Environmental Engineering Reference
In-Depth Information
T
z
w
=
F
l
(
P
,
C
) can be found. Moreover, the condition
T
ba
∞
<
1 should be satisfied and
γ
0
needs to be minimised.
1
−
γ
4.3.2 Realisation of the Generalised Plant
The realisation of the generalised plant
P
is derived here. From Figure 4.3, there are
A B
1
B
2
C
1
D
11
D
12
u
y
1
=
e
+
ξv
1
=
ξv
1
+
⎡
⎤
v
1
v
2
u
A
⎣
⎦
,
00
B
1
B
2
=
C
1
ξ
0
D
11
D
12
A B
1
B
2
C
2
D
21
D
22
u
y
2
=
i
o
+
μv
2
=
+
μv
2
⎡
⎤
v
1
v
2
u
A
⎣
⎦
,
00
B
1
B
2
=
C
2
0
μ
D
21
D
22
⎡
⎤
v
1
v
2
u
A
w
A
⎣
⎦
B
w
00
B
1
B
2
z
1
=
W
(
ξv
1
+
e
)
=
C
w
0
C
1
ξ
0
D
11
D
12
⎡
⎣
⎤
⎦
,
⎡
⎤
v
1
v
2
u
A
0
00
B
1
B
2
⎣
⎦
=
B
w
C
1
A
w
B
w
ξ
0
B
w
D
11
B
w
D
12
0
C
w
00 0
0
⎡
⎤
v
1
v
2
u
A
u
⎣
⎦
.
000
B
u
z
2
=
W
u
·
u
=
C
u
000
D
u
Combining the above equations, the generalised plant
P
can be represented as
⎡
⎣
⎤
⎦
A
0000
B
1
B
2
0
B
w
D
11
B
w
D
12
0 0
A
u
00 0
B
u
0
C
w
0 00 0 0
0 0
C
u
00 0
D
u
------------------------------------------------------------
C
1
B
w
C
1
A
w
0
B
w
ξ
P
=
.
(4.4)
ξ
00
0
D
11
D
12
μ
C
2
000
D
21
D
22
Search WWH ::
Custom Search