以扰动量为输入的系统闭环传递函数 扰动V(s) 设R(s=0 R(s) G( G.co Cy(s) G2(s) N(s) 1+G(s)G2(S)H(S) B(s) H(s) N(s) C() G,(s) 一 G(s)H(s) School of Mechanical Engineering ME369-Lecture 4.4 Shanghai Jiao Tong University Fall 2015 设定量、扰动量均考虑时 扰动V(s) R(s) E(s) G(s) G(s)co B(s) H(s) C(s)=Cg(s)+Cv(s) G(s)G,(s) 1+G(s)G2(S)H(s) R(S)+ G3(s) 1+G(s)G(s)H(s) N(s) G,(s) [G(s)R(s)+N(s】 1+G(s)G,(s)H(s) School of Mechanical Engineering ME369-Lecture 4.4 Shanghai Jiao Tong University Fall 2015 33 ME369-Lecture 4.4 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 2 1 2 ( ) ( ) ( ) 1 ( ) ( ) ( ) C s N G s N s G s G s H s   设 R(s)=0 以扰动量为输入的系统闭环传递函数 ME369-Lecture 4.4 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 1 2 2 1 2 1 2 2 1 1 2 ( ) ( ) ( ) 1 ( ) ( ( ) ( ) ( ) ( ) ( ) ( ) [ ( ) ( ) ( )] 1 ( ) ( ) ( ) ( ) 1 ( ) ( ) ( ) ) R N G s G s G s G s G s H s G C s C s C s R s N s G s G s G s H s s R s N s G s G s H s          设定量、扰动量均考虑时