



‫א‬٢٦٣
  ٢٦٣  ‫א‬
 
 EF  

 
 
 
 W،،‫א‬‫א‬،‫א‬ 
 
  ‫א‬ ‫א‬ ‫א‬ ‫א‬‫א‬  ‫א‬ ‫א‬  ‫א‬ ‫א‬  
‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
  ‫א‬        ،‫א‬ ‫א‬‫א‬  
‫א‬  ‫א‬ ‫א‬ ‫א‬ ‫א‬ ‫א‬   ‫א‬    ،  
‫א‬،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬،‫א‬
 K‫א‬‫א‬،‫א‬
  ?   ?    ? ‫א‬ ‫א‬   
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬?
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
،‫א‬،‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
   W    ‫א‬ ‫א‬  ‫א‬    ‫א‬ 
 K‫א‬
 
‫א‬‫א‬‫א‬‫א‬
  ٢٦٣  ‫א‬
 
 EF  

 
 W‫א‬‫א‬
 W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬ K١
K‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬ K٣
K‫א‬‫א‬ K٤
K‫א‬‫א‬ K٥
 
 W‫א‬‫א‬
 W‫א‬
K‫א‬‫א‬‫א‬‫א‬ K١
K‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬ K٣
K‫א‬‫א‬ K٤
K‫א‬‫א‬ K٥

 K٣٨W‫א‬‫א‬
 K??W‫א‬‫א‬
 EF
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

١
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 W‫א‬‫א‬
 W‫א‬
 K‫א‬‫א‬‫א‬ K١
 K‫א‬‫א‬‫א‬‫א‬ K٢
 K‫א‬‫א‬‫א‬‫א‬ K٣
 W ١ J١
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫ א‬٢ J١
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬، ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬،‫א‬
 ‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
‫א‬‫א‬‫א‬،E ‫א‬F‫א‬،‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬ K‫א‬

-١-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

W‫א‬‫א‬
F R‫א‬E ‫א‬F‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬،E‫א‬
r (t ) = Ru (t )
 W‫א‬‫א‬‫א‬u(t)‫א‬‫א‬R
⎧1 for t ≥ 0
u (t ) = ⎨
⎩0 for t < 0
 W‫א‬‫א‬
  R( s) = R
s
 K‫א‬‫א‬‫א‬‫א‬E١ J١F‫א‬
r(t)

time
 
 K‫א‬‫א‬‫א‬‫א‬،E١ J١F
W‫א‬‫א‬‫א‬ E
‫א‬، ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
⎧ Rt for t ≥ 0
r (t ) = ⎨
⎩ 0 for t < 0
 W‫א‬‫א‬‫א‬
R
  R(s) =
s2
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬E٢ J١F‫א‬
 K‫א‬‫א‬

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

r(t)

time
 
 K‫א‬‫א‬‫א‬‫א‬‫א‬،E٢ J١F
W‫א‬‫א‬ E
، ‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
⎧ 2
for t ≥ 0
  r (t ) = ⎨ Rt
⎩ 0 for t < 0
 W‫א‬‫א‬
  R( s) = 2 R3
s
 ‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬E٣ J١F‫א‬
 K‫א‬‫א‬‫א‬
 r(t)

time
 
 K‫א‬‫א‬‫א‬‫א‬،E٣ J١F
W‫א‬‫א‬ E
 ‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬،‫א‬
  r (t ) = δ (t )
 W‫א‬‫א‬‫א‬δ(t)
⎧1
for 0 ≤ t < ε
  δ (t ) = ⎪⎨ ε
⎪⎩ 0 for t >ε

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

‫א‬‫א‬‫א‬‫א‬‫א‬ε
 W‫א‬‫א‬K‫א‬
  R(s) = 1
 K‫א‬‫א‬‫א‬‫א‬E٤ J١F‫א‬
r(t)

1
ε

time
ε ε
−
  2 2
 K‫א‬‫א‬‫א‬‫א‬،E٤ J١F
W‫א‬‫א‬‫א‬ E 
‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬،ƒT
  r (t ) = R sin(ωt )
‫א‬\‫א‬‫א‬‫א‬‫א‬ω،‫א‬‫א‬‫א‬R
 W‫א‬‫א‬‫א‬‫א‬ 
ω
 f = Hz
2π
1
 T = sec .
f
 W‫א‬‫א‬‫א‬‫א‬
ω
  R( s) = s>0
s +ω2
2

 K‫א‬‫א‬‫א‬‫א‬E٥ J١F‫א‬

-٤-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

r(t)

time

  -r(t)
 K‫א‬‫א‬‫א‬‫א‬،E٥ J١F
 W‫א‬‫א‬‫ א‬٣ J١
X(s) Y(s)
G(s)
x(t) y(t)
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬،Y(s)
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
 ‫א‬‫א‬‫א‬ ،‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 W‫א‬‫א‬‫א‬‫ א‬١ J٣ J١
 W‫א‬‫א‬ E
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬ K١
 W‫א‬‫א‬‫א‬‫א‬‫א‬
  τy ' (t ) + y (t ) = Kx (t )

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 W 
K‫א‬‫א‬Wτ •
K‫א‬‫א‬‫א‬WK •
K‫א‬Wx(t) •
KE‫א‬‫א‬F‫א‬Wy(t) •
 W‫א‬‫א‬‫א‬ K٢
‫א‬،‫א‬‫א‬
 W،‫א‬،
τsY ( s ) − τy (0) + Y ( s ) = KX ( s )
 W‫א‬‫א‬‫א‬‫א‬
  (τs + 1)Y ( s) = τy(0) + KX ( s)
  τs + 1 ‫א‬‫א‬‫א‬
‫א‬‫א‬
 W
τ 1
Y ( s ) = y (0) +K X (s)
τs + 1 τs + 1
 W‫א‬‫א‬‫א‬‫א‬ K٣
 W‫א‬‫א‬R‫א‬‫א‬
⎧R t ≥ 0
x(t ) = ⎨
⎩0 t < 0
R
  X ( s) =  W‫א‬
s
 W‫א‬‫א‬X(s) 
τ 1
Y ( s ) = y (0) + KR
τs + 1 s (τs + 1)
W‫א‬‫א‬ K٤
K KR 1
 y (0) τ W ‫א‬Y(s)  ‫א‬
s (τs + 1) τs + 1
‫א‬‫א‬‫א‬‫א‬‫א‬ 
 W

-٦-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

τ
t
  L−1⎛⎜ y (0) ⎞ −
⎟ = y (0)e τ
⎝ τs + 1 ⎠
1
 KR  ‫א‬‫א‬
s (τs + 1)
W‫א‬‫א‬
1 A B
  KR = +
s (τs + 1) s τs + 1
 W‫א‬BA‫א‬

KR KR
A=s = KR , B = (τs + 1) = −τKR
s (τs + 1) s (τs + 1) 1
s=0 s=−
τ
 WBA‫א‬
KR KR τKR
= −
s (τs + 1) s τs + 1
⎛1 τ ⎞
= KR⎜ − ⎟
⎝ s τs + 1 ⎠
 W‫א‬
⎛ KR ⎞
  L−1 ⎜⎜ ⎟⎟ = KR (1 − e − t / τ )
⎝ s (τs + 1) ⎠
 W‫א‬‫א‬‫א‬
t t
− −
  y (t ) = y (0)e τ
+ KR (1 − e τ )

-٧-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 W‫א‬‫א‬ E
 W‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬Wτ‫א‬‫• א‬
،‫א‬‫א‬٪٩٨‫א‬‫א‬‫א‬Wts ‫א‬‫א‬ •
 W
  t s ≅ 4τ
، ‫א‬‫א‬Wyss ‫א‬‫א‬‫א‬ •
 W
y ss = lim y (t )
  t →∞

y ss = KR
W‫א‬‫א‬‫א‬‫א‬ WK‫א‬ •
yss
 K =
R
 W‫א‬‫א‬‫א‬‫א‬ E
‫א‬‫א‬‫א‬K‫א‬‫א‬  
 W‫א‬
 ‫א‬ ‫א‬،‫א‬‫א‬‫א‬‫א‬ K١
 W
−t

  y(t ) = KR(1 − e τ )
 Wyss‫א‬‫א‬ K٢
  y ss = KR
W‫א‬‫א‬‫א‬ K٣
  y (τ ) = 0.63 y ss
Wts‫א‬‫א‬ K٤
  t s = 4τ
W‫א‬‫א‬‫א‬ K٥
  y (t s ) = 0.98 y ss
-٨-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

