+

= @AI 4 >KIJAI + = @A +4

?=> @ALE =(BA J IJ BH

+=> @ALE =

3
=IJAH

A= A ?=JH EGKA

6=> A @AI
1 +
 JE

=JE HAI
OGKEIJ * =?

= @A +4

#
% ' 
"

I @A H >KIJAIIA EAKN @A * @A

4=FFA I
! " " "! ""

! ,A = @ HEL=JE " +=H=?J HEI=JE

EAK @A * =? @A ?AJ E J CH=JAKH

A JE HA

2 E J E F HJ= J 4 F IA A BH GKA ?A A > K? A BAH A .H GKA ?A @A H I = ?A AJ B=?JAKH @A H I = ?A .H GKA ?A FH FHA AJ B=?JAKH @= HJEIIA A J " "  4A =JE I A JHA B=?JAKH @A H I = ?A AJ B=?JAKH @= +D EN @A u , JAH E =JE @A  H@HA m +D EN @A b AJ h += ?K @K C=E IJ=JEGKA C0 +D EN @AI FK I=JE I A AJ B -NA F A 1 F = J=JE @K ? HHA?JAKH

BH GKA JEA A

%

HJEIIA A J

% % & ' 

# 5O JD IA @A = ?
# # #! #" ## #$ $ % %

= @A +4

- 4 CK =JAKH E@ =

! " # # $ $

$ 4 CK =JAKH +4 % 4 CK =JAKH

-H A

!

'

+ = @AI CH= @ C=E 6H=EJA A J @A AHHAKH IJ=JEGKA

FD=IA L=HE=> A

!!

!! !"

*E> E CH=FDEA

!%

"

6)* - ,-5

)61 4-5

2HA E HA F=HJEA

= @A +4

+D=FEJHA 

JE

I @A H >KIJAIIA
?

? HHA?JAKH

IOIJ

.EC    5?D

= @A FHE ?EFA @K A ?

= @A

=LA? K IOIJ

A @A = B H A

H (p) =

b0 + b1 p + b2 p2 ... + bm pm . a0 + a1 p + a2 p2 ... + an pn

JD @AI @A H C =CAI ? =IIEGKAI 21, HAJ KH @ J=J   IE AI ai AJ AI bi I J ? IJ= JI AI FAH AJJA J @A H C AH ? LA => A A J A FH ?AIIKI > K?  IE AI ai AJ K AI bi L=HEA J @= I A JA FI >IAHLA K A @ CH=@=JE @AI FAHB H = ?AI AJ  FH ? @A C H= A A J K H C =CA @= I A FEHA @AI ?=I AN >H=I @A H > JI =LE I  - B ?JE @= I  H@HA @A = F EJK@A @A L=HE=JE @AI F=H= JHAI AJ @AI FAHB H = ?AI L K KAI JA JAH=

 21, K GKEL= A J  ? = @AI H >KIJAI  ? = @AI =@=FJ=JELAI

&

+0)2164- 

61

5 ,- 4 *756-55-

+D=FEJHA

4=FFA I
50

EAKN @A * @A
2

OGKEIJ * =?

1.5
0

G
1

50

Phase (deg); Amplitude (dB)

100

0.5

axe imaginaire

150 0 50 100 150 200

G
0

0.5

1.5
250 300 1 10

10

10

10

10

2 1

0.5

0.5

1.5

2.5

3.5

Pulsation (rad/sec)

axe rel

.EC

  ,E=CH=

AI @A * @A AJ @A

OGKEIJ

=HCA @A FD=IA G

=HCA @A C=E 

50

40

0 dB 0,25 dB 0.5 dB

30

Gain en boucle ouverte (dB)

20

1dB 3 dB 6 dB

1 dB

10

3 dB 6 dB 12 dB 20 dB

10

20

30

40

50 300

250

200

150

100

50

Phase en boucle ouverte (deg)

.EC

 )>=GKA @A * =?

A?

