Smith预估补偿器 DO R(S U(S) Y(S) -tS S pop (s)e po p Y"(s)Smith预估补偿器 + _ + Gc (s) + D (s) R (s) Y (s) s p p d K g s e -t ( ) + + U (s) Y' (s) ( ) s p p d K g s e -t ( ) 1-