Ìniiholdnǖtuato

input Ii I
iii Tiii plant
silt
in
circuit
low filter
p ass

州 Ln
砻品
lt oir.io
1 1
in ho
otcoov.co
t to kik 0
sa
0to or.co 岳 È 2

ji
sequence ofimpulses

in
modulation
impulse
hold
pulsesamplinganddata

f XCKD zeroorder Ht
巍离散 涉及红⼝变换超前滞后较正 sampling
hold
function
staircase
Operation

i­.i

X12 z 灿
Éxnzk

譭 滩 银例
iiiiiii.­it Unit function
step

炓⽵琵 北州
⽐上应⼆点
Unitrampfunction 单位
速度
䍏
 11
㤼 在 e ⼆2 时 灿的2变换了 䗴 北州峡
⼼ 器
xǜǜ polynomial

婲 is a continuoussignal
其
值是连渕
㚳
1i 苂 唑器 志
ii
娳 is a hypotheticalsignal
impulsive signal

煍 怭姒 to
她 ⼆点 器
in Xinintoxt
eq x.sn
Impulse sampling anddatahold
solution iconvert
hold
Data 灬 1 ē to
generating a timesignal⽐
continuous 1to a z.fina ztransform of t
discrete time x KT ㄨ2 2 ⽐1 2 1 e

凹
蠿个
time
continuous signal ⼆ ⼀
忘i
solution2iexpend州intopartialfraction
mathexpression

kilt 渊 T
Nk sin just
rn during
using z transform tabletofind 2 4
approximated bypolynominalinti ofthe
expmddte. x12
呲 呲 ⼀ 㘩 a y ⼆ ⼀
六⼗ 应
为 ⼆
们 i.hlrittianintdn.tt
XCK Hit shiftingtheorem

n阶保持 器 n_n_orderPolynomialextrapotato
n
in
的阶次⾼ 数精准但有延迟
zeroorder hold
2 X Kitui zn 点
2 ㄨ们
anthtant t tattoo of ti complextranslation
hckītt
⼆ 仙⻔ ⼆0
hckīti initialvaluetheorem

x1 上品ㄨ 12型品 红⼼2

仙 迦 Finalvalue theorem

as 了 1 2 X九⽇
惢
个 ⼆
㗊 1k 上䇙
proof

o阶梯
staircasefunction iii
0 保持器 以 ⼆ ⼆ 点㔔2k
1
order hold xeltxjz

txlk hCKTttth.cm
zero
⼤
2 ㄨ灬 21 ㄨ 12 ⼆点⽔
啥
z ⼼ 2区 k叮 0 20

Ig 意 ⼼ ⼀煞⼼ 2啦 ⼼
 z.lk
oftheassumedstablyonion
because

and 灬 0forKC
总区以 ⼼ ⼼⼀⽐叶区少 州

nnhr it
______ 点 aD
⼆

以
悲 川 沁 灿
有空再重推⼀下
infinite amplitude
chapter3
1 of
since mine2 with zero width

j M_hl_neamnr.ua staircasefunction

impulse
sampling
kritis
initial flmntmui.ca
mode
G
上⼈
T_T⾶国
如
Ǘiiii
impulse linearfilter

嫩
⽓ 戀喌 型 识 梦 严鼎
⼆
点 xckye r.is
0
an 竿
let és
让f
z S l n2
i 婲⼼
业
当2 ⼼时 对相当于2皴

obtain 2 transform
of 灬 if
ㄨ⼼ z if 2 i i
⼼ i 1 这了 2 刘
1 器 ⼼__ ⼆
点 2

iii fi
⼆
 I e
Chapter3P23

shannon'ssamplingtheorem Ws 2W

呀 It 的high
frequency
component

乺赞

以 zm
superposition 重叠
fight
Folding
TAA
Get
Hg继
i Tiffin Aliasing

a
嶼 恩熙 恩
器 器 器⼆ 咖⼆ ⼼ 之 ⼼⼼

恶 ⼆ 仙 删 汇制 汇制 然 六吓 ˋ

G HD
hii ⿊嘴严
器 2 cinta 2 G啊 2 i制
2
ricci 制 ric 惢 在吵
i.hn He⽜ GH41

⼀憋 回
出 ⼀

1
边
 ⼝

瀱
chapter4i
⼗⼋
z eㄒ5 eㄒ 6 eT6

eijwtibejliwtzk zkeT LZET .it

plane ⼋ 2plane
j

i ǐfli
飊 i 回 回州国 密
i
open loop transferfunction determinethe
abilityofthesystem
K
Gls K E y
a2 2 szi
⼼

