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5  



 
4567!89:;<=>?

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1
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4567!89:JKL)*MNOPQ
RS
EABFDG;<=>?@H0I>?%
&:ABCD67!89
0I>?%&_`,MN
a*Oa89#*@G

UVWXY,Z[@\ ]^ 
T\Z[
2
㒓ᗻ㋏㒳⧚䆎 
5.1 

T
VWX
x
= Ax + Bu x (0) = x 0 , t ≥ 0
y = Cx
xn VW "@y q < "@u p <= "@
 A1B ! C ,_,
 KL/1PQRS "1OPKLMN1
O-O /9

3
㒓ᗻ㋏㒳⧚䆎 
J"
0I>? u @\>?)* !J
KL/
.#0I>?$%G&'()

* u = −Kx + v VW0I

u = −Fy + v < 0I

+K , p × n _@VW
F , p × q _@< 
v ,8,<= "
4
㒓ᗻ㋏㒳⧚䆎 
J/ 01670I@23,VW!
< 

 E0I u %&!MN

67 8B,90I u &:T-工程层面

/-.

$. 4N.@ ≥ H5

$. -.@J*+`

5
㒓ᗻ㋏㒳⧚䆎 
$. 

-1 U;<>,/@=T

-2 UBKL01C>,/@CDE

-3 UFG<=—G< &: “<=H0I

< ”>,/@>?T

-4 UF< y IJKL@A;MNO y 0 ( t )
>,/@@AT

6
㒓ᗻ㋏㒳⧚䆎 
$./ 
_`PGVW x !0I u QR.S/ 
∞
J ( u ( )) = ∫ ( x Q x + u Ru ) dt
T T
0

+ R ,XP3_@Q ,XP3_OXYP
1
3_ ( A , Q 2
) ,/23

% DT Q ! R @UV@E0I
∗ ∗
u ( ) @F J ( u ( )) ,
∗ ∗
u ( ) ,W0I@J ( u ( )) ,W/

7
㒓ᗻ㋏㒳⧚䆎 

'(T_`

T>,\]4^

-1 5Z[

a0!@0I\&:Z[

-2 )?U0I%&Y

E !B0I&

8
㒓ᗻ㋏㒳⧚䆎 

0I&:+Q T

-1 VW7T

?53<= u !< y 7 4/3VW x

3,VW 7@23 T

-2  .4E!89*T

.4E!89*@  .0I B

0I+@4KL/O4

T
9
㒓ᗻ㋏㒳⧚䆎 
T 894EKO* :\ .89

 ]@/L)+O KL/

@!

-3 P;M*"(#IT

*#IT

10
㒓ᗻ㋏㒳⧚䆎 
5.2 VW!< 

VW!< 7MN

_ x
= Ax + Bu
y = Cx
0I u `,VW x 9@
u = −Kx + v
3,VW@$%VW

11
㒓ᗻ㋏㒳⧚䆎 
0I u `,< y 9@
u = − Fy + v
3,< @*W< @&3,< 

v ,8,<=

12
㒓ᗻ㋏㒳⧚䆎 
VW7MN
x
= ( A − BK ) x + Bv
y = Cx
'(9,
−1
GK ( s ) = C ( sI − A + BK ) B
v + u B + x
− + ∫ C
y
A
K
13
㒓ᗻ㋏㒳⧚䆎 
< 7MN
x
= ( A − BFC ) x + Bv
y = Cx
'(9,
GF ( s ) = C ( sI − A + BFC ) −1 B
v + u B + x
− + ∫ C
y
A
F
14
㒓ᗻ㋏㒳⧚䆎 
a0'(9,

G o ( s ) = C ( sI − A ) − 1 B
G F ( s ) = G o ( s ) [ I + FG 0 ( s ) ]
−1
!

G F ( s ) = [I + G0 ( s ) F ] Go ( s )
−1
O

) y = G o ( s ) ( v − F y)
−1
y = [I + Go (s) F ] G o (s) v
!
G F ( s) = [I + Go ( s) F ] Go ( s)
−1
)*
15
㒓ᗻ㋏㒳⧚䆎 
+) 
u = v − F y = v − F Go (s) u
−1
u = [ I + F G o ( s )] v
−1
y = Go(s) u = Go(s ) [ I + F G o ( s ) ] v
!

GF (s) = Go (s)[ I + FGo (s)]

−1

)*

16
㒓ᗻ㋏㒳⧚䆎 
VW!< @-5.#

\,-5.#67/!&:/

VWBG< 

0 K = FC !< 1/@25)

VW &:

3 FC = K > F 4_4\@!54

17
㒓ᗻ㋏㒳⧚䆎 

VW!< /0!/23

=P/0!/23"(

6 1VW=@4.#/0@35/

.#/23

䆕˖(1) 㛑᥻ᗻ

㛑᥻ᗻ߸߿䰉 QC ª¬ B AB " An1 B º¼

QCK ª¬ B ( A  BK ) B " ( A  BK ) n1 B º¼

18
㒓ᗻ㋏㒳⧚䆎 
⊼ᛣࠄ( A  BK ) B AB  BKB ˈ↣Ͼ߫ഛৃ㸼Ў B, AB ⱘ߫
ⱘ㒓ᗻ㒘ড়; ( A  BK ) 2 B A2 B  ABKB  BKAB  BKBKB ˈ
↣Ͼ߫ഛৃ㸼Ў B, AB, A2 B ⱘ߫ⱘ㒓ᗻ㒘ড়ˈབℸㄝㄝˈৃ
ⶹ QCK ↣Ͼ߫ഛৃ㸼Ў QC ⱘ߫ⱘ㒓ᗻ㒘ড়ˈҢ㗠

rankQCK d rankQC

঺ϔᮍ䴶ˈ 6 0 ৃⳟ៤ 6 K ⱘ⢊ᗕড作㋏㒳ˈे

A ( A  BK )  BK
ৠ⧚៤ゟ rankQC d rankQCK ˈ᳔ৢৃᇐߎ rankQCK rankQC DŽ

(2) 㛑㾖ᗻˈᅲ՟䆕(ᬭᴤ)DŽ
19
㒓ᗻ㋏㒳⧚䆎 
㒧䆎 ˖䕧ߎড作ⱘᓩܹ㛑ৠᯊϡᬍব㋏㒳ⱘ㛑᥻ᗻ੠㛑
㾖ᗻˈे䕧ߎড作㋏㒳 6 F Ў㛑᥻(㛑㾖)ⱘ‫ߚܙ‬ᖙ㽕ᴵӊᰃ

ফ᥻㋏㒳 6 0 Ў㛑᥻(㛑㾖)DŽ

䆕˖(1) 㛑᥻ᗻˈ K FC
(2) 㛑㾖ᗻ
ª C º ª C º
« CA » « C ( A  BFC ) »
㛑㾖ᗻ߸߿䰉 QO « » ˈ QOF « »
« # » « # »
« n1 » « n 1 »
¬CA ¼ ¬ C ( A  BFC ) ¼
20
㒓ᗻ㋏㒳⧚䆎 
⊼ᛣࠄˈC ( A  BFC ) CA  CBFC ˈ↣Ͼ㸠ഛৃ㸼Ў C , CA ⱘ
㸠ⱘ㒓ᗻ㒘ড়˗
C ( A  BFC ) 2 CA2  CBFCA  CABFC  CBFCBFC ˈ↣
Ͼ㸠ഛৃ㸼Ў C , CA, CA2 ⱘ㸠ⱘ㒓ᗻ㒘ড়ˈབℸㄝㄝˈৃⶹ
QOF ↣Ͼ㸠ഛৃ㸼Ў QO ⱘ㸠ⱘ㒓ᗻ㒘ড়ˈҢ㗠

rankQOF d rankQO

঺ ϔ ᮍ 䴶 ˈ 60 ৃ ⳟ ៤ 6 F ⱘ 䕧 ߎ ড 作 ㋏ 㒳 ˈ े

A ( A  BFC )  BFC ˈৠ⧚៤ゟ rankQO d rankQOF ˗

᳔ৢৃᇐߎ rankQOF rankQO DŽ

21
㒓ᗻ㋏㒳⧚䆎 

VW!< @A

N6]

VW x 578L9S67N6@

VW78N6

< 478N6

,:F;<=*W/@2>??78N6

@HVW

22
㒓ᗻ㋏㒳⧚䆎 
EF< F/ G/@=HBCD !I

BCD @7*W< 

v + u + x
−
 B + ∫ C
y
A


23
㒓ᗻ㋏㒳⧚䆎 
< #"5$%3"@VW7@=VW

23 @?5"3#" y ! u >,<=@U; x 
7" x̂ @ &:VW

t → ∞ @ xˆ ( t ) ! x ( t ) 
v + u + x
− B + ∫ C
y
A
x̂
K  

24
㒓ᗻ㋏㒳⧚䆎 
5.3 CDET 5DEZ[!Y

VWCDET
_a0

x
= Ax + Bu
+x , n VW "@u , p 0I "@A ! B ,
) 945_
 n JKL01C
{ 1 ,λ
λ * *
2 , , λ *
n } &91OJKL9

ML01C = /
25
㒓ᗻ㋏㒳⧚䆎 
CDE 
EVW0I  u = − Kx + v
v ,8,<=
HE p × n VWCN K @FVW
01 
x
= ( A − BK ) x + Bv
C, { 1 , λ
λ , , λ }
* * *
2 n

