电子社现代控制理论基础（英文版）（第2版）mooc课件3-1-2.pptx

Multiply on the both sides, we haveL3.1.2 Solve the inhomogeneous state equation Method 1 The inhomogeneous state equation is as follows:Taking Laplace transforms yieldsExchanging the terms givesL3.1.2 Solve the inhomogeneous state equation Method 1 Taking the inverse Laplace transforms producesApplying the following convolution theorem:The solution isor which can be written as :L3.1.2 Solve the inhomogeneous state equation Method 2 Begin with the inhomogeneous state equation,Multiplying each side by the state transition matrixThis may be expressed asWe integrate this equation from 0 to a fixed time tL3.1.2 Solve the inhomogeneous state equation The inhomogeneous state equation is as follows:The state response is as follows, which is related to the initial states and the inputs. Suppose the general beginning time is , then we integrate that solution from to L3.1.2 Solve the inhomogeneous state equation SoDepend only on the initial stateDepend only on the inputsL3.1.2 Solve the inhomogeneous state equation The state response is as follows:Note: These two terms are known by various names such as the homogeneous solution and the particular integral, the force-free response and the forced response, the zero input response and the zero state response, etc. Consider the spring-mass-damper system shown in Figure.Assume the control inputandThen the state equation can be rewritten as follows: where is the step input force.L3.1.2 Solve the inhomogeneous state equation ExampleSubstitute into the solutionLet L3.1.2 Solve the inhomogeneous state equation Example，we obtainAnd Then we calculateHence the solution is