. 675-718,‬‬
‫‪2003.‬‬
‫‪5.‬‬ ‫‪[Andrevskii04] B.R. Andrevskii and A. L. Fradkov, “Control of Chaos: Methods and‬‬
‫‪Applications. II. Applications,” Automation and Remote Control, vol. 65, no. 4, pp. 505-‬‬
‫‪533, 2004.‬‬
6. [Boccaletti00] Boccaletti, Grebogi, Lai, Mancini, and Maza, “The Control of Chaos:
Theory and Applications,” Physics Report 329, pp. 103-197, 2000.
7. [Brandt00] M.E. Brandt and G. Chen, “Delay Feedback Control of Cardiac
Activity Models,” in G. Chen (ed.), Controlling Chaos and Bifurcation in Engineering
Systems, CRC Press, 2000.
8. [Cai02] C. Cai, Z. Xu, and W. Xu, “Melnikov’s Analysis of Time-Delayed
Feedback Control in Chaotic Dynamics,” IEEE Trans. on Circuits and Systems – I:
Fundamental Theory and Applications, vol. 49, no. 12, pp. 1724-1728, 2002.
9. [Chen97] G. Chen, “Control and Anticontrol of Chaos”, Proc. Int. Conf. Control
of Oscillations and Chaos, St. Petersburg, Russia, pp. 181-186, 1997.
10. [Chen99a] G. Chen and X. Yu, “On Time-Delayed Feedback Control of Chaotic
Systems,” IEEE Trans. Circuits and Systems – I: Fundamental Theory and Applications,
vol. 46, no. 6, pp. 767-772, 1999.
11. [Chen00a] G. Chen, Controlling Chaos and Bifurcation in Engineering Systems,
edited book, CRC Press, 2000.
12. [Chen00b] G. Chen, J.L. Moiola, and H.O. Wang, “Bifurcation Control: Theories,
Methods, and Applications,” International Journal of Bifurcation and Chaos, vol. 10, no.
3, pp. 511-548, 2000.
13. [Chen03] L. Chen, X.F. Wang, and Z.Z. Han, “Controlling Bifurcation and Chaos
in Internet Congestion Control Model,” ?, 2003.
14. [Devaney87] R.L. Devaney, An Introduction to Chaotic Dynamics Systems, New
York: Addison-Wesley, 1987.
15. [Farahmand03a] A.M. Farahmand and M.J. Yazdanpanah, “A Class of Nonlinear
Controllers for Synchronization of Chaotic Semipassive systems,” unpublished.
16. [Farahmand03b] A.M. Farahmand and P. Jabehdar Maralani, “Stabilizing Chaotic
Systems with Small Control Signal,” unpublished.
17. [Fradkov96] A.L. Fradkov and A.Y. Pogromsky, “Speed Gradient Control of
Chaotic Continuous-Time Systems,” IEEE Trans. Circuits and Systems – I: Fundamental
Theory and Applications, vol. 43, no. 11, pp. 907-913, 1996.
18. [Fradkov98] A.L. Fradkov and A. Yu. Pogromsky, Introduction to control of
oscillations and chaos. World Scientific, Singapore, 1998.
19. [Fradkov01] Fradkov and Evans, “Control of Chaos: Some Open Problems,” Proc.
40th IEEE Conf. Decision and Control, 2001.
20. [Fradkov02] Fradkov and Evans, “Control of Chaos: Survey 1997-2000”, Preprints
of 15th IFAC World Congress on Automatic Control. Plenary papers, Survey papers,
Milestones. Barcelona, pp. 143-154, 2002.
21. [Garfinkel92] A. Garfinkel, M.L. Spano, W.L. Ditto, and J. N. Weiss,” Controlling
Cardiac Chaos,” Science, vol. 257, pp. 1230-1235, 1992.
22. [Guan00] Z. H. Guan, G. Chen, T. Ueta, “On Impulsive Control of a Periodically
Forced Chaotic Pendulum System,” IEEE Trans. Automatic Control, vol. 45, no. 9, 2000.
23. [Harb02a] A. Harb, A. Zaher, and M. Zohdy, “Nonlinear Recursive Chaos
Control,” Proc. American Control Conf., 2002.
24. [Harb02b] A. Harb and M. Zohdy, “Chaos and Bifurcation Control Using
Nonlinear Recursive Controller,” Nonlinear Analysis: Modeling and Control, vol. 7, no.
2, pp. 37-43, 2002.
25. [Hunt91] E. R. Hunt, “Stabilizing High-Period Orbits in a Chaotic System- The
Diode Resonator,” Phys. Rev. Lett., vol. 67, pp. 1953-1955, 1991.
26. [Jiang02] G.P. Jiang, G. Chen, and W.K. Tang, “Stabilizing Unstable
Equilibirium Points of a Class of Chaotic Systems Using a State PI Regulator,” IEEE
Trans. Circuits and Systems – I: Fundamental Theory and Applications, vol. 49, no. 12,
2002.
27. [Kousaka01] T. Kousaka, S. Tahara, T. Ueta, M. Abe, and H. Kawakami, “Chaos in
simple hybrid system and its control,” Electronic Letters, vol. 37, no. 1, 2001.
