. ϳ , , . 8.2, ), W(s) W(s) . (): W(s) = W(s)W(s).
. 8.6, d , .
, 璺 , , z-:
W(z) = Z{W(s)}. (8.36)
, (8.3) :
, , q = sT0 eq = z, (8.36) (8.33) :
(8.37)
g =1, , :
(8.38)
g << 1 (8.36) (8.7) :
W(z) = Z{gT0W(s)} = gT0Z{W(s)}. (8.39)
ϳ , 璺 , , ,
W(z) z-
(8.40)
, 璺 , , .
璺 W(z) , :
(8.41)
z- .
8.4 W(z) , : W(s) = k/[s(T1s+1)(T2s+1)], (g << 1) 0. 0 = 1; 1 = 1; 2 = 0,5; k = 100-1; g = 0,01.
(8.39)
W(z) = gT0Z{W(s)} = gT0Z{ k/[s(T1s+1)(T2s+1)]}.
W(s) . г s(T1s+1)(T2s+1) = 0 : s1 = 0; s2 = -1/T1; s3 = -1/T2,
:
8.1 :
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ϳ :
. (. 8.2, ). , W(z) . ( ) :
W(z)=Y(z)/G(z) = W(z)/[1+W(z)]. (8.42)
, :
Wx(z) = X(z)/G(z) = 1/[1 + W(z)]. (8.43)
(8.42) (8.43) .
, , t=0. d- , W(s) . W(z,-0) z-1W(z,1), .
8.5 (. 8.2, ),
:
(8.42) (8.43) 䳺 :
W(z)=Y(z)/G(z) = kT0/(z + kT0 - 1];
Wx(z) = X(z)/G(z) = (z 1)/(z + kT0 1).