17.

2013/2014

:
:
:

 17. 2013/2014

1. ..................................................................................................... 3
2. ..................................................................... 7
3. Routh .............................................................................. 9
4. Hurwitz .......................................................................... 10
5. .................................................................................................... 11
6. ........................................................................................................................... 13
7. .........................................................................................................................15
8. ...................................................................................................................... 16

 17. 2013/2014
1.
.
,
.
1.1.
x(t)

c(t)

c(t)
x(t)

a)
)
1.1 ) )

. x(t)
c(t) 1.1 )
.
) 1.1, , ()
. ,
),
.

.
,
,
.
, , .
:
(.
) ,
.

.
C o(t)
:

 17. 2013/2014
1.
,
lim Co(t ) 0
t

(1.1)

2.
,
lim Co(t )
t

(1.2)

3.
,
lim Co(t ) const
t

(1.3)

. ,

. ,
r(t)=(t),
c(t ) = L1 [ G ( s) ]

(1.4)

G(s)

G ( s) =

P ( s ) bm s m + bm 1s m 1 + ... + b1s + b0
=
D ( s) an s n + an 1s n 1 + ... + a1s + a0

(1.5)

, c(t)
,
D(s)=0. /
.
1.1
1.2.

1) s =
2) , , s =
3)

s = j
4)
, , s = j
5)

j - s = j
6)
, , j - s = j
7) s = 0
8) , ,
s=0

1.1
C(t) r(t) = (t)
Ae t
( A1 + A2t + ... + Ak t k 1 )e t

( 1.2)

Ae t sin(t + )

( 1.2)

[ A1 sin(t + ) + A2t sin(t + 2 ) + ... + Ak t k 1 sin(t + k )]e t

A sin(t + )

( 1.2)

A1 sin(t + ) + A2t sin(t + 2 ) + ... + Ak t k 1 sin(t + k )

( 1.2)
( 1.2)
A
A1 + A2t + ... + Ak t k 1

( 1.2)

 17. 2013/2014
1.1 1.2 . ,
[ 1), 2), 3), 4)]
e t . >0 (. )
t >0 (. )
t . , j - ( k 2 )
t [ 6) 8)].
[ 7)] j - [ 5)]
,
.
.
)
.
)
j - .
) j -
.

s -

C(t) r(t) = (t)

c(t)

c(t)

c(t)

c(t)

 17. 2013/2014
c(t)

c(t)

t
c(t)

c(t)

1.2
s-


c(t ) = c pr (t ) + cst (t )

(1.6)

. (1.6) c pr (t ) cst (t )
() . (1.6)

.
c pr (t )
e t cst (t )

. , c pr (t )
(1.6) :

 17. 2013/2014
lim C pr (t ) 0

(1.7)

lim C pr (t )

(1.8)

lim C pr (t ) = const
t

(1.9)

,
.

:
( t )
,

,
.

2.

s-
. , ,
,
. ,
.
,
s- .

:
an s n + an 1s n 1 + ... + a1s + a0 = 0

(2.1)

(2.1). , ( )

.
,
(2.1) -1 . (2.1)

an ( s + i ) [( s + k ) 2 + k2 ] = 0
i

(2.2)

 17. 2013/2014
si = i
sk = k jk (2.2)
s- k i .
(2.2)
(2.1) . ,

(2.1) .

.
(2.1)
:
1. .
2. , i = 0
0=0.
3. k = 0 , j -.
,
(2.1) .


. , ,
.
.

.
Routh- Hurwitz- .

3. Routh-

an s n + an 1s n 1 + ... + a1s + a0 = 0 ,
:

 17. 2013/2014
sn
n 1

an

an 2 an 4

s
s n 2
s n 3

.
s
an 1

an 3

an 5

A 1 A2 A3
(3.1)
B 1 B2 B3
.
.
.
a0
Kao ,
. ,
(n+1), ,

A1 =

an 1an 2 an an 3
an 1an 4 an an 5
A1an 3 an 1 A2
A1an 5 an 1 A3
; A2 =
; B1 =
; B2 =
; ...
an 1
an 1
A1
A1

. (3.1)
.
.
.
Routh- :

Routh- .

s.

4. Hurwitz-
. Hurwitz :

 17. 2013/2014
an 1
a
n
0

h = 0

0
0

an 3
an 2
an 1
an

0
0

...
0
0
...
0
0
...
0
0

...
0
0

... a1
0
... a2 a0

an 5
an 4
an 3
an 2

0
0

(4.1)

.
...
, n .
Hurwitz- :

Hurwitz- .
Hurwitz-
:
1 = an 1 > 0 ,
a
2 = n 1
an
an 2
3 = an
0

an 3
> 0,
an 2

an 3
an 2
an 1

an 5
an 4 > 0 ,
an 3

n = h = an n 1 > 0

(4.2)

n ,
Hurwitz- h ,
. , :
a0 = 0 , n1 0 , a0 0 , n1 = 0 , a0 = n 1 = 0 . a0 = 0
(s=0)
. n1 = 0
j - s-
.

5.

.
3

 17. 2013/2014
.

cpr(t). cpr(t)
-
. e t ,
. ,
c pr(t)
. 5.1,
c pr(t)
.
5.1 j -
,
.

.

5.1

,
s-.
()
().

.

.

 17. 2013/2014

,
s = 1 (1 > 0) .
s-
s = 1 5.2.
s
z
s = z + 1

(5.1)

z

s = 1 .

z -

s -

1
5.2 (5.1)

6.
6.1 (Routh- )

3s 4 + 10 s 3 + 5s 2 + 5s + 2 = 0

Routh-

(6.1)

 17. 2013/2014
s4
s3
s2
s1
s0

10 5
3,5 2
-2,5
2

3,5

3,5
-2,5 -2,5 2. , (6.1)
.
6.2 (Hurwitz- )
,

s 4 + 8s 3 + 18s 2 + 16s + 5 = 0

(6.2)

Hurwitz-
8 16 0 0
1 18 5 0

h =
0 8 16 0

0 1 18 5

1 = 8 > 0 ,
8 16
2 =
= 128 > 0 ,
1 18
8 16 0
3 = 1 18 5 = 1728 > 0 ,
0 8 16
4 = h = 5 3 > 0 .

6.3 ( )

s 3 + 7 s 2 + 25s + 39 = 0

(6.3)

 17. 2013/2014
Routh-
s-.
s = - 1.

s=z1
. z
z 3 + 4 z 2 + 14 z + 20 = 0 .

Routh-
z3
z2
z1
z0

14

4 20
9
20
z-
z od j -, s
= -1 s-.

7.

 17. 2013/2014

8.
:
3

 17. 2013/2014
1. .
2. . .
3. .
4. .
5. :
:
http://automatika.etf.bg.ac.rs/files/predmeti/os3sa1/materijali/sau1_predavanje_13.pdf
http://control.etfbl.net/TSU/sau_1.pdf
http://lpa.feri.uni-mb.si/Seminar_II/koncna_porocila/2003_3.pdf