By Guoxiang Gu
ISBN-10: 1461422809
ISBN-13: 9781461422808
ISBN-10: 1461422817
ISBN-13: 9781461422815
Discrete-Time Linear platforms: concept and layout with functions combines procedure concept and layout on the way to convey the significance of approach concept and its position in approach layout. The publication specializes in procedure thought (including optimum nation suggestions and optimum kingdom estimation) and method layout (with functions to suggestions regulate platforms and instant transceivers, plus approach id and channel estimation).
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Additional info for Discrete-Time Linear Systems : Theory and Design with Applications
Example text
The flight control example can be found in [80, 81]. The modeling of inverted pendulum employs the principle from Lagrange mechanics [17,108]. For discretization and modeling of wireless communication channels, many papers and books are available. The books [19,98,107,111] are recommended for further reading. 1. 5), assume that the control force is generated by the actuator via u(t) = K K ˙ , K = Km Kg . 66) The above is a simple model for DC motor with uin (t) as the armature voltage. Show that the dynamic system is now described by mL θ¨ = Δ p¨ = mL Δ K cos(θ ) mL sin(2θ ) ˙ 2 K 2 cos(θ ) uin + (M + m)g sin(θ ) − θ − p˙ , Rr 2 Rr2 K mg sin(2θ ) K2 uin (t) + − mL sin(θ )θ˙ − 2 p˙ , Rr 2 Rr where Δ = M + m sin2 (θ ) mL2 .
The analytical expression of rs (k) is useful in computing PSD of {s(t)}. 11). Infinitely, many terms need be computed for ACS, which is not feasible. 1 Signals and Spectral Densities 35 approximate PSD is employed, consisting of finitely many signal samples: (n) Ψs (ω ) =E ⎧ ⎨1 ⎩n ⎫ n−1 2⎬ t=0 ⎭ ∑ s(t)e− jωt . 16) (n) A natural question is whether or not Ψs (ω ) converges to Ψs (ω ) as n → ∞. By straightforward calculation, (n) Ψs (ω ) = 1 n−1 n−1 ∑ ∑ E {s(t)s(¯ τ )} e− jω (t−τ ) n t=0 τ =0 n = ∑ 1− k=−n |k| rs (k)e− jkω .
5), assume that the control force is generated by the actuator via u(t) = K K ˙ , K = Km Kg . 66) The above is a simple model for DC motor with uin (t) as the armature voltage. Show that the dynamic system is now described by mL θ¨ = Δ p¨ = mL Δ K cos(θ ) mL sin(2θ ) ˙ 2 K 2 cos(θ ) uin + (M + m)g sin(θ ) − θ − p˙ , Rr 2 Rr2 K mg sin(2θ ) K2 uin (t) + − mL sin(θ )θ˙ − 2 p˙ , Rr 2 Rr where Δ = M + m sin2 (θ ) mL2 . 2. 1, assume that θ and p are output measurements. 7) as the state vector. Show that its linearized system has realization matrices (A, B,C, D) given by ⎡ 0 10 0 ⎢ K2 ⎢ (M + m)g ⎢ 00− 2 ⎢ ML Rr A=⎢ ⎢ 0 0 0 1 ⎢ ⎣ K2 mg 00− 2 M Rr C= 1000 , 0100 ⎤ ⎤ ⎡ 0 ⎥ ⎢ K ⎥ ⎥ ⎥ ⎢ ⎥ ⎢ MLRr ⎥ ⎥ ⎥ ⎥, B = ⎢ ⎢ 0 ⎥, ⎥ ⎥ ⎢ ⎥ ⎦ ⎣ ⎦ K MRr D= 0 .
Discrete-Time Linear Systems : Theory and Design with Applications by Guoxiang Gu
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