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y = Cx + Du rwnania wyjciowe
1
0 1 0
0 0 1 =0 a33 + a2 2 + a1 + a0 = 0
a0 a1 a2
stopie ?
a3 a3 a3
2
1
Badanie ukadw liniowych: 1) punkt rwnowagi
(skadowa wymuszona przy staym wymuszeniu)
an x ( n ) + an1 x ( n1) + ... + a1 x& + a0 x = bmu ( m ) + am1u ( m1) + ... + b1u& + b0u
a0 x = b0u
x&1 = a11 x1 + a12 x2 + a13 x3 + b11u1 + b12u 2
charakterystyka statyczna
(punkt rwnowagi)
u 10 u1
3
kryteria stabilnoci
2
Kryteria stabilnoci
an n + ... + a1 + a0 = 0
kryterium Routha
a n an 2 an 4 ... an an 2 an a n 4 an a n 6
a an 3 an 5 ... a n1 a n 7
n 1 a n 1 an 3 a n1 a n5 b3 =
b1 = b2 = a n 1
b1 b2 b3 ... a n 1 a n 1
c1 c2 c3 ...
d1 a n 1 an 5
d2 d3 ... a n 1 an 3
b1 b3
... ... ... ... b
c1 = 1
b2 c2 =
b1 b1
b1 b2
c c
d1 = 1 2
c1
5
x1 u2a
x1( u1k)
u2b
x1( u1p) t
3
Transmitancja
an x + ... + a1 x& + a0 x = bmu ( m) + ... + b1u& + b0u
( n)
an n + L + a1 + a0 = 0
Dla u(t)=sin t, czyli U ( s ) = lim x (t ) = lim sG ( s )
s +
2 2
t s 0 s +2
2
Granica?
8
4
Warunki pocztkowe
{af1 (t ) + bf 2 (t )} = af1 ( s) + bf 2 ( s)
[ f& (t )] = sf (s) f (0 +) = sf ( s )
f (0 + ) = 0
Zerowe warunki pocztkowe:
x ( n1) (0) = 0; ...; x& (0) = 0 ; x ( 0) = 0
x x
x0
t t
u1 u u1
u
u0
u0 t t
x x
x0
t t
u u1 u u1-u0
u0 t t
10
5
Transmitancje ukadw wielowymiarowych
Przykad m1 x&1 (t ) + a1 x1 (t ) a 2 x 2 (t ) = u1 (t )
m2 x& 2 (t ) b1 x1 (t ) + b2 x 2 (t ) = u 2 (t )
Operacje macierzowe
a1 a2 1
0
x1 ( s ) m1 m1 x1 ( s ) m1 u ( s)
s = + 1
x2 ( s ) b1 b2 x2 ( s ) 1 u2 ( s )
0
m2 m2 m2
x1 ( s) G11 (s ) G12 ( s) u1 ( s)
x (s ) = G ( s) G ( s) u ( s )
2 21 22 2
1
a a2 1
s+ 1 0
x1 ( s) m1 m1 m u (s)
x ( s ) = b 1 1
2 b 1 u2 ( s )
1
s+ 2 0
m2 m2 m2
11
m s + b2 a
det 2 det 2
(1)1+1 m2 (1) 2 +1 ma 1 0
x1 ( s ) det( sI A) det( sI A) m1 u (s)
x ( s) = 1
1 u2 ( s )
2 b m s * a1 0
det 1 det 1
1+ 2 m2 m2 m2
(1) (1) 2 + 2
det( sI A) det(sI A)
m s + a1 m2 s + b2 b1a2
det(sI A) = 1
m1 m2 m1m2
m2 s + b2 a2
x1 (s ) M ( s) M ( s) u1 (s )
x ( s) = b
m1 s + a1 u 2 ( s)
2 1
M ( s) M ( s)
M ( s) = (m1s + a1 )(m2 s + b2 ) b1a 2
12
6
Transmitancje ukadw wielowymiarowych
Przykad m1 x&1 (t ) + a1 x1 (t ) a 2 x 2 (t ) = u1 (t )
m2 x& 2 (t ) b1 x1 (t ) + b2 x 2 (t ) = u 2 (t )
Rwnania operatorowe
(m1 s + a1 )x1 ( s) = a 2 x 2 ( s ) + u1 ( s)
(m2 s + b2 )x 2 ( s ) = b1 x1 ( s) + u 2 ( s)
a 2 x 2 ( s) + u1 (s)
M 1 ( s) x1 ( s ) = a 2 x 2 ( s) + u1 ( s ) x1 (s) =
M 1 ( s)
M 2 ( s ) x 2 ( s) = b1 x1 ( s) + u 2 ( s)
a 2 x2 ( s) + u1 ( s)
M 2 ( s) x2 ( s) = b1 + u 2 ( s) M 1 ( s)
M 1 ( s)
M 1 ( s ) M 2 ( s ) x2 ( s ) = b1a 2 x 2 ( s ) + b1u1 ( s) + M 1 ( s)u 2 ( s )
b1u1 ( s) + M 1 ( s)u 2 ( s )
x2 (s) =
M 1 ( s ) M 2 ( s ) b1a 2
b1u1 (s) + M 1 (s )u 2 ( s)
M 1 ( s) x1 (s) = a 2 x 2 ( s) + u1 (s) = a2 + u1 ( s)
M 1 ( s) M 2 ( s) b1a 2
a 2 b1u1 ( s) + a 2 M 1 ( s )u 2 ( s) + (M 1 ( s) M 2 ( s) b1a 2 )u1 ( s)
x1 ( s ) =
M 1 ( s )(M 1 ( s ) M 2 ( s ) b1a 2 )
M 2 ( s)u1 ( s) + a 2 u 2 ( s )
x1 ( s ) =
M 1 ( s) M 2 ( s) b1a 2
13
m2 s + b2 a
x1 ( s ) = u1 ( s ) + 2 u 2 ( s)
M (s) M (s)
b m s + a1 M ( s) = (m1 s + a1 )(m2 s + b2 ) b1a 2
x1 ( s ) = 1 u1 ( s ) + 1 u 2 (s)
M ( s) M ( s)
h2 fwy2
u1 G11(s) x1
x1 ( s) G11 (s ) G12 ( s) u1 ( s) +
x (s ) = G ( s) G ( s) u ( s ) u2 G12(s) +
2 21 22 2
G21(s) + x2
+
G22(s)
14
7
Wasnoci ukadw liniowych
15