E٦ J١F‫א‬‫א‬‫א‬‫א‬‫א‬ K٦

y(t)
yss=KR
y(ts)=0.98yss

y(τ)=0.63yss

0.5yss

0 τ 2τ 3τ ts = 4τ time

 K‫א‬‫א‬‫א‬‫א‬،E٦ J١F
،3τ‫א‬٪٩٥‫א‬‫א‬‫א‬
‫א‬‫א‬τ‫א‬،4τ٪٩٨{٢‫א‬

 ‫א‬K٪٢‫א‬،‫א‬٪٩٨
‫א‬‫א‬‫א‬EF‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬،‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ E 
‫א‬‫א‬،‫א‬‫א‬‫א‬
W‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
y (t ) = KR (1 − e − t / τ )
t
−
  y (t ) = KR − K Re
τ

y (t ) = y ss − y t (t )
 W‫א‬‫א‬‫א‬

-٩-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

W yss = KR ‫א‬‫• א‬
‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
K‫א‬
t
−
W yt (t ) = − K Re ‫א‬‫• א‬
τ

 K‫א‬‫א‬‫א‬‫א‬
 WE١ J١F
 W‫א‬‫א‬‫א‬
y ' (t ) + 2 y (t ) = 10 x(t )
 
y (0) = 0
 K‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
 W‫א‬y(t)2‫א‬‫א‬ K١
  0.5 y' (t ) + y(t ) = 5 x(t )
 W ‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
  τ = 0.5 W‫א‬‫• א‬
  K = 5 W‫א‬ •
،R=1‫א‬‫א‬‫א‬،‫א‬‫א‬ K٣
 W‫א‬
t
−
  y (t ) = 5(1 − e )
0.5

− 2t
y (t ) = 5 − 5e
 W‫א‬‫א‬ K٤
  y ss = 5  W‫א‬‫א‬‫• א‬
  yt (t ) = 5e−2t  W‫א‬‫א‬ •
W‫א‬ K٥

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

Step Response
yss = 5 5
4.5

3.5

y(τ) = 3.153
Amplitude

2.5

1.5

0.5

0
0
τ = 0.5
0. 5 1 1.5 2 2.5 3
Time (sec)

 W‫א‬‫א‬‫א‬‫ א‬٢ J٣ J١

 W‫א‬‫א‬ E
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬ K١
 W‫א‬‫א‬‫א‬‫א‬‫א‬ 
  y" (t ) + 2ζωo y ' (t ) + ωo 2 y (t ) = Kωo 2 x(t )
 
  y" (t ) + 2αy' (t ) + ωo 2 y (t ) = Kωo 2 x(t )
 W 
K?‫?א‬‫א‬Wω0 •
K??‫א‬Wζ •
K??E α = ξωo F‫א‬Wα •
K‫א‬‫א‬‫א‬WK •
W‫א‬‫א‬
b = Kωo
2
•
K‫א‬‫א‬‫א‬‫• א‬

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 W‫א‬‫א‬‫א‬ K٢
‫א‬، ‫א‬‫א‬‫א‬
 W،‫א‬،
s 2Y ( s) + 2αsY ( s) + ω02Y ( s) = bX ( s )
 W‫א‬
  ( s 2 + 2αs + ωo 2 )Y (s) = bX (s)
 W‫א‬ s 2 + 2αs + ωo 2 ‫א‬‫א‬‫א‬
b
Y ( s) = X ( s)
s + 2αs + ω02
2

 W‫א‬‫א‬‫א‬‫א‬ K٣
 W‫א‬‫א‬R‫א‬‫א‬
⎧R t ≥ 0
x(t ) = ⎨
⎩0 t < 0
  X ( s) = R W‫א‬
s
 W‫א‬‫א‬X(s) 
bR
Y ( s) =
s ( s + 2αs + ωo2 )
2

‫א‬‫א‬، ‫א‬ s 2 + 2αs + ωo2 ‫א‬‫א‬

 W‫א‬‫א‬
  r1, 2 = −α ± α 2 − ωo 2
‫א‬r2r1‫א‬ 
 W‫א‬
 W‫א‬‫א‬‫א‬ E
‫א‬ ،ζ>1α>ωo‫א‬
 W‫א‬
  r1, 2 = −α ± α 2 − ωo 2
 W‫א‬‫א‬ 
bR
  Y ( s) =
s( s − r1 )( s − r2 )

-١٢-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
A B C
  Y (s) = + +
s s − r1 s − r2
 WA, B, C 
bR bR
  A = sY ( s) = =
s=0 r1r2 ωo 2
bR bRr
  B = ( s − r1 )Y ( s) = = 2 2
s = r1 r1 (r1 − r2 ) ωo (r1 − r2 )
− bR − bRr1
  C = ( s −r 2)Y ( s) = = 2
s = r2 r2 (r1 − r2 ) ωo (r1 − r2 )
 W‫א‬‫א‬‫א‬CBA
bR ⎡ 1 ⎛ r2 1 ⎞ ⎛ r1 1 ⎞⎤
  Y (s) = ⎢ + ⎜ ∗ ⎟ − ⎜ ∗ ⎟⎥
ωo 2 ⎣ s ⎜⎝ r1 − r2 s − r1 ⎟⎠ ⎜⎝ r1 − r2 s − r2 ⎟⎠⎦
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
bR ⎛ r r ⎞
y (t ) = ⎜1 + 2 e r1t − 1 e r2 t ⎟⎟
2 ⎜
ωo ⎝ r1 − r2 r1 − r2 ⎠
‫א‬‫א‬‫א‬b=Kωo2
 W‫א‬‫א‬
⎛ r r ⎞
y (t ) = KR⎜⎜1 + 2 e r1t − 1 e r2 t ⎟⎟
⎝ r1 − r2 r1 − r2 ⎠
 W‫א‬‫א‬ E
،ζ=1α=ωo‫א‬
 W‫א‬‫א‬
  r1,2 = −ωo  r1, 2 = −α
 W‫א‬‫א‬
bR
  Y ( s) =
s ( s + 2ωo s + ωo2 )
2

 W ‫א‬‫א‬
bR
  Y ( s) =
s ( s + ωo ) 2

-١٣-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

‫א‬‫א‬ ‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
  y (t ) = KR(1 − (1 + ωot )e −ω t ) o

 W‫א‬‫א‬ E
،ζ<1α<ωo‫א‬
 W‫א‬‫א‬
  r , = −α ± j ω − α = −ζω ± jω
1 2 o
2 2
o d

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ωd
  ωd = ωo 2 − α 2 =ωo 1 − ζ 2
 W‫א‬‫א‬
bR
  Y ( s) =
s ( s + 2ζωo s + ωo2 )
2

bR ⎛ 1 s + 2ζωo ⎞
Y (s) = ⎜ − 2
2 ⎜
⎟
2 ⎟
ωo ⎝ s s + 2ζωo s + ωo ⎠
⎛ ⎞
  Y ( s) = bR2 ⎜⎜ 1 − s + ζω2 o 2 − ζωo ⎟
2 ⎟
ωo ⎝ s (s + ζωo ) + ωd (s + ζωo ) + ωd ⎠
2

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
⎛ ⎛ ζ ⎞⎞
  y (t ) = KR⎜⎜1 − e−ζω t ⎜⎜ cos ωd t +
o
sin ωd t ⎟ ⎟
⎟⎟
⎝ ⎝ 1−ζ 2 ⎠⎠
⎛ − ζω o t ⎞
  y (t ) = KR⎜⎜1 − e 2 sin (ωd + φ )⎟⎟
⎝ 1−ζ ⎠
 W‫א‬‫א‬
⎛ 1−ζ 2 ⎞
  φ = tan −1⎜⎜ ⎟
⎟
⎝ ζ ⎠
‫א‬‫א‬‫א‬y(t)‫א‬
 Kωd‫א‬‫א‬

-١٤-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 W‫א‬‫א‬‫א‬‫א‬ E
،  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E٧ J١F‫א‬
 W
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬ •
،‫א‬‫א‬ ‫א‬‫א‬‫א‬ ‫א‬W‫א‬‫א‬ •
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬ •
K‫א‬‫א‬‫א‬
C(t)

ζ<1


 ζ>1
 ζ=1 ‫א‬
 

0 time
 K‫א‬‫א‬‫א‬،E٧ J١F
 WE٢ J١F
 W‫א‬‫א‬
y" ( t ) + 3 y ' ( t ) + 2 y ( t ) = 2 x ( t )
  y (0) = y ' (0) = 0,
⎧1 t ≥ 0
x (t ) = ⎨
⎩0 t < 0
 W
 K‫א‬،‫א‬‫א‬ E
 K‫א‬ E
-١٥-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 K‫א‬‫א‬ E
 K‫א‬‫א‬ E
 W‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬  E
W‫א‬‫א‬
  ωo 2 = 2 ⇒ ω o = 2 ⇒ ω o ≅ 1 .4 rad / sec

