21控制理论基础(中文版)

SchoolofMechanical&PowerEngineeringIII2004.4.302004.4.30SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringIÆÆÆÆSchoolofMechanical&PowerEngineeringI¾¾9999¾¾99!!SomeExamplesSomeExamplesSchoolofMechanical&PowerEngineeringI¾¾¾¾¾¾123SchoolofMechanical&PowerEngineeringI¾¾∆∆¾¾¾¾∆∆SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringI¾¾¾¾¾¾SchoolofMechanical&PowerEngineeringI¾¾¾¾¾¾SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringI¾¾¾¾¾¾SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringIQ2Q1H1H2SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringIl1Q1HQ2l2Q1Q2l2Hl1SchoolofMechanical&PowerEngineeringI¾¾SchoolofMechanical&PowerEngineeringI¾¾¾¾¾¾SchoolofMechanical&PowerEngineeringI¾¾¾¾¾¾SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringI¾¾¾¾¾¾¾¾SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringI¾¾¾¾SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringI¾¾¾¾¾¾SchoolofMechanical&PowerEngineeringIsin()mmtTTθθωψθψπωω=+−−−−()tθtmθψT2sinsin222coscos2mmmmmmttTtttTTTTπθθωθπππθθπθ==Ω===ΩΩ=2222222sin2sin2422mmmmmmmmmmmTTTTTTπππεθθπεπεπθεθθε==−⋅=−Ω=Ω==Ω=SchoolofMechanical&PowerEngineeringIÎÎSchoolofMechanical&PowerEngineeringI1h()rt()rtSchoolofMechanical&PowerEngineeringI()rt()rt()rtSchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringI99999999SchoolofMechanical&PowerEngineeringI9999SchoolofMechanical&PowerEngineeringI99999999SchoolofMechanical&PowerEngineeringI9999SchoolofMechanical&PowerEngineeringI99)1(111121212RRARRVVG++−==AdAARRGdG21≈SchoolofMechanical&PowerEngineeringI99““””SchoolofMechanical&PowerEngineeringI9999999999SchoolofMechanical&PowerEngineeringI999999SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringI99SchoolofMechanical&PowerEngineeringI99SchoolofMechanical&PowerEngineeringI99SchoolofMechanical&PowerEngineeringI99SchoolofMechanical&PowerEngineeringI99SchoolofMechanical&PowerEngineeringI9999SchoolofMechanical&PowerEngineeringI99SchoolofMechanical&PowerEngineeringI99SchoolofMechanical&PowerEngineeringI99SchoolofMechanical&PowerEngineeringI9999SchoolofMechanical&PowerEngineeringI99999999SchoolofMechanical&PowerEngineeringI9999999999SchoolofMechanical&PowerEngineeringISchoolofMechanical&PowerEngineeringIThisisEndofChapter1ThisisEndofChapter1SchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringExampleExampleSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringtt↓↓ÎÎuu22↓↓ÎÎ∆∆uu↑↑ÎÎuuaa↑↑ÎÎnn↑↑ÎÎvv↑↑ÎÎuu↑↑ÎÎtt↑↑¾¾SchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineering¾¾¾SchoolofMechanical&PowerEngineering(),dyytdt(),()ykTykTT+SchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineering¾¾¾¾SchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineering¾¾SchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringExampleExampleExampleExampleSchoolofMechanical&PowerEngineering¾¾¾1212()()()()()fxxfxfxfxfxαα+=+=SchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringθSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineering999¾¾SchoolofMechanical&PowerEngineeringÎSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineering∆SchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineering≥∫∞−0)(dtetfstSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringξ¾¾¾¾¾¾SchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringÆSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringÆÆSchoolofMechanical&PowerEngineeringÆSchoolofMechanical&PowerEngineeringτÆτSchoolofMechanical&PowerEngineeringÆÆSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineeringSchoolofMechanical&PowerEngineering………10111011....()(),()....mmmmnnnnbsbsbsbBsFsmnAsasasasb−−−−++++==++++)