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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <head> <title>page_iv</title> <link rel="stylesheet" href="reset.css" type="text/css" media="all"> <meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /> </head> <body> <table summary="top nav" border="0" width="100%"> <tr> <td align="left" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_iii.html">< previous page</a></td> <td id="ebook_previous" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_iv</strong></td> <td align="right" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_v.html">next page ></a></td> </tr> <tr> <td id="ebook_page" align="left" colspan="3" style="background: #ffffff; padding: 20px;"> <table border="0" width="100%" cellpadding="0"><tr><td align="center"> <table border="0" cellpadding="2" cellspacing="0" width="100%"><tr><td align="left"></td> <td align="right"></td> </tr></table></td></tr><tr><td align="left"><p></p><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="right"><font face="Times New Roman, Times, Serif" size="2" color="#FF0000">Page iv</font></td></tr></table><table cellpadding="0" cellspacing="0" border="0" width="100%"><tr><td height="12"></td></tr><tr><td><table cellspacing="0" width="576" cellpadding="4"><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">2.4.1 Plane Rotations</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">33</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">2.4.2 Quaternions</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">39</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="24" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">2.5 Rotating Reference Frames</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">42</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">2.5.1 Direction-Cosine Kinematics</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">42</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">2.5.2 Derivative Calculations in Rotation Frames</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">43</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">2.5.3 Calculation of the Direction Cosine</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">44</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">Chapter 3<br />Systems Concepts</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">55</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="24" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">3.1 Continuous-Time Systems</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">55</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">3.1.1 Ordinary Differential Equations</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">56</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">3.1.2 Transfer Functions</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">56</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">3.1.3 State Space</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">57</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">3.1.4 State-Space Linearization</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td align="right"><font face="Times New Roman, Times, Serif" size="3">60</font><font face="Times New Roman, Times, Serif" size="3"></font></td><td></td></tr><tr><td colspan="3"></td>⌨️ 快捷键说明
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