Professional Documents
Culture Documents
9.1
9.1 x
0
x
0
0
1
Ayi=Ai*x
ag911xyi
x[0,1,1,0;0,0,1,1];
subplot(2,3,1), fill([x(1,:),0],[x(2,:),0],'r')
A1[1,0;0,1], y1A1*x
subplot(2,3,2), fill([y1(1,:),0],[y1(2,:),0],'g')
D1 det( A1 ) 1,
1 1
1 ,
1
p1
0
0
1
1
0
p2
0
1
1
0
D3 det( A3 ) 0.2, 3 0.2 1.0 , p3
0
1
1.0 1.0
D4 det( A4 ) 1, 4 1
1 , p4
0.
0.
0.7071
0.7071
0 0.7071i 0 + 0.7071i
D2 det( A2 ) 1.5,
2 1.0
1.5 ,
A1
A2A3
A4
A5tpi/6
A1 ,A4A51
A2A3
1.50.2
9.2
A
1
1
p1 (:,1)
1 (1) 1
p1 (:, 2)
1
1
A1
eigshow
eigshowxAx
eigshow(A4) x
x
Ax
Axx
Eigshow(A4)
eigshow([1,2; 2,2])
eigshow([1,2; 2,2])
A
A
ATA22
A(1,2) A(2,1)A =[1,2;2,2]
eigshow(A)AxxAx
A
-0.5616 3.5616
9.2
0
x
0
0.50
0.50
6.42
6.00
0
6.00
8.00
5.50
8.00
5.50
1.58
0
8.00
N
1plot1
2
1
A
0
0.25
x
1
x0[0,0.5,0.5,6,6,5.5,5.5,0;0,0,6.42,0,8,8,1.58,8];
x[x0,x0(:,1)];
%
A[1,0.25;0,1]; yA*x;
subplot(1,2,1),plot(x(1,:),x(2,:))
subplot(1,2,2),plot(y(1,:),y(2,:))
A5
yxc
1yaxacybxbc
yyaybxaxb2cxc
2yaxack
ykyak(xac)kxakckxacxc
xy
yxc
xy
x
x1
x x2
1
1
M 0
c1
c2
0
1
0
x 1 +c1
yx
y= M* x
x 2 +c 2
33A5
A(3,3)1
cos t sin t c
A5 sin t
cos t
0
c2 ,
9.3
(1,1),(1,1),(0,2)
3023
A
1
2(1)
3
9.3
Yaw
u
Pitchv
Rollw
u,vw
quatdemo
u,v,w
u,v,w
9.4
N
3NGplot3
ag904a
Gw=[4,3,0;4,3,0;0,7,0;4,3,0]'; %
Gt=[0,3,0;0,3,3;0,2,0;0,3,0]'; %
G=[Gw,Gt]
%
plot3(Gw(1,:),Gw(2,:),Gw(3,:),'r'),hold
on0
4
0
4
0
0
0
4
plot3(Gt(1,:),Gt(2,:),Gt(3,:),'g'),
G 3
3
7 axis
3 equal
3
3
2
3
0
0
cos(u) sin(u)
0
Y sin(u) cos(u)
0
0
1
0
0
1
0 sin(w)
cos(w)
0 sin(v)
cos(v)
P
0
1
0
sin(v)
0
cos(v)
G1Y*G
G2P*GG3R*G
GfY*P*R*GQ*G
RP
Y
MATLABag904b
syms u w v
Y=[cos(u),sin(u),0;sin(u cos(u),0;0,0,1)]
R=[1,0,0;0,cos(w),sin(w);0,sin(w),cos(w)]
P=[cos(v),0,sin(v);0,1,0;sin(v),0,cos(v)]
4NG4
G
3
G4
ones (1, N )
44
Y4 ,(R4 , P4 )
Y3 ,(R3 , P3 )
0
c1
c2
c3
c1,c2,c3x1,x2,x3
9.4
x
(1,6)x[e1,e2]
xb12b23
(-2,3)
Rnu vn
nuv
nnRnwu
wun1v
wvn1
u* wuv* wv
u* wu v* wv 9.18
wv inv(v) * u* wu = v \ u*
wu
w
u w
v
inv(v)
9.19
Puv
9. 5
R4u,v
1
2
u
1
1
2
1
1
, v
0
0
1
1
uvP(uv)
0
1
:uv
P(u v)
0
u\v
1
