2006控制理论.pdfVIP

 2006    !# 1 $% 100  $( 180 ) 2 *+Æ,-./0Æ-.$/0Æ0Æ123 1 4+56578 { Ẋ = AX + bu y = cX 9: A, b  c %; += cAib = 0 (i = 0, 1, · · · , n− 2), cAn−1b = k = 0 9: n = dim(A)  dim() !;#?@ A$78B%B%( 2 CD)E78#F*+GH% g(t) = K(1 + e−t/2 − 2e−t/4) I,-J.1/F0178$234K578#678LMN9OP7 8:Q;R967STU=?V 3 4F0178#67@AB@% G(s) = 10(1 − s) (0.5s + 1)(Ts + 1) (1) 4K T CD78#EFGH (2) W78;R;XI T #YVJ%KLM (3) O T = 20 78#FNZGH 4 478[\OP% Ẋ = ⎡ ⎢⎣ 1 0 00 2 0 0 0 −5 ⎤ ⎥⎦X + ⎡ ⎢⎣ 11 0 ⎤ ⎥⎦u (1) 578]Q]RSR#M (2) 578%Q^[\01_`aM (3) 4[\01PTb#U7VW% λ1 = −2 + j2, λ2 = −2 − j2, λ3 = −5 XYZ[\K]^ _ 1c ` 2 c 5 478[\OP% Ẋ = [ 0 2 −2 0 ] X + [ 0 2 ] u y = [1 0]X (1) d78#%e%(eH (2)f.K ugha6bijcNdejO5bi78#[\OP!fk 9d78.JbiglT T h%e%(e#mG (3) Eihjnkop$bilPh%e%(e#mG 6 (1) 478OP% { ẋ1(t) = x2(t); ẋ2(t) = −x31(t) − x2(t) $^mqnop_qOrd78#Re (2) CDNesr78#st[\OP% x(k + 1) = ⎡ ⎢⎣ 0 1 00 0 1 0 2a 0 ⎤ ⎥⎦x(k) a 0 $^mqnop_qOrWPuvW Xe = 0 :RSR a #YVwt 7 478#[\OPxyu%{ ẋ1(t) = u(t), x1(0) = 0 ẋ2(t) = x1(t)), x2(0) = 1 e%vz% J = ∫ ∞ 0 [x22(t) + 1 4 u2(t)]dt OwxK u∗(t) wxe%vz J∗ 9yAwxU778#RSRe 8 NeK78#{.zIz 1 *{ $H^||B@rd} K = 10 # 1 1 K s(s+1)(s+2) r=0 x c + - } 1: ~ 8 78Re9OYST K #;RV 9:~Ne7#?% 1  ||B@%\ N(X) = 2 π [ arcsin 1 X + 1 X √ 1 − ( 1 X )2 ] XYZ[\K]^ _ 2c ` 2 c