-##) =J => O + JH )KJ JE?

,AFJ

4 0 0AH @A 1 C +ELE A? E?= 7 @A +DE A ! @A =O @A 

.ECKH=  5EIJA = @A = ?AHH=@ ?HA=@ A 5E K E = IA = @A HABAHA ?E= AI K AI?= K EJ=HE ? JH =@ H AI FH F H?E = = F = J= AI @A FHE AH H@A O A IA I H A JHAC= A L= H =>I KJ @A = I= E@=

JH =@ H 21,
@A JH= IBAHA ?E= @A ? JH =@ H 21, IA FKA@A AI?HE>EH ?

,AJ= AI
= BK ?E

KI 1 + KD s = KD s2 + KP s + KI s s @ @A KP , KI , KD I = C= = ?E= 2H F H?E = = C= = ?E= 1 JACH= O = C= = ?E= ,AHEL=JEL= HAIFA?JEL= A JA 2HE AH LA= I ? A ? JH =@ H @A 21, JH=>= = @A JH @A K IEIJA = @A = ?AHH=@ GKA KI= A AIGKA = = JAHE H = L=HE=> A e HAFHAIA J= A AHH H = @EBAHA ?E= A JHA A L= H @A A JH=@= @AIA=@ R O A L= H @A I= E@= =?JK= Y -IJ= IA = @A AHH H e IA A LE=H = ? JH =@ H 21, O A ? JH =@ H ?= ?K = = @AHEL=@= O = E JACH= @A AIJ= IA = @A AHH H = IA = u GKA I= A @A ? JH =@ H AI KAC ECK= = KP + u = KP e + KI e dt + KD de dt
=H

-IJ= IA = u IA A LE=H = = F = J= O IA >JA @H K = KAL= I= E@= Y =?JK= E =@= - ? JH =@ H J IEIJA =JE?= A JA I KAL I AHH HAI F=H= ?= ?K =H K = KAL= I= E@= Y D=IJ= ? LAHCAH = K AHH H E

+=H=JAH IJE?=I @A ?

JH =@ HAI 2 1 O ,
=@A I HA@K?EH A @K?EH A ABA?J @A ? JH @AHEL=JEL H= @ = HAIFKAIJ= @A = ?AHH=@ IA

7 ? JH =@ H FH F H?E = KP FH @K?EH A ABA?J @A HA@K?EH A JEA F @A IK>E@= tr O AHH H AIJ=?E =HE =K GKA F @H A E E =H ? F AJ= A JA 7 ? JH E JACH= KI FH A E E =H A AHH H AIJ=?E =HE FAH FKA@A A FA H=H = HAIFKAIJ= JH= IEA JA @A IEIJA = 7 KD JA @H A ABA?J @A =K A J=H = AIJ=>E E@=@ @A IEIJA = HA@K?EA @ A LAHID J O A JH= IEA JA I ABA?J I @A ?=@= K @A I ? JH =@ HAI KP KD O KI A K IEIJA = HAIK A = ? JE K=?E 4AIF KP KI KD

Tr ,EI E K?E ,EI E K?E ?= >E ?DE?

Mp )K A J )K A J ,EI E K?E

ts ?= >E ?DE? )K A J ,EI E K?E

-HH H e() ,EI E K?E -E E = ?= >E ?DE?

JA GKA AIJ=I ? HHA =?E AI I IEA FHA FHA?EI=I F HGKA KP , KI O KD A?AI=HE= A JA I E @AFA @EA JAI A JHA A I ,A DA?D = ?= >E=H K = @A AIJ=I L=HE=> AI FKA@A GKA ?= >EA A ABA?J @A =I JH=I @ I 4 0 0AH @A 7 @A +DE A

.ECKH= 2 H AIJ= H= AIJ= J=> = @A>A KI=HIA I ? HABAHA ?E= ?K= @ KIJA@ AIJ = KIJ= @ KD I =FH FE=@ AI = KIJ=H I L= HAI @A =?KAH@ = ?HEJAHE @A EACAH E?D I I L= HAI KI , KP O

7 AA F

IE F A
=I= ? A?J=@= = K HAI HJA @A ? IJ= JA k O = K = HJECK=@ H @A

5KF C= GKA I JH I JA A I K = ? IJ= JA b = A?K=?E @A AIJA IEIJA = AI

mx + bx + kx = f
6 = @ = T L @A = A?K=?E 



ms2 X (s) + bsX (s) + kX (s) = F (s)