H λ i ( A − B K ) = λ i* i = 1, 2 ,  , n
λ ( ) 9O ( ) RS

26
㒓ᗻ㋏㒳⧚䆎 
>P\T

Z[ ?VWUGLDE01CZ[

Y EVWCN K Y

C5DEZ[

Q1  A RSGRN^GWGRN

R 

-1 A ,Q1@STSUVS%WM+@)G
X4^RST*VSY

27
㒓ᗻ㋏㒳⧚䆎 
-2 .# A J*RS,\\Z@!P)GXR

S2T*VSY@[\ A 2Q1

-3 ] A ,Q1@!Q1 2\ "

b @F "B {b , A b ,  , A n −1
b } 57 n X

@FH { A , b } ,/0

-4 ] { A , B } ,/0@ A ,Q1@!P^_UG
p × 1& " ρ @`<=P { A , B ρ } ,/0

28
㒓ᗻ㋏㒳⧚䆎 
-5 ] A 4Q1@3 { A , B } ,/0@!P^_UG

p × n _ K @A − BK ,Q1

6 _54aVWUGLDE8

MC2BZ[@\,78/0

䆕˖(1) ᖙ㽕ᗻ(ড䆕⊩)ˈ䗮䖛㒧ᵘߚ㾷DŽ
(2) ‫ߚܙ‬ᗻDŽ
ᕾ⦃ᗻ˛( A  BK1 )˗
„

„
໮䕧ܹ㋏㒳 o ऩ䕧ܹ㋏㒳ˈ K U k ˈ^ A, B U `㛑᥻˗
29
㒓ᗻ㋏㒳⧚䆎 
^ A, b
„ B U ` 㛑᥻ˈ⡍ᕕ໮乍ᓣ

D ( s ) s n  D n1s n1  "  D1s  D 0 ˈৃᇐߎ㛑᥻㾘㣗ᔶ

(x P 1 x )˖
ª 0 1 º ª0º
« # % » «# »
A P 1 AP « » ,b P 1b « »
« 0 1 » «0»
« » « »
«¬ D 0 D1 " D n1 »¼ «¬1 »¼
n
D * (s) – ( s
i 1
 O *
i ) s n  D n*1s n1  "  D1* s  D 0*

পk kP ª¬D 0*  D 0 ,D1*  D1 ,",D n*1  D n1 º¼ ˈ߭

30
㒓ᗻ㋏㒳⧚䆎 
ª 0 1 º
« # % »
A  bk « »
« 0 1 »
« * »
«¬ D 0 D1* " D n*1 »¼

ᰒ✊ det( sI  A  bk ) det( sI  A  bk )
s n  D n*1s n1  "  D1* s  D 0* D * (s) Ÿk kP 1

`<=CDETY

Y /0P { A, b} !BKL01RS
 { 1 ,λ
λ * *
2 , , λ *
n } @E 1 × n CN k @
F λ i ( A − bk ) = λ i* , i = 1, 2  , n
31
㒓ᗻ㋏㒳⧚䆎 
1  7 ARSGRN@H

n −1
det( sI − A ) = s + α n −1 s
n
+  + α 1s + α 0
2  7 {λ 1* , λ 2* ,  , λ n* } JPRSGRN

* n−1
H α (s) =(s −λ )(s −λ ) =s +α s ++α s+α
* *
1
*
n
n
n−1
*
1
*
0

3  7 k = ⎡⎣ α 0* − α 0 , α 1* − α 1 ,  , α n* −1 − α n −1 ⎤⎦

32
㒓ᗻ㋏㒳⧚䆎 
4  7#
⎡ 1 ⎤
⎢α  ⎥
⎡ n −1
⎤
P = ⎣ A b , , A b , b ⎦ ⎢ n −1 ⎥
⎢    ⎥
⎢ ⎥
⎣ α1  α n −1 1⎦

−1
5   Q = P

6  JCN k = k Q

33
㒓ᗻ㋏㒳⧚䆎 
 `<=_, 
⎡0 0 0 ⎤ ⎡1 ⎤
x
= ⎢ 1 −6 0 ⎥ x + ⎢0 ⎥ u
⎢ ⎥ ⎢ ⎥
⎢⎣ 0 1 −12 ⎥⎦ ⎢⎣ 0 ⎥⎦
KLB01RS, 
λ1* = − 2, λ 2* = − 1 + j , λ 3* = − 1 − j
> ,78/0@ !5DEZ[7RSGRN
⎡s 0 0 ⎤
⎢
det( sI − A) = det −1 s + 6 0 ⎥ = s + 18s + 72 s
3 2
⎢ ⎥
⎢⎣ 0 −1 s + 12 ⎥⎦

34
㒓ᗻ㋏㒳⧚䆎 
7
3
α (s) =∏(s −λ ) =(s+2)(s+1− j)(s +1+ j) =s +4s +6s+4
* *
i
3 2

i=1
5

k = ⎣ α 0 − α 0 , α 1 − α 1 , α 2 − α 2 ⎤⎦ = [ 4, − 6 6, − 1 4 ]
⎡ * * *

7#
⎡1 ⎤ ⎡ 0 0 1⎤⎡ 1 0 0⎤ ⎡72 18 1⎤
⎡ ⎤ ⎢
P= ⎣Ab, Ab,b⎦ α2 1
2 ⎥ ⎢ ⎥⎢ ⎥ ⎢
= −6 1 0 18 1 0 = 12 1 0 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢⎣α1 α2 1⎥⎦ ⎢⎣ 1 0 0⎥⎢
⎦⎣72 18 1⎥⎦ ⎢⎣ 1 0 0⎥⎦
35
㒓ᗻ㋏㒳⧚䆎 
 
⎡0 0 1 ⎤
Q = P −1 = ⎢0 1 −12 ⎥
⎢ ⎥
⎢⎣ 1 −18 1 4 4 ⎥⎦
JCN,
⎡0 0 1 ⎤
k = kQ = [ 4, −66, −14] ⎢0 1 −12⎥ = [ −14, 186, −1220]
⎢ ⎥
⎢⎣1 −18 144⎥⎦

36
㒓ᗻ㋏㒳⧚䆎 
ᕙᅮ㋏᭄⊩ˈ䆒 k > k1 k2 k3 @

ª0 0 0 º ª1 º
«1 6 0 »  «0 » k
» « »> 1
A  bk k2 k3 @
«
«¬0 1 12 »¼ «¬0 »¼

ª k1  k2  k3 º
« 1 6 0 »
« »
«¬ 0 1 12 »¼

ª s  k1 k2 k3 º
sI  A  bk « 1 s6 0 »
« »
«¬ 0 1 s  12 »¼

37
㒓ᗻ㋏㒳⧚䆎 
det( sI  A  bk ) ( s  k1 )( s  6)( s  12)  k3  k2 ( s  12)
s 3  (18  k1 ) s 2  (18k1  k2  72) s  72k1  12k2  k3
D * ( s ) ( s  2)( s  1  j )( s  1  j ) s 3  4s 2  6s  4

­18  k1 4 ­k1 14

° °
Ÿ ®18k1  k2  72 6 Ÿ ®k2 186
° °k
¯72k1  12k2  k3 4 ¯ 3 1220

㒧ᵰⳌৠ

38
㒓ᗻ㋏㒳⧚䆎 

G<=CDETY

Y 1 /0P { A , B } !BML01R

S {λ 1 , λ 2 ,  , λ n } @BE p × n CN K@
* * *

F λ i ( A − B K ) = λ i
*
, i = 1, 2 , , n 

1 A ,Q1@]@ ` p × n

_ K 1 @F A − B K 1 ,Q1@I9 A = A − B K 1 @

]@!9 A = A 

39
㒓ᗻ㋏㒳⧚䆎 
2  PQ1 A @4aS ` p × 1 &_
" ρ @9 b = B ρ  ⎡⎣ A , b ⎤⎦ ,/0
3  PG`<=T ⎡⎣ A , b ⎤⎦ @?`<=C
DETY@ CN " k
4  S A ,Q1@JCN, K = ρk
S A ,Q1@JCN, K = ρ k + K 1
K 1 ! ρ  `4@*UG
&: @MLF K 1 ! ρ  `U
K ,5/L
3Y K CN

40
㒓ᗻ㋏㒳⧚䆎 
ㅫ⊩ 2˖ᴵӊ੠㽕∖ৠࠡˈ࣪^ A, B` Ў啭ԃḐ㾘㣗ᔶ(㞾ᄺ)

 G<=_,%WM 

⎡0 1 0 0 0 ⎤ ⎡0 0⎤
⎢0 0 1 0 0 ⎥ ⎢ 0 0 ⎥
⎢ ⎥ ⎢ ⎥
x
= ⎢ 3 1 0 1 2 ⎥ x + ⎢1 0⎥u
⎢ ⎥ ⎢ ⎥
⎢0 0 0 0 1 ⎥ ⎢0 0⎥
⎢⎣ 4 3 1 −1 − 4 ⎥⎦ ⎢⎣ 0 1 ⎥⎦
KLB01RS, 

λ1* = − 1, λ 2*,3 = − 2 ± j , λ 4*,5 = − 1 ± j 2

41
㒓ᗻ㋏㒳⧚䆎 
> '
5
α * ( s ) = ∏ ( s − λi* ) = s 5 + 7 s 4 + 24 s 3 + 48 s 2 + 55 s + 25
i =1

