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y (t ) = C x (t ) + D u(t )
(4.1)
1, pentru
<t
k (t ) =
(4.2)
0, rest
f (t ) = a k k (t )
(4.3)
k =1
k =1
= f (t ) a k k (t ) dt
0
(4.4)
f (t ) = a1 1 (t ) + a 2 2 (t ) + ... + a k k (t )
1(t)
(4.5)
f(t)
t
2(t)
a1
0 1/ 2/
k(t)
a2
t
0 1/ 2/
(k 1)/ k/
(t ) dt
i
n funciile de baz i
1 (t ) dt 1 (t ) + 1 (t ) + ... + 1 (t )
2
k
0t
2 1
1
1
(
t
)
dt
+
+
+
(
t
)
...
(
t
)
2
=
2
k
2
...
...
k (t )
0 + 0 + ... +
(
t
)
dt
k
2
(4.6)
sau
t
(t ) dt P (t )
(4.7)
1 / 2 1 1 1
1 0 1/ 2 1 1
este matricea operaional pentru f.i.b.
unde: P =
.
. 1
.
0 0 1 / 2
0
(4.8)
32
x (t ) = g i i (t ) = G (t )
(4.9)
x (t ) = li i (t ) = L (t )
(4.10)
i =1
k
i =1
B u(t ) = ei i (t ) = E (t )
(4.11)
i =1
(4.12)
i = 1,2,k.
(4.13)
x(t ) dt = x(t ) x0
(4.14)
(4.15)
n care X0 reprezint matricea ale crei coloane sunt vectorii x0 (starea iniial).
Prin egalarea coeficienilor lui (t) rezult:
(GP ) i = li x0
(4.16)
i 1
g j +
j =1
1
gi
2
(4.17)
(GP ) i +1 = (GP ) i +
n care: (GP )1 =
1
(g i +1 + g i )
2
(4.18)
1
g1 .
2
1
( A li +1 + ei +1 + A li + ei )
2
1
1
1
I
A li +1 = I +
A li +
(ei +1 + ei )
2
2
2
(4.19)
(4.20)
U = I A ;
2
li +1 = Z li +
Z = U I + A
2
1
U (ei +1 + ei ) ,
2
(4.21)
i = 1,2,3,...k
(4.22)
1
U e1 + U x 0
2
(4.23)
x(t ) = f ( x(t ), u (t ), t )
(4.24)
(
)
(
)
=
g
(
t
)
f
l
t
,
u
t
,
t i i (t )
i i
i i
i i
i =1
i =1
i =1
i =1
i =1
i =1
34
(4.25)
1
( f (li +1 ,u i +1 ,t i +1 ) + f (l i ,u i ,t i ))
2
(4.26)
1
f (l1 ,u1 ,t 1 ) + x0
2
(4.27)
(4.28)
a2.
s+3
s + 5 s + 7
2
1
1 0
0
A = 3 2 0 ; B = 1 ; C = (0 1 0) ; D = (0) .
1
1
2 1
36