曝光臺 注意防騙 網曝天貓店富美金盛家居專營店坑蒙拐騙欺詐消費者

advantage is that the elements of the last row of a matrix in phase-variable form are
the coefficients of the characteristic equation. Then, we do the full-state feedback
design in the transformed space, and then, finally, we do a reverse transformation
to obtain the state feedback law in the original state-space.
     We express the given plant in the phase-variable form as follows:
Z = ApZ + BpU                                   (6.307)
where Z is a new state vector (4 x 1) and matrices Ap and Bp are in the phase-
variable form and are defined as
    Z -. PX
Ap = PAP-]
  Bp = PB
The transformation matrix P is constructed as follows.
   1) Obtain the state-controllability matrix Qc grven by
(6.308)
(6.309)
(6.310)
Qc=[B AB A2B A3B]       (6.311)
    -0.0453  0.0363    O    -0.183
A- -0.3717 -2.0354 0.9723 -0.0323
     0.3398  -7.0301  -2.9767  0.0295
  0010
602            PERFORMANCE, STABILITY, DYNAMICS, AND CONTROL
2) Form the matrices Pi, P2, P3, and P4 as follows:
          Pi=[0 0 0 l]Qcl
                                             P2 - Pi A
                                          P3 = Pl A2
                                             P4 = Pl A3

Then
                                Ap = PAP-I
                                    Bp = PB
    For the general aviation airplane, substitution gives
Qc =

 

  -0.005 8
-11.2112
36.4568
-11.8674
0.2997
-0.1003
-0.0475
-0.0180
1.7650
58.6517
-30.0574
36.4568
-0.0883
0.0014
0.0006
0.0002
(6.312)
(6.313)
(6.314)
(6.315)
(6.316)
(6.317)
(6.318)
-4.6225

-321.18C
-30.057
-0.0180  0.0002  0.0177
0.0436  -0.0006 -0.0430
-0.0847  0.0011  -0.0007
0.1638  -0.0865  0.0057
 100
 010
 001
-0.3860 -13.1052 -5.0574

(6.320)
(6.321)
(6.322)
(6.323)
                 AIRPLANE RESPONSE AND CLOSED-LOOP CONTROL
    The input with full-state feedback in the transformed system is
                                       U -r(t) - KZ
where K is given by
               K=[ki k2 k3 k4]
Then
                                        Z = (Ap - Bp K )Z+ Bpr(t)
and

       O
       0
       O
   -(0.5918 + ki)
-(0.3860 + k2)     -(13.1052 + k3)

603
(6.324)
(6.325)
(6.326)
      0
      O
            1
-(5.0574 + k4)
(6.327)
    The characteristic equation of tfus transformed phase variable form is
　
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