第七次课3学时.doc

第七次课（3学时） B: State equations 背景知识：状态方程是现代控制理论的一个基本概念。可以通过对系统的机理分析得到状态方程，也可以通过适当地选择状态变量从一个高阶的微分方程等价地得到状态方程。我们都知道，状态变量的选择不是惟一的。 New Words: compactly ad. 紧凑地 scalar n. a. 标量(的) controllability n. 可控性 observability n. 可观性 coordinate n. 坐标 unit matrix 单位矩阵 adjoint n. 伴随矩阵 determinant n. 行列式 eigenvalue n. 特征值 翻译示例： The derivation of state space models is no different from that of transfer function in that the differential equations describing the system dynamics are written first. In transfer function models these equations are transformed and variables are eliminated between them to find the relation between selected input and output variables. For state models, instead, the equations are arranged into a set of first-order differential equations in the terms of selected state variables, and the outputs are expressed in these same state variables. Because the elimination of variables between equations is not an inherent part of this process, state models are often easier to obtain. Two examples are given for illustration and to relate state models to the transfer functions used thus far. 状态空间模型的推导与传递函数的推导没有什么不同，总是先将描述系统特性微分方程写出来。在传递函数模型中，这些方程经过（拉氏）变换，并消去中间变量，以求得所选定的输入输出变量间的关系。对于状态模型，所不同的是，将方程整理成为一阶微分方程组，其变量为选定的状态变量。而且输出变量同样也表示成为状态变量。由于所消去的变量并非过程本质部分，状态模型更容易得到。给出两个例子作为解释并将状态模型与所用过的传递函数模型相联系。 The selection of state variables is not a unique process. Various sets variables can be used. It is usually advantageous to use variables which have physical significance and, if possible, can be measured. There are several applicable methods of selecting state variables. The form of the information available for a system will often dictate which method should be used. In some cases, for example, a transfer function is obtained experimentally and must be used as the starting point. 状态变量的选择不是惟一的。有多组状态变量可以选择。。通常最好是选择有物理意义的变量，如果有可能，最好是可以测量的。对于一个系统，所能得到的信息的形式通常决定了所使用的方法。。例如，在一些例子中，传递函数是通过实验得到的，而且必须是建模的开始。 With a state-model description of the system dynamics, the first