被控对象为一个三环结构的伺服系统。伺服系统参数和控制参数在程序中给出描述。系统采样时间为1ms.根据是否加入摩擦干扰和前馈补偿分别进行仿真。-Charged for a three-ring structure of the servo system. Servo system parameters and control parameters described in the procedure are given. System sampling time of 1ms. In accord

专家控制 求二阶传递函数的阶跃响应 G(s)=133/(s^2+25s),取采样时间为1ms进行离散化。设计专家PID控制器，并进行Matlab仿真。(Expert control Find the step response of the second-order transfer function G(s)=133/(s^2+25s), and take the sampling time as 1ms for discretization. Design expert PID contro