𝑎𝑏𝑐

𝑉𝑎𝑐 = 220sin⁡(𝜔𝑡) 𝜔 = 2𝜋 ∗ 60 𝐿 = 2.5 𝐶 = 75𝜇 𝑅 = 2 Ω 𝑅2 = 20 Ω

𝑑4 𝑑2
5 𝑦(𝑡) − ⁡ 𝑦(𝑡) + 2𝑦(𝑡) = 5𝑢(𝑡)
𝑑𝑡 4 𝑑𝑡 2
𝑦(𝑡) 𝑢(𝑡) = 30cos⁡(𝜔𝑡)

1
𝐹1 (𝑠) =
𝑠2
+9
𝑠
𝐹2 (𝑠) = 2
𝑠 +9
1
𝐹3 (𝑠) = 2
𝑠 − 4𝑠 + 10
2𝑠 − 2
𝐹4 (𝑠) = 2
𝑠 (𝑠 + 1)3
𝑌(𝑠) 𝜔𝑛2
=𝑘 2
𝑈(𝑠) 𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2
 𝑘 𝜔𝑛
𝜉

12
• 𝑠2 +7𝑠+35
49
• 𝑠2 +1.4𝑠+49
28
• 𝑠2 +6𝑠+9
⁡
7
• 𝑠2 −4

𝑌(𝑠) 𝜔𝑛2
=𝑘 2
𝑈(𝑠) 𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2

𝑢(𝑡) = 1⁡∀⁡𝑡 > 0.1

𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 10 𝜉 = 0.10
𝑠𝑒𝑔
𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 10 𝑠𝑒𝑔 𝜉 = 0.30
𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 10 𝜉 = 0.50
𝑠𝑒𝑔
𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 10 𝑠𝑒𝑔 𝜉 = 0.70
𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 10 𝑠𝑒𝑔 𝜉 = 0.90
𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 100 𝑠𝑒𝑔 𝜉 = 0.7
𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 10 𝜉 = 0.7
𝑠𝑒𝑔
𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 0.5 𝑠𝑒𝑔 𝜉 = 0.7
𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 250 𝑠𝑒𝑔 𝜉 = 0.80
𝑟𝑎𝑑
• 𝑘 = 1, 𝜔𝑛 = 100 𝑠𝑒𝑔 𝜉 = 0.6
•

•
 𝑑
𝑉𝑎 = 𝑅𝑎 𝐼𝑎 + 𝐿𝑎 𝑑𝑡 𝐼𝑎 + 𝐸𝑎
𝑑
𝑉𝑓 = 𝑅𝑓 𝐼𝑓 + 𝐿𝑓 𝑑𝑡 𝐼𝑓

𝐸𝑎 = 𝑘𝑡 𝜔𝑟
𝑑
𝐽 𝑑𝑡 𝜔𝑟 + 𝐵𝜔𝑟 = 𝑇𝑒 − 𝑇𝑚

𝑇𝑒 = 𝑘𝑡 𝐼𝑎

𝑘𝑡 𝑖𝑓
𝜔𝑟
, 𝑇𝑒 𝑇𝑚 𝐽 𝐵

𝑅𝑎 𝐿𝑎 𝑅𝑓 𝐿𝑓

𝑘𝑝𝑠+𝑎
𝐺𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑎𝑑𝑜𝑟 (𝑠) =
𝑠

𝐼𝑎 𝐸𝑎

𝜔𝑟 𝐼𝑎
 1
𝐿𝐶𝑅𝑠 2 + 𝐿𝑠 + 𝑅
𝑖𝑡𝑜𝑡𝑎𝑙
= 𝑖𝐶 + 𝑖𝐿 + 𝑖𝑅
𝑅
𝐶𝑅𝑠 + 1