自动控制理论 毕效辉 课后答案[1-8章].pdf

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1、1-21-2(1)abcd(2)(1)a-d.b-c(2)urua()ucdTiuguTouf1-42-22-22-2(b)k1xA:k(xx)f(yx)0111AB:kyf(xy)021fx1Bf(kk)ykkykfx12121k2yY(s)fks1(b)X(s)f(kk)skk12122-2(c)()urucR1i1i1R11iuruci2dti2CuCRur2cR(ii)u212ci(uu)/R1rc1i(uu)C2rcuurcR[(uu)C]u2rccR1RRCR122uu(RCuu)cc1rrRRR

2、R1212RRCsR122U(s)RRRRCsRc12122Ur(s)R1R2Cs1R1R2CsR1R2RR122-2diC1d[u(t)u(t)]iCrCi12dtRRuriucu(t)u(t)iRCcirC12Rdd[u(t)iR]iCC1CdtiiiC12d[u(t)iR]d[u(t)u(t)]u(t)u(t)iRCC1CrCrC1dtdtR2222duC(t)duC(t)22dur(t)dur(t)RC3RCu(t)RC2RCu(t)2C2rdtdtdtdt2-4c(t)=1-2e-2t+e-t,,1

3、21R(s)1/s,C(s)ss2s1C(s)3s2G(s)R(s)(s1)(s2)1114t2tg(t)L[G(s)]L[]e4es1s2dh(t)2ttg(t)4eedt2-5iR11U(s)U(s)U(s)irc1i2U1(s)1R1CsurCR2ucI(s)U(s)1R1CsR1R1Cs1U(s)RI(s)c22-6G5X2(s)R(s)X1(s)-X3(s)C(s)G1G2G3G4--G6G7-G8C(s)GGGG1234R(s)1GGGGGGGGGG(GG)-2363451234782-7G2Ha

4、R(s)C(s)G1-G2C(s)GG12R(s)1GH22-7bR(s)C(s)G1(s)G2(s)G3(s)(b)R(s)C(s)G1(s)G2(s)G3(s)1/G(s)1GGG123C(s)1GG12R(s)G1G2G311(1)1GGG1212-7cG4R(s)C(s)G1G2G3---H2H1cG4/G2R(s)C(s)G1G2G3---H2H1R(s)C(s)G1G2G3+G4/G2---H2H1/(G3+G4/G2)C(s)GGGGG12314R(s)1GHGGHGGHGGGGG4223212

5、1123142-82-8r(t)31(t)c(t).2C(s)s22s1222R(s)s4s31(s1)2s2s123C(s)2s4s3st3tc(t)23ee2-9H(s)2R(s)C(s)G1(s)G2(s)G3(s)G4(s)H(s)1H(s)32-11apG,pG1122112LGH,H1GH122C(s))PP1122R(s)GG121GH22-11b(b)C(s)GGG123R(s)1GGGGGGG12231232-11c(c)C(s)GGGGG12314R(s)1GGHGGGGGHGGGH121

6、12323214422-122-12()CRG1G2G3H1G4RG1G2GC31GHGGH(a)22232RGGGCH12311GHGGHGGH22231122G4G(b)4(c)C(s)GGG123G4R(s)1GHGGHGGH21232121LGH121LGGH2232LGGH31211GHGGHGGH21232121P1G1G2G311PG224C(s)GGG123G4R(s)1GHGGHGGH212321212-132-13R(s)N(s)C(s)/R(s),C(s)/N(s)2-13a-CsGGG

7、GGHGG1312312Rs1GGGGGHGG(1)N(s)=0C(s)/R(s)1312312(a)C(s)GGGGGHGG1312312R(s)1GHGGGGGHGG21312312(2)R(s)=0C(s)/N(s)-LGH12LGG212LGG(a)313LLGGGH131231GHGGGGGGGH21213123P11GH112P2G4G1G321G2HP3G4G1G231C(s)1GHGGGGGGGHGGG21341234124N(s)1GHGGGGGHGG213123122-142-14C(s)

8、/R(s)2-14(a)1L0.5*(5)*1s111L**(s)22s1s11LK*0.5***(1)32s1s32s3.5ss0.5K2s(s1)11PK*0.5**1121s1sC(s)0.5K32R(s)s3.5ss0.5K2-14(b)LGGH1121LGGG2123LGG315LGH442LLGGGHH14124121GGHGGGGGGHGGGHH121123154212412P1G1G