南航考研自动控制原理2012真题920答案.pdf

A 920150 10 150 C(s) C(s) . (15 ) 1 R (s) N (s) GG ((ss)) NN ((ss)) 33 RR ((ss)) CC((ss)) GG ((ss)) 11 HH ((ss)) 11 HH 22 ((ss)) GG ((ss)) 22 1 . (20 ) 2 kr 0, r(t) 1(t) σ% 16.3% kr 0, r(t) t ess 0.25 1.k , kt 2. k 0, r(t) 1(t) t ±5% r s cmax 3. k r (t) t r 920 () 1 4 kr R(S) k 1 C(S) - - S S k S t 2 . (20 ) r (t) 1+2t +3t 2 ess 0.2 γ ω 10 c s +T