用局部参数最优化方法设计一个模型参考自适应系统,可调增益的初值Kc(0)=0.2，给定值r(t)为单位阶跃信号，即r(t)=A×1(t)。

要求：

1把连续系统离散化(采样时间可取0.1)。

2编制并运行这个系统的计算机程序(注意调整B值，使系统获得较好的自适应特性)。

3记录ym、yp的曲线 记录kp×kc的曲线 记录广义输出误差e的变化曲线。

4在参数收敛后，让Kp=2变为Kp=1，重新观察Kp×Kc及e的变化曲线。

5找出在确定的B值下，使系统不稳定的A值(阶跃信号的幅值)，并与用劳斯稳定判据计算的结果比较。

-With local parameter optimization method to design a model reference adaptive system, adjustable gain initial Kc (0) = 0.2, for a given value of r (t) for the unit step signal that r (t) = A × 1 ( t). Requirements: a continuous system discretization (sampling time of 0.1 preferred). 2 compiled and run the system computer program (Note B to adjust the value of the system to obtain better adaptive characteristics). 3 records ym, yp curve　record kp × kc curve　records generalized output error e curves. 4 parameter convergence, let Kp = 2 into the Kp = 1, re-observed Kp × Kc and e curves. B-5 to find value in determining the next, making the system unstable A value (step signal of amplitude), and using Routh stability criterion and the comparison of the results calculated.