6
.
. () . 1.5.
. 1.8. .
- () () . , .
w(t) , wd(t).
e(t) = wd(t)-w(t) (1.42)
e(k∙T),
k=0,1,2,..., n. u(k∙T). , - () ,
(1.43)
(1.44)
t0 - ; (t0) - . . t=k∙T, t0=(k-1)t. (1.44)
(1.45)
t0 , x(t0) x(t), k=1,2,,n. , t=kT wd w(kT) w[(k-1)].
t=(k+1)T, k=0,1,2, n. .
, -, . 1.6.
. 1.9. .
, . , , u[(k + 1)t]. , . - w(t) . . , , . wd(kT), u[(k+1)∙T], . -.
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, - , , . - . IEEE " " " ". , , , , . , , , , .
[3].
, (1.46)
x , x=(xl,...,xn)T Rn, u , u=(u1,...,uq)T U , t , t =[t0,t1] ; op- f(t,x,u) .
t0 , (t,x(t)) Rn+1, Rn n- .
.. t1
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i(t1,x(t1))=0, i=1,,k, (1.47)
0<k<n+1.
k=n+1 Rn+1. x(t0)= 0 Rn+1.
, , , .. (. 1.10). U0 - u(). D(t0,x0) d=(t1,x(),u()), t1, x() u(), x() -, u() -.
. 1.10. .
D(t0,x0)
, (1.47)
. ,
I(d*)=min I(d) (1.48)
(1.48) (1.47) . , , . x*(), u*() , t1* .
.
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