. - . (controllability) - , , , . , , . u(t), . , .
, () t0 u(ti), i=0,1,2,..., n-1, y(t0) y(tn) ( ) tn>t0.
, () t=t0 u(ti), i=0,1,2,..., n-1, , y(tn) ( ) tn>t0.
.
. -. , , . , , , .
‑ ‑ . ? (t), (t)? . , , . , t0 x(t0) y(t) u(t) t0< t < tn, tn - .
. , (t), . , "" , , .
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(t) (t). x*, .
(estimator), , . , . (1.15), (t)
x*[(k+1)∙h]= ∙x*(k∙h)+ ∙u(k∙h)+ K ∙[y(k∙h)- C ∙x*(k∙h)] (1.24)
, . , . "" * (1.24) ,
= ∙*. , . x* , , .. ∙x, . . 1.4, , ∙x . , x* .
, - , .. (1.24).
. 1.6. () .
, , , . , (estimation error).
xe(k∙h) = x(k∙h) x*(k∙h) (1.25)
(1.15),
xe[(k+1)∙h] = ∙x*(k∙h)- [y(k∙h)- C ∙x(k∙h)]=(- ∙ ) ∙x*(k∙h) (1.26)
, xe(kh) , . , x*(kh) x(kh) . , , , , .
, , , . , x(t) (t). , , x*(k∙h) . , . , , , .
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, . ( ) φ1, φ2 . , , , . J1
(1.27)
x1=φ1-φ2
y(t)=x2
(1.28)
(1.16) h
(1.29)
k=0,1,2,
(1.30)
‑ x2(k∙h) =x1(k∙h). 1 2 . , , , . , . , ( ), , . , .
, . , , - , .