=>=GKA @A * =? FH IA JA =L= J=CA F=H H=FF HJ =KN =KJHAI @E=CH= AI @A @ AH @EHA?JA A J F HJA A J @K IOIJ A A > K? A BAH A A B ?JE @K JH=? @K IOIJ A A > K? A KLAHJA '



+0)2164-

4)22- 5

1-7: ,- * ,-

;37156 * )+

A AJ A ? F HJA A J A > K? A BAH A @K IOIJ A AIJ FH=JEGKA A J @ JAH E F=H A F E J A F KI FH ?DA @K F E J @E IJ=>E EJ I EJ A F E J @=>I?EIIA & AJ @ H@ A  @* )E IE = H I = ?A AIJ A A @ JAH E A A HAC=H@= J GKA A ? KH>A EI = HJEIIA A J = ? KH>A JH=? A J= CA JA -  ??KHHA ?A IKH = CKHA A IOIJ A A FH IA JAH= F=I @A H I = ?A A > K? A BAH A H I = ?A @A @* IE L KI L K A  2=H ? JHA IE  = KJA K C=E @= I = > K? A KLAHJA L EH C ! @EI I @A " @* = KLA A ? KH>A IA @ @KEJ @A = ?EA A F=H IE F A JH= I =JE LAHJE?= A ?=H = FD=IA A ?D= CA F=I HIGKA  = KJA K C=E  +AJJA B EI = ? KH>A J= CA JA A EFIA @AI $ @* A IOIJ A FH IA JAH= @ ? K A H I = ?A @A $ @* KI F KHHE I A AIJE AH = BH GKA ?A =GKA A A A IA FH @KEJ ? @EJE @=L EH FA I JAH IKH = ? KH>A FH ? @A JA AI BH GKA ?AI =KNGKA AI AI AIKHAI J J B=EJAI
50

40

30

20

10

10

20

Gain du corecteur

30

40

50 300

250

200

150

100

50

.EC

!  )>=GKA @A * =? = E I

6 > A @ IK JK@A =LA? =HHEL A @A OA I @A ?= ?K IE F AI AJ FAHB H = JI E IAH= KJE EI F KH = ? FH DA IE @A = ? = @A +4 -

+D=FEJHA !

,A = @ HEL=JE

A JE HA
=LA?

= CKHA !  @ ?HEJ A B= AKN ANA F A @A = @ECKA F HAKIA

M V P Pi P Pi Q Qi

=IIA @A=K LEJAIIA FHAIIE = F/S FHAIIE @= I = L A i FAHJA @A ?D=HCA @= I = L A i = SV @ >EJ @A A=K A KLA A J @ >EJ @= I A ?= = i

.EC !  

@ A @A = @ECKA I A FHA EAH EAK K I?D = GKEL= A J

) @ JK@EAH A ? F HJA A J @O = EGKA @A = @ECKA L O A?JHEGKA @K A = L A @A = @ECKA

=LA?

U Ui Ii

P Pi Qi

.EC !

@ A GKEL= A J

A?JHEGKA @K A = L

A @A = @ECKA

-J= J @ = BH=?J= EJ @A = F H IEJ AJ = H ?KHIELEJ @A = BH=?J= EJ = @ECKA ? F JA FAKJ JHA @ EI A F=H A I?D = A?JHEGKA @A = CKHA ! ! DOF JD IA B @= A J= A J= J GKA @= I K A @ECKA E ANEIJA J KJAI AI J=E AI @= L AI



+0)2164- ! ,- ) , 418)61

- 61 4-

.EC ! ! 

@ A

A?JHEGKA GKEL= A J @A = @ECKA

)E IE A IKFF I= J GKA AI @E HA JAI BH GKA ?AI @A ? KFKHA I J FH ?DAI K A @A =KJHA FAKJ ? IE@ HAH GKA A @E=CH= A @A * @A @A ?A IOIJ A FAKJ JHA =FFH NE F=H @AKN @H EJAI @ J AI GK=JE I I J FD=IA : m C=E

2
?J

=LA? m =

1 1+
log log

: 6m @*

!

,E=CH=

A @A * @A =IO FJ JEGKA @K A ?A K A

,E=CH=

A @A * @A =IO FJ JEGKA @A @AKN ?A K AI

.EC ! "  ,E=CH=

A @A * @A =IO FJ JEGKA @A n ?A K AI IE@ H A =@ EJJ= ?A Y (p) I ?HEJ @ >EJ p m Q(p) = = , 0 P (p) FHAIIE

)KIIE @= I = >= @A @A BH GKA ?AI ?