KL01), 

⎡ 0 1 0 0 0 ⎤
⎢ 0 0 1 0 0 ⎥
⎢ ⎥
A − BK = ⎢ 0 0 0 1 0 ⎥
⎢ ⎥
⎢ 0 0 0 0 1 ⎥
⎢⎣ − 25 − 55 − 48 − 24 − 7 ⎥⎦

42
㒓ᗻ㋏㒳⧚䆎 
? A ! ( A − BK ) @5

⎡0 0 0 0 0 ⎤ ⎡0 0⎤
⎢0 0 0 0 0 ⎥ ⎢0 0⎥
⎢ ⎥ ⎢ ⎥
BK = ⎢ 3 1 0 0 2 ⎥ = ⎢1 0⎥ K
⎢ ⎥ ⎢ ⎥
⎢ 0 0 0 0 0 ⎥ ⎢0 0⎥
⎢⎣ 29 58 49 23 3 ⎥⎦ ⎢⎣0 1 ⎥⎦

⎡3 1 0 0 2⎤
! K =⎢ ⎥
⎣ 29 58 49 23 3⎦

Ⳉ᥹䅵ㅫ⊩ ( Y 1 ) 
43
㒓ᗻ㋏㒳⧚䆎 
߽⫼ㅫ⊩ 2˖
(1) ࣪^ A, B` Ў啭ԃḐ㾘㣗ᔶ˗

(2) ᣝ啭ԃḐ㾘㣗ᔶᇍ㾦㒓ഫ䰉ⱘ㓈᭄ˈ䅵ㅫ䯁⦃⡍ᕕ໮
乍ᓣ˖

D1* ( s ) ( s  1)( s  2  j )( s  2  j ) s 3  5s 2  9s  5
D 2* ( s ) ( s  1  j 2)( s  1  j 2) s 2  2 s  5

ª8 10 5 1 2 º
(3) প K « 4 3 1 4 2 »
¬ ¼ ª8 10 5 1 2 º
« 0 0 0 4 2 »
(4) K KS 1 ¬ ¼
44
 
㒓ᗻ㋏㒳⧚䆎

G<=_ 啭ԃḐ㾘㣗ᔶЎ

⎡0 1 0 0 0 ⎤ ⎡0 0⎤
⎢0 0 1 0 0 ⎥ ⎢ 0 0 ⎥
⎢ ⎥ ⎢ ⎥
x
= ⎢ 3 1 0 1 2 ⎥ x + ⎢1 2⎥u
⎢ ⎥ ⎢ ⎥
⎢0 0 0 0 1 ⎥ ⎢0 0⎥
⎢⎣ 4 3 1 −1 − 4 ⎥⎦ ⎢⎣ 0 1 ⎥⎦

CDE ˛
㒓ᗻ㋏㒳⧚䆎 
Y 3 =IZ[@H λi ( A) ≠ λ , i = 1,2,, n
*
i

1  U  n × n _ F @F !
λi ( F ) = λi* , i = 1, 2, , n
2   ` p × n _ K @F ⎡⎣ F , K ⎤⎦ ,/2
3 !

3  >! A T − T F = BK
S A ! F4 *^RS@PUG K @

\! n × n > T \

45
㒓ᗻ㋏㒳⧚䆎 
G<="M@> T ,#Z2BZ[ { A , B } ,/

0 { F ,K } ,/23

`<="M@!,2BZ[

4 T ,#Z.#,#Z@$=

@],#Z@ FO K 
−1
5  JVWCN, K = KT @T ,

#Z

46
㒓ᗻ㋏㒳⧚䆎 
! A T − T F = BK
−1 −1
5 TFT = A − BKT = A − BK

! λi ( A − BK ) = λi (TFT −1 ) = λi ( F ) = λi*
i = 1, 2 , , n
H&::KL01CDE

−1
\5  T @F A = T B T

! n × n  A! B %
47
㒓ᗻ㋏㒳⧚䆎 
A ! B %@!*^RSGRN
det( λ I − A ) = det( λ I − B )
+ TFT −1 RSGRN,
−1 −1 −1
d et( λ I − T F T ) = d et( λ T IT − TFT )
−1
= d et( T ( λ I − F )T )
−1
= d et T d et( λ I − F ) d et( T ) = d et( λ I − F )
& det( A B ) = det A det B
−1 −1
d et( I ) = d et( A A ) = d et A d e t A =1
48
㒓ᗻ㋏㒳⧚䆎 

VWP'(9(C"(

VW → DE01RS → DE01

'(9C

VW .#C^@"((C

`<=—`< @78/0_@

x
= A x + b u
y = cx

49
㒓ᗻ㋏㒳⧚䆎 
=S#Z#@)$,/0%WM@

x
= Ax + bu
y = cx
+  ⎡ 0 1 ⎤ ⎡0 ⎤
⎢   ⎥ ⎢ ⎥
A=⎢ ⎥ b =⎢ ⎥
⎢ 0 1 ⎥ ⎢0 ⎥
⎢ ⎥ ⎢ ⎥
⎣ −α 0 −α 1  − α n −1 ⎦ ⎣1 ⎦
c = [β 0 , β1,  , β n −1 ]

50
㒓ᗻ㋏㒳⧚䆎 
'(9 g ( s ) , 
−1 −1
g ( s ) = c ( sI − A ) b = c ( sI − A ) b
β n −1 s n −1 +  + β 1 s + β 0
= n n −1
s + α n −1 s +  + α 1 s + α 0
UGKLB01C {λ 1
*
, λ 2
*
, , λ n
*
}
)RSGRN, 

α*(s) = (s −λ1*)(s − λn*) = sn +αn*−1sn−1 ++α1*s +α0*

51
㒓ᗻ㋏㒳⧚䆎 
CDETY55 

CN, k = k Q , Q = P − 1 @P ,F

{ A , b , c }$,/0%WM { A , b , c } #@
k = ⎡⎣ α 0* − α 0 , α 1* − α 1 ,  , α n* − 1 − α n − 1 ⎤⎦

!VW, 

x
= ( A − b k ) x + b v
y = cx
52
㒓ᗻ㋏㒳⧚䆎 
/0%WM, 

x
= ( A − b k ) x + bv
y = cx
+  ⎡ 0 1 ⎤ ⎡0⎤
⎢   ⎥ ⎢⎥
A −bk = ⎢ ⎥ b =⎢ ⎥
⎢ 0 1 ⎥ ⎢0⎥
⎢ * ⎥ ⎢ ⎥
−
⎣ 0 α *
−α 1*  − α n −1 ⎦ ⎣1 ⎦

c = [β 0 , β1,  , β n −1 ]

53
㒓ᗻ㋏㒳⧚䆎 
VW'(9 g K ( s ) , 

−1 −1
g K ( s ) = c ( sI − A + b k ) b = c ( sI − A + b k ) b
n −1
β n −1s +  + β1s + β 0
= n
s + α n*−1s n −1 +  + α1* s + α 0*

㒧䆎˖(1) ⢊ᗕড作ᬍব g ( s ) ⱘᵕ⚍ˈϡᬍব g ( s ) ⱘ䳊⚍˗

(2) ᵕ䳊⚍ⱘᇍ⍜ৃҹ䯈᥹ᕅડ g ( s ) ⱘ䳊⚍ˈ䗴៤ᇍ
⍜ᵕ⚍ϡৃ㾖DŽ

54
㒓ᗻ㋏㒳⧚䆎 
G<=—G< "M

G#"_ 

x
= Ax + Bu x ∈ R ,u ∈ R
n p

y = Cx y∈R q

'(9 
−1
G ( s ) = C ( sI − A) B
(C*G.

55
㒓ᗻ㋏㒳⧚䆎 
S{A , B , C } ,/0/23@G ( s )(C5/
,@F
⎡ sI − A B⎤
rank ⎢ ⎥ < n + min( p , q )
⎣ −C 0⎦
J* s 

㒧䆎˖(1) ⢊ᗕড作ᬍব G ( s ) ⱘᵕ⚍ˈϡᬍব G ( s ) ⱘ䳊⚍ˈ

Ԛৃᬍব G ( s ) ↣Ͼ‫ⱘܗ‬䳊⚍˗
(2) ᵕ䳊⚍ⱘᇍ⍜ৃҹ䯈᥹ᕅડ G ( s ) ⱘ䳊⚍ˈ䗴៤ᇍ
⍜ᵕ⚍ϡৃ㾖DŽ
ª sI  A  BK Bº ª sI  A B º ª I n 0º
䆕˖ « «K
¬ C 0 »¼ « C
¬
»
0¼ ¬ I p »¼
56
㒓ᗻ㋏㒳⧚䆎 
342 5<=—5< _ 

⎡1 0 0⎤ ⎡1 0⎤
⎡1 0 2⎤
A = ⎢0 2 0 ⎥ , B = ⎢0 ⎥
1 ,C = ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎣ 2 1 0⎦
⎢⎣ 0 0 3 ⎥⎦ ⎢⎣ 1 1 ⎥⎦
'(9, 
⎡ 3s − 5 2 ⎤
⎢ ( s − 1)( s − 3) s −3⎥
G (s) = ⎢ ⎥
⎢ 2 1 ⎥
⎢⎣ s −1 s − 2 ⎥⎦
57
㒓ᗻ㋏㒳⧚䆎 
C λ1 = 1, λ 2 = 2, λ 3 = 3
=VW@VWCN, 

⎡ −6 − 15 15 ⎤
K =⎢
⎣ 0 3 0 ⎥⎦
VW9, 

⎡7 15 −15⎤ ⎡1 0⎤
⎢ ⎥ ⎢ ⎥ ⎡1 0 2⎤
A − BK = 0 −1 0 , B = 0 1 ,C = ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎣2 1 0⎦
⎢⎣6 12 −12⎥⎦ ⎢⎣1 1⎥⎦

58
㒓ᗻ㋏㒳⧚䆎 
01'(9, 

⎡ 3s − 5 2 s 2 + 12 s − 17 ⎤
⎢ (s + 2)( s + 3) ⎥
( s + 1)( s + 2)( s + 3) ⎥
GK (s) = ⎢
⎢ 2( s − 3) ( s − 3)( s + 8) ⎥
⎢ (s + 2)( s + 3) ⎥
( s + 1)( s + 2)( s + 3) ⎦
⎣
@A G K ( s ) ! G ( s ) @VW=@C

** λ1 = − 1, λ 2 = − 2, λ 3 = − 3 ^@F.#
: G ( s ) M'(9(CVW"(a0

 G ( s ) '(9(C

59
㒓ᗻ㋏㒳⧚䆎 
CN>4

^CDE\4^CN K 1! K 2 @

−1
)01'(9 C (sI − A + B K 1) B!

