一、被控对象的动态特性 二、数学模型的几个概念 三、研究和建立数学模型的目的和作用 四、单输入单输出过程常见的数学模型 五、有自平衡能力和无自平衡能力的概念

In going from the state space model i(t)=A.(t)+ Bu(t y(t)= Ca(t)+ Du(t) to the transfer function G(s)=C(sI -A)-B+D need to form the inverse of the matrix(sI- A)-a symbolic inverse- not easy at all For simple cases, we can use the following

本章要点: >主电路设计考虑的主要因素 >我国主要干线机车主电路 >机车的牵引特性及制动特性 >概念“粘着”、”“空转”、“滑行”、“辆重补偿” >主电路保护的种类与原理 >机车辅助电路的结构与功能

第一节 生理学的研究对象和任务 第三节 生理功能的调节 第四节 体内的控制系统 第二节 机体的内环境

16.31 Feedback Control State-Space Systems What are state-space models? Why should we use them? and how do we develop a state-space mode( &ased in classical control design How are they related to the transfer functions What are the basic properties of a state-space model, and how do we analyze these?

第一节 动物生理学的研究对象和任务 第二节 机体与内环境 第三节 动物机体功能的调节 第四节 机体的控制系统

7.1 运算和数学指令 7.2传送、移位和填充指令 7.3表功能指令 7.4 转换指令 7.5中断 7.6 PID回路指令 7.7时钟指令 7.8高速处理类指令

Goal: Design a controller K(s so that the system has some desired characteristics. Typical objectives Stabilize the system( Stabilization) Regulate the system about some design point(Regulation Follow a given class of command signals(Tracking) Reduce the response to disturbances(Disturbance Rejection Typically think of closed-loop control > so we would analyze the

Fall 2001 16.313-1 Introduction Root locus methods have Advantages k Good indicator if transient response k Explicity shows location of all closed-loop poles Trade-offs in the design are fairly clear Disadvantages k Requires a transfer function model(poles and zeros) k Difficult to infer all performance metrics k Hard to determine response to steady-state(sinusoids

MG!∈R- ORDER5)sT6As RREL丹T(0sHP5 BETWEEN1MER6soN5毛 TAST∈P兵 ND THE POLE LOCAT(0NS心EK ALCULATE0 FoR A SECOND-ORDER SYSTEM GuES60工 NSIGHTS AcTuALLy Gooo APPRoXIMATIONS foR MAwy HIGHER- ORDER SYSTEMS BECAUSE THEIR