STATE SPACE CONTROL. Prof. Ing. Miluše Vítečková, CSc. Prof. Ing. Antonín Víteček, CSc., Dr.h.c.
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- Bethanie Angel Willis
- 5 years ago
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1 VŠB h Uvr f Orv F f Mh Egrg Dpr f Cr S r Czh Rp SE SPCE CONROL Prf g Mš Víčvá CS Prf g í Víč CS Drh Orv 6
2 Rvr: D g M Hgr CS Cprgh : Prf g Mš Víčvá CS Prf g í Víč CS Drh SE SPCE CONROL SBN
3 PREFCE h "S Sp Cr" v h f f h r h ph p h rp f h prp f h p h gv f hr fr h r r h h pr r f h p r f h SSO S h f f h p r h r gv r prf Fr pr rr h fg p r r: OG K Mr Cr Egrg 5 h E Pr-H B FRNKLN GF POWELL JD EMM-NEN F Cr f D S h E Pr-H Uppr S Rvr N Jr MNDL K r Cr Egrg Mg Dg N g r P Phr N Dh 6 NSE N S Cr S Egrg 6 h E Jh W S H N Jr NOSKEVČ P Mg S f Mhr S g MLB- S VŠB-U Orv h hv g f h r h rg f g: VÍEČEK VÍEČKOVÁ M C-p Cr f Mhr S VŠB- U Orv h r fr h r r h r hr
4 CONENS C L f 5 r Mh f Gr h Lr B r h 6 S f r p Cr rv B fr 8 S f r q 5 S p r 58 S p rr 58 S rvr 69 gr p r 8 pp 88 pp B 89 pp C 9 pp D 9 pp E 96 Rfr
5 5 LS OF BSC NOONS ND SYMBOLS ff f f f ffr q ff f rfr f r r hrr p ff f rvr vr f r hrr p ff f rvr r hrr p ff f -p r vr f r hrr p ff f -p r ω Gjω Gjω frq rfr f p f ω g rp C f r f rr [ ] r f -p r f rr [ ] r f rvr f rr [ ] ff f rgh f ffr q ff f rfr f r p vr f p vr f p rfr r rrr - rrr gr f ω f frq π g G p rp rfr f rfr f p rp jϕ ω P ω j ω ω frq rfr f p f Gjω G jω frq rp h H p rp rfr f p rp rr j gr rv r
6 6 K KP L L L - g ff f p fr p rr r gh f rr gr p r rr g gh f rr prpr p r vr f p rr prr f r Lp rfr prr f vr Lp rfr Lω gω grh f frq rfr f Lrgr rvr g vr rr vr gr f p rfr f r r rq rq L g M N N N N N grh g rg p rfr f r r zr gr f hrr p gr f p rfr f r f vr vr hrr p r qp p r qp rfr f r r p hrr p f -p r h rr r hrr p f -p r h rr hrr p f rvr r hrr p f rvr Pω RGjω p p f rvr ω Gjω R α jω r pr f frq rfr f gr pr f frq rfr f r r f rr [ ] rv r f rr [ ] r p vr p vr Lp rfr p f r r f p N j zr f r r f p M r p f -p r h rr
7 7 g ϕ ϕ rrpg ph ϕ ω π pr ω pg pr pr D rvv gr r rfr r f rr [ ] p vr r vr p vr p vg v S Z fr r p vr r vr r r rfr vr -p v vr vr f r p pr vr p vr p rp r vr r pr f rp - pr f rp p α gr pg α R r pr f h p vr δ Dr p ffr ε rrr vr η Hv p ω πf gr frq gr p ω gr pr f p vr ω r gr frq ϕω rg Gjω ph f frq rfr f p f ϕω ph rp ξ rv pg
8 8 κ τj vrh Uppr * r p - vr rp Lr D rr r r g r rvr rv rv r rfr rfr S vr r rvv h rp R g ppr q fr rg q ˆ rrp rg rfr p qv Grph r g zr zr g p p r r g vr g p vr g
9 9 _ g f g pr g Shr rg rg B r gr gr pr R r r pr g g
10 NRODUCON Cv rr P PD P PD hv p rr h pprpr h r r fr r p rv g q f r pr hr vg p p g h rqr p hr g prpr g v rr r h fg f hg h r vr gh pprg gv f f r v r r r h rqr r q fr gv hg prpr f r h f v rr gr h rqr r q p h f p r fr hgh rqr fr r q h v p r rh vp h r r h p r hr h gr p f h hr r h p r rv vg f h v r gf r h r q rqr hr g hr r gv pprh h h h f SSO f r h p h rrg h r MMO r
