 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬


 W‫א‬‫א‬
 EF‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬

0
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 ‫א‬ ،‫א‬‫א‬،‫א‬ 
 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  ‫א‬
 K‫א‬‫א‬‫א‬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‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬ ‫א‬‫א‬
 K‫א‬
  ?   J‫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 
 K‫א‬
‫א‬‫א‬‫א‬‫א‬
 

1
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 ‫א‬
‫א‬ ‫א‬
٨ ‫א‬W‫א‬‫א‬
١٠  .١-١

١١ ‫א‬‫א‬‫א‬ .٢-١

١٣  ‫א‬ .٣-١

١٣ ‫א‬‫א‬‫ א‬1-3-1
١٤ ‫א‬‫א‬‫ א‬1-3-1
١٥ ‫א‬‫א‬‫ א‬1-3-1
١٧  1-3-1
١٩   5-3-1

٢٠  ٤-١
٢١  ‫א‬‫א‬1-4-1
٢٣  ‫א‬‫א‬ 2-4-1

٢٨ ‫א‬ .٥-١

٢٩  ‫א‬‫א‬ .٦-١

٣٢ ‫א‬‫א‬‫א‬‫א‬ 1-6-1
٣٢  ‫א‬‫א‬‫א‬‫א‬2-6-1
٣٣  ‫א‬‫א‬‫א‬‫א‬‫א‬3-6-1

٣٤ ‫א‬‫א‬ .٧-١

٣٥  ‫א‬‫א‬‫א‬‫א‬1-7-1
٣٥  ‫א‬‫א‬2-7-1

٣٨  ‫א‬‫א‬ .٨-١

٣٩ ‫א‬‫א‬ 1-8-1

2
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬ ‫א‬
٤١  ‫א‬‫א‬‫א‬2-8-1
٤٨  ‫א‬.9-1
٤٩ ‫א‬‫א‬ 1-9-1
٥١  2-9-1
٥٤  
٥٨  ‫א‬‫א‬‫א‬W‫א‬‫א‬
٦٠   ١-٢
٦١ ‫א‬‫א‬‫ א‬٢-٢
65 K‫א‬‫א‬‫א‬ ٣-٢
65  ‫א‬‫ א‬١-٣-٢
65  ‫א‬‫ א‬١-١-٣-٢
٦٦  ‫א‬‫ א‬.٢-١-٣-٢
٦٧ ‫א‬‫ א‬٢-٣-٢
٦٧  ‫א‬‫ א‬١-٢-٣-٢
٦٩  ‫א‬‫ א‬٢-٢-٣-٢
٧١  ‫א‬‫ א‬٣-٢-٣-٢
٧٢  ‫א‬‫א‬‫ א‬٤-٢-٣-٢
٧٣  ‫א‬‫א‬‫א‬‫ א‬٥-٢-٣-٢
٧٥  ‫א‬‫ א‬٤-٢
٧٦  ‫א‬‫א‬ ٥-٢
٧٧  ‫א‬ ١-٥-٢
٧٨  ‫א‬‫ א‬٢-٥-٢
٨٠  

3
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬ ‫א‬
٨٢  ‫א‬‫א‬‫א‬W‫א‬‫א‬
٨٤  .١-٣

٨٥  K‫א‬‫א‬‫א‬ .٢-٣

٨٨  ‫א‬‫א‬‫א‬‫א‬ ٣-٣

٨٨  ‫א‬ ١-٣-٣

٨٨  ‫א‬‫א‬‫א‬‫א‬ ٢-٣-٣

٩١  ‫א‬‫א‬ ١-٢-٣-٣

٩٢  ‫א‬‫א‬‫א‬‫א‬‫א‬٢-٢-٣-٣
٩٤  ‫א‬‫א‬‫א‬‫א‬ ٣ -٣-٣

٩٥ ‫א‬‫א‬‫א‬١-٣-٣-٣
٩٥ ‫א‬‫א‬٢-٣-٣-٣
٩٥ ‫א‬‫א‬ ٣-٣-٣-٣
١٠٠ ‫א‬‫א‬ ٤-٣-٣-٣
١٠٤  
١٠٧ ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
١٠٩  ‫א‬‫א‬‫א‬ .١-٤

١١٠ K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ .٢-٤

١١١  ‫א‬‫א‬‫א‬‫א‬ .٣-٤

١١٢  ‫א‬‫א‬‫א‬ .٤-٤

١١٣  ‫א‬‫א‬‫א‬ .٥-٤

١١٥  ‫א‬‫א‬‫א‬ .٦-٤

١١٧  ‫א‬‫א‬‫א‬‫א‬ .٧-٤

١١٩  ‫א‬‫א‬‫א‬‫א‬‫א‬ .٨-٤

4
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬ ‫א‬
١٢٢  
١٢٥ 
١٣٠ ‫א‬‫א‬
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

5
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

 
،،‫א‬‫א‬،‫א‬‫א‬
‫א‬?‫א‬‫א‬?W‫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
 K‫א‬‫א‬
 W‫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
 K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K
 

6
 EF‫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
 K‫א‬‫א‬‫א‬
 
  

7
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

 

‫א‬‫א‬
‫א‬‫א‬

8
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬ K١
 K‫א‬‫א‬‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬ K٣
K‫א‬‫א‬ K٤
K‫א‬‫א‬‫א‬ K٥
K‫א‬‫א‬‫א‬‫א‬ K٦
 K‫א‬‫א‬‫א‬‫א‬ K٧
‫א‬‫א‬‫א‬ K٨
K‫א‬‫א‬‫א‬ K٩
K‫א‬‫א‬ K١٠
‫א‬‫א‬‫א‬‫א‬‫א‬ K١١
EF
 

9
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Introduction J1.1
(Automatic Control systemsF‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬
K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬E  ‫א‬F‫א‬‫א‬
 K‫א‬
K‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬ 
‫א‬‫א‬‫א‬
KE‫א‬‫א‬F‫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
 W‫א‬
 ،‫א‬‫א‬‫א‬ 
 ،‫א‬‫א‬ 
 ،‫א‬‫ א‬
 ،‫א‬‫א‬‫ א‬
 K‫א‬‫ א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ (Robot)‫א‬‫א‬EComputersF‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ،‫א‬‫א‬‫א‬‫א‬
Urban Planning‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

10
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬ KEEnvironmentF‫א‬
 W،‫א‬‫א‬‫א‬
 ،‫א‬ 
 ،‫א‬‫א‬ 
 ،‫א‬‫א‬‫א‬‫א‬ 
 ،‫א‬‫א‬ 
 ،‫א‬ 
 ‫א‬‫א‬‫ א‬
 ‫א‬KKK‫א‬‫ א‬

(Control System's Components).‫א‬‫א‬‫ א‬2.1

 E‫א‬ ‫א‬     F    (١-١) ‫א‬
‫א‬‫א‬ K
‫א‬     ‫א‬ ‫א‬ ‫א‬ ‫א‬    
 W‫א‬‫א‬‫א‬‫א‬
 
(controlled  
(commad)
variable)  
‫األمر‬ +E ‫א‬‫א‬‫א‬‫א‬
‫א‬
‫عنصر الدخل‬
‫المرجعي‬  ‫الحاكم‬
Controller
‫عناصر‬
‫التحكم‬ 
 
 
-
 
 
 

‫عنصر التغذية الخلفية‬

 
 
  (1-1)

11
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
( Controlled Variable)‫א‬‫א‬ 
‫א‬‫א‬ ‫א‬‫א‬  K‫א‬ 
‫א‬    ‫א‬ ‫א‬‫א‬ ‫א‬  ‫א‬ ‫א‬  K‫א‬  ‫א‬
 K‫א‬‫א‬
(Plant)‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬
          K   ‫א‬
 K،،،
(Disturbance)‫א‬ 
‫א‬‫א‬ ‫א‬   ‫א‬        ‫א‬  ‫א‬
 ‫א‬ ‫א‬  ‫א‬ W  K‫א‬    ‫א‬  ‫א‬
 K‫א‬
 (Reference Signal)‫א‬‫א‬ 
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
  (Output Signal)‫א‬ 
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 K‫א‬
 (Error Signal) ‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
E‫א‬F‫א‬‫א‬K‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 
 

12
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
(Controller)‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬
 K‫א‬‫א‬
(Sensors)‫א‬ 
‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
(Actuators)‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
 (Final Control Elements)‫א‬‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
 K‫א‬‫א‬‫א‬
 
 (Illustrative Examples) ‫א‬ 3.1
‫א‬ ‫א‬ ‫א‬    ‫א‬      
 W‫א‬
 W‫א‬‫א‬‫א‬ 1.3.1
‫א‬ (2-١)
‫א‬‫א‬‫א‬
‫א‬‫א‬ ‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

13
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬ ‫א‬‫א‬‫א‬
F‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬ ‫א‬E‫א‬
 ‫א‬‫א‬
 

 




‫א‬

‫א‬



‫א‬
‫א‬
E1J(2-1)  
1F
 
 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬
K  ‫א‬‫א‬
 
W‫א‬‫א‬‫א‬‫ א‬2.3.1
‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬E3-1F‫א‬
 

14
  EF‫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
KE‫א‬‫א‬‫א‬‫א‬F‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 K

‫א‬‫א‬ 

‫א‬‫א‬

 
‫א‬


‫א‬

‫א‬(3-1) 
 
 
 W‫א‬‫א‬‫ א‬3.3.1
‫א‬E‫א‬F‫א‬Ea-4-1F
E‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

15
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E‫א‬‫א‬F
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 



Controller
Pneumatic valve

‫א‬
Inflow



(a) Outflow

‫א‬ ‫א‬ ‫א‬‫א‬

Actual level
Pneumatic
Controller Water tank
valve ‫א‬‫א‬
‫א‬‫א‬ 
Desired level

Float

(b)
‫א‬‫א‬(4-1) 

 
 
 
 

16
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬‫א‬Eb-4-1 )‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 
 WE‫א‬F 4.3.1
F‫א‬‫א‬‫א‬(a-5-1)‫א‬‫א‬‫א‬
‫א‬‫א‬  ‫א‬ ‫א‬‫א‬E
‫א‬‫א‬‫א‬‫א‬‫א‬
F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬E‫א‬‫א‬‫א‬FE‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬  Eb-5-1F‫א‬K‫א‬
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

17
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 

‫א‬
Brain

‫א‬‫א‬‫א‬
‫א‬
‫א‬ ‫א‬‫א‬
‫א‬‫א‬

‫א‬
(a)

‫א‬Ea-5-1F
‫א‬  ‫א‬
‫א‬ ‫א‬ ‫א‬ ‫א‬
‫א‬‫א‬ ‫א‬
Output
Brain Hand
Input Hand
Muscle

‫א‬
Eye

(b)

‫א‬(b-5-1) 
 
 
 
 
 
 
 
 

18
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W 5.3.1
E6-1F‫א‬
‫א‬Pulses‫א‬K 
 
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ .Va ‫א‬‫א‬
‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬E‫א‬F‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬
 K‫א‬

‫א‬‫א‬
‫א‬ ‫א‬
Va

‫א‬ 
‫א‬
‫التحكم‬ ‫محكوم‬


‫א‬‫א‬

 (6-1) 

 
 
 
 
 
 
 

