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p y t  bm p u t  t , (1)

/ 

p d dt – ; u t( ) – ; y t( ) – ( )t – ; bm – ; ( )p ( )p

ai bj,

1 2

1 2 1 0

( )

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n n

p p a p a p a p a ,

1

1 1 0

( ) p  

  mm  

m m m

b p b b p b p b .

, ( . , [4–6, 9]).

1 . ( ) p .

2 . bm (

-, bm 0).

3 . y t( ),

.

4 . ( ) p ( ) pn m, .

( 1)–( 4)

-.

( , bm,

( )

p ( ) p , . .)

.

y* ( )t ,

( )y t

0 * /   

i i

d y dt C , (2)

0,  

i ,   n m– (1). y* ( )t

( ) ( )

* ( )

 

k

y* t g t

p , (3)

k – ; * ( )p – ; g t( ) –

-. , (3)

(2).

(3)

1 ( ). П ,

-( . . ( )t 0),

( , *)

u u y y , (1)

t

lim ( ) 0



t  ,

( ) * ( ) ( )

ty ty t (4)

.

,

. ( )t

.

-,

[4, 9, 17].

2 ( ). П ( )t

uu y y( , *),

(1)

* ( ) ( )  

y t y t tt1, (5)

.

.

-, .

, . . ,

-, .

( – . [4, 9, 23]),

1 1 n1u,

υΛυ e (6)

2  2 n1y,

υΛυ e (7)

1

υ υ2 – (n1)- (6), (7); Λ

-(n1); eii- ,

(4) ( ( )t 0)

( ) ( )

* ( )

T m

b

t t u

p

  

  , (8)

1 2

[ , , , ]

T T T

y g

υ υ

 – ( ); – 2n-

-. ,

ˆ ( ) ( )

T

u  t t ,

ˆ ( )t – , , (8)

( ) ( ) ( ) * ( )

T m

b

t t t

p

 

   , (9)

,

( ( )t  ˆ( )t – ).

:

nAnκy

 ,

nAnen iy

 , 0  i n 1,

iAien iu

(4)

n, i in- , κ

, 1

T

  

A E κe .

,1 ( )

T n

y φ t ψ, (10)

( )t  ( ,ii)

φ φ – (n m 1)- , ψ

( – . [4, 9, 17]). (10)

- . (10)

,

-[4, 9, 14, 16, 17, 27].

, , (

).

(9) :

( ) ( ) 

Γe

 T

t t , (11)

1

 eT ,

– - (11), 1

1

* ( )

 

 

e I Γ e

T

p

p . ,

,

-:

ˆ T

  e P

, (12)

 – ( ),

-P

T  

Γ P Q (13)

Q.

1 1

( , )

2 2

T T

 

VP  ,

1 1 1

( , ) ( ) 0

2 2

T T T T T T

      

V  Γ P  e P   Q .

0

t .

(12)

-. ,

, P ,

1

T T

 

e P e . (14)

ˆ  

(15)

, .

, (15)

P,

(13) (14). , (9),

(5)

- [46]. P,

-(13) (14), ,

(9) ПВ.

1

1 0

1

1 0

( )

 

 

  

  

 

m m

m m

n n

n

b s b s b

H s

s a s a ,

s – . H s( )

, :

( 1) Re[ ]s 0; ( 2) Re[H j(  )] 0     ; ( 3) 2

lim Re[H j(  )] 0   .

-( ) 1

 

A

k H s

Ts , (16)

0

k – , T 0 – . ,

(16) ( 1)–( 2). , (16) s 1/T

Re[ ]s 0. ,

,

( 2). ,

2 2 2 2

( )

1 1 1

   

     

A

k k kT

H j j

jT T T ,

 – .

2

2 2 2

lim 0

1

 

 

 

 

  

k k

T T ,

( 3).

, ,

, . , (

, , ,

90). ,   

, 2 1/ .

? ,

( 90). ,

,

-. ,

(15) ,

-, (9).

.

. ,

. 30

-, ,

-. [5],

[4, 9].

-:

 [5, 21, 47];

(6)

 [9, 14, 16, 17, 27, 30];

 [2];

 [4, 9, 26];

 [4, 9].

.

,

, (1) .

:

 ;

 .

.

.

. ( . 1)

1

r

i i

i

A u w

 

  

xx G B B , (17)

yHx, (18)

n

R

x – ; A B G H, , i, –

-; w t( ) – , . . w t( ) w0  ;   i i( (y t )) –

-,  0 – , y( )  φ( )  [ , 0].

, ( , [4, 9]).

5 . 1

( ) ( ) ( ) / ( )

W pH pIABb p a p

-, . . b p( ) .

6 . i , :

y t(  ), . .

0

i C

  , (19)

0 ( )

i C y t

    , (20)

0 ( ( ))

i C y t

     , (21)

0 0

C , ( ( y t )) – .

y w(t)

 1( )

 r( )

. 1. я ы я (17), (18)

(7)

3 ( ). w t( )0

(20), (21). (17), (18)

-( )  u u y ,

lim ( ) 0

 

t y t . (22)

4 ( ). ( )w t

( ) (19).

( )

u u y ,

( ) Δ

y t tt1, (23)

Δ .

.

-. .

[48] [2, 4, 9, 10, 17].

.

-:

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 ,

[3, 4, 9, 14, 37–40, 48];

 , , . .

[2, 35, 36, 48, 50, 51];

 , [48, 52];

 [4, 44, 48, 53, 54];

 [3, 16, 28, 48, 55].

,

.

.

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:

 ;

 .

,

,

.

.

[19, 20, 56]

  

d

dt ,

( ) ( )

    t

d

J F t K i T t

dt ,

( ) ,

   b

di

L K R t i u

dt

 – ( );  –

; i – ; u – ( ),

L, R t( ), J, T t( ), F t( ) Kt

.  i .

