/

2009



. 2009.
,


(.. 2-DOF )

2009 THMMY.gr

 1
.
(t).
x 1 0 1 x1
=

x 2 2 3 x 2

0
+
u
2

x1

y = 3 1
x 2

Y.
gr

: (s) = (SI A)1

s 0 0 1 s 1
SI A =

0 s 2 3 2 s + 3
SI A =

s 1
= s(s + 3) (2) = s 2 + 3s + 2 = (s + 1)(s + 2)
2 s+3

s+3

s + 3 1 (s + 1)(s + 2)
1
1
(SI A)1 =
adj(SI A) =

=
2
SI A
(s + 1)(s + 2) 2 s

(s + 1)(s + 2)

1
(s + 1)(s + 2)
s
(s + 1)(s + 2)

TH
M

* adj(A) 22
11 , 22 12 , 21
(s), / Laplace (t).
.
2
1

s +1 s + 2
(s) =
2
2
+

s +1 s + 2

1
1

s +1 s + 2
1
2
+
s +1 s + 2

2e t e 2 t
(t) = L1(s) =
t
2 t
2e + 2e

e t e 2 t
e t + 2e 2 t

( / Laplace
1, , . )

2009 THMMY.gr

 2
:
2
0 1 2

x = 1 3 0 x + 1
0
1 0 5

0
1
1

Y.
gr

.....

.

. :

M r = B: AB: A2 B:: A. .

3 2,
: M r = [ B : AB]

0 1 2 2

= 1 3 0 1
1 0 5 0

1

= 5
2

0
1
1

1
5
2

3
3
5

3
3
5

TH
M

Mr = 1
0

0
1
1

2
1
0

0
1
1

1
1
5 =2
1
2

5
1
0
2
0

5
1
+1
2
0

1
= 13 0
1

r
3, 3
. .

2009 THMMY.gr

 3
[, ] .
1
A=
4

a
B=

( ):

: M r = [ B : AB]
1
AB =
4

1 a a + 1

2 1 4a 2

Y.
gr

2 = 2 0 1,

a a + 1
M r = [ B : AB] =

1 4a 2

, 2.
r 2 .

M r = a(4a 2) (a + 1) = 4a 2 a 1

4a 2 a 1 = 0 a1 = 0, 64 a 2 = 0, 39
a 0, 64 a 0, 39

TH
M

( ):
:

: (SI A)1 B
s +1
SI A =
4

1

s+2

SI A = (s + 1)(s + 2) 4 = s 2 + 3s 2 = (s + 3, 56)(s 0, 56)

s+2

(s + 3, 56)(s 0, 56)
1
(SI A)1 =
adj(SI A) =

4
SI A

(s + 3, 56)(s 0, 56)

s+2

(s + 3, 56)(s 0, 56)
(SI A)1 B =

(s + 3, 56)(s 0, 56)

1
(s + 3, 56)(s 0, 56)
s +1
(s + 3, 56)(s 0, 56)

1
(s + 3, 56)(s 0, 56)
s +1
(s + 3, 56)(s 0, 56)

a(s + 2) + 1

a = (s + 3, 56)(s 0, 56)
1
4a + s + 1

(s + 3, 56)(s 0, 56)

1
1
3, 56 a 0, 64 , 2 + 0, 56 a 0, 39
a
a
4a + 1 3, 56 a 0, 64 , 4a + 1 0, 56 a 0, 39

2+

2009 THMMY.gr

 4
:

x1

s + 17
s+3

10
s+6

x2

Y.
gr

( :
10
x1
= x 2 10x1 = (s + 6)x 2 x 2 = 10x1 x 2
s + 6
s + 17
u
= x1 u(s + 17) = x1 (s + 3) u + 17u = x 1 + 3x1
s + 3

1 u

)
s + 17 s + 3 + 14 s + 3 14
14
=
=
+
= 1+
s+3
s+3
s+3 s+3
s+3

14
s+3

TH
M

x1

10
s+6

x2

14
u
= x1 14u = x1 (s + 3) x 1 = 3x1 + 14u
s + 3
10
w
= x 2 10w = x 2 (s + 6) x 2 = 6x 2 + 10w
s + 6
x 2 = 10x1 6x 2 + 10u

y = x 2

x 1 3 0 x1 14
=
+

u
x 2 10 6 x 2 10

2009 THMMY.gr

w = x1 + u

x1

y = 0 1
x 2

 5 (S.O.S)