Y (p) =
I EJ A ?= ?K = J  HECE =

Q(t) =
- HALA = J  GK=JE HECE = A

1 m 0

d dt

P (t).

M dQ(t) + P (t) = 0, S 2 dt

"

+0)2164- ! ,- ) , 418)61

- 61 4-

M 1 d m 2 S 0 dt
F I I

1+m

P (t) + P (t) = 0,

=
>JEA J

M 1 m S 2 0

1 1+m

1+m
2=H = JH= IB H

d dt

1+m

P (t) + P (t) = 0.
@ALEA J

A @A =F =?A  GK=JE

p1+m P (p) + P (p) = 0, 1 p

1+m

P (p) +
AJ

P (p) = 0,

P (p) =

1 p

1+m

P (p).

E (p) = 0

P (p)

1 p

1+m

P (p)

.EC ! #  5?D

= > ? @K E J CH=JAKH

A JEAH

!

EAK @A * =? @A ?AJ E J CH=JAKH

IAI E>HAI ?A AI HAFH IA J AI

A IOIJ A @ J A EAK @A * =? HAFH IA J IKH = CKHA ! $ = F KH H F IKH = CKHA ! % 5E M L=HEA = HI 2 1+m 1 mS u = = 0 M =LA? u FK I=JE FH FHA @K IOIJ A

=EI J= J @ = E =HEJ @A = FD=IA @= I = >= @A @A BH GKA ?AI ? IE@ H A A C=>=HEJ C EIIA IKH KE A @ ? = =HCA @A FD=IA HAIJA ? IJ= JA A ? F HJA A J @O = EGKA HAIJA ? IJ= J A =JE HA @A @ F=IIA A J IAK A = FK I=JE FH FHA L=HEA = H >KIJAIIA A @ F=IIA A J =EI L=HE=JE A JA FI @ J=> EIIA A J

!

1-7 ,- * )+

,- +-6 1 6 /4)6-74

#

||
6

/2

.EC ! $ 

EAK @A * =? @K E J CH=JAKH

A JEAH

.EC ! %  4 F

IAI E>HAI @A E J CH=JAKH

A JEAH A B

?JE

@A =

=IIA

$

+0)2164- ! ,- ) , 418)61

- 61 4-

+D=FEJHA "

+=H=?J HEI=JE
,= I ?A ?D=FEJHA @A = ? = @A +4 KI JH=EJAH -

BH GKA JEA A
I @A = ?=H=?J HEI=JE BH GKA JEA A AJ @AI FAHB H = ?AI @O = EGKAI

"  2 E J E F HJ= J
?  A ? F HJA A J A > K? A KLAHJA =K L EIE =CA @A = BH GKA ?A =K C=E F HJA A J @O = EGKA A > K? A BAH A K EJ @ JAH E A A

"

4 F

IA A BH GKA ?A A > K? A BAH

A JEAH FH ? @A J @A = B H A

5 EJ E J CH=JAKH

n (J ) =
=LA?

u J

u J

arg n (J ) = n
=LA? n A JEAH ?

2
I

? HHA?JAKH IOIJ A

.EC "   5?D

= > ? @K IOIJ

n

A ? HHEC

A JEAH

F (J ) =
= @O = EGKA A > K? A BAH C=E K EJ  A > K? A KLAHJA

u n (J ) J = u 1 + n (J ) 1 + J

= 1+

1
J u n

A AIJ K A B

?JE

@A = BH GKA ?A @A JH= IEJE

 K BH GKA ?A =K

F (J ) = 1+
? @EJE

1
J u n

GKA 0 A C=E IJ=JEGKA A > K? A KLAHJA I EJ CH= @ @AL= J  0 %

&

+0)2164- " +)4)+6 415)61

.4 37- 61n (J ) 1+n (J )

|| 0
*.

n (J ) *.

n (J ) BF (J ) 1 1 n (J ) BF (J )
n (J ) 1

1 n (J )

n (J ) n (J )

.EC "

 EA I A JHA AI @E=CH=

AI @A * @A A *

AJ A *.

