1、l 线性常系数差分方程线性常系数差分方程l 脉冲传递函数脉冲传递函数l 计算机控制系统稳定性分析计算机控制系统稳定性分析l 计算机控制系统的代数稳定性判据计算机控制系统的代数稳定性判据l 计算机控制系统稳态过程分析计算机控制系统稳态过程分析l 计算机控制系统暂态过程分析计算机控制系统暂态过程分析 l 计算机控制系统的频域特性分析计算机控制系统的频域特性分析12()()()e kae kbe k12()()()()u kD e kaD e kbD e k)()(nkeDnku12()(1)(2)()nu kau ka u ka u kn012()(1)(2)()mb e kbe kb e kb
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5、zz1121111()(2)(1)(2)(1)(2)(1)21,1,2,3,kkzzkf kzzzzzzzzk*11()21()kkfttkT()8(1)12(2)0u ku ku k(1)1u(2)3u()()nZ f tnTzF z()0f t 1()()()nnnjjZ f tnTzF zzf jT z()()Z u kU z1(1)()(1)Z u kz U zu21(2)()(1)(2)Z u kz U zz uu2k(2)8(1)12(0)0uuu8(1)(2)8 1 35(0)121212uuu 1k(1)8(0)12(1)0uuu0k 8(0)(1)7(1)1236uuu(0)
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8、a za z1()()kW ss Tsa1()()sTekW sss sa12()()()()()Y zW zW z W zR z1212()()()()W zZ W s W sWW zasasWssW)(,1)(21)(zW1111()1W zZsz 21()1aTaaW zZsaez1211()()()(1)(1)aTaW zW z W zzez1)()()(21asasZsWsWZzW111(1)(1)(1)aTaTezzez)()()()()(2121zWzWsWZsWZzW()W s)(sHz变换()()()()E zR zE z WH z*()()()Y sE s W sz变换()
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