10.

1
2
3
p (t ) = a0 + a1t + a
t
+
a
t
2
3

4 : (0,3),(1,0),(2,-1),(3,6)
4
a0
a0
a0
a0

+ a1
+2a1
+3a1

+ a2
+4a2
+9a2

+ a3
+ 8a3
+27a3

= 3
1
1
= 0

= 1
1

=6

0
1
2
3

0
1
4
9

0 a0 3
a1 0
1

8 a2 1

27 a3 6

A=[1,0,0,0;1,1,1,1;1,2,4,8;1,3,9,27];
B=[3;0;-1;6];a=A\B
a=[3,-2,-2,1]T,
p (t ) = 3 2t 2t 2 + t 3

 10.1

ezplot('3-2*t-2*t^2+t^3')
hold on,grid on
plot([0:3],[3,0,-1,6],'x')
line([1.5,1.5],[0,6] )
axis([-1,4,-2,8])
t=1.5
t1=1.5;
p1=3-2*t1-2*t1^2+t1^3
plot(t1,p1,'o')

10.1 10.1


n+1 n
p (t ) = a0 + a1t + a2t 2 +L + ant n

n+1

ax 2 +bxy +cy 2 + dx +ey + f = 0

6 a 5
x-y 5 5
5

10.2
xy n (xi,yi)
(i=1,n)
(xi,yi)
x y c + y c + x c + y c + c = x
(i = 1, 2,L , n )

i 1

n n

 10.2
7 x y
x = -3.000
-2.000 -1.000 0 1.000 2.000 3.000
y= 3.03 3.90
4.35 4.50 4.40 4.02 3.26

x=[-3:3]';
% x,y
y=[3.03,3.90,4.35,4.50,4.40,4.02,3.26]';
A=[x.*y, y.*y, x, y, ones(size(x))]; B=-x.^2;
% A B
c=inv(A'*A)*A'*B,
% c



-9.0900
-7.8000

-4.3500

A =
0
4.4000

8.0400

9.7800

9.1809 -3.0000 3.0300 1

15.2100 -2.0000 3.9000 1

18.9225 -1.0000 4.3500 1

20.2500
0
4.5000 1
19.3600 1.0000 4.4000 1

16.1604 2.0000 4.0200 1

10.6276 3.0000 3.2600 1

-9
-4

-1

B = 0
-1

-4

-9

0.0050
0.9214

c = -0.2228

-0.4050

-16.8537

x 2 +0.0050xy +0.9214y 2 -0.2228x -0.4050y -16.8537 = 0

 10.2
ezplot('x^2+0.005*x*y+0.9214*y^2-0.2228*x-0.4050*y-16.8537')

hold on, plot(x,y,'x')

grid on, axis equal

% x,y


( x c ) +( y c ) = r

c1,c2 r
2

2 xc1 +2 yc2 +( r 2 c12 c2 2 ) =2 xc1 +2 yc2 +c3 = x 2 + y 2

x +
y
x 2y
1
2
(x
,y
)
n
c
i
i

2
1

2
1

2
2
2 x2 2 y2 1 c = x2 + y2 Ac = B
L L L 2 L L

c3
2
2
2
x
2
y
1

n
n

xn + yn

r = c3 + c12 +c2 2

 10.2a
ag1002a
x=[-3:3]';
% x,y
y=[3.03,3.90,4.35,4.50,4.40,4.02,3.26]';
A=[2*x, 2*y, ones(size(x))] % A,B
B=x.^2+y.^2
c=inv(A'*A)*A'*B,
% c
r=sqrt(c(3)+c(1)^2+c(2)^2)
% c r

c = 0.1018
x
0.4996
y
15.7533


-6
-4

-2

0
2

1
18.1809
19.2100
1

1 c1 19.9225

1 c2 = 20.2500

8.80 1
c3
20.3600

8.04 1
20.1604

6.52 1

19.6276

AX = B
6.06
7.80
8.70
9.00

ezplot('(x-0.1018)^2+(y-0.4996)^2-4.0017^2=0')

