自动控制理论 课件chap4.pdfVIP

Chapter 4 Control-System Characteristics (Chapter 5) 4.1 Introduction • The concepts of poles and zeros of a control system • The transient response of a control system • The concept of stability of linear time-invariant systems • The Routh-Hurwitz stability criterion • The steady-state errors 4.2 Transient Response Analysis In the previous chapter we have shown that a transfer function G(s) can be expanded as partial fraction G(s) = c1,1 n + c1,2 + + c1,n1 (s−p 1) 1 (s−p 1)n1−1 s−p 1 c2,1 c2,2 c2,n2 + (s−p2)n2 + (s−p2)n2 −1 + + s−p2 + . . . + cm,1 + cm,2 + + cm,nm + b (s−pm)nm (s−pm )nm −1 s−pm n where p 1, p2, , pm are the distinct roots of the denominator of G(s). Definition 4.1. Let G(s) be irreducible. 1. pi is a pole of G(s) if lim |G(s)| = ∞. s→pi 2. zj is a zero of G(s) if lim |G(s)| = 0. s→zj From the definition, it is evident that pi which is a root of the denominator of G(s) is a pole while zj which is a root of the numerator of G(s) is a zero. For real system, the complex poles must come in the form of complex conjugate pairs, i.e. if p is a complex pole of G(s), then p¯ is also a pole of G(s). Without loss of