= + X AX BU

= + Y DX CX
0 0
n m
i i
i i
i i
a D y b D u
= =
=


0 1 2 1
0 1 0 0 0
0 0 1 0 0
0
0 0 0 1 0
1
n
a a a a

| | | |
| |
| |
| |
= +
| |
| |
| |

\ . \ .
X X U
( )
0 0 1 1 1 1 n n n n n n
b a b b a b b a b b

= + Y X U

1 1 1
2 2 2
1 1 1
0 0 0
1 0 0
0 1 0
0 0 1
0 0 0
n n n n
n n n n
n
n
b a b a
b a b a
a b a b
a b a b


| | | |
| |

| |
| |
= +
| |

| |
| |

\ . \ .
X X U
( ) 1 0 0 0
n
b = + Y X U

( ) ( ) t t = X TX
1
= A T AT
1
= B T B
= C CT
= + X AX BU
= + Y CX DU
"
0
0
i
i
o e
o e
+
| |
=
|

\ .

1
A Bi
c
+
| |
=
|
\ .
V
m
= X T X
( )
m
= T
1
m m m
o e
e o

| |
= =
|

\ .
T AT
'
" m :
1
2 1
1
( ) 0
( )
( )
m m

=
=
=
I A v
I A v v
I A v v
' "
0
e e e
= = + X AX BU
1
( )
e e

= + Y CA B D U
"
1
e e

= X A BU
" '
1 i i e +
= = X X X
1
( )
e e

= X I A BU
1
( ( ) )
e

= +
e
Y C I A B D U
' " ( ) ( ( ), ( ))
( ) ( ( ), ( ))
t f t t
t g t t
=

`
=
)
X X U
Y X U
1 1
1
,
1
e e
n
n n
n
f f
x x
f
f f
x x
c c
| |
|
c c
|
c
| = =
c
|
c c
|
|
c c
\ .
x u
A
x
1 1
1
,
1
e e
n
n n
m
f f
u u
f
f f
u u
c c
| |
|
c c
|
c
| = =
c
|
c c
|
|
c c
\ .
x u
B
u
1 1
1
,
1
e e
n
n n
n
g g
x x
g
g g
x x
c c
| |
|
c c
|
c
| = =
c
|
c c
|
|
c c
\ .
x u
C
x
1 1
1
1
,
e e
m
n n
m
g g
u u
g g
u u
c c
| |
|
c c
|
| =
|
c c
|
|
c c
\ .
x u
D
'
2
0
...
2! !
k
e
k

=
+ + + =

A
A A
I A
( )
t t
d
e e
dt
=
A A
A
1
0
( )
t
t
e d e
t
t

=
}
A A
A I

) " . m " n .
) .
) :
) :
1
0
( )
n
i
i
i
g o

=
=

( ) ( )
k k
i i
k k
d d
f g
dx dx
=
1,..., i m = 0,..., 1 k n =
1
0
( ) ( )
n
i
i
i
f g o

=
= =

A A A
A

= + X AX BU
= + Y DX CU
" :

0
( ) t X
( ) t U
0
t t >
0
0
( ) ( )
0
( ) ( ) ( )
t
t t t
t
t e t e d
t
t t

= +
}
A A
X X BU
"

'
i
i
q
Q
- ' .
-
i
i i i i
d T T V D
Q
dt q q q q
| | c c c c
+ + =
|
c c c c
\ .
Q T V D

2
1
2
mx
2
1
2
Kx
2
1
2
Cx
2
1
2
Iu
2
1
2
Ku
2
1
2
Cu
2
1
2
Lq
2
1
2
q
C
2
1
2
Rq
F
t
U
= +
= +
X AX BU
Y CX DU
e
= U U U
e
= X X X
e
= Y Y Y
0
0
( ) ( )
( ) ( ) ( )
t
t t t
t
t e e d t
t
t t

= + +
}
A A
Y C C Bu Du
2
A Bi
c

| |
=
|
\ .
V
A
c
| |
=
|
\ .

0
B
| |
=
|
\ .

-
= + X AX BU
= + Y DX CU
" :

0
( ) t X
( ) t U
0
t t >
( )
0
1 1
0
( ) , , ( )
i i
t
n n
t t
i i i i
i i
t e e d
t
t t

= =
= < > + < >

}
X r X v r BU v
1
A = MAM
( )
1 2 n
= M v v v
( )
1
1 2
T
n

= M r r r
"

"
i o | = v ( )
m
= T
1
m m m
o e
e o

| |
= =
|

\ .
T AT
i o e =
( )
1
T
m

= T
( ) ( )
( )
0
0
cos( ) sin( ) cos( ( )) sin( ( ))
( ) ( ( ))
sin( ) cos( ) sin( ( )) cos( ( ))
t
t t
t t t t
t e e t d
t t t t
o o t
e e e t e t
t
e e e t e t


| || | | || |
= +
| | | |

\ .\ . \ .\ .
}

X X BU

| |
1 1
[ ]
d b
M
c a Det M

| |
=
|

\ .
| |
a b
M
c d
| |
=
|
\ .
2 X 2

( ) ( ) cos sin
i
e i
u
u u = +
' a 1/a
1
( ) 1
1
( ) [ ] 0
1
( ) [ ]
t
t a t
t I e t a
a
t e I e a t
a

= s <

= s

A
A A
X A B
X A B
"
0
( )
t
t e =
A
Y C B U

0
( )
t
t e =
A
Y C B X
0 0
= : X B U
1( ) ( ) ( ) 1( )
t
d
t d t t
dt
o o o o

= =
}
( ) ( ) ( ) x t t d x o t t t

=
}

0
X :
1 -
O
( 1)
(0)
(0)
( 0)
(0)
n
y
y
t
y

| |
|
|
= =
|
|
\ .
Y
1 n
| |
|
|
=
|
|
\ .
C
CA
O
CA
1 1
0 0
(0) ( )

= + + X O Y O T ID U
( 1)
(0)
(0)
(0)
(0)
n
| |
|
|
=
|
|
\ .
U
U
U
U
2 1
0 0 0 0
0 0 0
0 0
0
n n
| |
|
|
| =
|
|
|
\ .
CB
T CAB CB
CA B CA B CB