1

* , , .

f
u


f

u

x = xe
u = ue

x = xe
u =ue

f
u

=B

g
u

f1
x
1
.

f n
x
1

f1
....
xn

f n
...
xn
h
h

...

xn
x1

x = xe
u = ue

x = xe
u =ue

f
x

=A

g
x

=C

'
:
H ( s ) = C ( sI A ) B + D
1

, ) , Y ( s ' " .K G
= )T (s
:1 K G H

 : n = 3
) (

a ( s ) = s 3 + a1s 2 + a2 s + a3

a3
; a3 > 0
a1

> a1 > 0 ; a2

 : .
) : ) * (1 ) = (3 (4

n > 0
>1

=1

0 < <1

=0

<0

 - : .
- , , .DC

s
T ( s ) = T0 ( s ) 1 +
a
1 d
y ( t ) = y0 ( t ) +
) y0 ( t
a dt

:
:
- :
-

a - , .
, .
( a < 0 ) s" : ".
.

T ( s ) = T0 ( s )
s
1+ p

) (:

- -

= , ) ,' '

(.
- , ) (.

, < 0 , . - , . - , .

 - :

) H (B ) H ( A
) H ( B ) H ( A
=
) log (B ) log ( A
) log (B A
x <1

- :

x >1

tan 1 ( x ) = 1
2 x

=a
1
2
tan 1 1 =
2 2
2 1

2 > 1
1 > 2

- , 20 log k - ) ( ) (.

- 0- , n n -

.+

k < 0 . , . , ).( H * ( s ) = H ( s ) :
) (Gain Margin (0 Db) 1
.-180

GM = 20 log10 G ( jw) G ( jw ) =1800

GM . 6 10 Db
) (Phase Margin -180- Db) 1
.(0 ) crossover frequency ( . CO -

PM = G ( jw) G ( jw ) =1 + 1800
PM . 300 600
GM PM- :

: -

Y ( s ) = R K G H ( s ) T ( s ) = K G H ( s ) :

 , , K .
,
K , 1 ,-1
. .
,
.
'
. . GH ( jg ) = 180o
1

1
) GH ( jg

= G.M

, .
. K = e j -
, ,1
-1 ..

) P.M = 180o + GH ( jco

- : 1 .0
P.M - ) P.M (.

 , ) e ( t ) = r ( t ) y ( t
E ( s ) = (1 T ( s ) ) R ( s ) :


) Te ( s

) Te ( s '
) R ( s. E ( s ) -

 :
) ,( essp ,v ,a , t p ,v ,a . PI ) ,( P.M , G.M , BW . PD . " . 1.5 < < 1.7 . BW = co" . . max = coKI
s+z
=K
s
s
) KP + KDs = K ( s + z

KP +

G ( s = jc.o ) + 180 :

) z 1 sin ( max
=
) p 1 + sin ( max

- , z, p

= . max

s
z : K . H ( s ) = K , co . GH ( j co ) = 1 = 0 dB
s
1+
p
) .( ess , 1+

.( > 1 ) -

PI :
PD :

 - : ' !!
- . Stricly Proper , .

:
,

.

 : '

) (
.
.

u [ n 1]

1
n
= C x [ n ] A x [ 0]
u [ 0]
y [ 0] u [ 0]

x [ 0] = O
y [ n 1] u [ n 1]

1
:!
T12 = Cold Cnew

 "

x = Ax + Bu

y = Cx

) u ( t ) = r ( t ) kx ( t .
:

) ( Ac , Bc , Cc ) r ( t ) = 0 ( . . u = kc x

. x = ( Ac Bc kc ) x :
, ( s ) = s n + 1s n 1 + n " Ac Bc kc ) . ( s
" Ac Bc kc ) ai + kci ( s n i . i = ai + kci kci = i ai :

, = [1 n ] :

a = [ a1 an ] ,

k = [ kc1 kcn ] = a :
, , x = CCc1 xc Cc ' . A, B
. u = kc xc = kc Cc C 1 x = kx ,

, k = ( a ) Cc C 1 :

" ( s ) = s n + 1s n1 + n :
" ) ac ( s ) = det ( sI A + Bk ) : ' (
k ) ( s ) = s n + 1s n 1 + n = det ( sI A + Bk ) = ac ( s" .

' , . - ) " (.


:
T
ZOH -
2

1
:
sT
1+
2

-
) H ( s ) . G ( s

1 z 1
2 1 Z 1
;s
) s(:
T
T 1 + Z 1
: .x
, , ) (.

G (s) = G