  2α = 3 ⇒ α = 1.5
K‫א‬‫א‬‫א‬ωα 
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
2 2
K ωo = 2 ⇒ K =
2
⇒K= ⇒ K =1
ωo 2
2
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ E
⎛ r2 r ⎞
  y (t ) = KR⎜⎜1 + e r1t − 1 e r2 t ⎟⎟
⎝ r1 − r2 r1 − r2 ⎠
 Wr2r1  
r1, 2 = −α ± α 2 − ωo
2

(1.5)2 + ( )
2
r1, 2 = −1.5 ± 2
  r1, 2 = −1.5 ± 4.25
r1 = −1.5 + 4.24 , r2 = −1.5 − 4.25
r1 ≅ 0.56 , r2 ≅ −3.56
 W‫א‬‫א‬‫א‬‫א‬‫א‬
  y (t ) ≅ ⎛⎜⎜1 + (− 3.56) e0.56t − 0.56 ⎞
e − 3.56t ⎟⎟
⎝ (0.56) − (− 3.56) (0.56) − (− 3.56) ⎠
  y (t ) ≅ (1 − 0.86e0.56t − 0.13e−3.56t )
W‫א‬‫א‬‫א‬ E

-١٦-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6
Time (sec)
 
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬E
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
  y (t ) = y t + y ss
‫א‬،‫א‬‫א‬
‫א‬‫א‬ ‫א‬K ‫א‬‫א‬
 W‫א‬‫א‬
  y ss = lim y (t )
t →∞

 W‫א‬‫א‬ E
 ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
 K‫א‬

-١٧-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

y(t)
yp

Mp
±2%
yss
0.9 yss

0.5 yss

0
  0 td tr tp ts time
 E٨ J١F
 
 W‫א‬‫א‬‫א‬‫א‬‫א‬
 W td‫א‬ K١
 K‫א‬٪٥٠‫א‬‫א‬‫א‬
 W tr‫א‬ K٢
 K‫א‬٪٩٠‫א‬‫א‬‫א‬
 Wyp K٣
 K‫א‬
 Wtp‫א‬ K٤
 W‫א‬‫א‬،‫א‬‫א‬‫א‬
π π
 tp = =
ω 02 − α 2 ω0 1 − ζ 2
 Wts‫א‬‫א‬ K٥
 E٪٥ ±٪٢±F‫א‬‫א‬‫א‬‫א‬
 WMp K٦
1−ζ 2
  M p = y p − y ss = e −ζπ /

-١٨-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 K‫א‬‫א‬yssyp
W PO‫א‬‫א‬ K٧
Mp
  PO = × 100
yss
 W G‫א‬‫א‬‫א‬ K٨
y ss
 G =
E
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٩
 ωd = ω02 − α 2 = ω 0 1 − ζ 2
 W‫א‬‫א‬‫א‬‫א‬ K١٠
2π
  Td =
ωd
 W‫א‬‫א‬‫א‬‫א‬ K١١
1
  fd =
Td

-١٩-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 W
 W‫א‬‫א‬ K١
y ' (t ) + 10 y (t ) = 10 x (t )
  y ( 0) = 0
⎧5 t ≥ 0
x (t ) = ⎨
⎩0 t < 0
 W
 K‫א‬‫א‬ E
 K‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬ E
 W‫א‬‫א‬‫א‬ K٢
10 y ' (t ) + y (t ) = x (t )
  y ( 0) = 0
⎧10 t ≥ 0
x (t ) = ⎨
⎩0 t<0
 W
 K‫א‬‫א‬ E
 K‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬ E
 W‫א‬‫א‬ K٣
y ' ' (t ) + 4 y ' (t ) + y (t ) = 16 x(t )
  y ( 0) = y ' ( 0 ) = 0
⎧5 t≥0
x(t ) = ⎨
⎩0 t<0

-٢٠-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

 W
 K‫א‬،‫א‬‫א‬ E
 K‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬ E
 W‫א‬‫א‬ K٤
y" (t ) + 2 y ' (t ) + y (t ) = 10 x (t )
  y (0) = y ' (0) = 0,
⎧1 t ≥ 0
x (t ) = ⎨
⎩0 t < 0
 W
 K‫א‬،‫א‬‫א‬ E
 K‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬ E
W‫א‬‫א‬ K٥
y ' ' (t ) + 4 y ' (t ) + 8 y (t ) = 16 x(t )
  y (0) = y ' (0) = 0
⎧5 t≥0
x(t ) = ⎨
⎩0 t<0
 W
 K‫א‬،‫א‬‫א‬ E
K‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬ E

-٢١-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
 

W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٦

Step Response
1.6

1.4

1.2

1
Amplitude

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6
Time (sec)
 
 W
 Ktd‫א‬ E
 Ktr‫א‬ E
 Ktp‫א‬ E
 K‫א‬‫א‬ E
 KMp E
 K‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬ E
 

-٢٢-
 EF
‫א‬‫א‬
 ‫א‬‫א‬

٢
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

 W‫א‬‫א‬
W‫א‬
K‫א‬‫א‬ K١
K‫א‬‫א‬ K٢
K‫א‬‫א‬ K٣
K‫א‬‫א‬‫א‬ K٤
K‫א‬‫א‬‫א‬ K٥
 K‫א‬‫א‬‫א‬‫א‬ K٦

-٢٣-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

 W‫א‬‫א‬ ١ J٢
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
، ‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
 ‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬E١ J٢F‫א‬
x(t) e(t) p(t) y(t)
+
‫اﻟﺤﺎآﻢ‬ ‫اﻟﻨﻈﺎم‬
-

 
 K،E١ J٢F
 W‫א‬‫ א‬٢ J٢
 W‫א‬‫א‬‫ א‬١ J٢ J٢
 W‫א‬‫א‬‫א‬‫א‬‫א‬
  p ( t ) = K p e( t )
p(t)‫א‬ 
 ‫א‬‫א‬،‫א‬KP
 Ke(t)‫א‬
W‫א‬‫א‬‫ א‬٢ J٢ J٢
 K‫א‬‫א‬‫א‬E٣ J٢F‫א‬
E(s) P(s)
Kp
 
 K‫א‬‫א‬‫א‬،E٣ J٢F
 W‫א‬‫א‬‫א‬ ٣ J٢ J٢
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬

-٢٤-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

  P( s ) = K p E ( s )
 W‫א‬‫א‬Gc(s)‫א‬‫א‬‫א‬
  G c ( s ) = P( s ) = K p
E ( s)
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬٤ J٢ J٢
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E٤ J٢F‫א‬
R2

R1
e(t) p(t)

 
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،E٤ J٢F
  K p = − R2  W
R1

 W‫א‬‫א‬‫א‬ ٥ J٢ J٢
 K‫א‬K‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫ א‬٣ J٢
 W‫א‬‫א‬‫ א‬١ J٣ J٢
 W‫א‬‫א‬‫א‬‫א‬‫א‬
t
  p(t ) = K I ∫0 e(τ )dτ

 K‫א‬KI
 W‫א‬‫א‬‫ א‬٢ J٣ J٢
 K‫א‬‫א‬‫א‬E٥ J٢F‫א‬
E(s) KI P(s)
s
 
 K‫א‬‫א‬‫א‬،E٥ J٢F
 W‫א‬‫א‬‫א‬ ٣ J٣ J٢
 ‫א‬‫א‬،‫א‬‫א‬‫א‬
 W‫א‬
-٢٥-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

  P( s) = K I E ( s)
s
 W‫א‬‫א‬Gc(s)‫א‬‫א‬‫א‬
KI
  G c ( s ) = P( s ) =
E ( s) s
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬٤ J٣ J٢
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E٦ J٢F‫א‬
C

R
e(t) p(t)

 
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،E٦ J٢F
1
  KI =−  W
RC
 W‫א‬‫א‬‫א‬ ٥ J٣ J٢
 K‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫ א‬٤ J٢
 W‫א‬‫א‬‫ א‬١ J٤ J٢
 W‫א‬‫א‬‫א‬‫א‬‫א‬
  p(t ) = K D de(t )
dt
 K‫א‬KD
 W‫א‬‫א‬‫ א‬٢ J٤ J٢
 K‫א‬‫א‬‫א‬E٧ J٢F‫א‬
E(s) P(s)
KDs
 