C ( s I − A + B K 2 ) − 1 B 4^

)*4^VW)*()!< ()

) `FCNA6W()A=CN>

60
㒓ᗻ㋏㒳⧚䆎 

< CDET

-1 L4@?*W<  u = − Fy + v
- v ,8,<= @4/UGLDE8MC

`<=—`< 

x
= Ax + bu
y = cx
+x , n VW "@u ! y ,"<=!"< 

61
㒓ᗻ㋏㒳⧚䆎 
`0I u = v − fy = v − fcx

v
+  ,8,<=@f ,"CN

< '(9, 

−1
g f ( s ) = c ( sI − A + bfc ) b
RSGRN, 

α f ( s ) = d e t( s I − A + b fc )

62
㒓ᗻ㋏㒳⧚䆎 
7G 
−1
(sI − A + bfc) = (sI − A)[ I + ( sI − A) bfc]
? 
det[ I + G 2 ( s )G1 ( s )] = det[ I + G1 ( s ) G 2 ( s )]
5 
−1
α f ( s ) = det( sI − A ) det[ I + ( sI − A ) bfc ]
−1
= det( sI − A )[1 + fc ( sI − A ) b ]

63
㒓ᗻ㋏㒳⧚䆎 
9 
det( sI − A ) = α ( s )
−1 β (s)
c (sI − A ) b =
α (s)
! 
α f (s) = α (s) + f ⋅ β (s)
=< 8@CH,! 

α (s) + f ⋅ β (s) = 0 9

64
㒓ᗻ㋏㒳⧚䆎 
−1
 α ( s ) = 0! β ( s ) = 0 92, c ( s I − A ) b

C!(C@!9:;55@01CH/<G

U?1C,@C!U?1(C,ACB9:;H@

< 45/=CDE9:;U;>E



*W< 4/UGLDE8MC

65
㒓ᗻ㋏㒳⧚䆎 
-2 PG/0!/23a0 { A , B , C } @0
 9, n @ ra nkB = p ! rankC = q @!??
*W<  u = − Fy + v @5P9B, 

m in {n , p + q − 1 } 01CC+ “UGL%< ”N

DE@H5FUDUGL%<GKLC>E

-3 .#\=< ^@ED=CD @F

G4aS `!CD 67!R@)5PJ/

< 8MCC+UGDE

66
㒓ᗻ㋏㒳⧚䆎 
 _,

1 1 0 0 
x  0 1 0  x  1  u
   
0 0 1 0 
y  [1 1 0]x

能否找到输出反馈，将闭环极点配置到-1，-1，-1。若能，确
定输出反馈 F。
㒓ᗻ㋏㒳⧚䆎 
5.4 =T 5=Z[!Y

VW=Z[
PG_a0 

6  x

= Ax + Bu x ∈ R , u ∈ R n p

VW&  u = − Kx + v @v ,8,<=

.@4a701 

x
= ( A − B K ) x + B v
;<@FHRS *H&M@

!3&::VW=
67
㒓ᗻ㋏㒳⧚䆎 
=T B4F01CLMLDE

UGB>E@FDEGL9IJNY

?IJ@/GCK DET

5=Z[

.# { A , B } ,/0@2\CN K @F

( A − B K ) 8MRSDEUG>E@OPF

R e λ i ( A − B K ) < 0 , i = 1, 2 ,  , n

68
㒓ᗻ㋏㒳⧚䆎 
{A , B } ,/05VW&:=
Z[

VW=2BZ[, 

6 1 _VW5=@STS

4/0M;<

Y   { A , B } @5 !5=Z[@!=T

+VWCN K 75QC+ 

69
㒓ᗻ㋏㒳⧚䆎 
1  P { A , B } /0C+67>@/

{ A , B }
c c @I # P 

2   ?CDETY@7 n 1 × p 

CN K 1 @F λi ( Ac − Bc K1 ) (i = 1, 2,, n )  *

H&M


3
4  J=CN 

K = ⎡⎣ K 1 , 0 ⎤⎦ P
4a= /0 C “ DE ” NY?L 9IJ&:=
70
㒓ᗻ㋏㒳⧚䆎 
㒧䆎 ˖6 ᰃ⬅⢊ᗕড作ৃ䬛ᅮⱘˈᔧϨҙᔧབϟ㒓ᗻⶽ䰉
ϡㄝᓣ(LMI)
XAT  AX  Z T BT  BZ  0
ᄬ೼ᇍ⿄ℷᅮ㾷 X ˈ߭⢊ᗕড作Ў

K  ZX 1
䆕˖Lyapunov ϡㄝᓣ
( A  BK )T P  P ( A  BK )  0
Ÿ X ( A  BK )T  ( A  BK ) X  0 ˈ X P 1
Ÿ XAT  AX  Z T BT  BZ  0 ˈᅮН Z  KX

71
㒓ᗻ㋏㒳⧚䆎 
ऎඳᵕ⚍䜡㕂:

㒓ᗻᅮᐌ㋏㒳 6 : x Ax  Bu

-ı 0 -q 0

Re s  V ೚Ⲭ D(q, r ) ˖ s  q  r

72
㒓ᗻ㋏㒳⧚䆎 
㒧䆎˖㒭ᅮ೚Ⲭ D(q, r ) ˈ 6 ⱘᵕ⚍ഛ䜡㕂೼೚Ⲭ D(q, r )
ЁˈᔧϨҙᔧᄬ೼ⶽ䰉 Z ੠ᇍ⿄ℷᅮⶽ䰉 X ˈ⒵䎇

ª 1 T T T º
« X ( XA  Z B  qX ) »
r
« »0
« 1 ( AX  BZ  qX ) X »
«¬ r »¼

߭⢊ᗕড作Ў

K  ZX 1

73
㒓ᗻ㋏㒳⧚䆎 
䆕˖㒓ᗻ⾏ᬷ㋏㒳ⱘ Lyapunov ϡㄝᓣ( G T PG  P  0 )˖

A  BK  qI T A  BK  qI
( ) P( )P  0
r r

ҸX P 1ˈ
1 1
X ( A  BK  qI )T X 1 ( A  BK  qI ) X  X  0
r r
ª 1 Tº
« X X ( A  BK  qI ) »
œ« r
»  0ˈ Z  KX
« 1 ( A  BK  qI ) X X »
«¬ r »¼

74
㒓ᗻ㋏㒳⧚䆎 
5.5 >?0IT 5>?Z[!Y

T G<=—G< _

x
= Ax + Bu
(1)
y = Cx
+@ x , n VW "@ , pu 0I "@y , q

< "

UZVW 

75
㒓ᗻ㋏㒳⧚䆎 
-1 p = q @< !<= *^#"9

-2 0I&??VW6<=#@`

u = − Kx + Lv
K , p × n CN@L , p × p <=#@
v ,8,<=
-3 <=# L ,#Z@H det L ≠ 0 

76
㒓ᗻ㋏㒳⧚䆎 
67X. 
v + u B + x
L − + ∫ C
y
A
K
VWX, 

x
= ( A − BK ) x + BLv
(2)
y = Cx
77
㒓ᗻ㋏㒳⧚䆎 
'(9, 
−1
GKL ( s ) = C ( sI − A + BK ) BL (3)
p = q @! GKL ( s) , p × p * N
>?0IT P-1 N G#"a0@

<=#!VWP { L , K } @F-3 NJ

'(9 G KL ( s ) ,#ZP* N@H

G ( s ) = d ia g ( g 11 ( s ) , g 22 ( s ), , g pp ( s ))
g ii ≠ 0 , i = 1, 2 ,  , p

78
㒓ᗻ㋏㒳⧚䆎 
\T 

-1 a05>?@&:>?Z[

-2 >?0ITY@ { L , K } 

 
YN  y ( s ) = G KL ( s ) v ( s ) &:>?8@\

.Y@< #"!8,<=#"5 
 
y i ( s ) = g ii ( s ) vi ( s ) , i = 1, 2, , p

79
㒓ᗻ㋏㒳⧚䆎 
a0OZ[#"?@4a;M0I>?@

5F p G<=—G< $, p \]

`<=—`< 0I

< "T<="J780I

'(9\RS"

78/23 G<=— G< _

80
㒓ᗻ㋏㒳⧚䆎 
G ( s ) , p × p '(9@g i ( s ) ,U i
+'(9 "@I* 
g i ( s ) = ⎡⎣ g i 1 ( s ) , g i 2 ( s ) ,  , g i p ( s ) ⎤⎦
9 σ i j = g i j ( s ) ^GRNR9! g i j ( s ) _
GRNR95K
! G ( s ) 67RS X_ d i ., 

di = min {σ i1 ,σ i 2 ,,σ ip } − 1 , i = 1, 2,, p

d 2,HT9
i
S G ( s ) 8@{d 1 , d 2 ,  , d p } ,E
81
㒓ᗻ㋏㒳⧚䆎 
G ( s )  67RSN" Ei ., 
di +1
E i = lim s gi(s) , i = 1, 2 ,  , p
s→ ∞

1× p _+ "

\RS" d i!
E i ZV/ 

-1 .# G ( s ) )VWX, { A , B , C }@

9 ci , C  i + "

82
㒓ᗻ㋏㒳⧚䆎 
!* 

⎧µ , c i A B = 0 , k = 0,1,, µ −1
k

⎪ µ
di = ⎨ ciA B≠0
⎪
⎩n −1 , c i Ak
B = 0 , k = 0,1,, n −1

! Ei = c iA di
B

83
㒓ᗻ㋏㒳⧚䆎 
-2 PGUGP { L , K } @+ d e t L ≠ 0@

VW01'(9 G KL (s) i +

'(9 "59, 

1
gKLi (s) = ⎡⎣c i BLs +c i Rn−2BLs ++c iRBLs
n−1 n−2
+c i RBL⎤⎦
α(s)
1 0

+ 
n−1
α(s) =det(sI − A+ BK) = s +αn−1s ++α1s +α0
n

84
㒓ᗻ㋏㒳⧚䆎 
!

