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The concepts of Lie derivative for discrete-time systems

机译:离散时间系统的李导数的概念

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The paper extends the concept of the Lie derivative of the vector field, used in the study of the continuous-time dynamical systems, for the discrete-time case. In the continuous-time case the Lie derivative of a vector field (1-form or scalar function) with respect to the system dynamics is defined as its rate of change in time. In the discrete-time case we introduce the algebraic definition of the Lie derivative, using the concepts of forward and backward shifts. The definitions of discrete-time forward and backward shifts of the vector field are based on the concepts of already known forward and backward shifts of the 1-forms and on the scalar product of 1-form and vector field. Further we show that the interpretation of the discrete-time Lie derivative agrees with its interpretation as the rate of change in the continuous-time case. Finally, the geometric property of the discrete-time Lie derivative is also examined and shown to mimic the respective property in the continuous-time case.
机译:本文扩展了向量场的Lie导数的概念,用于离散时间情况下的连续时间动力系统的研究。在连续时间情况下,矢量场(1形式或标量函数)相对于系统动力学的李导数被定义为其时间变化率。在离散时间情况下,我们使用前向和后向移位的概念介绍Lie导数的代数定义。向量场的离散时间正向和反向移位的定义是基于已知的1形式的正向和反向移位的概念以及1形式和向量场的标量积。进一步,我们证明了离散时间李导数的解释与连续时间情况下变化率的解释是一致的。最后,还检查了离散时间李导数的几何性质,并证明了它在连续时间情况下的各自性质。

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