10.3

r = + ( r cos )

0.88
1.10
1.42
1.77
2.14

r
3.00

2.30

1.65

1.25

1.01

i,ri

theta=[0.88,1.1,1.42,1.77,2.14]';
theta r r =[3, 2.3, 1.65, 1.25, 1.01]
A=[ ones(5,1), r.*cos(theta)], B=r,

1.4509
X = =

X=inv(A*A)*A*B %0.8111

r =1.4509 /(1 0.8111

cos )
rg=X(1)/(1-X(2)*cos(0.46))
% theta=0.46
r

 ag1002a
1.0000 1.9115
3.0000
1.0000 1.0433
2.3000

1.0000 0.2479 = 1.6500

1.0000
-0.2474
1.2500

1.0000 -0.5444

1.0100

AX = B

%
ezpolar('1.4509/(1-0.8111*cos(theta))'),
hold on,polar(theta, r,'x'), axis([-4,8,-5,5])

10.4

N
3N
6

10.4 G1=200;
G2=100; L1= 2; L2=sqrt(2); theta1 =30*pi/180;
theta2 = 45*pi/180;

 10.4

1
X=0 Nax + Ncx = 0
Y=0 Nay + Ncy - G1 = 0;
M=Ncy*L1*cos(theta1)-Ncx*L1*sin(theta1)G1*L1/2*cos(theta1)=0;
2
X=0 Nbx - Ncx = 0;
Y=0 Nby - Ncy - G2 = 0;

 10.4
Nax, Nay, Nbx, Nby, Ncx, Ncy
AX+B
1
0

0
A =
0
0

Nax

Nay
G1
0
1

G1L1cos1 / 2
L1sin1 L1cos1
Nbx
, X =
, B =

-1
0
0
Nby

Ncx
0
-1
G2

L 2sin2 L 2cos2
Ncy
-G 2 L 2cos2 / 2
1

A=[1,0,0,0,1,0;0,1,0,0,0,1;0,0,0,0,-sin(theta1),...
cos(theta1);0,0,1,0,-1,0;0,0,0,1,0,-1;0,0,0,0,...
sin(theta2),cos(theta2)];

 ag1004
Nax 95.0962
Nay 154.9038

Nbx -95.0962
X =
=

Nby
145.0962

Nex -95.0962

Ney
45.0962

10.5

A
x x y

N y, ,
L =
= x cos +y sin
(i =1,L , n )
K
:
i

sin
cos = P cos
N
N K

i =1

i =1

n+2 n

= P sin

 10.5
, P=3000
L=2m,
A1=200e-6, A2=300e-6, A3=400e6, E=200e9

:
-N1*cos(a1)-N2-N3*cos(a3)=0;
N1*sin(a1)-N3*sin(a3)=P;
N1/K1=dx*cos(a1)+dy*sin(a1)

 ag1005
X [N1;N2;N3;dx;dy]
D*X=B MATLAB X D\B
ag1005
% D
D(1,:) =[cos(a1),cos(a2),cos(a3),0,0];
D(2,:) =[sin(a1),sin(a2),sin(a3),0,0];
D(3,:) =[1/K1,0,0,-cos(a1),-sin(a1)];
D(4,:) =[0,1/K2,0,-cos(a2),-sin(a2)];
D(5,:) =[ 0,0,1/K3,-cos(a3),-sin(a3)];
B = [P;0;0;0;0];
% B
format long, X = D\B
%

 ag1005
,
X = 1763.40607065591(N1)
591.14251029634(N2)
-2995.72429657297(N3)
0.00016949097(dx)
0.00001970475(dy)
,dy=0.0000,
N2 MATLAB
, format long
X(1),,X(5)

10.6

x1 x2

m &&
x +(c +c ) x& c x +(k +k ) x k x = 0
1 1

m2 &&
x2 +c2 ( x& 2 x&1 ) +k 2 ( x2 x1 ) = 0

(1)


