The characteristic roots are 2√TKKB 4TKK ()K,Kn,7↑→54→ overshoot/kKy 2T 2T H disadvantage (2)K个→e(a) advantage 2T By changing K, we can only move the poles along the dashed line, i.e. cannot speed up the system by moving the poles to the left2T 1 − The characteristic roots are: TKKH T T s 1 4 2 1 2 1 1,2 = −  − TKKH 1 2 1  = T KKH n = (1) K, KH , T     overshoot  –– disadvantage (2) K   e()  –– advantage