, . .
, , , . , u(t).
, , , , ,
, .
, , . .
() . :
() u(t), q . : U u*(t), .
, .
, ,
, (t) 0 t¢ , . , 0 t¢ , . 2. k -o , xk tk:
xk = x(c, tk), =(0).
. 2. .
, xk (k +1)- .
, :
k = 0, 1,...,-1,
|
|
, , . (), T1(xk),...,Tr(xk).
, uk, k- Uk. uk , Uk k- . , k- ,
k=0, 1,...,n-1 0, :
. , =((1),x(2)), , , . 3, . : uk=0 uk=1 . , Uk = {0,1}, k=0,1,...,-1.
. 3.
, . 3, , k- , . . 4 :
, 0 . , . 3, = (01101001)
q, , , . , . .
n -
, . .
, , :
q=q(xn)=Q(x0, ).
q .
. , () , . , () , , . .
.
1. .
t : r(t), t , u(t) .6. (t)=8 .
|
|
6
t, r(t), u(t) | t, r(t), u(t) | ||||||||||
t | |||||||||||
r(t) | |||||||||||
u(t) |
k- :
ì r(t)-u(t) ,
Q (t) = í
î r(0)-u(0)-8 ,
r(t) , , t ; u(t) ; s(t) - .
, , .
2.
120 . . 4- , . . (I, II, III, IV) .7.
7
i . ., | , . . | |||
I | II | III | IV | |
, . 1- 1- , 2- 2- .. 4- .
i , . k- i .
.
k , i (k=1, 2, 3, 4). ij (- i) j- i- , =20 .. Uij- i, j- . j- i- qij (C, Uij). k- Qk(C, U). .. Q (C, U)= max Qk(C, U).
k().
k=1 1: Uj120. k=2 2: Uj100 Uj20; Uj80 Uj40; Uj60 Uj60. k=3 3: Uj40 Uj40 Uj40 ; Uj60 Uj40 Uj20 . k=4 4: Uj60 Uj20 Uj20 ; Uj20.
. Qk(C, U) Q (, U).
Q1(C, Uij)= max qij(,Uj120)=(68, 80, 81, 92)=92 ( 4-
Uij ).
Q2(C, Uij)= max max [qij (C, Uj100) + qij (C, Uj20); qij (C, Uj80)) + qij (C, Uj40);
M2 Uij
qij (C, Uj60))+ qij (C, Uj60) ]= max (86, 87, 85)=87
M2
( U480, U240).
Q3(,U)=max max [qij (C, Uj40) + qij (C, Uj40) + qij (C, Uj40); qij (C, Uj60) +
M3 Uij
qij (C, Uj40) + qij (C, Uj20)]=max (97, 93)= 97
M3
( U240, U340, U440).
Q4(C, U)= max [qij (C, Uj60) + qij (C, Uj20) + qij (C, Uj20) + qij (C, Uj20)]=79
Uij
( U201,3,4, U260).
Q(, U)= max Qk(, U)= Q3(, Uij)=97
. :
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U01 ,U402, U403, U404.