第3章 控制系统的根轨迹校正实验
Chapter 3 Root Locus Compensation Experimentsfor Control System

对于便携式单自由度机械臂这一被控对象，可以用根轨迹的方法分析其稳定性和动态响应性能。同时，也可以运用根轨迹的方法设计一个校正装置，来改善系统的性能，其控制系统框图如图3.1所示。

For the POFR-Arm system，by means of the root locus method，we can analyze its stability and dynamic response performance. And a compensator should be designed by root locus method to improve the system performance also. The block diagram of compensation control system is shown in Figure 3.1.

Figure.3.1 Feedback Control System Diagram with Compensator
图3.1 反馈控制系统框图

本章将介绍如何运用根轨迹的方法进行系统校正，并且用实验验证校正后的系统的性能比校正前的系统性能是否有所改善。

In this chapter，we will introduce how to design a compensator by root locus method. Students will do the compensator design experiment and verify that the system performance is better than without compensator.