现代控制理论讲述.ppt

现代控制理论基础 * 1.7 Linear transformation distinct eigenvalues of A will transform into the diagonal matrix, or 现代控制理论基础 * 1.7 Linear transformation If the matrix A defined by Equation (a) involves multiple eigenvalues, then diagonalization is impossible. For example, if the 3×3 matrix A, where has the eigenvalues , then the transformation x=Sz, where 现代控制理论基础 * 1.7 Linear transformation will yield This is in the Jordan canonical form. 现代控制理论基础 * 1.7 Linear transformation Invariance of Eigenvalues. To prove the invariance of the eigenvalues under a linear transformation, we must show that the characteristic polynomials and are identical. Since the determinant of a product is the product of the determinants, we obtain 现代控制理论基础 * 1.7 Linear transformation Noting that the product of the determinants and is the determinant of the product , we obtain Thus, we have proved that the eigenvalues of A are invariant under a linear transformation. 现代控制理论基础 * 1.7 Linear transformation Nonuniqueness of a Set of State Variables. It has been stated that a set of state variables is not unique for a given system. Suppose that are a set of state variables. Then we may take as another set of state variables any set of functions provided that, for every set of values , there corresponds a unique set of values , and vice versa. 现代控制理论基础 * 1.7 Linear transformation Thus, if x is a state vector, then where is also a state vector, provided the matrix P is nonsingular. Different state vectors convey the same information about the system behavior. 现代控制理论基础 * 1.8 由状态空间描述求传递函数阵 1.8.1 单输入-单输出系统 拉氏变换 标量函数 式中 其中 adj(A)—adjoint,伴随矩阵,是A相应元素的代数余子式 det(A)—determinant,行列式,即A的特征多项式 现代控制理论基础 * 1.8 由状态空间描述求传递函数阵 例 已知三阶系统的状态空间描述为 解 由于 则传递函数为 求其传递函数。 现代控制理论基础 * 1.8 由状态空间描述求传递函数阵 1.8.2 多输入-多输出系统 式中，x为n维状态向量，u为r维输入向量，y为m维输出向量。 拉氏变换 u-x间的传递函数阵为 u-y间的传递函数阵为 现代