R n − 2 = ( A − B K ) + α n −1 I

R n − 3 = ( A − B K ) + α n −1 ( A − B K ) + α n − 2 I
2


n −1 n−2
R 0 = ( A − BK ) + α n −1 ( A − BK ) +  + α1I

85
㒓ᗻ㋏㒳⧚䆎 
 GKL ( s ) \RS" d ! Ei 59, 
i

⎧µ , c i ( A − BK )k BL = 0 , k = 0,1,, µ − 1
⎪
di = ⎨ c i ( A − BK )µ BL ≠ 0
⎪
⎩n − 1 , c i ( A − BK ) BL = 0 , k = 0,1,, n − 1
k

i = 1,2,, p
!

E i = c i ( A − B K ) B L , i = 1, 2 ,  , p
di

86
㒓ᗻ㋏㒳⧚䆎 
-3 PGUGP { L , K } @+ d e t L ≠ 0@

?1!01'(9RS"5\.

YN 

di = di

Ei = Ei L , i = 1, 2,, p

87
㒓ᗻ㋏㒳⧚䆎 

5>?Z[

6 _a0@5??VW!<=#@

H\P { L , K } C+>?2BZ[@.
 p× p _ 
⎡ E1 ⎤
⎢ ⎥
E=⎢  ⎥ ,#Z

⎢Ep ⎥
⎣ ⎦
88
㒓ᗻ㋏㒳⧚䆎 
䆕˖ᅮН
ª s d1 1 º ª s d1 1 º
« » « »
Gˆ ( s ) « % » G ( s ) ˈे yˆ ( s ) « % » y(s)
« s
d p 1 » « s
d p 1 »
¬ ¼ ¬ ¼
㗗㰥ࠄ syi : ci x ci ( Ax  Bu ) ci Ax

s 2 yi : ci 
x ci Ax ci A( Ax  Bu ) ci A2 x
…
s di 1 yi : ci Adi x ci Adi ( Ax  Bu ) ci Adi 1 x  ci Adi Bu

Cˆ i x  Dˆ i u

89
㒓ᗻ㋏㒳⧚䆎 
Gˆ ( s ) ⱘ ⢊ ᗕ ぎ 䯈 ᅲ ⦄ ˖ x Ax  Bu ˈ ŷ ˆ  Du
Cx ˆ ˈ݊Ё

ª c Ad1 1 º ª c Ad1 B º
« 1 » « 1 »
Cˆ « " » F , Dˆ « " » E
« d p 1 » « dp »
«¬c p A »¼ «¬c p A B »¼
প u  E -1 Fx  E -1v ˈৃᕫ ŷ v ˈ߭

ª 1 º ª 1 º
« s d1 1 » « s d1 1 »
« » « »
y(s) « % » v( s ) ˈ GKL ( s ) « % »
« 1 » « 1 »
« d p 1 » « d p 1 »
¬ s ¼ ¬ s ¼
90
㒓ᗻ㋏㒳⧚䆎 
 

-1 /&:>?@'(9 G ( s ) \BRS

" di ! Ei (i = 1, 2,, p ) P

>?8/X_)+@I *<=*W/@Ba0

/0@`a/=

-2 E 5'(9B@F5VWXB


91
㒓ᗻ㋏㒳⧚䆎 
-3 5>?a0@S ` {L , K } , 
−1 −1
L=E , K=E F
⎡ c A d1 +1 ⎤
⎢ 1
⎥
p × n @ F = ⎢  ⎥ @
⎢ d p +1 ⎥
⎢⎣c p A ⎥⎦

F>?@>?'(9, 

92
㒓ᗻ㋏㒳⧚䆎 
⎡ 1 ⎤
⎢ s d1 + 1 ⎥
⎢ ⎥
G KL ( s ) = ⎢  ⎥
⎢ 1 ⎥
⎢ d p +1 ⎥
⎣ s ⎦

>?8@X`<=—`< 010I'(9

 *G S R@3,S.>?

*W/4=@*&?@3>,+Q@
*

93
㒓ᗻ㋏㒳⧚䆎 

E>?0IP { L , K } Y
a0, 

x
= Ax + Bu
y = Cx
+  dim( u ) = dim( y ) = p 
&:>?@^P>?8X`<=—`< 0I

B&:KLCDE

94
㒓ᗻ㋏㒳⧚䆎 
1  7 {d i , i = 1, 2, , p} !
{ Ei = c i Adi B, i = 1, 2, , p}
@ E T = ⎡⎣ E 1T ,  , E Tp ⎤⎦ ,#Z
]@5>?@C=]@4/>?
2  7 E −1 ! ⎡ c Ad1 +1 ⎤
⎢ 1 ⎥
F =⎢  ⎥
⎢ d p +1 ⎥
⎢⎣ c p A ⎥⎦

95
㒓ᗻ㋏㒳⧚䆎 
3  ` {L , K } , 
−1 −1
L=E , K=E F
/ S.>?
x
= A x + B v
y = Cx
+@ A = A − BE −1 F , B = BE −1

{ }
 { A, B} /0@5 A, B ,/0

96
㒓ᗻ㋏㒳⧚䆎 
4  =#Z# x = Qx @= { A , B , C }
#,.>?%WM

⎡ A1 0 ⎤
⎢ ⎥
  ⎥
A = ⎢
⎢ A p 0 ⎥
⎢  ⎥
⎢⎣ c1
A  A cp A p +1 ⎥⎦

97
㒓ᗻ㋏㒳⧚䆎 
⎡ b1 ⎤
⎢ ⎥ ⎡c1 0⎤
⎢  ⎥ ⎢ ⎥

B=⎢ 
C=⎢  ⎥
bp ⎥
⎢ ⎥ ⎢
⎣ 
c 0 ⎥⎦
⎢⎣bc1  bcp ⎥⎦
p

+@Y$9O/2367>MN@

- { A, C } 478/23@OVW/ { A , C } 478/

23 
S{ A , C } ,/23@! A { }
 , B , C
+4 :4/23M

98
㒓ᗻ㋏㒳⧚䆎 
\;@C* 

⎡ 0 ⎤ ⎡0 ⎤
⎢ ⎥ ( d i + 1) ⎢ ⎥
 I di ⎢⎥
Ai = ⎢ ⎥ bi = ⎢ ⎥
⎢ 0 ⎥ ⎢0 ⎥
⎢ ⎥ ⎢ ⎥
⎣⎢ 0 0  0 ⎦⎥ ⎣1 ⎦

( d i + 1)
c i = [ 1 0  0 ]
99
㒓ᗻ㋏㒳⧚䆎 
5  P>?%WM { A, B , C } @=VW@
 
&

:>?0I!>?8`<=—`< 0ICDE

VWCN`,.MN p × n _ 
⎡ k1 0⎤
⎢ ⎥
K = ⎢  ⎥
⎢ k p ⎥
0⎦
⎣
+@ ki = ⎡⎣ ki 0 , ki1 ,  , kidi ⎤⎦
100
㒓ᗻ㋏㒳⧚䆎 
I@\5U/ 

    −1 
C(sI − A+ BK) B
  )−1b
⎡c1(sI − A1 +bk ⎤
⎢ ⎥
1 1 1

=⎢  ⎥
⎢     −1  ⎥
⎣ cp (sI − Ap + bpkp ) bp ⎦

101
㒓ᗻ㋏㒳⧚䆎 
!

