4.1.2闭环粵极点与开环粵极点的关淾 I(s-=) ∏I(s-p,) op(s) KI(-=)(-=) 1+ ∏I(s-p) s-p KI(s-=)(-p) d(S)= i=1 l=1 II(s-p)+K4I(-=)1 1 1 1 1 2 1 1 1 2 1 1 ( ) ( ) ( ) ( ) ( ) 1 ( ) ( ) m G i i n j j m m g i k i k n n j l j l K s z s p s K s z s z s p s p = = = = = = − −  = − − + − −       1 2 1 1 1 1 ( ) ( ) ( ) ( ) ( ) m n G i l i l n m i g j i j K s z s p s s p K s z = = = = − −  = − + −     4.1.2 闭环零极点与开环零极点的关系