![1d2d92c58b6ce338e297ae3bcc4dc2d3.png](https://i-blog.csdnimg.cn/blog_migrate/a96d488c4cc45ab2efba457d233a6a6d.jpeg)
1 参考[1][2][3][4]
Chenglin Li:线性系统理论(一)状态空间和运动分析
Chenglin Li:线性系统理论(二)能控性和能观性
Chenglin Li:线性系统理论(三)能控和能观标准型
Chenglin Li:线性系统理论(四)系统运动的稳定性
Chenglin Li:线性系统理论(五)线性反馈系统
Chenglin Li:线性系统理论(六)多项式矩阵理论
2 基本概念
2.1 真性-严真性
(1)G(s)严真,当且仅当矩阵各个元素的分母最高次幂
![equation?tex=degd_%7Bij%7D](https://i-blog.csdnimg.cn/blog_migrate/8a72e2bf3ed01220f91d2087128b7b94.png)
![equation?tex=degn_%7Bij%7D](https://i-blog.csdnimg.cn/blog_migrate/c32dd6eb2bda8992d348c124dbd49c7a.png)
![equation?tex=deg+%5C+d_%7Bij%7D%3Edeg%5C+n_%7Bij%7D%5C%5C](https://i-blog.csdnimg.cn/blog_migrate/a904d3f92fa7bd438dbecce062fc7fc1.png)
(2)G(s)真,至少存在一个元素
![equation?tex=deg%5C+n_%7Bij%7D%3Ddeg%5C+d_%7Bij%7D%5C%5C](https://i-blog.csdnimg.cn/blog_migrate/ade7707817caf8555e46b08b78aed540.png)
其余元素满足严真。
(3)G(s)为真
![equation?tex=%5Clim_%7Bs+%5Crightarrow+%5Cinfty%7D%7BG%28s%29%7D%3DG_0%2C+%28G_0+%5Cne+0%29.%5C%5C](https://i-blog.csdnimg.cn/blog_migrate/b1a00afab0e8faf6e4e358232797bc39.png)
(4)G(s)严真
![equation?tex=%5Clim_%7Bs+%5Crightarrow+%5Cinfty%7D%7BG%28s%29%7D%3D0.%5C%5C](https://i-blog.csdnimg.cn/blog_migrate/08a1303ca70ddf1cb01d3b469c314d74.png)
2.2 Smith-McMillan多项式
![equation?tex=M%28s%29%3DU%28s%29G_%7Bn%5Ctimes+n%7D%28s%29V%28s%29%3Ddiag+%5Cleft%28%5Cfrac%7B%5Cepsilon_1%28s%29%7D%7B%5Cphi_1%28s%29%7D%2C+%5Cfrac%7B%5Cepsilon_2%28s%29%7D%7B%5Cphi_2%28s%29%7D%2C...%2C+%5Cfrac%7B%5Cepsilon_n%28s%29%7D%7B%5Cphi_n%28s%29%7D++%5Cright%29+%3D%5Cleft%28+%5Cbegin%7Bmatrix%7D+%5Cfrac%7B%5Cepsilon_1%28s%29%7D%7B%5Cphi_1%28s%29%7D+%260+%260+%26...%260%5C%5C+0%26%5Cfrac%7B%5Cepsilon_2%28s%29%7D%7B%5Cphi_2%28s%29%7D%260+%26...%260%5C%5C+.%26.%26.%26.%26.%5C%5C+0%260%260%260%26%5Cfrac%7B%5Cepsilon_n%28s%29%7D%7B%5Cphi_n%28s%29%7D%5C%5C++++%5Cend%7Bmatrix%7D+%5Cright%29%5C%5C](https://i-blog.csdnimg.cn/blog_migrate/ecf94f1dbf5a38ed40d97359fc709062.png)
(1)M(s)的唯一性;
(2)单模变换矩阵U(s),V(s)的不唯一性;
(3)非保真属性;G(s)为真,M(s)不一定为真;
(4)非奇异G(s)属性;
(5)M(s)对角元素分子分母互质,除零次多项式外不再有其他的公因式。
(6)满足整除性(分子越来越大,分母越来越小):
![equation?tex=%5Cphi_%7Bi%2B1%7D%28s%29%7C%5Cphi_i%28s%29%2C%5Cepsilon_i%28s%29%7C%5Cepsilon_%7Bi%2B1%7D%28s%29%2Ci%3D1%2C2%2C3...%2Cr.%5C%5C](https://i-blog.csdnimg.cn/blog_migrate/0ce4a3caaa82d8bc031f6eeddfb24274.png)
(7)满足
![equation?tex=rankG%28s%29%3DrankM%28s%29.%5C%5C](https://i-blog.csdnimg.cn/blog_migrate/f9f31bac5cdf67d5e5c956aa78fa289e.png)
2.3 矩阵分式描述(MFD,Matrix-Fraction Description)
![equation?tex=G_%7Bm%5Ctimes+n%7D%28s%29%3DN_%7Bm%5Ctimes+n%7DD%5E%7B-1%7D_%7Bn%5Ctimes+n%7D%28s%29%3D+D%5E%7B-1%7D_%7BL%2Cm%5Ctimes+m%7DN_%7BL%2Cm%5Ctimes+n%7D%28s%29.%5C%5C%5C%5C](https://i-blog.csdnimg.cn/blog_migrate/b3bae82aa4a988f5b847d6a3696e9d17.png)
- D(s)矩阵对角矩阵的对角元素为G(s)各列多项式的最小公分母;
-
矩阵对角矩阵的对角元素为
2.4 多项式矩阵N(s)
d(s)为G(s)的所有元素有理分式的最小公分母,则
![equation?tex=G%28s%29%3D%5Cfrac%7B1%7D%7Bd%28s%29%7DN%28s%29.%5C%5C](https://i-blog.csdnimg.cn/blog_migrate/d846cc80eca24b5c0a2ebaba7929e92b.png)
2.5 构造矩阵G(s)的Smith-McMillan 的步骤
step1. 确定G(s)有理分式的最小公分母d(s),分子多项式矩阵N(s);
step2. 取单模矩阵对U(s),V(s);(利用初等行列变换即可,U(s),V(s)不能出现分数形式&