11 MHEMCL MODELS OF DYNMC SYSEMS Gr h Fr h g f h prpr f hr h vr vg pr h r pr h hr h r r r f g h r pr fr rg h h pr N r f r r hr h h hv fr hh r gr r ffr pr ffr gr ffr q hr h h f g r pr h f r f h Fr p h prr rf pr S r f fg h g pr h W h h h h pr h fr f h -vr r rr ffr q hh r r h p prr Wh vg h h r rr h vr h ppr f h r S v vr p MMO -p -p fr g SSO g-p g-p p SSO Cr h SSO hh r h gr r ffr q g[ ] h j ; j ; j j hr h p vr g p h p vr g p g h gr r f h rr f h q > h h h h f rg ph rz
12 f ph rz Fr < h h ph rz hrfr pr h hvr f h r h h hh h rvv ppr r h h r Fr h ffr q fr j ; ; j p h q f hr f 5 6 h q 5 pr h hrr f h gv g Fg f Fg Nr hrr Ep hrr r h p p p vr - f rvv ppr Eq g [ ] r g 7 h h h f h h r
13 S p h f r vr pr h r fr rg h SSO MMO h p f h SSO h h fr g[ ] q 8 h[ ] p q 8 [ ] g g g [ g g g ] g hr h vr f h g h gr r f f h h h gr r f h rp W f h p vr rr pf rp h p f h pr h r vr Kg f h vr pr fr p r Chpr h rr gv h r f vr f h p q h p ppr h h gv 8 rg ph rz hr ph rz h hrr f fr h p 8 fr h f h vr Ep Ep h r r h ffr q f h rr g[ ] 9 h r : r h ph rz r p h hrr pr h h 9 h fr f h p
14 S: hrfr > [ h rgh f h ffr q h rvv f ppr] h gv rg ph rz h - fr h rvv h q 9 r zr hrfr r h 6 r g g h hrr h Fg f h h vr g h fr h q 9 f g g h hrr fr h - fr f h vr g g Lr Lr h r vr pr grp f h f h h f h f h r hh f pr prpr: v hg v Hg:
15 5 h pr prpr j hr r ; h p vr p; h p vr p h r f h h prpr h h gh f p vr rrp h ghg f p vr vr pr prpr f r : vr prpr h hv h hr g prpr Ep h r h r gr q hr r S: r vrf hhr h h r W h g fr g W h fr h h fr h p f v f h r f r r h h f r fr Fg α rg α rg Fg Mh f : r r Ep
16 6 Fr h v r h h hrr f r f p hrgh h rg f r Ep h grr r h r ffr q r h qv gr q τ τ r vrf h r f h gv h S: W h h p Ep W g h h h r fr f h f h r Fg Fg Mh f grr: r r Ep h prr grz Fr r h r zr Ohr r h h h h fg h f r B r h h SSO r h vr f r r ffr q h ff r h 5 h h τ τ
17 7 h f ph rz r gv h r 5 Wh ppg h Lp rfr h ffr q f h -h rr 5 h 5 h gr q f h -h gr Y L U R fr r h p vr rfr M L R Y U 6 N N rfr f rp p rfr f rp rfr f f ffr q M 7 N 8 hr Y h rfr f h p vr U h rfr f h p vr L h p f h gr hh r h f h f f h ffr q R h p f h gr hh r h f h rgh f h ffr q M h p f h gr hh r h ff f h rgh f h ffr q N h hrr p f h gr hh r h ff f h f f h ffr q h p vr - [ - ] S ffr q 5 h h f h v h h p N h h hrr p f h Ug h vr Lp rfr h rfr f h 6 h rg f h { Y } L 9 vr vg pprpr Lp rfr Fr h r 6 f h h r h r h f h gv r f h rfr f h rp h zr h r zr h f h r r h r M Y U G U N
18 8 Y M G U N hr G h rfr f h p f h r h r f h hrr p N j h zr f h r h r f h p M h ffr h rv gr f h gv h rfr f G gv h r f h rfr f h p vr Y f h rfr f h p vr U fr zr r fr h ffr q 5 h rfr f h rvv f h p h p vr fr zr r gv h p fr L L { } Y ; j j { } U ; j h gr vg f h rfr f G h f h pr h prpr f h r h p vr Fg U Y G Fg B gr f h h vr p ffv r h h W g h hrr f h r f fr h ffr q 5 fr g j ; ; j hr h p g Fr pr vr pr rhp h h p vr f 5 r h h f h r 5 g h q f h hrr fr h rfr f hrfr p r
19 9 [ G ] 6 α rg Fg 5 S hrr f r h hrr f h r rgh hh r hrgh h rg f h r Fg 5 B g p frq jω fr h p vr h rfr f h frq rfr f Gjω G jω jω jω jω jω ω jϕ ω 7 ω Gjω Gjω 8 ϕ ω rggjω 9 hr ω h p g f h frq rfr f φω h rg r ph f h frq rfr f ω h gr frq p - [ - ] rr gh gr frq h pr f h frq ω π fr rr frq f h h [Hz] h [ - ] fr h gr frq h [r - ] h ppg f h frq rfr f Gjω fr ω ω h p p h frq rp pr p Fg 6
20 G jω ω ω ϕ ω R ω ω Fg 6 Frq rp Lω [B] r ppr ω [r ] ϕ ω [r] π / π / π ω [r ] Fg 7 Lgrh frq rp: B g p B ph p Lgrh frq rp B frq rp r Fg 7 h h B g p