19
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Laplace Transformation 4.1
‫א‬ ‫א‬ ‫א‬   Laplace Transformations    
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬       ‫א‬‫א‬    t ‫א‬  
.S‫א‬‫א‬‫א‬S
   S ‫א‬ ‫א‬   ‫א‬ ‫א‬     ‫א‬
‫א‬ ‫א‬‫א‬‫א‬ 
 K‫א‬
‫א‬ σReal PartW‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬KjωImaginary Part
‫א‬‫א‬‫א‬‫א‬σ-axis‫א‬‫א‬‫א‬‫א‬‫א‬
 K(٧-١)(S-plane)S‫א‬‫א‬‫א‬jω-axis ‫א‬
 

jω

s-plane

ω1 σ1 + jω1
s1

0 σ1 σ

S‫א‬‫א‬E7-1F
-
 


20
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬ 1.4.1
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬
‫א‬(t) ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬f(t)‫א‬‫א‬
‫א‬‫א‬‫א‬KF(s)ESF‫א‬‫א‬
 W‫א‬‫א‬
Ks‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬ 
Ks‫א‬
 Ks‫א‬‫א‬‫א‬‫א‬ 
 W‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬Zf(t)
 .( f(t)‫א‬‫א‬‫א‬‫א‬Fs‫א‬‫א‬‫א‬‫א‬ZF(s)
 
 s = σ + jω ‫א‬‫א‬Zs
 ‫א‬Z L
W‫א‬‫א‬f(t )‫א‬‫א‬

  F ( s )  L [ f ( t )]   f ( t ) e  st dt (1  1 )
0

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
1-1
 K‫א‬‫א‬‫א‬‫א‬

 0 t < 0
f (t )  
K t  0

21
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 ‫א‬‫א‬(8-1)‫א‬‫א‬K
 
f(t )

t
0

‫א‬‫א‬ (8-1) 

 
 W‫א‬
  JW‫א‬


 Ke
 st
L [ f ( t )]  dt
0

  F (s)  S e
K
 st 
0 
S

K 

e  e0 
K
S
K
L [ f ( t )]  F ( s ) 
S
 
unit step function‫א‬‫א‬K
 ‫א‬‫א‬‫א‬‫א‬
1
  F (s) 
S
2-1 
Exponential Function‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 
 0 t <0
  f ( t )    kt
e t0
 
 ‫א‬‫א‬‫א‬(9-1)‫א‬K‫א‬k 

22
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
f(t)
 
k

f(t) = e-kt

(t)

‫א‬ (9-1) 

 
 ‫א‬
W‫א‬‫א‬‫א‬
 

 e e dt  e
 kt  st ( s  k )t
L [ f ( t )]  dt
0 0

1
F (s)   e  ( s  k ) t 0
SK
 

1
SK
e   e 0  1
SK
[ 0  1]

1
L [ f ( t )]  F ( s ) 
SK

 Laplace Transform Theorems 2.4.1

W‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬

23
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
  L [ k.f(t) ]  k.F(s) ( 2  1)
 ‫א‬k
 ‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
  L [ f 1(t)  f 2 (t)]  F1(s)  F 2 (s) ( 3  1 ) 
 
‫א‬‫א‬‫א‬‫ א‬
‫ف إن التحوي ل الالبالس ي للمش تقة األول ي‬ f(t) ‫א‬‫א‬‫א‬ F (s) 
 ‫א‬ ‫للدالة‬
df(t)
  L[ ]  SF(s)-f( 0 ) (4 - 1)
dt

 Kt = 0f(t)‫א‬‫א‬‫א‬‫א‬f(0)
 W‫א‬‫א‬‫א‬‫א‬
d 2 f(t)
  L[ 2 ]  S F(s)  Sf( 0 )-f ( 0 ) (5  1)
2

dt
 W‫א‬‫א‬‫א‬‫א‬
d n f(t) n
  L [ n ]  S n F(s)   S n  k f k 1
(0) ( 6  1)
dt k 1

 
t = 0(k-1)‫א‬‫א‬ f k 1 (0) 
 ‫א‬‫א‬‫א‬‫ א‬
 W‫א‬f(t)‫א‬‫א‬‫א‬‫א‬
F(s)  f(t) 
  L [  f (t)dt ]   t0
( 7  1)
S S
 
 t=0 ‫א‬‫א‬  f ( t ) dt 
t0

 

24
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 ‫א‬‫א‬‫א‬ 
  L [ f (t - T)]  e  sT F ( s ) (8-1)
WS ‫א‬‫א‬ 
  L [ e kt f (t)]  F ( s  k )  (9-1) 

‫א‬ 
1 s
  L [ f (at)]  F( ) (10-1)
a a

‫א‬‫א‬‫א‬ 
 f(0)‫א‬f(t)‫א‬‫א‬‫א‬‫א‬‫א‬
f(0)  lim f ( t )  lim ( SF ( s )) (11-1) 
t 0 S

‫א‬‫א‬ 
  f(∞)‫א‬f(t)‫א‬‫א‬‫א‬ ‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
f(  )  lim f ( t )  lim ( SF ( s )) (12-1) 
t  S0

 
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 
 
 
 
 
 
 

25
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
 
f(t) F(s)
 
1 unit impulse δ(t) 1

1
 
2 Unit step 1(t) s
 
1
3 t
s2  
1
4 e-at  
sa
1  
5 te-at
(s  a) 2
ω
 
6 sin ωt
s  ω2  
2

s
7 cos ωt
s  ω2
2  
8 tn (n=1,2,3,…)
n!  
n 1
s
n!  
9 tne-at (t=1,2,3,…)
(s  a) n 1
 
1 1
10 (e at  e  bt )
b -a (s  a)(s  b)  
1 s
11 (be  bt  ae at )  
b -a (s  a)(s  b)

12
1 
1
1 
(be at  ae  bt )
1  

ab  a  b  s(s  a)(s  b)
ω  
13 e-atsin ωt
(s  a) 2  ω 2
 
s a
14 e-atcos ωt (s  a) 2  ω 2  
1
15 1
(at  1  e at ) 2
s (s  a)
 
2
a
ωn
e  ζωn t sinωn 1  ζ 2 t
ω2n  
16
1 ζ 2
s 2  2ζn s  ω2n
 
1 2
n t sin(n 1 t  )
e
1 2 s
 
s  2ζn s  ω 2n
2
17 1  2
  tan 1

 

26
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
3-1
 W‫א‬‫א‬‫א‬‫א‬
1  f(t)  15
2  f(t)  5  4 e - 2 t
3  f(t)  t- 2 e -t
  4  x(t)  e - 5 t sin 4t
5  y(t)  2 t  cos t
6  h(t)  100  14 t  8 cos t
 W‫א‬
W‫א‬E2-1F‫א‬
 
15
1  F ( s )  L [15] 
s
  5 4 9s  10
2 - F(s)  L [5  4e - 2t ]  L [ 5 ]  L [ 4 e  t ]   
s s  2 s(s  2)
1 2 (1  s - 2s 2 )
  3  F(s)  L [t - 2e ]  L [ t ]  L [ 2 e ]  ( 2 )  (
-t t
)
s s 1 s 2 ( s  1)
4 4
4  X(s)  L [e - 5t sin4t]  [ ] 
(s  5) 2  4 2 (s  5) 2  16
2 s
5  Y(s)  L [2t  cos3t]  2  2
  s s 9
100 14 8s
6  H(s)  L [100  14t  8cost]   2  2
s s s 1

 ٤‫א‬s‫א‬‫א‬‫א‬W
 
 
 
 
 

27
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Inverse Laplace Transformation‫א‬ 5.1
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬KEtF‫א‬‫א‬‫א‬‫א‬EsF
-1
 W L ‫א‬f(t)‫א‬‫א‬F(s)‫א‬‫א‬
c  j
1
  f ( t )  L [ F (s)]   F ( s )e
st
-1
ds (13-1)
2 j c  j

 W
 f(t)‫א‬‫א‬‫א‬F(s)
-1
 ‫א‬‫א‬‫א‬ L 
4-1
1
F(s)  ‫א‬‫א‬
s  10
 
 W‫א‬
‫א‬‫א‬E1-2F‫א‬ ٤‫א‬‫א‬
 Wa=10W
1
 f(t)  L - 1 [ ]  e  10 t 
s  10

 5-1
27
  F(s)  ‫א‬‫א‬
s  81
2

 W‫א‬
‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬6
 
9
  F(s)  3
s  92
2

 

28
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
3 ‫א‬‫א‬‫א‬‫א‬
 W   9 
  f(t)  L -1 [ F(s) ]  3 sin ( 9 t)
 
  Partial Fraction‫א‬‫א‬ 1.5.1
E2-1F‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K
‫א‬‫א‬K‫א‬
  .Partial Fraction‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
  ‫א‬
( s  z 1 ) ( s  z 2 ) .......... (s - z m )
  F (s)  K (14-1)
( s  P1 )(s - P2 )......... ..( s  Pn )
 W
 K‫א‬K
 K‫א‬‫א‬( p1 ,p 2 ,..... p n )
 K‫א‬‫א‬E z1 ,z 2 ,..... zm F
 K‫א‬‫א‬‫א‬
 
 K‫א‬‫א‬‫א‬W‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
A1 A2 An
  F(s)    .......  (15-1)
s  p1 s  p 2 s  pn

 ‫א‬ A n .......... .......... ., A 2 , A1 ‫א‬‫א‬

 

29
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
A 1  (s  p 1 ).F(s) s   p1

A 2  (s  p 2 ).F(s) s  p2
(16  1 )

A n  (s  p n ).F(s) s  pn

‫א‬‫א‬(15-1)‫א‬ A1 , A 2 ,..... A n ‫א‬‫א‬

 W‫א‬‫א‬‫א‬‫א‬
 
  F(t)  L [F(s)]  A1e 1  A2 e 2  ........  An e n (17-1)
-1 -p t -p t -p t

 
6-1
 K‫א‬‫א‬‫א‬
12
  Y(s) 
s( s  1)(s  4)
 W‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
A1 A 2 A3
  Y(s)   
s s 1 s  4
 W A1 , A 2 A3 ‫א‬‫א‬
12 12 12
A1  s   3
s(s  1)(s  4) s0
(0  1)(0  4) 4

 A2  (s  1)
12

12

12
 4
s(s  1)(s  4) s  -1
1(  1  4 )  3
12 12 12
A 3  (s  4)   1
s(s  1)(s  4) s  4
- 4(-4  1) 12

 W‫א‬‫א‬‫א‬‫א‬
Y(s) 
3

4

1  
s s 1 s  4
 
3 4 1
y ( t )  L - 1 [ Y(s)]  L - 1 [ ]  L - 1 [ ]  L-1 [ ]
s s 1 s4  
y (t )  3  4 e t  e  4 t  
 
 

30
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

 ‫א‬‫א‬W‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬k
Ak Ak- 1 A1
F(s)   k 1
 .......  (18-1)
(s  p) k
(s  p) (s  p)
 K‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬Ak‫א‬W 
  Ak  (s  p) k .F(s)
s p
(19-1)
 ‫א‬‫א‬‫א‬‫א‬‫א‬W 
  Ak  r 
1 dr
r ! ds r

(s  p) k .F(s)  s p
 (20-1)

 Ek-1FKKKKKKKKKKKKKKKKKKKKK٣٢١r
 
8-1
 ‫א‬‫א‬‫א‬
2
 2S  3
  F (s)  S
( s  1) 3
 ‫א‬
 W‫א‬‫א‬‫א‬EF‫א‬‫א‬‫א‬
A3 A2 A1
  F ( s)   
( s  1) 3
( s  1) 2
( s  1)
 
