1????8????????????????????????????????????????????????????????????????????????????????????????????????????????????8??????????????????????????????????????????????????????0????2?????????????????????? 824 x1(t)=r(t)?c(t)dx2(t)=k1x1(t)?x2(t)dt1.????????20???? ???????????????????? x3(t)=x2(t)?k3c(t)T1T2dc(t)+c(t)=k2x3(t)dt????T1,T2,k1,k2,k3??????????????????????????r(t)????????c(t)??????????????????????????????????G(s)=C(s)R(s) ?2t????????????????????????????????????????c(t)=1?e2. ??????15???????????????????????????????? +e?t3. ????????15????????????????????????????????????????????????????????30s??????????????????95%?????? ?????? ??1????????????????°??100??C??????????????????????ess?? G(s)=1Ts+1??????????????????2??????????°??????????6??C/min??????????????????????????????????????ess G(s)=K(s+1)2(s+4)24. ??????20???? ?????????????????????????????????? ????????K??0→+∞??????????????????????????????????????????K?????? 5.????????15??????????????????????????????????G(s)=??1??????K=2???????????????????? ??5???? K s(s+1)(2s+1)??2??????K=1????????????????????r(t)=5sin10t??????????????y(t) ??5????
?? 2 ?? ?? 1 ??
????????????????????????????????8????????????????????????????????????????????????????????????????0????2?????????????????????????? 824 ??3????????K=10???????????????????????? ??5???? ??????????????????????????????????6. ??????15????????????T=1s ?????????????????? r(t)e(t)TsH(s)G(s)=10s(s+1)??H(s)=1??e*(t)G(s)y(t) 7. ????????20?????????????????????? y(s)s+a=3 2u(s)s+10s+27s+18??1????a????????????????????????????????????????????(6??) ??2????a?????????????????????????????????????????????? (7??) ??3????a?????????????????????????????????????????????? (7??) 8. ??????15???????????????????????????????? ?12?1??0??,b=?0?,C=[1?11] A=?010???????0?43???1??9. ??????15?????????????????????????????????????? ??1?2?2??2??,b=?0? A=?0?11???????10?1???1?? ?? 2 ?? ?? 2 ??