21 L ω g ω h B ph p φω r rpr pr h frq h grh h grh Lω gv B Fr h B p ppr r h f rgh p h frq rfr f Gjω pr fr h v f h gr frq ω h p g ω h ph rg φω f h - rp h p h h p h h frq rp pr Fg 8 h gr gf p fr f ω Lr ω [ ω ϕ ω] ω π ϕ ω ϕ ω ϕ π ω ϕ π ω Fg 8 rpr f frq rp h f h ph rz r gv h r v h vr r rfr g h f hgh gr frq hrfr fr rg ph rz hr h h Gjω ω ω ω L ω ω > Fr h frq rfr f 7 vr g h q f h hrr f fr h - ω hrfr h [ Gjω] ω f fr 5 fr jω
22 ω 5 r h h h gr frq ω h rhp h Fg 9 ω 6 ω ω ω ω Fg 9 Rhp h h gr frq ω Fr h r 5 6 Fg 9 f h h prpr f h r fr gr frq prpr g pr h - v vr Sr prpr fr hgh gr frq prpr fr h rp h r f h rp h r v vr Prpr f r h zr pr rp h -f r f p vr r hr hr r r f p vr h r h Dr p δ Hv p η h p rp g r h rp f h r h p vr h fr f h Dr p δ fr zr Fg fr g r h h r r Y G U 7 δ ˆ U { G } g L 8
23 δ Lr g Dr p δ p rp g L { G } Fg p rp f h r h r rvv r grg f h p vr rrp rvv r grg f h p vr W h prpr fr h r f h hrr f h r h f p rp g S h hrr f h r rgh rg hrgh h rg f h r gh r -zr p W r δ τ τ g τ τ Fr h g h q f h hrr f [ g τ τ ] 9 h rg f h ph rz h h fr g < f g h Dr p δ h h gv r ph rz h p rp h r h rp f h r h p vr h fr f h Hv p η fr zr Fg O h f h r 7 fr η ˆ U g h
24 η Lr h Hv p Sp rp η h L G h g Fg Sp rp f h r h L G Fr h p rp h h q f h hrr vr f h r h η h [h ] h rg f h ph rz h h fr h h < h < f pp h grz rvv hh f h r Fg hδ h p 5 hr r h p f h h jp h r h rr rvv r h p f
25 5 h > h < h < Fg F h p f B f h grz rvv p pr h rhp h Dr p h Hv p η δ η δ τ τ 6 h p p rp h g h g τ τ 7 G G H H 8 Fr h f h r h p h gr q 9 p q 9 hr h qr r f h rr [ ] h vr f h p f h h vr f h p f h h rfr h rp h gr f h p f h r 5 Fg Fr h p 9 f h rg f h ph rz fr f h f ph rz
26 6 Fg B gr f h p f h r f h p 9 f h r pp C ] [ 5 h rv pp C ] [ 5 h fr zr [ ] g h rfr f h f h Lp rfr U Y U X X X U Y G 5 hr h r h r h r r f rr [ ] h rv r f rr [ ] Fr h rfr f 5 h f 6 h q f h hrr f ] [ 5 prfr fr gg h rfr f h r U Y G 5 hh h vr f h f r rfr f 5 r 5 r r h f h p 9 q r h rfr f τ
27 7 U Y G 55 h p hv hr f ffr fr Fr p fr h rfr f 55 r h fr U Y G N 55 N 55 pr h h rfr f 55 fr h p pf h p h rfr f rr h h h h h fr M fr hv rv hrfr v h r rv r hv fr Fr h v h h p h gr g r rv [ r 5 5] f r zr h h f h r r ffr q rfr f frq rfr f p rp p rp r p r qv rfr Ep h r r h 56 g zr r r: h rfr f h frq rfr f h p rp h p rp S: Fr r vrf h r rv f h gv r h 9 56 r [] Cr 5 ] [ h r 56 r
28 8 Orv 5 h r 56 rv rfr f O h f h r 5 r j [] G f h r 5 vr h r r [] U Y G W h hv r h h rfr f h fr Frq rfr f r h h r 7 r r j j j j j ω ω ω ω ω ω ω G G h frq rp h Fg p rp O h f h r 8 g { } G g L L h p rp h Fg Sp rp O h f h r g L L G h
29 9 h p rp h Fg W vrf h p h p rp h f h r 7 8 h g h g τ τ τ τ τ [ ] W h h r 7 8 r h g h - ω R Ep 5 Fg Rp: frq p p Ep h rfr f f v P rr gv U GC K P K 57 E hr U h rfr f h p vr E h rfr f h r rrr KP h gh f h prpr p K h gh f h gr p h rfr f f h P rr h pr h fr f S: ω h rfr f f h P rr pr h h fr f h grffr q K K τ τ P - f h h vr τ τ h r K K P 58
30 W h p f h P rr Fg 5 K K P Fg 5 S f P rr Ep 5
