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InstaSPIN-FOC lab 5a为整定电流控制器，lab user guide指出：带宽越宽，采样延迟对控制器的相位裕度有负面影响，甚至引起控制环路不稳定，当Kpseries增加时，控制环路的相位裕度减小。
请问此时相位裕度为何会减小？采样延迟如何影响控制器的相位裕度？
http://www.deyisupport.com/question_answer/microcontrollers/c2000/f/56/t/109265.aspx
这里有个帖子讲的不错，你可以看看。
ERIC