⎡ 0 ⎤
⎢  I di ⎥
⎢ ⎥
A i − bi ki = ⎢ 0 ⎥
⎢ ⎥
⎢⎣ − ki 0 − k i1  − kidi ⎥
⎦

102
㒓ᗻ㋏㒳⧚䆎 
92@K 67MN):>?0I&:@

ki ( i = 1, 2,  , p ) !>?8 i `<=—`

< 0IKLCBJP

GA)&:>?@VWJ/0I4 A i 8

MRS

( d 1 + 1) + ( d 2 + 1) +  + ( d p + 1) d n

103
㒓ᗻ㋏㒳⧚䆎 
6  PGJ^ a0 
x
= Ax + Bu
y = Cx
F&:>?!P>?8`<=—`< C+K

LCDE { K , L} , 

−1 −1
K = E F + E KQ , L = E −1

104
㒓ᗻ㋏㒳⧚䆎 
5<=—5< _a0, 

⎡0 1 0 0⎤ ⎡0 0⎤
⎢3 0 0 2⎥ ⎢1 0⎥
x
= ⎢ ⎥x+⎢ ⎥u
⎢0 0 0 1⎥ ⎢0 0⎥
⎢ ⎥ ⎢ ⎥
⎣0 −2 0 0⎦ ⎣0 1⎦
⎡1 0 0 0⎤
y = ⎢ ⎥ x
⎣0 0 1 0⎦

> /0/23

105
㒓ᗻ㋏㒳⧚䆎 
7 d i ( i = 1, 2 ) ! Ei (i = 1,2)
[, ⎡0 0⎤
⎢1 0⎥
C 1 B = [1 0 0 0 ] ⎢ ⎥ = [0 0 ]
⎢0 0⎥
⎢ ⎥
⎣0 1⎦
⎡0 1 0 0 ⎤ ⎡0 0⎤
⎢3 0 0 2 ⎥ ⎢1 0 ⎥
C1 AB = [1 0 0 0] ⎢ ⎥⎢ ⎥ = [1 0]
⎢0 0 0 1 ⎥ ⎢0 0⎥
⎢ ⎥⎢ ⎥
⎣ 0 −2 0 0 ⎦ ⎣0 1 ⎦

106
㒓ᗻ㋏㒳⧚䆎 
⎡0 0⎤
⎢1 0⎥
C 2B = [0 0 1 0 ]⎢
⎢0
⎥ = [0 0]
0⎥
⎢ ⎥
⎣0 1⎦
⎡0 1 0 0 ⎤ ⎡0 0⎤
⎢3 0 0 2 ⎥ ⎢1 0 ⎥
C 2 A B = [0 0 1 0 ]⎢ ⎥⎢ ⎥ = [0 1]
⎢0 0 0 1 ⎥ ⎢0 0 ⎥
⎢ ⎥⎢ ⎥
⎣0 −2 0 0 ⎦ ⎣0 1 ⎦

H5 @ d 1 = 1, d 2 = 1
E1 = [1 0] , E2 = [ 0 1]

107
㒓ᗻ㋏㒳⧚䆎 
 5>?
5>? 2 

⎡ E1 ⎤ ⎡1 0⎤
E = ⎢ ⎥ = ⎢ ⎥
⎣E2 ⎦ ⎣0 1⎦
,#Z@5C+>?

/ S.>?

−1⎡1 0⎤
E =⎢ ⎥
⎣0 1⎦

108
㒓ᗻ㋏㒳⧚䆎 
⎡ C1 A 2 ⎤ ⎡ 3 0 0 2⎤
F =⎢ 2⎥
=⎢ ⎥
⎣C 2 A ⎦ ⎣0 −2 0 0⎦

−1 ⎡1 0⎤
` L=E =⎢ ⎥
⎣0 1⎦

−1 ⎡3 0 0 2⎤
K =E F =⎢ ⎥
⎣0 −2 0 0⎦

109
㒓ᗻ㋏㒳⧚䆎 
!*  ⎡0 1 0 0⎤
⎢0 0 0 0⎥
A = A − B E −1F = ⎢ ⎥
⎢0 0 0 1⎥
⎢ ⎥
⎣0 0 0 0⎦
⎡0 0 ⎤
⎢1 0 ⎥
B = B E −1 = ⎢ ⎥
⎢0 0 ⎥
⎢ ⎥
⎣ 0 1 ⎦
⎡1 0 0 0⎤
C = C = ⎢
⎣0 0 1 0 ⎥⎦

110
㒓ᗻ㋏㒳⧚䆎 
! { A , C }  ,/23@ { A , B , C } 4,>?%WM
IAC=#@FH* Q = I 
PG>?%WMECN K `, 

 ⎡ k10 k11 0 0 ⎤
K =⎢
⎣ 0 0 k 20 k 21 ⎥⎦
⎡ 0 1 ⎤
⎢−k − k11 ⎥
! A − BK = ⎢ 10 ⎥
⎢ 0 1 ⎥
⎢ ⎥
⎣ − k 20 − k 21 ⎦

111
㒓ᗻ㋏㒳⧚䆎 
>?8`<=—`< KLRS@2

, λ 1*1 = − 2 , λ 1*2 = − 4
λ *
21 = − 2 + j, λ *
22 = −2 − j
 α 1* ( s ) = ( s + 2)( s + 4) = s 2 + 6 s + 8
α 2* ( s ) = ( s + 2 − j )( s + 2 + j ) = s 2 + 4 s + 5
5  k10 = 8, k11 = 6 , k 20 = 5, k 21 = 4
⎡ 8 6 0 0⎤
! K = ⎢ ⎥
⎣0 0 5 4⎦
112
㒓ᗻ㋏㒳⧚䆎 
 Pa0&:>?0I!CDE0I

P { L , K } @
⎡1 0⎤
−1
L=E =⎢ ⎥
⎣0 1⎦
⎡11 6 0 2⎤
K = E F + E K = F + K = ⎢
−1 −1
⎥
⎣0 −2 5 4⎦
 >?8010IVWX!!'(9



113
㒓ᗻ㋏㒳⧚䆎 
⎡0 1 0 0⎤ ⎡0 0⎤
⎢ − 8 −6 0 0⎥ ⎢1 0⎥
x
= ( A − BK ) x + BLv = ⎢ ⎥x+⎢ ⎥v
⎢0 0 0 1⎥ ⎢0 0⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 − 5 − 4 ⎦ ⎣0 1⎦

⎡1 0 0 0⎤
y = Cx = ⎢ ⎥ x
⎣0 0 1 0⎦
⎡ 1 ⎤
⎢ 0 ⎥
−1 s 2
+ 6s + 8
= − + =
GKL ( s) C ( sI A BK ) BL ⎢ ⎥
⎢ 1 ⎥
0
⎢⎣ s 2 + 4 s + 5 ⎥⎦

114
㒓ᗻ㋏㒳⧚䆎 
方法 2：
⎡ s 2
+ 6s + 8 ⎤
定义 G(s) = ⎢
ˆ
⎥ G(s) ，
⎣ s + 4 s + 5⎦
2

⎡ s 2 + 6s + 8 ⎤
即 yˆ ( s ) = ⎢ ⎥ y( s)
⎣ s + 4 s + 5⎦
2

Gˆ ( s ) 的 状 态 空 间 实 现 ： x = Ax + Bu ， ŷ = Cx
ˆ + Du
ˆ ，取

ˆ + Dˆ -1v ，可得 ŷ = v
u = − Dˆ -1Cx
则
⎡ 1 ⎤
⎢ s 2 + 6s + 8 ⎥
y(s) = ⎢ ⎥ v( s )
⎢ 1 ⎥
⎣⎢ s 2 + 4 s + 5 ⎥⎦
115
㒓ᗻ㋏㒳⧚䆎 

JW>?0IT

< 9!<= 9_ 

x
= A x + B u
y = Cx
.#\VW!<=# {K , L } @FJ/ 01

0I 

x
= ( A − BK ) x + BLv
y = Cx
116
㒓ᗻ㋏㒳⧚䆎 
*./ 
-1 010I;<
-2 G K L ( s ) = C ( sI − A + B K ) − 1 B L ,P
@3@S s → 0 ,P#Z_@H
⎡ g 1 1 (0 ) ⎤
⎢ ⎥
lim G K L ( s ) = ⎢  ⎥ , g ii ≠ 0
s→ 0
⎢ g p p ( 0 ) ⎥⎦
⎣
!3a0JW/>?
JJ'(>?T,*W>?T

117
㒓ᗻ㋏㒳⧚䆎 
JW>?H?G8,<= v ",

NO" 
⎡ β 11( t ) ⎤
⎢ ⎥
0 v (t ) = ⎢  ⎥
⎢ β p 1( t ) ⎥
⎣ ⎦
+ β i ,(_9@1(t ) ,`>9

?#A @\,;<

@5,W< , 

118
㒓ᗻ㋏㒳⧚䆎 
⎡ β1 ⎤ ⎡ β1 ⎤
⎢ ⎥1 ⎡ ⎤ ⎢ ⎥
lim y(t ) = lim sGKL (s) ⎢  ⎥ = lim GKL (s) ⎢  ⎥
t →∞ s →0 s ⎣ s→0 ⎦
⎢β p ⎥ ⎢β p ⎥
⎣ ⎦ ⎣ ⎦
⎡ g11 (0) ⎤ ⎡ β1 ⎤ ⎡ g11 (0)β1 ⎤
⎢ ⎥⎢ ⎥ ⎢ ⎥
=⎢  
⎥⎢ ⎥ ⎢ =  ⎥
⎢ g ( 0) ⎥ ⎢β p ⎥ ⎢ gpp (0)β p ⎥
⎣ pp ⎦⎣ ⎦ ⎣ ⎦
H* lim y i ( t ) = g ii ( 0 ) β i , i = 1, 2 ,  , p
t→ ∞

119
㒓ᗻ㋏㒳⧚䆎 
92@PG",NO8,<=@S&:

