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U(t)=K*E(t) + 1/T |E(t)dt +T*dE(t) / dt

-
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U(k)=K[E(k) + T0/T * E(i-1) + T/T0 *(E(k) E(k-1)) ] (2) (. )

i=0

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k-1

U(k-1)=K[E(k-1) + T0/T * E(i-1) + T/T0 *(E(k-1) E(k-2)) ]

(3)

i=0

(2) - (3):

U(k) - U(k-1)=g0*E(k) + g1* E(k-1) + g2E(k-2)

g0=K(1 + T/T0)
g1= -K(1 + 2T/T0 T0/T)
g2= K* T/T0
:
U(k) = U(k-1) + g0*E(k) + g1* E(k-1) + g2E(k-2)
, :

g0=K(1 + 2 T0/T+ T/T)

g1= -K(1 + 2T/T0 T0/T)
g2= K*T/T0

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g 0 g 1 z 1 g 2 z 2 ... g n z n

g0=K(1 + T/T0),

1 z 1

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( z)

g1= -K(1 + 2T/T0 T0/T), g2= K* T/T0.

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0- .
n=1- 1 .

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z[ f (k )] F ( z) z 1 F ( z) z[ f (k )] ,
u(k ) u(k 1) g 0 (k ) g1 (k 1)
n=2, - 2 .

- 1 .

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, z e
1
( z)
1 z
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u( z)(1 z 1 ) ( z)( g 0 g1 z 1 g 2 z 2 )

u(k ) u(k 1) g 0 (k ) g1 (k 1) g 2 (k 2)

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n=3, 2 - 3 .

g 0 g1 z 1 g 2 z 2 g 3 z 3 u ( z )
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:

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3 . ( ).
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u(k ) u(k 1) g 0 (k ) g1 (k 1) ... g n (k n)

n=0, - 0 .

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u ( k ) g 0 ( k )
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,
,
.
:
U(k)=U(k-1)+ Kn*((k)-(k-1)+(To/T)*(k-1)+(Tg/To)*((k)-2(k-1)+(k-2))),
(Kn*((k)-(k-1)) - ;
((To/T)*(k-1)) - ;
((Tg/To)*((k)-2(k-1)+(k-2)) - .
U(k)
(k) -y(k):
U(k)-U(k-1)= Kn*((k)-(k-1)+(To/Tn)*(k-1)+(Tg/To) * (-y(k)+2y(k-1)-y(k-2))) 9-2

( y(k) - ):
U(k)-U(k-1)= Kn*(-(k)+(k-1)+(To/Tn)*(k-1)+(Tg/To) * (-y(k)+2y(k-1)-y(k-2))) 9-3

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W0 u ( z ) -

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W0 f ( z )
W0 u ( z )

9-4

, y 0

U 0 .

.

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k0
y ( p)

y () k 0 U 0
T0 p 1 U ( p)

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W0 ( z )
1 a1 z 1 a2 z 2 ... am z m

g 0 g1 z 1 g 2 z 2 ... g m z m
: WR ( z )
1 p1 z 1 p2 z 2 ... pm z m

g0

1
b1 b2 ... bm

g1 a1 g 0 ;

p1 b1 g 0 ;

g 2 a2 g 0 ;

p2 b2 g 0 ;

g m am g 0 .

9-5

pm bm g 0 .

, :

I M ( y 2 (k 1) rU 2 (k )) , r .

9-6

 ,
.

b1 z 1 b2 z 2 ... bm z m
B( z )

Wou ( z )
,
A( z ) 1 a1 z 1 a 2 z 2 ... a m z m
D( z ) 1 d1 z 1 d 2 z 2 ... d m z m
Wof ( z )

C ( z ) 1 c1 z 1 c2 z 2 ... cm z m
: WR ( z )

Q( z )

P( z )

A( z )[ D( z ) C ( z )] Z
r
Z B( z ) C ( z ) A( z ) D( z )
b1

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t
t

d 2 y(t ) 2 y y(k ) y(k 1) y(k ) y(k 1) y(k 1) y(k 2) y(k ) 2 y(k 1) y(k 2)
2

;
dt 2
t
t 2
t 2
t 2
.

d n y(t ) n y n 1 y(k ) n 1 y(k 1)

n
.
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t
t n

9-7

:
y(k n) a1 y(k n 1) ... a n y(k ) b0 u(k n) b1u(k n 1) ... bn u(k )

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y (k 1) x (k ) x (k 1)
2
1

y (k 2) x 3 (k ) x 2 (k 2)

...
y (k n 1) x n (k ) x n 1 (k 1)

y (k n) x n (k 1)

9-8

 bn 1 ,
b1 b2 b3 ... bn 0 ,
y(k n) xn (k 1) a1 xn (k ) a 2 xn1 (k ) ... a n x1 (k ) 1 u(k ) -

x1 (k 1)

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x 2 (k 1)

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x 2 (k )

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...

...

...

x n 1 (k 1)

...

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1

x n (k 1)

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a n 1

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x n (k )

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9-9

x n1 (k )
x n (k )
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x(k 1) Ax (k ) Bu (k )
x(0) x0

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