控制技术概论3.pptVIP

* 电气信息工程学院自动化教研室 where x1(t) and x2(t) are the state variables of this system. If we consider to be small so that the governing equations are linear, then we can establish which are the state equations. We have already shown how the mathematical model of a system may be written in this way in Chapter 2. It should be emphasized here that although the state of a dynamic system is uniquely determined from a specified set of state variables, the set itself is not unique. We can therefore select a variety of such sets. The particular one chosen is dictated often by convenience or the type of information desired. * 电气信息工程学院自动化教研室 In general, then, when we represent a system in terms of state variables we do so by a set of first-order linear differential equations of the form. where are the state variables. The output of the system is expressed as a linear combination of the state variables. Equations (3-8) and (3-9) can be written compactly as where Here x(t) is the state vector, A is the coefficient matrix which is assumed constant, b is the input vector and it essentially weighs the effect of r(t) which is the system input or forcing function, and c is the output vector and is constant. The vector-matrix differential equation shown in Eq. (3-10) is the state equation and that given by Eq. (3-11) is the output equation. When the input is zero in Eq. (3-10), the resulting equation becomes a homogeneous equation. Before we continue, it is important that we establish the relationships between the state equation, system transfer function, and the governing differential equation of the system. This can be understood very easily as follows. We first assume zero initial conditions and take the Laplace transform of Eq. (3-10) and Eq. (3-11). Solving for X(s) in the first equation and substituting into the second. This shows that the system whose transfer function is given by Eq. (3-14) has a state representation given by Eq. (3-13). We can a