= BK ?E @A JH= IBAHA ?E= A JHA A @AIF = = EA J X (s) O = A JH=@= F (s) AI

 

1 X (s) = F ( s) ms2 + bs + k
5A= m = 1 C b = 10 I

k = 20

O F (s) = 1 A J

?AI = BK ?E

@A JH= IBAHA ?E= AI

X (s) 1 = 2 F ( s) s + 10s + 20
- > AJEL @A AIJA FH > A = AI IJH=H ? E KOA ? JHE>KOA ?=@= K A = >JA ?E @A = 7 JEA F @A IK>E@= ? HJ > K LAHID J E @A I ? A ?EA JAI KP , KI O KD O ? K AHH H AIJ=?E =HE K

4AIFKAIJ= @A =

=>EAHJ

2HE AH LA= I = HAIFKAIJ= @A = =>EAHJ )6 )* @A>A ?HA=H K KAL =H?DEL A O AI?HE>= A A ? @EC IECKEA JA num = 1; den = [1 10 20]; elstep(num, den) ) A A?KJ=H AIJA =H?DEL A =J => = LA J=@= CH ?= @A>A IJH=H A A CH ? @A = CKH= ! = C= = ?E= ,+ @A = BK ?E @A JH= IBAHA ?E= @A = F = J= AI 1/20 @A = AH= GKA 0,05 AI A L= H = @A = I= E@= ? HAIFKAIJ= = K AI?= K EJ=HE -IJ ? HHAIF @A = K AHH H AIJ=?E =HE @A 0,95 @A DA?D >=IJ= JA CH= @A AI ?EAHJ )@A I A JEA F @A IK>E@= AI =FH NE =@= A JA K IACK @ O A JEA F @A 4 0 0AH @A 7 @A +DE A

"

.ECKH= ! AIJ=> A?E EA J AI =FH NE =@= A JA 1,5IACK @ I 6H=JA I @A @EIA =H K ? JH =@ H GKA HA@K ?= A JEA F @A IK>E@= GKA HA@K ?= A JEA F @A AIJ=> A?E EA J O GKA A E E A A AHH H AIJ=?E =HE

JH =@ H 2H F H?E

- = J=> = = JAHE H LE I GKA A ? JH =@ H KP FH F H?E = HA@K?A A JEA F @A IK>E@= =K A J= A LAHID J O HA@K?A A AHH H AIJ=?E =HE = BK ?E @A JH= IBAHA ?E= @A = ?AHH=@ ? K ? JH =@ H FH F H?E = AI = ICJA

X (s) KP = 2 F (s) s + 10s + (20 + KP )

1 F C= K = C= = ?E= FH F H?E = KP = 300 O ?= >EA A =H?DEL =J => F H IECKEA JA

Kp = 300; num = [KP ]; den = [1 10 20 + KP ]; t = 0 : 0,01 : 2; step(num, den, t);

- A?KJ= @ AIJA =H?DEL A =J => = LA J= = CH ?= A IJH=H A CH ? @A = CKH=

4 0 0AH

@A

7 @A +DE A

# J= = BK ?E @A =>EAHJ @EHA?J= A JA = @A JH= IBAHA ?E= @A = FH @K?EH K CH ? E@ =J => = =@= ? F FKA@A KI=HIA F=H= >JA AH = BK ?E @A JH= IBAHA ?E= @A = F=HJEH @A = BK ?E @A JH= IBAHA ?E= @A = ?AHH=@ A KC=H @A >JA AH = BK ?E ?AHH=@ = = =  - =H?DEL =J => IECKEA JA KI= A ? = @ ? F O AIJ @A>A JE? = = JAHE H

num = 1; den = [1 10 20]; Kp = 300; [numCL, denCL] = cloop(KP num, den); t = 0 : 0,01 : 2; step(numCL, denCL, t);
- CH ? = JAHE H KAIJH= GKA A ? JH =@ H FH F H?E = HA@K?A = = LA A JEA F @A IK>E@= O A AHH H AIJ=?E =HE =K A J= A LAHID J O =@A I D=?A @A?HA?AH A JEA F @A AIJ=> A?E EA J A K F H?A J=CA= C E IEC E ?= JA

JH =@ H 2H F H?E

= ,AHEL=JEL

)D H= A?DA I K = EH=@= = K ? JH =@ H 2, ,A = J=> = = JAHE H LA I GKA A ? JH =@ H @AHEL=JEL KD HA@K?A = = LA A LAHID J O A JEA F @A AIJ=> A?E EA J = BK ?E @A JH= IBAHA ?E= @A = ?AHH=@ @A IEIJA = ? K ? JH =@ H 2, AI