wuwu,
vwv=P*wu
1
1
0
1
1
3
1
0
0
0
1
1 1
9.5 MATLAB
MATLAB
1f=poly(A)Af
2lamda=roots(f)flamda
3p=null([lamda*I-A])p,n
3 2 4
p
A 2 0 2
9.6
ag906
ag906
A=[3,2,4;2,0,2;4,2,3]; %
f=poly(A),
% (1)
r=roots(f),r=real(r), % (2),
B1= r(1)*eye(3)-A; %
% B1=rref(B1,1e-12), % B1
p1=null(B1,r)
%
B2=r(2)*eye(3)-A;
f = 1 -6 -15 -8
r = 8.0000
,
-1.0000 + 0.0000ir=real(r)
-1.0000 - 0.0000i
8
p1 = Empty matrix: 3-by-0
-1
p2 = -0.5000 -1.0000
1.0000
0
0
1.0000
det(B1)-8.7130e-013B *x=0
B1rref
110-12
B1=rref(B1,1e-12),B1
B1p1
p1 =[1,0.5,1]T
0
0
2.0000 -1.0000 -1.0000
8.0000
2.0000
1.0000
-1.0000
eig
MATLAB
eig(
[p, lamda]=eig(A)
lamdap9.6
0
0
-0.4941 -0.5580 0.6667
-1.0000
A
-0.4720
0.7301
0.8161
0.1500
0.3333 , lamda
0.6667
0 -1.0000
0
0
0 8.0000
9.7
1
A 0
1
2
0
2
1
2 A3 + A - 5Ic)I + A1
aAb
ag907
A=[1,-1,2;0,2,1;0,0,-1];
B=2*A^3+A-5*eye(3);C=inv(A)+eye(3)
fa=poly(A),ra=roots(fa)
fb=poly(B),rb=roots(fb)
fc=poly(C),rc=roots(fc)
ag907
1
A= 0
-1
2
0
2
2
-2 -15
2.0
1 , B= 0 13
7 , C= 0
0
0
-1
0 -8
0.5
1.5
0
2.5
0.5
0
3.00
0]
0
-1.0000
13.0000
1.0000
-2.0000
1.5000
9.6
AA
AxAx
Ax
AxxAx x
AxxAxx
22
22
9.8
A=[5,-2;-2,5]AxT*A*x
5 2 x1
2
2
x T Ax x1 x 2
5
x
4
x
x
5
x
48
1
1
2
2
5 x2
2
(a)
45
y1,y2
(b)
y1x1cosx2sin
y1 cos
y2x1sinx2cos
y2 sin
sin x1
cos x2
y = Px
cos
R inv ( P )
sin
sin
cos
5 2
x T Ax yT RT ARy y1 y 2 R 1
2
y1
R
yT Dy 48
5 y2
3
R AR
0
T
,=45PR,
yT Dy y , y
3
0
0
D
0 y1
2
2
3
y
7
y
1
2 48
7 y2
A(c)(d)
1 4
A
4 5
A=[1,-4;-4,-5]
[lamda,e]=eig(A)
R=orth(A)
0
0.4472 0.8944
7
lamda
,
e
0.8944
0
3
0.4472
e,
7 0 y1
T
T
Ax = y R ARy y1 y 2
7 y12 3 y 22 48
lamdaD
0 3 y2
9.9
f ( x1 , x2 , x3 ) x12 2 x22 5 x32 2 x1 x2 6 x1 x3 2 x2 x3
Aag909n
A[1,1,3;1,2,1;3,1,5], Rorth(A), Dinv(R)*A*R
f ( x1.x2 , x3 ) 6.9754y12 + 1.6994y 22 0.6749y 32
y1
0.4677
y y 2 R -1 * x = RT * x 0.0253
y 3
0.8835
0.2636
0.9501
0.1667
0.8437 x1
0.3108 x 2
0.4377 x3
9.10
ye
-2
A 4
4
-2
-1
A2
A3
I A
2!
3!
1
-1
-3
An
n!
A
a
0
ea
0
1
an
e an
e0 1 0
AA=pDp-1y
y e A pIp 1 pDp 1 pD 2 p 1 pD 3 p 1 pD n p 1 pe D p 1
2!
3!
n!
