где мерная матрица регулятора:
Обозначим через вектор-параметр регулятора, имеющий размерность :
Предположим, что требования к качеству системы управления заданы в виде следующих ограничений на переходные процессы ![](data:image/png;base64,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) , обусловленные не нулевым начальным условием ( где 0 – n-мерный нулевой вектор, все элементы которого равны нулю):
(6)
где – положительные непрерывно дифференцируемые функции, задающие границы соответствующих допустимых областей:
При этом допустимое подмножество для вектора запишется как
.
Введем подмножество
определяющее допустимую область в пространстве параметров проектируемой системы.
Задача синтеза формулируется следующим образом. Определить вектор-параметр р закона управления (5) для объекта, описываемого уравнением (4) так, чтобы .
Достарыңызбен бөлісу: |