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　　学习是一件因人而异的东西，有些人觉得很简单，而有些人却觉得很难。其实学习既要方法，也要学习者的恒心、毅力。
　　学习语文至关重要，因为它是我们语言的基础，学会了它才能与人进行交流。我们必须学好课本上的知识，加强习作训练；还要广泛阅读课外书物，积累好词好句并把它运用到实际行动中。
　　学习数学一是学习态度得好，还得有好学习方法；我们首先得在书中阶段培养数学运算能力。算题时要情绪稳定，看清楚再下笔，尽量做到一便成功；学数学没有捷径可走，保证做题的数量和质量是学好数学的必经之路。
　　学英语，首先要培养对英语的兴趣。&兴趣是最好的老师&，兴趣是学习英语的巨大动力，有了兴趣，学习就会事半功倍。很多人认为背单词难，而我的经验就是口中大声的读，用笔在纸上写。做到这些背单词就很简单了。
　　这些经验是我经验的浓缩，希望得到大家的认可。和我一起受益终生。
　　长治十九中初一：张乾
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内容就是向我的老师介绍一处名胜古迹，就这样.希望作文是符合初中生水平的、60个词左右就OK啦、写得好的追加悬赏、
北京奥运会期间，有一大批外国人来北京参观。假设你是导游，请根据以下内容，向外宾简单介绍北京的情况。 要求： 1. 100 词左右； 2. 要点包括： a. 有悠久的历史b. 有许多名胜古迹　　Beijing is a city with a long history. It is in the north of China. It has a population of 13,240,000.（北京是一个历史悠久的城市，它位于中国的北部，人口13.240.000）　　There are many places of interest in Beijing, such as the Summer Palace and so on.（北京有很多名胜古迹，象颐和园等等。） The Great Wall is a beautiful place.（ 长城是个漂亮的地方。）.There is a saying that he who has never been to the Great Wall is not a true man. （有句谚语说：不到长城非好汉）The water in Miyun Reservoir is clean and not polluted. （密云水库的水很干净没有受污染。）There are all kinds of fish in it. （里边有各种各样的鱼。）You can go boating, go fishing and have a picnic there.（那里你可以划船、钓鱼或者野炊。） It is really a good place to spend your holiday. （那里真是个度假的好地方。）Besides, you can go and visit Beijing Museum. （此外，你还可以去游览北京博物馆。）
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一The Terracotta Warriors were discovered by some farmers, located in Xian, Shaanxi Province, in March 1974, while digging a well. According to the on-the-spot measurement after excavation, Vault 1, an underground architectural complex, is 5 meters deep, 230 meters long east to west, and 62 meters wide, north to south, covering an area of over 14,000 square meters. The pottery army, compact in organization and magnificent in battle arrays, is presented on a grand scale. The pottery warriors, well-proportioned and exquisitely shaped, have each a distinctive individual expression: some biting their lips, some glaring or gazing, some meditating with their heads lowered, or with troubled looks, others appearing naive or animated. With the armor buckled on, the soldier has his crossbow under the arm, and arrow quiver slung over the shoulder. The general, armored and keeping a hand on the tip of sword handle, maintains an awesome bearing. Strong and dynamic, the horse rears its head, bristling. The grandeur and superb workmanship fully demonstrate the great talent and vision of the Chinese nation. In 1980, another two bronze chariots with riders and horses of larger size were unearthed. The chariots each with four bronze horses harnessed to, and a driver, have a luxurious canopy, pierced windows and a saddle and a bridle of gold and silver ornaments. The chariots and horses are colorful and really true to life.These artistic treasures of the Qin Dynasty are without doubt, one of the world's great wonders.二
