You are on page 1of 3

@

5{6&, S HocW"
s!
I
A**s-*" LFC- I
?, A.AJ Lry)
I af
r- {-
/

k
l{q.-
/tt,
t+sl l" F","

AYr{S-l = k"g
AP(J/ - RL 5(o q{t)
t+<f",

aBGt -- k+ r aYE$'l
l+sT+ -(z->
AF€) k*
= --1-4 AAts) - A?r(5) + (-3-)

I4-sTf
P,o"tu, Ay6(s, Q+ .rJr_r) = lqsJ
Fz*, -*"tql
@t
AY*(u +- s aYs(s,l
'tl =[,
bet-r-rarej
)

jtr '€
P\r' G)
-]!sJ- aF(s-l -Lav*G;
k Eh b;(+_r
F-- lz>
AAG)+sAU €-l r+ -, k+aY=(s-l
{
AB(e =lr.AYEG; -+AAG;
vtT++'\-'
=(s-l
Fr--(g: "/

SAKs)',?r= kpraPqG-l .- ab@- AF(sJ


F
AF(s) = AA(9 q a -^(g
tr Tps
^Be_+
- Th*te-
"I a ,)
X=AX+BU+rDt
@

\
-*. I
--**- AY,GJ
R'f
^%
-l
---T+ ABg) +
a(s) 3t TI t*s
!

-l
----
t

- ar,
T
k"J
riJ AP.GI + Af,(s;
c
G,

o
-Tfr^, I
u U'v- Ab,b- J
,\-R u
*-
A) .L ;fr..

You might also like