现代控制理论基础-第2版-王孝武-课后答案[1-5章].khda

12212111212112122121111121221112222211212221112111111101011111uu)t(i)t(iRRuuuLLL)t(i)t(iLRRLRLRLRdt)t(didt)t(diu)t(iR)t(iRuuL)t(iLRR)t(iLRdt)t(diLuLuL)t(iLR)t(iLRdt)t(diAA1-11u2u1R1LAu2L2R1i2i31-212121221221222212121212111212222212221122121121211011111111111uuuuuCRCRuuCRCRCRCRRRRdtdudtdu:uuuuCRuCRuCRdtduuCRuCRuCRRRRdtduCCcCCCCCCCCCC1u1R2R2C1C2Uc1Uc2u41-5(1)212121212213221101207121027122127xxyuxxxxuxxxxxyxxyxxyxyyuyyy51-5(2)321321321221100031201120221302231120100102121002310001002121032xxxyu//xxx/xxxaaab/aab/abb:uxxuxxuyxuuyy61-6(1)2112112122112221211211212212112212121211221112211112111221112121212112211121121112211221211111111121122121111110)()(1011)()()(][][)(101011RRsLRsLRsLRsLLLRsLLRRsLRsLRsLRsLLRRsRLLLRLLRRRsLRRLRsLLLLRsLRLRLRRsRRsgLLRLLRRRsLRRLRsLRsLRLRLRRsLRRsLRLRLRssssgRRLLLLRRLRLRLRAIDBAICDCBA71-6(2)127212720121701)(12712177121][][)(00120712102127222111sssssssgsssssssssguyyyAIDBAICDCBA81-6(3)322302121232323100123232323102310010001021210023100010323232223222111sss/s//s//sss/ss)s(g/ss//sss/sss/ss]s[]s[)s(g///uuyyAIDBAICDCBA91-10)k(x)k(x)k(y)k(u)k(x)k(x)k(x)k(x)k(u)k(x)k(x)k(x)k(x)k(x)k(x)k(y)k(x)k(x)k(y)k(x)k(y)k(x)k(y),k(y)k(u)k(y)k(y)k(y212121212213221101103210113211211112132101-13200010000021211000212101010110101010110101-1010000110210021100011011111321333222111321PAPQPqqqQqqAIqqAIqqAIAIA////][][][][))((det]det[111-151011)1101(11100111)1101(0111)10(011-101-012111112122121111212PAPJQPqqQqqqqAIqqAIAIA][][][)(det]det[121.1-1——u(t)——uc(t)uR(t),uC(t))(tuC1-1)t(ut)t(iC)t(u)t(u)t(Rit)t(iLCCd1dd)t(iCt)t(uL)t(uL)t(u)t(iLRt)t(iCC1dddd)t(uRCt)t(u)t(uLR)t(uLR)t(uLRt)t(uRCCRR1dddd131-1)t(uLR)t(u)t(uRCLRLRt)t(ut)t(uCRCR001dddd100R1100R100R1PPxxCCRCRCuiuuuu,ui)t(u)t(utuCRC10)(142.uDDxCDxCuDxCDxCyyuDBxCBxAuDxCBxAuBxAx21221112221111212211122211111111)()(uBDBxxA0CBAxx22121221121uDDxxCDCy2121211S2S1121u122153.33221113333222211111xCyxCyxCyuBxAxuBxAxuBxAx3232S1S2S3(1)11122222211111111xCyyuBxAxxCBxAuBxAx211221221121xx0CyuB0xxA0CBAxx164.33221113333222211111xCyxCyxCyuBxAxuBxAxuBxAx3232S1S2S322222211211222222222211111111)(xCyyuBxAxCBxCuBxAuBxAxxCBxAuBxAx2122121221121xxC0yuB0xxACBCBAxx2(2)175.33221113333222211111xCyxCyxCyuBxAxuBxAxuBxAx3232S1S2S31113333333333222222222211111111xCyyuBxAuBxAxxCBxAuBxAxxCBxAuBxAx3213321321xxx00CyuB00xxxA00CBA00CBAxxx13322211(3)182-1(1))tsin(tsintsin)tsin(etsinetcosetsinetsinetsinetcose]s[e)t(ssssss]s[]s[e)t(ttttttttt0022222221121111602323236023322331232332233223312311111111AILAIAILAA192-2(1)tttttttttttttttttte.e.e.e.e.e.e.e.eeeeeeeeee)t())((det]det[5555555511121251250251251250250250251555541500151116510111541111541511151051651PPPAPQPQAIAA20ttttttttttttttttteeeeeeeetataeteeeeeeee)t(a)t(adetdet33331033311211021041413011)4141(1001)4143()()()(41414143311111310)3)(1(3011][21AIAIAA2-4(1)21)()((0),52)(1210001txt-txxtx,xx2-5)()(11txt-tx)()()()(1100txt-ttxt-t)()0()()()0()0()()()0()0(111111tx-ttxt-t-txtxt-txt-sssssss21121121][211AItttttttteeeeeeeetxt222212333)69(3)39()()(232131232132231131231132)2)(1(211ssssssssssss3)2(3)(23)(3)2(222211tttttttteeeeeeee]s[)t(AIL22tteetBACxCxxBAxx)((0)2-7CICICxxBAxBCCACxCxBABABABABA00(0))()(eeeeeeeedtdeettttttttt232-11ttttttttttttttttttteeeeeeeeee)t(eeeeeeeesssssssssssetsssssss211232123232121212311232123232121212334343341344][)(314341431][333333332222111211BCHLAILAIAA242-17)k(..)k(.)k(..TTTTT]de[.Tetsssss]s[etuxxBHGLLAILTAATA1000501010111000502100210101101101101101220211111253-1(1)nrankcc10011QAbbQ3-1(2)nrankcc38040204122312060401QBAABBQ23-2(1)3-2(2)nrankOO22411QcAcQnrankoo31412020211010100012QCACACQ263-33-51ab2111111:rankrankbabacoocQQcAcQAbbQ,bbx022212011c73-6nrankcc32401001010104021011732QHGGHHQ3-113-12cbAT123011200010000011011123123200010000200010000TTTTT273-13(1)u,aaanrankcc10321010321045251015524552401131052213223200121052211212102xxPbbPAPAPppPAIQABBQ13-14xyxxcPcPbbPAPAPppPAIcAcQ110302150103021502111311112111214110112255211-2-3141111112102u,aao283-15321111120100013000311200100013000311200100311036101101600931100310010031103931100310010031103323101131603xxxxyxxcPcbPbAPPAPPQbAAbbQcccccc,u,rankcc293-163211111200101020102101000101020102101041220110045210001000112001200112001241220110000112001232252120012xxxxyxxcPcbPbAPPAPPQcAcAcQ,u,rankoooooooo301.1-1——u(t)——uc(t))(tuC1-1.uu,uiCRCxx1PPPxx312.S2S12222222222211111111111uDxCyuBxAxuDxCyuBxAxSSuDDxCDCyuBDBxA0CBAxuDxCyuBxAxuDDxCDxCuDxCDxCyuDBxCBxAuDxCBxAx21211221221122222222222122111222211112122111222211111122)()(yyuyuu322.S2S12222222222211111111111uDxCyuBxAxuDxCyuBxAxSStttttttteeeeeeee222222223.4.AtteetBACxCxxBAxx)((2)(0)(1)333.tteetBACxCxxBAxx)((2)(0)(1)(2)(0)0,)((1)(1))(00CICICxCxxBAxBCCAxCxBABABABABAeeteeteeeeeettttttttt343120AAtttttttteeeeeeee222222224.A1001222202222tttttttteeeeeeeet355.43214321432103005000000100203000130000300013xxxxyuxxxxxxxx24132413241300030500000020013000030010300103xxxxyuxxxxxxxx365-A.43214321432103005000000100202000120000300013xxxxyuxxxxxxxx24132413241300030500000020013000020010300102xxxxyuxxxxxxxx375-B.43214321432103005000000100202000120001300013xxxxyuxxxxxxxxOC:CO:OC:OC:4321xxxx384-10(1)0xxSxSxSxJ