X ( s) KD s + KP = 2 F (s) s + (10 + KD )s + (20 + KP )

1 F C= KP = 300 ? = JAI O D=C= KD = 10 1 CHAIA I? = @ I ICJAI A K =H?DEL =J => O A A? JA

KP = 300; KD = 10; num = [KD KP ]; den = [1 10 + KD 20 + KP ]; t = 0 : 0,01 : 2; step(num, den, t)

-IJA CH ? @A = CKH= KAIJH= GKA A ? JH =@ H @AHEL=JEL HA@K = = LA A LAHID AIJ=> A?E EA J O JKL K ABA?J FAGKA A A JEA F @A IK>E@= O A A AHH H AIJ=?E =HE 4 0 0AH @A

J O A JEA F @A

7 @A +DE A

.ECKH= "

JH

2H F H?E

= 1 JACH=

) JAI @A KI=H K ? JH =@ H 21, A?DA I K = EH=@= = K ? JH =@ H 21 ,A = J=> = = JAHE H LA I GKA A ? JH =@ H E JACH= KI @EI E KOA A JEA F @A IK>E@= =K A J= = = LA A LAHID J O A JEA F @A AIJ=> A?E EA J =@A I A E E = A AHH H AIJ=?E =HE - J ?AI F=H= KAIJH IEIJA = = BK ?E @A JH= IBAHA ?E= A = ?AHH=@ ? K ? JH 21 AI

X (s) KP s + KI = 3 F (s) s + 10s2 + (20 + KP )s + KI

4A@K ?= ICJAI I A KP = 30 O D=C= I KI ECK= = 70 +HAA K KAL =H?DEL =J => A E CHAIA I ? = @ I

KP = 30; KI = 70; num = [KP KI ]; den = [1 10 20 + KP KI ]; t = 0 : 0,01 : 2; step(num, den, t)

- A?KJA AIJA =H?DEL 7@ @A>A ? IACKEH A CH ? @A = CKH= " 0A I HA@K?E@ = C= = ?E= FH F H?E = KP F HGKA A ? JH =@ H E JACH= J= >E HA@K?A A JEA F @A IK>E@= O =K A J= A LAHID J ? I D=?A A ? JH =@ H FH F H?E = ABA?J @ > A =I HAIFKAIJ=I = JAHE HAI E @E?= GKA A ? JH =@ H E JACH= A E E A AHH H AIJ=?E =HE

+
-?DA

JH

2H F H?E
IK =

= 1 JACH= ,AHEL=JEL
JH =@ H 21, = BK ?E @A JH= IBAHA ?E= @A = ?AHH=@ ? ? JH 21, AI

EH=@= = K ?

X (s) KD s2 + KP s + KI = 3 F (s) s + (10 + KD )s2 + (20 + KP )s + KI

,AIFK I @A L=HE I A I=O I E J JA  =I C= = ?E=I KP = 350 KI = 300 O KD = 50 HAIFKAIJ= @AIA=@= 2=H= ? H =H E CHAIA I ? = @ I ICJAI = K =H?DEL =J => O A A? JA = HAFKAIJ= = AI?= IJAF @A = CKH= # 4 0 0AH @A I A JHAC = = ,A>A >JA AH

7 @A +DE A

.ECKH= #

KP = 350; KI = 300; KD = 50; num = [KD KP KI ]; den = [1 10 + KD 20 + KP KI ]; t = 0 : 0,01 : 2; step(num, den, t);
0A I >JA E@ K IEIJA = @A ? JH IE LAHID J ? JEA F @A IK>E@= H FE@ O IE AHH H AIJ=?E =HE

1@A=I CA AH= AI F=H= @EIA =H K ?

+K= @ GKEAH= @EIA =H K ? HAIFKAIJ= @AIA=@= 

JH =@ H 21,
IEC= I F=I I IECKEA JAI F=H= >JA AH K = A H=@

JH =@ H 21, F=H= K IEIJA = @=@ =>EAHJ O @AJAH E A = F=H=

>JA C= K = HAIFKAIJ= @A = )CHACKA K ? JH JH JH FH F H?E

GKA A?AIEJ= IAH

A H=H A JEA F @A IK>E@= A H=H A LAHID J =HE FJE =

! )CHACKA K ? " )CHACKA K ?

