(ec.dif.lin.cu.coef.const.

)=> Laplace:
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Transf. Laplace :

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;

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prop: -deriv. in timp: [ ( ) ( )]
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[
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-deriv. in freq:
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-transl. in timp: [ (
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-transl. in freq: [
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);
Transf elem: [ ( )]
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; [

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. -sistemul in bucla inchisa este stabil daca toate transformarile in bucla inchisa sunt stabile(au polii in
;

; => polinomul caracteristic cu zerouri in

}; identitatea

( )(

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=> {

polii in
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) (

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) (

( ) ( ); ( )

) (

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=>{

)(

) (

))

)(

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))

[ ( )]

=> solutii;b) ( )

( )

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;
( ) ( )

lui Euclid pt ( ) si

:a)stabilizare( ( )
)

( ) si

( )

[ ( )]

( )

( ) => ( ) si ( );3)
( )

( )
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=> ( )

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=>
=>

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cu

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, det ( ) ( ) ai

}; 1)

=>

( ). Ex2: fie ( )
( ), sol structural stabila;
) ( )

( ) ( ) ( )

=>

; alegem

(
( ) ( )

=>

( ) ( )

( ));b)urmarire ( ) solutie structural stabila;c)urmarire

( ) ( )

{ ( )

)(

=> {
( )
( )
( ) ( )
( ) ( )

=>

( ) ( ))

[ ( )]

) => {

=> ( )-stabilizator ( )

[ ( )]

=> ( )(

Alg: fie ( ) o fct de transfer ireductibila stabila: ( )

( ) ( )

=>a) (

( )are toti

( ); =>a) ( )

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=>

=> ( )

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;2)alg
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=>

=> ( )

( ) ( )

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=>

compensator stabilizator rezolva problema;c) ( )

=> ( )

( ) ( )

,pt poli multipli si derivate trebuie sa faca 0; Rejectie de perturbatie: ( )

a) urmarire ( );b) rejectie ( );c) urmarire

( ) ( )

( )
( ) ( )

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=>
( ) ( ))

Ex1: ( )

( ) ( );

( ) ( )
( )
) (
)

( )(

; pas2: se imparte la =>

, pana cand este o constanta nenula;

=>

( ) ( ));Urmarire de referinta: ( )
(

in produsul PC;

lui Bezou: NX+MY=1;

Alg lui Euclid: pas1: se imparte la =>

;pask: se imparte
la
Eroarea asociata: ( )

);

; test de stabilitate interna: sistemul in

bucla inchisa este intern stabil 1. Fct 1+PC are zerourile in; 2. Nu au loc simplificari in
=>

( )

);

( )

( )=>

( )(

( ) ( )
( ) ( ))

( )

( ) ( )= ( ) => ( ) [

( )

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; ( )

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=> ( )
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; ( )

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(
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))

; ( )
=> ( )( ( )
)
(
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(
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))
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rezolva problema dar pentru o solutie structural stabila: ( )
sau ( )

. c) ( )

( ( )[ ( )
( ) ( )]

( ) ( )])
=> ( )

( ) ( )]

=>

( )

( )

) =

( )

] ;

( )

( )

( )

;2)

)=>

)
(

pt care

mari); Validare :1) grad relativ

=>

; Loopshaping:
la

);Specificatii de

) ( ) are un pol in smeiplanul stang in

=>
(frecvente mici) sau

=>

( )

, 1)| |

) => 1) ( )

=> fct (
)

. Ex3:pt ( )

; Specificatii de performanta:

reziduul acestui pol este:

la

( );

;Specificatii de performanta:

sau

;Ex4(pt norme): fie ( )

) {

pt ref la semnale armonice cu

;2) (

=>
robustete:

( )

)
(

( ) ( )] => ( )[ ( )
=> ( )
si [ ( )

)
(

=>

=>

si

( )

( )

(
(

=>

=> ( )

] ; Norme de sisteme:

; Ex:

=> compensator stabilizator

( )

=>

( ) ( )]

=> ( )

( ) ( ))

( ) ( ))

( ) ( )]+ ( )[ ( )
=> ( )[ ( )
( ) ( )]
dar pt solutie structural stabila: [ ( )
( )
( )
( )
=>{
,fie
( )
( )
=>{

Norme de semnale:
( )

( )[ ( )

=>

=>{

( )

=>

. b) urmarirea de referinta : ( )

=>{

( )

( )

( )
(

=> ( )

ai

pt care

grad relativ ;2) stabilitate in bucla inchisa(margine fixa pozitiva);3)

(frecvente