I
-
, , . .1.1 . () ( ) , , . .
. 1.1.
, x(t) kT, k=0,1,2,(.1.2 , ).
. 1.2.
) (t); ) () x[kT]
x[kT] - / , . . 0,007% . , .
A. - /, (.1.3 ). 1.2 1.3 , .. / . .1.1 u*(t) x*(t). , , .. =.
. 1.3. d-
, , . , Dt=T.
(1.1)
. =const, (1.1) , ..
.
. , . ,
,
n- . , D
(1.2)
|
|
, . (1.1), . . () x(t) , , () x(t) (.1.3).
(1.3)
- , t - kT > 0 t - kT < 0, , t - kT = 0, t = kT ( ). , . .1.3 .
.
x[kT] t 0 kT,
.
(1.4)
,
,
.
(1.4) . z.
(1.5) Z - . , .
, ( ), , () . , , (1.3) :
(1.6)
(1.6) . , - .
,
h(t) - () 1(t).
,
(1.7)
, y(t) nT ( n k),
(1.7)
(1.8)
(1.8)
.
n-k=g n=g+k.
.
, g ,
(1.9)
(1.9) (1.7), . ,
.
z, Z - .
(1.10)
(1.11)
.
.
z-
.
. ,
,
.
(1.11) w[kT] x[kT] . ( 1).
|
|
1
x(t) | x(p) | x[kT] | x(z) |
d(t) | d[kT] | ||
1(t) | 1[kT] | ||
at2 | aK2T2 | ||
K0e-aT | K0e-akT | ||
sinw1t | sinw1kT |
x(z) z , , , . z-n, n z.
(1.12)
D W(z) x(z) W(p) x(p).
.
D - ( 1, x(p) x(z)). .
W(p) ( ) , , . Z- , z-
(1.13)
W(z) .
Z - n-
(1.14)
n- ()
(1.15)
(1.16)
D - ,
(1.17)
z=eTp
.
(1.9) (1.10) , , u[kT]. T , u[kT] (.1.3 ). W(p), ud(t) ( xd(t) .1.3 ) u*(t) ( x*(t) .1.3 ).
.
,
(1.18)
WK(p)=W(p)WO(p). (1.19)
.1.4 (1.18) (1.19) .
. 1.4.
. , , ( = ),
.
Z - , ,
(1.20)
( .1.1) , , . , 0 £ Ta £ T. .
(1.14)
(1.21)
Z - - , (1.2).
z- (1.14),
(1.22)
(1.2) (1.22) , Z - Di z-i. , Wa(z), , (1.22)
|
|
(1.23)
(1.23) (1.19)
WP(z)=Wa(z)WC(p).
.
F(z) - ( ) .
Z - , : , , . , .
.
z-
(1.24)
(1.24) 1. , , .
, .1.1, (1.11) , .
(1.20)
1,
.
(1.23)
.
(1.26)
e(t) = u(t) - uOC(t) - ( ).
(1.27)
(1.28)
(1.28) . , . u[kT]
(1.29)
(1.28) (1.29)
(1.30)
(1.31)
z- (1.30)
.
(1.32)
, , , D - (1.27) .
(.1.5).
. 1.5.
(1.25) (1.31)
(1.33)
.
(1.33) , K . .