離散化
x [ k ] = e A k T x ( 0 ) + ∫ 0 k T e A ( k T − τ ) B u ( τ ) d τ {\displaystyle \mathbf {x} [k]=e^{\mathbf {A} kT}\mathbf {x} (0)+\int _{0}^{kT}e^{\mathbf {A} (kT-\tau )}\mathbf {B} \mathbf {u} (\tau )d\tau }
x [ k + 1 ] = e A ( k + 1 ) T x ( 0 ) + ∫ 0 ( k + 1 ) T e A ( ( k + 1 ) T − τ ) B u ( τ ) d τ {\displaystyle \mathbf {x} [k+1]=e^{\mathbf {A} (k+1)T}\mathbf {x} (0)+\int _{0}^{(k+1)T}e^{\mathbf {A} ((k+1)T-\tau )}\mathbf {B} \mathbf {u} (\tau )d\tau }