Dahlin控制器的根轨迹研究

本文研究了针对一阶时滞对象的Dahlin控制器的根轨迹。该根轨迹以闭环系统时间常数为参数。研究表明，随着闭环系统时间常数的减小，除了静止的极点外，控制器的所有的极点都将远离原点；其中，位于实轴上方的极点沿逆时针方向运动；位于实轴下方的极点沿顺时针方向运动。可以通过根轨迹的性质来研究算法的鲁棒性。

The Study on Root Locus of Dahlin Controller

In this paper, root locus of Dahlin controller for a first-order process with dead time is discussed. The time constant of the close-loop system is considered as the parameter of the root locus. The study shows that if the time constant of the close-loop system is decreased, all the poles of the controller except the static pole will move away from the origin. Also, the poles located above the real axis will move anticlockwise; the poles located below the real axis will move clockwise. Robust analysis can be done through the properties of root locus.