 W‫א‬‫א‬‫א‬‫א‬
 
 A S 2
 2S  3
3  (s  1 ) 3 .  (  1) 2  2 (  1)  3  2
( s  1) 3 s  1

1 d 1
 S  2S  3 
2
  A2   (s  1 ) 3 .   2s  2  0
1! ds 1
 ( s  1) 3  s 1
s  1

2
 S  2S  3 
2
  A1 
1 d
 (s  1 ) 3 .  
1
2  1
2 ! ds 2
 ( s  1) 3  s 1
2 s 1

 

31
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 K‫א‬‫א‬‫א‬‫א‬‫א‬
2 1
  F (s)  
( s  1) ( s  1)
3

 S ‫א‬‫א‬‫א‬‫א‬
2 t t t 2
  f (t)  t e  e  e (t 1)
 
 Classification of Control Systems‫א‬‫א‬ 6.1
 W‫א‬
Open loop control system‫א‬‫א‬‫א‬‫א‬ 
 KClosed loop control system‫א‬‫א‬‫א‬‫א‬ 
 
 Open Loop Control Systems‫א‬‫א‬‫א‬‫א‬ 1.6.1
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
 K‫א‬‫א‬
 

Actuating signal
‫األمر‬
‫الحاكم‬ ‫المشغل‬ ‫النظام المحكوم‬
(Command) ‫א‬
(controlled variable)

‫א‬ (10-1)  

 
 

32
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬K‫א‬‫א‬‫א‬‫א‬ (10-1)‫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
 
 Closed-loop Control Systems‫א‬‫א‬‫א‬‫א‬ 2.6.1
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
F‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬E‫א‬
‫א‬‫א‬‫א‬K‫א‬
 ‫א‬
 KFeedback Control System‫א‬‫א‬‫א‬‫א‬
 
 
(controlled variable) 
(commad) ‫א‬
‫األمر‬ +E ‫א‬‫א‬‫א‬‫א‬  

‫عنصر الدخل‬ ‫الحاكم‬ ‫عناصر التحكم‬
‫المرجعي‬ Controller ‫النھائي‬ 
 
-  
 
 
 
‫عنصر التغذية الخلفية‬

 
 (11-1) 
 
 
 

33
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
،block diagram‫א‬‫א‬ (11-1)
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E‫א‬
‫א‬‫א‬controller‫א‬
‫א‬‫א‬‫א‬plant‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
 KOperational Amplifier ‫א‬‫א‬
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬ 3.6.1
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
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  J
‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬‫א‬  J
‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬
K‫א‬‫א‬‫א‬
 
 
 

34
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Transfer Function‫א‬‫א‬ 7.1
‫א‬‫א‬‫א‬Transfer Function ‫א‬‫א‬‫א‬
Initial Conditions ‫א‬‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬E‫א‬F‫א‬‫א‬‫א‬‫א‬KEF
 
‫א‬ ‫ א‬‫א‬  
= ‫א‬‫א‬
  ‫ א‬‫א‬
‫א‬ 
 
 ‫א‬‫א‬‫א‬‫א‬ 1.7.1
 ‫א‬‫א‬
d n c (t ) d n 1c (t ) d n  2 c (t ) dc (t )
an  a  a  ...  a1  a o c (t )
dt n n 1
dt n 1 n2
dt n 1
dt (21-1)
 
d m r (t ) d m 1 r (t ) d m  2 r (t ) dr (t )
 bm m
 b m 1  b m2  ...  b1  bo r (t ) (n  m)
dt dt dt dt
 W
 c = output of the system ‫א‬
 r = input of the system ‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
 
a 
s n  a1 s n  1  a 2 s n  2  ...  a 1 s  a o C ( s )
  n
(22-1)

 b m s m  b1 s m  1  b2 s m  2  ...  bm  1 s  bo R (s)
 ‫א‬‫א‬
 
m 1 m2
C(s) b m s  bm 1 s  bm  2 s  ...  b1 s  bo
m

T. F.  G(s)   (23-1) 

R(s) a n s n  a n 1 s n 1  a n 2 s n  2  ....  a1 s  ao
 
 

35
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
8-1
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 0.1 c"(t)+2c'+c(t) = 4r(t)

‫א‬‫א‬ ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬

 0.1S2C(s)+2SC(s)+C(s)=4R(s)
 ‫א‬‫א‬‫א‬C(s)W‫א‬‫א‬
 (0.1S2+2S+1)C(s)=4R(s)
  C(s)     ‫א‬  ‫א‬  W ‫א‬ ‫א‬
 KR(s) 
C (s) 4
  T .F .( s )  
R ( s ) 0 . 1S  2 S  1
2

 
 
‫א‬‫א‬ 2.7.1
K  (12-1 )‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 

E(s)  
R(s) G(s) C(s)
 
B(s)  
H(s)  
 
 
 (12-1 )
 
 

36
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬‫א‬‫א‬
 C(s) = E(s)G(s) I
E(s) = R(s) - B(s) II
B(s) = C(s)H(s) III

 I‫א‬‫א‬II‫א‬III‫א‬
C(s) = [R(s) - C(s)H(s)]G(s)
 ‫א‬‫א‬

C(s)[(1+G(s)H(s)] = R(s)G(s)

 ‫א‬‫א‬‫א‬‫א‬ R(s)C(s)
 
TF ( s ) 
C (s)

G (s)
(24-1) 
R (s) 1  G (s)H (s)

‫א‬‫א‬‫א‬‫א‬ 
  JW
 
G (s)
R(s) 1  G (s)H (s) C(s)

 ‫א‬‫א‬
 
forward path transfer function‫א‬‫א‬‫א‬ G(s)

 ‫א‬
C(s)
  G(s) 
E(s)
 ‫א‬feedback transfer function‫א‬‫א‬‫א‬H(s)
B(s)
  H(s) 
C(s)
 

37
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Block Diagram‫א‬‫ א‬8.1
‫א‬‫א‬‫א‬Block diagram‫א‬ ‫א‬
‫א‬‫א‬E‫א‬‫א‬F‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
‫א‬‫א‬blocks
K‫א‬‫א‬transfer function‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬(13-1 )‫א‬K‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 
 
X1(s) G1 ( s ) Y1(s)  
 
Y1 ( s )  
Y1 ( s )  G1 ( s ) X 1 ( s )  G1 ( s ) 
X1 ( s )
 
 
‫א‬‫א‬(13-1) 
 
 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  K‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬
‫א‬  K ‫א‬ ‫א‬     ‫א‬ ‫א‬ 
    ‫א‬ ‫א‬  ‫א‬  ‫א‬
    ‫א‬   ‫א‬ ‫א‬ ‫א‬  ‫א‬   K‫א‬
 K‫א‬‫א‬

38
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Elements of Block Diagram‫א‬‫א‬ 1.8.1
‫א‬‫א‬‫א‬
 K‫א‬
 ‫א‬‫א‬WBlocks‫ א‬E
‫א‬‫א‬‫א‬WBranch points‫א‬ E

‫א‬‫א‬‫א‬K(14-1)
K‫א‬‫א‬‫א‬‫א‬
 

C(s ) C(s )

C(s )

‫א‬‫א‬(14-1)
 
 
‫א‬ ‫א‬ WSumming Junctions  ‫א‬E
‫א‬ E‫א‬ F   ‫א‬
  ‫א‬    ‫א‬ ‫א‬   ‫א‬   K(15-1)
 K‫א‬‫א‬‫א‬
 
 
 
 
 
 
 
 

39
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

X1 (s)

+
X3(s - Y(s)
+

X 2( )
Y(s)  X1 (s)  X 2 (s)  X 3 (s)

‫א‬ (15-1) 

 
 
‫א‬‫א‬‫א‬WStraight Line‫א‬‫א‬E
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬WArrows ‫א‬E
 W‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
‫א‬‫א‬‫א‬‫א‬ ‫א‬ ‫א‬‫א‬ 
 K‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬ 
‫א‬‫א‬‫א‬‫א‬ 
K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ 
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 
 

40
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
Block Diagram Simplifications‫א‬‫א‬‫א‬ 2.8.1
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬E‫א‬‫א‬F
‫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G‫א‬K‫א‬‫א‬‫א‬
‫א‬‫א‬ X,Y,Z‫א‬‫א‬H‫א‬‫א‬
 KS‫א‬
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

41
 ‫‪‬א‪‬א‪ EF‬‬ ‫א‪‬א‪‬א‪‬א‪‬‬

‫‪ ‬‬
‫‪ ‬‬
‫‪ ‬‬
‫العالقة الرياضية التي‬
‫اإلجراء‬ ‫المخطط األصلي‬ ‫المخطط المكافي‬
‫تربط الدخل بالخرج‬

‫عنصران متصالن‬
‫‪1‬‬ ‫‪Y== (G‬‬ ‫‪1‬‬ ‫‪G 2)X‬‬ ‫‪X‬‬ ‫‪G1‬‬ ‫‪G2‬‬ ‫‪Y‬‬ ‫‪X‬‬ ‫‪G1 G2‬‬ ‫‪Y‬‬
‫على التوالي‬

‫عنصران متصالن‬
‫‪2‬‬ ‫‪Y = G1X ± G 2 X‬‬ ‫‪X‬‬ ‫‪+‬‬ ‫‪Y‬‬ ‫‪X‬‬ ‫‪Y‬‬
‫على التوازي‬ ‫‪G‬‬ ‫‪G1± G2‬‬
‫‪1‬‬
‫‪±‬‬

‫‪X‬‬ ‫‪G1‬‬ ‫‪Y‬‬

‫حذف مستطيل )عنصر( من‬ ‫‪G2‬‬ ‫‪+‬‬
‫‪3‬‬ ‫‪Y = G 1X ± G 2 X‬‬ ‫‪G2‬‬ ‫‪G2‬‬ ‫‪±‬‬
‫أحد المسارات األمامية‬

‫نظام تحكم ذو حلقة‬ ‫‪X‬‬ ‫‪G1‬‬ ‫‪Y‬‬

‫‪4‬‬ ‫‪Y = G1(X‬‬ ‫‪G 2)Y X‬‬ ‫‪+‬‬ ‫‪Y‬‬
‫‪G1‬‬ ‫‪1 ± G1 G2‬‬
‫تغذية مغلقة‬

‫‪X 1 +‬‬ ‫‪Y‬‬

‫‪G2‬‬ ‫‪G1G2‬‬
‫‪5‬‬ ‫‪ Y = G (X‬حذف مستطيل )عنصر( من‬ ‫‪G2)Y‬‬
‫‪1‬‬ ‫‪G2‬‬
‫أحد المسارات الخلفية‬

‫‪‬א‪‬א‪‬א‪EF‬‬
‫‪ ‬‬
‫‪ ‬‬
‫‪ ‬‬
‫‪ ‬‬
‫‪ ‬‬

‫‪42‬‬
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
‫א‬‫א‬‫א‬

‫نقل وصلة تجميع‬ X Z

Z = GX ± Y X Z G
6 G
‫أمام صندوق‬ 1 Y
Y
G

‫نقل وصلة تجميع‬ X Z Z

G X
Z = G(X ± Y) G
7
‫خلف صندوق‬ Y Y
G

X Y
‫نقل نقطة تفريع‬ X Y G
8 Y = GX
G
‫أمام صندوق‬ Y
Y G
Y Y
X
‫نقل نقطة تفريع‬ X
G G
9 Y = GX X
‫خلف صندوق‬ 1
G

