b. Kv?25Tz2ess?0.05

(1?e?4T6.解： F(z)?4(z?1)[?)z?4T4(z?1)(z?e)]

7.解：HG(z)?3.68z?2.64(z?1)(z?0.368)

1)单位阶跃输入：ess=0 2)单位斜坡阶跃输入：ess=0.1 3)单位抛物线输入：ess=∞ 8.解：Gc(z)?k(0.1z?0.08)(z?1)(z?0.7)?k(0.1z?0.08)

A(z)?(z?1)(z?0.7)?k(0.1z?0.08)

0?k?3.75

9.解：特征方程： z?1.7z?1.7z?0.8?0

由舒尔科恩得：系统不稳定。

10.解：D(z)?0.85(1?0.286z1?0.78z?1?132)?2?0.122z?U(z)E(z)

u(kT)?0.85e(kT)?0.243e(kT?T)?0.78u(kT?T)?0.122u(kT?2T)

11.解： G(s)?12sz?12(s?2)z

G(z)?2(z?1)?2(z?e?2T).

12. 解： G(z)?1??3z?5z?5z?62?1??3z?1?5z?2?21?5z?1?6z

?0 X(kT?T)????61??0??X(kT)???u(kT) ?5??1?

y(k)???5?3?3?X(kT)?u(kT)

722 ?13.解： G(z)?z?2z?4??2X(kT?T)???00??1??X(kT)???u(kT) ?4??1?第5页共7页

y(k)???32?7?X(kT)

2?h2??3

1??1??X(kT)???u(kT) ?5???3?14.解：h0?0h1?1?0X(kT?T)????3y(kT)??10?X(kT)

?115.解： Gc(z)?C(zI?F)G

?z?1??0.42(zI?F)?1?0.9??z?1?(z?1)?0.36

2(z?1)???(z?1)2?0.36?? Gc(z)??1.8???(z?1)2?0.36???21?z16.解：用双线性变换：s?? ?1T1?z?1D(z)?9.25?3.5z1?z?1?1?U(z)E(z)

u(kT)?u(kT?T)?9.25e(kT)?3.52e(kT?T) u(kT?T)?u(kT?2T)?9.25e(kT?T)?3.52e(kT?2T)

?u(kT)?u(kT)?u(kT?T)?u(kT?T)?u(kT?2T)?9.25e(kT)?5.73e(kT?T)?3.52e(kT?2T)u(kT)?u(kT?T)??u(kT)

17.解：Kp=3.6 Ki=0.4 D(z)?3.6?0.41?z?1

u(kT)?4e(kT)?3.6e(kT?T)?u(kT?T) 18.解：HG(z)?0.01z(1?z?1?2?1)(1?0.8z?1)

D(z)?100(1?0.8z1?z?1)

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