【RTS笔记8】Discrete system

Discrete Signals 离散信号

物理世界信号多连续continue time。需要用 transducer转换|（给计算机）。
计算机信号多离散 discrete time。

Even/Odd Signals：奇函数偶函数的信号。

Digital Control 数字信号控制

Computer-Controlled Systems：

1. The physical system to be controlled. 被控制的物理系统
2. A sampler采样器 together with an analog-to-digital converter (ADC).
3. A digital-to-analog converter (DAC) with a hold circuit保持电路.
4. A computer with a clock, software for real-time applications, and control algorithms.

Sampling 采样

A sampler is a device that converts a continuous-time signal into a discrete-time one. Normally, the sampler is combined into the ADC . The sampler is driven by the clock and usually runs at a constant sampling interval $h$. Samples occur at the instants $tk=kh$ 。

零阶保持器zero-order hold（ZOH）：

一阶保持器first-order hold（FOH）：

Linear Algebra 线性代数

Vector向量：

column vector：
$\left(\begin{array}{c}{a}_1\\ a_2\end{array}\right)$

row vector：
$\left(\begin{array}{cc}{a}_1& a_2\end{array}\right)$

transpose 转置（矩阵）：$b=a^T=(a1,a2,\cdot \cdot \cdot ,an)$

Matrix矩阵：

Square matrix：方阵
Null matrix：零矩阵
Diagonal matrix： 对角矩阵（对角线以外均为零的方阵）
Identity matrix：单位矩阵（对角线为1，其他为零的方阵）
Symmetric matrix 对称矩阵(沿着对角线对称的方阵)
determinan ：行列式 ，缩写det

Cramer’s rule克莱姆法则：

Dynamical Systems动态系统

Dynamical Systems：

• evolves over time 随时间演变
• possibly under external excitations 接受外界刺激

dynamical system model动力系统模型:

• compact紧凑
• quantitative定量
• evolves over time 时间相关

State-space models状态空间模型：

Cart Pole？

Linear Time Invariant Systems线性时不变系统：

Linear Dynamical System 线性动态系统：

Continuous time state space representation of a linear dynamical system:
$\dot{x}=Ax+Bu$ (x的导数)
$y=Cx+Du$

State vector:
$$x=\left[\begin{array}{c}{x}_1(t)\\ x_2(t)\\ ...\\ x_p(t)\end{array}\right]$$

Action vector:
$$u=\left[\begin{array}{c}{u}_1(t)\\ u_2(t)\\ ...\\ u_p(t)\end{array}\right]$$

Predicting Future Behaviour预测未来行为：

词

convert 转化
interval 间隔
transpose 转置（矩阵）
Identity matrix 单位矩阵
Symmetric matrix

待解决：

Cart Pole？