1.2.1
. u (t) g (t) z (t), , y (t).
. ( 1.1 1.3).
1.2.2 ( )
, () y (t) g (t), ( )
e(t) = g (t) y (t) (1.1)
u (t), (e(t) = 0) e.
. " " , , . . () , . , , u (t).
, , (). , ( 1.2).
, () y (t) . , () .
1.2.3 (
)
, e z 1, , , .. u (t), z 1, ( 1.3). () y (t) z 1.
, . . , , , . , , .
1.2.4
, , . . .
( 1.1) .