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p(z 1 , z 2 ) = 0 is called the 2-D character- istic equation of the model. characteristic polynomial assignment of consider the 2-D Roesser model " x h i+1,j x v i,j+1 # = A 1 A 2 A 3 A 4 " x h ij x v ij # + B 1 B 2 u ij i, j ∈ Z + (the set of nonnegative integers) with the state-feedback u ij = K " x h ij x v ij # + v ij where x h ij ∈ R n 1 , and x v ij ∈ R n 2 are the hori- zontal and vertical state vectors, respectively, ij ∈ R m is the input vector, and A 1 , A 2 , A 3 , A 4 , B 1 , B 2 are real matrices of the model, K = [K 1 , K 2 ] ∈ R m×(n 1 +n 2 ) and v ij ∈ R m is a new input vector. Given the model and a desired 2-D characteristic poly- p c (z 1 , z 2 ), find a gain feedback matrix K such that det I n 1 z 1 − A 1 − B 1 K 1 −A 2 − B 1 K 2 −A 3 − B 2 K 1 I n 2 z 2 − A 4 − B 2 K 2 = p c (z 1 , z 2 ) = n 1 X i=0 n 2 X j=0 d ij z i 1 z j d n 1 n 2 = 1 characteristic polynomial of 2-D Fornasini– the determinant p (z 1 , z 2 ) = det I n z 1 z 2 − A 1 z 1 − A z 2 z 2 = n 1 X i=0 n 2 X j=0 a ij z i 1 z j (a nn = 1) is called the 2-D characteristic polynomial of x i+1,j+1 = A 1 x i+1,j + A 2 x i,j+1 + B 1 u i+1,j + B 2 u i,j+1 i, j ∈ Z + (the set of nonnegative integers) where x ij ∈ R n is the local state vector, u ij ∈ R m is the input vector, and A k , B k (k = 1, 2) are real matrices. p(z 1 , z 2 ) = 0 is called the 2-D character- istic equation of the model. characteristic polynomial of 2-D Roesser the determinant p (z 1 , z 2 ) = det I n 1 z 1 − A 1 −A 2 −A 3 I n 2 z 2 − A 4 = n 1 X i=0 n 2 X j=0 a ij z i 1 z j a n 1 n 2 = 1 is called the 2-D characteristic polynomial of " x h i+1,j x v i,j+1 # = A 1 A 2 A 3 A 4 " x h ij x v ij # + B 1 B 2 u ij i, j ∈ Z + (the set of nonnegative integers) where x h ij ∈ R n 1 , and x v ij ∈ R n 2 are the hori- zontal and vertical state vectors, respectively, ij ∈ R m is the input vector, and A 1 , A 2 , A 3 , A 4 , B 1 , B 2 are real matrices. p(z 1 , z 2 ) = 0 is called the 2-D character- istic equation of the model. characterization the process of cal- ibrating test equipment, measuring, de- charge a basic physical quantity that is a source of electromagnetic fields. charge carrier a unit of electrical charge that when moving, produces current flow. In Electrons carry unit negative charge and have an ef- c 2000 by CRC Press LLC |