自控理论课件TM09-RouthsMethod.pdf

SP8.3 1 K R K C R(s) G s 2 ( ) s s(s +4) s(s +4) − E (s) R (s) −C (s) s 1 1 4 e lim ⋅ ss 2 s →0 1 G s s K / 4 + ( ) K SP8.3 1 1 H s K R(s) ( ) R C s 2 s +1 s(s +4) − E (s) R (s) −C (s) 1 s +1 E (s) G s ( ) + [ − ] 1 G(s) H (s) 1 1− R(s) +GH s 1 ( ) 1+GH(s) s s s Ks ( +4)( +1) − 1 4 −K e lim s ⋅ ss 2 s →0 s s s K s K + + + ( 4)( 1) R K C R K C s(s +4) s(s +4) − − 1 s +1 4 e 4 −K