6.3.3 Discretization from the State Solution of Continuous Time System 直接离散化 Theorem 6.2 Consider the continuoustime LTI-system X(t)=LX(t)+B(t),X(t)=X。t≥0 .(6.71) y(t)=CX(t)+Du(t) the discretized model of (6.71)based on the basic assumptionsis xk+D=Gx0)+Hak),X0=X,k=0l.6.72 y(k)=CX(k)+Du(k)
直接离散化
Thevariables have the followingrelations between (6.71)and (6.72). .X()=[X(0-r,4k=[401=r,Jy(k)=[y(]-r(6.73) and the coefficient matrixes have the followingrelations: G=e,H=∫ediB C=[Ctl-r,D=[D1-r.(6.74) Where,T.is the sampling period