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1、Modeling,Design,andSimulationofSystemswithUncertaintiesMathematicalEngineeringSeriesEditors:Prof.Dr.ClausHillermeier,Munich,Germany(volumeeditor)Prof.Dr.-Ing.JohannesHuber,Erlangen,GermanyProf.Dr.AlbertGilg,Munich,GermanyProf.Dr.StefanSchaf?er,Munich,Germany¨Forfu

2、rthervolumes:http://www.springer.com/series/8445AndreasRauh?EkaterinaAuerEditorsModeling,Design,andSimulationofSystemswithUncertainties1CEditorsAndreasRauhEkaterinaAuerUniversityofRostockUniversityofDuisburg-EssenChairofMechatronicsFacultyofEngineering,INKOJustus-

3、von-Liebig-Weg6Lotharstr.6318059Rostock47057DuisburgGermanyGermanyandreas.rauh@uni-rostock.deauer@inf.uni-due.deISBN978-3-642-15955-8e-ISBN978-3-642-15956-5DOI10.1007/978-3-642-15956-5SpringerHeidelbergDordrechtLondonNewYorkLibraryofCongressControlNumber:201192979

4、1?Springer-VerlagBerlinHeidelberg2011Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmorinanyotherway,a

5、ndstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.ViolationsareliabletoprosecutionundertheGermanCopyright

6、Law.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotec-tivelawsandregulationsandthereforefreeforgeneraluse.Coverdesign:WMXDesignGmbH,Heidelbe

7、rgPrintedonacid-freepaperSpringerispartofSpringerScience+BusinessMedia(www.springer.com)PrefaceTodescribethetruebehaviorofmostreal-worldsystemswithsufTcientaccuracy,engineershavetoovercomedifTcultiesarisingfromtheirlackofknowledgeaboutpartsofaprocessorfromtheimpos

8、sibilitytocharacterizeitwithabsolutecertainty.Forexample,measuredparametersof(dynamical)systemscannotbedeterminedexactlyduetonon-negligibleequipmentimpr