0
1 1 0

x = 2 6 0 x + 0 u
2
0 0 4

1
y=
0

3
2

1
0
u
x +
0
1

SI A = (s + 4)(s 2 7s + 8) -4, 1,438 5,561

Y.
gr

3, = 32 0 , 1.
: M r = B : AB : A 2 B
1 1 0 0 0

AB = 2 6 0 0 = 0
0 0 4 2 8

1 1 0 0 0

A B = A(AB) = 2 6 0 0 = 0
0 0 4 8 32
2

0, 5 0, 5 0, 5

P = 0
1
0
1
0
0
1

TH
M

0 0 1

P= 0 1 0
2 1 1

0 0 0

Mr = 0 0 0
2 8 32
Mr 1 3 .
Mr 1
( ).

4 0, 5 0, 5

6
2
A = P 1AP = 0
0 1
1

4 0, 5 0, 5
x = 0
6
2
0 1
1

B = P B = 0
0

1
x +
u

E = E

0
C = CP =
0

0
y=
0

3
2

3
2

1
1
u
x +
1
0

x1 = 4 x1 + u
x2

x3

6 2 x2 0
=
+

u
1 1 x3 0

6 2

5,56 1,43
1 1

2009 THMMY.gr

 6
:
1 2 0

) A = 0 1 2
3 0 7

C=

1 2
) A =

3 4

1 1
C=

2 0

1 0 0
) A = 0 2 0

0 2 3

C = 1 1 3

1 2 0

Y.
gr

1 1 2

( 20.3.09 )

.....

. :

n = rank(A) r = rank(C)

CA
Wr =

nr
CA

TH
M

) = 5 0 rank(A) = 3 ,

2 0
= 4 0 rank(C) = 2
1 2

C
W =

CA

1 2 0
1 2 0
1 0 4
CA =

0 1 2 =
1 1 2 3 0 7 7 3 12

W =

1 2 0

1 1 2
1 0 4
7 3 12

1 2 0
1 1 2 = 8 0 rank(W ) = 3 = rank(A) .
1 0 4

W , .
) = 2 0 rank(A) = 2 , C = 2 0 rank(C) = 2
C
rank(C) = rank(W ) = rank(A)
.

2009 THMMY.gr

) = 6 0 rank(A) = 3 , rank(C) = 1
:

W = CA
CA 2

1 0 0

CA = 1 1 3 0 2 0 = 1 4 9
0 2 3
1 0 0

CA = (CA)A = 1 4 9 0 2 0 = 1 26 27
0 2 3

Y.
gr

1 1 3

W = 1 4 9 , W = 252 0 rank(W ) = 3 = rank(A)

1 26 27
.

7
.
1
6 1
x =
u
x +
1
0
3

y = 0 1 x

TH
M

C
= 18 0 rank(A) = 2 , rank(C) = 1 W =

CA

6 1
0 1
CA = 0 1
= 0 3 W =
rank(W ) = 1 2
0 3
0 3
.
: I A =

+6
1
= ( + 6)( 3)
0
3

-6 3

(. ... , . 51)
6 0
AT =

1 3

0
CT =

6 0 0
x =
x +
u
1 3
1

BT = 1 1
y = 1 1 x

2009 THMMY.gr

 ... M = [ B : AB ]
6 0 0 0
0 0
AB =
M =
=

rank(M ) = 1 2
1 3 1 3
1 3
1
.
P.
0 1
P=

1 0

0 1
P 1 =

1 0

0 1 0 1
B' = P 1 B =

1 0 1 0

Y.
gr

0 1 6 0 0 1 3 1
A' = P 1 AP =

1 0 1 3 1 0 0 6

0 1
C ' = CP = 1 1
= 1 1
1
0

y = 1 1 x

1
3 1
x =
u
x +
0
0 6

TH
M

1
3 0
x =
u
x +
1
1 6
y = 1 0 x

3 , -6 .

2009 THMMY.gr

10

Y.
gr
M

TH
M
2009 THMMY.gr

11

 9
(27.3.09)

. ;
.

