[讨论]误差&偏差（续） N(s) R(s) E(s) C(s) G,(S) G,(s) B(s) H(s) 偏差 误差 E(s)=R(s)-B(s) E'(s)=C,(s)-C(s) =R(s)-C(s)H(s) C,(s)=R(s)/H(s) E'(s)=R(s)/H(s)-C(s) E'(s)=E(s)/H(s) School of Mechanical Engineering ME369-lecture 6.3 Shanghai Jiao Tong University Fal12015 误差指标 (t◆ c(r) 强烈振荡过程 误差允许范围 振荡过程 微振荡过程 0 J=flel)ldi J=tle()ldi e,=lime(t) 1-+00 J=[e'(Odi J-te()di School of Mechanical Engineering ME369-lecture 6.3 Shanghai Jiao Tong University Fall 2015 22 ME369-lecture 6.3 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 偏差 R(s) C(s)H(s) E(s) R(s) B(s)     误差 E'(s) C (s) C(s)  r  ( ) ( ) / ( ) C s R s H s r  E'(s)  R(s)/ H(s) C(s) E'(s)  E(s)/ H(s) [讨论]误差&偏差 (续) ME369-lecture 6.3 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University    0 2 J e (t)dt    0 2 J te (t)dt    0 J | e(t)| dt    0 J t | e(t)| dt 误差指标 lim ( ) s t e e t   误差允许范围