 K‫א‬‫א‬‫א‬،E٧ J٢F
 W‫א‬‫א‬‫א‬ ٣ J٤ J٢
 ‫א‬‫א‬،‫א‬‫א‬‫א‬
 W‫א‬

-٢٦-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

  P( s ) = K D sE ( s)
 W‫א‬‫א‬Gc(s)‫א‬‫א‬‫א‬
  G c ( s ) = P( s ) = K D s
E ( s)
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬٤ J٤ J٢
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E٨ J٢F‫א‬
R
C
e(t) p(t)

 
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،E٨ J٢F
  K D = − RC  W
 W‫א‬‫א‬‫א‬ ٥ J٤ J٢
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 W‫א‬‫א‬‫ א‬٥ J٢
 W‫א‬‫א‬‫א‬‫ א‬١ J٥ J٢
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
t
  p(t ) = K P e(t ) + K I ∫0 e(τ )dτ
 W‫א‬‫א‬‫א‬‫ א‬٢ J٥ J٢
 K‫א‬‫א‬‫א‬‫א‬E٩ J٢F‫א‬
Kp
E(s) +
P(s)
+
KI
  s
 K‫א‬‫א‬‫א‬‫א‬،E٩ J٢F
 W‫א‬‫א‬‫א‬‫א‬ ٣ J٥ J٢
 ‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
 W‫א‬
-٢٧-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
E ( s)
  P( s) = K P E ( s) + K I
s
 ‫א‬‫א‬Gc(s)
 ‫א‬
 ‫א‬ ‫א‬‫א‬ 
 W
KI
  G c ( s ) = P( s ) = K P +
E ( s) s
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬٤ J٥ J٢
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E١٠ J٢F‫א‬
R2

R1 R R

R
e(t) C p(t)

 
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،E١٠ J٢F
  K p = R2 , KI =
1
 W
R1 RC

 W‫א‬‫א‬‫א‬‫א‬ ٥ J٥ J٢
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 W‫א‬‫א‬‫ א‬٦ J٢
 W‫א‬‫א‬‫א‬‫ א‬١ J٦ J٢
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  p(t ) = K P e(t ) + K D de(t )
dt
W‫א‬‫א‬‫א‬‫ א‬٢ J٦ J٢
 K‫א‬‫א‬‫א‬‫א‬E١١ J٢F‫א‬

-٢٨-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

Kp
E(s) +
P(s)
+
KDs
 
 K‫א‬‫א‬‫א‬‫א‬،E١١ J٢F
 W‫א‬‫א‬‫א‬‫א‬ ٣ J٦ J٢
 ‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
 W‫א‬
  P( s ) = K P E ( s ) + K D sE ( s )
‫א‬‫א‬Gc(s)‫א‬‫א‬‫א‬‫א‬
 W
  G c ( s ) = P( s ) = K P + K D s
E ( s)
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬٤ J٦ J٢
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E١٢ J٢F‫א‬
R2

R1
R R

R
e(t) R
p(t)

 
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،E١٢ J٢F
  K p = R2 , K D = RC  W
R1

 W‫א‬‫א‬‫א‬‫א‬ ٥ J٦ J٢
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

-٢٩-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

 W‫א‬‫א‬‫א‬‫ א‬٧ J٢
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬E‫א‬،‫א‬،‫א‬F
 W‫א‬‫א‬‫א‬‫ א‬١ J٧ J٢
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  p(t ) = K P e(t ) + K I ∫0 e(τ )dτ + K D de(t )
t
dt
 W‫א‬‫א‬‫א‬‫ א‬٢ J٧ J٢
 K‫א‬‫א‬‫א‬‫א‬‫א‬E١٣ J٢F‫א‬
KP

+
KI
E(s) + P(s)
s
+

KD s
 
 K‫א‬‫א‬‫א‬‫א‬‫א‬،E١٣ J٢F
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٣ J٧ J٢
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
E ( s)
  P( s) = K P E ( s) + K I + K D sE ( s )
s
‫א‬Gc(s)‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
KI
  G c ( s ) = P( s ) = K P + + + KDs
E ( s) s
W‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬٤ J٧ J٢
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E١٤ J٢F‫א‬
 K‫א‬

-٣٠-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

R2 R
R1 R
p(t)

CI
RI
e(t) R

RD
CD
R

 
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،E١٤ J٢F
 K K p = R2 , KI =
1
, K D = RD C D  W
R1 RI C I

-٣١-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

 W
 K‫א‬‫א‬ K١
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬E٤ J٢F‫א‬ K٢
 W R2=5 kΩ  R1=10 kΩ
 K‫א‬‫א‬‫א‬ E
 K‫א‬‫א‬ E
‫א‬،
 ‫א‬‫א‬‫א‬‫א‬‫א‬E٤ J٢F‫א‬ K٣
 ‫؟‬KP=-7‫א‬R2‫א‬R1=10 kΩ
 ‫؟‬‫א‬‫א‬‫א‬‫א‬ K٤
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬E٦ J٢F‫א‬ K٥
 WC=1µF R=10 kΩ 
 K‫א‬‫א‬‫א‬ E
 K‫א‬‫א‬ E
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬E٨ J٢F‫א‬ K٦
 W‫א‬KC=2µF R=5 kΩ
 K‫א‬‫א‬‫א‬ E
 K‫א‬‫א‬ E
 R=5 kΩ ‫א‬،‫א‬‫א‬‫א‬‫א‬E١٠ J٢F‫א‬ K٧
 W‫א‬R2=40 kΩR1=20 kΩC=2µF
 K‫א‬‫א‬ E
 K‫א‬‫א‬ E
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٨
‫א‬‫א‬
 ‫א‬‫א‬E١٣ J٢F‫א‬ K٩
WKD=4 KI=5  KP=2 ‫א‬،‫א‬
 K‫א‬‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ E

-٣٢-
 EF
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

٣
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 ‫א‬‫א‬
W‫א‬
K‫א‬‫א‬‫א‬ K١
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
 K‫א‬‫א‬‫א‬‫א‬‫א‬ K٣

-٣٣-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫א‬‫א‬‫ א‬١ J٣
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K? ‫א‬‫א‬‫א‬‫א‬?
‫א‬‫א‬‫א‬L‫א‬
‫א‬L‫א‬، ‫א‬L ‫א‬ ‫א‬‫א‬،‫א‬
 K‫א‬EF
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬‫א‬‫ א‬٢ J٣
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬ ‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬ K‫א‬
 WE١ J٣F
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  Y (s) =
10
X ( s) s + 5s + 6
2

 W‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬ E
s 2 + 5s + 6 = 0
W‫א‬ E
s1 = −3, s2 = −2

-٣٤-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 K‫א‬‫א‬‫א‬‫א‬ E
W‫א‬‫א‬‫א‬‫ א‬٣ J٣
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬
 W‫א‬
K‫א‬‫א‬ E
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K١
  a n y (n ) (t ) + a n −1 y (n −1) (t ) + .... + a 2 y" (t ) + a1 y ' (t ) + a 0 y (t ) = x(t )
 W
 y(t)‫א‬‫א‬y'(t)
 y(t)‫א‬‫א‬y"(t)
 KKK‫א‬y(t)‫א‬‫א‬y(3)
 W‫א‬‫א‬‫א‬‫א‬
  a n s n + a n −1s n −1 + .... + a 2 s 2 + a1s + a 0 = 0
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
 K 
 W‫א‬ E
 W‫א‬‫א‬‫א‬‫א‬
‫א‬، ‫א‬
 ‫א‬ K١
 K‫א‬n،n+1 
W‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬ K٢
  an an − 2 an − 4 .....
 W‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬ K٣
  an −1 an − 3 an − 5 .....

