线性控制第四章答案.docVIP

PROBLEMS OF CHAPTER 4 4.1 An oscillation can be generated by 一个振荡器可由下式描述： 试证其解为： Show that its solution is Proof: ,the eigenvalues of A are j,-j; Let .If ,then on the spectrum of A,then then so 4.2 Use two different methods to find the unit-step response of用两种方法求下面系统的单位阶跃响应： Answer: assuming the initial state is zero state. method1:we use (3.20) to compute then and then for t=0 method2: for t=0 4.3 Discretize the state equation in Problem 4.2 for T=1 and T=.离散化习题4.3中的状态方程，T分别取1和 Answer: For T=1,use matlab: [ab,bd]=c2d(a,b,1) ab =0.5083 0.3096 -0.6191 -0.1108 bd =1.0471 -0.1821 for T=,use matlab: [ab,bd]=c2d(a,b,3.1415926) ab =-0.0432 0.0000 -0.0000 -0.0432 bd =1.5648 -1.0432 4.4 Find the companion-form and modal-form equivalent equations of求系统的等价友形和模式规范形。 Answer: use [ab ,bb,cb,db,p]=canon(a,b,c,d,’companion) We get the companion form ab = 0 0 -4 1 0 -6 0 1 -4 bb = 1 0 0 cb = 1 -4 8 db =0 p =1.0000 1.0000 0 0.5000 0.5000 -0.5000 0.2500 0 -0.2500 use use [ab ,bb,cb,db,p]=canon(a,b,c,d) we get the modal form ab = -1 1 0 -1 -1 0 0 0 -2 bb = -3.4641 0 1.4142 cb = 0 -0.5774 0.7071 db = 0 p = -1.7321 -1.7321 -1.7321 0 1.7321 0 1.4142 0 0 4.5 Find an equivalent state equation of the equation in Problem 4.4 so that all state variables have their larest magnitudes roughly equal to the largest magnitude of the output.If all signals are required to lie inside volts and if the input is a step function with magnitude a,what is the permissible largest a?找出习题4.4中方程的等价状态方程使所有状态变量的最大量几乎等于输出的最大值。如果所有的信号需要在伏以内，输入为大小为a的的阶跃函数。求所允许的最大的a值。 Answer: first we use matlab to find its unit-step response .we type a=[-2 0 0;1 0 1;0 -2 -2]; b=[1 0 1];c=[1 -1 0]; d=0; [y,x,t]=step(a,b,c,d) plot(t,y,.,t,x(:,1),*,t,x(:,2),-.,t,x(:,3),--) so from the fig above.we know max(|y|)=0.55, max(|x1|=