本文推导了有不同采样周期的计算机控制系统的数学模型。其方法步骤是:将系统按不同采样周期划分为几部份状态,分别列写这些部份状态的方程之后,再根据其相互间的联系的特性,将不同的采样周期的状态时间序列归一化为统一的采样周期的时间序列,从而建立整个系统全部状态的统一离散化状态方程。 In this paper, the mathematical models of computer control systems with different sampling periods are derived. The method comprises the following steps of: dividing the system into several parts according to different sampling periods, and separately writing the equations of the partial states, and according to the characteristics of their mutual relations, normalizing the state time series of different sampling periods Into a unified sampling period of the time series, so as to establish a unified state of the entire system discrete state equation.