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Qian Hao1, Zhaoba Wang1, Junzheng Wang2

  • 1School of Information and Communication Engineering, North University of China, Taiyuan 030051, China.

Sensors (Basel, Switzerland)
|September 4, 2020
PubMed

Keywords:
high terrain adaptabilityquadruped robotsrough terrainsstabilitystatic gait

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Pole and System Stability01:24

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The transfer function is a fundamental concept representing the ratio of two polynomials. The numerator and denominator encapsulate the system's dynamics. The zeros and poles of this transfer function are critical in determining the system's behavior and stability.
Simple poles are unique roots of the denominator polynomial. Each simple pole corresponds to a distinct solution to the system's characteristic equation, typically resulting in exponential decay terms in the system's response.