11061064 ]

自動控制(二) HW9
 Go GpIS)
(Gas) Gas) Gps
1)
Y(ss
,
+

iss -

1 + G((3)Gp(s)
Niss"
-

1 +
Gc1s)Gp()

Y(S) Cp1s)
Y

Diss It G( , (s) Gp(s)

-Sir
Mo =
/1 -

32
[0 25.
= > 30 4037 .

to = 45 =
2 Wa =

F(st2) (s+B)
Gais) =
kp (1 +
Es +
Td$) :
S

6
>
-
YISS
-
I
(S + / (S + 3)
2
-

Diss k(s +2) (S + B)

It
iii) S

6S
FEEG **: si+ 15 6k)s
6Ikat
+ +

3 (s + 2) 3) + + 6k (S +2) 1s + 8)

* ) >" + 11s + 433 + 65

:

31j2 -5
Obtheory
=

s =
-

37
s 65

ht
K = 1 152+ J +
5)
65 >
-

GCIS) I

&) :
65

Gal = 1st +
 31

kp =
T & Ti -

,
id =
Y(S) 65
- I

D(3)
53 + 11s + 43c + 65
65

si Es +
5
-Ep(1 Yd)) (sicists
+

=
S
65

(st -
&

X
It
(s +2)(3 + 3)

6 (s , + kp 11 Fass(
I

s(s +2) (s + 3) + 6 (s + E + 15
6
S
11

632 + 37 + 65 + 6Eps + 6kpTds

I

33 + 11s" + 433 + 65

6(Hkp(n)s2 + (37 + 6x)s + 65

-

53 + 11s2 + 433 + 65

=, p :
1 ,
a :

Gc(s) :
1+ * S

433 + 65
115
2
+

= 33 + 1132 + 433 + 65