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1.ç±å¯¹æå¡è¾å
¥ç稳æ误差为0ï¼åç³»ç»è³å°æ¯IIåç³»ç»ã
2.åä¸å¦¨åG(s)çåæ¯ä¸ºS,为äºæ»¡è¶³ç³»ç»ç¨³å®çéè¦ï¼G(s)ååå¢å ä¸ä¸ªå¼ç¯é¶ç¹ï¼å为K(TS+1)åéç¯ç¹å¾å¼ï¼D(S)=S^(3)+10S^(2)+KTS+Kï¼
3.ä¸»å¯¼æ ¹å¯¹åºçéç¯ç¹å¾å¼E(S)=S^(2)+0.9wS+w^(2)ï¼åä»»åä¸æ ¹-aã
4.å(S+a)[S^(2)+0.9wS+w^(2)]=S^(3)+10S^(2)+KTS+Kï¼å»ºç«ä¸ä¸ªæ¹ç¨ã10=0.9w+a;KT=0.9wa+w^(2);K=aw^(2)ï¼åa=8ï¼å¾w=2.2,T=0.67,K=38.72
5.E(S)=S^(2)+0.9wS+w^(2)=S^(2)+1.98S+4.84.主导æç¹å®é¨æ¨¡å¼ä¸º0.99ä¸8ç¸æ¯ï¼ç¬¦å主导æç¹çè¦æ±ãçæ¡ä¸å¯ä¸ï¼è®¾è®¡å®æ¯ï¼
6.G(S)=38.72(0.67S+1)/S
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