电子社现代控制理论基础（英文版）（第2版）mooc课件3-3.pptx

L3.3 Discretization of the continuous-time state equationThe discrete-time state-space equation can easily be computed on a digital computer. In some cases , the continuous-time state equation can be discretized for obtaining the approximate response.Continuous-time state equationDiscrete-time state equation DiscretizationL3.3 Discretization of the continuous-time state equationThe response of a system represented by a state vector differential equation can be obtained by utilizing a discrete-time approximation. The discrete-time approximation is based on the division of the time axis into sufficiently small time increments. Then the value of the state variables are evaluated at the successive time intervals. This approach is a familiar method utilized in numerical analysis and digital computer numerical methods. L3.3 Discretization of the continuous-time state equationThe state equation of a LTI system is usually written as and its solution is Taking and , we have L3.3 Discretization of the continuous-time state equationWe know that So LetL3.3 Discretization of the continuous-time state equationThen we haveWhereAs an algebraic equation, the discretized output equation isL3.3 Discretization of the continuous-time state equationThe discrete-time state-space equation can easily be computed on a digital computer. In some cases , the continuous-time state equation can be discretized for obtaining the approximate response.Continuous-time state equationDiscrete-time state equation DiscretizationWhereL3.3 Discretization of the continuous-time state equationExampleDetermine the discretization of the following continuous-time state-space representationFrom L3.1, we obtainL3.3 Discretization of the continuous-time state equationExampleThe resulting discretized state-space representation isL3.3 Discretization of the continuous-time state equationNumerical IntegrationIf the input and initial state are given, the problem of finding sta