6.5设计实例:火车转向控制 Track torque Right Throttle Power train Direction ot Sheerin and controller Left Iravel Difference in track speed Controller Power train and G2(5) vehicle G(s) s+a K R(5) s(s+2)(s+5) Desired (s+1) direction of tunin6.5 设计实例：火车转向控制