-٣٥-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

W‫א‬‫א‬‫א‬‫א‬ K٤
sn an an-2 an-4 ……
 sn-1 an-1 an-3 an-5 ……
 sn-2 C1  c2 …… ……
 sn-3 D1 d2 …… ……
 ….. …… …… …… ……
 s 0
……      
 W‫א‬
c a − a n −1c 2 a a − a n a n −3
d 1 = 1 n −3 c1 = n −1 n −2
c1 a n −1
  
c a − a n −1c3 a a − a n a n −5
d 2 = 1 n −5 c 2 = n −1 n −4
c1 a n −1
 W‫א‬‫א‬‫א‬ E
‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬، ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
 WE٢ J٣F
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
y ' (t ) − 6 y (t ) = 2 x (t )

 W‫א‬
 W‫א‬‫א‬ E
 s+2=0
 W‫א‬‫א‬‫א‬‫א‬ E
Kn+1=2‫א‬n=1W‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
W
  1
s 1 0
  0
s 2 0
‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬‫א‬‫א‬
-٣٦-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 WE٣ J٣F
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
y ' (t ) + 2 y (t ) = 3x (t )

 W‫א‬
 W‫א‬‫א‬ E
 s-6=0
 W‫א‬‫א‬‫א‬‫א‬ E
Kn+1=2‫א‬n=1W‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
W
  1
s 1 0
  0
s -6 0
‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 WE٤ J٣F
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
y"+2 y ' (t ) + 2 y (t ) = 3x (t )

 W‫א‬
 W‫א‬‫א‬ E

  s 2 + 2s + 2 = 0
 W‫א‬‫א‬‫א‬‫א‬ E
Kn+1=3‫א‬n=2W‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
W
 
s2  2 2
  1
s 2
  0
s c1
 W‫א‬c1‫א‬ •

-٣٧-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
a a − a n a n −3
c1 = n −1 n −2
a n −1
2×2−2×0
  c1 =
2
c1 = 1
 W‫א‬ •
s2  2
  2
  1
s 2
  0
s 1
‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 WE٥ J٣F
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
y" + y ' ( t ) − 6 y ( t ) = 3 x ( t )

 W‫א‬
 W‫א‬‫א‬ E

  s2 + s − 6 = 0
 W‫א‬‫א‬‫א‬‫א‬ E
Kn+1=3‫א‬n=2W‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
W
s2
  1 -6
  1
s 1 0
  0
s c1
 W‫א‬c1‫א‬ •
a a − a n a n −3
c1 = n −1 n −2
a n −1
1 × ( −6 ) − 1 × 0
  c1 =
1
c1 = −6
 W‫א‬ •
 
s2 1 -6
  1
s 1 0
-٣٨-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 
  0
s -6
‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 WE٦ J٣F
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
y ' ' ' (t ) + 4 y ' ' (t ) + 100 y ' (t ) + 500 y (t ) = x (t )

 W‫א‬
 W‫א‬‫א‬ E

  s 3 + 4s 2 + 100s + 500 = 0
 W‫א‬‫א‬‫א‬‫א‬ E
Kn+1=4‫א‬n=3W‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
W
s3 1 100
  2
s 4 500
  1
s c1 0
  0
s c2
 W‫א‬c2c1‫א‬ •
a a − a n a n −3
c1 = n −1 n −2
a n −1
 
a a − a n a n −5
c 2 = n −1 n −4
a n −1
 W‫א‬ •
3
s 1 100
2
s  
4 500
  1
s -25 0
0
 
s 500
‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬‫א‬‫א‬

-٣٩-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬٤ J٣
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
X(s) Y(s)
+
K G(s)
-

H(s)
 
 W‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬K‫א‬
 K‫א‬‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬ E
 K‫א‬ E
K ‫א‬‫א‬‫א‬‫א‬K‫א‬ E
 K‫א‬‫א‬‫א‬‫א‬K‫א‬
 WE٧ J٣F
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬
  s 3 + 2s 2 + 4s + K = 0
 W‫א‬
 W‫א‬‫א‬‫א‬‫א‬
Kn+1=4‫א‬n=3W‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
W
s3 1 4
  2
s 2 K
  1 8−K
s 2
0
  0
s K
‫א‬ ‫א‬ ‫א‬‫א‬ •

 K ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬
-٤٠-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

K  ‫א‬‫א‬ ‫א‬

W‫א‬‫א‬‫א‬
8−K
  2 >0
K >0
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K
 0 < K < 8

-٤١-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬K١
Y ( s) 10
= 2 E
X ( s ) s + 7 s + 12

Y (s) 3
= 2 E
X ( s ) s − 9s + 20

Y (s) 1
= 2 E
X ( s ) s + s − 30

W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
  y ' (t ) + 7 y (t ) = 8 x (t ) E
  y ' (t ) − 147 y (t ) = 20 x(t ) E
  2 y" ( t ) + 6 y ' ( t ) + 4 y ( t ) = 8 x ( t ) E
  y" (t ) − 16 y ' (t ) + 14 y (t ) = 8 x(t ) E
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٣
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٤
  s 5 + s 4 + 6s 3 + 4 s 2 + 2 s + 1 = 0

W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬K K٥
  C ( s) = K
R( s ) s 4 + 3s 3 + s 2 + 2 s + K

-٤٢-
 EF
‫א‬‫א‬
 ‫א‬‫א‬

٤
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
 

 W‫א‬‫א‬
W‫א‬
K‫א‬ K١
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٣
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٤
 

-٤٣-
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
 

 W‫א‬‫א‬ ١ J٤
‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬K ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
‫א‬‫א‬‫א‬ ‫א‬K‫א‬‫א‬
 K‫א‬‫א‬
R(s) + E(s) C(s)
G(s)
r(t) - e(t) c(t)

B(s)
H(s)
b(t)
 
 K،E١ J٤F
‫א‬ ، E١ J٤F‫א‬ 
‫א‬ b(t)‫א‬‫א‬‫א‬r(t)‫א‬،b(t)r(t)‫א‬
 Kc(t)‫א‬‫א‬‫א‬‫א‬
،‫א‬ ‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬K‫א‬
  e( t ) = r ( t ) − b( t )
 Ws‫א‬‫א‬‫א‬
  E ( s) = R( s) − B( s)
 W‫א‬ C(s)B(s)‫א‬
-٤٤-
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
 

  E ( s ) = R( s ) − C ( s ) H ( s )
 WT(s) ‫א‬‫א‬‫א‬
  T ( s) = C ( s) = G ( s)
R( s) 1 + G ( s) H ( s)
 WC(s)‫א‬
G ( s)
  C ( s) = R( s)
1 + G ( s) H ( s)
R(s)‫א‬‫א‬C(s)‫א‬‫א‬
 W‫א‬
1
  E ( s) = R( s)
1 + G ( s) H ( s)

 W‫א‬‫א‬‫א‬ ٢ J٤
‫א‬‫א‬‫א‬،E٢ J٤F‫א‬
‫א‬‫א‬Gc(s) ‫א‬‫א‬‫א‬‫א‬‫א‬Gp(s)‫א‬‫א‬
 K
R(s) + E(s) P(s) C(s)
Gc(s) Gp(s)
-

H(s)
 
 K‫א‬‫א‬،E٢ J٤F
‫א‬‫א‬‫א‬Gp(s)Gc(s)‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
 G(s)=Gc(s)⋅Gp(s)
 W‫א‬‫א‬‫א‬
Gc ( s )G p ( s )
  C ( s) =
R( s) 1 + Gc ( s )G p ( s ) H ( s )
 W‫א‬‫א‬‫א‬
1
E ( s) = R( s)
1 + Gc ( s )G p ( s ) H ( s )

-٤٥-
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
 

،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬‫א‬ E
‫א‬K ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  R( s) = 1
s
W‫א‬‫א‬ E
‫א‬ ‫א‬‫א‬ ‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
1
  G p (s) =
s +1
W‫א‬‫א‬‫א‬ E
 WK‫א‬‫א‬‫א‬
  H (s) = 1
W‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬
W‫א‬‫א‬‫א‬ E
1
  E ( s) = R( s)
1 + Gc ( s )G p ( s ) H ( s )
W‫א‬‫א‬‫א‬ E
 W‫א‬‫א‬‫א‬‫א‬‫א‬
  ess = lim sE ( s)
s →0

 ‫א‬‫א‬‫א‬‫א‬‫א‬
 KE٣ J٤F‫א‬‫א‬‫א‬‫א‬‫א‬
1
R( s) = + E(s) 1 C(s)
s Gc(s)
s +1
-
 
 K،E٣ J٤F

-٤٦-
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
 

W‫א‬‫א‬‫א‬‫א‬‫א‬ ١ J٢ J٤
 W‫א‬‫א‬‫א‬‫א‬
KI K ps + KI
Gc ( s ) = K p + =
s s
‫א‬R(s)Gp(s)Gc(s)
 W‫א‬‫א‬‫א‬
1 1
  E ( s) = K ps + KI
∗
1 s
1+ ∗
s s +1
 W‫א‬‫א‬
( s + 1)
  E ( s) =
s + ( K p + 1) s + K I
2

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
ess = lim sE ( s )
s →0

s +1
  ess = lim s ∗
s →0 s + (1 + K p ) s + K I
2

ess = 0
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE٤ J٤F‫א‬
Amplitud
1. e
4
Kp=1 ,
1.
2
1

0. Kp=2 ,
8
0.
6 Kp=1 ,
0.
4

0.
2
0
0 2 4 6 8 1 1
  Time (sec) 0 2
 K‫א‬‫א‬‫א‬‫א‬،E٤ J٤F
-٤٧-
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
 

