7.3 Numeral Example
135
0
5
10
15
20
−0.8
−0.6
−0.4
−0.2
0
0.2
0.4
0.6
0.8
1
t/s
The unknown disturbance
ω(t)
Fig. 7.1 The unknown disturbance ω(t)
0
5
10
15
20
0.5
1
1.5
2
2.5
t/s
The jump mode
Fig. 7.2 The jumping mode r t