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EDT Ders13 11
EDT Ders13 11
x1
a11
x a
2
21
a12 x1
b1
u,
a22 x2
b2
x Ax Bu ,
x (t0 ) x0
x(t0 ) x0
zel
xh (t ) Se
Set ASet
S AS
I A S 0
det I A 0
x(t0 ) x0
S1 t
e
S2
zm Tahmini
belirlememiz gereken ka
byklk var?
sfrdan farkl zm erin
olmas nasl mmkn olur?
2 a b 0
Karakteristik
Denklem
1I A S1 0 1e ilikin zvektr
2 I A S2 0 2e ilikin zvektr
S1 c1V1
S 2 c2V2
1t
xh (t ) e V1
c1
c1
e V2
M (t )
c
c
2
2
2 t
M (t )
zel zm:
x1zel (t )
xzel (t )
x
(
t
)
2zel
Tam zm:
Temel Matris
Nasl belirleyeceiz?
x(t ) M (t )C xzel (t )
C M (t0 ) 1 x(t0 ) xzel (t0 )
x (t ) M (t ) M 1 (t0 ) x (t0 ) xzel (t0 ) xzel (t )
zorlanm zm
t
x (t ) e At x(t0 ) e A(t ) Bu ( ) d
z zm
t0
zorlanm zm
Dinamik Sistem
nce lineer dinamik sistemleri durum denklemleri ile
ifade ettik ...
x (t ) Ax(t ) Bu (t ),
durum deikeni
x(to ) xo
y (t ) Cx (t ) Du (t )
k deikeni
x ........
ilk koul
giri deikeni
y ........ u ........
Bu sistemin zm.....
x(t ) e
A ( t t o )
x(to ) e
to
A( t )
Bu ( )d
x (t ) Ax(t )
x(t ) e
1 ( t to )
S1 x1 (t0 ) e
Otonom sistem
zvektrler
2 ( t t o )
S 2 x2 (t0 ) .....e
n ( t t o )
S n xn (t0 )
zdeerler
zm, zvektrler ve zdeerler ile nasl deiir
.............................................................................................................
0
A1
1
2 5
A2
21 3 2i
22 3 2i
11 1 2i
12 1 2i
0.9129
0.9129
S11
S 21
0.1826 0.3651i
0.1826 0.3651i
0.9129
0.9129
S 22
S12
0
.
1826
0
.
3651
i
0.1826 0.3651i
A2
sistemi
0
.
3
0. 2 1
B2
0
.
3
11 0.25 2.235i
21 0.25 2.235i
12 0.25 2.235i
22 0.25 2.235i
S11
S12
0.9125
0
.
0051
0
.
4081
i
0.9125
0
.
0051
0
.
4081
i
S 21
0.0051 0.4081i
0
.
9125
S 22
0.0051 0.4081i
0
.
9125
B1
sistemi
B2
sistemi
x (t ) Ax(t )
x (t ) f ( x(t ))
0 Axd
0 f ( xd )
Ka tane denge
noktas olabilir?
x (t ) f ( x(t ))
herhangi bir
eitsizlii
iin
0
xd
sistemine ilikin bir denge noktas
olsun. Verilen
x(0) xd ( )
x(t ) xd
(bulunabiliyorsa
)
xdenge
d