 
 
9-1 :
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
G3  
 
R C
G1 G4 G2

 
H1
 
H2  
 

43
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 W‫א‬
 WG1,G4‫א‬‫א‬‫א‬ J١
 
G1 G4 = G1G4
 
 
 WG3,G2‫א‬‫א‬‫א‬ J٢
G3  
 
 
= G2+G3
G2
 
 
 W‫א‬‫א‬‫א‬‫א‬ J٣
 
G1G4 =
G1G4  
1  G1G4 H 1
 
 
H1
 
 ‫א‬‫א‬ J٤
R
G1G4 C  
G2+G3
1  G1G4 H 1  
 
H2  
 ‫א‬‫א‬‫א‬‫א‬‫א‬ J٥
R G1G4 (G2  G3 ) C  
1  G1G4 H1  
 
H2  
 

44
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬‫א‬‫א‬
 
G1G4 (G2  G3 )
C 1 G G H
  G ( s)  R  G G (G1 4 G1 ) H
1 1 4 2 3 2
1  G1G4 H1
‫א‬‫א‬ (1  G1G4 H ) ‫א‬‫א‬‫א‬
 
G1G4 (G2  G3 )
  G ( s) 
1  G1G4 H1  G1G4 (G2  G3 ) H 2
 
10-1 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
R
 
C
G1 G2 G3  
 
 
H
 
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ :‫א‬
 
C
R G1G2 G3  
 
(‫)أ‬
 
H
 
 
 

45
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
R G1G2 C
G3 
(‫)ب‬ 
1 G1G2 H
 
 
 
R G1G2G3 C
1 G1G2 H
 
(‫)ج‬

 
 
G1G2G3  
(‫)د‬
R C
1  G1G2 H  G1G2G3  
 W‫א‬‫א‬EF‫א‬
 
G1G 2 G 3

  C(s)  1 GG1GG 2GH

R(s) 1  1 2 3
1  G1G 2 H
 WE1  G1G 2 H F‫א‬‫א‬
G1G2G3
  C ( s) 
R( s) 1  G1G2 H  G1G2G3

11-1 
 K C ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
R
 
H2
 
C(s)
R(s) G1 G2 G3
 
 
 
H1
 
 

46
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 :‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 WG1‫א‬‫א‬‫א‬‫א‬
 
H2  
G1
R C  E
G1 G2 G3
 
 
H1  

 
H2
G1  E
 
R
  G1G2 C
1  G1G2 H1 G3
 

R G1G2G3 C
1  G1G2 H1  G2G3 H 2 E

G1G2G3 C
R
1  G1G2 H1  G2G3 H 2  G1G2G3  E
 
 
 

47
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬
G1G2G3
  G ( s)  C 
R 1  G1G2 H1  G2G3 H 2  G1G2G3

 
 Signal Flow Graph‫א‬ 9.1
K‫א‬‫א‬‫א‬‫א‬‫א‬EF
‫א‬‫א‬‫א‬‫א‬
‫א‬ K‫א‬‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬EF‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬EF
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
 K(16-1)‫א‬‫א‬
 

‫عقدة دخل‬
X4 (Source)
(‫عقد مختلطة ) التقاء‬
Mixed nodes
d

‫عقدة دخل‬ ‫عقدة خرج‬

(Source) a X2 b X3 1 (Sink)

X1 X3

‫א‬(16-1)

 
 

48
  EF‫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Mason's rule
 
 Basics of Signal Flow Graph‫א‬‫א‬ 1.9.1
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
K‫א‬‫א‬
 K(17-1F‫א‬‫א‬‫א‬
  a
(a)
X1 X2  
a b ab  
(b) =
X1 X2 X1 X3  
 
a
a+b  
(c) X1 X2 = X1 X2  
b  
a ac
X1 c X1  
(d) = X4
X4  
b bc
X2 X2  
ab  
a b X 1--bc
X2 X3
=
ab 3  
X1 X1 X1 X3
 
c bc
 
‫ א‬ ‫א‬ ‫ א‬ (17-1)

49
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬E17-1F‫א‬‫א‬
  X 2  aX 1 Ea17-1F‫א‬ X 2 ‫א‬ J١
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J٢
KEb17-1F
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J٣
Ec 17-1F
Ed 17-1F‫א‬‫א‬ J٤
WEe 17-1F‫א‬‫א‬ J٥

x 3  bx 2 , x 2  ax 1  cx 3

  x 3  abx 1  bcx 3 : ‫أي أن‬

x 3  [ ab /(1  bc ] x1 : ‫أو‬
 K‫א‬‫א‬‫א‬‫א‬(18-1)‫א‬
 

R(s) C(s) G(s)

G(s)
R(s) R(s)

R(s) E(s) C(s) 1 G(s)

G(s)
R(s) E(s) C(s)

-H(s)

H(s)

N(s)
N(s)
1
R(s)
E(s) C(s) 1 G 1(s) G2(s)
G1(s) G2(s) C(s)
R(s) E(s)

-H(s)

H(s)

‫א‬‫א‬‫א‬(18-1)
 
50
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
Mason's Rule  2.9.1
E‫א‬F‫א‬‫א‬G‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 W
1
 G   pk  k (25-1) 
 k
 
  pk  path gain of kth forward path K‫א‬‫א‬
  Δ  determinant of graph ‫א‬
 W
FHE‫א‬‫א‬‫א‬F J1} = Δ
F JE
 {KKKKKKKKKKKKKKKKKKKKKKHE‫א‬
 W
  1  La   Lb Lc   Ld Le L f  .......... (26-1)
a b ,c d ,e , f

 W
 ‫א‬‫א‬‫א‬=   La
a

 =  Lb Lc
b ,c

‫א‬=   Ld Le L f
d ,e , f

 
  k ‫א‬‫א‬‫א‬‫א‬‫א‬  =  k 
 
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 

51
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

12-1
‫א‬‫א‬‫א‬‫א‬ ‫א‬ ‫א‬ ‫א‬‫א‬
 ‫א‬‫א‬K ‫א‬ ‫א‬‫א‬‫א‬‫א‬
 K C ( s) ‫א‬‫א‬‫א‬
R( s)
 
H2
 
R(s) C(s 
G1 G2 G3
 
 
  H1
 
  -H2
 
 
R(s) 1 1   G1 G2 G3 1 C(s)

  C(s)

-H1  
 
-1  
 
 W‫א‬
 W‫א‬ J١
  P1  G 1 G 2 G 3
 W‫א‬ J٢
L1  G1G 2 H1
  L2  G 2G 3H 2
L3  G1G 2G 3
 

52
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W  ‫א‬‫א‬‫א‬‫א‬ J٣
Δ  1  (L1  L 2  L3 )
 
 1  G1G 2 H1  G 2 G 3H 2  G1G 2 G 3
‫א‬‫א‬‫א‬  1  P1 ‫א‬‫א‬‫א‬‫א‬‫א‬ J٤
 W  
  Δ 1 1
  C ( s) ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
R( s)
C ( s) P
G 1 1
R( s) 
  C(s) G1G 2 G 3

R(s) 1  G1G 2 H1  G 2G 3H 2  G1G 2G 3
 
 ‫א‬‫א‬
 
13-1
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K

G7
 
 
G6
 
 
G1 G2 G3 G4 G5  
R(s) C(s)
 
 
H1-
 
H2-  
 
 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬
 W‫א‬‫א‬
 W‫א‬ J١
P1  G 1G 2 G 3 G 4 G 5
  P2  G 1G 6 G 4 G 5
P3  G 1G 2 G 7
 W‫א‬ J٢
L1  G 4 H 1
 G 2 G 7 H 2
 L2
L 3  G 6 G 4 G 5 H 2
L 4  G 2 G 3G 4 G 5 H 2
 W   L 2  L1 ‫א‬‫א‬‫א‬ J٣
 Δ  1  (L 1  L 2  L 3  L 4 )  L 1 L 2

  Δ  1  G 4 H 1  G 2 G 7 H 2  G 6 G 4 G 5 H 2  G 2 G 3G 4 G 5 H 2  G 2 G 4 G 7 H 1 H 2
 P2  P1 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  3   2   1 
 W P3
  P2  P1 ‫א‬‫א‬‫א‬‫א‬
  1   2  1
 P3‫א‬‫א‬L1‫א‬‫א‬
   3  1  G4 H 1
 
C ( s ) P1  1  P2  2  p3  3
G 
R( s) 
 
C(s) G1G 2 G3 G 4 G5  G1G6 G4 G5  G1G 2 G7  G1G 2 G 4 G7 H 1

R(s) 1  G 4 H 1  G2 G7 H 2  G6 G4 G5 H 2  G2 G3 G4 G5 H 2  G2 G4 G7 H 1 H 2

 
 
 

54
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ -١

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ -٢

‫א‬‫א‬‫א‬‫א‬‫א‬ -٣

‫א‬‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬ -٤

‫؟‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ -٥

 W‫א‬‫א‬‫א‬‫א‬ -٦

 
( a ) g(t)  5te 5t u(t) (b) g(t)  (t sin 2t  e 2t )u(t)

(c ) g(t)  2e  2t sin 2tu(t) (d) g(t)  sin 2t cos 2tu(t)

 W‫א‬‫א‬‫א‬ -٧

 
1 10
(a) G(s)  (b) G(s) 
s ( s  2)( s  3) ( s  1) 2 ( s  3)

100(s  2) 2( s  1)
  (c ) G(s)  (d) G(s) 
s (s 2  4)( s  1) s( s 2  S  2)

1 2( s 2  s  1)
(e) G(s)  (f) G(s) 
( s  1) 3 s ( s  1.5)(s 2  5s  5)

K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ -٨

H2

R(s) G1 G2 G3 C(s)

H1  

55
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ -٩

K‫א‬

H3 C(s)
R(s)
G1 G2 G3 G4

H1

H2  
G5  
 
 K C ( s) ‫א‬‫א‬‫א‬‫א‬‫א‬ -١٠
R( s)

H5 H4
R C
G1 G2 G3 G4

H3

H2

H1  

‫א‬K‫א‬‫א‬‫א‬‫ א‬ J٩
 Y5 
  ‫א‬‫א‬
 Y2 
 
1 G1 G2 G3 1
 
Y4 Y5
Y1 Y2 Y3
-H1 -H2 Y5

(a)

56
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

-H4
G4

1 G1 G2 G3 1
(b)
Y1 Y2 Y3 Y4
-H1 Y5 Y5
-H2
-H3

G4

1 G1 G2 G3 1
(c)
Y1 Y3 Y4 Y5
Y2 -H1 Y5
-H3
-H2
G4

1 G1 G2 G3 1
(d)
Y1 Y3 -H Y4 Y5
Y2 -H1 2 Y5

-H3

  

57
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
 
 

  

‫א‬‫א‬
‫א‬‫א‬‫א‬

58
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬‫א‬
 ‫א‬  E‫א‬F   ‫א‬    
 K‫א‬‫א‬‫א‬