H (s) =

2s 3 + s 2 + 2
3s 3 + 4s + 5

Y.
gr

(
.
1)

4
5
2 3 1 2 2
2
3
s
+
s
+
+

s
+

+
es
+
es
+
e
as
2
2s + s + 2 3
as + s +
3
3
3
3
H (s) = 3
=
=
+e=
=
4
5
4
5
4
5
3s + 4s + 5
s3 + s +
s3 + s +
s3 + s +
3
3
3
3
3
3
3

e=

4
5
es 3 + as 2 + ( + e)s + ( + e)
3
3
=
4
5
s 3 + 0s 2 + s +
3
3
2
3

a=

1
3

4
8
e=0 =
3
9

5
2
4
+ e= =
3
3
9

TH
M

4
1 2 8
s s
9
9 +2
H (s) = 3
4
5 3
s 3 + 0s 2 + s +
3
3

( ,
.
, . 63 65 )
:

5
x 0 0 x
3 1
1

x 2 =
4 x2
1
0

3 x 3
x 3

0 1 0

2009 THMMY.gr

4

9
8
+ u
9
1
3

x
1 2
y = 0 0 1 x 2 + u
3
x 3

12

 :
x 0
1
1 0
0
x 2 =
5 4
x 3 3
3

0 x
0
1

1
x2 + 0 u

0 x 1

4
y=
9

8
9

x
1
1 2
x2 + u
3 3
x 3

Y.
gr

: ,
.
:
.
.
rank(A)=3 rank(B)=1 M = B AB A 2 B

5
9
8

9
8

40
27
17
27
8

40
27
17
27
8

= 0,132 0 rank(M)=3=rank(A)

TH
M

4

9
8
M =
9
1
3

5
0 0 9
3

8
2
A B = A(AB) =
4 =
1 0 9
3

8
0 1 0
9

4 5

5
0 0 9 9
3

8 8
AB =
4 =
1 0 9 9
3

1 8
0 1 0
9
3

.
. . 63 66. .

2009 THMMY.gr

13

 10
-1,
-4, -5 ...;
0
1 0 2

x = 0 2 1 x + 1 u
1
0 0 3

M = B AB A 2 B
2

AB = 1
3

A B = 1
9
2

Y.
gr

A = 6 0 rank(A)=3 rank(B)=1 :

0 2 8

M = 1 1 1
1 3 9

M = 4 0

rank(M) = 3 = rank(A) .

2 (. ... , . 93-94)

) .

TH
M

s +1
0
2
SI A =
0
s + 2 1 = (s + 1)(s + 2)(s + 3) = s 3 + 6s 2 + 11s + 6
0
0
s+3
) .
(s + 1)(s + 4)(s + 5) = s 3 + 10s 2 + 29s + 20

) .
( ,
2 )
K ' = 20 6 29 11 10 6 = 14 18 4

) P.
( )
0

p3 = 1
1

0 2
1 0 2 0

p2 = 0 2 1 1 + 6 1 = 5
1 3
0 0 3 1

0 4
1 0 2 2

+ 11 1 = 4
p1 = 0 2 1

1 2
0 0 3 3

2009 THMMY.gr

4 2 0

P= 4 5 1
2 3 1

14

1 1 1
1

P = 1 2 2
2
1 4 6
1

) : K = K ' P 1 .
1 1 1
1

K = K ' P = 14 18 4 1 2 2 = 0 3 1
2
1 4 6
1

Y.
gr

: [ SI A + BK ] .
0 0 0
0

BK = 1 0 3 1 = 0 3 1
0 3 1
1

1 0 2 0 0 0 1 0 2

A + BK = 0 2 1 + 0 3 1 = 0 5 0
0 0 3 0 3 1 0 3 4

TH
M

s +1
0
2
SI A + BK =
= (s + 1)(s + 5)(s + 4)
0
s+5
0
0
3
s+4

( , )

1. . ,

2. .
3.
. -1.
.

4. m
-1, m
.

, F
5. = BF
.

2009 THMMY.gr

15

6. :

Q= 1
1

2
m

i =
2
m

(
j =1
m

j)
j )

j =1

i j

i . m = 1 1 = 1 - 1
7. K = FQ

Y.
gr

8. : - .

.....

