, .
, .. , :
- (, );
- (, -, -);
- .
(4.1)
.
(4.1), ,
, (4.2)
s , .
[3], :
- ;
- .
4.2.1.
,
(4.3)
.
, : .
.
4.1.
.
.
1. j ( ) .
( ).
. , .
2. , , .
3. ..
n - .
4. , - .
5.
. (4.4)
( ):
(4.5)
, [3].
|
|
.
xj | xj(1) | xj(2) | xj(3) |
yj | yj(1) | yj(2) | yj(3) |
j=1,
x1 | |||
y1 |
, (4.4).
, ,
(4.6)
( (4.5))
.
i :
(4.7)
( (4.5))
.
4.2
:
.
.
.
1. x1(t), x2(t),, xn(t), , y1(t).
2. x1(t), x2(t),, xn(t), y1(t)
x1(i), x2(i),, xn(i), y1(i); i=1, 2, , n.
4.1.
4.1.
x1(i) | x2(i) | y1(i) | |
x1(1) | x2(1) | y1(1) | |
x1(2) | x2(2) | y1(2) | |
x1(n) | x2(n) | y1(n) |
3.
4. ( ):
, , .
.
.
( EXCEL) ( ), ..
4.2.2.
- , - , - .
. .
x(t) w y(t).
w.
x(t) y(t), - DT.
|
|
- 4.3.
.
( 4.4):
1) .
2) :
.
(3-5) .
3) . .
:
.
- .
.
4) .
(. 4.5)
,
- .
.
( ) 4.6.
.
.
x(t) z(t)
(4.7)
, (4.8)
- .
(4.7) (4.8) :
. (4.9)
, , 4.6, .
. .
. (4.10)
:
. (4.11)
- , :
. (4.12)
( τ, , ..) .
. , .
4.4.1.
, , . , , . , , , , , , .
- , . ( , ).
|
|
4.7. (, , , ) - . .
.
.
().
( ) .
. u(t). y(t).
.
.
4.4.2.
4.8, W(s) , T , k .
, k.
, (.. ).
, T k.
, T, .
(4.13)
, t = T , - .
4.4.3.
,
,
- , k .
4.9. [7]
. (4.14)
(4.14) . :
(4.15)
:
- , - (4.16)
τ - ;
, - , τ.
(4.16) :
. (4.17)
, ( 4.9) , .