6.1 6.2 6.3 6.4 6.5

6.1.1 (6-1)u(k)NTx(0)x(N)=0

(6-1)u(k) NTx(0)x(N) (6-1)

1. (6-3) 1xn(6-3)nN=n2(6-3)

2.

(6-3) F N=n F=eAT

6.1.2 (6-1)NTx(0) G(6-6) (6-6) (6-1)

6.1.2 (6-6)NTx(0) (6-6) x(0) (6-8) (1)(6-8)n(2)k=n-1

6.1.3 1. S1:S2:S3:S4:S1 2. 3. 6-3

6.1.4 (1) 2pq (2)

6.1 6.2 6.3 6.4 6.5

6.2.1 (6-14)(1) [F-GK]K(2) [F-GK]G (3) [F-GK][C-DK]K (6-14) (6-12) 6-7

(6-14)(4)

KK

(5)

6.2.2 :K() 1. : nn

2. AckermannK.

3. (1)

(2) z

(3)

u(k)

(4)Ackermann

6.2.3 nn

K1nnn

KmnnKm(n-1)K

6.1 6.2 6.3 6.4 6.5

6.3.1 6-10 (1) (2) F (3)

6.3.2 1. 6-11 (6-35) (6-35)L

(1)

(2)

(3)

L Ackermannmm

(6-36)

6.3.2 2. (6-41) [F CF][F C][F CF]L 6-12

y(k)y(k+1)06-13 0

6.3.3 pq=n-p : LAckermann

6.1 6.2 6.3 6.4 6.5

6.4.1 6-14

: 2nKL6-14

6.4.2 SISOy(k)u(k) 6-14

6.4.3 (1/2~1/4) LLLLLLLL()

6.1 6.2 6.3 6.4 6.5

6.5.1 SQR

6.5.2 SQRRiccati

N1. (1) F G(2) RQRiccati

2. (1)SISOMIMOQR

(2)QRPQF DD P

(3)QR

(4)

6.5.3 1. J

6.5.3 1.

1. MATLAB

2.

2. (6-80) (6-81) (6-80)(6-81)

6.5.4

6