6.2 Effect of Velocity Feedback( Rate Feedback) 6. 2. 1 Second-Order System without Velocity Feedback 只AE K K K S(S+1) R S(TS+D)+KKH TS+S+KKH K The characteristic Equation is 11 TS+s+KK=o 2√TKKB 1 KK KK Or:s2+-s+-h=0 H T6.2 Effect of Velocity Feedback (Rate Feedback) • 6.2.1 Second-Order System without Velocity Feedback E C s(Ts +1) K KH R H KKH Ts s K s Ts K K K R C + + = + +  = 2 ( 1) The characteristic Equation is: 0 2 Ts + s + KKH = or: 0 2 1 + + = T KK s T s H TKKH 1 2 1  = T KKH n =