求解步螈 (c)解: 平衡点满足0=-kg,ys=x=r 因此有ly=k√gr求解步骤 (a)解: 令 0 ( ( ) ) ( ) h i d A d k gh dt A h h u k gh = − = − x h = 1 [ ], y=x ( ) x u k gh A x = − (b)解: 令 则有 a x p p gh = − = ( ), y=x/( g) ( / ) g x u k x A x g = − (c)解: 平衡点满足 因此有 ss 0 , y ss ss ss = − = = u k gx x r u k gr ss =