" ! .H GKA ?A @A H I
|| 0
*.
6

= ?A AJ B=?JAKH @A H I

= ?A

*. H A

*. =IO FJ JEGKA

.EC " ! 

EA I A JHA AI @E=CH=

AI @A * @A =IO FJ JEGKAI A *

AJ A *.

- HA F = = J j F=H ej 2

F (J ) = 1+

1
u n

jn 2

= 1+

1
u n (cos n 2 + j sin n 2 )

F (J ) = 1+
FKEI

1
u n

cos n 2

+j

sin n 2

|F (J )| = 1+2
AJ
u

1
n

cos n 2

2n

" " .4 37- +- 24 24- -6 .)+6-74 ,)

46155- - 6
n

'

arg F (J ) = arctan 1+
A =NE K @A F (J ) AIJ >JA K F KH A E E K
n

sin n 2
n

cos n 2

@A

1+2
H I KJ @ ?

cos n

+ 2

2n

d 1+2 d
I EJ a =
u

cos n

+ 2

2n

= 0,

d 1 + 2an cos n + a2n = 0, da 2 2nan1 cos n an cos n cos n

@ ?

+ 2na2n1 = 0, 2 + a2n = 0, 2

+ an = 0 , 2 2
1 n

cos n

+ 2

r u

= 0 = r = cos n

u .

+AJJA @AH E HA GK=JE AIJ L= => A GKA IIE cos n 2 < 0 @ ? IE 1 < n < 3 @ 1 < n < 2 @= I = ? = @A +4 - ?=H n = 1 + m =LA? 0 < m < 1 A B=?JAKH @A H I = ?A AIJ

? J K KHI ?=H

Q=

|F (J )| = |F (J 0)|

1 1 = , 2 sin n 1 cos n 2 2
A A AJ A @ FA @ GKA @A n

JA GKA Q AIJ E @ FA @= J @A = BH GKA ?A JH= IEJE

" " .H GKA ?A FH FHA AJ B=?JAKH @=

F (p) =
@ ? =H F IA  ?DA AIJ

HJEIIA A J

1 , 1 + (u p)n

S (p) =
A JA F HA

1 1 , n 1 + (u p) p

+0)2164- " +)4)+6 415)61

.4 37- 61-

S (t) = L1
I EJ @=FH I = @ EJE @A A E . KHEAH

1 1 , 1 + (u p)n p

S (t) =
2=H =

1 2j

c+j cj

etp dp. p [1 + (u p)n ]

JD @A @AI H IE@KI >JEA J n 1 xt 1 x e dx 2 tu cos( ) 1 n sin n n cos(t S (t) = u(t) 1 u e sin( )) . u (u x)2n + 2(u x)n cos n + 1 n n 0 @A I?E =J EHA @ E = J F AI IJ=> AI =F HE @EGKAI

.EC " "  4 F

IA @K IOIJ

A A > K? A BAH

4=FFA

6D HEA @AI H IE@KI

f (z )dz = 2j

Res

=LA?

Res(a) =

1 lim (k 1)! z a

dk1 (z a)k f (z ) dz k1

IE A F A a AIJ K F A IE F A @ H@HA k AI F AI IJ=> AI =F HE @EGKAI I J H=FE@AI AJ E JA F HA A L EH C " " E HAIJA @ ? JK@EAH KA ?A J FAK IKH = KHA C H= A @A = H F IA

S (t)

2 1 1 sin( )) u(t) etu cos( n ) cos(tu n n 2 u(t) e(n)u t cos(g (n)u t) n

HAFH IA J A IKH = CKHA " #

" " .4 37- +- 24 24- -6 .)+6-74 ,)

1

46155- - 6

0.8

0.6

0.4

0.2

0.2

0.4

0.6

0.8

10

15

20

25

30

.EC " #  4 F
100

IA E>HA @K IOIJ

A s(t)

90

80

70

60

50

40

30

20

10

1.1

1.2

1.3

1.4

1.5

1.6

1.7

1.8

1.9

.EC " $  8= AKH @K FHA EAH @ F=IIA A J D 1 A

A B

?JE

@A n  A

2=H ?= ?K K HEGKA >JEA J = ? KH>A @A = L= AKH @K FHA EAH @ F=IIA A J D1 A ?JE @A n  C " $ 3KA  FAKJ =FFH NE AH F=H

D1 = 79, 195n2 138, 507n + 59, 528.

