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y (t ) h(t ) * u ( )d (1 / ) h(t )d
y (t ) L1[ H ( s )] L1[
K
K T
]
e
Ts 1
T
K i T0
e
T
y (iT0 ) y (i )
y (iT0 )
t
( K , T )
T0
[ y (iT0 ) y (iT0 )]
i 0
min VN ( K , T ) ( K , T )
N=orizontul de experimentare
Rezulta:
T
T
N
2
K i T0
1 N i T0
T
V
] * ( * e ) 0 K i T
2 * [ y (iT0 ) * e
0;
0T VN ( K , T )T [ y (iT0 ) e
]
K 0
T
T
0
i 0
K i 0
1 i 0 1 1
2 * K * [ y (iT0 ) e T ] * ( 2 e T * 2 * e T .....) 0
T
T
T T
0
N
K i T0 K (i 1) T0 i T0
y (iT0 ) * e
*e
* e
T
a
T
y [( i 1)*T0 ]
Am obtinut un model :
y (i ) a * y (i 1)
ae
T0
T
adica am trecut de la T la a.
Daca tinem cont de faptul ca schema generala are si efect al erorilor,
zgomotelor, atunci putem scrie:
y(i)=a*y(i-1)+v(i)
N
V
0 2 [ y (i ) a * y (i 1)] * [ y (i 1)] 0 a
a
1
y(i) * y(i 1)
1
y (i 1)
1
To
T
y (iT0 ) k * a i , k
K
T
y (i ) k * a i v(i )
N
VN (k ) v (i ) [ y (i ) k * a ] min k
2
N
V
0 2 [ y (i ) k * a i ] * a i 0 k
k
1
( y (i ) * a i )
1
2i
b)Raspunsul indicial:
y (t ) K * Uo * (1 e T )
Trebuie sa gasim K , T pe baza metodei CMMP. Procedura se bazeaza
pe liniarizare prin discretizare.
Daca :
y (iTo ) K1 * Uo * (1 e
iT0
T
) K K *e
( i 1)*
To
T
*e
To
T
y[(i 1)To ] K K * e
( i 1)*
To
T
AR autoregresiv y(i)=a*y(i-1)+b+v(i)
Definitiecriteriul de eroare:
N
0
;
[
y
(
i
1
)
]
*
a
[
y
(
i
1
)
]
*
b
1
1
1 y (i) * y (i 1) -- ecuatia I
b
a
a sistemului
-- ecuatia a II-a a sistemului este:
[ y (i 1)] * a N * b y (i )
1
1
N
2
y (i 1)
y (i ) * y (i 1)
a
*
b
y(i 1)
1
y(i 1)
y (i)
A * B A1 * B
To
T
a e T
b K (1 a) K
H ( z 1 )
B ( z 1 ) Y ( z 1 )
b1 z 1 b2 z 2 ... bn z n
A( z 1 ) U ( z 1 ) 1 a1 z 1 a2 z 2 ... an z n
[ y ( k 1) | y ( k 2) | ..... | y ( k n) | u ( k 1) | u ( k 2) | ....
iesiri
anterioare
comenzile
anterioare
vectorul
observatiilor
T (k )
V ( )
[ y ( k ) y (k )]
[ y (k )
2
T
( k ) * A]
V
0
V
2 y ( k ) * [ y ( k ) T ( k ) * ] 0
1
N
( k ) * y ( k ) [ ( k ) * T ( k )] *
Not : ( N ) (1) ( 2) (3) ... ( N )
matricea
observatiilor
si : Y ( N ) y (1)
y ( 2)
y (3)
...
y ( N )
[ ( k ) * T ( k )] 1 * ( k ) * y ( k )
1
( N 1) ( N ) ( N )
noua
estimatie
estimatia
anterioara
1)
1)
(N
Y (N
1)
( N
1)
( N )
(N
( N
(N
(N
1)]1 *
(N )
| Y (N
(N ) *
(N )
(N
]1 * [
*Y
Evaluam:
P ( N 1) [ T * * T ]1 [ T * ]1 P * * (1 T * P * ) 1 * T * P
scalar
P * * * P P P * * P * P * * * P
P
T
T
T
1 * P*
1 * P*
1 * P*
T
=>relatie de
P * * T * P
] *[ T * Y * y ] P * T * Y P * * y
1 T * P*
( N )
P * * T * P * T * Y P * * T * P * * y
1 T * P *
P *
( N )
* [ y T * P * * y T * P * T * Y T * P * * y ]
1 T * P *
( N )
( N 1) ( N ) P( N 1) * ( N 1) *[ y ( N 1) T ( N 1) * ( N )]
( N 1)
P ( N 1)
(N
1) *
( A b * bT ) 1 A1 A1 * b * (1 bT * A1 * b) 1 * bT * A1
1)]
notatie
P ( N 1)
Y (N )
y( N
1)
1) *
1)
1)
=>inversarea in
corectie
P( N )
1 ( N 1) * P( N ) * ( N 1)
T
CMMPR
Initializari :
( 0) 0
P (0) c * I
const
(N
-CMMPP (metoda celor mai mici patrate ponderate), (in care se aloca
ponderi observatiilor recente in raport cu observatiile mai vechi ) si
-CMMPG (metoda celor mai mici patrate generalizate), (in care se tine
cont si de efectul zgomotelor).