MX&& + CX& + KX = 0
m 0
c + c c
k + k
(2)
M =
,
C
=
,
K
=

c
k
c
0 m

k2
x1
,
X
=
x
k2

(3)
x10
x& xd 10
X 0 = , X d 0 = X& 0 = 1 =
,
&
x
x
x
2 d 20
20

X0 Xd0 :
(4)

Y& = AY
(5)
Y = Y0 e A t
Y=Y0

MATLAB Y=Y0*expm(A*t) expm

X& (A*t)

Y,Y0 A
&

X

= X
0
I X

&
& = X
&& = -M \ CX
& - M \ KX

X
X

-M \ K - M \ C X
0
I
X
X

Y = 2
, Y
=
,
A
=
X
- M \K
,
X
M
\
C

(6)
x
x
d

d0

d1

X = , X d =

x2
xd 2

(7)

 10.6
m1=1; m2=9; k1 = 4; k2=2; c1 c2 x0 =
[1;0] xd0 = [0;-1] x1,x2

ag1006
m1=1; m2=9; k1 = 4; k2=2;
%
c1=input('c1=');c2=input('c2=');
%
x0 = [1;0]; xd0 = [0;-1]; tf= 50; dt=0.1; %
M = [m1,0;0,m2]; K = [k1+k2, -k2; -k2, k2]; %
C = [c1+c2, -c2; -c2, c2];
A=[zeros(2,2),eye(2);-M\K,-M\C];
%
y0=[x0;xd0];
%
for i=1:round(tf/dt)+1
% ,
t(i)=dt*(i-1);
y(:,i)=expm(A*t(i))*y0;
%


c1=0.2,c2=0.5
x1

c1=0,c2=0


[p,lamda]=eig(A)
-0.0556 - 0.3717i -0.0556 + 0.3717i 0.3021 + 0.0156i 0.3021 - 0.0156i
-0.0024 + 0.0155i -0.0024 - 0.0155i

0.8836
0.8836

p=

0.9258
0.9258
-0.0099 + 0.1153i -0.0099 - 0.1153i

-0.0368 - 0.0116i -0.0368 + 0.0116i -0.0116 + 0.3380i -0.0116 - 0.3380i

0
0
0
-0.3646 + 2.4361i

0
-0.3646 - 2.4361i
0
0
lamda =

0
0
-0.0132 + 0.3825i
0

0
0
0
-0.0132 - 0.3825i

lamda

10.6

MATLAB

10.7 10-10
Z1=I
j250 Z2=250 Is=2
o
0A ZL=500 j
500
s

 10.7

1
1 &
1 &
&
+
U

U
=
I

a
b
s
Z2
Z1 Z 2

1 &
1 &
U& b

&

Ua +
Ub =
+ 0.5 I1
Z2
Z2
ZL

1 &
U a = I&1

Z1

1
1
+
Z
Z2
1
1

Z
2

Z1

1
Z2

1
Z2

&
U a
1

0.5 U& b = 0[ I& s ]

0
I&
1
1

1
ZL

AX = BI s

MATLAB ag1007
Z1=-j*250;Z2=250;ki=0.5;Is=2+j*0;
zL=500+j*500;
%
a11=1/Z1+1/Z2;a12=-1/Z2;a13=0; % A
a21=-1/Z2;a22=1/Z2-1/zL;a23=-ki;
a31=1/Z1;a32=0;a33=-1;
A=[a11,a12,a13;a21,a22,a23;a31,a32,a33];
B=[1;0;0];
% B
X=A\B*Is;
% X=[Ua;Ub;I1]
Ub=X(2)
%
absUb=abs(Ub)
%
angleUb=angle(Ub)*180/pi %
compass([Ub]);
% Ub


Ub=-2.5000e+0027.5000e+002i
absUb = 790.5694
angleUb = -108.4349
Ub
compass([Is;X])
Ua,Ub
Is,I1
Is,I1

10.8

dny
d n 1 y
dy
d mu
du
an
+ an 1
+L + a1
+ y = bm
+L +b1
+b0u
n
n 1
m
dt
dt
dt
dt
dt