=KIIE n AIJ K A B ?JE @A D1 J

" 

AI F AI @A = JH= I EJJ= ?A I=JEIB

1 + (u p)n = 0, (u p)n = 1 = ej/n IKH [, ] .

 =? = @A +4 - NA A EAK @AI F AI @A = ? = @A  AI =KJHAI ? = @AI NA J AI F AI ?A GKE FH L GKA @A B HJAI A JH AI @ALEA J A J

HIGKA A IOIJ

" "  4A =JE

I A JHA B=?JAKH @A H I
Q=

= ?A AJ B=?JAKH @=

HJEIIA A J

1 1 2 n = arcsin , = sin n 2 Q

+0)2164- " +)4)+6 415)61

6

.4 37- 61-

Im p = u sin /n

n p = u ej/n /n *

1 2

cos /n n Re

.EC " %  2 AI @K IOIJ

A @= I A F = ?

F ANA

= cos , n = cos 2 . 2 arcsin Q1

+D=FEJHA #

5O JD IA @A = ? 4 CK =JAKH E@ =
0OF JD IA A IOIJ

= @A +4

= FD=IA AIJ ? IJ= JA

A FH IA JA K A F =CA @A BH GKA ?AI

#  +D EN @A u
A ?D EN @A = BH GKA ?A K EJ HAF IA IKH K ? FH u CH= @ LEI LEI @A = BH GKA ?A @A ? KFKHA @K IOIJ  @O = EGKA H=FE@A @K IOIJ A ? HHEC = @A  B HJAI I E?EJ=JE I @A = ?  FH > AI @ ?D= JE =CA ?=H fech AIJ CH= @  > =IIAHLEIIA A J  > A H CK =JE - FH=JEGKA ?D EIEJ EI A JHA F KIEAKHI ?HEJ HAI )E IE A ?D EIEII= J A c

u
A H CK =JAKH AIJ @A = B H A =LA?

20 c
m

Cm (j ) = C0
=LA?

1 + j h

1 + j b

C0 b AJ h
6

A C=E IJ=JEGKA AI BH GKA ?AI @A JH

?=JKHA

/4

k/2
 -

= cte
.EC #   2D=IA @K IOIJ

? HHECAH

"

+0)2164- # 5; 60 5- ,- ) + |Cm (j )|
6

) ,- +4

- 4 /7 )6-74 1, )

$m @*

?J
-

m/2

b
.EC #

h
-

 ,E=CH=

A @A * @A @K H CK =JAKH +4

/2 n /2

6 ?

n/2

.EC # !  , JAH E =JE

@A  H@HA m

F KH b

h arg(Cm (j )) = m arctan arctan b b . 2 ,

IA H @KEJ

arg(Cm (j )) = m
1 B=KJ @ ? @ JAH E AH m , b , b , C0

#


, JAH E =JE
F=HJEH @A =

@A  H@HA m
= n 2 = n = ( ) 2 1 2 arcsin Q

=HCA @A FD=IA

F=HJEH @K B=?JAKH @A H I

= ?A

Q=

1 sin n

= n =

# ! +0 1: ,- B -6 H ! F=HJEH @K B=?JAKH @= HJEIIA A J

= cos
" F=HJEH @K FHA EAH =NE K

= n = arccos( ) n

D1 = 79, 195n 138, 507n + 59, 528

1.4 < 0.707 1.2 = 0.707 1

0.8 > 0.707 0.6

0.4

0.2

10

15

.EC # "  4 F

IA

 ?DA

F KH @E

HA JI B=?JAKHI @=

HJEIIA A J

# ! +D EN @A b AJ h
@ 1 I=CEJ @A ?D EIEH @AKN FK I=JE I b AJ h GKE A J KHA J AI FK I=JE =E A @=?JE @K ? HHA?JAKH +4  5E AI FK I=JE I b AJ h I J JH F FH ?DAI @A A AJ B = A ? F HJA A J E@ = AIJ F=I >IAHL  5E AI FK I=JE I b AJ h I J JH F EC AI @A A AJ B = A ? HHA?JAKH IAH= @E ?E A E F = JAH ,= I = FH=JEGKA ?D EIEJ I A AJ B @ E EJ= J A

b A /10 h B 10

# " += ?K @K C=E IJ=JEGKA C0

| (ju )| = 1
@ ?