,

(1) (17), (18). ,

-, , .

(8)

( ) [57–59]. ,

, ,

-. ,

( , [60, 61]). ( )t

-

2 3

3 sin cos  2 sin sin cos cos ( )

               

  c m c c c

C c B A iIr t t M t ,

c – ; c

; A B, – (BA); m – ; I

– ; r i, – ; M tc( ) –

-.

, ,

(17), (18).

.

,

, [60, 62–64], .

. .

(17), (18).

1

2 1 1

1

1

( ) ,

     

dU

G U U U

dt C

2

1 2

2 1

    

dU

G U U i

dt C ,

2 0

1

  

di

U R i

dt L ,

1

G

R 1 1

1 1

1 ( )

2

UG UbGaGb UEUE – .

-

. - [65],

( ).

, , - ,

,

-,

-, , .

, ,

, ( . 2).

-1

q q2

,

:

1 sin 1 ( 1 2)0



Iq MgL q k q q ,

2 ( 1 2)



Jq k q q u,

1

q q2 – ; u – , ; k

-, ,

I , M, g, L J .

, -

(17), (18).

.

.

, , , [66]:

2

1 1 1 1 2

1 1

1 1

( )  ( )  ( )  ( ) 

R

z t z t z t z t V ,

1

2 2 2 2 1

1

( )  ( )  ( ) (  ) 

R

z t z t z t z t V

2 2

2( )

R z t  F u

(9)

1 ( ) ( ) y t z t ,

1( )

z t z t2( ) – ; R1, R2, i, i F2 – ,

Vi – .

, ,

(17), (18).

q1

q2

. 2. ы - я я я

-. , [67–73],

-:

2 2 2 2 1

x  a xb u ,

1 1 2 1 1

1 3 1

 

y c x d u x x ,

( )

      

s s s s

T t ,

1 

x – [ / ]; x3Pm

[ ]; x2  ff – ; y1  –

-/ ; s – / , ; u1  fi –

[ ]; s – ,

.

,

-1( ) ( )

  

y t y t , (24)

( ) 1

y t ,  – , , ,

-. (24)

/ , . ,

(24)

( (5)). ,

, .

( )

,

[3, 5] [2, 4, 9]. [2–

5, 9] – «

», . . [42–45].

(17), (18) .

[61]. (17),

(18) –

( ) ( ) ( ) ( ) ( ) b p c p

y u y

a p a p

(10)

( ) 

y y t , ; ( ) m ... 10

m

b p b p b p b ,

1

1 1 0

( ) r r  ... 

r r

c p c p c p c p c 1

1 1 0

( ) n n  ... 

n

a p p a p a p a

-; r  n 1; b p( ) / ( )a p   n m;

( )

b p , bm 0; ( )y (20).

(22) (

(23)).

[45], :

ˆ ( )( )

u  p    y, (26)

0

   (p)  1

( ) ( ) ( )

a p  b pp ,  ( )y ,

ˆ( )

y t y t( )

1 2

2 3

1 1 1 2 2 1 1 1

,

, ...

( ... ),

  

   

     

           

 

k k k k y

(27)

1

ˆ 

y , (28)

    , ki

(27) y.

, (26)–(28) ,

. (26) (25),

( ) ( ) ( ) ( )

ˆ

[ ( )( ) ] ( ) [ ( )( ) ( )( ) ] ( )

( ) ( ) ( ) ( )

b p c p b p c p

y p y y p y p y

a p a p a p a p

                    . (29)

, (29)

( ) ( ) ( ) ( ) ( )[( ) ] ( ) ( )

a p y  p b p yb pp       y c py ,

( ) pa p( ) ( ) ( )p b p ( ) p  ( ) ( )p b p , (29)

( ) c( )

[ ( ) ] ( )

( ) ( )

p p

y y y

p p

        

  , (30)

( )

ˆ

  y y.

– (30) – –

( y ( ) ) ( )y

         

xAx b q , (31)

T

yc x, (32)

n

R



x – (32); A, b, q c

-– – – ,

P, ( . [45]):

1

T  

A P PA Q, Pbc,

1 1

T

Q Q – , 

.

(27), (28)

-1

( )

 Γd

k y , ˆ T

(11)

1 2 3 1

0 1 0 ... 0

0 0 1 ... 0

0 0 0 ... 0

... k k k k

                 Γ      , 0 0 0 1                  d  1 0 0 0                  h  .

hy , h

ˆ y y

   h hThTh hT(   ) hT

y y .

1

( ( ) )

y y k y

h   Γh  d

1

( )

hy   dkΓh y.

1 k  

d Γh ( ),

y

h  Γ

, (33)

T

 h , (34)

Γ ki (27)

2

T   

Γ N Q ,

T

N N 2 T2

Q Q – .

(27)–(29) (31), (32), (33),

(34) .

. П b p( ) , c p( ) r  n 1,

, ( ) ( ) ( )    p G p

p ПВ ( )y

-: (0) 0   , 0 0 ( )  CyC

y y0,

00

C .      , (31), (32), (33), (34) -.

[45]. (31), (32)

lim ( ) 0

 

t y t .

.

, ,   ,

( , [61]): ( )  

y t tt1,

 .

-0

( )   

( )  t

t

k t d ,

   

k , ( ) t :

0 ( ) ,

( )

0 ( ) ,

          y t t y t

 0 0.

 :

2 0

   k ,

0 0

(12)

,

-.

, , ,

.

. ,

, ,

, . . uu t(  ).

-,

.

, . .

(17), (18)

r

i i i 1

x x u w

A

G BB

 , y    y Hx ,

yHx, y y,

-.

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