JW>?@5WX< -Ha^O

<=780I

3< !<=?YI4/+

JW>?*W>?K2

120
㒓ᗻ㋏㒳⧚䆎 
/&:JW>? 
6 \ { K , L }@5Fa0JW>?2
BZ[ 
-1 a0?VW/=
-2 a09 !YN 

⎡ A B⎤
rank ⎢ ⎥ =n+ p
⎣C 0 ⎦
+@n , 9@p ,< -!<=  9@ L
,#Z

121
㒓ᗻ㋏㒳⧚䆎 
JW>?Y

1 { A , B } /O/0@ 9

Z[

2  PG !5JW>?Z[@CDE

Y@EVWCN K @F ( A − BK ) RS

 *H&M

122
㒓ᗻ㋏㒳⧚䆎 
3  JW>?8`<=—`< 

WCNB@E d ii ( i = 1, 2 ,  , p ) @`

D = d ia g ( d1 1 ,  , d p p )
4  `<=# 
−1
L = − ⎡⎣ C ( A − B K ) −1
B ⎤⎦ D

! G K F ( 0 ) = D

123
㒓ᗻ㋏㒳⧚䆎 
5.6 @AT IJK!0I

T ,9^>?*0I!*_a

0 

x
= Ax + Bu + Bw w
(1)
y = Cx + Du + D w w
+@ x , n u
VW "@ , p 0I "@y , q

< "@w , q * "

124
㒓ᗻ㋏㒳⧚䆎 
W { A, B} ,/0@{ A, C} ,/23

a0< y ( t ) JB@A8,NO, y0 (t ) @

@AKNO  e ( t ) = y 0 ( t ) − y ( t )

J"@AT@H^  (1) @\ !GZ[5

S0I%& u @ &:F y ( t ) @A y0 (t ) B

125
㒓ᗻ㋏㒳⧚䆎 
)@AT67 X.
w

Bw Dw y0

u + + x + + y+ e
B + ∫ C −
+
A
D

126
㒓ᗻ㋏㒳⧚䆎 
G! 5&:I@BFPGJ* t * 
y (t ) = y0 (t ) 0I u 45/

H/F 

lim e(t ) = lim[ y0 (t ) − y(t )] = 0 (2)

t →∞ t →∞

3,IJK@A

127
㒓ᗻ㋏㒳⧚䆎 
,@^>?*8,NO y0 (t ) !*NO w ( t )

! w ( t ) = 0 @PUG y0 (t ) * 
lim y ( t ) = lim y 0 ( t ) (3)
t→ ∞ t→ ∞

P y 0 ( t ) = 0 @UG w ( t ) )< y w (t ) @

!YN  lim yw (t ) = 0 (4)

t →∞

3 (3) N,;<@A@ ( 4 ) N,*#I

128
㒓ᗻ㋏㒳⧚䆎 
S&:IJK@A@)5^;<@A!

*#I@HPUG y0 (t ) ! w ( t ) @( 2 )N

lim e(t ) = lim[ y0 (t ) − y(t )] = 0 (2)

t →∞ t →∞

.#8,NO y0 (t ) !* w ( t ) @S t → ∞ "

G(HB0I u F,;<@( 2 ) N#*L

HIJK@A5*L

$2" 

129
㒓ᗻ㋏㒳⧚䆎 
J^ +W 

lim y 0 ( t ) ≠ 0 ! lim w ( t ) ≠ 0
t→ ∞ t→ ∞

&'" G.\

8,NO!* .

6 y0 ( t ) ! w ( t ) @S t → ∞ 4"G(@P
UD/*U$:>@!I^ ;<@AT

!*#IT

130
㒓ᗻ㋏㒳⧚䆎 
,:'(@AT@ABP y0 (t ) ! w ( t ) PQ67
]*J:>@I+)NO .

"" 

6NO,*5&9@!)#, β s @*

5%&!'@>X(9@)#, 
β 1s + β 0
s2 + α 2
α s
sin t → 2 co s t → 2
s +α 2
s +α 2

131
㒓ᗻ㋏㒳⧚䆎 
5)" y0 (t ) ! w ( t ) )# yˆ 0 ( s ) ! wˆ ( s ) 
29O, 
ny ( s) nw ( s )
yˆ 0 ( s) = ! wˆ ( s ) =
d y (s) d w (s)
GNO967,45@GRN d y ( s ) ! d w ( s ) 
45@&GNO67R,*5@GRN n y ( s) !
n w ( s ) ,*5!UGP n y ( s) ! n w ( s ) I)

) yˆ 0 ( s ) ! wˆ ( s ) ,LM,* N9

132
㒓ᗻ㋏㒳⧚䆎 
\ ]@YG= y0 (t ) ! w ( t ) 2/

,NO . 

x
r = Ar xr x
w = Aw xw
!
y0 (t ) = cr xr w(t ) = cw xw
PG*5'@Z[ x r (0) ! x w (0) J

I@Ar ! A w WGRNH,d y ( s) ! d w ( s ) 

133
㒓ᗻ㋏㒳⧚䆎 

"NO" 

8,NO y0 (t ) /,\*5'@VW@ .

x
r = Ar xr
y0 (t ) = cr xr J

* w ( t ) /,\*5'@VW@U .

x
w = Aw xw
w(t ) = cw xw J

134
㒓ᗻ㋏㒳⧚䆎 
0 φr ( s) ! φ w ( s ) 2 Ar ! Aw WGRN
@AT+HA,9 y0 (t ) ! w ( t ) S t → ∞ 4"
G(M@JUHA,9 φr ( s) ! φ w ( s ) +9>GRY0

s IJM
:9GRN φr ( s) ! φ w ( s ) >GRY0 s IJ9[
NW-.N, φ ( s ) 

φ ( s ) = s m + α m −1 s m −1 +  + α 1 s + α 0

135
㒓ᗻ㋏㒳⧚䆎 
/0 φ ( s ) = 0 J*9 *H&M

−1
G@φ ( s ) I q 5/ w ( t ) ! y0 (t ) S t → ∞ 4
"G(MJ^ .@)!a0HB@H=

@AK e >,U<=@
* x
c = Ac xc + Bc e
(5)
yc = xc

136
㒓ᗻ㋏㒳⧚䆎 
+ Ac = b lo ck d ia g [ Γ , Γ ,  , Γ ]
qm × q m q

B c = blo ck d ia g [ β , β ,  , β ]
qm × q q

 ⎡ 0 ⎤ ⎡0⎤
⎢  I m −1 ⎥ ⎢⎥
Γ = ⎢ ⎥ ,β = ⎢ ⎥
⎢ 0 ⎥ ⎢0⎥
⎢ ⎥ ⎢ ⎥
⎣ −α 0 −α 1  − α m −1 ⎦ ⎣1 ⎦

( 5 )NJ*W#P y0 (t ) ! w ( t ) JN

O .
137
㒓ᗻ㋏㒳⧚䆎 

HB 67X

u x y y0

x = Ax + Bu + B w y = Cx + Du + Dw w
− +
w

xc x
c = Ax e
c c + Be
c

138
㒓ᗻ㋏㒳⧚䆎 

IJK@A0I

:,9a0 (1) !NO . (5) 1HBB

@23/ \HBVW!, 

⎡x
⎤ ⎡ A 0⎤ ⎡x⎤ ⎡ B ⎤ ⎡ Bw ⎤ ⎡0⎤

⎢x
⎥ = ⎢−BC ⎥ ⎢ ⎥ + ⎢ ⎥u + ⎢
Ac⎦ ⎣xc⎦ ⎣−BD − ⎥ w+ ⎢ ⎥ y0
⎣ c⎦ ⎣ c c ⎦ ⎣ BcDw⎦ ⎣Bc⎦

139
㒓ᗻ㋏㒳⧚䆎 
x
= A x + B u + B w w
x
c = Ac x c − B c C x − B c D u − B c D w w + B c y 0
= Ac x c + B c ( y 0 − C x − D u − D w w )
= Ac x c + B c ( y 0 − y ) = Ac x c + B c e

) u `,VW0I& 
⎡x⎤
u = [− K , Kc ] ⎢ ⎥
⎣ xc ⎦
!5&:IJK@A010I@0I
67X.JO
140
㒓ᗻ㋏㒳⧚䆎 
w
e xc + u x y y0
x
c = Ax
c c + Be Kc x
= Ax + Bu + B w y = Cx + Du + Dw w
− − +
c w

67X@ a05&:IJK@AJA !
Z[

141
㒓ᗻ㋏㒳⧚䆎 
6 1 a0 (1) 5XJO0I!N&:IJ

K@AZ[, 

-1 dim ( u ) ≥ dim ( y )

-2 P φ ( s ) = 0 X9 λi @ 

⎡λi I − A B ⎤
rank ⎢ ⎥ = n + q , i = 1,2,, m
⎣ −C D⎦
φ ( s ) W-.N@q < 9

142
㒓ᗻ㋏㒳⧚䆎 
䆕˖І㘨㋏㒳ⱘ㛑᥻ᗻ(PBH ⾽߸᥂)
ª sI - A 0 B º
rankV ( s ) rank « n  mq
¬ Bc C sI - Ac  Bc D »¼

ߚϸ⾡ᚙ‫˖މ‬
(1) ᇍϡᰃI ( s ) ḍⱘ᠔᳝ s ˈ rankV ( s ) n  mq
(2) ᇍI ( s ) ⱘ᠔᳝ḍˈ rankV ( s ) n  mq

143
㒓ᗻ㋏㒳⧚䆎 
(1) ᇍϡᰃI ( s ) ḍⱘ᠔᳝ s ˈ rank( sI  Ac ) mq

{ A, B} 㛑᥻ Ÿ ᇍ᠔᳝ s ˈ rank[sI  A, B ] n
߭ᇍϡᰃI ( s ) ḍⱘ᠔᳝ s ˈ᳝

ª sI - A 0 B º
rankV ( s ) rank « n  mq
¬ Bc C sI - Ac  Bc D »¼

(2) ᇍI ( s ) ⱘ᠔᳝ḍ s ˈҸ

ª sI - A 0 B º
V ( s) « B C sI - A
¬ c c  Bc D »¼
ª sI - A 0 Bº
ª In 0 0 º« »
«0 » « C 0 D»
¬ - Bc ( sI - Ac ) ¼
«¬ 0  I mq 0 »¼
144
㒓ᗻ㋏㒳⧚䆎 
߭ᇍI ( s ) ᠔᳝ḍ s ˈ⬅Ꮖⶹᴵӊ᳝