Ma'anshan CaishijiLi Bai in Jiangnan, wrote many famous singing landscape, Mount Lu, Tiantai Mountain, Mount Jiuhua extraordinary show of scenery for his poetic writing and especially chromophore. He especially liked there is rocky, namely today Anhui Ma'anshan City Southwest to Caishiji, here. On Tianmenshan Mountain, the Yangtze River to flow by the two mountain cliffs, Jiazhi, more add fast, Li Bai's famous& cross river&,& words& and other poems written in the hope that Tianmenshan Mountain is the scenery here. Caishiji existing Taibai building, was built in the Tang Dynasty yuan and years. Upstairs has painted the roaming Caishiji screen Taibai in figure, as well as the boxwood carvings of Li Bai as. The steep rocky cliffs quarry is a prominent Shitai legend Li Bai, drunk, from the dance music to catch a month, so a catch. Came here he catch a month after being drowned, fall in the river, the fisherman fishes, built the cenotaph. In fact, Li Bai is in the yuan two years ( AD 761 years ) mortality in his family, Li Yangbing's uncle Dangtu County Magistrate, buried in Anhui when besmear County Lungshan donglu. Because he was like the Longshan opposite the castle, and later his friend Fan Lun son van is here when the observation, to find two of Li Bai's granddaughter, knowing he 's buried in the tomb of Castle Peak, will be moved to green Shanxi Lu, and personally in the tomb built, compose epitaph, the tomb built& Li Bai temple&.马鞍山采石矶 李白漫游江南时，写下了许多歌咏山水的名篇，庐山、天台山、九华山 瑰奇明秀的风光因他的诗笔而格外生色。他特别喜爱牛渚矶，即今安徽马鞍 山市西南的采石矶，这里遥对天门山，长江到此，水流被两山峭壁夹峙，更 加湍急，李白著名的《横江词》、《望天门山》等诗篇写的就是这里的景色。 采石矶上现有太白楼，始建于唐代元和年间。楼上有画着太白漫游采石矶的 屏风太白游踪图，以及黄杨木雕的李白像。采石矶的陡峭崖壁上有一块突出 的石台，传说李白醉酒，从这台上跳下江去捉月，所以名捉月台。又传他在 这里捉月溺死后，衣冠落在江中，渔民捞起，建成衣冠冢。其实李白是在上 元二年（公元 761 年）病死在他的族叔、当涂县令李阳冰家的，葬在安徽当 涂县龙山东麓。因他生前喜欢龙山对面的青山，后来他的好友范伦的儿子范 传正到这里当观察使，找到李白的两个孙女，知他遗愿葬在青山，便将墓迁 到青山西麓，并亲自在墓前立碑，撰写碑文，在墓旁建“李白祠”。
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求一篇英语作文 不少于80字 内容包括：金华位于浙江中西部地区，物产丰饶，景色迷人 林木秀而繁阴 人文历史悠久 可适当发挥在线等，又追加分
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Jinhua in Zhejiang Province is located in the central and western regions。金华位于浙江中西部地区 North-South span of 129 kilometers, 151 kilometers east-west span, the land area of 10,918 square kilometers南北跨度129公里，东西跨度151公里，土地面积10918平方公里 Is a subtropical monsoon climate, four seasons, in moderate temperature, with a clear dry and wet seasons.属亚热带季风气候，四季分明，年温适中，有明显的干、湿季节。 Jinhua lantern, Charming Chinese Lanterns items subject to many thousands of odd shapes 100 Yan, gorgeous.金华灯会，灯彩品目繁多，造型千奇百妍，绚丽多姿。 Multi-old temple, particularly lunar hugong13 Great temple height旧时庙会多，尤以农历八月十三胡公大帝庙会最盛 Chun Min-Jinhua, abundant, &Jinhua Ham& and &Jinhua pastries& two traditional staple is famous overseas, other issues such as tea, lotus root starch and bergamot high profile in the country. In addition, the justice wunan jujube, Dongyang wood carvings, painted straw River, dates, etc. Lanxi enjoy a relatively high reputation both inside and outside the province.金华民风纯厚，物产丰富，“金华火腿”和“金华酥饼”两个传统名产更是名扬海外，其它如花茶、藕粉及佛手在全国知名度很高。此外，义乌南枣、东阳木雕、浦江麦杆画、兰溪蜜枣等在省内外享有较高声誉。 It is famous mountain is a mountain city, Wucheng古称state, has been more than 1700 years of history. The territory of beautiful mountains, valleys horizon, the mountain hills, which rise amid tall and straight, natural landscape is very rich in resources. &Sin Hua Ling mountains and the odd holes, water from Sungai Bo-sheng of water& 它以山闻名，是一座山城，古称婺州，至今已有1700余年的历史。