[例4]稳定裕量 已知单位反馈系统的开环传递函数，求取稳定裕量 100 Gs)=- +++2+0 School of Mechanical Engineering ME369-Lecture 7.3 Shanghai Jiao Tong University Fall 2015 稳定系统的稳定裕量 G(i@H (i@)轨迹： -一不包围(-1j0)点： -一先穿过单位圆，后穿过负实轴 L(◆ Positive gain margin Positive gain margin ◆Im 正增益裕量 正增益裕量 GH平面 正相位裕量 Positive 心 phase margin Re (4 -180 G(jo)H(jo) 正相位裕量 School of Mechanical Engineering ME369-Lecture 7.3 Shanghai Jiao Tong University Fall 2015 1010 ME369-Lecture 7.3 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 5 100 ( ) ( 2)( 10) ( 1)( 1) 2 10 G s s s s s s s       已知单位反馈系统的开环传递函数，求取稳定裕量 [例4]稳定裕量 ME369-Lecture 7.3 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University G(j)H (j)轨迹: ---不包围(-1,j0)点; ---先穿过单位圆，后穿过负实轴 稳定系统的稳定裕量 Positive gain margin Positive gain margin Positive phase margin