28. [Lakshmikantham89] V. Lakshmikantham, D. D. Bainov, and P. S. Simeonov,
Theory of Impulsive Differential Equations. London, U.K.:World Scientific, 1989.
29. [Li75] T.Y. Li and J. A. Yorke, “Period Three Implies Chaos,” Amer. Math.
Monthly 82, pp. 481-485, 1975.
30. [Li01] Z.G. Li, C.Y. Wen, and Y.C. Soh, “Analysis and Design of Impulsive
Control Systems,” IEEE Trans. Automatic Control, vol. 46, no. 6, 2001.
31. [Li03] C. Li and G. Chen, “On the Marotto-Li-Chen Theorem and its
Application to Chaotification of Multi-dimensional Discrete Dynamical Systems,” Chaos,
Solitons and Fractals, vol. 18, pp. 807-817, 2003.
32. [Lorenz63] E.N. Lorenz, “Deterministic Nonperiodic Flow,” Journal of the
Atmospheric Sciences, vol. 20, pp. 130-141, 1963.
F.R. Marotto, ”Snap-back repellers imply chaos in ℜ ,” Journal of
n
33. [Marotto78]
Math. Anal. Appl. 63, pp. 199-223, 1978.
34. [Nijmeijer97] H. Nijmeijer, I.I. Blekhman, A. L. Fradkov, A. Y. Pogromsky, “Self-
synchronization and controlled synchronization,” in 1st Int. Conf. Control of Oscillations
and Chaos, pp. 36-41, 1997.
35. [Ott90] Ott, E., C. Grebogi, and J. Yorke, (1990), Controlling chaos. Phys. Rev.
Lett., vol. 64(11), 1196–1199.
36. [Pecora90] L. M. Pecora and T. L. Carroll, “Synchronization in chaotic systems,”
Phys. Rev. Lett., vol. 64, no. 8, pp. 821–824, 1990.
37. [Ottino92] J. M. Ottino et al., ‘‘Chaos, symmetry, and self-similarity: Exploiting
order and disorder in mixing processes,’’ Science 257, pp. 754–760, 1992.
38. [Pogromsky98] A.Y. Pogromsky, “Passivity-based Design of Synchronization
Systems,” Int. J. Bifurcation Chaos, vol. 8(2), 1998.
39. [Pyragas92] Pyragas K. (1992) Continuous control of chaos by self-controlling
feedback. Phys. Lett. A., vol.170, 421-428.
40. [Roy93] R. Roy, T. W.Murphy, T.D. Maier, Z. Gillis, and E.R. Hunt,
“Dynamical Control of a Chaotic Laser: Experimental Stabilization of a Globally
Coupled System,” Phys.Rev. Lett., vol. 68, pp. 1259-1262, 1993.
41. [Suykens00] J.A.K. Suykens, T. Yang, J. Vandewalle, and L.O. Chua, “Impulsive
Control and Synchronization of Chaos,” in G. Chen (ed.), Controlling Chaos and
Bifurcation in Engineering Systems, CRC Press, 2000.
42. [Takens80] F. Takens, Detecting strange attractors in turbulence, in D.A. Rand, L.-
S. Young (eds.), Dynamical Systems and Turbulence, Lecture Notes in Mathematics,
Vol. 898, Springer, New York, 1980, pp. 366-381.
43. [Vincent00] T.L. Vincent, “Utilizing Chaos in Control System Design,” in G. Chen
(ed.), Controlling Chaos and Bifurcation in Engineering Systems, CRC Press, 2000.
44. [Wang92] H.O. Wang and E.H. Abed, “Bifurcation Control of Chaotic Dynamical
Systems,” 2nd IFAC Nonlinear Control Symposium, 1992.
45. [Wang98] X. F. Wang and Z. Q. Wang, “Synchronizing Chaos and Hyperchaos
with Any Scalar Transmitted Signal,” 1998.
46. [Wang00a] X.F. Wang and G. Chen, “Chaotification via Arbitrarily Small
Feedback Controls: Theory, Method, and Applications,” International Journal of
Bifurcation and Chaos, vol. 10, no. 3, pp. 549-670, 2000.
47. [Wang00b] X.F. Wang and G. Chen, “Chaotifying a Stable LTI System by Tiny
Feedback Control,” IEEE Trans. Circuits and Systems – I: Fundamental Theory and
Applications, 2000.
48. [Yang97] T. Yang and L. O. Chua, “Impulsive stabilization for control and
synchronization of chaotic systems: theory and application to secure communication,”
IEEE Trans. Circuits and Systems – I: Fundamental Theory and Applications, vol. 44, pp.
976–988, Oct. 1997.
49. [Yang04] T. Yang, “A Survey of Chaotic Secure Communication Systems,”
International Journal of Computational Cognition, vol. 2, no. 2, pp. 81-130, 2004.
50. [Yu00a] Yu, Chen, Song, Cao, and Xia, “A Generalized OGY Method for
Controlling Higher Order Chaotic Systems,” 2000.
51. [Yu00b] X. Yu, Y. Tian, and G. Chen, “Time Delayed Feedback Control of Chaos,” in
Controlling Chaos and Bifurcations in Engineering Systems, edited by G. Chen, 2000.
52. [Yu01] Yu, G. Chen, Xia, Song, and Cao, “An Invariant-Manifold-Based
Method for Chaos Control,” 2001.