3 ,

(3.1)

, ,

1. 2. 3. 4. 5. MATLAB

3.1

12 1 2(3.2)(3.3) (3.2) (3.3)

3.2

T

3.2.1

(3.4) t T 3.1 3.1

3.1 (3.4)

t0T2T3T4T5T00.6320.8650.9500.9820.9931

3.1

1(3.4)3.1 (1) (2) t=T T0.6320.632T (3) 3T4T95%98% T (4)

t = 0

(5) (3.4)

tT 3.2 ,

3.2

3.2.2

(3.5)3.3 3.5

3.3

TT

3.2.3

(3.6)3.4 (3.6)

3.4

3.2.4

(3.7)

(3.8) (3.7)(3.8)

3.3

T

0

(2) =1

(3) >1

(4) =0

(5)

3.3.1

(3.9)

1.0

3.5 (3.10) (3.10)(3.11)

3.6 3.5

3.6

2.=1 2-4

3.7 (3.12)

3.7

3.>1

3.8

(3.13)

3.8

4.=0

3.9 (3.14)

3.9

5.

0.40.80.40.8 3.2

3.2

>1 =1 0

3.2

>1 =1 0

3.2

>1 =1 0

3.1 1

2 (3.7)

3.3.2 1. 3.10 N 1 10%90% 2

3 3.10

4 5 N N N

2. 1 (3.11)

0

2 (3.11)

0

3 (3.18) ; 3.3

3.3

(3.18)3.3 =0.40.8 4 3.11

00.10.20.30.40.50.60.70.80.9110072.952.737.225.416.39.54.61.50.20

0

=0.05, =0.02 =0.707 0.707

3.11

5 N N N (3.21) =0.05, =0.02

N N N

N 0.40.8

3.4

(3.22)

1(3.22)s 2(3.22)s

s3.13as1s23.13b 3(3.22)

3.13 a)

3.13 b)

3.5 3.5.1 3.14 3.14

1.

2.

3. (3.23) (3.24)

4. (3.25)(3.24)(3.23)(3.25)

(3.26) (3.26) 5.

(3.27)

3.5.2 (3.28) (3.28)(3.27) (3.29) 3.14 (3.26)

(3.30) (3.30)(3.29) (3.31)

3.3 3.15 (3.32)

3.15 3.3

3.5.3 1. 3.14 1 (3.31)

2 (3.31) (3.33)

(3.34) 3 (3.31)

(3.35)

2. 3.14

(3.36) 0 (3.36)

(3.37) 0 (3.38) (3.39)

3. 10 0

2

3

4. 1

0 0 03.160

3.16 0

2 0 0 3.170

3.17

3 0 0 3.18 3.40

3.4 (1) (2) (3) 3.18

(4) sL

3.4

0 0 00

3.4 3.19

1

ABC 2a3.19 3.4 a)b)

a a

a 3b

b b

3.5.4 2 2.49 1. 2.49

2. 2.49

(3.41) (3.40)

3.

3.5 3.20K1 K2 TMKcRCM

(3.42)

3.20 3.5

K1

K3

3.6 3.6.1 1. 3.21aABBACAA 3.21bA

AA 3.21 a

3.21 b

2.

3. (1)

(2) (3) (4) (5)

3.6.2

(3.43)

(3.43)

s (3.44) (3.46) (3.44) (3.45)

(3.55)

(3.47)

[s][s]

[s] [s] (3.47)

3.6.3 41884E. J. Routh 1.

(3.49) (3.48)

(1) (2)

-1

2. (3.50)

n n+1n+1

3.6

4-25-25500[s]

3. (1) (n=2) (3.51)

(2) (n=3) (3.52)

3.22 3.7

3.7 3.22K

4. (1) 3.8

[s] (2)

3.9

[s]

3.7 MATLABControl Systems Toolbox3.5 00MATLAB3.6

3.5

impulse impulsenum,den impulsenum,den,t t step Stepnum,den stepnum,den,t t lsim lsimnum,den,u,t) u t

3.6 3.10

roots roots(den) denden pzmap pzmapnum,den xo

(1) MATLABnum=[2 20 50];den=[1 15 84 223 309 240 100];t=(0:0.1:20);figure(1);impulse(num,den,t);%Impulse Responsefigure(2);step(num,den,t);%Step Responsefigure(3);u1=(t);%Ramp. Inputhold on;plot(t,u1);lsim(num,den,u1,t);%Ramp. Responsegtext('t');

figure(4);u2=(t*t/2);%Acce. Inputhold on;plot(t,u2);lsim(num,den,u2,t); %Acce. Responsegtext('t*t/2');

(2)3.23 a)3.23 3.10

b)3.23 3.10

c)3.23 3.10

3.23 3.10d)

3.11

(1)MATLAB den=[1 2 3 4 5 6 7 8 9]; roots(den) (2)ans = -1.2888 + 0.4477i -1.2888 - 0.4477i -0.7244 + 1.1370i -0.7244 - 1.1370i 0.1364 + 1.3050i

0.1364 - 1.3050i0.8767 + 0.8814i0.8767 - 0.8814i 43.12

(1)MATLABnum=[3.12*10^5 6.25*10^6];den=[1 1.0*10^2 8.0*10^3 4.4*10^5 6.24*10^6]; [p,z]=pzmap(num,den);pzmap(num,den);

title('Pole-Zero Map');hold on; (2) p =-10.0000 +71.4143i-10.0000 -71.4143i-60.0000 -20.0000 z = -20.0321 43.24

3.24 3.12

3.6

3.6

3.6

3.6

3.6