电子社现代控制理论基础（英文版）（第2版）mooc课件2-2-2.pptx

The input derivatives appear in the equationL2.2.2 Obtaining the state equations From Input-Output Differential Equations Equation 1There are no input derivativesEquation 2L2.2.2 Obtaining the state equations From Input-Output Differential Equations Step 1: Choose the suitable state variables.Step 2: Deduce the derivative of each state variable only described by the state variables and input variables.Step 3: Deduce the output variable only described by the state variables and input variables.Step 4: Write those equations into the matrix form.L2.2.2 Obtaining the state equations From Input-Output Differential Equations Equation 1 Step 1: Since there is an n-th order differential equation, we need n state variables.Define the state variables asStep 2: The state equations is written asL2.2.2 Obtaining the state equations From Input-Output Differential Equations Equation 1Step 3: The output equations is written asStep 4: Write those equations into the matrix form.L2.2.2 Obtaining the state equations From Input-Output Differential Equations Equation 1WhereA is called the companion matrix.L2.2.2 Obtaining the state equations From Input-Output Differential Equations Example: A MIMO LTI systemL2.2.2 Obtaining the state equations From Input-Output Differential Equations Example: A MIMO LTI systemHow to deal with ?L2.2.2 Obtaining the state equations From Input-Output Differential Equations Equation 2Example: Establish the state equation for the system:DefineThenThe idea is that the derivatives of must somehow be absorbed into the definition for the state variables. L2.2.2 Obtaining the state equations From Input-Output Differential Equations Equation 2Example: Establish the state equation for the system:DefineThenWhere, are constants to be determined. L2.2.2 Obtaining the state equations From Input-Output Differential Equations Equation 2DefineL2.2.2 Obtaining the state equations From Input-Output Differential Equati