. (3.3)
[26], . ³ , D,
(3.4)
[26]
, (3.5)
, , . (3.5) j ( k ) k - .
3.2. Q
Q, [25]:
(3.6)
Q, .
(3.7)
(3.8)
.
(3.9)
. . , S , , Q .
3.3. [27]
(3.10)
, 㳿, . P Q 
, 
, IQ 
Q 
. u (t) , .
(3.6) (3.10) , Q , .
3.4. ,[35,36]
(3.11)
QSZ (3.11) , , , , - ( ), .
