A 对r()=At,有e3 K 补偿后:加入G,()=xS 1+G (sG(s) K(t,s+ ()s(71s+1)(Tns+1)+K 中:()=1-06)=5(n+7+)+-kx) (T;s+1)Tns+1)+1 取r K 则 S (TT S+T+T, S(T,s+)(TmS+1)+K E(s)=Φ(s)R(s) 对r()=At,R(s) A 有 +l+T s+1)+K 此时Φ(s)= s+K S (TTm. S+T+T)+s+K 相当于G)=(s) s+K (S)5(TTm S+T+T, 所以:系统由I型提高为Ⅱ型,en↓,但稳定性和暂态性能未变对 r(t) = A• t ，有 K A ess = 补偿后：加入 G (s) s r d = ( )  ( ) ( ) ( ) ( ) ( )( ) ( ) ( ) ( ) ( ) ( 1)( 1) 1 1 1 1 1 1 1 1 1 1 1 2 1 + + + + + + −  = − = + + + + = + +  = s T s T s s T T T T s K s s s T s T s K K s G s G s G s s m m m d e m r d   取 K d 1  = ，则 ( ) ( ) ( )( ) E(s) (s)R(s) s T s T s K s TT s T T s e m m m e =  + + + + +  = 1 1 1 1 1 2 对 ( ) , ( ) 2 ,有 s A r t = At R s = ( ) ( ) ( )( ) 0 1 1 lim lim 2 1 1 1 3 0 0  = + + + + + = = → → s A s T s T s K s TT s T T e sE s m m m s s s s ( ) ( ) ( ) ( ) ( ) ( ) m m m m s TT s T T s K s s G s s TT s T T s K s K s + + + = −   = + + + + +  = 1 1 2 1 1 2 1 , 相当于 此时 所以：系统由Ⅰ型提高为Ⅱ型， ess  ，但稳定性和暂态性能未变