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Dev Sis Ders6 13
Dev Sis Ders6 13
IR
IT
IS
IR
IT
x Ax Bu
y Cx Du ,
x (0) x0
y R r k byklkleri
u R p giri byklkleri
x1
a11
x a
2
21
a12 x1
b1
u,
a22 x2
b2
x(t0 ) x0
xT (t ) xh (t ) xzel (t )
Homojen ksm: x Ax,
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 zmlerin
olmas nasl mmkn olur?
2 a b 0
Karakteristik
Denklem
1I A S1 0 1 e 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
2t
M (t )
zel zm:
x1 zel (t )
xzel (t )
x
(
t
)
2 zel
Tam zm:
Temel Matris
Nasl belirleyeceiz?
x (t ) M (t )C xzel (t )
zorlanm zm
t
z zm
zorlanm zm
x Ax,
x (t0 ) x0 ,
x Rn ,
A R nn
1t
xh (t ) e V1
c1
c1
e V2
M (t )
c
c
2
2
2 t
M (t )
Temel Matris
x (t ) M (t ) M 1 (t0 ) x (t0 )
(t , t0 )
Durum Gei
Matrisi
(t , t0 ) A (t , t0 )
(t0 , t0 ) I
Ne yapmakta?
X (t ) (t , t0 )C
Tersinir matris,
Diferansiyel denklemi salar,
X 1 (t ) CX 2 (t ) ,
Verilen ilk koul iin tek olarak
belirlenir
C tersinir matris
x (t ) (t , t0 )ci (t , t0 ) x (t0 )
Gerekten zm m, nasl
anlayacaz?
lgilendiimiz Sistemler
x Ax,
x (t0 ) x0 ,
x Rn ,
A R nn
(t , t0 ) A (t , t0 )
(t0 , t0 ) I
Durum gei matrisinin zellikleri
1-
x (t0 ) x0
x (t1 ) (t1 , t0 ) x0
x (t1 ) x1
x (t2 ) (t2 , t1 ) x1
t0 t1 t2
2- 1 (t , t0 ) (t0 , t )
t0 t1 t2
t0 t 2
I (t0 , t1 ) (t1 , t0 )
1 (t , t0 ) (t0 , t )
lgilendiimiz Sistemler
x Ax,
x (t0 ) x0 ,
x Rn ,
zm
x(t ) (t , t0 ) x (t0 )
A R nn
lgilendiimiz Sistemler
x Ax Bu ,
Yarsaym:
x (t0 ) x0 ,
x Rn ,
A R nn , B R n p
x (t ) (t , t0 ) y (t )
d
(t , t0 ) y (t )
x (t )
( (t , t0 ) y (t )) (t , t0 ) y (t )
dt
* (t , t0 ) y
(t ) A (t , t0 ) y (t )
x Ax Bu
Yarsaym yerletirirsek x A (t , t0 ) y (t ) Bu **
* ve **dan
A (t , t0 ) y (t ) Bu (t , t0 ) y (t ) A (t , t0 ) y (t )
Bu (t , t0 ) y (t )
y (t ) 1 (t , t0 ) Bu
t
y (t ) 1 ( , t0 ) Bu ( ) d y (t0 )
t0
y (t0 ) 1 (t0 , t0 ) x0 x0
x (t ) (t , t0 ) y (t )
t
x (t ) (t , t0 ) x0 (t , t0 ) 1 ( , t0 ) Bu ( ) d
t0
x (t ) (t , t0 ) x0 (t , ) Bu ( ) d
t0
(t , t0 )
e A( t t 0 )
(t ,0) e At
e At Hesaplama Yntemleri
1- Seriye Ama
Hatrlatma
f (0) 2
f (n) n
f (t ) f (0) f (0)t
t .......
t ....
2!
n!
x (t ) Ax (t ), x(t0 ) x0
x1 (t ) x1 (0) x1 (0)
x1(0)
x (t ) x (0) x (0)
x (0) 2
t
x(t ) 2 2 2 t 2
.....
2!
x3 (t ) x3 (0) x3 (0)
x3(0)
x(t ) yi belirlemek iin x(0), x(0), x(0),..... bilmek gerekli
x ( k ) (t )
t 0
Ax ( k 1) (t )
t 0
x ( k ) (0) Ax ( k 1) (0) A( k ) x0
1 2
1
A x(0)t 2 A3 x(0)t 3 ....
2!
3!
1
1
1
1