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自 动 控 制 原 理第 八 章 状 态 空 间 分 析 法因 此2s1Gs+c11=s(PI 控 制 器 ( s 1)(2s1)+ +c21 =−s(PID 控 制 器)G ( ) 0 c12s =s+1Gc22( s) = (PI 控 制 器 )5s