.


:




:

































 

 

 

 


2.3.1

 

(2.76) - (2.83), , . . . X, . , .

 

, (2.98)

 

T [ n ´ n ].

 

.

 

"" (2.83):

 

 

 

(2.99)

 

, () (2.83) (2.99) [ n ´ n ] T. , A, B C

 

(2.100)

 

( . /3/).

 

 

2.3.2

 

(2.83) (2.85) (2.86) T , ..

, (2.101)

 

.

(2.100)

 

(2.102)

. 2.4.4.

 

 

2.3.3

 

(2.83) () T /20/:

 

,

 

M

 

.

 

 

2.3.4

 

n - . . 2.1.7.4. , , , .

 

, (2.103)

m < n.

 

. (2.104)

 

, . .

. . .

- . . , , (2.99). (2.104) n - . ( ) (. . 2.4.4). . . , , .. /20/.

. :

(2.87), (2.90)-(2.94), (2.96);

(2.99);

( 2.31-2.36).

. () . A, C A, B (2.104). , C B.

 

 

2.3.5

 

. ( 2.31) u 1(t), u 2(t), , um (t) U 1(s), U 2(s), , Um (s). m mU (s). X (s) Y (s).

 

 

W (s) F (s) ( ).

W (s) F (s) A, B C

 

 

,

 

s X (s) = AX (s) + BU (s)

[ s I - A ] X (s) = BU (s).

 

,

 

X (s) = [ s I - A ]-1 BU (s),

 

I [ m ´ n ] .

,

 

Y (s) = CX (s)

Y (s) = C [ s I - A ]-1 BU (s).

 

 

W (s) = [ s I - A ]-1 B; (2.105)

 

F (s) = C [ s I - A ]-1 B, (2.106)

 

.

 

 



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