 W‫א‬‫א‬‫א‬
 
K‫א‬‫א‬ K١
‫א‬‫א‬‫א‬‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬ K٣
K‫א‬‫א‬‫א‬ K٤
K‫א‬‫א‬‫א‬‫א‬ K٥
K‫א‬‫א‬‫א‬ K٦
K‫א‬‫א‬‫א‬‫א‬ K٧
K‫א‬‫א‬‫א‬‫א‬ K٨
 
 

59
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
  1.2
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬Error Signal‫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‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  K‫א‬ ‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬ J‫א‬
 K‫א‬‫א‬ J٢
 K‫א‬‫א‬ J٣
 K‫א‬‫א‬‫א‬ J٤
 K‫א‬‫א‬‫א‬ J٥
 
‫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
K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Mathematical Modeling‫א‬‫א‬‫א‬2.2
‫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 ‫א‬ ‫א‬ ‫א‬‫א‬  ‫א‬
 K‫א‬
1-2
‫א‬‫א‬‫א‬ RC‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
Vr(t)  
i(t)
 
R
 
C Vc(t)
e(t)
 
 
RC series circuit‫א‬‫א‬ (1-2) 
 W‫א‬
 W‫א‬‫א‬W
 W‫א‬‫א‬
e (t )  v r (t )  v c (t ) (1-2) 

 W‫א‬‫א‬‫א‬‫א‬
 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

  vr (t )  Ri (t ) 
 K‫א‬‫א‬‫א‬‫א‬
   i ((t )  C dvc (t )
dt
 W‫א‬‫א‬
   vr (t )  RC dvc (t )
dt
 (١-٢)‫א‬‫א‬
dvc (t )
RC  vc (t )  e(t ) (2-2) 
dt
‫א‬‫א‬‫א‬‫א‬‫א‬
E1-2F‫א‬‫א‬ER. C. Series Circuit)‫א‬‫א‬

 K‫א‬‫א‬
W‫א‬‫א‬W
 ‫א‬‫א‬،‫א‬E‫א‬F‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 dv (t ) 
L RC c  vc (t )  Le(t )
 dt 

RC ( SVc ( s)  vc (0)  V ( s)  E ( s)
 W‫א‬‫א‬‫א‬‫א‬‫א‬
vc (0)  0
 
  RC( SVc (s)  Vc ( s)  E ( s)
  SRC  1Vc ( s )  E ( s )
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬

 Vc ( s ) 1
G (s)   (3-2)
E ( s ) SRC  1

62
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
‫א‬s‫א‬‫א‬‫א‬K‫א‬‫א‬
 ‫א‬
 2-2
   RLC      ‫א‬ ‫א‬  ‫א‬ ‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 

Vr(t) VL(t)  
i(t)
 
R L
+
C Vc(t)  
e(t)
 
 
 ‫א‬RLC‫א‬(2-2)

 ‫א‬
 W‫א‬‫א‬W
 W‫א‬‫א‬‫א‬‫א‬
   e (t )  v r (t )  v L (t )  vc (t )    (4-2)

 W
  vr (t )  Ri (t )
  v L (t )  L di (t )
dt
dv c (t )
  i ((t )  C
dt

63
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W (4-2)‫א‬
dv c (t ) di (t )
  RC L  vc (t )  e (t )
dt dt
dv c (t ) d 2 vc (t )
  RC  LC  vc (t )  e (t )
dt dt 2
 ‫א‬‫א‬
d 2 vc (t ) dv (t )
LC 2
 RC c  vc (t )  e (t ) (5-2) 
dt dt
‫א‬‫א‬RLC‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬E2-2F

W‫א‬‫א‬W
 ‫א‬‫א‬،‫א‬E‫א‬F‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 d 2 vc (t ) dv c ( t ) 
  L  LC 2
 RC  v c ( t )   L e ( t )  
 dt dt 
LCS Vc ( s)  RCSVc ( s)  Vc ( s)  E ( s)
2

[ LCs 2  RCs  1]Vc ( s)  E (s)

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬

Vc ( s ) 1
G(s)   (6-2)
E ( s ) LCs  RCs  1
2

‫א‬W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
s‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 
 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Types of Industrial Controller‫א‬‫א‬‫א‬ 3-2
‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K
‫א‬ ‫א‬‫א‬
 W‫א‬
  Discontinuous controllers ‫א‬‫א‬ J١
 Proportional Controller (P-Controller)‫א‬‫א‬ J٢
 Integral Controller (I-Controller)‫א‬‫א‬ J٣
 Differential Controller (D-Controller)‫א‬‫א‬ J٤
 PI-Controller‫א‬‫א‬‫א‬ J٥
 PID-Controller‫א‬‫א‬‫א‬‫א‬ J٦
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 
 Discontinuous controllers‫א‬‫ א‬1.3.2
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬K‫א‬‫א‬
 Two-position Controller‫א‬‫ א‬1.1.3.2
‫א‬‫א‬‫א‬‫א‬
 K(3-2)‫א‬‫א‬
 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬E‫א‬‫א‬Fp‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K،‫א‬‫א‬‫א‬
 

‫א‬  
 
‫א‬ ‫א‬ Max
+
‫א‬ ‫א‬‫א‬‫א‬ ‫א‬
R _ p ‫א‬ C
E Min

B=C

‫א‬‫א‬‫א‬ ( 3-2)
   

 
 
 Two-position Controllerwith Hysteresis ‫א‬‫ א‬2.1.3.2
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ E‫א‬F‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬Hyesteresis Element

‫א‬‫א‬‫א‬‫א‬
 K(4-2)E‫א‬F‫א‬
 
 
 
 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
   
‫א‬ ‫א‬ ‫א‬
+ ‫א‬‫א‬‫א‬  
R ‫א‬ C
_
E p  
 
B=C  
‫א‬‫א‬‫א‬ (4-2)    
 
 
 Continuous Controllers‫א‬‫ א‬2.3.2
 ‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
I-‫א‬‫א‬P-Controller‫א‬‫א‬W‫א‬‫א‬

PI-Controller‫א‬‫א‬‫א‬D-Controller‫א‬‫א‬Controller
 PID-Controller‫א‬‫א‬‫א‬‫א‬
 
 (P-Controller)‫א‬‫ א‬1.2.3.2
‫א‬E5-2F‫א‬‫א‬
 K‫א‬‫א‬ K P ‫א‬‫א‬
 
‫א‬  
‫א‬
E(s) Kp P(s)  
‫א‬   ‫א‬

 
‫( المخطط الصندوقي للحاكم التناسبي‬5-2) ‫شكل‬
 
 
 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬ K P  ‫א‬‫א‬ ‫א‬‫א‬  
‫א‬ K P K‫א‬
‫א‬‫א‬ K P ‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬E‫א‬F
 W ‫א‬
  p(t)  K P e(t)
  P(s)  K P E(s) 
P(s)
 Gc (s)   K P (6-2) 
E(s)
‫א‬K‫א‬‫א‬‫א‬‫א‬E6-2F‫א‬
‫א‬EaF‫א‬‫א‬
 Ka‫א‬ K P ‫א‬
 
 
e(t) p(t )  
 
‫א‬ ‫א‬
 
 
aKp
 
a
t t
0   0

‫א‬‫א‬  (6-2)  

 
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 
 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 I-Controller‫א‬‫ א‬2.2.3.2
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬KE7-2F
‫א‬ER=CF ‫א‬
  K‫א‬
 
 
‫א‬
‫א‬  
KI
E(s) P(s)  
S
‫א‬ ‫א‬  
 
‫א‬‫א‬‫א‬E7-2)
 
 W‫א‬‫א‬‫א‬‫א‬
t
p(t)  K I  e ( t ) dt
0

1
  P(s)  KIE(s)
s
P(s) K
GC (s)   I (7 - 2)
E(s) s
 
‫א‬‫א‬‫א‬E8-2F‫א‬
‫א‬F a‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬Ee(t) = a
 
 
 
 
 
 

69
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

e(t) p(t)
‫ א‬ ‫ א‬

a
t t
0 0

‫א‬ ‫א‬
‫א‬‫א‬ 

‫א‬‫א‬E 5 7J
٢٠ (8-2)
٢F .
 
 
 WE7-2F‫א‬
t

 
p(t)  K I  adt
0

p(t)  K I at  C (8 - 2)
 
‫א‬‫א‬p(t)‫א‬t‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E8-2F‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K K I 
‫א‬‫א‬‫א‬reset rate‫א‬ K I ‫א‬
 K I ‫א‬‫א‬‫א‬KR‫א‬C‫א‬
‫א‬‫א‬‫א‬،‫א‬
‫א‬K K I ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 . K I
 
 

70
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 D-Controller‫א‬‫ א‬3.2.3.2
‫א‬‫א‬‫א‬‫א‬
Erate controllerF‫א‬‫א‬‫א‬KE9-2F
 K‫א‬
 ‫א‬  
p(s)
E(s)  K
DS

‫א‬ ‫א‬  

‫א‬ ‫א‬‫א‬  
e(t) ‫א‬ p(t) ‫א‬  
 
 

1
 
t
t 0  
0

‫א‬‫א‬  (9-2)  

 
 
E‫א‬ F‫א‬ ‫א‬ 
‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬E9-2FK‫א‬‫א‬
 KUnit Step Function‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬Et = 0F
‫א‬‫א‬‫א‬‫א‬
 F‫א‬‫א‬‫א‬KEF‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬E‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬

71
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 
 PI-Controller‫א‬‫א‬‫ א‬4.2.3.2
‫א‬‫א‬‫א‬‫א‬‫א‬
 K P ‫א‬‫א‬
‫א‬‫א‬E10-2F‫א‬‫א‬‫א‬‫א‬
‫א‬ K I  ‫א‬‫א‬‫א‬ K P ‫א‬‫א‬ ‫א‬
 TI  1 K I ‫א‬
 ‫א‬‫א‬K‫א‬
‫א‬‫א‬‫א‬KE1 TI S F‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬ K P , K I , ‫ أو‬TI  ‫א‬

 K‫א‬‫א‬‫א‬‫א‬‫א‬
 

KP
+ P(s)
‫ א‬
E(s)
+ ‫א‬
KI
S

‫א‬‫א‬‫א‬‫א‬(10-2) 
 
 
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
t

 p(t)  K P e(t)  K I  e(t)dt E9-2)

0
KI
P(s)  K P E(s)  E(s)
s
 
KI
 (K P  )E(s)
s

72
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
P(s) K
  GC ( S )   KP  I  E10-2F
E(s) s
‫א‬‫א‬K‫א‬‫א‬E11-2F
 ‫א‬‫א‬‫א‬K‫א‬‫א‬
‫א‬K‫א‬ K P ‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 

e(t) p(t )
 
‫א‬ ‫א‬

KP
1
t t
0 0

‫א‬‫א‬‫א‬ 5 (711-2

‫א‬‫א‬‫א‬ )
 
 
 , K P K I ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬ K P E11-2F
 K‫א‬‫א‬ K I 
 
 PID-Controller‫א‬‫א‬‫א‬‫ א‬5.2.3.2
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬E11-2F‫א‬K(12 -2)
t
d
  p(t)  K P e(t)  K I  e(t)dt K D e(t)  E11-2F
0
dt
 KE‫א‬F‫א‬e(t)،‫א‬‫א‬E p(t) F
 

73
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

KP
‫א‬ +
E (s) KI + P(s)
S + ‫א‬
‫א‬

K DS

‫ א‬‫א‬‫א‬‫א‬‫( א‬١٢-٢) 