(n m )

p t
pt
p t

y (t )
=
C1eu=0
+C
e
+
L
+
C
e
2
n

p n [p1,p2,,pn]
Cn y
y0, Dy0, , D(n-1)y0


y (0) = C1 +C2 +L +Cn = y 0
y '(0) = p1C1 + p2C2 +L + pnCn = Dy 0
L
y ( n 1) (0) = p1( n 1)C1 + p2( n 1)C2 +L + pn( n 1)Cn = D (n 1) y 0

C1,,Cn
:
1
p
1

n 1
p1

1
p2

p 2n 1

1 C1
y0

pn C2 Dy 0
=
V C = DY0 '
M
M

p nn 1 Cn
D ( n 1) y 0

V p

 ag1008
MATLAB vander(p)
90 V=rot90(vander(p))
MATLAB ag1008:
a=input(' a=[a1,a2,...]= ');
n=length(a)-1;
Y0=input(' Y0=[y0,Dy0,D2y0,...]= ');
p=roots(a); V=rot90(vander(p)) % V
c= V\Y0;
% C
%

dt=input('dt='); tf=input('tf= ') %

t=0:dt:tf; y=zeros(1,length(t)); % t y
for k=1:n y= y+c(k)*exp(p(k)*t);end %

 10.8

d y
d y
dy

+2
+9
+3 y = 0
n

n 1

dt n

dt n 1

dt

y (0) =1, y (0) = 0, y (0) = 0

ag1008

a
[1,2,9,3]; Y0 [1,0,0];
0.1; tf 5
dt
t=0~5
Y0
[0,1,0]; [0,0,1] hold on

1
0.8

Y0=[1,0,0]

0.6
0.4
0.2
0
0

Y0=[0,1,0]
Y0=[0,0,1]
2

10.9

DFT

x(n)(0nN-1) N
(0 2) N
k=2k/N(0kN-1)
N

X ( k ) = x ( n )W
(0 k N 1)
(1)
N 1
n =0

k n
N

WN = e j 2 / N

2/N
X(k) x(n)


(1)
1
X (0)
1
X (1)

= 1
X =
M

M
X ( N 1)]
1

L
1

WN 2

WN

WN N 1 L

WN

2( N 1)

WN

WN ( N 1)( N 1)
1

N 1

x (0)
x (1)

x ( N 1)

=W

N1 W DFT
NN

 (1)
MATLAB
n=[0:1:N-1]; k=n;
% n k
WN = exp(-j*2*pi/N);
%
nk = n*k;
% NN nk
WNnk = WN .^ nk; % W
Xk = xn * WNnk;%
0
0
L n
0
0

1
1
L
N 1

[ 0, 1, L , N 1] =

n
'*
k
=
n
k

M
M
O
M

N 1 L ( N 1) ( N 1)
N 1
0

 (2)
W
W DFT
MATLAB
DFT
5 DFT
xn=input('xn= ');
N=length(xn);

subplot(2,1,1),stem(xn,'.');
subplot(2,1,2),stem(abs(Xk),'.')
ag1009

 10.9
xn=[ones(1,64),zeros(1,192)]

DFT
X(i) N
N-1
DFT X
NN
N(N-1)
NN
MATLAB

16NN


N MATLAB
ag1009
xn 256

(FFT)

100
DFT 1024

20

10.10 FIR
D() =i(i=1,2,,K)
K
N=2L+1L
d ( n ) cos ni =D (i ) = D i
(i=1, 2, L, K)
A(i ) = n
=0

K L+1
d(n) L+1
K=L+1
K=L+1


KL+1
e= D Pd
e K D
K d L+1
D1
cos(
1 )
L cos( L1K(L+1)

e1
1
d

P
cos
n
0
i
e
D
1 cos( ) L cos( L
d
2
2
2
2
1

e
=
, D=
, P=
, d =
M
M

M
M

eK

DK

1 cos(K ) L cos( LK

d = PT P

-1

PT D

dL

 10.10 FIR
N=9( 5 ) FIR
0
D
=[0, 0.33, 0.67, 1, 1.5, 2, 2.5, 3.14];
1 cos cos 2 cos 3 cos 4
D
D=[1,1,1,1,0,0,0,0];
1 cos cos 2 cos 3 cos 4
D

d (0)