W‫א‬‫א‬‫א‬‫א‬‫א‬ ٢ J٢ J٤
 W‫א‬‫א‬‫א‬‫א‬
Gc ( s ) = K p + K D s
‫א‬R(s)Gp(s)Gc(s)
 W‫א‬‫א‬‫א‬
1 1
  E ( s) = 1
∗
1 + ( K p + K D s) ∗ s
s +1
 W‫א‬‫א‬
( s + 1) 1
  E ( s) = ∗
( K D + 1) s + ( K P + 1) s
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
ess = lim sE ( s )
s →0

s +1
  ess = lim s ∗ 1 ∗
s →0 s ( K D + 1) s + ( K P + 1)
1
ess =
KP + 1
‫א‬،  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
KKP 
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 KE٥ J٤F‫א‬‫א‬
C(t)
1

0.9

0.8

0.7

0.6

0.5

0.4

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (sec)
 
 K‫א‬‫א‬‫א‬‫א‬،E٥ J٤F

-٤٨-
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
 

W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٣ J٢ J٤
 W‫א‬‫א‬‫א‬‫א‬‫א‬
KI K s2 + K ps + KI
Gc ( s ) = K p + + KDs = D
s s
‫א‬R(s)Gp(s)Gc(s)
 W‫א‬‫א‬‫א‬
1 1
  E ( s) = ∗
KDs + K ps + KI
2
1 s
1+ ∗
s s +1
 W‫א‬‫א‬
( s + 1)
  E ( s) =
( K D + 1) s + ( K p + 1) s + K I
2

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
ess = lim sE ( s )
s →0

s +1
  ess = lim s ∗
s →0 ( K D + 1) s + (1 + K p ) s + K I
2

ess = 0
‫א‬،‫א‬
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
K
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
 KE٦ J٤F‫א‬‫א‬
c(t)
K I = 1, K p = 1, KD = 2

K I = 2, K p = 1 , K D = 0.2

K I = 1, K p = 1, K D = 2

0
0 5 10 15
  time, sec
 K‫א‬‫א‬‫א‬‫א‬‫א‬ ،E٦ J٤F

-٤٩-
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
 

 W
 W‫א‬‫א‬ K١
10 + E(s) 5 C(s)
R( s) =
s 10s + 1
-
 
 W
 K‫א‬‫א‬‫א‬ E
K‫א‬ E
K‫א‬‫א‬‫א‬ E
 W‫א‬‫א‬ K٢
2 + E(s) 10 C(s)
R( s) =
s
- 10s + 2

4s
 
 W
 K‫א‬‫א‬‫א‬ E
K‫א‬ E
 K‫א‬‫א‬‫א‬ E
 K K‫؟‬‫א‬‫א‬‫א‬ K٣
 K K‫؟‬‫א‬‫א‬‫א‬ K٤
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K ‫א‬ K٥
1 + E(s) 10 K C(s)
R( s) =
s
- 10s + 2

  5

-٥٠-
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 
 

 W‫א‬‫א‬‫א‬ K٦
10

1 + E(s) 2 + P(s) 1 C(s)

R( s) =
s s + s +1
-
 
 W
K‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬ E
 K‫א‬ E
 Kess‫א‬‫א‬‫א‬ E
 W‫א‬‫א‬‫א‬ K٧
5

1 + E(s) 1 + P(s) 1 C(s)

R( s) =
s s + s +1
-
s

 
 W
K‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬ E
 K‫א‬ E
Kess‫א‬‫א‬‫א‬ E
 

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 EF
‫א‬‫א‬
 ‫א‬‫א‬

٥
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 ‫א‬‫א‬
 W‫א‬
 K‫א‬‫א‬‫א‬‫א‬ K١
 K K٢
 K‫א‬‫א‬ K٣
 K‫א‬‫א‬‫א‬‫א‬ K٤

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
  ١ J٥
K
 ‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
  K ‫א‬‫א‬
 ‫א‬‫א‬K ‫א‬
 ‫א‬
 K‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬ ٢ J٥
R(s) C(s)
G(s)
r(t) c(t)
 
K،E١ J٥F
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬K‫א‬‫א‬‫א‬
  r (t ) = R sin(θ )
‫א‬ωωt‫א‬‫א‬‫א‬‫א‬θ‫א‬‫א‬‫א‬‫א‬R
‫א‬‫א‬ ‫א‬f ω = 2πf  (rad/s)‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬  ‫א‬‫א‬K(Hz)
 W‫א‬
  c(t ) = C sin( β )
‫א‬‫א‬‫א‬‫א‬، ‫א‬‫א‬ β ‫א‬‫א‬C
‫א‬‫א‬
 ‫א‬‫א‬‫א‬
E١ J٥F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K
 W‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬ E
C ( s) = R(s) ⋅ G ( s)
‫א‬‫א‬ω‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ E
 ‫א‬‫א‬‫א‬jωs‫א‬
W
C ( jω ) = R ( jω ) ∗ G ( jω )

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
W‫א‬‫א‬‫א‬‫א‬‫א‬
 E
  G ( jω ) = Re ( jω ) + j Im( jω )
  G ( jω ) = G ( jω ) ∠φ
 W
  G ( jω ) = (Re ( jω ) )2 + (Im( jω ) )2
Im( jω )
  φ = tan −1 ( )
Re ( jω )
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  C ( jω ) ∠β = ( R( jω ) ∠θ )∗ ( G ( jω ) ∠φ )
W‫א‬‫א‬ E
W‫א‬‫א‬ K١
  C ( jω ) = R ( jω ) ∗ G ( jω )
 W
  C = R ⋅ G ( jω )
 K‫א‬‫א‬‫א‬R‫א‬‫א‬‫א‬C
W‫א‬‫א‬‫א‬‫א‬ K٢
∠β = ∠θ + ∠φ
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  β = ωt + φ
 K‫א‬‫א‬‫א‬‫א‬ φ ‫א‬‫א‬‫א‬‫א‬
 WE١ J٥F
 W‫א‬‫א‬c(t)‫א‬‫א‬‫א‬

R(s) K C(s)
r(t)=Rsin(ωt) τs + 1 c(t)
 
  W‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
  c(t ) = C sin(β )
‫א‬β‫א‬‫א‬C‫א‬‫א‬

- ٥٤ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 W‫א‬
  C = R ∗ G ( jω )
  β = ωt + φ
 W‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
Wjω‫א‬‫א‬s E
K
G ( jω ) =
τjω + 1
W‫א‬‫א‬‫א‬ E
K
G ( jω ) =
1 + ω 2τ 2
W‫א‬‫א‬ E
φ = ∠G ( jω ) = − tan −1 (ωτ )
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
RK
 C =
1 + ω 2τ 2
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  β = ωt − tan −1 (ωτ )
 W‫א‬c(t)‫א‬‫א‬
sin (ωt − tan −1 (ωτ ) )
RK
  c(t ) =
1+ ω τ 2 2

WEF‫א‬‫א‬‫ א‬٣ J٥
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬db‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬،ω‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٢ J٥F
 W‫א‬‫א‬‫א‬‫א‬
  G ( s) = 100
 W‫א‬
KKp=100‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
G ( jω ) = 100
W‫א‬‫א‬‫א‬ E
G ( jω ) = 100
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log100 = 40 dB
W‫א‬‫א‬‫א‬‫א‬ E
0
φ = tan −1 ( ) = 0o
100
KE٢ J٥F‫א‬،‫א‬ E

Bode Diagram
41

40.5
Magnitude (dB)

40

39.5

39
1

0.5
Phase (deg)

-0.5

-1
0 1
10 10
Frequency (rad/sec)

 KKp=100،E٢ J٥F
- ٥٦ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٣ J٥F
 W‫א‬‫א‬‫א‬‫א‬
  G ( s) = −100
 W‫א‬
KKp=-100‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs  ‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
G ( jω ) = −100
W‫א‬‫א‬‫א‬ E
G ( jω ) = 100
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log100 = 40 dB
W‫א‬‫א‬‫א‬‫א‬ E
0
φ = tan −1 ( ) = 180o
− 100
KE٣ J٥F‫א‬،‫א‬ E

Bode Diagram
41

40.5
Magnitude (dB)

40

39.5

39
181

180.5
Phase (deg)

180

179.5

179
0 1
10 10

  Frequency (rad/sec)

 KKp=-100،E٣ J٥F
- ٥٧ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٤ J٥F
 W‫א‬‫א‬‫א‬‫א‬
1
  G ( s) =
100
 W‫א‬
1

