九点五态控制器作用下迟延系统的稳定性分析

九点五态控制器是根据偏差和偏差变化率，在相平面上采用不同的作用力以达到控制要求的控制器。该文介绍了九点五态控制器分别在0型系统和Ⅰ型系统的迟延系统作用下稳定性分析，并且比较了在相同对象下施加不同的作用力和在不同对象下施加同样的作用力下的控制效果。从而得出：对于任意的带延迟的二阶对象在任意小的允许误差要求下，总能找到满足基本运行条件的一组作用力使控制系统满足允许误差要求，达到系统稳定。

Stabilization Analysis of Time-delay System under the Basic Principle of Nine-point five-state Controller

The nine-point five-state controller is a special controller, which takes different force values to obtain the controlling demand on the phase plane according to error and error rate of the system. This paper introduces the stabilization analysis of the type 0 time-delay system and type I time-delay system, also compares the control effect among conditions of taking different force values to an object and taking the same force value to different objects, then we can draw a conclusion that the second order system can meet the system stability requirement in the error permission range by adjusting the force value under the process of the nine-point five-state controller.