 

‫א‬‫א‬ K I ‫א‬‫א‬ K P 

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K D
‫א‬‫א‬‫א‬‫א‬(11-2) ‫א‬‫א‬
 W
 

P(s) K
  GC (s)   KP  I  KDS   E12-2F
E(S) s
 
  K P , K D , K I  ‫א‬‫א‬‫א‬ 
‫א‬ ‫א‬ ‫א‬ ‫א‬     ‫א‬  ‫א‬ ‫א‬  K P
 KD  ‫א‬ ‫א‬     K I   K‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬E13-2F‫א‬K‫א‬‫א‬
  K‫א‬  ‫א‬   ‫א‬      ‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 
 

74
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
e(t ) ‫א‬ p(t ) ‫א‬

1
t 0 t
0

‫א‬‫א‬‫א‬‫א‬ (13-2)
 
 
 
Sensors and Transducers ‫א‬‫ א‬4.2
‫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   
K‫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K‫א‬
 K‫א‬‫א‬
 
 
 
 
 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
‫مكيف اإلشاره‬  
‫المتغير المراد‬ ‫حساس‬ Signal ‫إشارة الخرج‬
‫قياسه‬ Sensor Conditioner  
 
 
‫طاقه‬
 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
 K‫א‬‫א‬ J١
 K‫א‬‫א‬‫א‬‫א‬ J٢
‫א‬‫א‬ ‫א‬‫א‬‫א‬ J٣
 K‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬ J٤
 

 Final Control Elements ‫א‬‫א‬ 5.2

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬
‫א‬‫א‬‫א‬E‫א‬F
‫א‬‫א‬Actuator‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬KControl Valve
‫א‬‫א‬‫א‬‫א‬
 W
Pneumatic Actuators‫א‬‫א‬‫א‬ J١
  Electrical Actuators ‫א‬‫א‬ J٢
 Hydraulic Actuators‫א‬‫א‬ J٣

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Control Valves ‫א‬ 1.5.2
‫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‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫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KE‫א‬F‫א‬
Sensors ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KLimit Switches‫א‬ Positioners‫א‬‫א‬
 
‫دخول‬
 
‫الھواء‬

‫إتجاه حركة‬ ‫اتجاه حركة‬

‫العمود عند‬ ‫العمود عند‬
‫زيادة ضغط‬ ‫دخول‬ ‫زيادة ضغط‬
‫الھواء‬ ‫الھواء‬ ‫الھواء‬

‫الياي يتم تمدده‬ ‫الياي يتم ضغطه‬

  ‫إلتمام عملية الفتح‬ ‫إلتمام عملية الفتح‬

 
 ‫א‬‫א‬‫א‬(14-2)

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ( 14-2) 
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 
 Electric motors‫א‬‫ א‬2.5.2
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
DC Motors‫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
E‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬Shunt Motors‫א‬‫א‬ Series Motors ‫א‬‫א‬
‫א‬‫א‬‫א‬KSeparately excited Motors‫א‬‫א‬‫א‬
‫א‬ (15-2‫א‬F‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬
 W‫א‬
Field control‫א‬‫א‬‫א‬ o
 KE‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬
 
 Armature Voltage Control‫א‬‫א‬ o
 K‫א‬‫א‬E‫א‬‫א‬‫א‬F‫א‬‫א‬
 
 

78
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
 
‫سرعة‬
‫المحرك‬N
‫الفيض المغناطيسي‬ Ø
 
Vt Eb
‫جھد المنتج‬  

‫جھد المجال‬
 
VF  
(‫العضو الدوار )المنتج‬ ‫ملفات المجال‬  
 
 (15-2)
 
AC Motors‫א‬‫א‬ o
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬Induction Motors‫א‬

‫א‬‫א‬‫א‬KSynchronous Motors‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
Stepper Motors‫א‬ o
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K
‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬Incremental Motions‫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
 

79
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
Drive ‫א‬‫א‬‫א‬

‫א‬‫א‬ ‫א‬Circuits
 K‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬KPhases‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬Teeth‫א‬
 K‫א‬‫א‬‫א‬

360º
 
 
Z‫א‬‫א‬
  x ‫א‬‫א‬
‫א‬‫א‬‫א‬ 
 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K٩٠‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
IA=max   ‫العضو الثابت‬
A
S  
B'
S
N
S B
 
N ‫العضو‬
‫الدوار‬ N  
S
N
S  
N  
A'
 
 
 ‫א‬‫א‬‫א‬‫א‬ (16-2)

80
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
 W‫א‬‫א‬‫א‬‫א‬‫א‬ J١
K‫א‬ E
K‫א‬‫א‬ E

.‫א‬‫א‬E

 K‫א‬ (‫د‬

K‫א‬‫א‬E
 W‫א‬ J٢
K‫א‬‫ א‬E
K‫א‬‫ א‬E

K‫א‬‫ א‬E
‫א‬‫א‬‫א‬ J٣
 K
 K‫א‬‫א‬‫א‬‫א‬ J‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J
 K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬ ‫א‬ J٤
 K
 K‫א‬‫א‬‫א‬‫א‬‫א‬ J‫א‬
‫א‬ ‫א‬‫א‬ ‫א‬‫א‬ ‫א‬‫א‬ J
 K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J
K‫א‬‫א‬
 
  

81
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 

 

 
 
 

‫א‬‫א‬
‫א‬‫א‬‫א‬

82
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
 
 K‫א‬‫א‬‫أن يحدد المتدرب א‬ K١
 K‫א‬‫א‬‫א‬‫أن يحدد المتدرب א‬ K٢
 K‫א‬‫א‬ ‫أن يحدد المتدرب‬ K٣
 K‫א‬‫א‬‫א‬‫أن يحدد المتدرب א‬ K٤
 K‫א‬‫א‬ ‫أن يحدد المتدرب‬ K٥
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٦
 
 
 

83
  EF‫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‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫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
 K‫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‫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‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
 
 

84
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬‫א‬‫א‬1-3
 :‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
Step Function‫א‬‫א‬ 

KRamp Function‫א‬‫א‬‫א‬ 
KAcceleration FunctionE‫א‬F‫א‬‫א‬ 
 Impulse Function ‫א‬‫א‬ 
KSinusoidal Function ‫א‬‫א‬‫ א‬
 W‫א‬‫א‬‫א‬‫א‬
WStep Function‫א‬‫א‬E١
‫א‬E‫א‬F‫א‬‫א‬‫א‬
،(١-٣)EFR
 W‫א‬‫א‬‫א‬‫א‬
r (t )  Ru(t ) (1-3) 

 W‫א‬‫א‬u(t)‫א‬‫א‬R
 
1 for t  0
u (t )   (٢-٣)
0 for t  0
 
r(t)

t
 
 K‫א‬‫א‬(١-٣)
 W‫א‬‫א‬‫א‬‫א‬
R
  R(s)  (٣-٣)
s
 

85
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
WRamp Function‫א‬‫א‬‫א‬E٢
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
(٢-٣) ‫א‬ ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
 
Rt for t  0
  r (t )   (٤-٣)
 0 for t  0

r(t)

t
 
 K‫א‬‫א‬‫א‬E٢-٣F
 
 W‫א‬‫א‬‫א‬‫א‬‫א‬
 
R
  R(s)  (٥-٣)
s2
 
KAcceleration Function‫א‬‫א‬E٣
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬،(٣-٣)
 W‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
 
 2
for t  0
  r (t )  Rt (٦-٣) 
 0 for t  0
 
 

86
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
r(t)

t
 

 K‫א‬‫א‬،(٣-٣) 
 W‫א‬‫א‬‫א‬‫א‬
2R
  R(s)  (٧-٣)
s3
 
 W‫א‬‫א‬E٤
E‫א‬F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
  r (t )  R sin(t ) (٨-٣)
 
 K‫א‬‫א‬‫א‬ZR
 K(rad/s)‫א‬‫א‬‫א‬Zω
 K‫א‬‫א‬‫א‬T‫א‬‫א‬‫א‬‫א‬E٤-٣F‫א‬
r(t)

 
 K‫א‬‫א‬‫א‬،E٤-٣F

87
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬‫א‬‫א‬‫א‬

  R( s)  (٩-٣)
s  2
2

 
 WStep Response ‫א‬‫א‬‫א‬‫א‬3-3
‫א‬‫א‬‫א‬‫א‬‫א‬
C(s) ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬R(s)‫א‬
 W‫א‬
K‫א‬‫א‬‫א‬  J١
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J٢
K
K‫א‬‫א‬‫א‬‫ א‬ J٣
K‫א‬‫א‬‫א‬  J٤
‫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
 K‫א‬
 System's Order ‫א‬1-3-3
‫א‬K‫א‬‫א‬‫א‬S‫א‬
Characteristic ‫א‬‫א‬‫א‬

 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬equation
 
 Step ResponseK‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬2-3-3
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬

88
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K١
 K‫א‬‫א‬‫א‬‫א‬c(t)

dc(t )
   c(t )  Kr (t ) (١٠-٣)
dt
 
 W
K‫א‬‫א‬Wτ
K‫א‬‫א‬‫א‬WK
K‫א‬Wr(t)
KE‫א‬‫א‬F‫א‬Wc(t)
 W(١٠-٣)‫א‬‫א‬‫א‬ K٢

 sC ( s)  c(0)   C ( s)  KR( s)

 W‫א‬‫א‬
  (s  1)C ( s )   c(0)  KR ( s)
 W  s  1 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 K
C (s)  c(0)  R( s ) (١٠-٣)
s  1 s  1

 W‫א‬‫א‬ K٣
R
  R (s) 
s
 
 1
C ( s)  c(0)  KR (١١-٣)
s  1 s(s  1)

W‫א‬‫א‬ K٤

‫א‬ c (0) W‫א‬‫א‬‫א‬‫א‬
s  1
 W‫א‬‫א‬

89
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
  t
1    1   
   (0)
L c  L

c ( 0)

 c (0)   (١٢-٣)
e
 s  1   1
 s  
   
‫א‬ KR 1 ‫א‬‫א‬
s(s  1)
W‫א‬
1 A B
  KR  
s (s  1) s s  1
 W‫א‬BA‫א‬
KR
As  KR
s (s  1) s  0
KR
B  (s  1)  KR
s (s  1) 1
s


 WBA‫א‬

KR KR KR
 
s (s  1) s s  1
1  
 KR  
 s s  1 
 W‫א‬
 KR 
  L1    KR (1  e  t /  ) (١٣-٣)
 s (s  1) 

 WR‫א‬‫א‬‫א‬‫א‬‫א‬
 
  c (t )  c ( 0 ) e
t / 
 KR (1  e  t /  ) (١٤-٣)

 
‫א‬‫א‬‫א‬c(t)‫א‬
‫א‬ (٥-٣) ‫א‬K‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 Kc(0)=0

90
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

c(t)
C ss= KR

c(ts)=0.98Css

c(τ)=0.63Css

ts
0 t
 2 3 4
 
 Kc(0)=0‫א‬‫א‬‫א‬‫א‬(٥-٣)
 
