в Ͳ

  1. I- ' -
  2. I.
  3. II- ' -
  4. III. .
  5. III.1.1
  6. P
  7. VIII. ί

1) p p p p ( p ppp-

)

ϳ k (k + n):

(110) y (k + n) + a1y (k + n-1) + ... + ant (k) = b0u (k + n) + b1u (k + n-1) + ... + bnu (k)

:

(111)

:

(112)

ϳ (110) :

(113) bn = 1, b0 = b1 = ... = Bn-1 = 0

y (k + n) = xn(K + 1) = - a1xn(K) - a2xn-1(K) + ... + anx1(K) + u (k)

p p p

p:

(114)

p p "

(115) x (k + 1) = Ax (k) + bu (k)

y (k) = cTx (k)

x- p ;

A- p ;

b- p p p;

c- p .

pp p p pp

:

(P22)

2) p p p p p p -

p p p. p X (t) pp-

m. ijp p p p p-

p

(116)

г p p p x (0)

:

(117)

F (t) - p () p

(118)

p ,

p pp

p p p, , '

p p.

, .:

(119) u (t) = u (kT0) kT0m ? t <(k + 1) T0

x (kT0) г p kT0? t ? (k + 1) T0

:

(120)

t = (k + 1) T0, :

(121)

p:

(122) g = (k + 1) T0- T ? dg = - dt

:

(123)

p p :

(124)



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