ª sI - A 0 Bº
« »
rank « C 0 D» n  q  mq
«¬ 0  I mq 0 »¼

{ Ac , Bc }Ў㛑᥻㾘㣗ᔶ Ÿ ᇍ᠔᳝ s ˈ᳝

ª In 0 0 º
rank « n  mq
¬0 - Bc ( sI - Ac ) »¼

߽⫼ϡㄝᓣ( P : l u r 䰉ˈ Q : r u k 䰉)
rankP  rankQ  r d rankPQ d min ^rankP, rankQ`

˄r n  q  mq ˅
145
㒓ᗻ㋏㒳⧚䆎 
߭ᇍI ( s ) ᠔᳝ḍ s ˈ᳝
n  mq d rankV ( s ) d n  mq
े
rankV ( s ) n  mq

㓐ড়ϸ⾡ᚙ‫˖މ‬І㘨㋏㒳㛑᥻
Ÿ 䬛ᅮ… Ÿ lim e(t ) 0
t of

146
㒓ᗻ㋏㒳⧚䆎 
=XJOIJK@A0I9O,4MN

e u1 + u y y0
 
− − +
u2
 x

X+5U/ @IJK@A0I@&]

OZCD < 

147
㒓ᗻ㋏㒳⧚䆎 
56CD ZV1/F&:;<@A!*#

I@UF*W@*W!59O, 

x
c = Ac xc + Bc e
u1 = K c xc
=CD 1/\GFT&:=@U

*WVW@H 

u2 = Kx

148
㒓ᗻ㋏㒳⧚䆎 
6 2 6a0 (1) !6 1 +J Z[@

!5FX0I&:IJK@AZ[@=

CD 2> !.Z[ 

-1 5P&:=

-2 56CD +2>OZ y0 (t ) ! w ( t ) 4NO

.

149
㒓ᗻ㋏㒳⧚䆎 
3=4NO .,] 

?\]MLI y0 (t ) ! w ( t ) 4NO .@
78;<@A!*#I7 @35,] 7 

] 7 &:IJK@A0I BC@P:

] U;a0!CD 89#*489

S89 :*@HB010I,;<@!

2 *IJK@A/

30I,

150
㒓ᗻ㋏㒳⧚䆎 
3@] 89#$@H Ac WGRN φ ( s )-

-.N 9#$!4:;

] 7 &]@#$< φ ( s ) 9 y0 (t ) ! w ( t ) 

4%.&:EP+ ;<@A!*#I

] 89U$*@-)=>EP+@

=>:;<@A!*#I

151
㒓ᗻ㋏㒳⧚䆎 
&'T+@y0 (t ) ! w ( t ) ?*@@HF φ ( s )

9*#*O&:+4AE@< y ( t ) /@A

8,NO y0 (t ) @HH**W@AK

6 3 ?] 7 &:IJK@A0I@H

X0I!N@P:] U;M89 @

0I

152
㒓ᗻ㋏㒳⧚䆎 
‫ݙ‬῵ॳ⧚(㗗㰥 SISO ㋏㒳) g ( s)

u1 + u y y0
kc −
g(s) − +
u2
k x e
gc
ny ( s)
䆒 y0 ( s ) ˈ䴲䋳ᅲ䚼ḍ
d y (s)

ng ( s ) ng c ( s )
g ( s) ˈ gc (s)
d g ( s) d gc ( s )
153
㒓ᗻ㋏㒳⧚䆎 
1 § 1 ny ( s) ·
㽕∖˖(1)䯁⦃ 〇ᅮ˗ ¨ e( s ) ¸¸
1  kc g c g ¨ 1  kc g c g d y ( s ) ¹
©
(2) e( s ) ϡ৿䴲〇ᵕ⚍DŽ

1 ny (s) d gc ( s ) ny ( s)
e( s )
1  kc g c g d y ( s ) d g c ( s )  k c ng c ( s ) g ( s ) d y ( s )

㢹 d y ( s ) ᰃ d gc ( s ) ⱘ಴ᄤˈे g c ( s ) ࣙ৿ y0 ( s ) ⱘϡ〇ᅮ῵ᗕˈ

߭ϡ〇ᅮ῵ᗕৃ㊒⹂ᇍ⍜DŽ
ᅲ䰙˖PID ᭈᅮЁˈᇍ䰊䎗ֵো䕧ܹˈ㽕∖᮴䴭Ꮒˈ䳔
⿃ߚ⦃㡖DŽ
ৃ᥼ᑓࠄ˖ w(t ) z 0 ˈMIMO ᚙᔶDŽ
154
㒓ᗻ㋏㒳⧚䆎 
 a0, ( n = 4 , p = 1, q = 1)
⎡0 1 0 0⎤ ⎡0⎤ ⎡0⎤
⎢0 0 −1 0 ⎥ ⎢1⎥ ⎢4⎥
x
= Ax + bu + bw w = ⎢ ⎥ x + ⎢ ⎥u + ⎢ ⎥w
⎢0 0 0 1⎥ ⎢0⎥ ⎢0⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣0 0 11 0 ⎦ ⎣ −1⎦ ⎣6⎦
y = cx = [1 0 0 0] x

8,NO y0 (t ) !* w ( t ) ,9@B

F&:IJK@A0I& u

155
㒓ᗻ㋏㒳⧚䆎 
> -1  y0 (t ) ! w ( t ) 4NO .@
 y0 (t ) ! w ( t ) ,9@55 
φr (s) = s , φw (s) = s
5/ UDW-.N, 
φ (s) = s
− 11
I@ φ (s ) = H5/ @y0 (t ) ! w ( t ) 4
s
NO ., 

x
c = Ac xc + bce = [ 0] xc + [1] e

+@ e = y 0 (t ) − y (t ) 
156
㒓ᗻ㋏㒳⧚䆎 
-2 a05&:IJK@A

,9 dim(u ) = dim( y ) = 1 @6 1 Z[ 1 

[ φ ( s ) = 0 H*9 λ1 = 0 @23 

⎡ 0 −1 0 0 0⎤
⎢0 0 1 0 1⎥
⎡− A b⎤ ⎢ ⎥
rank ⎢ ⎥ = rank ⎢ 0 0 0 −1 0 ⎥ = 5 = n + q
⎣ −c 0⎦ ⎢ ⎥
⎢ 0 0 −11 0 −1⎥
⎢⎣−1 0 0 0 0 ⎥⎦
Z[ 2 @a05&:IJK@A
157
㒓ᗻ㋏㒳⧚䆎 
-3 0I& u
B'@a0!NO . / HBVW! 

⎡ x
⎤ ⎡ A 0 ⎤ ⎡ x ⎤ ⎡b⎤ ⎡bw ⎤ ⎡0⎤

⎢ x
⎥ = ⎢−b c A ⎥ ⎢ x ⎥ + ⎢0⎥ u + ⎢ 0 ⎥ w + ⎢b ⎥ y0
⎣ c⎦ ⎣ c c⎦⎣ c⎦ ⎣ ⎦ ⎣ ⎦ ⎣ c⎦
a0 !6 1 Z[55@\,/0@5UG

DEC9=B@`KL01C, 

λ = − 1, λ = − 1, λ
1
* *
2
*
3,4 = −1 ± j, λ = −2
*
5

158
㒓ᗻ㋏㒳⧚䆎 
5 

α ( s) = ( s + 1) ( s + 1 − j)( s + 1 + j )(s + 2)
* 2

= s + 6s + 13s + 20s + 14s + 4

5 4 3 2

`VW0I&, 

⎡ x⎤ ⎡ x⎤
u =[ −k1, −k2, −k3, −k4, kc] ⎢ ⎥ =[ −k kc] ⎢ ⎥
⎣xc ⎦ ⎣xc ⎦

159
㒓ᗻ㋏㒳⧚䆎 
CC01, 

⎡0 1 0 0 0⎤
⎢−k −k −k −1 −k k ⎥
⎡ A− bk bkc ⎤ ⎢ 1 2 3 4 c ⎥

A= ⎢ ⎥ =⎢ 0 0 0 1 0⎥
⎣ −bcc Ac ⎦ ⎢ + −
⎥
⎢ k1 k2 11 k3 k4 k c⎥
⎢⎣ 1 0 0 0 0 ⎥⎦

160
㒓ᗻ㋏㒳⧚䆎 
RSGRN, 
α (s) = det(sI − A ) = s5 + (k2 − k4 )s4 + (k1 − k3 −11)s3
+(kc −10k2 )s −10k1s −10kc
2

 α (s) ! α (s) P)9@5

*


kc =−0.4, k1 =−1.4, k2 =−2.04, k3 =−27.4, k4 =−8.04

  k =[ −1.4, −2.04, −27.4, −8.04]
kc =−0.4
161
㒓ᗻ㋏㒳⧚䆎 
-4  56CD !=CD 

Pa0@F&:IJK@A56CD !=

CD 2,  x
c = [ 0] xc + [1] e = e

u1 = kc xc = −0.4xc
! u2 = kx = [ −1.4, −2.04, −27.4, −8.04] x
0I& 

u = u1 −u2 =−0.4xc +[1.4, 2.04, 27.4, 8.04] x

162