1 cos cos 2 cos 3 cos 4

D

d (1)

1
1

1
1

cos 4 cos 24 cos 34 cos 44

D4
d (2) =
cos 5 cos 25 cos 35 cos 45
D5
d (3)
cos 6 cos 26 cos 36 cos 46
D6

d (4)

D7
cos 7 cos 27 cos 37 cos 47

cos 8 cos 28 cos 38 cos 48

D8

P *d = D

 ag1010
P
w=[w1; w2; ;
w8] [0:4] 85
P MATLAB P=cos(w*[0:4])
MATLAB ag1010

N=9; L=floor((N-1)/2);%
%
w=[0,0.33,0.67,1,1.5,2,2.5,3.14];
D=[1,1,1,1,0,0,0,0]; %
P=cos(w*[0:L]);
% P

 ag1010
d = 0.3981
0.6039
0.2137
-0.1205
-0.1506
d(n)

L=4 4 0

10.11

MATLAB

I N
ui i=1,2,I
xj j=1,2,,N
x u

k=
1

i=
1

x j =
q jk xk +
p ji ui

x
q
L q
q
1

11

x q
2 = 21
M M

x N qN 1

12

q22
M
qN 2

x1 p11
q2 N x2 p21
+
M M M

qNN x N pN 1
1N

L
O
L

( j =1, 2,L , N )

p12
p22
M
pN 2

L
L
O
L

p1 I u1
p2 I u2

M M

pNI x I

X = QX + PU

X K , U I ,Q
NN P NI Q


(I - Q)X = PU


W = X/U = (I - Q)-1 P

W = (I-Q)-1 P
P Q

s
z z z-1

MATLAB (Synbolic)

 10.11
u x8

G1,G2,
x1=u
x2=x1-x3-x5
x3=G1*x2
x4=x3+x1-x5
x5=G2*x4
x6=x3+x5-x7
x7=G3*x6

 10.11

x1 0 0 0 0 0
x 2 1 0 -1 0 -1

x 3 0 G1 0 0 0

x4
1 0 1 0 -1
X = =
x 5 0 0 0 G2 0

x 6 0 0 1 0 1
x 7 0 0 0 0 0

x8 0 0 0 0 0

0 0 0
0 0 0
0 0

0 -1 0
G3 0 0
0

x1 1
x 2 0

x 3 0

x 4 +0u = QX + PU
x 5 0

x 6 0
x 7 0

x8 0

u X
W= (I-Q)-1 P

 ag1011
syms G1 G2 G3 K
%
Q(3,2)=G1;
% Q
Q(2,1)=1;Q(2,3)=-1;Q(2,5)=-1;%
Q(4,3)=1;Q(4,1)=1;Q(4,5)=-1;
Q(5,4)=G2;
Q(6,3)=1;Q(6,5)=1;Q(6,7)=-1;
Q(7,6)=G3; Q(8,7)=K;
Q(:,end+1)=zeros(max(size(Q)),1)
%
P=[1;0;0;0;0;0;0;0];
I=eye(size(Q));
W=(I-Q)\P
%
W8 = W(8)
% x8 W(8)


W=

1]
[

1/

(2*G1*G2+1+G2+G1)]
[

G1/

(2*G1*G2+1+G2+G1)]
[

(2*G1+1)/

(2*G1*G2+1+G2+G1)]
[

G2*(2*G1+1)/

K G3 (2 G2 G1+G1+G2)
(2*G1*G2+1+G2+G1)]
W8 =
(2 G2 G1+2 G2 G1 G3+G3+G1+1+G2+G2 G3+G1 G3)
[
(2*G1*G2+G2+G1)/
(2*G1*G2+2*G1*G2*G3+1+G3+G2+G2*G3+G1+G1*G3)]
[ G3*(2*G1*G2+G2+G1)/
(2*G1*G2+2*G1*G2*G3+1+G3+G2+G2*G3+G1+G1*G3)]
[ G3*K*(2*G1*G2+G2+G1)/(2*G1*G2+2*G1*G2*G3+1+G3+G2+G2*G3+G1+G1*G3)]