(3.4.09)

. ... :
s1,2 = 1 j 3 s3 = 10 .
x1

y = 1 2 0 x2
x
3

x1 0
1
0 x1 0

0
1 x2 + 0 u
x2 = 0
x 6 11 6 x 10
3
3

1) ....

TH
M

A = 6 0 rank(A) = 3 rank(B) = 1 M = B AB A 2 B
0

AB = 10
60

10

A B = 60
250
2

0
0
10

M = 0 10 60
10 60 250

M = 1000 0

rank(M) = 3 = rank(A) .
2) ...

1
0
I A = 0
1 = 3 + 6 2 + 11 + 6 = ( + 1)( + 2)( + 3)
6 11 + 6

1 = -1 :

1 1 0 x11
x

0
1
1
21

6 11 5 x31

2009 THMMY.gr

= 0
0

x11 x21 = 0
x21 x31 = 0
6x11 + 11x21 + 5x31 = 0

x11 = 1 1
1

16

0
= 0
0

1 = -3 :
3 1 0 x13
x

0
3
1
23

6 11 3 x33

0
= 0
0

2x12 x22 = 0
2x22 x32 = 0
6x12 + 11x22 + 4x32 = 0

3x13 x23 = 0
3x23 x33 = 0
6x13 + 11x23 + 3x33 = 0

1
x12 = 1 2

1
x13 = 1 3

Y.
gr

1 = -2 :
2 1 0 x12
x

0
2
1
22

6 11 4 x32

3) ...
3 2, 5 0, 5

T 1 = 3 4 1
1 1, 5 0, 5

1 1 1

T = 1 2 3
1 4 9
4) m = 3 = T 1

5) = BF
...

1 3 2, 5 0, 5 0
5

= 2 = 3 4 1 0 F = 10 F
1 1, 5 0, 5 10
5

TH
M

Q= 1
1

6)

2
2

F = 1 i 0

3
i =
3

(
j =1
m

j)
j )

j =1

i j

1 =

(1 1 )(1 2 )(1 3 ) (1 + 1 + j 3)(1 + 1 j 3)(1 + 10)

=
= 13, 5
(1 2 )(1 3 )
(1 + 2)(1 + 3)

2 =

(2 1 )(2 2 )(2 3 ) (2 + 1 + j 3)(2 + 1 j 3)(2 + 10)

=
= 32
(2 1 )(2 3 )
(2 + 1)(2 + 3)

3 =

(3 1 )(3 2 )(3 3 ) (3 + 1 + j 3)(3 + 1 j 3)(3 + 10)

=
= 24, 5
(3 1 )(3 2 )
(3 + 1)(3 + 2)
13, 5
Q=
5

2009 THMMY.gr

32
10

24, 5
= 2, 7 3, 2 4, 9
5

17

7) K = FQ ...
3 2, 5 0, 5

K = 1 2, 7 3, 2 4, 9 3 4 1 = 3, 4 1, 3 0, 6
1 1, 5 0, 5
8) ...

Y.
gr

0
0
1
0
1
0 0

0
1
0 3, 4 3, 2 4, 9 = 0
A BK =
0
0
1

40 24 12
6 11 6 10

I A + BK 1 = 10 2, 3 = 1 j 3
11
:

1
3 0
x =
u
x +
0
7 8

: SI A =

s+3
0
= (s + 3)(s 8)
7 s 8

TH
M

8. -1.
....
( 1, . ... , . 92)
) ...
(s + 3)(s + 1) = s 2 + 4s + 3

) ki ...
1
BK =
k1
0

k
k2 = 1
0

3 0 k1
A + BK =
+
7
8

SI A + BK =

2009 THMMY.gr

s + 3 + k1

k2

s8

k2

k2 3 + k1 k2
=

0 7
8

= (s + 3 + k1 )(s 8) + 7k2 = s 2 + (k1 5)s + (24 8k1 + 7k2 )

18

) 2 ...

k1 = 9

24 8k1 + 7k2 = 3
k2 = 14, 2

k1 5 = 4

12 ( , )
:
x2

x1
1
s+3

7
s8

Y.
gr

:
u
x1

1
= x1 u = (s + 3)x1 x1 + 3x1 = u x1 = 3x1 + u
s+3

7
= x2 7x1 = (s 8)x2 7x1 = x2 8x2 x2 = 7x1 + 8x2
s8

TH
M

...