境内山川秀丽，河谷纵横，丘陵连绵，峰峦挺拔，自然风景资源十分丰富。“山有仙华灵洞之奇，水自双溪渤水之胜” Also known as &Zhejiang First Mountain& Fangyan of Yongkang, with the long course of 1000 meters underground Lanxi six Mountain,古称&between heaven and earth must show the area& River cents huashanica and &Hill Xiushui Youtong石奇& of arms Yi Lungtan - Guo-dong. With &their own steep cliffs,飞瀑Flowing Down,& with all three of Dongyang - screen rocks are famous scenic spots, such as Chinese and foreign.还有人称“浙中第一山”的永康方岩、拥有千米地下长河的兰溪六洞山、古称“天地间秀绝之区”的浦江仙华山和以“山秀水幽石奇”的武义龙潭——郭洞。以“峭壁陨崖、飞瀑流泉”著称的东阳三都——屏岩等风景区都蜚声中外。晕了，差点搞错，呵呵引文和翻译都在这里
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学校要求要一篇自动化英语文章，本人没什么时间，也不知道到哪里找，请熟悉的朋友帮个忙。最好有翻译，没有先发上来吧，谢谢了。
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A control system is designed to control the dynamic behavior( the time response) of a plant subject to commands or disturbances. The designer should be fully aware, however, of the role of the steady equations and errors in the overall process, as well as their influence on the dynamic behavior of the plant.控制系统设计就是使装置在有指令信号或者干扰时有满意的行为（时域响应）。设计者必须清楚地知道整个过程的稳态方程和误差，以及他们对装置的动态性能的影响。An accuracy of a system is a measure of how well it follows commands. It is an important p a guidance system that cannot place spacecraft on a suitable trajectory is obviously useless no matter how well-behaved its transient response.衡量系统的精度之一，就是其如何跟踪给定命令。这是一项重要的性能指标。一个导航系统如果不能将飞行器置于合适的轨迹，那么无论有多好的动态性能，都是没有用。Actual system are also subjected to undesirable inputs, such as noise in command inputs and disturbances arising from changes in the plant parameters or changes in the environment in which the plant is operating. Noise inputs that enter the system with the command input require filtering techniques to remove or suppress them without affecting the command input itself. We shall limit our discussion to disturbance inputs which enter the system at the plant rather than at the controller.实际系统总是容易受到不希望的输入干扰，例如， 命令输入中的噪声以及由于参数改变在被控对象中产生的干扰或者被控对象工作环境变化产生的干扰。随着命令输入进入系统的噪声输入需要滤波器进行驱除或者抑制并不对输入信号产生影响。我们将限于讨论通过被控对象进行系统的噪声而不讨论通过控制器进入系统的噪声。It is often difficult to minimize both components of the error simultaneously. Obviously, it is necessary to have some knowledge as to the nature of probable disturbance inputs. Both error terms of Eq.(2-2B-7) can be set equal to zero by introducing an integrator into the controller. This additional integrator increases the type of the system ( from 1 to 2, for example) , thus eliminating the velocity error, and by being introduced ahead of the point of entry of the disturbance into the system, eliminates the steady-state error resulting from a step in the disturbance input. This additional integrator must be accompanied by at least one zero if the system is to remain stable.通常同时将误差的两个部分最小化是困难的。很明显，具有适当的干扰输入特性的一些知识是很有必要的。方程2-2B-7的两个误差项都能通过在控制器中加入积分器而消除。这些附加的积分器增加了系统的型（例如，从1型系统变为2型系统），因此可以消除速度误差，并通过在系统扰动进入点之前引入积分环节，可以消除由输入信号中包含的阶跃扰动引起的稳态误差。如果要保持系统稳定该附加的积分器必须相应增加至少一个零点。