@AHEL=JEL F=H=

E JACH= F=H= A E E =H A AHH H AIJ=?E

# ) KIJA ?=@= K = @A =I C= = ?E=I KP KI O KD D=IJ= GKA >JA C= K = HAIFKAIJ= C >=  EAC AH E?D I

2 H JE F H B=L H JA C= FHAIA JA GKA A?AIEJ= E F A A J=H I JHAI ? JH =@ HAI A K EI IEIJA = IEA FHA FH F H?E = @AHEL=JEL A E JACH=  IE AIJHE?J= A JA A?AI=HE 2 H A A F IE K ? JH =@ H 21 @= K >KA HAIK J=@ ? A A A F = JAHE H A J ?AI KIJA@ A?AIEJ= KI=H K ? JH @AHEL=JEL = JA C= A ? JH =@ H J= IE F A ? IA= F IE> A

4 0 0AH

@A

7 @A +DE A

&

/4
-IJK@E= I =GK A J @ @A @EIA KC=H /A JHE? @A = 4= ?AI  /4 E F HJ= JAI GKA IA KI=H A AIJ= CK = I ? F H ? @ H ?KI ICHE@ IJAF I? = @ I @A =J => I

I @A =

?AHH=@

- /4 H F IE> AI F

J ?KI A E C I @A K = BK ?E @A JH= IBAHA ?E= G(s) A F =>EAHJ  ? HHAIF @A = J @ I I I @A = ?AHH=@ KI= @ K ? JH =@ H @A C= = ?E= K ? HAJH = E A J=?E K EJ=HE=  CKH= $

.ECKH= $ 5EIJA = @A = = BK ?E

?AHH=@

5A = @A HABAHA ?E= r + ?AHH=@ AI

JH =@ H FH F H?E

= K 2 = J= G O I= E@= y

@A JH= IBAHA ?E= @A =

Y (s) KG(s) = R(s) 1 + KG(s)

O =I IF I @A IEIJA = @A = ?AHH=@ I L= HAI @A s J= GKA

1 + KG(s) = 0.
5E AI?HE>E I G(s) = b(s)/a(s) A J ?AI AIJ= A?K=?E JEA A = B H =

a(s) + Kb(s) a(s) + b(s) K

= =

0 0

5A= n A H@A @A a(s) O m A H@A @A b(s) A H@A @A K F E E AI = F JA ?E= I = J= @A s GKA =F=HA?A A  I JH I ? IE@AH=HA I J @ I I L= HAI F IEJEL I @A K - A EJA K 0 I F I @A IEIJA = @A = ?AHH=@ I a(s) = 0 I F I @A G(s) - A EJA K I F I @A IEIJA = @A = ?AHH=@ I b(s) = 0 I ?AH I @A G(s) 1 @AFA @EA JA A JA @A L= H @A K A IEIJA = @A = ?AHH=@ IEA FHA @A>A JA AH n F I @ @A n AI A AH @A F I @A G(s) - /4 @A>A JA AH J= J=I H= =I ? F I JA C= G(s) +=@= H= = F=HJA @AI@A K F @A G(s) O L= D=?E= K ?AH @A G(s) 5E G(s) JEA A I F I GKA ?AH I ? AI = A K@ A ?=I  m < n O @A?E I GKA G(s) JEA A ?AH I A A E EJ - AIJA ?=I A EJA @A G(s) ? s AI ?AH AH @A ?AH I A A E EJ AI n m A AH @A F I A I A AH @A ?AH I O ? HHAIF @A = AH @A H= =I @A /4 GKA L= = E EJ IA= =I =I J J=I 2KAIJ GKA A /4 AI A KC=H CA JHE? @A J @ I I F IE> AI F I @A = ?AHH=@ I JH I F @A I IA A??E =H K = C= = ?E= J= GKA KAIJH IEIJA = @A = ?AHH=@ ?K F = ? I HAGKAHE EA J I GKA I JH I A E F C= I 5E ?K= GKEAH= @A I F I IA A??E =@ I AIJ A A =@ @AHA?D @A F = ? F A A IEIJA = 4 0 0AH @A 7 @A +DE A

'
LGR de: 1 + KG(s)=0 10

2 Imag Axis

10

15

10

5 Real Axis

.ECKH= %

/4 KI @A H ?KI

IAH E AIJ=> A IF I I ?AH?= I = A A E =CE =HE JEA A = E KA ?E= I CH= @A A = HAIFKAIJ= @A = ?AHH=@ ? ?K IE A IEIJA = JEA A JHAI ?K=JH F I IA FKA@A ? F HJ=H ? K IEIJA = @A IACK @ H@A E ? KI @A FHE AH H@A @AFA @EA @ @A = K>E?=?E @A F I @ E = JA