31 SE MODELS OF LNER DYNMC SYSEMS p h f h r hr pr prpr r h f h z vr h f v f p vr r f f v Cr r r h [ 9] B h p q gr h r h q h r ff fr h p f h r h h r f hrr p [ 55] N hv gv r pr R < fr r h h r r h p f h gv [ 55] gv f h r Fr h p r hrr vrf h p f h r h h rr h hrr p pp Ep r vrf h p f h r 56 fr h Ep S: h Ep h r h hrr p N B p zr r h h r p Fr h vp f h r hr h gv h r fr h vp f h Lpv hr Ep h h f h DC r h pr frhrr DC r h Fg hr : J h
32 f r r h r hf [g ] h rr rr [] h rr vg [V] R h r f h rr r [Ω] L h f h rr r [H] h ff f v fr [N r - ] h r rq [N ] h rq [N ] α h g f h r hf [r] ω h gr v f h r hf [r - ] h r [N - ] h r [V r - ] h vg [V] Φ h g f f h [W] r rv DC r g h h p vr r h g α gr v ω h h p ω rqr vrf h p R L J Φ ω α S: Fg Spf h f h DC r Ep r h Fg r: J L α ω ω ω R ω W g h f h DC r h pr fr h q
33 L L R L J J J ω ω ω ω α 5 h f h q 5 r h r fr J L L R L J J ω α ω α 6 h 6 [r 5] pp h p α Wh h fr q 5 g h fr h p ω J L L R L J J ω ω 7 Fr pr h q h ω ω ω r vrf h p f h DC r h h 7 hrfr r L R L J J L J L R J L R L J J N ω R R < < L J R L R J 8 B h hrr p f h gr h h pv ff hrfr r ff S h r rprg h DC r fr h p hf gr v ω p
34 h h fr h p gr hf v α h r 6 hv h hrr p R R N α J L J L R < R < N ω 9 h h DC r h pr p Sr Ep fr h vp f h r hr h gv r h r fr h vp f h Lpv hr Cr rv Mh h fr f h rfr f h frq rfr f h p rp h p rp r q h hvr f h r rv r h zr fr r pp C Fr h h r 5 pr vr pr prpr f h r g h f h hr h p r vr hh rfr h fr gv f f M f h h f h rg O h hr h h rv 5 h h f h p r p vr r gv h f rv h r h r h h v fr pr h K p f r h Fg : r rv pr r rv pr r rv pr r rv pr
35 5 Cr rv pr Cr rv pr Ur rv pr Ur rv pr Lr Fg K p f r Fr h pr vr pr h r rv pr r p f h r pr p h h r z f rv pr p h h r Ep Fr h r r rr h K p S: r h r [] Cr 5 [ ]
36 6 h r r Orv 5 h r rv O h f h h gr Fg hh h h vr rv vr r Fr Fg v h h p f h r h r r z rv h rv pr p h h r pr p U X Y U X Y X X X X Fg K p Ep W r h rfr f f h h f h r 5 Y G U v h h h fr h rfr f h p r h h rr f h r fr
37 7 Ep r vrf h r rv f h r hh r h S: Fr h g Cr 5 [] [ ] h r r Orv 5 h r rv O h f h q h gr f h r Fg U X Y U X Y X X Fg B gr f r Ep Fr Fg f h h vr r q hrfr [ ] h p hv h p r v h h vr gh fr h hr hrfr h r rv B h p r h r p hrfr v h r rv z hrfr pr
38 8 h gv r f h rr fr h v h f h fr rr h h rfr f Y U B fr hr Cr r h h h gr fr [ ] h vr hv h vr h fr h gr p r B h vr h fr r h gr p r C fr MMO r h fr r p h p pr p h r r qv : rfr r r rr rv rv rvr g Frhr h h r r rv h 5 5 h h fr f r h rgr qr rfr r f h rr h r h h rfr fr h p X h p X h rfr hr 5 6
39 9 h rfr r hg fr h rfr Bh r r r h hv h hrr p h h gv ] [ N 7 h h rfr h r rfr C rr fr Fr h rfr r 8 hr 8 h f h r 5 6 g r rp h h r rr fr 9 hr ] [ 9 h qr r 8 h vr f h r r f h rr fr 9 ] [
40 fr hh h prv L p h f h q 8 fr h rgh h r N r 9 h g ] [ ] [ ] [ Sppg h h r rv rfr f r U Y G fr hh v h h vr gv h ff f h rfr f rr [ 9] h ff h r f h rfr f r h ff f h hrr p f h r 9 [ 7] N vr pr h h pf rr f h r 8 p h f g f h hrr p ff f h rg [ ] h prr g f h rfr rr fr 9 h gr f h r rr fr h Fg 5 Fg 5 B gr f r rr fr
41 C rvr fr Fr h rfr r hr h f h r 5 6 g r rp h h r rvr fr 5 hr ] [ 5 h h qr r h h fr rr h r 8 hrfr h 6 Fr h pr f r 9 5 f h h rr fr rvr fr h 7 rr fr rvr fr hr
