问一下,micrchip的ups文档里,极点补偿是如何推导的

Calculating the Compensator Coefficients
A convenient way of determining the coefficients for an
IIR (Infinite Impulse Response) compensator from an
analog transfer function in the Laplace (s) domain is the
Bilinear z-transform. The following example illustrates
the technique for a compensator with a single pole.
推荐自动控制的书也可以,我看了些自动控制的书,都没有讲全呀,例如上面讲到了穿越频率,还有s到z域的双线性变换.
这个是逆变器的例子500) {this.resized=true; this.width=500; this.alt='这是一张缩略图，点击可放大。\n按住CTRL，滚动鼠标滚轮可自由缩放';this.style.cursor='hand'}" onclick="if(!this.resized) {return true;} else {window.open('http://u.dianyuan.com/bbs/u/59/872631194946322.gif');}" onmousewheel="return imgzoom(this);">