W(p) |
W(p) |
x(p) |
u(p) |
y(p) |
f(p) |
e(p) |
- |
-
- . , x(t) () 䳿 , . ' (): :
. e(t), () .
e(t) e(t), , , e (t), :
.
,
:
, ' W0(p) ( ) W(p), e(t) (1+Wyy(p)W0(p)), , ( ).
, . .
, ' ,
W0(0) = k, Wy(0) = k.
p=0 , W0(0) = k, Wy(0) = ky:
- :
- : (*)
(*) , , - . , , , . :
, .
:
DY y , f0 ;
DY y , f0 .
' ' ( ).
S = 0,1¸0,01.
. .
, . . .
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|
.
x(t) f(t) : : , q = 1; 2; 3;
' :
p→ 0 .
n n '.
n- , n- , n .
:
k = k*k ;
n = n + n ;
W*(p) = W* (p)*W*(p) , p0 .
' :
(**)
, e, , , x(t), n, ε, , , f(t), .
:
(**) 0 1+ k ( n = 0) k ( n > 0). x(t) f(t) n nyy.
x(p) f(p) (**) x(p) = f(p) = a/p
,
.
e e (q =0;1;2 n = 0;1;2) .
a(t) | at 1(t) | at2 1(t) | ||
e | n = 0 | ¥ | ¥ | |
n = 1 | ¥ | |||
n = 2 | ||||
e | ny=0; n=0 | ¥ | ¥ | |
ny=0; n=1 | ¥ | ¥ | ||
ny=1; n=0 | ¥ | |||
ny=1; n=1 | ¥ | |||
ny=2; n=0 |
, , :
1. n q , , , , .
2. e(¥), q = ny, .
3. ny q , e(¥) = 0 e(¥) = 0.
4. n q, e(¥) = ¥ e(¥) = ¥.
, .
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