42 8 h rfr r hg Bh r h 7 hv h Fr fr hrrz h h fr r h r r h fr r h h gv ff f h hrr p N fr hr hrr p r h h r gv r N 9 hr r h gv hh r h fr r h gr f h r rvr fr h Fg 6 Fg 6 B gr f r rr fr Fr h v r h h rr fr 9 rvr fr 5 fr h r rv r fr h rfr f r h rfr 8 vg h f h fr 7 8 C g fr Cr h r rv r h h rfr f [ 55] U Y G g h h p r ffr fr h hr r
43 U Y G h r hr ] [ h f h r h h r h g r h p h g fr h gr f h r g fr h Fg 7
44 Fg 7 B gr f r g fr S g fr r vrf hr r rv Ep Cr h h rfr f h p p Fr p h h p f p h h rg p r ffr fr h hr 5 U Y G h h hv h fr r
45 5 hr ] [ J J h qr r J J r gv r 5 J J h f h r h fr Jr fr h qr r r Jr h gr f h r Jr fr h Fg 8 h h p r p rfrr h h ffr p g g pv r h f prpr f h hg vr gh Eg h rfr f ε ε hr ε vr pv r Fr rfr f h h g r Jr fr r rfr rg h rfr r p h p f h
46 6 Fg 8 B gr f r Jr fr Ep 5 h r r h 5 h 5 r rfr h v hr fr S: Fr h 5 h [] W vrf h r rv g r 5 5
47 7 ] [ h r 5 r 8 h r 5 rv B h r r rv rfr f r O h f h r 5 r < N h r 5 p h h r p 6 5 U Y G 6 C rr fr O h f h rfr f 6 r r [ 9] [5] ] [ 5 N h rfr r 8:
48 8 j [5] [] W h hv rv h r h gr f h r 5 rr fr h Fg 9 Fg 9 B gr f r 5 rr fr Ep 5 C rvr fr O h f h rfr f 6 r r [ 5] [] 5 5 N h rfr r : 5
49 j [] [] h prv hv rv h r r h g h rr fr rvr fr h h 8 h gr f h r 5 rvr fr h Fg Fg B gr f r 5 rvr fr Ep 5 Jr fr W r h rfr f 6 h fr 5 U Y G O h f h r r r 5
50 5 J [] h gr f h r 5 Jr fr h Fg Fg B gr f r 5 Jr fr Ep 5 S f r q Cr h r h h [ 9] 7 7 Ug Lp rfr rg h g X Y X U X U Fr h fr q g X U fr g h q f rv h rfr f h Y [ ] U 8 fr rp rp fr rp rp p N f h f h q 7 h h h f vr f hr Cr h h f h q 7 h h fr 9!!!
51 5 h f r vr f Fr h pr prpr f h f r :!!!!!!!!!!!!!!!!!!!!!!! fr g h 9 h q 7 g τ τ τ N 9 g τ τ τ fr h p q 7 τ τ τ hr h fr pr f h h fr rp h rp h h pr f h τ τ h fr rp h rp h p
52 5 Fr h pr f r 8 f h h r h Lp rfr f h f r { } L - { } L 5 N pp h h p vr f h r h h r fr Fg fr < 6 hr h r h pg pr 5 6 Fg Cr f p vr O h f h r fr r τ τ τ [ ] τ τ τ τ [ τ ] τ τ τ τ τ τ h gr h r pf W h vr 7
53 5 v τ v τ τ v τ h r v fr hr [ τ ] τ v v v v N h q r h fr v [ ] v 8 O h f h r g v! v!!! 9! 9! N h rz q f h r 7 r h [ ] 5 D D D D 5! v v 5! Wh g h r D h vr D r h Fr r h r h D 5! D D 5 D D 5 h p q hg h rz hrfr h rz r r fr h r 7 h h fr [ ] D D 5 5 hr h r D h p vr D r gv fr 5 5 r 5
54 5 h r 5 fr r f rp Ep 6 h r r h 5 r r gr fr fr g f h rp p frhr r r h p rp S: Fr h r 5 r [] W vrf h r rv [ r 5 5] [ ] h r r h r rv B h r r rv hrfr h 5 h fr S p vr f Lp rfr W r h rfr f h f r [ 5] { } j L r h h r 8 h rfr f h rp gv 5
55 55 [] ] [ U U Y U Y { } L L U Y 55 Fr U η g 6 L 56 h r f h p rp Fg Fg Sp rp f r 5 Ep 6 S r h h r r τ τ τ 57 Fr h r 5 r h f r
56 56 L 58 h f r fr f g ] [ τ τ τ τ τ τ 59 W h h gr fr rhr p fr h f h rp p h N r h p h fr f h p η fr Fr h pr h gr τ τ τ τ τ τ τ τ τ 6 fr 59 f g ] [ W rv h r h prv Drz f r Fr h rz fr r 5 5 r r r 5 fr h pg pr h g O h f r 5 58 r r 5 p D Sr h f rhp 5 58 g v D v τ τ τ τ τ N h r 5 fr :
57 57 D!!! 98 7 D D D D 96 7 W h fr rg h g h r 5
58 58 SE SPCE CONROL h hpr rf r h g f rr rvr fr h SSO r S p rr Dvp f p r h h vp f r r r vr p hr r h gr f fr rr gv fr r Cr h SSO r r p h h r f f h r p hh r rv [ 5 5] rg ph rz hrr p h h fr N hr r h p h f h p rr f f rr rpr h vr Fg ] [ r fr h -p r hrr p N h gv p pp E f r g rr r h hrr p f h -p r h h r p f r h p r h hrr fr v f -p r h -p r h h p rr r h Fg r h 5 5 hr h r f h -p r gv Fg 6