،4τ٪٩٨{٢‫א‬‫א‬
EF٪٢‫א‬‫א‬‫א‬‫א‬Kτ‫א‬‫א‬
 K‫א‬‫א‬
 
 K‫א‬‫א‬1-2-3-3
 W‫א‬‫א‬‫א‬‫א‬
 Wτ‫א‬‫א‬ J١
‫א‬   ‫א‬    ‫א‬ ‫א‬    
dc (t )
‫א‬  c'(t)     K‫א‬     ‫א‬
dt
 ‫א‬‫א‬
 Kts‫א‬‫א‬ J٢
 W،‫א‬٪٩٨‫א‬‫א‬‫א‬‫א‬

91
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
  t s  4 (١٥-٣)
 
 KCss ‫א‬‫א‬‫א‬ J٣
 W،‫א‬‫א‬
 
C ss  lim c (t )
  t
(١٦-٣)
C ss  KR
 KK‫א‬ J٤
r(t)‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
C ss
K  (١٧-٣)
R
 
 K‫א‬‫א‬‫א‬‫א‬‫ א‬2-2-3-3
 (١٤-٣)‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W
transient response‫א‬‫א‬  J١
steady state response‫א‬‫א‬‫ א‬ J٢
 W‫א‬‫א‬‫א‬
  C(t)  C tr (t)  C ss ( t)
 W
 E transient responseF‫א‬‫א‬Z C tr ( t) 
E steady state response)‫א‬‫א‬‫א‬Z C ss ( t) 
Steady-state Response‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

  C ss  KR (١٨-٣)

 Transient Response ‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬
t t

Ctr (t )  c(0) e  KR e
 
(١٩-٣)
 1-3
 W‫א‬‫א‬‫א‬‫א‬‫א‬
 
2c' (t )  4c(t )  20r (t )
 
c ( 0)  0
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬K١
 W‫א‬‫א‬c(t)4
  0.5c' (t )  c(t )  5r (t )
 W‫א‬‫א‬‫א‬‫א‬
   0 . 5 W‫א‬‫א‬

  K  5 W‫א‬
‫א‬R=1،‫א‬‫א‬ K٢
W،(c(0)=0)‫א‬‫א‬‫א‬
t

c (t )  5(1  e 0.5
)
 
c (t )  5  5e  2 t
 W‫א‬ K٣

  C ss  5  W‫א‬‫א‬‫ א‬

  Ctr (t )  5e 2t  W‫א‬‫א‬ 

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬‫א‬‫א‬3-3-3
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬K١
 K c''(t) 
  c" (t )  2n c' (t )  n 2 y(t )  Kn 2 r (t )
 
  c" (t )  2c' (t )  n 2c(t )  Kn 2 r (t ) (٢٠-٣)
 
 W
‫א‬‫א‬‫א‬‫א‬Z n
 K‫א‬Z
 KE    n F‫א‬Zα
K‫א‬‫א‬‫א‬ = K

‫א‬‫א‬‫א‬‫א‬‫א‬
K
 W(٢٠-٣)‫א‬‫א‬ K٢
S 2 C ( s)  2SC ( s)   n2 C ( s)  K n2 R( s)
 W‫א‬
  (S 2  2S   n 2 )C (s)  K 2n R(s)
 W‫א‬ s 2  2s  n 2 ‫א‬‫א‬‫א‬
k n2
C ( s)  R( s ) (٢١-٣)
S 2  2S   n2
R
 W(٢١-٣)‫א‬‫א‬ R(s)   K٣
s
k n2 R
C (s)  (٢٢-٣)
S ( S 2  2S   n2 )
،‫א‬ s 2  2s  n2 ‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬

  p1,2     2  n 2

94
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
p2p1‫א‬‫א‬‫א‬‫א‬
‫א‬  n α‫א‬‫א‬
 W

 Over DampingEF‫א‬‫א‬‫א‬W‫א‬‫א‬ 1-3-3-3

‫א‬‫א‬‫א‬α>ωn‫א‬
K
  p1,2     2  n 2
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬R‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

c (t )  kR 1  p2
e p1t 
p1 
e p2t  (٢٣-٣)
 p1  p 2 p1  p 2 

 Critical DampingKE=F‫א‬‫א‬W‫א‬‫א‬ 2-3-3-3

‫א‬==n‫א‬
K‫א‬‫א‬
  p1,2  n  p1,2  
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬R‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
  c (t )  KR 1  (1   n t ) e  (٢٤-٣)
 t n

 
 Under DampingKE<F‫א‬‫א‬W‫א‬‫ א‬3-3-3-3
‫א‬‫א‬‫א‬<α<ωn‫א‬
 ‫א‬
  p1 , 2    j  n   2   n  j d
2

 

95
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ωd

   d   n    n 1  
2 2 2

‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬R‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
 e nt 
  c(t )  KR1  sin  d t    (٢٥-٣)
1  2 
 
 
 W
 1 2  
  tan  1   cos 1 
  
 
 
 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬(٦-٣)‫א‬
‫א‬(Un-damped)‫א‬،‫א‬
 W
‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫ א‬ J١
K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫ א‬ J٢
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫ א‬ J٣
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 
 
 

96
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 

>
jω c(t ) ‫א‬
s - plane 1

X X σ
0
0 t
 1
jω
c(t )
s - plane
1
=1
X σ  
X 0
 1 0 t

s - plane jω
c(t )
X 1
0   1 
σ
0 
X 0 t

jω  =0
c(t )
s - plane

X

σ 1
0
  0 X 0 t

 
 ‫א‬‫א‬‫א‬‫א‬(٦-٣)

 
2-3
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
c" ( t )  4 c ' ( t )  4 c ( t )  2 r ( t )
c (0)  c ' (0)  0,
 
 ‫א‬‫א‬‫א‬‫א‬
1 t  0
r(t )

0 t  0

97
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
 W
‫א‬ E
 K‫א‬،‫א‬ E
 K‫א‬ E
K‫א‬‫א‬ E
 W‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬ E
‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬
  n 2  4  n  4  n  2 ‫א‬c(t)

  2  4   2    =1‫א‬c'(t)E

 K‫א‬‫א‬E  =1Fωnα
 R=1‫א‬
W‫א‬‫א‬‫א‬‫א‬‫א‬E
2 2
Kn  2  K 
2
K  K  0.5
n 2
4
W‫א‬‫א‬‫א‬E
  c ( t )  KR 1  (1   n t ) e   t  n

 K‫א‬‫א‬‫א‬‫א‬ 
  c (t )  
0 . 5 1  (1  2 t ) e  2 t 
3-3
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

  34.5 1000 1000 ‫א‬‫א‬
0 0, 0 0
 ‫א‬‫א‬‫א‬‫א‬
1 t  0
r(t )

0 t  0

98
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W
‫א‬E
 K‫א‬،‫א‬E
 K‫א‬E
K‫א‬‫א‬E
 W‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬E
‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬
 ‫א‬c(t)
  n 2  1000  n  1000  n  31.62
 ‫א‬c'(t)E
  2  34.5    17.25    0.545
 K‫א‬‫א‬E  < 1 Fωnα
 R=1‫א‬
W‫א‬‫א‬‫א‬‫א‬‫א‬E
1000
Kn  1000  K 
2
K 1
n 2
W‫א‬‫א‬‫א‬E
 e  n t 
  c (t )  KR 

1  sin  d t    

 1 2

  cos 1   cos 1 (0.545 )  56 .9 o  0.994 rad .  
  1 2 = 1 0.546 26.5.rad. 
 K‫א‬‫א‬‫א‬‫א‬
  c (t ) 
 1  1 . 193 e  17 . 25 t sin( 26 . 5 t  0 . 994 ) 
 
 

99
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬‫א‬‫א‬
  C(t)  C tr (t)  C ss ( t)
 E transient responseF‫א‬‫א‬Z C tr ( t) W
E steady state response)‫א‬‫א‬‫א‬Z C ss ( t) 
،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 
 W‫א‬‫א‬4-3-3-3
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
 K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 W td‫א‬ K١
 K‫א‬‫א‬٪٥٠‫א‬‫א‬‫א‬
 W tr‫א‬ K٢
 K‫א‬٪٩٠‫א‬٪١٠‫א‬‫א‬‫א‬
 
 
 tr  d
(٢٦-٣)

    cos  
1

 WCp  K٣
 K‫א‬

100
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Wtp‫א‬ K٤
‫א‬،‫א‬‫א‬‫א‬
 W‫א‬
 
tp  
 n2   2 n 1   2
  (٢٧-٣)
 Wts‫א‬‫א‬ K٥
 E٪٥٪٢F‫א‬‫א‬‫א‬‫א‬
 WMp K٦
 / 1 2
M p  c p  c ss  e
  (٢٨-٣)
 K‫א‬‫א‬csscp
c( t)

M p ±0.05
o
±0.02

1.0
0.9
td
0.5

0.1
0
tr
tp

ts

‫א‬‫א‬‫א‬‫א‬(٨ -٣)
 
 
 
 

101
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬K٧
 
 d   n2   2   n 1   2
  (٢٩-٣)
 
Settling time‫א‬‫א‬ K٨
  t s  4 (٢٩-٣)
 
4-3
‫א‬‫א‬  n  5 rad/sec ‫א‬   0.6 ‫א‬‫א‬

 W
 ‫א‬‫א‬‫א‬
 E t r F‫א‬ J
 E t p F‫א‬ J
 E t s F‫א‬‫א‬ J
 E M p F J
 
 W‫א‬
 W  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 d   n 1   2  5 1  0 .6 2  4 rad/sec
    cos ( )  cos ( 0 .6 )  53 .13
1 1 


  53 .13    0 .93 rad
180
 rise time‫א‬  J
   3.14 - 0.93
  tr    0.55 sec
d 4
peak time‫א‬  J

 3.14
  tp    0.785 sec
d 4
 

102
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
settling time‫א‬‫א‬  J

4 4
  t s    3  1.33 sec
 
maximum overshoot J
 3
( ) ( ) 3 . 14
d
 M p e e 4
 0.095
 
 W‫א‬‫א‬
 
  M p  0 . 095  100  9 . 5 %
  

103
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
 W‫א‬‫א‬‫א‬‫א‬ K١
c ' (t )  10 c (t )  10 r (t )
c (0)  0
5 t  0
r (t )  
  0 t  0
 W
 K‫א‬‫א‬ E
 K‫א‬ E
 K‫א‬‫א‬ E
‫א‬‫א‬‫א‬‫א‬ E
 
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
10 c ' (t )  c (t )  r (t )
c (0)  0
10 t  0
r (t )  
  0 t0
 W
 K‫א‬‫א‬ E
 K‫א‬ E
‫א‬‫א‬ E
K‫א‬‫א‬‫א‬‫א‬ E
 
 W‫א‬‫א‬‫א‬‫א‬ K٣
c' ' (t )  4c' (t )  c(t )  16r (t )
  c(0)  c' (0)  0
5 t0
r (t )  
0 t0
 W
K‫א‬،‫א‬‫א‬ E

104
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 K‫א‬ E
 K‫א‬‫א‬ E
‫א‬‫א‬‫א‬‫א‬ E
 
 W‫א‬‫א‬‫א‬‫א‬‫א‬ K٤
c" ( t )  2 c ' (t )  c ( t )  10 r (t )
c (0)  c ' (0)  0,
1 t  0
r (t )  
  0 t  0
 W
 K‫א‬،‫א‬‫א‬ E
 K‫א‬ E
K‫א‬‫א‬ E
 
