agr@ycariel.yosh.ac.

il '' " "

.1 .
.1 -.

)X(s )x(t

1 )(t

1
)1(t
s
1
t
s2
1 t2

s3 2
1 tn
n+ 1
s !n
1
e at
sa
1
te at
(s a)2
1 t n at
e
(s a )n+ 1 !n
1
) (s a )(s b
1
ab
(
ea t eb t )

Sin t
s +2
2

s
Cos t
s +2
2

e a t Sin t
(s a )2 + 2
sa
(s a )2 + 2 e a t Cos t

n : - , - a ,

1
agr@ycariel.yosh.ac.il '' " "

.2 .

)X(s )x(t

)a1X1(s) + a2X2(s )a1x1(t) + a2x2(t

- dX(s)/ds )t x(t

)sX(s) - x(0+ dx(t)/dt

)X(s-a )eat x(t

)e-s X(s x(t-), 0

)Y(s) X(s y( t ) x( )d
0

t
) X( s
s x( )d
0

)lim s X(s
s )x(0+

2
 agr@ycariel.yosh.ac.il '' " "

. .

) X(s

bm s m + bm 1 s m 1 + b1 s + b0
= ) X( s )(1.1
s n + an 1 s n 1 + a1 s + a0

) X ( s n < m .
s1 , s2 , K , sN .
: n1 , n2 , K , nN
n1 + n2 , K + nN = n
) X(s

bm s m + bm 1 s m 1 + b1 s + b0
= ) . X( s )(1.2
( s s1 )n1 ( s s2 )n2 K ( s sN )nN

- 1 ) X(s
. ) (1.2

ni
N cij
= ) X ( s )(1.3
) i = 1 j = 1 ( s si
j

2 s2 + s + 4 c c c c 32
. = 1 + 2 + 31 + )(1.4
) s( s + 1 )( s + 2 2
s s + 1 s + 2 ( s + 2 )2

cij ):(1.3
. )( .

.

.
) .(1.4

= ) c1 ( s + 1 )( s + 2 )2 + c2 s( s + 2 )2 + c31 s( s + 1 )( s + 2 ) + c32 s( s + 1
( c1 + c 2 + c31 )s 3 + ( 5 c1 + 4 c2 + 3c31 + c32 )s 2 + ( 8 c1 + 4 c2 + 2 c31 + c32 )s 2 + 4 c1

3
 agr@ycariel.yosh.ac.il '' " "

c1 + c2 + c31 = 0 ,
5 c1 + 4 c2 + 3c31 + c32 = 2 ,
8 c1 + 4 c2 + 2 c31 + c32 = 1,
4 c1 = 4
. c1 = 1, c2 = 5 , c31 = 4 , c32 = 5 :

. si )( .

ci ) (1.3 ( s si ) -

. s = si

ci = ( s si ) X ( s ) |s = si )(1.5

211+ 4 4
= . c2 = ( s + 1 ) X ( s ) |s = 1 = = 5 , c1 = sX ( s ) |s = 0 )= 1 :(1.4
( 1 ) 1 2
1 22
ni > 1 ni . cij , j = 1,K , ni si
:

1 d ni j
= cij ni j ( s si )ni X ( s ) |s = si )(1.6
( ni j )! ds

) s3 = 2 (1.4 n3 = 2 ) (1.6

1 24 2+ 4
= c32 = ( s + 2 )2 X ( s ) |s = 2 =5
!0 ) ( 2 )( 1

1 d 2 s2 + s + 4
= c31 = |s = 2
) 1! ds s( s + 1
) ( 4 s + 1 )s( s + 1 ) ( 2 s + 1 )( 2 s 2 + s + 4
|s = 2 = 4
( s( s + 1 ))2

4
agr@ycariel.yosh.ac.il '' " "

.Z .2

- Z .3

X(s)=L[x(t)] X(z)=Z[x(kT)]

X(s) x(t) X(z) x(kT)

1 k = 0
1 (t) 1 ( kT ) =
0 k 0
1 ( kT mT )
- -
zm - m

1 z
1(t) 1(kT)
s z1
zT
1
t ( z 1 )2 kT
s2

1 T z( z + 1 ) ( kT )2
t2
s3 2 ( z 1 )3 2
2

1 z
eat eakT
sa z e aT

1 Tze aT
( s a )2
t eat kT eakT
( z e aT )2

- -
z Ak
zA -A

ATz
- - ( z A )2
kT Ak

zSinT
s2 + 2 Sin t Sin kT
z2 - 2zCosT + 1

s
z( z CosT )
s +2
2 Cos t Cos kT
z2 - 2zCosT + 1

ze aT SinT
( s a )2 + 2 eat Sin t eakT Sin kT
z - 2ze aT CosT + e 2 aT
2

sa
z( z e aT CosT )
( s a )2 + 2 e Cos t
at
eakT Cos kT
z 2 - 2ze aT CosT + e 2 aT

