ACACAopic:

Dacwcacaca
ID
3

Sacacwcabiliacacay.aca acacahcasummacary.aca acacahca(rcavicaw)

ƒ.aca acacahca(BIBO,.aca acacahcwcasympacacaoacacaicacally).aca acacahcasacacwcablca.aca

acacahcaif

Rca(si)<0.aca acacahcafor.aca acacahcwcall.aca acacahcai.

ƒ.aca acacahcamacarginacally.aca acacahcasacacwcablca.aca acacahcaif

ƒ.aca acacahcaRca(si)<=0.aca acacahcafor.aca acacahcwcall.aca acacahcai,.aca acacahcwcand

ƒ.aca acacahcasimplca.aca acacahcarooacaca.aca acacahcafor.aca acacahcaRca(si)=0

ƒ.aca acacahcaunsacacwcablca.aca acacahcaif

iacaca.aca acacahcais.aca acacahcancaiacacahcar.aca acacahcasacacwcablca.aca acacahcanor

macarginacally.aca acacahcasacacwcablca.

Lcwcaca.aca acacahcasi.aca acacahcabca.aca acacahcapolcas.aca acacahcaof

racwcacaionacal.aca acacahcaG..aca acacahcwCACAhcan,.aca acacahcaG.aca acacahcais.aca acacahca…

Rouacacah-Hurwiacacaz.aca acacahcacriacacacarion.aca acacahca(rcavicaw)

ACACAhca.aca acacahcanumbcar.aca acacahcaof.aca acacahcarooacacas

in.aca acacahcwcacahca.aca acacahcarighacaca.aca acacahcahacalf-placanca

is.aca acacahcacaquacal.aca acacahcwcacao

acacahca.aca acacahcanumbcar.aca acacahcaof.aca acacahcasign.aca acacahcachacangcas

in.aca acacahcwcacahca.aca acacahcafirsacaca.aca acacahcacolumn.aca acacahcaof.aca

acacahcaRouacacah.aca acacahcwcarracay.5

Why.aca acacahcano.aca acacahcaproof.aca acacahcain.aca acacahcwcacacaxacacabooks?

“mosacaca.aca acacahcaundcargracaduacwcacaca.aca acacahcasacacaudcanacacas.aca

acacahcwcarca.aca acacahcacaxposcad.aca acacahcwcacao.aca acacahcwcacahca

Rouacacah–Hurwiacacaz.aca acacahcacriacacacarion.aca acacahcain.aca acacahcwcacahcair.aca

acacahcafirsacaca.aca acacahcainacacaroducacacaory
conacacarols.aca acacahcacoursca..aca acacahcwCACAhis.aca acacahcacaxposurca,.aca
acacahcahowcavcar,.aca acacahcais.aca acacahcwcwcaca.aca acacahcwcacahca

purcaly.aca acacahcwcalgoriacacahmic.aca acacahcalcavcal.aca acacahcain.aca acacahcwcacahca.aca

acacahcascansca.aca acacahcwcacahacwcaca.aca acacahcano.aca acacahcwcwcacwcacacampacaca

is.aca acacahcamacadca.aca acacahcawhacwcacasocavcar.aca acacahcwcacao.aca

acacahcacaxplacain.aca acacahcawhy.aca acacahcaor.aca acacahcahow.aca acacahcasuch.aca
acacahcwcan

acalgoriacacahm.aca acacahcaworks.”

ACAn.aca acacahcaCAlcamcanacacwcary.aca acacahcaDcarivacwcacaion.aca acacahcaof.aca

acacahcwcacahca.aca acacahcaRouacacah–Hurwiacacaz.aca acacahcaCriacacacarion

Ming-ACACAzu.aca acacahcaHo,.aca acacahcwCAniruddhaca.aca acacahcaDacwcacwcacwca,.aca

acacahcwcand.aca acacahcaS..aca acacahcaP..aca acacahcaBhacwcacwcacwcachacaryyaca

ICACACA.aca acacahcwCACAracansacacacacaions.aca acacahcaon.aca

acacahcwCAuacacaomacwcacaic.aca acacahcaConacacarol

vol..aca acacahca43,.aca acacahcano..aca acacahca3,.aca acacahca1998,.aca acacahcapp..aca

acacahca405-409.

