4.1.2闭环粵极点与开环粵极点的关淾 G(S) R d(S)= S) 1+G(s)H(S) H(S) K(s-=) Kn∏I( G(s=n= H(S)= (S-P1) y-2 (S-) G(S)H(s=K-k= IIs-PII(s-P,) =1G(s) H(s) R(s) C(s) ( ) ( ) 1 ( ) ( ) G s s G s H s  = + 1 1 1 1 ( ) ( ) ( ) m G i i n j j K s z G s s p = = − = −   2 1 2 1 ( ) ( ) ( ) m H k k n l l K s z H s s p = = − = −   1 2 1 1 1 2 1 1 ( ) ( ) ( ) ( ) ( ) ( ) m m i k i k g n n j l j l s z s z G s H s K s p s p = = = = − − = − −     4.1.2 闭环零极点与开环零极点的关系