59 59 h vr f h p rr prg h ff f h r hrr p N [ ] h h rrpg ff f h r r hrr p N h pr f p vr h h f r q fr p f h vr Fr rg h prr g τ Cr S p rr τ τ Fg B gr f h r h p rr h p rr: rg f r h p p p h r h f 5
60 6 ] [ 7 rr h h q 8 h h rr 9 h p p Fg h p rr g fr h p f h r h rr fr 9 Fg B gr f h r h p rr Cr h h r r rfr rr fr r h h r 8 9 h q 6 r h rr fr ] [ W h h q h τ
61 6 fr h q r h vr fr hr [ ] [ ] r h vr f h ff f h hrr p N N [ ] W hv rv h vr f h f p rr h rr fr hrfr rfr fr h rg r W r hr h rfr r gv h r [ 8] 5 [ ] 5 5 h r h B-Gr fr Fr h r f h f vr f r fr pp D [ ] [ ] N [ ] 6 Prr: Ch h r h rv f h r p [r 5 5] Fr h rqr fr h r prfr pr h r p p f h r pp E Dr h ff f h hrr p N N
62 6 [r ] Cpr h ff f h r hrr p N [ ] h h rrpg ff f h r r hrr p N h pr f p vr v h f r q fr p f h vr h f hgh h rfr r 5 h fr r h r fr 6 5 O h f h r 9 r h p rr 6 Vrf h rv r prfr Ep Fr h SSO r r p h h 7 r g h p rr hh r fr h -p r h p S: v h fr h r 7 h r h [ ] Fr vrf h f h r 5 5 h r h rv [ ] h r r 7 r h r r 7 rv B h r r r rv r h f h r 5 rfr f
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67 O h f h r hr r fr 7 O h f h r' fr 6 r: N N 7 [ ] W rv h r h f h -p r h h p rr fr h fr [ ] [ ]
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70 7 h r ffr q 9 p v h rr fr h ˆ ff r f fr h hg f h r h rvr r pr h hrr gv f h r fr h h f h rv pr h hrr gv f h r h f p r h f h rvr fr h h f h -p r h rvr hrr p N p p p [ ] hr p r h hrr gv f h r h rvr p h vr f h rvr hrr p ff Sr h hrr p f h rv gv h vr gv ff h rvr p ff f h R p < fr frhrr rr fr h rvr hv fr h h rv p p h f f p f h rv R p > R h vrg ˆ fr f hr grr rg h q f p gr rg h q rg v f h p f h rr vr hrfr rg pf f hrfr h rg h h fr -f fv-f pp fr grg h rvr p r h p r p p p > 5 hrfr h r h fr p > R 6 h h rvr hrr p r h h hr h h fr N j j p p p p p 7 j j Ug h rvr p r p r h vrg h h rv pg q f p hv vr p pr h f p pr ± j p 8
71 7 gr h h vrg r h h rv pg q / 77 h h r f vrg r h v f p h pr hrr p 9 p p Orv ˆ ˆ Lrgr rvr Orv ˆ ˆ Lrgr rvr ŷ Fg 6 B gr f h Lrgr rvr: rg rfr rrp h pr 8 h gr Fg 6 rfr h qv gr Fg 6 fr hh f h pr f h rvr O h f h ffr f h p vr ˆ h ˆ rr r h h Lrgr rvr f h f h rv h h rg f rr
72 7 ˆ ˆ [ ˆ ] prp r hh r f h ffr ˆ h h rrr vr ε ˆ Fg 7 h r h vr hrfr h Lrgr rvr g vr Wh gg h rvr r h h r 7 r r h rr vr Lrgr rvr g r prg h ff f h rvr hrr p N [ ] h h rrpg ff f h r rvr hrr p N h pr f h p vr h h f r q fr p f h vr Fr rg h prr g ˆ ŷ Orv Lrgr rvr Fg 7 rpr f h Lrgr rvr h g f h rvr v f h f h rv h h rvr fr 5 hr [ ] [ ] h rvr fr r fr g f h rfr f r g h rfr
73 7 hr h rgr rfr r f h rr [ ] gv h rv r f h rv 5 h r gv h r r h r f h 8 h h rvr fr 7 pr h rvr fr ˆ ˆ ˆ ˆ 5 hr 5 h qr rvr r f h rr hh h gv ff f h rvr hrr p ppr h h gr fr h rvr fr r h Fg 6 vr r prv h rp "" r h h r 8 r 6 Fr pr f h r 5 6 f pr r h 7 hr h rvr rr vr h rvr fr hrfr h p r
74 7 8 Fr h pr f h hrr p f h -p [ 6] ] [ N h h hrr p f h Lrgr rvr [ 8] ] [ ] [ N f h fr r f h Lrgr rvr g vr h r fr [ 6] ] [ ] ][ [ ] ][ [ N r ] [ N 9 Cr h h p rr h ˆ fr r Fg 8 ˆ
