, . .
(2.4)
, , , . , .
, , . , .
2.6 - : u ; f ; ;
, , . (, ..) .
: . u = (u1 u2...ur)T f = (f1 f2...fm)T, x = (x1 x2...xn)T, , .. = (1 2 ), -.
(2.5)
(nxn) (nxr)
, , u = u1
,
y = C x + D u, (2.6)
(pxn) (pxr)
= 1, = (1 n), .
, (2.5) (2.6). (2.5)
pEx(p) = Ax(p) + Bu(p),
(nxn); = d/dt .
x(p) = (pE - A)-1Bu.
() (4.6) ,
y(p) = C(pE A)-1 Bu(p) + Du(p).
(2.7)
, (poles). . (zeros). z1,..., zm, p1,..., pn, n > m (4.4)
|
|
i .
, ( ),
u(t). , - . ,
. ( ), (, ) u(t) , .. .
1 n, . , . , .