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4π 2 12200 2 s 4
Ha ( s ) =
(s + 2π 20.6)2 (s + 2π 12200)2 (s + 2π 107.7 )(s + 2π 738)
k ⋅ s4
Ga( s ) =
(s + 129.4)2 (s + 676.7 )(s + 4636)(s + 76655)2
k = 7.39705 ⋅ 10 9
Gd ( s ) =
(
k ⋅ s ⋅ s 2 + 6532 s + 4.0975 × 10 7 )
(
(s + 1776.3)(s + 7288.5) s 2 + 21514s + 3.8836 × 10 8 )
k = 91104.32
Rule of sz-transform
s 1 − z −2
=
s +a⋅s +b
2
s=
1− z −1 (1 + a + b ) − (2 − b )z −1 + (1 − a )z −2
1+ z −1
⎛ πω d ⎞
ω a = tan⎜⎜ ⎟⎟ a : ana log, d : digital , s : sampling
⎝ ωs ⎠