在实际情况中电机是一个非线性的系统，但是在某一工作区间内完全可以进行线性化，本文采用一阶和二阶电机模型进行讨论。
Motor system is non linear, however it can be linear approximated in an operating point. First order and second order motor model is used in the discussion.
目前，直流电机双闭环调速系统模型主要有理想模型、二阶线性模型以及在不考虑负载扰动或恒负载情况下的非线性模型等。
The DLM model mainly includes the ideal model, the second-order linear model and the non-linear model in constant load or without considering the load disturbance, and so on.
二阶系统的设计极为简单，三阶系统需采用伴随因子法设计，当应用于同步电机的的励磁调节设计时，所得到的小信号性能指标能充分满足国际标准的推荐要求。
The design of 2 order system is very simple, 3 order system have to use the adjoin factor method. Based on models of these control systems, the small sign…
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