DpMATLABag910
A = [ -2, 4, 1; 4, -2, -1; 1, -1, -3 ],
[p,D] = eig(A)
-2
4
1
e
4
-2
-1
1
-1
-3
0
0
-6.5616
0 -2.4384
0
0
0 2.0000
pe
p 1
e -6.5616
0
0
p
0 e -2.4384
0 p -1
0
0 e 2.0000
MATLABexpm(A)
9.7
(Singular Value Decomposition)
Amn
num
Au v
, Av u
v
9.7.1
Auv
T
T
2
A
Au
=
A
v
=
AAT v = Au= 2v
9.7.1
9.7.2
2ATA(nn)AAT(mm)
ATAAAT
2
k min n, m
, , ,
ATAAAT
i (i 1, 2, , k)
A
ATA
,
A
Amn1,2,, n
0
S
T
r r>diag
,
,
.
)
A
12
r+1=(
==
=0A=USV
0
1
2
r
0
r+2
n
UmVn
T
T
T
T
A = U SV 1u1v1 + 2 u2 v2 +
n unvn
(9.7.4)
2
1
2
k
(1)
m>nR(A)=r v1, v2,, vnATA
12,22,,
n2
12r > r+1 =r+2 == n= 0
1
1
1
u
v Ai=1,2,,n
Av
v v
v v 0
uu i=A*v
/
i
i
1
1
u u
v A Av
v v v v 1
T
i
T
i
T
i
2
i
T
i
T
i
2
i
2
j
2
j
T
i
2
i
T
i
T
i
u1, u2,,urr<m,
u1, u2,,uru1, u2, ,ur,,um
RmAV=USS
1, 2,, r,0,,0mn
UVV=[v1, v2,, vn]U=[ u1, u2,,ur,,um]
(2)
AV = A[v1 ,v2 ,
[ 1u1 ,
1
, r ur , 0 ,
, 0] US
r
O
r
, Avn ]
O
n-r
r O
O O
m r
Smnmn
rrSrSrdet(Sr)=1
2r0det(Sr1) =12r1=0r1
r
r+1=r+2==n=0i
Ai
ArSrr
1, 2,,rr+1
(Numerical
Rank)
b a eps
MATLABIEEE
(eps)2.2410 -16eps
11+eps=1
Ann
T
Ar 1 = Ar r 1ur+1vr+1
1u1v1T +
T
r ur vrT r 1ur+1vr+1
uiviTnn1
ii+1
Arn
rA
(Condition
Number)
9.11
-5
-9
-9
-2
-4
5
9
-1
0
-3
9
4
-2
-4
A=[2,7,9,-5,4;-9,-9,5,3,-2;
-2,5,-1,-3,5;-4,9,0,9,-4]
[U,S,V]=svd(A),
condA= S(1,1)/S(4,4)
0.6084 -0.1647
-0.7146 -0.0499
0.3385 -0.0071
0.0679
0.9851
0.7126 -0.3081
0.6750 0.1767
0.1132 0.9341
0.1541 -0.0358
0
0
0
0
16.5933
0 13.9809
0
0
0
S
0
0
11.2638
0
0
0
0
0
5.9432
0
0.2957
-0.1810
0.1115
0.6209
0.6941
U,V
T
T
U U = I, V V = I,
A[16.5933 13.9809
11.2638
5.9432]
AcondA = 16.5933/5.9432 = 2.7920
9.8.1
6%2%
30%
70%10
3050
x c1
x1
x
s1
x k = Ax k -1 = A x k -2 =
= A x0
k
ag981n
2
A[0.94,0.02;0.06,0.98],
x0[0.3;0.7]
0.2960
0.2717
0.2541
0.2508
x1
,
x
,
x
,
x
10
30
50
0.7283
0.7459
0.7492 ,
0.7040
x10A^10*x0,
x30A^30*x0,
x50A^50*x0
x1A*x0,
k
0.25/0.75
A
0
0.9200
-0.7071 -0.3162
A
lamda
, e
0 1.0000
1
1
u1 , u2
1
3
0.7071 -0.9487
k
x k Ak x0 0.25
u
0.05(0.92)
u1
2
9.8.2
9.19.2
0.30
0.15
0.10
M 0.30
0.40
0.25 ,
MPQQ
1870
2220
2070
1960
Q(1,1)0.140000.320000.15580018
Q 703450
4020
3810
3580
1670
1940
1830
1740
9.6.3
n
m
mnA76x
A67
1
yATx
n1y
y
()()
()
1. x
2. xT*y
norm(v),qr(A)
3.b
eig(A),orth(A)
()