微分跟踪器
引理 1. 设 z ( t ) z(t) z(t) 是 [ 0 , ∞ ) [0, \infty) [0,∞) 上的连续函数, 且 lim t → ∞ z ( t ) = 0 , \lim _{t \rightarrow \infty} z(t)=0, t→∞limz(t)=0,若令 x ( t ) = z ( R t ) , R > 0 x(t)=z(Rt), R>0 x(t)=z(Rt),R>0则对任意给定的 T > 0 T>0 T>0, 有 lim R → ∞ ∫ 0 T ∣ x ( t ) ∣ d t = 0. \lim _{R \rightarrow \infty} \int_{0}^{T}|x(t)| dt=0. R→∞lim∫0T∣x(t)∣dt=0.
证明:
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\lim _{R \rightarrow \infty} \int_{0}^{T}|x(t)| dt =\lim _{R \rightarrow \infty} \int_{0}^{T}|z(Rt)| dt =\lim _{R \rightarrow \infty} \frac{1}{R} \int_{0}^{T}|z(Rt)| d{Rt} =\lim _{R \rightarrow \infty} \frac{1}{R} \int_{0}^{RT}|z(t)| d{t}=0.
R→∞lim∫0T∣x(t)∣dt=R→∞lim∫0T∣z(Rt)∣dt=R→∞limR1∫0T∣z(Rt)∣dRt=R→∞limR1∫0RT∣z(t)∣dt=0.
根据引理 1 及变换:
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\left\{\begin{array}{l} s=\frac{t}{R} \\ x_{1}(s)=z_{1}(t)+c \\ x_{2}(s)=R z_{2}(t) \end{array}\right.
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⎧s=Rtx1(s)=z1(t)+cx2(s)=Rz2(t)
引理 2. 若系统 { z ˙ 1 = z 2 , z ˙ 2 = f ( z 1 , z 2 ) \left\{\begin{array}{l} \dot{{z}}_{1}=z_{2}, \\ \dot{z}_{2}=f\left(z_{1}, z_{2}\right) \end{array}\right. {z˙1=z2,z˙2=f(z1,z2)的任意解满足: z 1 ( t ) → 0 , z 2 ( t ) → 0 ( t → ∞ ) z_{1}(t) \rightarrow 0, z_{2}(t) \rightarrow 0 (t \rightarrow \infty) z1(t)→0,z2(t)→0(t→∞), 则对任意固定的常数 c c c, 系统 { x ˙ 1 = x 2 x ˙ 2 = R 2 f ( x 1 − c , x 2 R ) \left\{\begin{array}{l} \dot{x}_{1}=x_{2} \\ \dot{x}_{2}=R^{2} f\left(x_{1}-c, \frac{x_{2}}{R}\right) \end{array}\right. {x˙1=x2x˙2=R2f(x1−c,Rx2)的解 x 1 ( t ) x_{1}(t) x1(t) 对于任意 T > 0 T>0 T>0,有
lim R → ∞ ∫ 0 T ∣ x 1 ( t ) − c ∣ d t = 0 \lim _{R \rightarrow \infty} \int_{0}^{T}\left|x_{1}(t)-c\right| d t=0 R→∞lim∫0T∣x1(t)−c∣dt=0
证明:
d x 1 ( s ) d s = d z 1 ( t ) d t R = R z ˙ 1 ( t ) = R z 2 ( t ) = x 2 ( s ) \frac{\mathrm{d} x_1(s)}{\mathrm{d} s} = \frac{\mathrm{d} z_1(t)}{\mathrm{d} \frac{t}{R}}=R\dot z_1(t)=R z_2(t) = x_2(s) dsdx1(s)=dRtdz1(t)=Rz˙1(t)=Rz2(t)=x2(s)
d x 2 ( s ) d s = R d z 2 ( t ) d t R = R 2 z ˙ 2 ( t ) = R 2 f ( z 1 , z 2 ) = R 2 f ( x 1 ( s ) − c , x 2 ( s ) R ) \frac{\mathrm{d} x_2(s)}{\mathrm{d} s} = \frac{R\mathrm{d} z_2(t)}{\mathrm{d} \frac{t}{R}}=R^2\dot z_2(t) =R^2 f\left(z_{1}, z_{2}\right) = R^2 f\left(x_{1}(s)-c, \frac{x_{2}(s)}{R}\right) dsdx2(s)=dRtRdz2(t)=R2z˙2(t)=R2f(z1,z2)=R2f(x1(s)−c,Rx2(s))
因此,系统等价变换成立。
同时,因为有 z 1 ( t ) → 0 当 t → ∞ z_1(t) \rightarrow 0 当 t \rightarrow \infty z1(t)→0当t→∞,且 z 1 ( t ) z_1(t) z1(t)可导
lim R → ∞ ∫ 0 T ∣ z 1 ( t ) ∣ d t = 0 \lim _{R \rightarrow \infty} \int_{0}^{T}\left|z_{1}(t)\right| d t=0 R→∞lim∫0T∣z1(t)∣dt=0
即可得
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\lim _{R \rightarrow \infty} \int_{0}^{T}\left|x_{1}(t)-c\right| d t=0
R→∞lim∫0T∣x1(t)−c∣dt=0
参考文献:https://wenku.baidu.com/view/e1ed0cf8aef8941ea76e05e9.html