状态方程: q3+1=(Q3+Q2ggQ3=(Q()Q3 02+l=2100on+210no"=(0120e o2 Q=20 Q1+20 Q=20 e 2i Q+1=1g+1·g=Qn n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q Q 0 0 0 1 0 0 1 0 1 0 1 1 1 1 0 2 1 0 2 1 0 2 1 2 2 1 0 3 2 1 0 3 2 1 0 3 1 3 1 1 ( ) ( ) =  +  = = + =  = + =  = + =  + + + + 状态方程：