Section 7.1 The Feature of Integrating Systems In general,if the plant has m poles at the origin,the system should be of Type m+1 for asymptotic tracking;or equivalently,the controller has to satisfy lim →0 1-G(s)Q(5=0,k=0,1,,m sk or 0dsx1-G(s)Q(s=0,k=0,1,m lim This conclusion is very important in the design of systems with integrating plants Derivatives of a function are frequently calculated in the design of systems with integrating plants.To avoid complicated computation,two algebra results are given here 4口，+@，4定4=定0C Zhang.W.D..CRC Press.2011 Version 1.0 9/79Section 7.1 The Feature of Integrating Systems In general, if the plant has m poles at the origin, the system should be of Type m + 1 for asymptotic tracking; or equivalently, the controller has to satisfy lim s→0 1 − G(s)Q(s) s k = 0, k = 0, 1, ..., m or lim s→0 d k dsk [1 − G(s)Q(s)] = 0, k = 0, 1, ..., m This conclusion is very important in the design of systems with integrating plants Derivatives of a function are frequently calculated in the design of systems with integrating plants. To avoid complicated computation, two algebra results are given here Zhang, W.D., CRC Press, 2011 Version 1.0 9/79