75 75 τ Cr Lrgr rvr ˆ τ ˆ S p rr Fg 8 B gr f r h p rr Lrgr rvr hrfr h q h ˆ ε r h q f h r h p rr h Lrgr rvr h fr [ 6] r ε ε ε ε 5 5 ε h ppr rgr r h hrr p gv h r N N 5 h h h prpr f h r h h p rr h Lrgr rvr r p h pr prp vr pr h rvr h p rr g p W g p rr h r h rqr r prfr h pr g h Lrgr rvr hh r h rr vr -g rvr
76 76 rr h rg f r h p rr vr Prr: Ch h r rv f h r p [r 5 5] Dr h ff f h hrr p N N [r ] O h f h p f h r h h rg r pr r h p p 6 r p pr f p 8 h r h ff f f h rvr Cpr h ff f h rvr hrr p N [ ] h h rrpg ff f h r rvr hrr p N h pr f h p vr h f h f r q fr p f h vr Fr rg h rfr r h r 8 r r fr 9 5 Vrf g h rv f h vr Ep Fr h r h h p rr fr Ep r g h Lrgr rvr S: h p f h r r 7 r hrfr r h h f 6 h g p p p h hrr p f h rvr N p [6 Mh f pr f ff 8] ± h r f h rvr gv h r 8 [ ] N h hrr p f h rvr N
77 77 W pr ff f h hrr p N N Mh f rfr W h r 8 fr 8] [6 ] [ : j W rv h r r fr r h 9 r: j ] [ p rv h r h prv h r f h rvr fr r Lrgr g vr 5 9 h gr f h r h rr h Lrgr rvr h Fg 9
78 78 [ ] ˆ 7 Fg 9 B gr f r h rr Lrgr rvr Ep h p rp f h r h h rr h Lrgr rvr h h h rvr Fg Ep Fr h r h p rr fr Ep r g h Lrgr rvr S: h Ep h h h r r rv h hrr p h h fr hr N 7 8 r h r p 8 7 [8 7] r hrr p ff r h vr f h ff
79 79 S p h 8 p p p p h rvr hrr p ff r p N ] 9 [5 9 5 Mh f pr f ff h rvr r [ ] fr h p -g f r h hrr p f h rvr N Cprg h ff h pr f h p vr fr h f h rvr hrr p h f r gr q h rp p f h rvr rr vr Mh f rfr r h hr 7 7 h rfr r r
80 fr g h r h rvr rr g vr h r r fr W h r fr 9 h pr r fr Ep : 7 N [ 9 5] N 7 9 W h hr h r h p rp f h r h h p rr h Lrgr rvr h h Lrgr rvr h Fg fr hh r h h g rvr pr rr
81 8 Fg f f h Lrgr rvr h p rp f r h p rr Ep gr p r p rr r h rqr p p f r h h r prpr hrf ff f r vr f r v h f h r h h fg fr Fv 5 hr v h r vr f p F h r r f p rr rv h r v hr p h h r P rr Fg hr h K h gh f h gr p v h h r f p r r h Fg r 5 h r h h gr p rr r h h pr K F v [ ] 5 5
82 8 Fg B gr f r h p rr p h rr fr rvg r rr p h r f h prv rr h r 5 [ ] K K 5 g h f h r Fv 55 hr [ ] 55 h r h h prpr h h [ ] K g h q 5 h hrr p f h r 55 gv r N ] [ 56 h r hrr p f h -p r τ v F τ K
83 8 ] [ ] [ N 57 hr [ ] K 58 h vr f h f p rr r h rqr p f h -p r Prr: Ch h r rv f h r p [r 5 5] Mf h rg f h r 5 h 55 Fr h rqr fr h r prfr pr h r p p h hrr p f h -p r fr h 55 Dr h ff f h hrr p N N [r 56 57] 5 Dr h f vr 58 h fr h 6 Vrf h rv r prfr Ep 5 Fr DC r fr Ep J L L R L J J ω α ω α r g p r h h gr fr h g f h r hf α fr h prr: J g N r - 5 N - V r - L H R Ω Fr h p hg f h r g α h r f α rqr h vrh S: B h g α h gr v ω h rr rr r rv r r q h rvr prp Fr grr r r v ω α
84 8 f h r v f h DC r prr g h fr hr fv f [ ] W vrf h r h rv: 5 [ ] h DC r r h DC r rv W r h hrr p f h DC r N S p r h gr 5 5 [ ] 5 D h rqr fr h r f g α h vrh h h p p f h -p r 5 g h r hrr p N [5 Fr h g f h p r h h gr g h r : ]
85 [ ] [ 57 9] W r h r f h -p r W vrf h gv f h r r 5 h r r r p f h -p r W r h p rr h f h r 9 h gr f h p r h h gr f h DC r h Fg α τ α Fg B gr f p r h gr f DC r Ep 5 h DC r rp h h p r h h gr fr h p hg f h r g α η h p hg f h rq v η 5 h Fg
86 86 S p r h gr h p fr p h p p f h -p r 5 ] 5 5 [ N N r f h DC r h fr 55 [ ] W r h hrr p 55] 5 [ N Fr h g f h p rr [ ] K h r : ] [