 K K p = 
 ‫א‬‫א‬‫א‬‫א‬
100
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
1
G ( jω ) =
100
W‫א‬‫א‬‫א‬ E
1
G ( jω ) =
100
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log(100) −1 = − 40 dB
W‫א‬‫א‬‫א‬‫א‬ E
0 0
φ = tan −1 ( ) − tan −1 ( ) = 00
1 100
KE٤ J٥F‫א‬،‫א‬ E
Bode Diagram
-39

-39.5
Magnitude (dB)

-40

-40.5

-41
1

0.5
Phase (deg)

-0.5

-1
0 1
10 10

  Frequency (rad/sec)

1
 K K p = ،E٤ J٥F
100
- ٥٨ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٥ J٥F
 W‫א‬‫א‬‫א‬‫א‬
  G ( s) = 10s
 W‫א‬
K K D = 10 
 ‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
G ( jω ) = j10ω
W‫א‬‫א‬‫א‬ E
G ( jω ) = 10ω
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log(10ω ) ........... dB
W‫א‬‫א‬‫א‬‫א‬ E
10ω
φ = tan −1 ( ) = 90o
0
KE٥ J٥F‫א‬،‫א‬ E

Bode Diagram
40

35
Magnitude (dB)

30

25

20

15
91

90.5
Phase (deg)

90

89.5

89
0 1
10 10
Frequency (rad/sec)

K K D = 10 ،E٥ J٥F

- ٥٩ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٦ J٥F
 W‫א‬‫א‬‫א‬‫א‬
1
  G ( s) =
10s
 W‫א‬
1
K K I = ‫א‬‫א‬‫א‬‫א‬
10
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
1
G ( jω ) =
j10ω
W‫א‬‫א‬‫א‬ E
1
G ( jω ) =
10ω
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log(10ω ) −1 ............ dB
W‫א‬‫א‬‫א‬‫א‬ E
0 10ω
φ = tan −1 ( ) − tan −1 ( ) = −90o
1 0
KE٦ J٥F‫א‬،‫א‬ E
Bode Diagram
-15

-20
Magnitude (dB)

-25

-30

-35

-40
-89

-89.5
Phase (deg)

-90

-90.5

-91
0 1
10 10
Frequency (rad/sec)

1
K K p = ،E٦ J٥F
10
- ٦٠ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٧ J٥F
 W‫א‬‫א‬‫א‬‫א‬
  G ( s) = τs + 1
 W‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
G ( jω ) = 1 + jτω
W‫א‬‫א‬‫א‬ E
G ( jω ) = 1 + (τω ) 2
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 10 log(1 + (τω ) )2
........... dB
W‫א‬‫א‬‫א‬‫א‬ E
φ = tan −1 (τω )
‫א‬‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬KdB‫א‬
 W‫א‬
  ω c = 1
τ
 W‫א‬‫א‬‫א‬
 WEω<<ωcF‫א‬‫א‬ •
 W‫א‬τωτω1
  G dB = −10 log(1) = 0
 WEω>>ωcF‫א‬‫א‬ •
 Wτωτω1
  G dB = 10 log(τω ) 2 = 20 logτω
ω>>ωc 0dBω<<ωc‫א‬
 Kω=ωc0dB20dB/decade
- ٦١ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 Wτ=10‫א‬‫א‬
1
  ωc = = 0.1
10
(ω=ωc) 
 ‫א‬‫א‬
 W‫א‬
  G dB = 20 log G ( jωc ) = 10 log(1 + 12 ) = 3dB
 W‫א‬‫א‬‫א‬‫א‬
 ω0.5ωc 0.1ωc
ωc 2ωc 10ωc
 φ26.6°  5.7°
45° 63.4° 84.3°
‫א‬‫א‬Kτ=10‫א‬‫א‬E٧ J٥F
 K‫א‬‫א‬

Bode Diagram
40

30
Magnitude (dB)

20

10

0
90
Phase (deg)

45

0
-3 -2 -1 0 1
10 10 10 10 10
Frequency (rad/sec)

K‫א‬‫א‬،E٧ J٥F
 WE٨ J٥F
 W‫א‬‫א‬‫א‬‫א‬
1
  G(s) =
τs + 1

- ٦٢ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 W‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
1
G ( jω ) =
1 + jτω
W‫א‬‫א‬‫א‬ E
1
G ( jω ) =
1 + (τω ) 2
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = −10 log(1 + (τω ) 2 ) ............ dB
W‫א‬‫א‬‫א‬‫א‬ E
φ = − tan −1 (τω )
‫א‬‫א‬‫א‬‫א‬ 
،‫א‬‫א‬‫א‬KdB‫א‬
 W‫א‬
  ω c = 1
τ
 W‫א‬‫א‬‫א‬
 WEω<<ωcF‫א‬‫א‬ •
 W‫א‬τωτω1
  G dB = −10 log(1) = 0dB
 WEω>>ωcF‫א‬‫א‬ •
 Wτωτω1
  dB G dB = −10 log(τω ) 2 = −20 log τω
ω>>ωc 0dBω<<ωc‫א‬
 Kω=ωc0dB-20dB/decade
 Wτ=10‫א‬‫א‬
1
  ωc = = 0.1
10
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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
(ω=ωc) 
 ‫א‬‫א‬
 W‫א‬
  G db = 20 log G ( jω c ) = −10 log(1 + 12 ) = −10 log 2 = −3dB
 W‫א‬‫א‬‫א‬‫א‬
 ω  0.1ωc  0.5ωc ωc 2ωc 10ωc
 φ -5.7°  -26.6° -45° -63.4° -84.3°

‫א‬‫א‬Kτ=10
 ‫א‬‫א‬E٨ J٥F
 K‫א‬‫א‬

Bode Diagram
0

-10
Magnitude (dB)

-20

-30

-40
0
Phase (deg)

-45

-90
-3 -2 -1 0 1
10 10 10 10 10
Frequency (rad/sec)

Kτ=10‫א‬‫א‬،E٨ J٥F
WE٩ J٥F
 W‫א‬‫א‬‫א‬‫א‬
ωo 2
  G ( s) =
s 2 + 2ζωo s + ωo
2

 W‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬‫א‬

- ٦٤ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
ωo 2
G ( s) =
( jω ) 2 + 2ζωo ( jω ) + ωo
2

W‫א‬‫א‬‫א‬‫א‬ E
1
  G ( jω ) =
ω ω
( j ) 2 + j 2ζ ( ) + 1
ωo ωo
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
1
G ( jω ) =
ω 2 ω
(1 − ( ) ) + j 2ζ ( )
ωo ωo
 W‫א‬‫א‬‫א‬ E
1
G ( jω ) =
ω 2 2 ω
(1 − ( ) ) + (2ζ ( )) 2
ωo ωo
WdB‫א‬‫א‬‫א‬ E
⎡ ω ω ⎤
G db = 20 log G ( jω ) = −10 log ⎢(1 − ( ) 2 ) 2 + (2ζ ( )) 2 ⎥ ............ dB
⎣ ωo ωo ⎦
W‫א‬‫א‬‫א‬‫א‬ E
2ζωωo
φ = − tan −1 ( )
ωo 2 − ω 2
 W‫א‬‫א‬‫א‬
 WEω<<ωoF‫א‬‫א‬ •
⎛ ⎞ ⎛ ⎞
 W ⎜⎜ ω ⎟⎟  ⎜⎜ ω ⎟⎟ 1
⎝ ωo ⎠ ⎝ ωo ⎠
  G dB = −10 log(1) = 0dB
 WEω>>ωoF‫א‬‫א‬ •
2 2

 ⎛⎜⎜ ω ⎞⎟⎟  

⎛ω⎞ ⎛ω⎞
2ζ ⎜⎜ ⎟⎟  ⎜⎜ ⎟⎟ 1
⎝ ωo ⎠ ⎝ ωo ⎠ ⎝ ωo ⎠
 W‫א‬‫א‬‫א‬‫א‬‫א‬
ω 2 2 ω
  G db ≅ −10 log [( ) ] = −40 log
ω0 ω0

- ٦٥ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
ω>>ωo0dBω<<ωo‫א‬
 Kω=ω00dB-40dB/decade
 W‫א‬‫א‬‫א‬
  lim φ = −90 o ، lim φ = 0 ، lim φ = −π = −180 o
ω →ω0 ω →0 ω →∞

،ω0=4‫א‬
 ‫א‬‫א‬E٩ J٥F‫א‬
 Kζ 
50

ζ=0.1
Magnitude (dB)

ζ=10
-50
ζ=1

-100

ζ=0.1
-50
Phase (deg)

