本文详细阐述了控制系统中极点在s平面上的位置如何决定系统的动态响应。极点位于左半平面导致指数衰减，右半平面则表示系统不稳定。复共轭极点对产生衰减正弦波，而一对纯虚极点导致振荡。复杂共轭极点在右半平面则对应指数增长。当开环传递函数没有右半平面极点时，闭环系统稳定。
https://web.mit.edu/2.14/www/Handouts/PoleZero.pdf
The location of the poles in the s-plane therefore define the n components in the homogeneous response as described below:
1. A real pole pi = −σ in the left-half of the s-plane defines an exponentially decaying component , Ce−σt, in the homogeneous response. The rate of the decay is determined by the pole location; poles far from the origin in the left-half plane correspond to components that decay rapidly, while poles near the origin correspond to slowly decaying components.
2. A pole at the origin pi = 0 defines a component that is constant in amplitude and defined by the initial conditions.
3. A real pole in the right-half plane corresponds to an exponentially increasing component Ceσt in the homogeneous response; thus defining the system to be unstable.
4. A complex conjugate pole pair σ ± jω in the left-half of the s-plane combine to generate a response component that is a decaying sinusoid of the form Ae−σt sin (ωt + φ) where A and φ are determined by the initial conditions. The rate of decay is specified by σ; the frequency of oscillation is determined by ω.
5. An imaginary pole pair, that is a pole pair lying on the imaginary axis, ±jω generates an oscillatory component with a constant amplitude determined by the initial conditions.
6. A complex pole pair in the right half plane generates an exponentially increasing component. These results are summarized in Fig. 2.
引申：
If the open loop T(s) contains no RHP poles, the close loop 1/(1+T) and T/(1+T) contain no RHP poles when PM >0.
If T contains RH poles, the PM test cannot be used. (the original OL system is unstable)
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