自动控制原理 则开环传递函数为 1s-n)1s-g) G(S)=K。KH 立s-PeTs-P) i1 则闭环传递函数为 KoII(s-zTI(s-P) Φ(S)= 广s-PΠs-P)+KKns-zs-z)自动控制原理 则闭环传递函数为 * 1 1 * * 1 1 1 1 ( ) ( ) ( ) ( ) ( ) ( ) ( ) f x G gi hj i j q f x l gi hj G H gi hj i j i j K s z s p s s p s p K K s z s z = = = = = = − −  = − − + − −       则开环传递函数为 * * 1 1 1 1 ( ) ( ) ( ) ( ) ( ) f l gi hj j i k G H q x gi hj i j s z s z G s K K s p s p = = = = − − = − −    