1、 atxtxatxkatxty)()(sgn)()(0)(atxtxkaatxtxkty)()(sgn)()()(0)()(sgn0)()(0)()()(tytxctyatxktyatxkty 0)(,)(0)(,)()()(sgn0)(,)(00)(,)(0)(txmatxMtxmatxMatxtxMtxmatxatxatxmatyyxM Mmama aa),(21221xxfxxx xx,xx)0(),0(xx00dxxd022xxxnn)0(),0(xx0)(1)0(1)(0)-1()1(21,)1(1)(SSSGsradn/15.0 )(efy,1,0,1.1;11;1eeeee3)0
2、(e0)0(e 0)(limtet0e,ae0e,ae0e,ae0e,aeee0)0(e5,.0)0(e0)0(e1,.0)0(e 10)sincos(2)(iiitiBtiAAtn /20/20sin)(1cos)(1tdtitnBtdtitnAii其其中中：1)sincos()(iiitiBtiAtn )sin(sincos)(1111 tYtBtAty11121211arctgBABAY 其其中中：1111)(XYeXYXNj)sin()(11 tYty系统开环部分可分离为：系统开环部分可分离为：)(1)(0)()(1XNjGjGXN)(1XN)(1XN)(jG包围不被)()(1jGXN相交与)()(1jGXN包围被)()(1jGXN
