[例5-3]状态转移矩阵求取 A=pAp 对角线形式 4[ ePAP=plep e==pe p School of Mechanical Engineering ME369-lecture 9.1 Shanghai Jiao Tong University Fall 2015 [例5-4]状态转移矩阵求取* 凯莱-哈密顿定理(Cayley-Hamilton theorem) e"=a,0)1+a0）A+.…+an0A [1元 a(t) a(t) School of Mechanical Engineering ME369-lecture 9.1 Shanghai Jiao Tong University Fall 2015 1010 ME369-lecture 9.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 0 1 = -2 -3       A -1 e e  P AP A P P -1 1 t t t 1 1 e e e       A p Ap A p p p p ˆ 1 A p Ap   对角线形式 [例5-3] 状态转移矩阵求取 ME369-lecture 9.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 0 1 = -2 -3       A 凯莱-哈密顿定理（Cayley-Hamilton theorem） 0 1 ( ) ( ) ( ) t n n e a t a t a t       A I A A 1 1 1 2 1 2 1 0 1 1 1 2 1 1 2 2 2 2 1 1 ( ) 1 ( ) 1 ( ) 1 n n t n t n t n n n n a t e a t e a t e                                                         [例5-4] 状态转移矩阵求取*