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x0 x0 ; t 0, t f
(5.1)
1
1
J xT t Qt xt uT t Rt u t dt xT t f Sxt f
20
2
(5.2)
t 0, t f
cu t f finit sau nu
(5.3)
L xt , ut , t dt M 0; x(0); t , xt
0
(5.4)
63
(5.5)
x t f xt , u t , t
t L
(5.6)
(5.7)
x t xt 0
t 0
pentru
t t f
(5.8)
x0 x0 ; t 0,t f
(5.9)
1
1
J xT t Qt xt uT t Rt u t dt xT t f Sxt f
20
2
(5.10)
64
Lx, , u, t L0 x, u, t T f x, u, t
1 T
1
x t Qt xt uT t Rt ut T t At xt T t Bt ut
2
2
(5.11)
Pasul 2. Formm ecuaiile canonice
L
At xt Bt u t
L
t Qt xt AT t t
x
x t
(5.12)
(5.13)
(5.14)
x t t f
t f
(5.15)
(5.16)
1
T
x t At xt Bt R t B t t
t Qt xt A t T
(5.17)
(5.18)
1
T
x t At Bt R t B t Pt xt
t Pt xt Pt x t Qt A t Pt xt
(5.19)
(5.20)
(5.21)
t f S xt f Pt f xt f
S Pt f
(5.22)
(5.23)
ut K t xt
(5.24)
sau
n care
K t R1 t BT t Pt
(5.25)
(5.26)
A,B
(S)
Fig.5.1
K(t)
t xT (t ) Pt xt
(5.27)
(5.28)
Dac n (5.28) introducem prima ecuaie din relatia (5.12) i valoarea lui P t din
(5.21) obinem (renunm la argumentul t ):
66
d t
u T BT xT AT Px xT PA AT P PBR 1BT P Q x xT P Ax Bu
dt
u T BT Px xT PBu xT PBR 1Px xT Qx
(5.29)
(5.30)
0
tf
1
1
J xT Qx uT Ru dt xT t f S xt f
20
2
Dar
Dac nmulim cu
(5.31)
1
egalitatea (5.30) i o adunm membru cu membru cu (5.31)
2
obinem:
1 T
1
x t f Pt f xt f xT 0 P0 x0
2
2
tf
1
1
u T R u R 1BT Px xT PB u R 1BT Px dt xT t f S xt f
20
2
(5.32)
1
1
J uT R xT PB u R 1BT Px dt xT 0P0x0
20
2
(5.33)
Sau
tf
T
1
1
J u R 1BT Px R u R 1BT Px dt xT 0P0x0
20
2
(5.34)
ut R1 t BT t Pt xt
(5.35)
s fie legea de comand optimal, P(t ) fiind o matrice simetric care verific ecuaia
Riccati (5.21)
ntr-adevr, pentru u t dat de (5.35) valoarea lui J este:
1
J x0T P0x0
2
(5.36)
67
u u
(5.37)
68