6.3 Numeral Examples
113
0
2
4
6
8
10
12
14
16
18
20
−3
−2
−1
0
1
2
3
The disturbance signal d(t)
t/s
Fig. 6.5 The unknown disturbance ω(t)
0
5
10
15
0.5
1
1.5
2
2.5
t/s
Mode
Fig. 6.6 The jumping mode r t