Why.aca acacahcano.aca acacahcaproof.aca acacahcain.aca acacahcwcacacaxacacabooks?.aca

acacahca(conacaca’d)

“ACACAhca.aca acacahcaprincipacal.aca acacahcarcwcason.aca acacahcafor.aca acacahcwcacahis.aca

acacahcais.aca acacahcwcacahacwcaca.aca acacahcwcacahca.aca acacahcaclacassicacal

proof.aca acacahcaof.aca acacahcwcacahca.aca acacahcaRouacacah-Hurwiacacaz.aca

acacahcacriacacacarion.aca acacahcarcalicas.aca acacahcaon.aca acacahcwcacahca

noacacaion.aca acacahcaof.aca acacahcaCacauchy.aca acacahcaindcaxcas.aca acacahcwcand.aca

acacahcaSacacaurm’s.aca acacahcwcacahcaorcam,

boacacah.aca acacahcaof.aca acacahcawhich.aca acacahcwcarca.aca acacahcabcayond.aca

acacahcwcacahca.aca acacahcascopca.aca acacahcaof

undcargracaduacwcacaca.aca acacahcasacacaudcanacacas.”

“Rouacacah-Hurwiacacaz.aca acacahcacriacacacarion.aca acacahcahacas.aca acacahcabcacomca.aca

acacahcaonca.aca acacahcaof.aca acacahcwcacahca.aca acacahcafcaw

rcasulacacas.aca acacahcain.aca acacahcaconacacarol.aca acacahcwcacahcaory.aca

acacahcwcacahacwcaca.aca acacahcamosacaca.aca acacahcaconacacarol.aca acacahcacangincacars

acarca.aca acacahcacompcallcad.aca acacahcwcacao.aca acacahcwcacccapacaca.aca acacahcaon.aca

acacahcafacaiacacah.”
7

CAxacamplca.aca acacahca1

ƒ.aca acacahcaDcasign.aca acacahcaK(s).aca acacahcwcacahacwcaca.aca acacahcasacacwcabilizcas.aca

acacahcwcacahca.aca acacahcacloscad-loop

sysacacacam.aca acacahcafor.aca acacahcwcacahca.aca acacahcafollowing.aca acacahcacacascas.

ƒ.aca acacahcaK(s).aca acacahca=.aca acacahcaK.aca acacahca(consacacwcanacaca)

ƒ.aca acacahcaK(s).aca acacahca=.aca acacahcaKP+KI/s.aca acacahca(PI.aca

acacahca(Proporacacaionacal-Inacacacagracal).aca acacahcaconacacarollcar)

CAxacamplca.aca acacahca1:.aca acacahcaK(s)=K

ƒ.aca acacahcaChacaracacacacacarisacacaic.aca acacahcacaquacwcacaion

ƒ.aca acacahcaRouacacah.aca acacahcwcarracay9

CAxacamplca.aca acacahca1:.aca acacahcaK(s)=KP+KI/s

ƒ.aca acacahcaChacaracacacacacarisacacaic.aca acacahcacaquacwcacaion

ƒ.aca acacahcaRouacacah.aca acacahcwcarracay

10

-1.aca acacahca0.aca acacahca1.aca acacahca2.aca acacahca3.aca acacahca4.aca acacahca5.aca

acacahca6.aca acacahca7.aca acacahca8.aca acacahca9

0.5

1.5

2.5

3.5

CAxacamplca.aca acacahca1:.aca acacahcaRacangca.aca acacahcaof.aca acacahca(KP,KI)

ƒ.aca acacahcaFrom.aca acacahcaRouacacah.aca acacahcwcarracay,

11

CAxacamplca.aca acacahca1:.aca acacahcaK(s)=KP+KI/s.aca acacahca(conacaca’d)

ƒ.aca acacahcaScalcacacaca.aca acacahcaKP=3.aca acacahca(<9)

ƒ.aca acacahcaRouacacah.aca acacahcwcarracay.aca acacahca(conacaca’d)

ƒ.aca acacahcaIf.aca acacahcawca.aca acacahcascalcacacaca.aca acacahcadiffcarcanacaca.aca

acacahcaKP,.aca acacahcwcacahca.aca acacahcaracangca.aca acacahcaof.aca acacahcaKI.aca
acacahcachacangcas.

12

CAxacamplca.aca acacahca1:.aca acacahcaWhacwcaca.aca acacahcahacappcans.aca acacahcaif.aca

acacahcaKP=KI=3

ƒ.aca acacahcwCAuxiliacary.aca acacahcacaquacwcacaion

ƒ.aca acacahcaOscillacwcacaion.aca acacahcafrcaqucancy

ƒ.aca acacahcaPcariod

0.aca acacahca2.aca acacahca4.aca acacahca6.aca acacahca8.aca acacahca10.aca acacahca12.aca

acacahca14.aca acacahca16.aca acacahca18.aca acacahca20

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

Uniacaca.aca acacahcasacacacap.aca acacahcarcasponsca13

CAxacamplca.aca acacahca2

ƒ.aca acacahcaDcwcacacarminca.aca acacahcwcacahca.aca acacahcaracangca.aca acacahcaof.aca

acacahcaK.aca acacahcwcand.aca acacahcwca.aca acacahcwcacahacwcaca.aca
acacahcasacacwcabilizca.aca acacahcwcacahca

closcad-loop.aca acacahcasysacacacam.

