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自 动 控 制 原 理第 七 章 采 样 数 据 控 制 系 统 分 析−1 −= [ g(0) + gT ( ) z + g (2 T ) z 2 +⋅⋅⋅] r(0)+ [ g(0) + gTz ( ) + g(2 Tz ) +⋅⋅⋅] rTz ( )−1 −2 −1−1 −2 −2+ [ g(0) + gTz ( ) + g(2 Tz ) +⋅⋅⋅ ] r(2 Tz ) +⋅⋅⋅= + + +⋅⋅⋅ + + +⋅⋅⋅− 1 − 2 − 1 −2[ g (0) gT ( ) z g (2 T ) z ][ r (0) r ( T ) z r (2 T ) z]∞∞=∑=∑−kgkTz( ) rkTz( )k= 0 k=0=GzRz() ()−k所 以 Cz ()注 意 :Gz() = =∑gkTz( )R() z k=0∞Gz gt Gs Gz Gs1( ) = Z [ ( )] = Z [ L− ( )], ( ) ≠ ( ) s = z−k