x1 3 0
1
=

u
x +
x2 7 8
0

x2

x1

1
s+3

k1

(k1 x1 k2 x2 + u)

7
s8

k2

1
= x1 k1 x1 k2 x2 + u = x1 + 3x1 x1 = (k1 3)x1 k2 x2 + u
s+3
x1

2009 THMMY.gr

7
= x2 7x1 = x2 8x2 x2 = 7x1 + 8x2
s8

19

 x1 k 3 k x1 1
1
2
=
+

7
8 x2 0
x2
:
SI A =

s + k1 + 3

k2

s8

= (s + k1 + 3)(s 8) + 7k2 = s 2 + (k1 5)s 8(k1 + 3) + 7k2

-3 -1 :

Y.
gr

(s + 1)(s + 3) = s 2 + 4s + 3
2 :

k1 = 9

8(k1 + 3) + 7k2 = 3
k2 = 14, 2

k1 5 = 4

11.8 11.22
(8.5.09)

-6 -9
. :
)
) .
50 (
)

TH
M

x2

60
10s + 1

15
s +1

x1

) ...

6
s + 0,1

x2

+
15
s +1

x1

k2
k1

2009 THMMY.gr

20

(v k1 x1 k2 x2 )k

6
= x2 (1)
s + 0,1

[(v k1 x1 k2 x2 ) k 7 + x2 ]

15
= x1 (2)
s +1

(1) 6k(v k1 x1 k2 x2 ) = x2 (s + 0,1) x2 =

6kv 6kk1 x1
(3)
s + 0,1 + 6kk2

x2 (2) (3)

Y.
gr

(2) 15(7kv 7kk1 x1 7kk2 x2 + x2 ) = (s + 1)x1 15[7kv 7kk1 x1 + (1 7kk2 )x2 ] = (s + 1)x1
15[(7kv 7kk1 x1 + (1 7kk2 )

6kv 6kk1 x1
= (s + 1)x1
s + 0,1 + 6kk2

x1
15k(7s + 6, 7)
= 2
v s + s(105kk1 + 1,1 + 6kk2 ) + 0,1 + 6kk2 + 100, 5kk1
: (s + 6)(s + 9) = s 2 + 15s + 54

kk1 = 8, 89

kk2 = 157.90
54 = 0,1 + 6kk2 + 100, 5kk1

15 = 105kk1 + 1,1 + 6kk2

0, s = 0
1.

s=0

TH
M

x1 15k(7s + 6, 7)
=
v
(s + 6)(s + 9)

x1 15k 6, 7
=
= 1 k = 0, 537
v
54

) ...
:
u

(7u + x2 )

6
= x2 6u = (s + 0,1)x2 x2 = 0,1x2 + 6u
s + 0,1

15
= x1 15(7u + x2 ) = x1 (s + 1) x1 = x1 + 15x2 + 105u
s +1

x1 1 15 x1 105
=
+

u
x2 0 0,1 x2 6

x1

y = 1 0
x2

-
-
105
kBK =
kk1
6

2009 THMMY.gr

105kk1 105kk2

kk2 =
6kk1
6kk2

21

 1 15 105kk1 105kk2 1 105kk1 15 105kk2

=
A kBK =

0
0,1
6kk
6kk
6kk1
0,1 6kk2

1
2

, .
SI A + kBK =

s + 1 + 105kk1

15 + 105kk2

6kk1

s + 0,1 + 6kk2

= (s + 1 + 105kk1 )(s + 0,1 + 6kk2 ) 6kk1 (15 + 105kk2 ) =

= s 2 + (1,1 + 105kk1 + 6kk2 )s + 0,1 + 6kk2 + 100, 5kk1

Y.
gr

: (s + 6)(s + 9) = s 2 + 15s + 54
2

kk1 = 8, 89

0,1 + 6kk2 + 100, 5kk1 = 54

kk2 = 157, 90

1,1 + 105kk1 + 6kk2 = 15

H (s) = C(SI A)1 B ,

k H (s) = C(SI A)1 kB

s + 1 15
(SI A)1 =

TH
M

... ...

2009 THMMY.gr

22