/H= ?=
+

IA

/4
=>EAHJ GKA JEA A K = BK ?E @A JH= IBAHA ?E= G(s)

IE@AHA K IEIJA = @A =

G(s) =

(s + 1) s2 (s + 12)

,EIA A I A IEIJA = @A ? JH KI= @ A /4 ,EC= I GKA KAIJH ?HEJAHE AI 5  @A LAHID J O JEA F @A IK>E@= tr = 1/2 IACK @ +HA= I K =H?DEL @A =J => @A >HA CH 1 CHAI= I = BK ?E @A JH= IBAHA ?E= O A ? = @ F=H= JH= =H A /4

num = [1 1]; den = [1 12 0 0] rlocus(num, den) title( LGRde : 1 + KG(s) ) axis( equal )
5E A A?KJ= 4 0 0AH I A I?HEFJ CH @A >JA @HA I A CH ? @A = CKH= % 7 @A +DE A


LGR de: 1 +KG(s)=0 y [=0.7, n=3.8]

10

Imag Axis

10

20

15

10

5 Real Axis

10

.ECKH= & 7I @A ICHE@

-I? CAH K ?

/4

- CH ?  CKH= % KAIJH= A KC=H CA JHE? @A I F I @A = ?AHH=@ F=H= K ? JH =@ H FH F H?E = @A C= = ?E= K >LE= A JA J @ I I F I @A = ?AHH=@ I=JEIB=?A KAIJH ?HEJAHE 2=H= @AJAH E =H GK F=HJA @A IEJE AI =?AFJ=> A F @A I KI=H = BK ?E ICHE@, n  F=H= JH= =H =I A=I @A = HJECK= EA J ? IJ= JA O BHA?KA ?E= =JKH= n ? IJ= JA I =HCK A J I @A AIJ= BK ?E FKA@A FKA@A IAH LA?J HAI IE KIJA@ GKEAHA >IAHL=H K H= C @A L= HAI =?AFJ=> AI - KAIJH ?=I A?AIEJ= I K LAHID J A H GKA 5  IEC E ?= GKA zeta 0,7 O K JEA F @A IK>E@= @A 0,5 IACK @ I IEC E ?= n > 3,6 - = EI = LA J= = FHE ?EF= @A =J => A A?KJA

zeta = 0,7; W n = 3,6; sgrid(zeta, W n)

7@ >JA @H K CH ? ? A @A = CKH= & JA GKA tr O n AIJ= HA =?E =@ I F H = A?K=?E GKA LE I A A ?KHI -##)

1,8 tr = n
)@A I A NE @A = A?K=?E LAHID J Mp AIJ HA =?E =@ ? A F=H AJH @A = HJECK= EA J @A IEIJA = = JH=L I

Mp = e/

1 2

- AIJA ?=I Mp = 0,05 O n = 1,8/tr - A CH ? @A = CKH= & =I @ I A=I FK JA=@=I > = ?=I  I A I = "# o  E @E?= = K>E?=?E @A F I ? = 0,7 - JHA AIJ=I A=I I F I JA @H > 0,7 O BKAH= @A =I A=I < 0,7 - IA E? H?K 4 0 0AH @A 7 @A +DE A


LGR de: 1 +KG(s)=0 y [=0.7, n=3.8] y Seleccin de Polos (+)

10

Imag Axis

10

20

15

10

5 Real Axis

10

.ECKH= ' 7I @A H ?

E @E?= F IE?E AI @A F ? K = BHA?KA ?E= =JKH= n = 3,6 ,A JH @A ? H?K n < 3,6 O BKAH= @A ? H?K n > 3,6 )D H= L LEA @ = KAIJH FH > A = F=H= >JA AH K LAHID J A H GKA 5  I F I JEA A GKA AIJ=H A JHA =I @ I A=I FK JA=@=I > = ?=I O F=H= GKA A JEA F @A IK>E@= IA= I ? HJ GKA 1/2 IACK @ I F I JEA A GKA AIJ=H BKAH= @A IA E? H?K FK JA=@ > = ? 8A I GKA = F=HJA @A /4 GKA I IEHLA AIJ BKAH= @A IA E? H?K FAH A JHA =I @ I A=I GKA J @ I I F I @A AIJA ?=I AIJ A A =@ E GKEAH@ @A F = ? F A IEIJA = AIJ=> A )D H= @A>A I A ACEH K = C= = ?E= K @A ? JH =@ H FH F H?E = GKA I KAL= I F I = KC=H @AIA=@ @A /4 -IJ FKA@A D=?AH A =J => KI= @ = BK ?E H ? @ AI? CEA @ A KC=H @ @A 7@ GKEAHA I F I IE GKEAHA =FHA @AH I @A ? JH A E = I F I A A /4 GKA ?K F = =@A I @A ?HEJAHE E FKAIJ = ? @E?E = CK =H GKA LE I A A ?KHI - A?KJA A IECKEA JA ? = @ A = LA J= = FHE ?EF= @A =J =>