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The process gas provided by the mixing station will be preheated by using a heat exchanger. The temperature contol of the gas will be done in a closed loop. The preheated H2/N2 is distributed to the different humidifier systems. In the humidifier the process gas will be enriched with the required H2O steam in order to create a stable dew point in the furnace. The dew point will be measured in the humidifier and in the furnace. Both measurements will be used for control in a cascading control circuit as described in the following chapter.The following schematic shows the control concept of one decarburizing zone in the furnace. In order to get a very high control quality a cascading control circuit is used, where a main controller uses an actual dew point value of high accuracy and hands over the set point of the consecutive controller as an output. This controller adjusts a dew point of the process gas measured
directly at the outlet of the humidifier. The main advantage of this concept is that the consecutive controller is able to control disturbances of humidifying arrangement directly, because the dew point measurement of the humidifier has got a very short response time compared with the quite longer response time of the furnace dew point. This is caused by bigger time delays of the measurement and the delay time of the process gas to come into the furnace.Analysis station for CO/CO2, H2 and O2ppm monitoring, extracting method will be multiplexed sampling An analysis station designed as a complete functional unit will be used for monitoring the composition of the atmosphere in the Furnace.The analysis station will be a single-cabinet unit complete with analyzers, pumps, solenoid valves and control unit. In normal operation, the sample gas switchover system will switch cyclically between the different sample gases. The system can also be switched to nitrogen for purging or
this is not part of the normal cycle.The sample waste gas will be fed from the sampling probe on the furnace (with filter) to the analyser or sample gas treatment system through a sample gas line routed downwards. Sample gas from each sample gas point will be extracted by the main sample gas pump to the analyser station. The sample gas 'in measurement' will be switched to the measurement line from where an additional pump pumps it to the analysers. The sample gas lines will be made from acid-resistant plastic.The multiplexing analysis system has following probes:For CO/CO2 the system in an actual mode can be calibrated automatically every day using an in-built comparison probe. The calibration time is triggered using an internal period value, which can be changed manually. During calibration time no measurement values are available. A particular feature will be to switch from multiplexing measuring mode to single mode, where a certain probe gas inlet can be measured continuously and vice versa.这一进程所提供的气体，搅拌站在预热时将用换热器。天然气将在一个封闭的循环进行温度对照。预热H2/N2分配给不同的加湿器系统。在加湿器的过程中，天然气将利用富含水蒸汽的需要，在暖气炉中创造一个稳定的露点。