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1、ModernControlEngineeringFifthEditionKatsuhikoOgataPrenticeHallBostonColumbusIndianapolisNewYorkSanFranciscoUpperSaddleRiverAmsterdamCapeTownDubaiLondonMadridMilanMunichParisMontrealTorontoDelhiMexicoCitySaoPauloSydneyHongKongSeoulSingaporeTaipeiTokyoVP/EditorialDirecto
2、r,Engineering/ComputerScience:MarciaJ.HortonAssistant/Supervisor:DoloresMarsSeniorEditor:AndrewGilfillanAssociateEditor:AliceDworkinEditorialAssistant:WilliamOpaluchDirectorofMarketing:MargaretWaplesSeniorMarketingManager:TimGalliganMarketingAssistant:MackPattersonSeni
3、orManagingEditor:ScottDisannoArtEditor:GregDullesSeniorOperationsSupervisor:AlanFischerOperationsSpecialist:LisaMcDowellArtDirector:KennyBeckCoverDesigner:CaroleAnsonMediaEditor:DanielSandinCreditsandacknowledgmentsborrowedfromothersourcesandreproduced,withpermission,i
4、nthistextbookappearonappropriatepagewithintext.MATLABisaregisteredtrademarkofTheMathworks,Inc.,3AppleHillDrive,NatickMA01760-2098.Copyright©2010,2002,1997,1990,1970PearsonEducation,Inc.,publishingasPrenticeHall,OneLakeStreet,UpperSaddleRiver,NewJersey07458.Allrightsres
5、erved.ManufacturedintheUnitedStatesofAmerica.ThispublicationisprotectedbyCopyright,andpermissionshouldbeobtainedfromthepublisherpriortoanyprohibitedreproduction,storageinaretrievalsystem,ortransmissioninanyformorbyanymeans,electronic,mechanical,photocopying,recording,o
6、rlikewise.Toobtainpermission(s)tousematerialfromthiswork,pleasesubmitawrittenrequesttoPearsonEducation,Inc.,PermissionsDepartment,OneLakeStreet,UpperSaddleRiver,NewJersey07458.Manyofthedesignationsbymanufacturersandsellertodistinguishtheirproductsareclaimedastrademarks
7、.Wherethosedesignationsappearinthisbook,andthepublisherwasawareofatrademarkclaim,thedesignationshavebeenprintedininitialcapsorallcaps.LibraryofCongressCataloging-in-PublicationDataonFile10987654321ISBN10:0-13-615673-8ISBN13:978-0-13-615673-4CContentsPrefaceixChapter1In
8、troductiontoControlSystems11–1Introduction11–2ExamplesofControlSystems41–3Closed-LoopControlVersusOpen-LoopControl71–
