1458

W ( j )

B( j )

1,

(3.33)

A( j )

0

L

W ( p) (Tp 1)

W ( p )

1

W ( p)

k

(Tp 1)

(Tp 1)

L ( ) L1( ) L2 ( ) L3 ( ) ;

(3.34)

( ) 1( ) 2 ( ) 3 ( ) .

(3.35)

-1

0

U( )

x x1 , x2 ... xn T .

(3.36)

x Ax Bu;

(3.37)

y Cx Du.

K B, AB, A2 B,..., An 1B .

(3.38)

K

CA2

.

(3.39)

...

n 1

CA

u

1 T1 p

1

1 T2 p

1 T3 p

T T p2 y T p y T p y y T p u u .

(3.40)

2

3

2

3

1

1

1

x

x

u;

1

T2

1

T2

1

1

x2

x2

u;

.

(3.41)

T3

T3

T2 T1

T3 T1

y

x

x .

T

T

1

T

T 2

2

3

3

2

1

1

T2 T1

T2 1 T2 p

T2 T3

+

u

+

1

2

T3 T1

T3 1 T3 p

T3 T2

u

K1

K2

K3

-

T1 p 1

T2 p

T3 p

W

( p)

K 1 K 2

K 3

.

(3.42)

(T1 p 1) T2 p T3 p

W ( p)

K1K2 K3

.

(3.43)

(T1 p 1) T2 p T3 p K1K2 K3

T T

T

3

p 3

T

T

3

p 2 0 p K

1

K

2

K

3

0 .

(3.44)

1

2

2

, -

:

T T

K K

K

0

2

3

1

2

3

0

(3.45)

T1T2T3

0

.

0

T T

K K

2

K

3

2

3

1

:

1 T2T3 ;

(3.46)

T2T3

K1K2K3

T T T K K

K

;

(3.47)

2

2

3

T1T2T3

0

1

2

3

1

T2T3

K1K2K3

0

)2

T T T . (3.48)

3

T T T

0

0

K K

K

3

2

(K K

2

K

1

2

3

1

2

1

3

1

2

3

0

T2T3

K1K2K3

u

K1

K2

K3

-

T1 p 1

T2 p 1

T3 p 1

W ( p)

K1 K 2 K 3

.

(3.49)

(T1 p 1)(T2 p 1)(T3 p 1)

W ( p)

K1K2K3

,

(3.50)

(T1 p 1)(T2 p 1)(T3 p 1) K1K2K3

T T T p3

(T T T T T T ) p2

(T T T ) p K K

2

K

3

1 0 . (3.51)

1

2

3

1

2

2

3

1

3

1

2

3

1

T T T T T T

K K

K

1

0

1

2

2

3

1

3

1

2

3

0

T1T2T3

T1 T2 T3

. (3.52)

0

T1T2 T2T3 T1T3

K1K2 K3 1

:

1 T1T2 T2T3 T1T3 ;

(3.53)

2

T1T2 T2T3 T1T3

K1K2K3 1

T1T2T3

T1 T2 T3

(3.54)

(T1T2 T2T3 T1T3 ) (T1 T2 T3 ) T1T2T3 (K1K2 K3 1);

T1T2 T2T3 T1T3

K1K2 K3 1

0

3

T1T2T3

T1 T2 T3

0

0

T1T2 T2T3 T1T3

K1K2 K3 1

(3.55)