杭州电子科技大学现代控制理论基础课件第二章 线性系统分析（1）.ppt

Modern Control Theory Lecture 5 Modern Control Theory Letures Notes Coryrighr@Xiaodong zhao Homework#2 2-2, 2-5, 2-7, 2-11, 2-12 Due Date: Apr. 21st Chapter 2: Linear System Analysis 2.1 Solution to LTI homogeneous equation For an LTI homogeneous equation with initial state We want to find the zero input solution Let Then We can get Hence, we have Let Then Finally, we have State Transition Matrix: 2.2 State Transition Matrix 2.2.1 Properties of state transition matrix Proof: 3. Proof: 4. Proof: So, we have 5. Proof: 6. Proof: 7. For matrices A and B, if , then Proof: So, we get 2.2.2 Special state transition matrix (1) Diagonal matrix Proof: (2) Jordan block Proof: (3) Jordan matrix (4)If then Proof: So, (5) If Proof: From 2.2.3 Calculation of state transition matrix Direct method: Example 1: Laplace transform method For the LTI equation we have or And we get Example 2: 3 Canonical method We have Example 3: Example 4: 4. Hamilton method Cayley-Hamilton Theorem Let We have So, are linear combination of and (2) Calculate of 1) all eigenvalues are mutually different 2) Example 5: * * * * * * *