|Cm (ju ) G(ju )| = 1

m

Cm (ju ) = C0

u 1 + j h

u 1 + j b

G(ju ) = . ?JE

@A JH= IBAHJ @K IOIJ

+0)2164- # 5; 60 5- ,- ) + A @ @KEJ

) ,- +4
u h u b 2

- 4 /7 )6-74 1, )

1 1 + C0 = |G(ju )| 1+

m /2

# # +D EN @AI FK I=JE
+AIJ K AB F=HJEA LAHJE?= A IKH - @=KJHAI JAH 2=H =E AKHI @= u I EJ

I A AJ B
I J EC AI F KI = >KIJA JHAI @K IOIJ A JHEGKAI F=H H=FF HJ

?JE @A = H >KIJAIIA @K IOIJ A @ IEH A 2 KI A AJ B A EAK @A * =? IAH= CH= @A AJ @ ? F KI A IOIJ A IAH= H AI = B A AIJ B ?JE @A = L=HE=JE @AI F=H= I = = HEJ @AI =FF E?=JE I A AJ B IAH J ?D EIEAI IO

A u /, B u ,

=LA?

10

# $ -NA F A
5 EJ A IOIJ A

G(p) = 1+
=LA?

G0
p 0 3

G0 0

  H=@ I

AI ? IE@ H=JE I @A H >KIJAIIA F KIIA J ?D EIEH  = 50 K A FK I=JE @A ! $ H=@ I AJ  =  @ ?=@A ?A JH A IKH u

+= ?K @A  H@HA @K ? HHA?JAKH m
m=nn =3 2 (180 50) = 1, 55 180

+= ?K @AI FK I=JE
IKH u @ ?

I @A ? KFKHA b AJ h ,=FH I A ?=DEAH @AI ?D=HCAI =  @ ?=@A ?A JH A

B /A = 10
2 u = B A

A @ @KEJ GKA @

2 2 u = 10A ,

B = 10A = 100H=@ I.

2KEI A ?D EIEII= J  @ ?=@A @ ?=HJ A JHA AI FK I=JE KI >JA I

I @A ? KFKHA h , b AJ AI FK I=JE

I B , A

# $ -:- 2 ||
6

 C 

  H=@ I
-

3/4

3/2
.EC # #  ,E=CH=

A @A * @A @K H CK =JAKH +4

b = 1H=@ I, h = 1000H=@ I.

+= ?K C=E IJ=JEGKA C0
1 1 + C0 = |G(ju )| 1+
3/2 u h u b 2

m/2

1+ C0 =
)FF E?=JE 8 HE ?=JE

u 0

G0

1 + 1+

u h u b

m/2

K HEGKA C0 = 7, 5 @K C=E IJ=JEGKA A > K? A KLAHJA

0 = C0 G0 = 150
+A ? HHA?JAKH FH IA JA >EA K C=E IJ=JEGKA 0 AHHAKH IJ=JEGKA B=E> A A > K? A BAH A

1 AJ F=H ?

I GKA J A IOIJ

A FH IA JAH= K A

s =

1 1 + 0

0, 007

&

+0)2164- # 5; 60 5- ,- ) +

) ,- +4

- 4 /7 )6-74 1, )

+D=FEJHA $

4 CK =JAKH +4
1 I=CEJ

-H A
A ? HHA?JAKH FH ? @A
1 + j h 1 + j b m

=E JA = J @A JH= IF IAH @= I = H = EJ

A J ?= ?K

Cm (j ) = C0
F I I

CN (j ) = C0
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