ɩɪɢɦɟɬ ɜɢɞ
g
(
t,
X
) =
g
1
(
t,
X
)
g
2
(
t,
X
)
g
3
(
t,
X
)
g
4
(
t,
X
)
g
5
(
t,
X
)
=
py
a
p
(
x
+
w
)
r
(
x
+
w
)
a
y
a
(
x
+
w
)
z
(
x
+
w
)
y
a
bz
a
mw
a
0
μ
a
mμ
+
0
w
.
(
-+
)
ɋ ɭɱɟɬɨɦ ɪɚɜɟɧɫɬɜɚ
"-+#
ɩɨɥɭɱɚɟɦ
"
!
g
(
t,
ˆX
)
!x
ɬ
#
=
a
p p
0
a
p
0
r
a
ˆ
z
a
1
a
ˆ
x
a
ˆ
w r
a
ˆ
z
0
ˆ
y
ˆ
x
+ ˆ
w
a
b
ˆ
y
0
0
0
0
a
m
a
0
0
0
0
0
a
m
.
(
-,
)
Ɇɚɬɪɢɰɚ ɫɩɟɤɬɪɚɥɶɧɨɣ ɩɥɨɬɧɨɫɬɢ ɲɭɦɨɜ ɫɨɨɛɳɟɧɢɹ ɢɦɟɟɬ ɜɢɞ
N
w
=
1
2
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0
N
w
0
0 0 0 0
N
w
.
(
--
)
ɉɨɞɫɬɚɜɥɹɹ ɪɚɜɟɧɫɬɜɚ
"-,#& "--#
ɜ ɜɵɪɚɠɟɧɢɹ
",1#& ",2#&
ɩɨɥɭɱɚɟɦ
ɫɬɪɭɤɬɭɪɭ ɩɪɢɟɦɧɨɝɨ ɭɫɬɪɨɣɫɬɜɚ
(
ȼ ɦɚɬɪɢɱɧɨɣ ɮɨɪɦɟ ɭɪɚɜɧɟɧɢɟ ɞɥɹ
ɫɨɜɦɟɫɬɧɨɣ ɨɰɟɧɤɢ ɤɨɦɩɨɧɟɧɬ ɯɚɨɬɢɱɟɫɤɢɯ ɤɨɥɟɛɚɧɢɣ ɢ ɩɨɥɟɡɧɨɝɨ ɫɢɝ
'
ɧɚɥɚ ɢɦɟɟɬ ɜɢɞ
d
ˆ
x
dt
d
ˆ
y
dt
d
ˆ
z
dt
d
ˆ
w
dt
d
ˆ
μ
dt
=
p
ˆ
y
a
p
(ˆ
x
+ ˆ
w
)
r
(ˆ
x
+ ˆ
w
)
a
ˆ
y
a
(ˆ
x
+ ˆ
w
)ˆ
z
(ˆ
x
+ ˆ
w
)ˆ
y
a
b
ˆ
z
a
m
ˆ
w
a
0
ˆ
μ
a
m
ˆ
μ
+
0
ˆ
w
+
2
N
0
R
11
R
21
R
31
R
41
R
51
(
z
a
ˆ
x
)
,
"-.#
ɚ ɭɪɚɜɧɟɧɢɟ ɞɥɹ ɤɨɪɪɟɥɹɰɢɨɧɧɨɣ ɦɚɬɪɢɰɵ ɨɲɢɛɨɤ
R
ɢɦɟɟɬ ɜɢɞ
",2#
ɫ
ɭɱɟɬɨɦ ɜɵɪɚɠɟɧɢɣ
"-+#"--#(
Ɍɚɤɢɦ ɨɛɪɚɡɨɦ
&
ɦɨɞɟɥɶ ɭɫɬɪɨɣɫɬɜɚ ɩɪɢɟ
'
ɦɚ ɯɚɨɬɢɱɟɫɤɢɯ ɤɨɥɟɛɚɧɢɣ ɞɥɹ ɫɢɫɬɟɦɵ Ʌɨɪɟɧɰɚ ɨɩɢɫɵɜɚɟɬɫɹ ɜɵɪɚɠɟ
'
ɧɢɹɦɢ
",2#& "-.#(
CMMH *,-0'-3--(
ȼɟɫɬɧɢɤ ɆȽɌɍ ɢɦ
(
ɇ
(
ɗ
(
Ȼɚɭɦɚɧɚ
(
ɋɟɪ
(
ɉɪɢɛɨɪɨɫɬɪɨɟɧɢɟ
( ,**/(
ʋ
+ ++/