f j ti
12 1
2

427 亦 六⼗ 六⼀ ⼀

1 2
if i 应 ⼗六367927 ⼀

iii
 12 1 2 379
closedloop pulsetransferfunction

⼆
箱 equation is
if ǎiiǒistic1 10是咒
箭
21 o5to6181j zz 05 o 0181j

121 12214 systemis stable

jury stabilitytest
9 2t a z ⼗ tan
20 21 ____ zn

以
䶫驠
a K的 设计是必考的
1
制
1 70
2 12
2c P
3 Phil 绐
4 ⼩川 州 劲㓸
i
⼈怭
chapter414
bilineartransformation

z
噐 红
器 在 Han 0处变换后
可⽤⻛听判据

ji 系 I
closed loop cornsystems
properties of characteristic polynomials

1
 Roots ofthe denominator polynomialofthepulse
transferfunction

Transient response specifications the responseduetotheclosedlooppolesofthesystem

staystate response i theresponse duetothe polesoftheinputorforcingfunction

steady state error desiredoutput_ actual
output
主器
cini.ee
umcj as⼆点䟗们⼆点7 11 211 响⼼
州⼉ type
0 咖 ⼼ ⼆
悠 麻叮 险 ⼆ 姚 前⼏箭
⼼ type
iiihiype ess.no
v11 姙2 Type1 or higher system

M f
⼼
122 ⾔ 1 2
chapter5
义it Axlt t Buy
G 笖 赢 管⻔ 恐应丽
1 2 1 GH121
yit 如⼗Duty
kryg S i 10 Type

f
T
G i
xcktlKGXIKHHU esirfciype ylkKCXIKHDn ec.ci0
type2晶
灿 Gkxntici Huljikl.li

y⼩⼆
HF it R121⼆ ____
宝梁
9 0on
hi以
CGKMtciiHnbtm fxcr.tk
X1⺮ ⼭以10 GK炒 essii 2

3orhigher
X⼭叫⼭⼊⼼ 蔗灿Huck
Yi ylicynxoHCAnlkj
ytn ztransfor xu.kz
2 a 2 ⼼ 2 匹正必HUD
reunionresult x ik G⼋⼼ ⼗点a A 吵
i.ci I 2I a 2

a Hui 2 2正以 HUD

 z ⼼ 2I 么 2加 ⼗

HUIZ XIKFZIM ynicxlr. o

pulsetransferfunction matrix Fe C C2EG Ht D

X Kt Gxnt Hulk
yn C y ⼗Duck

G zx九
transform
2 ㄨ 10 2I DAUD
ㄚ2 C C2It5 H⼗⼝ 0 2 ⼉
⼆⼗九 ⼭

xtkeAtxntfeAH
BuDd ieACt
t.int the Bundi Alt

discretization
of continuous time state_space equations
X CHIT eATxckilte.AT ie AIBund
eATxntieBulnd
GT xNT tHlTMKT
GT eAT
删 任 以113

desired discrete time state equation

xc.nl ㄒ 1XCKT t Hauck⻔

点嶇 州 4 13

燚岱别 ⼆ Cn 炎管 旧 ⽐
们
 屷
y所 C 炎㗊
F2 C 2 G Ht D
chapter 6
i controllability pole
placementproblem

z.observabiitg.de
sign ofstateobservers
i MT G ⼼ ⼗点 d Huh
xcm ran 灬 Ha Anti H 篤前⻔
Hi 以1 rank H GH n
iH n stable

2 yckī 以⼼ ⼗点 Ci Hunt DuckT

yo c灬
灬 can rank
意 n
i
y n i G叭们 rank 继继继 幽 ⽶
⼀

design via pole placement

openloopsystem 14G a22 红⼗点

i examinetherank
ofcontrollabilitymatrix HGH了
2 12I 4Hk 2 Z 2 瓦 222 1 2 2 1 22
个22is theclose loop poles
2
13

Method4i

let K k.kz
substitute k k.kz into the characteristic equation
 lerl lzI.at
A川
A ⼆B
A

9怎
So we have
Thedesiredstatefeedbackgain
matirx is given by
K k.kz

Deadbeat response

1 K a a.IT T I
2I G1 24a 2 t a

2 close top state equation

i 灬 1 à_ À叫 仙

I 別问
⼆
了 initial state 炎
iii
㓸