4.

1 1
10( s +1) ( s +1)
s +10 10 100 10
G ( s) = = = ⋅
s ( s +3)2 ( s + 0.1) 1
s⋅9( s +1)2 ⋅0.1(10 s +1) 9 s ( 1 s +1)2 (10 s +1)
3 3
100
L = 20⋅log = 20.91db
9
1
G1 ( s ) =( s +1) ⇒ ω1 =10 ⇒ log ω1=1
10
1
G2 ( s )= ⇒ ω2 =/ ⇒ log ω 2 = /
s
1
G3 ( s )= ⇒ ω3 = 3 ⇒ log ω3 =0.477
1
( s +1)
3
1 1
G4 ( s )= ⇒ ω4 = ⇒ log ω 4 =-1
(10 s +1) 10

Tablica ωi nagib -1/+1 ϕ

G
1
1 +1 0/2 +90º
G
2
/ -1 / -90º
G
3
0.477 -2 -0.52/+1.47 -180º
G
4
-1 -1 -2/0 -90º
L = - L (ω ) = -35 db
AO π
ϕ r (ωc ) =-48° ⇒ Sustav je nestabilan

ω c > ωπ
6.
y : o = - f (t ) - B y& - k y - B ( y& - y& ) - k ( y - y ) - m ÿ
1 1 1 1 2 1 2 2 1 2 1 1
y2 : o =- B2 ( y& 2 - y&1 )-k2 ( y2 - y1)-m2 ÿ2

o =- F ( s )- B1sy1 ( s )-k1 y1 ( s )- B2 s ( y1 ( s )- y2 ( s ))-k2 ( y1 ( s )- y2 ( s ))-m1s 2 y1( s )

o =- B2 s ( y2 ( s )- y1 ( s ))-k2 ( y2 ( s )- y1 ( s ))-m2 s 2 y2 ( s )

F ( s )=- B1sy1 ( s )-k1 y1( s )- B2 sy1( s )+ B2 sy2 ( s )-k2 y1( s )+ k2 y2 ( s )-m1s 2 y1 ( s )

o = B2 sy2 ( s )- B2 sy1 ( s )+ k2 y2 ( s )-k2 y1 ( s )+ m2 s 2 y2 ( s )

F ( s )= y2 ( s )[ sB2 + k2 ]- y1 ( s )  s 2m1+ s ( B1 + B2 )+ k1 + k2 
 

y2 ( s )  s 2m2 + sB2 + k2  = y1( s )[ sB2 + k2 ]

 

 sB2 + k2 sB + k 
F ( s )= y1 ( s )  · 2 2  - y1 ( s )  s 2m1 + s ( B1 + B2 ) + k1+ k2 
2
 s m2 + sB2 + k2 1   

 sB2 + k2 sB + k s 2m1 + s ( B1+ B2 )+ k1+ k2 

F ( s )= y1 ( s )  · 2 2- 
 s 2m2 + sB2 + k2 1 1 

 10 s 4 + 76 s3 +51s 2 +16 s + 2 
F ( s )= y1 ( s ) - 
 5 s 2 +8 s + 2 

y (s) 5 s 2 +8 s + 2
G ( s )= 1 =-
F ( s ) 10 s +76 s3 +51s 2 +16 s + 2
4

1   1  
U ( s) = I ( s )  sR2 + 1  - I ( s )  s 2 L1+ s ( R1 + R2 )+ 1 + 1 
S 2 C2  s 1 C1 C2 
 
1   1  
I 2 ( s )  s 2 L2 + sR2 + 1  = I1 ( s )  sR2 + 1 
s  C2  s  C2 

   
U ( s ) = I 2 ( s )  R2 + 1  - I1 ( s )  sL1 +( R1 + R2 ) + 1 + 1 
 sC2   sC1 sC2 
   
I 2 ( s )  sL2 + R2 + 1  = I1 ( s )  R2 + 1 
 sC 2  sC 2

   
U ( s ) =( I 2 ( s )- I1 ( s ))  R2 + 1  - I1( s )  R1 + sL1+ 1 
 sC 2  sC1
 
0 = ( I ( s ) - I ( s ))  R2 + 1  - I ( s ) sL
1 2  sC 2 2 2
 I1(s) I2(s)

Direktni postupak
5 s 2 +8 s + 2 -5 s 2 -8 s -2
G ( s) = - =
10 s 4 + 76 s3 +51s 2 +16 s + 2 10( s 4 + 7,6 s3 +5,1s 2 +1,6 s + 0,2)
1
G ( s ) =-0,5 s 2 ·Go ( s )-0,8 s ·Go ( s )-0,2·Go ( s ) ; Go ( s ) =
s 4 + 7,6 s3 +5,1s 2 +1,6 s + 0,2
1
1 s + 7,6 s +5,1s 2 +1,6 s
4 3
= ⇒ "0,2"
s 4 +7,6 s3 +5,1s 2 +1,6 s + 0,2 1+ 0,2
s +7,6 s +5,1s 2 +1,6 s
4 3

1
1 1 s3 +7,6 s 2 +5,1s
= · ⇒ "1,6"
s 4 +7,6 s3 +5,1s 2 +1,6 s s 1+ 1,6
s + 7,6 s 2 +5,1s
3

1
1 2
1 s +7,6 s
= · ⇒ "5,1"
s + 7,6 s +5,1s s 1+ 5,1
3 2
s 2 +7,6 s
1
1 1 s
= · ⇒ "7,6"
s 2 +7,6 s s 1+ 7,6
s
x&1= x2

x&2 = x3

x&3 = x4

x&4 =-0,2 x1-1,6 x2 -5,1x3 -7,6 x4 +u

 x&1   0 1 0 0   x1  0 
 x&   0 0 1 0   x2  0 
 2 = + ·u
 x&3   0 0 0 1   x3  0 
      
 x&4  -0,2 -1,6 -5,1 -7,6   x4  1 
 0 1 0 0  0
 0 0 1 0  0
A=  B=  C =[ -0,2 -0,8 -0,5 0] D =[ 0]
 0 0 0 1  0
   
 -0,2 -1,6 -5,1 -7,6  1 