1

:
(
) .
:

/
- : ,
, , , .

, , ,

(, )
(-, .)
( )


z2`(t)

z1`(t)

y0(t)
+

(t)

up(t)

z1(t)
+

z2(t)

u(t)

y(t)

= + +

-
y0(t)

(t)

u(t)

z(t)
+

y(t)

y(t) -

y(t)=

0(t) -

0(t)=const (0(t)const)
: y(t) = 0(t)

(t) -

(t)= y(t) - 0(t)

: (t)0

u(t) -
z(t) - -

: (t)0, y(t) = 0(t)

y(t).

y(t), z(t), y0(t)=const (

)
y(t), y0(t) const ( ).

(t)= y0(t)- y(t) (P, I,

PI, PID) uP(t),
u(t) .
2

 (0(t))
-

y0(t)=const
+

.:
-

(t)

u(t)

y(t)

.:

y0(t)const

(t)

u(t)

y(t)

:
y0(t)const
+

.:

(t)

u(t)

y(t)



y(t)=f(y0(t))
z2(t)
z1(t)
y0(t)

u(t)

+ +

y(t)

z1

Q

V

z3
yT.

z2 !

y0(t)=T0
y(t)=T.
z1(t)=T

Q
V

Q=f(T0).

 ( )
y(t)=f(y0(t),z1(t))
z1(t)

y0(t)
+

(t)

z2(t)

u(t)

+
+

y(t)

:
z3

z1(t)T

yT.

z2 !

Q
V

Q

V

z1(t)=T
Q=f(T).
1

2
3

3
20

-20

( )
y(t)=f((t))
z1(t)

(t)

y0(t)
+

u(t)

z2(t)
+

y(t)

:
z1T

z3

yT.
y0

Q

V

z2 !

y0(t)=T0
y(t)=T.
(t)= y(t) - 0(t)
z1(t)=T

Q
V

Q=f((t))

y(t) =f((t), z1(t))
z1(t
)
y0(t)
+

(t)

z2(t)
+

u(t)

+
+

y(t)

e
, .
. , .
.

- -

:
n

ui (t )
i =1

y (t )
i =1

k i u i k i yi

ai
i =0

- -

i =1

i =1

ki ui (t ) ki yi (t )

n
d i y (t )
d j u (t )
=
b

j
dt i
dt j
j =0

-
y=f()
-
y=f(, )

()

.: (mconst)

m(t)const

m(t)=const

)
t

)
t

(
)

y (t ) ( y1 , yn )

yn
y1

y0

y0

ti y(t) y0(t)
.
() ()

h(t)

h(t)

h(t)

y0

y
a)

y01

y1

y02

y2