。程序如下：
g400dg1302000
fki5wgc4pm80
gvpolyval
gjwgcdgv二polyvaldgjwgcg
gvdgvthetarpm180pi180ejthetacosthetarjsi
thetareq
ejthetagjkiwgcximageq
rrealeq
kprkdxwgcifki0
dk10
kkdkpkielsedk1
kkdkpe
dpause
dco
v
k
gddco
vdkdg
1d1feedback
gdg11
2d2feedback
ddd11加PID控制后的闭环系统传递函数pauseg1mp1mwpc1wgc1margi
gdgg2mp2mwpc2wgc2margi
ddd幅值裕度，相角裕度，相频曲线穿越180。时的频率，截止频率wlogspace12200pausefigurebode
gdgwgridholdo

fbode
dddwholdofffigurestep
1d15gridholdo
pausestep
2d25holdoff
可以得到：
Kp20204
Kd05281
p2m800044wgc240004
频率’
4rads
即：系统相角裕量PM80，增益穿越
100500
50
BodeDiagram
2WLd
一闵
10101010Freque
cyradsec
图63系统Bode图
fStepRespo
se总七
duly
CL51TIMstt
15225315445
图64闭环系统的阶跃响应
fr