-100 ζ=10

-150 ζ=1

-200
-2 - 0 1 2 3
10 10 10 10 10 1

Frequency (rad/sec)

 K‫א‬‫א‬،E٩ J٥F‫א‬
W‫א‬‫א‬ ٤ J٥
 W‫א‬‫א‬E١٠ J٥F‫א‬
WωG‫א‬ E
 K0dB‫א‬‫א‬‫א‬
Wωp‫א‬ E
K-180°‫א‬‫א‬‫א‬
:mG‫א‬ E
‫א‬0dB‫א‬‫א‬‫א‬‫א‬
KEω=ωpF
- ٦٦ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
Wmp‫א‬ E
‫א‬-180°‫א‬‫א‬‫א‬‫א‬
 KEω=ωGF
  m p = φ (ω G ) + 180
20
Magnitude

-20 mG

-40
ωG
(dB)

0
Phase (deg)

-100
mp

-180
-200

-300
10
-1
10
0 ωp 10
1

Frequency (rad/sec)
 
K‫א‬‫א‬،E١٠ J٥F‫א‬
W‫א‬‫א‬‫א‬‫א‬ ٥ J٥
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬ •
K?‫א‬1dB‫א‬‫א‬‫א‬‫א‬?
W‫א‬‫א‬ •
K?‫א‬-180 ‫א‬‫א‬‫א‬‫א‬?
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬?‫א‬‫א‬
 K‫א‬‫א‬‫א‬،?45°‫א‬
- ٦٧ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
WE١٠ J٥F
 K‫א‬‫א‬‫א‬‫א‬‫א‬E١٠ J٥F‫א‬
 W‫א‬
 ‫א‬1dB‫א‬‫א‬‫א‬‫א‬ K١
K‫א‬

 ‫א‬-180 ‫א‬‫א‬‫א‬‫א‬ K٢
K‫א‬
،100°‫א‬‫א‬‫א‬ K٣
، ‫א‬‫א‬‫א‬‫א‬45°‫א‬‫א‬
 K ‫א‬‫א‬‫א‬

- ٦٨ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 W
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬ K١
 W‫א‬‫א‬dB ‫א‬ K٢
  G( s) = 1000 E
  G ( s ) = −200 E
  G ( s) = 10 E
s
  G ( s) = − 50 E
s
100
  G( s) = E
0.1s + 1
1
  G( s) = E
(0.1s + 1)( s + 1)
،‫א‬ ‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬ K٣
 K‫א‬‫א‬
 K‫א‬‫א‬‫א‬ K٤
 W‫א‬ K٥
1
  G( s) =
(0.1s + 1)( s + 1)
 K‫א‬ E
 K‫א‬ E
 W‫א‬‫א‬ K٦
9.7
  G ( s) =
s(0.046s + 1)
 K‫א‬ E
 K‫א‬ E
 W‫א‬‫א‬‫א‬ K٧
100
  G ( s) =
s(0.02 s + 1)(0.01s + 1)
 K‫א‬‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬ E

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  ٢٦٣  ‫א‬
 
 EF  
 

 

AC motor  
actuator  
analog  
armature  ‫א‬
automation  ‫א‬
block diagram  
bode diagram  
cascade  
characteristic Equation  ‫א‬‫א‬
characteristics  
chart recorder  
closed loop  
compensator  
control system  
control valve  
controlled variable  ‫א‬‫א‬‫א‬‫א‬
controller  
critical damping  
cutoff frequency  ‫א‬
damping  
DC motor  
delay Time  ‫א‬
derivative  
derivative Controller  
design  
digital  
  ٢٦٣  ‫א‬
 
 EF  
 
disturbance  ‫א‬‫א‬
dynamic  ،
error  
feedback  
feedback path  
final control element  ‫א‬‫א‬
flow meter  
flow rate  
forward path  
frequency response  ‫א‬
gain  
gain crossover frequency  ‫א‬
gain margin  ‫א‬
hydraulic  
input  
integral  
integral Controller  
lag compensator  
laplace transform  
lead compensator  
level  
magnitude  
manual control  
matrix  
motor  
open loop  
oscilloscope  ‫א‬
output  
  ٢٦٣  ‫א‬
 
 EF  
 
over damping  ‫א‬
overshoot  
parallel  ‫א‬
peak time  ‫א‬
performance  ‫א‬
permanent response  ‫א‬‫א‬
phase crossover frequency  ‫א‬
phase margin  ‫א‬
phase shift  ‫א‬‫א‬
pneumatic  ،‫א‬
polynomial  ‫א‬
potentiometer  ‫א‬
process  
programmablelogiccontrol  ‫א‬‫א‬
proportional  
proportional controller  
reference input  
resonance frequency  ‫א‬
response  ‫א‬
response curve  ‫א‬
rise time  ‫א‬
root  
sensor  
series  ‫א‬
set point  ‫א‬،‫א‬
settling time  ‫א‬‫א‬
signal conversion  ‫א‬
signal processing  ‫א‬
  ٢٦٣  ‫א‬
 
 EF  
 
simulation  
specification  ‫א‬
stability  ‫א‬‫א‬
stability criteria  ‫א‬‫א‬
step input  ‫א‬
stepper Motor  ‫א‬
summing junction  
system  
tachometer  ،‫א‬
take off point  
time constant  ‫א‬‫א‬
time domain response  ‫א‬
transducer  
transfer function  ‫א‬
transient response  ‫א‬
two position control  ‫א‬‫א‬
underdamping  
unit step  ‫א‬
unity feedback  
 ‫א‬  ٢٦٣  ‫א‬
     
     
 

 ‫א‬‫א‬
 
1. Johnson, C. D. Process Control Instrumentation Technology, Prentice Hall, 2002
2. Bateson, R. N. Introduction to Control Systems Technology, Prentice Hall, 2002
3. Ogata, K. Modern control Engineering, Prentice Hall, 1997
4. Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson Wesley, 1998

5. ‫א‬‫א‬،‫א‬‫א‬،
 ‫א‬
١٩٩١،‫א‬‫א‬‫א‬
  ‫א‬  ٢٦٣  ‫א‬
     
     
 

 ‫א‬
  ‫א‬‫א‬‫א‬ ١
١  K‫א‬‫א‬ 
١  K  ١ J١
١  K‫א‬‫א‬‫א‬  ٢ J١
٥  K‫א‬‫א‬‫א‬  ٣ J١
٥  K‫א‬‫א‬‫א‬‫ א‬١ J٣ J١
١١  K‫א‬‫א‬‫א‬‫ א‬٢ J٣ J١
٢٠  K  
  ‫א‬‫א‬ ٢
٢٣ K‫א‬‫א‬ 
٢٤  K‫א‬‫א‬  ١ J٢
٢٤  K‫א‬‫א‬  ٢ J٢
٢٥  K‫א‬‫א‬  ٣ J٢
٢٦  K‫א‬‫א‬  ٤ J٢
٢٧  K‫א‬‫א‬‫א‬  ٥ J٢
٢٨  K‫א‬‫א‬‫א‬  ٦ J٢
٣٠  K‫א‬‫א‬‫א‬‫א‬  ٧ J٢
٣٢  K  
  ‫א‬‫א‬‫א‬ ٣
٣٣  K‫א‬‫א‬  
٣٤  K‫א‬‫א‬‫א‬  ١ J٣
٣٤  K‫א‬‫א‬‫א‬‫א‬  ٢ J٣
٣٥  K‫א‬K‫א‬‫א‬‫א‬  ٣ J٣
٤٠  K‫א‬‫א‬‫א‬‫א‬  ٤ J٣
٤٢  K  
  ‫א‬  ٢٦٣  ‫א‬
     
     
 

  ‫א‬‫א‬ ٤
٤٣  K‫א‬‫א‬  
٤٤  K‫א‬‫א‬‫א‬  ١ J٤
٤٥  K‫א‬‫א‬‫א‬  ٢ J٤
٤٧  K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ١ J٢ J٤
٤٨  K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٢ J٢ J٤
٤٩  K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٣ J٢ J٤
٥٠  K  
  ‫א‬‫א‬ ٥
٥٢  K‫א‬‫א‬  
٥٣  K  ١ J٥
٥٣  K‫א‬‫א‬  ٢ J٥
٥٥  EF‫א‬‫א‬‫א‬  ٣ J٥
٦٦  K‫א‬‫א‬  ٤ J٥
٦٧  K‫א‬‫א‬‫א‬‫א‬  ٥ J٥
٧٩    
٧٠ ‫א‬  
٧٤ ‫א‬‫א‬  
 
C(t)

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