) -(

1390/8/23 :

Kp

t ps +1

) ( y y sp
) Gc = K c

( .

y ysp e e = y sp - y K c
. ) ( u ) = (.
( :
closed loop

) , y (s ) / ysp ( s

open loop

)y ( s ) / e ( s ) , u (s ) / ysp , y ( s ) / ysp ( s

( ysp .
: )loop

(open ysp - 0 = ysp

) (closed loop e = ysp - y

= e

10
)Y (s
= 2
- 4 :
u ( s ) s + 1 .6 s + 4

- 1 .
- 2 .
- 3 ) . Y (t

- 4 ) Y (t

- 5 %95 . %98

- 6 .

2
-
)( s + 1)(s + 2

= )G p (s

.
(
.

( K c = 1

) ( ysp .

( K c 5 K c = 1
Kc = 5

. .