现代控制理论 第6章线性时不变系统的复频域分析ppt课件

1、2021-12-16211( )( )( )( )( ),1,2iiiLiLiGsNs DsDs Nsi并联条件：并联条件： 和和并联特点：并联特点：12dim( )dim()uu12dim()dim()yy1212uuuyyy2021-12-16312L1L2D (s),D (s)D (s),D (s)pp并联系统S 完全能控左互质并联系统S 完全能观右互质11( )( )( )( )( ),1,2iiiLiLiGsNs DsDs Nsi2021-12-16412( )( )GsGs传递函数矩阵和不包含公共极点12g ( )g ( )ss传递函数和不包含公共极点2021-12-16511(

2、)( )( )( )( ),1,2iiiLiLiGsNs DsDs Nsi串联条件：串联条件： 串联特点：串联特点：12dim()dim(u )y1212u uuyyy2021-12-166T2L12L1T3L2L21T421D (s)D (s),N (s)D (s)N(s)N (s)D (s)N (s)S 完全能控左互质S 完全能控，左互质S 完全能控，左互质11T111122211T211122211T311122211T4111222S:( )( )( ),( )( )( )S:( )( )( ),( )( )( )S:( )( )( ),( )( )( )S:( )( )( ),( )

3、( )( )LLLLLLLLGsDs Ns GsDs NsGsDs Ns GsNs DsGsNs Ds GsDs NsGsNs Ds GsNs Ds2021-12-167T2L122T31L21T1L1L2D (s)D (s),N (s)D (s)N (s)N (s)D (s)N (s)S 完全能观右互质S 完全能观，右互质S 完全能观，右互质11T111122211T211122211T311122211T4111222S:( )( )( ),( )( )( )S:( )( )( ),( )( )( )S:( )( )( ),( )( )( )S:( )( )( ),( )( )( )LLL

4、LLLLLGsDs Ns GsDs NsGsDs Ns GsNs DsGsNs Ds GsDs NsGsNs Ds GsNs Ds2021-12-168( )p0 xlcN()Sp1hcD)(tu)(ty0cB0cA0cC0 x 1hclcDD2021-12-169lcN)()(1sSslchcDD1( ) ( )S ss( ) ( )ss1hcD)( su)( sy)( suK( ) s2021-12-1610lcN)()(1sSslchcDD1)( sylcN)()(1sSslchcDD1)( sy( )N s1D ( ) s( )Ks( ) s)( su)( sy( ) s2021-12

5、-16111KK( )( )( )GsN s DsKD ( )( )()( )hcLcsD S sDKs2021-12-1612K0 完全能控完全能控K0K00KK0 完全能观测强能观测K0 完全能控完全能控2021-12-1613)()(1sSs)()(1sSs1( )G syu1S2( )G s2S1u1y2y2u反馈连接条件：反馈连接条件：12dim( ) dim( )uy21dim( ) dim( )uy反馈连接特点：反馈连接特点：1212 uuyyyu2021-12-1614FFF21S完全能观测完全能观测F12S完全能控完全能控2G (s)=F()常 阵F1S完全能控完全能控F1S

6、完全能观测完全能观测2021-12-1615)()(1sSs)()(1sSs1y1( )G s1uyu1S2021-12-1616DFDFBIBO 稳定渐进稳定DF1( )GsDFDFDFBIBO 稳定渐近稳定DF11=( )det( )sIGs的特征多项式DF1( )Gs1( )s1( )Gs2021-12-1617DF1BIBO 1为渐近稳定和稳定(s)detI+G (s)=0根均具有负实部DF1( )GsDF1( )GsDFDFDFLLDDBIBO1111为渐近稳定和稳定det(s)+N (s)=0根均具有负实部det(s)+N (s)=0根均具有负实部2021-12-1618)()(1sSs)()(1sSs1( )G syu1S2( )G s2S2021-12-161912122121S =SpS=SSpSq按顺序串联系统按顺序q串联系统CFCFCFBIBO 稳定渐近稳定12S21S2021-12-1620CFCFCF1212=det(sI-A)( )( )det( )( )ssIGs Gs的特征多项式1( )Gs2( )GsCFCF122 1为渐近稳定(s)(s)detI+G (s)G (s)=0根均具有负实部2021-12-16