计算机控制系统英文版ChaterAnalysisofccs.pptVIP

Contents 5.1 Introduction 5.2 Stability Analysis 5.3 Steady-state analysis 5.4 Dynamic analysis 5.5 Controllability, reachability, observability, detectability 5.1 Introduction To apply a CCS to industry, we must analyze Stability (z-plane) Steady-state analysis (steady-state error) Dynamic analysis (transient propoty) Analysis of CTS: s-plane Analysis of CCS: z-plane 5.2 Stability Analysis 5.2.1 The relationship between s-plane and z-plane The pole and zero locations of CCS in z-plane are related to the pole and zero locations of CTS in s-plane. The dynamic specifications of CCS is dependable to T. (1) The left half-s-plane: (2) The jω of s-plane: 5.2 Stability Analysis 5.2 Stability Analysis 5.2 Stability Analysis 5.2 Stability Analysis 5.2 Stability Analysis 5.2 Stability Analysis 5.2 Stability Analysis 5.2 Stability Analysis 5.2 Stability Analysis 5.2.2 Stability definition 5.2 Stability Analysis (1) Stability and asymptotic stability Consider the discrete-time state-space equation (possibly nonlinear and time-varying) x (k+1) = f (x(k), k) (4.1) Let x0(k) and x(k) be solutions of (4.1) when the initial conditions are x0(k0) and x(k0) respectively. Further, let ║·║denote a vector norm. Definitions 5.1 STABILITY The solution x0(k) of (4.1) is stable if for a given ? 0, there exists a ?(?, k0)0 such that all solutions with║x(k0) - x0(k0)║ ? such that ║x(k) - x0(k)║ ? when k ? k0. 5.2 Stability Analysis Definitions 5.2 ASYMPTOTIC STABILITY The solution x0(k) of (4.1) is asymptotically stable if it is stable and if ? can be chosen such that║x(k0) - x0(k0)║ ? implies that ║x(k) - x0(k)║?0 when k ? ?. For linear, time-invariant systems, stability is a property of the system and not of a special solution. 5.2 Stability Analysis Theorem 5.1 ASYMPTOTIC STABILITY OF LINEAR SYSTEM x(k+1) = ?x (k) x(0) = a (4.2) A discrete-time linear time-invariant system (4.2) is asymptotic