Gi
G1,G2,G3 s
G1 =

s
3
1
, G2 =
, G1 = 2
,
s +1
s +4
s +5 s + 6

Gi syms K s

Q(3,2)=s/(s+1);Q(5,4)=3/(s+4);
Q(7,6)=1/(s^2+5*s+6);
K ( s 2 +13 s + 3)
W8 =

ag1011a

2 s 4 + 28
s 3 + 111
s 2 + 161 s + 49

s
z q=z-1

10.12

+
X = QX
PU X

W = (I - Q) -1 P

 10.12
u1 u2
x1, x2, x3, x4
x1
u1,u2
x1 = W3 x4 + u1

x2 =W1 x1 +W4u1
x3 =W2 x2
x4 = x3 + u2

0
0 W3 x1 1 0
x1 0
x W
x W 0 u
0
0
0
2
1
=
2 + 4 1

x3 0 W2 0
0 x3 0 0
u2

0
0
1
0
0
1
x
x
4

4
X = QX + P U

W = X/U = (I - Q)-1 P

Q P
x1 =W (1,1) u1 +W (1, 2) u2 =W (1,:) U

u1,u2 x1~x4
Q 44 (I-Q)
x

 ag1012
ag1012
syms W1 W2 W3 W4 u1 u2
Q(1,4)=-W3; Q(2,1)=W1;% Q
Q(3,2)=W2; Q(4,3)=1;
P(2,1)=W4;P(1,1)=1;P(4,2)=1; % P
W=inv(eye(4)-Q)*P
%
x1=W(1,:)*[u1;u2]
% u1,u2 x1
pretty(W(1,1)), pretty(W(1,2)), %
pretty(x1)
%


W = [ 1/(1+w1*w2*w3)-w2*w3/(1+w1*w2*w3)*w4,
-w3/(1+w1*w2*w3)]
[ w1/(1+w1*w2*w3)+1/(1+w1*w2*w3)*w4,
-w1*w3/(1+w1*w2*w3)]
[ w2*w1/(1+w1*w2*w3)+w2/(1+w1*w2*w3)*w4,
-w1*w2*w3/(1+w1*w2*w3)]
[ w2*w1/(1+w1*w2*w3)+w2/(1+w1*w2*w3)*w4,
1/(1+w1*w2*w3)]
x1 = [ (w2*w1/(1+w1*w2*w3)+w2/(1+w1*w2*w3)*w4)*u1-w1*w2*w3/(1+w1*w2*w3)*u2]

W(i,j) j i W 42
8
pretty
1
W2W3W4
W3
W(1,1)

,
W (1, 2) =
1 +W1W2W3

1 +W1W2W3

1
W2W3W4
x1 =

1 +W1W2W3 1 +W1W2W3

1 +W1W2W3

W3
u2
u1
1
+
W
W
W
1
2
3

 ag1012a

W1 =

1
2
0.5s
, W2 =
,
W
=
1,
W
=
3
4
0.05s +1
(0.01s 2 + 0.1s +1) s
0.001s +1

s W1,W2,W3 s
ag1012
5 ag1012a
clear, syms s u1 u2
W1=1/(0.05*s+1);W2=2/(0.01*s^2+0.1*s+1)/s;
W3=1;W4=0.5*s/(0.001*s+1);
Q(2,1)=W1;Q(1,4)=-W3; % W1
..( ag1012)

 ag1012a

Symbolic

( s + 20)( s +10) s
W (1,1) =

s 4 + 30s 3 + 300 s 2 + 2000 s + 4000

( s + 20)( s 2 +10 s +100) s
W (1, 2) = 4
s + 30 s 3 + 300 s 2 + 2000 s + 4000
( s + 20)( s 2 +10 s ) su1 ( s + 20)( s 2 +10 s +100) su2
x1 =
s 4 + 30s 3 + 300 s 2 + 2000 s + 4000