PoleZero零极点的含义.pdf

MASSACHUSETTS INSTITUTE OF TECHNOLOGY DEPARTMENT OF MECHANICAL ENGINEERING 2.14 Analysis and Design of Feedback Control Systems Understanding Poles and Zeros 1 System Poles and Zeros The transfer function provides a basis for determining important system response characteristics without solving the complete differential equation. As defined, the transfer function is a rational function in the complex variable s = σ + jω , that is b sm + b sm−1 + . . . + b s + b m m−1 1 0 H s) = n n−1 (1) a s + a s + . . . + a s + a n n−1 1 0 It is often convenient to factor the polynomials in the numerator and denominator, and to write the transfer function in terms of those factors: N s) s − z ) s − z ) . . . s − z ) s − z ) 1 2 m−1 m H s) = = K , (2) D s) s − p 1) s − p2 ) . . . s − pn−1) s − pn ) where the numerator and denominator polynomials, N s) and D s), have real coefficients defined by the system’s differential equation and K = b /a . As written in Eq. (2) the z ’s are the roots m n i of the equation N s) = 0,