本文主要思路参考《广义系统》及导师论文
首先,大部分奇异多主体系统都可以转换为以下模型:
I
N
⊗
[
E
0
0
E
]
η
˙
(
t
)
=
H
η
(
1
)
I_N\otimes \left[\begin{array}{cc}{E} & 0\\{0}&{E} \end{array} \right]\dot\eta(t)=H\eta\quad (1)
IN⊗[E00E]η˙(t)=Hη(1)
其中
η
=
[
x
T
,
v
T
]
T
\eta=[x^T,v^T]^T
η=[xT,vT]T,而
x
x
x是系统状态向量,
v
v
v是协议向量。先令:
E
ˉ
=
I
N
⊗
[
E
0
0
E
]
(
2
)
\bar E=I_N\otimes \left[\begin{array}{cc}{E} & 0\\{0}&{E} \end{array} \right]\quad (2)
Eˉ=IN⊗[E00E](2)
则系统变为:
E
ˉ
η
˙
=
H
η
(
3
)
\bar E\dot\eta=H\eta\quad (3)
Eˉη˙=Hη(3)
由第二受限等价形式(《广义系统》P20页公式(2.1.10)),存在可逆矩阵
P
1
,
Q
1
P_1,Q_1
P1,Q1,使得:
P
1
E
ˉ
Q
1
=
[
I
r
0
0
0
]
,
P
1
H
Q
1
=
[
H
11
H
12
H
21
H
22
]
(
4
)
P_1\bar E Q_1=\left[\begin{array}{cc}{I_r} & 0\\{0}&{0} \end{array} \right], P_1H Q_1=\left[\begin{array}{cc}{H_{11}} & H_{12}\\{H_{21}}&{H_{22}} \end{array} \right]\quad (4)
P1EˉQ1=[Ir000],P1HQ1=[H11H21H12H22](4)
又根据(《广义系统》P20页公式(2.1.19a-c))可得
η
˙
1
(
t
)
=
H
11
η
1
(
t
)
+
H
12
η
2
(
t
)
(
5
)
0
=
H
21
η
1
(
t
)
+
H
22
η
2
(
t
)
(
6
)
\dot\eta_1(t)=H_{11}\eta_1(t)+H_{12}\eta_{2}(t)\quad (5)\\ 0=H_{21}\eta_1(t)+H_{22}\eta_2(t) \quad (6)
η˙1(t)=H11η1(t)+H12η2(t)(5)0=H21η1(t)+H22η2(t)(6)
其中
[
η
1
η
2
]
=
Q
1
−
1
η
(
7
)
\left[\begin{array}{cc} \eta_1\\ \eta_2 \end{array}\right] =Q_1^{-1}\eta\quad (7)
[η1η2]=Q1−1η(7)
整理(5-6)式,可得
η
˙
1
(
t
)
=
(
H
11
−
H
12
H
22
−
1
H
21
)
η
1
(
t
)
(
8
)
η
2
=
−
H
22
−
1
H
21
η
1
\dot\eta_1(t)=(H_{11}-H_{12}H_{22}^{-1}H_{21})\eta_{1}(t)\quad (8)\\ \eta_2=-H_{22}^{-1}H_{21}\eta_1
η˙1(t)=(H11−H12H22−1H21)η1(t)(8)η2=−H22−1H21η1
代入(7)式,可得
η
=
Q
1
[
η
1
η
2
]
=
Q
1
[
I
−
H
22
−
1
H
21
]
η
1
(
9
)
\eta=Q_1\left[\begin{array}{cc} \eta_1\\ \eta_2 \end{array}\right] =Q_1\left[\begin{array}{cc} I\\ -H_{22}^{-1}H_{21} \end{array}\right]\eta_1\quad (9)
η=Q1[η1η2]=Q1[I−H22−1H21]η1(9)
而(8)式微分方程的解为
η
1
(
t
)
=
e
(
H
11
−
H
12
H
22
−
1
H
21
)
t
η
1
(
0
)
\eta_1(t)=e^{(H_{11}-H_{12}H_{22}^{-1}H_{21})t}\eta_1(0)
η1(t)=e(H11−H12H22−1H21)tη1(0)
因此,最终得到(8)式的解为
η
(
t
)
=
Q
1
[
1
−
H
22
−
1
H
21
]
e
(
H
11
−
H
12
H
22
−
1
H
21
)
t
η
1
(
0
)
\eta(t)=Q_1\left[\begin{array}{cc} 1\\ -H_{22}^{-1}H_{21} \end{array}\right]e^{(H_{11}-H_{12}H_{22}^{-1}H_{21})t}\eta_1(0)
η(t)=Q1[1−H22−1H21]e(H11−H12H22−1H21)tη1(0)
此外,由(9)式,可知:
η
1
(
0
)
=
[
1
,
0
]
Q
1
−
1
η
\eta_1(0)=[1,0]Q_1^{-1}\eta
η1(0)=[1,0]Q1−1η