复域分析法-根轨迹法.pdf

1948(W. R. Evans) 4.1 K) s R(s) K C(s) s(0.5s +1) - K G( s) s(0.5s +1) C( s) K K Φ(s ) 2 + + + + R(s ) s (0.5s 1) K 0.5s s K 0.5s2 +s +K 0 s =−1+ 1−2K 1 s =−1− 1−2K 2 Ks1,2 K 0 0.5 1.0 2.5 … +∞ s1 0 -1 -1 + j1 -1 + j2 … -1 + j∞ s2 -2 -1 -1 - j1 -1 - j2 … -1 - j∞ K→∞ j