控制工具箱与SIMULINK软件应用：系统对象为G(s)=4/s(s+2)

PI补偿器K1(s)=(s+1)/s K2(s)=(s+0.5)/s

a 若由K1(s)与 G(s)串联组成的单位反馈系统，称为系统A。

b 若由K1(s) 放置在G(s)的反馈通道称为系统B。

c 若由K2(s)与G(s)串联组成的单位称为系统C，绘制上述每一种情况的阶跃响应与斜坡响应，求每一种情况下的系统阶跃响应误差与斜坡响应误差，并与理论分析结果进行比较。

-Control toolbox and SIMULINK software application: system object for G (s) = 4/s (s+ 2)

PI compensator K1 (s) = (s+ 1)/s K2 (s) = (s+ 0.5)/s

If a by K1 (s) and G (s) series of feedback system of the unit, known as a system a.

B if the K1 (s) placed in G (s) feedback channel called system b.

If c by K2 (s) and G (s) series of unit is called system c, draw the above each kind of condition of step response and slope response, for each of these cases system step response error and slope response error, and the results were compared with theoretical analysis.