在炉中，露点将成为衡量的加湿器。这两种测量将用于控制级联控制电路中所描述的下一章。 下面的示意图显示了控制概念的一个区的脱碳炉。 为了获得非常高的质量控制级联控制电路使用，凡有主控制器采用实际露点值精度高，手中的设置点的连续控制器作为输出。 这种控制器调整1露点的进程直接测量气体的出口加湿器。 它的主要优势是，这一概念 连续控制器能够控制骚乱直接加湿的安排，因为露点测量加湿器得到了很短的响应时间与反应时间而且很长的炉露点。这是造成更多的时间从而延迟测量和延迟气体进入炉的时间进程。 分析站CO/CO2 ， H2和O2ppm监测， 提取方法将采样： 分析站设计作为一个完整的功能单位将用于组成气氛炉中进行监测。 分析站将是一个单一完整的内阁单位与分析仪，水泵，电磁阀和控制单元。在正常操作时，样品气体切换系统将切换周期性不同样本之间的气体。该系统还可以切换到氮清洗或校准气体，这是不正常的周期。 抽样废气将美联储从取样探头的炉（带过滤器）的分析仪或样品气体处理系统通过抽样天然气管线路由向下。样品气体从每个样品天然气将是主要的提取汽油样品的分析仪站。样本气体测量中'将切换到测量线从那里额外泵泵给分析器。抽样天然气管道将来自耐酸塑料。 在复分析系统具有以下探针： 为CO/CO2该系统在实际模式可自动校准，每天使用的是内置的比较调查。校准时间是引发内部期间使用的价值，可手动改变。在校准时没有测量值。 一个特别的功能将被转换复测模式，以单一的模式，在一定的探测气体入口可以连续测量，反之亦然。 回答者： 天正こ童天 - 高级魔法师 七级
11:45检举这一进程所提供的气体搅拌站将预热用换热器。温度对照的天然气将在一个封闭的循环。预热H2/N2分配给不同的加湿器系统。在加湿器的过程天然气将富含水蒸汽的需要，以创造一个稳定的露点在炉。露点将成为衡量的加湿器，并在炉。这两种测量将用于控制级联控制电路中所描述的下一章。下面的示意图显示了控制概念的一个区的脱碳炉。为了获得非常高的质量控制级联控制电路使用，凡有主控制器采用实际露点值精度高，手中的设置点的连续控制器作为输出。这种控制器调整1露点的进程直接测量气体的出口加湿器。的主要优势是，这一概念连续控制器能够控制骚乱的直接加湿的安排，因为露点测量加湿器得到了很短的响应时间与反应时间很长的炉露点。这是造成更大的时间延迟的测量和延迟时间的进程气体进入炉。分析站CO/CO2 ， H2和O2ppm监测，提取方法将复采样分析站设计作为一个完整的功能单位将用于监测的组成气氛炉。分析站将是一个单一完整的内阁单位与分析仪，水泵，电磁阀和控制单元。在正常操作时，样品气体切换系统将切换周期性不同样本之间的气体。该系统还可以切换到氮清洗或校准气体，这是不正常的周期。抽样废气将美联储从取样探头的炉（带过滤器）的分析仪或样品气体处理系统通过抽样天然气管线路由下降。样品气体从每个样品天然气将是主要的提取汽油样品的分析仪站。样本气体测量中'将切换到测量线从那里额外泵泵给分析器。抽样天然气管道将来自耐酸塑料。在复分析系统具有以下探针：为CO/CO2该系统在实际模式可自动校准，每天使用的是内置的比较调查。校准时间是引发内部期间使用的价值，可手动改变。在校准时没有测量值。一个特别的功能将被转换成复测模式，以单一的模式，在一定的探测气体入口时可以连续测量，反之亦然。
People from almost all cultures throughout history have been making objects from wood. Some of the first wooden objects included weapons and tools. Early cultures also learned to make boats, buildings and tools. Early cultures also learned to make boats, buildings and furniture for home from this material. However, it is not always easy to say which wooden objects existed during a historical period tecause they often did not last as long as objects made from clay or metal. 有史以来的各个文化，人们用木头制作物品。最初的木头制品有武器和工具。早期文化（人们）还学会用这种材料造船，建筑物和家俱。然而，不好说木制品在历史长河中存在的时期，因为它们不像陶制品或金属制品一样能保存很长时间。Experts say most current woodworking tools were developed by the beginning of the Bronze Age, about five thousand years ago. These tools include the saw, ax, chisel and drill which are used to cut and shape wood in different ways. Also, there are many methods of wood-working and each culture has its own tradition. Artistic wood creations include architectural decoration on uildings, furniture for home or even carved animals. For example, in Thailand, richly-detailed carvings(雕刻) from teak and other hard wood are an important part of ancient palaces and religious buildings. 专家推断现存的木工刀具出现在约5000年前的铜器时代早期。这些锯，斧，凿，钻等工具用不同方式切削木头。而且，还有很多方式的木工刀具，每个文化都有自己的特色。木制艺术制品包括建设上的装饰，家俱或动物雕像。举个例子，在泰国，丰富精致的柚木或其它坚木的雕刻品是古代宫殿和宗教建筑的重要组成部分。Woodcarvers were a very important group of artists. A person needed many years of training with experts to be a woodcarver. Wood carvings often include plant forms such as the lotus flower as well as figures taken from Hindu and Buddhist religious stories. 木雕是艺术的重要组成部分。人们要经过专家的多年培训才能成为木雕师。木雕通常包括植物形态，如采用印度和佛教故事描述的莲花。