f(t)=Aest r(t)=A祖(s)est H(s) H(s)=response fimction driving function H句)=b+bs++6s+b ++aS+a0 n(s) as) H(s) f(t)=Aest r(t)=AH(s)est ( ) ( ) d( )s n s a s a s a s a b s b s b s b H s m m m m n n n n = + + + + + + + + = - - - - 1 0 1 1 1 0 1 1 L L ( ) driving function response function H s =