i=f(x, u, t ) x(+)=f(x, l, y(t=g(r,u, t) g(t)=g(x,u, tk) 线性函数→线性系统 (t)=A(1)x(t)+B()() 线性时变系统 8()=c(t)x()+D(1)(t) 线性定常系统x=Ax+B,y=Cx+D 线性定常离散系统x(+1)=Gx(k)+H(k y(k)=Cx(h)+ Du(k)   = = ( ) ( , , ) ( , , ) y t g x u t x f x u t    = + = ( ) ( , , ) ( ) ( , , ) 1 k k k k g t g x u t x t f x u t    = + = + ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) g t c t x t D t u t x t A t x t B t u t   线性函数  线性系统 线性时变系统 线性定常系统 x  = Ax + Bu, y = Cx + Du 线性定常离散系统 x(k +1) = Gx(k) + Hu(k) y(k) = Cx(k) + Du(k)