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u(t)
y(t)
x(t0)
x(t)
2.5
dx(t )
= Ax (t ) + Bu(t ) + Ew (t )
dt
(1)
y (t ) = Cx(t ) + Du (t ) + Hw (t )
(2)
dx(t )
= Ax (t )
dt
(3)
(0) = I
d(t )
= A(t )
b)
dt
(4)
(5)
x (t 0 )
x(t )
x (t1 )
(t ,t1 )
(t1 ,t 0 )
t0
t1
x(t ) = L
[(sI A ) ]x(0)
1
t0
(t ) = L1[(sI A ) 1 ]
(7)
x( t) =
( t - )[Bu ( ) + Ew ( )]d
t0
(8)
(9)
VECTOR DE SALIDA
El vector de salida se halla reemplazando la solucin (9) en
la ecuacin de salida.
y ( t ) = C ( t t 0 ) x( t 0 ) + C ( t )[ Bu( ) + Ew ( )]d + Du ( t ) + Hw ( t )
t
t0
t t0