Example 5.3.3: K G(S)H(S) S(S+1)(S+2) O i1.414 y化尽飞+≡的 60°180° K=6 solution、S 0花=-158 0+1+2 ON K 632-R 3s2+6=0 K=6 K=6 K -j1.414 上潇人字 SHANGHAI ILAO TONG UNIVIRSITY2021/1/26 8 Example 5.3.3: ( 1)( 2) ( ) ( ) + + = s s s K G s H s 1. Open-loop poles and zeros -2 -1 2. Segments on real axis 3. Asymptotes 1 3 0 0 1 2 60 ,180 3 0 180 (2 1) = − − + + = − =  −  + =      k 4. Breakaway and break-in points ( ) ( ) ( ) ( ) 0.42 1.58 [3 6 2] 0 0 1 2 2 = − = − + + = − = solution s s yields s s P s Z s P s Z s   -0.42 5. Points across the imaginary axis s K K s s K s s s s K 0 1 2 3 3 2 3 6 3 1 2 3 2 0 − + + + = K=6 3 6 0 2 s + = j1.414 K=6 K=6 -j1.414