[K, polos] = rlocf ind(num, den)

,AIF =?A A KIA I >HA = CKH= = JAHE H O D=C= ? E? I >HA A KC=H @ @A @AIA= GKA IA A ?KA JHA A F @A = ?AHH=@ FAH GKA I=JEIB=C= A ?HEJAHE AIFA?E ?=@ = JAHE H A JA 8AH @E ?=HIA = CKH= = JAHE H  CKH= ' JA GKA A /4 FKA@A JA AH I @A K = H= = O ?K= @ KIJA@ IA A??E = K F O F H A @A K  KIJA@ @A>A I=>AH @ @A IA D= @AIF = =@ I @A I F I 4A?KAH@A GKA A I =BA?J= = HAIFKAIJ= @A IEIJA = - = CKH= ' LA I GKA I F I =H?=@ I ? + I H= => AI = BK ?E H ? @ I A JHAC= ? HAIK J=@ I KAL I F I O = C= = ?E= K @A FH F H?E = =I ?E=@= = A I

4AIFKAIJ= @A =

=>EAHJ
?AHH=@ 7IJA@

2=H= A ? JH=H = HAIFKAIJ= A = =>EAHJ @A>A I ? ?AH = BK ?E @A JH= IBAHA ?E= A = = FKA@A ?= ?K =H = F=HJEH @A @E=CH= = @A > GKA FA@EH A = =J => GKA D=C= F H 7@ 4 0 0AH @A

7 @A +DE A


Step Response 1.2

0.8 Amplitude

0.6

Respuesta al escaln de GLC(s)

0.4

0.2

0 0 0.5 1 1.5 Time (sec.) 2 2.5 3

.ECKH=  4AIFKAIJ= = AI?=

KI @A IJAF

[numLC, denLC ] = cloop(K num, den)

I @ I =HCK A J I @A ? F I A K AH=@ H O @A E =@ H @A IEIJA = @A = =>EAHJ LE@A E ? KEH = C= = ?E= FH F H?E = GKA KIJA@ AI? CE 5A =IK A HAJH = E A J=?E K EJ=HE= 5E KIJA@ JEA A K = IEJK=?E @A HAJH = EA J=?E K EJ=HE= KIA A DA F @A =J => F=H= = BK ?E BAA@>=? GKA A JHAC= = BK ?E @A JH= IBAHA ?E= A = ?AHH=@ ? C= = ?E= A HAJH @EIJE J= @A  + FHKA>A = HAIFKAIJ= @A IK IEIJA = @A = ?AHH=@ ?

step(numLC, denLC )
- = CKH=  =F=HA?A = HAIFKAIJ= AIFAH=@= LAHID J A H GKA 5  O JEA F @A IK>E@= tr = 0,5 IACK @ I 5E 7@ AI ? I?EA JA A E ?H @K ? ?K= GKEAH >KA AIJK@E= JA @A AIJ= AI?KA = FKA@A E@A JE ?=H = BK ?E @A JH= IBAHA ?E= @A = ?AHH=@ = F=HJEH @A @E=CH= = @A > GKA KI= @ = HAC = @A =I

GLC (s) =

Y (s) K (s + 1) = 3 R(s) (s + 12s2 + Ks + K )

)I E@A JE GKA I ? A ?EA JAI @A =I F JA ?E=I @A s A H@A @A?HA?EA JA @A K AH=@ H b(s) K, K O @A @A E =@ H a(s) 1, 12, K, K +HAA I LA?J HAI num = [K K ] O den = [1 12 K K ] )D H= A A?KJA A EI ? = @ = JAHE H IJAF(num, den) F=H= LAHE ?=H GKA =J => KJE E ? HHA?J= A JA = BK ?E ? F - CH ? >JA E@ @A>A IAH E@ JE? = = JAHE H

4 0 0AH

@A

7 @A +DE A