.

)Y ( s
)X ( s
) ( .
- .
.
.
= ) G( S

) K SS = LimG( S
s 0

" :

]) Y ( ) = Lim [ s gY ( S
s 0

]) Y ( 0 ) = Lim[ sgY ( S
s

) x(t ) = Agu(t " :

Y ( ) = K SS gA

C
G
=
R 1 + GH

.2

. :

K ss
1 + S

= )G( s

:
- K ss .

] - [ sec ).
63% (.

5 -Setting time

2 . :

K ss
) ( 1 + 1S ) ( 1 + 2S

= )G( s

) : x(t ) = Agu(t

t
t

AK ss
1
2
1
2
= )Y ( s
===>> y(t ) = AgK g1
e +
e
1 2
) S g( 1 + 1S ) ( 1 + 2 S
1 2

. :

C
K gn 2
= G( s) = 2
R
S + 2n S + n 2
- K =

K ss

rad

- n .
sec

- ) (

S 2 + 2n S + n 2 = 0 :

 ( " 13 (
- > 1 ( 1
.
.
.
- 0 < < 1 (2
. .

Td .
Tp .
Tr .
.Ts- Setting time
) = cos1 (
d = n 1 2

= Tp
d
Td = 2 * Tp

= Tr
d
4
= Ts
gn
g
1 2

Y Y
Mp = max = e
Y
Po = 100%gMp

.3

:OPAMP

.1

RC = 1 :
1
G( S ) =
S

V in

V out

OUT
+
OP A MP

0
R2

R2
R1

=K

R1

= R2C

V in

V out

OU T
+
OP A MP

.4 :
1 + GH ( S ) = 0
" :
GH " :
B
GH = ===>> 1 + GH = B + C
C
. :

. :




-

A4

A2

A0

A5

A3

A1

S n 1

C3

C2

C1

D3

D2

D1

S n 2
.

An

S0

1
) ( A1 gA2 A0 gA3
A1

= C1

1
) ( C1 gA3 A1 gC2
C1

= D1

1
) ( A1 gA4 A0 gA5
A1

= C1

1
) ( C1 gA5 A1 gC3
C1

= D1

. :
' .
.
' : 3
:
:

a0 S 3 + a1S 2 + a2 S + a3 = 0

a0 ga3 < a 2 ga1

:
* - K
*K
= - GM
K
B
*
- = cr 3 .
A
A,B S 2 .

= *

.5

e @r c :
.

]) ess = e( ) = Lim[ e( t )] = Lim[ SgE ( S

s 0

.1

R( S )

C
e( ) = Lim[ S gE ( S )] = Lim S g
=
Lim
S
g
R
(
s
)
1 ( s )

s0
s 0
R

1 + G ( s ) s 0

R0
1+ Kp

R1
Kv
0

R2
Ka
0

:
- R0
R1
- R1 )
S2
1
R
r (t ) = R2 * t 2 = 23 - R2
2
S
]) K P = Lim[G ( s

= ( r (t ) = R1 * t

s 0

]) KV = Lim[ S gG ( s
s 0

]) K a = Lim[ S 2 gG ( s
s 0

:
) (
.1
" .
.2

.2

e( ) = Lim S gR( s ) 1 ( s )
s0
R