第五章《根轨迹法》 设系统的开环传递函数 K∏(s+=,) G(SH(S) K,G(s)(s)=k P(s) S+P,) Ps)=∏(s+)=(s+=1s+=2)…(S+=m) Q(s)=∏1(s+P)=(s+P1s+P2)…(s+Pn) j=1 1+G(s)H(s)=1+K1G1(S)H1(s)=1+Ky0O K1P(s)+Q(s)=03 第五章《根轨迹法》 设 系统的开环传递函数 P(s) (s z ) (s z )( s z ) (s z ) m m i =  + i = + + + =  1 1 2 ( ) ( ) ( )( ) ( ) 1 1 2 n n j Q s =  s + p j = s + p s + p s + p =  0 ( ) ( ) 1+ ( ) ( ) =1+ 1 1 ( ) 1 ( ) =1+ 1 = Q s P s G s H s K G s H s K K1 P(s) +Q(s) = 0 ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) 1 1 1 1 1 Q s P s K G s H s K s p K s z G s H s n j j m i i = = + + =   = =