1、( )G s( )R s( )C s(a)( ),( )u tU s ( ),( )r tR s( )( )u tr t( )( )U sR s+(b)( ),( )u tU s( ),( )u tU s1R2R1C2C1( )u t2( )u t(a)1R2R11C s21C s1( )U s2( )Us(b)3( )Us1( )I s2( )Is2221( )( )UsIsC s23221( )( )( )IsUsUsR31211( ) ( )( )UsI sIsC s11311( )( )( )I sU sUsR11R11C s21R21C s1( )U s3( )U s2( )U s1
2、( )I s2( )I s+-(c)( )E s( )G s( )H s( )R s( )E s( )C s( )B s+-( )( ) ( );C sG s E s( )( )( );E sR sB s( )( ) ( )BsH s C s( )( )( )( )B sG s H sE s( )( )( )CsG sE s( )( ) ( )C sG s E s( )( )( )( )( ) ( )E sR sB sR sH s C s( )( )( )1( )( )C sG sR sG s H s( )( )( )1( )( )G sC sR sG s H s1( )G s( )H s(
3、)R s( )E s( )C s( )B s+-2( )G s扰动( )N s+212( )( )( )1( )( )( )NG sCsN sG s G s H s2112( )( )( )( )( ) ( )( )1( )( )( )RNG sC sC sCsG s R sN sG S G s H s1212( )( )( )( )1( )( )( )RG s G sCsR sG s G s H s1( )G s2( )G s3( )G s0( )Xs1( )X s2( )Xs3( )Xs(a)123( )( )( )G s G s G s0( )Xs3( )Xs(b)12( )( )( )
4、( )nG sG s G sG s123( )( )( )G sG sG s0( )Xs4( )Xs(b)1( )G s2( )G s3( )G s0( )Xs1( )X s2( )Xs3( )Xs(a)4( )Xs( )1( )( )G sG s H s( )R s( )C s(b)( )G s( )H s( )R s( )E s( )C s( )B s+ (a)( )( )( )( )1( )( )C sG sG sR sG s H s)()(1)()()()()()(sGsGsQsRsQsGsRsC(a) +( )G s( )R s( )Q s( )C s +( )G s( )R s(
5、)C s( )Q s1( )G s(b) +( )G s( )R s( )C s( )Q s( )G s(b)(a) +( )G s( )R s( )Q s( )C s)()()()()()()()(sGsQsGsRsGsQsRsC(b)( )G s( )R s( )C s( )G s( )C s(a)( )G s( )R s( )C s( )C s)()()(sGsRsC1( )G s(b)( )G s( )R s( )C s( )R s(a)( )G s( )R s( )C s( )R s)(1)()(sGsCsRADCB +(a)DC +A +B(b)AAAAA(a)AAAAA(b)1(
6、 )G s2( )G s3( )G s4( )G s( )R s( )C s+-2( )H s3( )H s1( )H s23423343232( )( )( )( )1( )( )( )( )( )( )G s G s G sGsG s G s HsG s G s Hs3434343( )( )( )1( )( )( )G s G sGsG s G s Hs( )( )( )C s sR s123423234312341( )( )( )( )1( )( )( )( )( )( )( )( )( )( )( )G s G s G s G sG s G s HsG s G s HsG s G
7、s G s G s H s图2-20 例2-9系统结构图简化1( )G s2( )G s( )R s( )C s+-1( )H s24( )( )H s G s34( )G s(b)1( )G s( )R s+-23( )G s( )C s1( )H s(c)1( )G s2( )G s3( )G s4( )G s( )R s( )C s+-2( )Hs3( )Hs1( )H s41( )G s(a)G1G2G2G1G1G2G1G2G1G2G1G1G21+G1G2G3G4H3H2H1abG1G2G3G4H3H2H1G41G2H1G1G3G1G2G3H1G2G1G1G4H3G2G3H1H1H3G
8、1G4G2G3H3H1G2H1H33331HGG1111HGGG4G23331HGG1111HGGG43331211HGHHGG31321313133111131)1 (HHGGGHHGGHGHGHGG11114211)1 (HGHGGGG313213131331114121431)(HHGGGHHGGHGHGHGGGGGGGIRIURU2354输入节点（源）混合节点输出节点（阱）11x2x3x4x5x6x112a23a34a42a44a45a53a25a24a32a12345xxxxx1245xxxx125xxx232;xxx2432;xxxx343;xxx2532xxxx24532;xxx
9、xx3453;xxxx44xxG1G3G2G4G3e1G2G1G4e3e2e3G1G3G2G4G3e1G2G1G4e3e2e3e11G1(s)G3(s)H2(s)G4(s)H1(s)G2(s)R(s)C(s)R(s)C(s)G3G1G211G4H1H211kkkPP(1)(2)(3)( )1( 1)mmLLLL (1)L(2)L(3)L()mL+1G1H3G2G2H( )R s( )C s1123PGG G1123LGG G 2121LGG H3232LGGH(1)12312123212311 ()1LLLLGG HG G HGG G 1231111122123121232( )( )1 ()
10、1GG GPPC sPR sLLLGG GGG HG G HR(s)C(s)L1= G1 H1L2= G3 H3L3= G1G2G3H3H1L4= G4G3L5 = G1G2G3L1L2= (G1H1) (G3H3) = G1G3H1H3L1L4=(G1H1)(G4G3)=G1G3G4H1 G4(s) H1(s)H3(s) G1(s) G2(s) G3(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s) G4(s) H1(s)H3(
11、s) G1(s) G2(s) G3(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s) G4(s)H3(s) G2(s) G3(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s) G1(s) G2(s) G3(s) G1(s) G2(s) G3(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s)G4(s)G3(s)
12、H1(s)H3(s) G1(s) G2(s) G4(s) H1(s)H3(s) G1(s) G2(s) G3(s)P2= G4G3P1=G1G2G31=12=1+G1H1C(s)R(s)=?G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(s)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(s)P1=11=1+G2H2E(s)=1+ G2H2+ G1G2H3-G1H1G2 H2- G1H1(G2H3)R(s) N(s)(1+G2H2) (- G3G2H3)+R(s)E(s)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)C(s)N(s)R(s)E(s)G3(s)G2(s)H3(s)E(s)R(s)G1(s)H1(s)H2(s)C(s)P2= - G3G2H32= 1P1= G2H31= 1N(s)G1(s)H1(s)H2(s)C(s)G3(s)G2(s)H3(s)R(s)E(s)e1abcdfghC(s)R(s)=1+afbg chefhgahfced(1g)bdabc
