1

6 y 11 y
y 6 y 6u
y u

1
2

p2-16 2.2.5

2 LRC u (t )
u c (t ) i uc

L R

i
u(t) C uc(t)

p2-11 2.2.4

3 x Ax (t ,0)
2e t e 2 t e t e 2t
(t ,0) t
2e 2e
2t
e t 2e 2t

A 1 (t )
p3-6 3.1.3

4 x Ax
1 e 2 t
x ( 0 ) 1 x(t ) 2t
e

2 2e t
x ( 0 ) 1 x (t ) t
e
A e At
p3-7 3.1.6
5 2-1 F
v
x x& &x& mk
f
-
2-1
6.
x Ax Bu
y Cx

x 1 2 2
B 1 C 1 0
1
x A
x2 0 1

p4-4 4.1p4-15 4.5

p4-16 4.6

7.
x Ax Bu
y Cx

x1 1 2 2 2
0 C 1 0
x x2 A 0 1 1 B 1
x3 1 0 1 1

C ( s)
8 14 ( s )
R( s)

H1
R(s) C(s)
G1 G2 G3

H2 H 2.8
3

9.
s 4 s 3 5s 2 4 s 6 0
5.1