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Angle condition
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Angle condition : ウィキペディア英語版
Angle condition

In mathematics, the angle condition is a constraint that is satisfied by the locus of points in the s-plane on which closed-loop poles of a system reside. In combination with the magnitude condition, these two mathematical expressions fully determine the root locus.
Let the characteristic equation of a system be 1+\textbf(s)=0, where \textbf(s)=\frac. Rewriting the equation in polar form is useful.
e^+\textbf(s)=0
\textbf(s)=-1=e^ where
(k=0,1,2,...) are the only solutions to this equation. Rewriting \textbf(s) in factored form,
\textbf(s)=\frac=K\frac,
and representing each factor (s-a_p) and (s-b_q) by their vector equivalents, A_pe^ and B_qe^, respectively, \textbf(s) may be rewritten.
\textbf(s)=K\frac}
Simplifying the characteristic equation,
e^=K\frac}=K\frace^,
from which we derive the angle condition:
\pi+2k\pi=\theta_1+\theta_2+\cdots+\theta_n-(\phi_1+\phi_2+\cdots+\phi_m)
where (k=0,1,2,...),
\theta_1,\theta_2, \cdots \theta_n are the angles of poles 1 to n, and
\phi_1,\phi_2, \cdots \phi_m are the angles of zeros 1 to m.
The magnitude condition is derived similarly.


抄文引用元・出典: フリー百科事典『 ウィキペディア(Wikipedia)
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