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agr@ycariel.yosh.ac.il '' " "

. Z = eST

s = r + j:
)(Z )(S
)z = erT ejT =erT (CosT +jSinT
||z = erT , = z
-1 1
j
esT = e(s+nj2/T)T, n = 0, 1, 2,

.4 Z
)X(z )x(kT
)a1 X1(z) + a2 X2(z )a1 x1(kT) + a2 x2(kT

)z X*(z) - z x(0 )x(kT + T

)z-qX(z x(kT - qT), q 0

) ( z 1 ) X ( z ) zx( 0 ) x( kT + T ) x( kT

z k
) X( z ) x( qT
z1 q =0

k
)Y(s) X(s ) y( kT qT ) x( qT
q =0

)X(z/A )Ak x(kT

)X(z/eaT )eakT x(kT

- zT dX(z)/dz )kT x(kT

) lim X ( z ) = x( 0
z

6
 agr@ycariel.yosh.ac.il '' " "

Z.
Z
.
. 3 Z
. z = 0 .
)( . ) X(z :

) z( bm z m + bm 1 z m 1 + K + b1 z + b0 ) z( bm z m + bm 1 z m 1 + K + b1 z + b0
= ) X( z =
z n + an 1 z n + K + a1 z + a0 ( z z1 )n1 ( z z2 )n2 K ( z z N )nN

, n1 + n2 + + nN = n ,m<n
. ) X(z q = 1,..., N , nq zq 0

X ( z ) z
. z -

0.4 z
= ) . X( z
) ( z 0.8 )( z 1

) X( z c1 c
= + 2
z z 0 .8 z 1
. c2 = 2 , c1 = 2 , z -

2z 2z
= ) X( z +
z 0 .8 z 1
) (4 3

) . x( kT ) = 2 0.8 k + 2 1( kT

)( . ) X(z :

bm z m + bm 1 z m 1 + K + b1 z + b0 1
= ) Y( z d 1
) = d X( z
z ( z + an1 z + K + a1 z + a0 ) z
n n

) z( bm z m + bm 1 z m 1 + K + b1 z + b0
= ) X( z
( z z1 )n1 ( z z2 )n2 K ( z z N )nN

7
 agr@ycariel.yosh.ac.il '' " "

Z . ) x( kT
d , ) . y( kT ) = x( kT dT ) 1( kT dT

0.4 1 0.4 z
= ) . Y( z =
) ( z 0.8 )( z 1 ) z ( z 0.8 )( z 1

) . y( kT ) = ( 2 2 0.8 k ) 1( kT T

.3 .

.
:

X'(t) = A X(t) + B U(t), X(t0) = X0 )(3.1

)Y(t) = C X(t) + D U(t )(3.2

) - X(t ; n
- X0 ) ( - t=0 ,
) - U(t ) ( ; nu
) - Y(t ; ny
- A, B, C, D )( .

) (1 ,2
) .(LTI - linear time-invariant system .
) (nu = 1 ) (ny = 1
) .SISO - (Single InputSingle-Output System C
- B , , D .
).MIMO - (Multi-Input-Multi-Output System

8
 agr@ycariel.yosh.ac.il '' " "

) X(t ) Y(t
t
X(t) = (t)Xo + (t-) u()d, )(3.3
0

t
Y(t) = C(t)Xo + H(t-) u()d , )(3.4
0

H(t) = = C(t)B )(3.5

) - H(t- ;
) - (t , nn

d/dt (t) = A (t), (0) = I )(3.6

.
-

( t ) = I + 11! At + 21! A 2 t 2 + 31! A 3 t 3 + K )(3.7

) (7 ) (6
. ( t ) = e At

.
:

[sI - A] X(s) = B U(s) + X0 . )(3.8

-1 -1
X(s) = [sI - A] B U(s) + [sI - A] X0 . )(3.9

)Y(s) = C X(s) + D U(s )(3.10

(s) = [sI A]-1 )(3.11

) (t .