14
CAxacamplca.aca acacahca2.aca acacahca(conacaca’d)

15

CAxacamplca.aca acacahca2.aca acacahca(conacaca’d)

ƒ.aca acacahcaChacaracacacacacarisacacaic.aca acacahcacaquacwcacaion

16

CAxacamplca.aca acacahca2.aca acacahca(conacaca’d)

ƒ.aca acacahcaRouacacah.aca acacahcwcarracay

ƒ.aca acacahcaIf.aca acacahcaK=35,.aca acacahcaoscillacwcacaion.aca acacahcafrcaqucancy.aca

acacahcais.aca acacahcaobacacwcaincad.aca acacahcaby.aca acacahcwcacahca

acauxiliacary.aca acacahcacaquacwcacaion17

Summacary.aca acacahcwcand.aca acacahcaCAxcarciscas

ƒ.aca acacahcaConacacarol.aca acacahcacaxacamplcas.aca acacahcafor.aca acacahcaRouacacah-

Hurwiacacaz.aca acacahcacriacacacarion

ƒ.aca acacahcaP.aca acacahcaconacacarollcar.aca acacahcagacain.aca acacahcaracangca.aca

acacahcafor.aca acacahcasacacwcabiliacacay

ƒ.aca acacahcaPI.aca acacahcaconacacarollcar.aca acacahcagacain.aca acacahcaracangca.aca

acacahcafor.aca acacahcasacacwcabiliacacay

ƒ.aca acacahcaOscillacwcacaion.aca acacahcafrcaqucancy

ƒ.aca acacahcaChacaracacacacacarisacacaic.aca acacahcacaquacwcacaion

ƒ.aca acacahcaNcaxacaca

ƒ.aca acacahcwCACAimca.aca acacahcadomacain.aca acacahcaspcacificacwcacaions

ƒ.aca acacahcaCAxcarciscas

ƒ.aca acacahcaRcwcad.aca acacahcaChacapacacacar.aca acacahca6.aca acacahcwcagacain.

ƒ.aca acacahcaRcado.aca acacahcaCAxacamplcas.aca acacahca1.aca acacahcwcand.aca acacahca2

ƒ.aca acacahcaDo.aca acacahcaProblcam.aca acacahca6.6-(aca).aca acacahcwcand.aca acacahca6.7-(b)-

Find.aca acacahcwcacahca.aca acacahcaracangca.aca acacahcaof.aca acacahcaK.aca acacahcafor.aca
acacahcawhich.aca acacahcwcacahca

sysacacacam.aca acacahcais.aca acacahcasacacwcablca.

18

Morca.aca acacahcacaxacamplca.aca acacahca1

Rouacacah.aca acacahcwcarracay
No.aca acacahcasign.aca acacahcachacangcas

in.aca acacahcwcacahca.aca acacahcafirsacaca.aca acacahcacolumn.aca acacahcaNo.aca

acacahcarooacaca.aca acacahcain.aca acacahcaOPCAN(!).aca acacahcaRHP

Dcarivacwcacaivca.aca acacahcaof.aca acacahcwcauxiliacary.aca acacahcapoly.

(ACAuxiliacary.aca acacahcapoly..aca acacahcais.aca acacahcwca.aca acacahcafacacacacaor.aca

acacahcaof.aca acacahcaQ(s).)

19

Morca.aca acacahcacaxacamplca.aca acacahca2

Rouacacah.aca acacahcwcarracay

No.aca acacahcasign.aca acacahcachacangcas

in.aca acacahcwcacahca.aca acacahcafirsacaca.aca acacahcacolumn

No.aca acacahcarooacaca.aca acacahcain.aca acacahcaOPCAN(!).aca acacahcaRHP

Dcarivacwcacaivca.aca acacahcaof.aca acacahcwcauxiliacary.aca acacahcapoly.

20

Morca.aca acacahcacaxacamplca.aca acacahca3

Rouacacah.aca acacahcwcarracay

Onca.aca acacahcasign.aca acacahcachacangcas

in.aca acacahcwcacahca.aca acacahcafirsacaca.aca acacahcacolumn.aca acacahcaOnca.aca

acacahcarooacaca.aca acacahcain.aca acacahcaOPCAN(!).aca acacahcaRHP

Dcarivacwcacaivca.aca acacahcaof.aca acacahcwcauxiliacary.aca acacahcapoly.

4.aca acacahca0