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Closed-loopcontrolsystems闭环控制系统Open-loopcontrolsystems开环控制系统Process过程Linearsystem线性系统Nonlinearsystem非线性系统Continuoussystem连续系统Discretesystem离散系统Stability稳定性Steady-stateperformance稳态性能Transientperformance暂态特性mathematicalmodel数学模型differentialequations微分方程Transferfunction传递函数zerosandpolesoftransferfunction传递函数的零极点Inverseproportionpart比例环节Inertiapart惯性环节Integralpart积分环节Derivativepart微分环节Vibratepart震荡环节Delaypart滞后环节Blockdiagram(Equivalenttransformation)方框图(Unit)negative(positive)feedbackloop负（正）反馈回路Masonformula梅逊公式disturbance干扰Stepsignal阶跃信号Rampsignal(speedfunctionsignal)斜波信号Parabolasignal(accelerationsignal)加速度信号pulsesignal脉冲信号Sinusoidalsignal正弦信号Delaytime延迟时间Risetime上升时间Peaktime峰值时间Settlingtime稳定时间Percentovershoot超调量Steady-stateerror稳态误差positionerrorcoefficientKpspeederrorcoefficientKvaccelerationerrorcoefficientKafirst-ordersystem一阶系统Second-ordersystem二阶系统high-ordersystem高阶系统Dominantpole主导极点Underdamped欠阻尼CriticallyDamped临界阻尼Overdamped过阻尼Undamped无阻尼的Routh-Hurwitzstabilitycriterion劳斯稳定性判据Routharray劳斯表Characterequation特征方程rootlocus根轨迹open-loopzerosandpoles开环零极点Magnitudeandanglerequirementsofrootlocus幅值与相角frequencycharacter频率特征(inverse)Laplacetransformation拉普拉斯（反）变换Nyquistplot奈奎斯特图Bodediagram波德图Logarithmicmagnitudefrequencycharacter对数幅值频率特性Logarithmicphasefrequencycharacter对数相频特征Nyquiststabilitycriterion奈奎斯特稳定判据cutofffrequency剪切频率Phasemargin相位裕量Gainmargin增益裕量CutofffrequencyCascadephase-leadcompensation串联超前矫正Cascadephase-lagcompensation串联滞后校正Cascadephase-lagand-leadcompensation串联滞后-超前矫正samplecontrolsystem采样控制系统digitalcontrolsystem数控系统discretecontrolsystem离散控制系统Shannonsamplingtheorem香农采样定理Zero-orderhold零阶保持samplingperiod采样周期Samplingfrequency采样频率Z-transformz变换Z-inversetransformz逆变换pulsetransferfunction脉冲传递函数bilineartransform双线性变换