稳态误差习题

求图示系统的稳态误差ess。2R(s)C(s)N(s)0.2s+11s(s+1)2E(s)其中r(t)=1(t),n(t)=-1(t)12.01)(1ssG)1(2)(2sssG2)(sH输入误差传递函数：4)1()12.0()1()12.0(2)1(212.0111)()()(1121ssssssssssHsGsGEr干扰误差传递函数：4)1()12.0()12.0(2)1(212.0112)1(2)()()(1)()(212ssssssssssHsGsGsHsGEn输入误差：014)1()12.0()1()12.0()(limlim00sssssssssRsEesrsssr扰动误差：4114)1()12.0()12.0()(limlim00sssssssNsEesnsssn总误差：41410ssnssrsseee求图示系统的稳态误差系数：2R(s)C(s)N(s)0.2s+11(s+1)2E(s)221)(1)(ttttri输入信号：pKvKaK42)1(212.01)()()(limlim0210sssHsGsGKssp02)1(212.01)()()(limlim0210ssssHsGssGKssv02)1(212.01)()()(202120limlimssssHsGsGsKssa求图示系统的稳态误差ess。021014111)(210avpssKRKRKRe求图示系统的稳态误差系数：2R(s)C(s)N(s)0.2s+11s(s+1)2E(s)221)(1)(ttttri输入信号：pKvKaK2)1(212.01)()()(limlim0210ssssHsGsGKssp42)1(212.01)()()(limlim0210sssssHsGssGKssv02)1(212.01)()()(202120limlimsssssHsGsGsKssa求图示系统的稳态误差ess。02141111)(210avpssKRKRKRe求图示系统的稳态误差系数：2R(s)C(s)N(s)0.2s+11s2(s+1)2E(s)221)(1)(ttttri输入信号：pKvKaK2)1(212.01)()()(20210limlimssssHsGsGKssp2)1(212.01)()()(20210limlimsssssHsGssGKssv42)1(212.01)()()(2202120limlimsssssHsGsGsKssa求图示系统的稳态误差ess。814211111)(210avpssKRKRKRe