87 [ ] [ 7 9 5] h gr f h p r h h gr f h DC r h Fg h gr f h p r h h gr f h DC r h Fg h DC r rp h h p r h h gr fr h p hg f h r g α η h p hg f h rq v η 5 h Fg h pr f h r Fg h g prr f h p r h h gr hgh hr rp g h rp g r f h -p r rr Fg Cpr f rp f DC r h p r h h gr Ep 5
88 88 PPENDX Lrz Lr r z f r O f h pr rqr h h rg "" rrg f h prg p h h h f h r r h rrg Wh h h f h r gv r 8 h p g[ ] h[ ] h r prv h rz W p r r r h fr r r f h r h r hr g h g h h h pr rvv r fr h prg p h h h r h r fr r v f h vr h v f h vr gv h r ˆ hrgh h hr h r r h h r rg h prg p r vr hgh p h vr r g r Fr r g [Sv 9; M 6; Víč Víčvá ]
89 89 PPENDX B C-H hr Evr qr r f rr f hrr q B B Fr r g [Og ; M 6] Svr rp fr h vrg f r [ g ] f α B f qr r f rr q pr h f r f gr r f α B hr h ff α r f f h gv f h r Fr r g [Og ; M 6]
90 9 PPENDX C Cr h r h h C C h rp gv h r τ τ τ fr rp fr rp C h p rp h r τ τ τ fr p rp fr p rp C Cr r r f hr h r p hh rfr h fr f f M f r h fr h r h p q C [C] h gf hrfr r h q C rp C r h C fr h f h τ τ τ τ τ τ ppg Svr rp fr B C τ g C h g α τ C5 α τ τ τ β C6
91 9 α τ β τ τ C6 h r C6 r h fr β [ ] β β β β C7 β hr [ ] C8 h qr r r [ r 5] Fr h r C 7 f h rr r β β β- h r r C 8 vr hv h r S qr r r zr r C9 h f r fr h r fr vr f qr r Or j C r rv h h g f h r f h r p p h f rv r h f h h r h fr > M f h B h r p pr fr rp r h h W r h r C C f r fr h h h r [ ] C
92 9 r fr > fr h r C h rrpg p C W pp h Svr rp fr B α C ] [ α α α α α ] [ α α α C5 hr ] [ C6 h qr rv r [ r 5] Sr h r rr r h f h r C5 h h rv r C6 vr hv h r S h qr r r zr r C7 W g h hr Fr h r C r r
93 9 C8 rr r h fr C8 fr h rv r h C7 Fr r g [Og ; M 6; Fr 5]
94 9 PPENDX D r' fr Fr h r r h h D r g p f r rpr vr hh r h r hrr p f h -p r h fr N D hr D r h h C-H hr pp B vr qr r f hrr q N D W D D h f Fr r fr pr f h r : D5 D6 D7 N D D5 D7 D N D8 h f h rg r p r g N D9 W r h r h r fr
95 95 N ] [ h fr r h rgh h r r ] [ hh qr gr [ r ] hrfr vr h r N S r r vr r g ] [ N D
96 96 PPENDX E Dr p p Wh gg p r h p p h f hf-p f h p p h f f h jg p pr h p rp f h r f h rr h Fg E h h r f h rr h h rfr f r h Y ω G E U ξ ω ω ξ ω ω ω E hr ω h r gr frq p ξ h ff f rv pg Fr h f p rp Fg E pprpr h hr α ξ ω ω ω ξ κ E α h pg gr f ω h gr frq p κ h rv vrh h v f h p rp h - f h p rp O h f h f f p h f hf-p f h p p h p rp Fg E f - rg fr r p fr h r pg α rv pg ξ r h Fg E h p g h h rg r r h p h p r hgh h hh r h h gr Frhr h h p hh r fr fr h rg r hv gg f h r hvr h rg r Fg E r h h fg r α 5 E ξ ϕ r E5
97 97 hr h g h h h p vr r h h h h Δ ± Δ hr h r r Δ δ ; δ 5 α R ω R ω ϕ ϕ r ξ ϕ R Fg E f f p jg p f h rr p rp
98 98 r f rp rg rg f α Hf f ξ ϕ L f α R Fg E Dr f rg fr r p h r E h r r r h f g r p h grr r h f r p h fr r r fr h r r 5 % h r E5 h p f h pr rv vrh 5 % κ 5 ξ ϕ 66 5 r E6 h g f r h r f h r fr h h p r p > Fg E: N 5 E h gr rr E vr ppr 5 5 E8 E E9 h gr rr E E E gr f p Errr r rrr hrfr h z h h h r r h g r z h gr rr E vr ppr hgh v r
99 99 Org ff f r hrr p N hh r gv g [Grh Lhrp 95] r h f g r h r pr g [C 8] N r fr gv r v f h gr rr E E9 prr fr hghr gr f hrr p N ff f hrr p fr h rr E Fg E: E h h r E7 E8 E pr h h p h r fr f h hrr p h r Fg E Sp rp fr r fr E8 fr Fg E Sp rp fr E r fr E fr
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