机械控制工程.ppt

§1-6 状态向量的线性变换 一.状态空间表达式的非唯一性 Nonsingular Matrix T 例: Find the eigenvalues and eigenvector of Matrix A The SS model of system is： The initial state is: x1(0)=1,x2(0)=1 The transformation Matrix is： Find the new system in SS model. 解： Transformation of System Models using Matlab T=[6 2; 2 0]; T1=inv(P) T1 = 0 0.5000 0.5000 -1.5000 A=[0 -2;1 -3]; A1=T1*A*T A1 = 0 1 -2 -3 B=[2,0]’； B1=T1*B B1 = 0 1 Transformation of System Models using Matlab C=[0 3] C = 0 3 C1=C*T C1 = 6 0 x0=[1,1]‘； z0=T1*x0 z0 = 0.5000 -1.