-s0n0k eW(s)(T s+1)ni01W(s)Ts(T s+1)-si1eW(s)Ts10Iy(t)dt20Iy(t)dt230Iy(t)dt 1,2,0If(y yt)dtnn+2nyyy202200()2KW sss00.9986 12gK 30 60r 01()()0cw s w s1,2()Sjmj *0*0(,)(,)(,)(,)ccA mA mmm*0*0(,)(,)(,)(,)ccR mR mImIm0W()W()W()1kcsss W()(21)180W()1kksNs 0W()(1)nKsTs0n1W()(1)isTsTsl12pKKl1,K2.21.2peiTKKll1,0.251.62piDiTKK TTT()()(1)()()2(1)(2)()(1)DDppppiITTTu nke ne nke nke ne ne nkc kc kTTT000()()0()()()()()()()PIDe neu ne ne ne neu nunu nun时时2020()=()Et dt DDCEt dt选择控制度模拟谢谢！
