Section 2.1 Process Dynamic Responses Models of Stable Plants K 6=ns+2s+.m5+de-: K-Real constant denoting the static gain 0-Positive real constant denoting the time delay Ti(i =1,2,...n)-Have positive real parts and denote time constants The first-order model frequently used in practice: K G(s)= Ts+ e-0s The model can well be illustrated by utilizing a shower 4口4@4定42：定QC Zhang.W.D..CRC Press.2011 Version 1.0 5/64Section 2.1 Process Dynamic Responses Models of Stable Plants G(s) = K (τ1s + 1)(τ2s + 1)...(τns + 1) e −θs K—Real constant denoting the static gain θ—Positive real constant denoting the time delay τi(i = 1, 2, ..., n)—Have positive real parts and denote time constants The first-order model frequently used in practice: G(s) = K τ s + 1 e −θs The model can well be illustrated by utilizing a shower Zhang, W.D., CRC Press, 2011 Version 1.0 5/64