Smith预估补偿原理 D(S) R(S (S) kng.(s)e K Y"(s) 如何使 Kng,(s) U/(s)Smith预估补偿原理 + _ + Gc (s) + D (s) R (s) Y (s) Ks gs (s) s p p d K g s e -t ( ) + + U (s) Y' (s) ( ) ( ) '( ) K g s U s Y s 如何使 = p p