X(s) = (s)B U(s) + (s)X0 , )(3.12

Y(s) = C(s)X0 + [C(s)B + D] U(s). )(3.13

9
 agr@ycariel.yosh.ac.il '' " "

) (11) (s

)([sI - A]-1)ij = Dji(s) / D(s

) - Dji(s , [sI - A]ij ;n-1 -
) - D(s

]D(s) = det[sI - A )(3.14

n .n
: ) (14 ,

) (14 .
) (6 ) (5 -
:

(t) = L-1[(s)] , H(t) = L-1[C(s)B + D] , )(3.15

b1 s + b0
= ) W( s :
a1 s + a0

a2 ,a1 .

) (:
K
W(s) =
s+1

- ) K , ( > 0 .
:
y(t) = K K e-t/ .
:
y(t) = K(t-) + K e-t/ .
:
y(t) = K(t2/2-t+2) K2 e-t/ .
. t l= , ts 5 :

10
 agr@ycariel.yosh.ac.il '' " "

b0
W(s) = :
a2 s2 + a1 s + a0

a2 ,a1 ,a0 .
: -
, - -.

K
W(s) =
)(1 s + 1)(2 s + 1

1 2
(y(t) = K - K e-t/1 + ) e-t/2
1 2 2 1

:
; t s = ( 5 6.6 ) } , = max{ 1 , 2

. tl = 1 + 2

-.

K Kn2 Kn2
W(s) = = = ,
2s2 + 2s + 1 s2 + 2n s + n2 (s + 1/d)2 + d2

- ,
- , n = 1/
- , 0<1
- d = 1/(n) = / ) (,
- ) (. d = n 1-2

11
agr@ycariel.yosh.ac.il '' " "

:
-t/d
y(t) = K - Ke (Cos d t + q Sin d t),
). q = /1-2 = 1/(dd

-.

Mp% = 100e-q :

tp = /d :

. ts 5d :

tl = 2 :

.5

K KdB= 20logK
0.1 -20
0.5 -6
1/2 0.707 -3
2 1.41 3
2 6
10 3.16 10
10 20
10n 20n

12
agr@ycariel.yosh.ac.il '' " "

1
W(s) =
Ts + 1

b = 1/T :
-20 dB/dec :

-
1
W(s) =
2s2+2 s+1

b = 1/ :

-40 dB/dec :

1
W(s) =
s

=1 :
-20 dB/dec :

13
 agr@ycariel.yosh.ac.il '' " "

.4 .

.
:

X(kT+T) = A X(kT) + B U(kT), X(0) = X0 )(4.1

)Y(kT) = C X(kT) + D U(kT )(4.2

) - X(kT ; n
- X0 ) ( - k=0 ,
) - U(kT ) ( ; nu
) - Y(kT ; ny
- A, B, C, D )( .
) (1 ,2
SISO MIMO - .

.

) X(kT ) Y(kT
k-1
X(kT) = (kT)Xo + (kT-qT) u(qT), )(4.3
q=0

k-1
Y(kT) = C(kT)Xo + H(kT-qT) u(qT) , )(4.4
q=0

H(t) = = C(kT)B )(4.5

) - H(kT-qT ;
) - (kT , nn

(kT+T) = A (kT), (0) = I )(4.6

14
 agr@ycariel.yosh.ac.il '' " "

,
kT t < kT+T ) (3.2) ,(3.1 :

X'(t) = A X(t) + B U(kT), X(t0) = X0 )(4.7

)Y(t) = C X(t) + D U(kT

) (7:

, X ( kT + T ) = Ad X ( kT ) + Bd U ( kT ), X ( 0 ) = X 0 )(4.8

) Y ( kT ) = C d x( kT ) + Dd U ( kT

T
. Ad = e AT
, Bd = e A d B , Cd = C , Dd = D
0

.Z
:

[zI - A] X(z) = B U(z) + zX0 . )(4.9

X(z) = [zI - A]-1 B U(z) + z [zI - A]-1 X0 . )(4.10

)Y(z) = C X(z) + D U(z )(4.11

(z) =z [zI A]-1 )(4.12

Z ) (kT .

= )X(z 1
z
(z)B U(z) + (z)X0 , )(4.13

Y(z) = C(z)X0 + [ 1z C(z)B + D] U(z). )(4.14

15
 agr@ycariel.yosh.ac.il '' " "

) (12) (z
)z([zI - A]-1)ij = zDji(z) / D(z

) - Dji(z , [zI - A]ij ;n-1 -
) - D(z

]D(z) = det[zI - A )(4.15

n .n
: ) (15
, ) (15 .
) (6 ) (5 - :

(kT) = Z-1[(z)] , H(kT) = Z-1[ 1z C(z)B + D] , )(4.16

16