X(k+1=AX(k)+bu(k y(k)=CX(k)+du(k) 其中 0…0d=0 其中    = + + = + ( ) ( ) ( ) ( 1) ( ) ( ) y k CX k du k X k AX k bu k 1 0 0, 0 , 0 0 0 , 0 0 0 1 0 0 1 0 0 1 0 0 1 2 1 = =               =                 − − − − = − c d b b a a a a A m n n           