MPL-A4560F-MJ72AA

MPL-A4560F-MJ72AA

1. 固定間隔T被指定為迭代之間的時間，即它們的周期。

2. 將連續時間t時刻的誤差值e(t)的評估替換為離散時間迭代n時的評估，即e(n) = r(n) – y(n)，其中n = 0 , 1, 2, …

3. e(t)的連續時間積分由e(n)T的離散時間求和代替。

4. e(t)的連續時間導數替換為e(n)在前一次迭代和當前迭代之間的線性斜率

MPL-A4560F-MJ72AA 

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