控制工程周川ac201511.pptxVIP

Main content;Introduction;How to determine the stability ?;8.1 Mapping contours in the s-plane;Figure 1 mapping F(s)=2s+1;Figure 2 Mapping for F(s)=s/(s+2) ;Figure 3 Mapping for F(s)=s/(s+1/2) ;Principle of the argument;The rules of contour;Figure 4 Evaluation of the net angle of F(s)-plane 2*Pi*N=2*Pi*Z-2*Pi*P ;Figure 5 Evaluation of the net angle of F(s)-plane N=Z-P=3-1=2 ; ;8.2 The Nyquist Criterion ;The closed-loop characteristic equation:;Figure 8 Nyquist contour in s-plane; The number of zeros of F(s) within the contour is : ;Nyquist stability criterion;App