The carvings are very detailed and must be carefully planned. Usually, a carver draws out the patterns and forms on paper. Then the artist cuts holes along the outline of the design. This paper is placed on the piece of wood then covered with chalk dust. The white chalk dust goes through the holes in the paper and marks the wood, so the carver has a visual guide to begin cutting. Finished woodcarvings are often painted, sometimes with gold to reflect the surrounding light. These expertly made golden carvings give an airy lightness to Thai buildings. 雕刻注重细节和慎重布局。通常雕刻师在纸上描画出样式和外形。然后艺术家从沿着设计的轮廓打孔。把这张纸覆盖在一块木头上，把白灰撒上去。白灰通过纸上的孔洞在木头下留下标记。这样雕刻师就可以看着指示开始切削。（制作）成品木雕经常是苦活，有时要加上金片来反射周围光线。通过这些专业加工，金晃晃的雕刻品给泰国建筑空灵的光彩。 Unit 2The stability of a continuous or discrete-time system is determined by its response to input or disturbance. Intuitively, a stable system is one that remains at rest (or in equilibrium) unless excited by an external source and returns to rest if all excitations are removed. The output will pass through a transient phase and settle down to a steady-state response that will be of the same form as, or bounded by, the input. If we apply the same input to an unstable system, the output will never settle down to a steady- it will increase in an unbounded manner, usually exponentially or with oscillation of increasing amplitude.
连续或离散系统的稳定性由其对输入或者干扰的响应决定。直观地说，如果一个系统是稳定的，则其停留在稳态（或者平衡点），除非是受到外部激励，且当外部激励去除后，输出又回到稳态点。输出经过瞬态阶段后将回到与输入有相同形式的稳态或者是在输入的附近。如果我们将同样的输入作用于不稳定的系统，其输出将不会回到稳态，而是以无界的方式增长，通常其幅值是指数增长或者振荡增长。Stability can be precisely defined in terms of the impulse response
of a continuous system, Kronrcker delta response
of a discrete-time system, as follows: A continuous (discrete-time) system is stable if its impulse response
(Kronecker response
) approaches zero as time approaches infinity.系统的稳定性可以用连续系统的脉冲响应 或者离散系统的Kronrcker Δ 响应 来定义：一个连续（离散）系统是稳定的，如果其脉冲响应 （Kronrcker Δ 响应 ）当时间趋于无穷大时趋于零。An acceptable system must at minimum satisfy the three basic criteria of stability, accuracy, and a satisfactory transient response. These three criteria are implied in the statement that an acceptable system must have a satisfactory time response to specified inputs and disturbances. So although we work in the Laplace and frequency domains for convenience, we must be able to relate these two domains, at least qualitatively, to the time domain.一个可接受的系统必须至少满足：稳定性、精度和满意的瞬态响应这三个指标。在陈述：“一个可接受的系统对指定输入和扰动必须有满意的时域响应”已经包含了这三个指标的含义。因此尽管我们为了方便工作在拉氏域或者频率域，我们必须与时间域（至少是定性的）相联系。With the transfer function in the form of Eq.(2-2A-1), the order of the system in defined as the order of the characteristic function D(s), the highest power of s appearing in D(s) establishes the order of the system.在传递函数所在的方程(2-2A-1)中，系统的阶次定义为特征函数D(s)的阶次，因此D(s)的最高次幂决定了系统的阶次。The first term is the forced solution, due to the input, and the second the transient solution, due to the system pole. Fig.2-2A-2 shows this transient as well as c(t). The transient is seen to be a decaying exponential, and the commonly used measured of the speed of decay is the time constant:
The time constant is the time in seconds for the decaying exponential transient to be reduced to e-1=0.368 of its initial value.
when t=T, it is seen that the time constant for a simple lag
is T seconds. This is, in fact, the reason a simple lag transfer function is often written in this form. The coefficient of s then immediately indicates the speed of decay, and it takes 4T seconds for the transient to decay to 1.8% of its initial value.第一项为强迫解，对应于输入；第二项为瞬态解，对应于系统的极点。 在图2-2A-2中，该瞬态解为c(t)。瞬态解看上去为指数衰减的，且通常用于衡量衰减速度的是时间常数：即指数衰减的瞬态解衰减至其初始值的36.8%所需的时间（秒数）。因为，当t=T,
，对于一阶惯性环节，时间常数是T秒。这也是为什么一阶惯性环节要写成这个形式。S的系数立即给出了衰减的速度。而且，当时间为4T时， 瞬态解衰减至初始值的1.8%。B：Steady StateA control system is designed to control the dynamic behavior( the time response) of a plant subject to commands or disturbances. The designer should be fully aware, however, of the role of the steady equations and errors in the overall process, as well as their influence on the dynamic behavior of the plant.控制系统设计就是使装置在有指令信号或者干扰时有满意的行为（时域响应）。设计者必须清楚地知道整个过程的稳态方程和误差，以及他们对装置的动态性能的影响。An accuracy of a system is a measure of how well it follows commands. It is an important p a guidance system that cannot place spacecraft on a suitable trajectory is obviously useless no matter how well-behaved its transient response.衡量系统的精度之一，就是其如何跟踪给定命令。这是一项重要的性能指标。一个导航系统如果不能将飞行器置于合适的轨迹，那么无论有多好的动态性能，都是没有用。Actual system are also subjected to undesirable inputs, such as noise in command inputs and disturbances arising from changes in the plant parameters or changes in the environment in which the plant is operating. Noise inputs that enter the system with the command input require filtering techniques to remove or suppress them without affecting the command input itself. We shall limit our discussion to disturbance inputs which enter the system at the plant rather than at the controller.实际系统总是容易受到不希望的输入干扰，例如， 命令输入中的噪声以及由于参数改变在被控对象中产生的干扰或者被控对象工作环境变化产生的干扰。随着命令输入进入系统的噪声输入需要滤波器进行驱除或者抑制并不对输入信号产生影响。我们将限于讨论通过被控对象进行系统的噪声而不讨论通过控制器进入系统的噪声。It is often difficult to minimize both components of the error simultaneously. Obviously, it is necessary to have some knowledge as to the nature of probable disturbance inputs. Both error terms of Eq.(2-2B-7) can be set equal to zero by introducing an integrator into the controller. This additional integrator increases the type of the system ( from 1 to 2, for example) , thus eliminating the velocity error, and by being introduced ahead of the point of entry of the disturbance into the system, eliminates the steady-state error resulting from a step in the disturbance input. This additional integrator must be accompanied by at least one zero if the system is to remain stable.通常同时将误差的两个部分最小化是困难的。很明显，具有适当的干扰输入特性的一些知识是很有必要的。方程2-2B-7的两个误差项都能通过在控制器中加入积分器而消除。这些附加的积分器增加了系统的型（例如，从1型系统变为2型系统），因此可以消除速度误差，并通过在系统扰动进入点之前引入积分环节，可以消除由输入信号中包含的阶跃扰动引起的稳态误差。如果要保持系统稳定该附加的积分器必须相应增加至少一个零点。
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