W‫א‬‫א‬‫א‬‫א‬ K٥
c ' ' (t )  4c ' (t )  8c (t )  16 r (t )
  c ( 0 )  c ' ( 0)  0
5 t0
c (t )  
0 t0
 W
 K‫א‬،‫א‬‫א‬ E
K‫א‬ E
 K‫א‬‫א‬ E
K‫א‬‫א‬ E
 
  n  6 rad/sec ‫א‬   0.8 ‫א‬‫א‬‫א‬ J٦
 W
 ‫א‬‫א‬‫א‬
 E t r F‫א‬ J
 E t p F‫א‬ J

105
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 E t s F‫א‬‫א‬ J
WE M p F J
 
‫א‬‫א‬ J٧
c" (t )  3c ' (t )  2c(t )  2r (t )
c(0)  c' (0)  0,
1 t  0
r (t )  
0 t  0

‫א‬‫א‬‫א‬ K
‫א‬ K
‫א‬‫א‬‫ א‬K
‫א‬‫ א‬K
 
‫א‬‫א‬ J٩
2c" (t )  4c' (t )  2c(t )  20r (t )
c(0)  c' (0)  0,
4 t  0
r (t )  
0 t  0

‫א‬‫א‬‫א‬ 
‫א‬ 
K‫א‬‫ א‬
‫א‬‫ א‬
 

106
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬

107
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 W‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬ K١
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
‫א‬‫א‬ K٣
‫א‬‫א‬‫א‬‫א‬ K٤
‫א‬‫א‬‫א‬‫א‬ K٥
‫א‬‫א‬‫א‬‫א‬ K٦
‫א‬‫א‬‫א‬‫א‬‫א‬ K٧
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٨
 
 
  

108
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 Closed-loop Control‫א‬‫א‬‫ א‬1-4
‫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
 KFeedback Control Systems‫א‬‫א‬

 
  ‫الخرج‬
‫األمر‬  R(s) E(s) C(s)
‫א‬   ‫א‬
‫الحا‬ ‫א‬

 
 
‫א‬  
‫א‬  
 

K‫א‬E1-4F  
 
‫א‬block diagram‫א‬‫א‬E1-4F‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،
‫א‬‫א‬controller‫א‬‫א‬(E)‫א‬
plant‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
‫א‬E‫א‬F
K‫א‬ ‫א‬‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K‫א‬
‫א‬‫א‬operational amplifier‫א‬‫א‬

 K‫א‬

109
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬‫א‬ 
‫א‬EF
Kplant  ‫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
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬2-4
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
K‫א‬‫ א‬
K‫א‬‫א‬
K‫ א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬
K‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K
K‫ א‬
‫א‬‫א‬
 K‫א‬
 
 

110
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 ‫א‬‫א‬‫א‬‫א‬ 3-4
‫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K
‫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K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 
 ‫א‬‫א‬‫ א‬4-4
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬E‫א‬F‫א‬
b(t)‫א‬‫א‬r(t)b(t)r(t)‫א‬‫א‬
 Kc(t) ‫א‬‫א‬‫א‬‫א‬

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

R(s) E(s) P(s) C(s)

Gc(s) Gp(s)
r(t) e(t) p(t) c(t)

 ‫א‬(2-4F‫א‬

 
 ‫א‬‫א‬‫א‬‫א‬‫א‬ = Gp(s) W
 ‫א‬‫א‬=Gc(s)
‫א‬‫א‬EH(s)=1F‫א‬‫א‬‫א‬
 W
  e (t )  r (t )  c (t ) E1-4F
‫א‬‫א‬‫א‬‫א‬s‫א‬‫א‬
 
  E ( s ))  R ( s )  C ( s ) E2-4F

Gp(s)Gc(s) ‫א‬‫א‬‫א‬‫א‬
 
 C(s)=Gc(s)Gp(s).E(s)
 
 E2-4F‫א‬G(s)

E ( s ))  R ( s )  G c ( s )G p ( s ) E ( s )

  E ( s )(1  G c ( s )G p ( s ))  R ( s ) (3-4)

 
 W‫א‬‫א‬‫א‬

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  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 1 
  E (s)  
 1  G ( s )G ( s )
R (s)
 E4-4F
 c p 
 
‫א‬‫א‬‫א‬ 5-4
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬‫א‬
 R0‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
 p(t)=Kpe(t)
 ‫א‬‫א‬
 P(s)= KpE(s)
 W‫א‬‫א‬‫א‬
G c(s)  K p E5-4F

 ‫א‬‫א‬
 R0 t0
  r (t )  
0 t0
 ‫א‬‫א‬
R0
  R (s) 
s
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
1
 G p (s ) 
s  1
(3-4F‫א‬R(s)Gp(s)Gc(s)
 W‫א‬‫א‬‫א‬
1  R0 
  E (s) 
1
  E6-4F
1 K  s 
p
s  1
 6-4 ‫א‬‫א‬

R 0  s  1 
  E (s)  E7-4F
s ( s  1  K p )
 

113
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 s  1  R0
  e ss  lim sE ( s )  lim sR 0   

E8- 4F
s 0 s 0
 s ( s  1  K p )  1  K p

،‫א‬‫א‬‫א‬E8-4F‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬
‫א‬‫א‬KKp‫א‬‫א‬‫א‬
 K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬(3-4)‫א‬
 Matlab Simulink‫א‬‫א‬‫א‬
1
  G p ( s )  ‫א‬‫א‬W
s 1
  r (t)  1 ‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬

 K p  2, K p  5, K p  10
 

1
KP=10

KP=5
‫א‬

KP=2

‫א‬
0
0 0.5 1 1.5 2 2.5 3

K‫א‬‫א‬‫א‬E3-4F‫א‬


114
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬ 6-4
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 R0‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
t

  p (t )  KI  e ( )d 
0

  W‫א‬‫א‬‫א‬
K I
G c (s)  E9-4F
s
 ‫א‬‫א‬
 R0 t0
  r (t )  
0 t0
 ‫א‬‫א‬

R0
 R (s) 
s
 
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
1
 G p (s) 
s  1
E4-4F‫א‬R(s)Gp(s)Gc(s)
 W‫א‬‫א‬‫א‬
1  R0 
 E (s)   
 K I   1   s  E10-4F
1   
 s  s  1 
 13-4‫א‬‫א‬

s ( s  1 ) R0
  E (s)  ( ) (11-4)
( s 2  s  K I ) s
 W‫א‬‫א‬‫א‬‫א‬‫א‬

115
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

  R0  s ( s  1) 
  e ss  lim sE ( s )  lim  s     0 E12-4F
s0 s 0
  s  ( s 2
 s  K )
I 

‫א‬‫א‬‫א‬‫א‬‫א‬E12-4F‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬(4-4)‫א‬
Matlab ‫א‬‫א‬‫א‬
 Simulink
1
  G p ( s )  ‫א‬‫א‬W
s 1
r(t)=1‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬
  K I  0 .1 K I  0 .2 KI  0.3 KI  2
 
 
1.4
KI=2

1.2

1
‫א‬

KI=0.2
0.8 KI=0.3
KI=0.1

0.6

0.4

0.2

0
0 5 10 15 20

‫א‬

‫א‬‫א‬‫א‬E4-4F‫א‬

116
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬ 7-4
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 R0‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  p (t )  K p e(t)  K I
t
 e ( ) d 
0

W‫א‬‫א‬‫א‬‫א‬
K pS  KI
Gc ( s )  E13-4F
S
 R0‫א‬‫א‬‫א‬
t0
  r(t )  R0
0 t0
 ‫א‬‫א‬
  R ( s )  R0
s
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
1
 G p (s) 
s  1
7-4‫א‬R(s)Gp(s)Gc(s)
 W‫א‬‫א‬‫א‬
1  R0 
  E (s)    E14-4F
 K p s  K I  1   s 
1     
 s  s  1 
 (14-4)‫א‬‫א‬

 s (s  1)  R0 
  E ( s )     E15-4F

 s 2
 s ( K p  1)  K )
I  s 

 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W

117
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

  R  s (s  1) 
  ess  lim sE ( s )  lim  s 0  2    0 E16-4F
s 0 s  0   s  (s  s (1  K )  K )  
  p I 

،‫א‬‫א‬‫א‬‫א‬E16-4F‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
‫א‬‫א‬  ‫א‬   ‫א‬ ‫א‬ ‫א‬   (5-4) ‫א‬
 Matlab Simulink‫א‬‫א‬‫א‬
1
  G p ( s )  ‫א‬‫א‬W
s 1
  r(t )  1 ‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
  KI 2, Kp 1   KI 1, Kp 1   KI 1, Kp  2

K I  2, K p 1

K I  1, Kp 2
‫א‬

K I  1, K p 1

0
0 1 2 3 4 5 6 7 8
‫א‬
‫א‬‫א‬‫א‬‫א‬E5-4F‫א‬
 
 K
 

118
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬‫א‬‫א‬ 8-4
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 WR0‫א‬
t
de ( t )
  p ( t )  K p e ( t )  K I  e ( )d   KD
dt
0
W‫א‬

K D s2  K ps  K I
G c (s)  E17-4F
s
 ،R0‫א‬
 R0 t0
  r (t )  
0 t0
‫א‬‫א‬
  R ( s )  R0
s
،‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
1
 G p (s) 
s  1
7-4‫א‬R(s)Gp(s)Gc(s)
 W‫א‬‫א‬‫א‬
  E (s)  1  R 0  E18-4F
 
 K D s  K p s  K I  1   s 
2

1   
   s  1 
 s 
 (18-4F‫א‬‫א‬
 s ( s  1)  R 0 
  E (s)   
 (  K ) s 2  ( K  1) s  K )  s 
E19-4F
 D p I 

 ‫א‬‫א‬‫א‬
 R  s (s  1) 
  ess  lim sE ( s )  lim  s 0    0 E20-4F
s 0 s 0  s  (  K D ) s  ( K p  1) s  K I
2 


119
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬‫א‬E20-4F‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬
 K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬(6-4)‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 Matlab Simulink
1
  G p ( s )  ‫א‬‫א‬W
s 1
  r(t )  1 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
  K I  1, K p  1, K D  2 W‫א‬‫א‬
  K I  1, K p  1, K D  1 W‫א‬‫א‬
  K I  2, K p  1, K D  0.2 W‫א‬‫א‬
 
K I  1, K p  1, K D  2  
 
 
1
 
 
‫א‬

K I  2, K p  1, K D  0.2
 
 
 
K I  1, K p  1, K D  2
 
 
0
0 5 10 15  
‫א‬
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬E6-4F
 


120
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬ Matlab Simulink (7-4)‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
 
 
Kp

1
  
Constant 1
1
Ki simout
s
s+1
G(s) To Workspace

Kd du/dt

 PIDSimulimk(7-4F

121
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
‫א‬‫א‬ J١
 W
 ‫א‬‫א‬‫א‬E
‫א‬E
 ‫א‬‫א‬‫א‬E
R(s) E(s) C(s)
 
1
s 1  
r(t) e(t) c(t)
 
 
B(s)
 
 

‫א‬ J٢
 W
 ‫א‬‫א‬‫א‬ E
‫א‬E
 ‫א‬‫א‬‫א‬E
 
R(s) E(s)
10
C(s)  
s2
r(t) e(t) c(t)  
 
B(s) 2  
s4
b(t)

 ‫א‬‫א‬‫א‬ J٣

‫א‬‫א‬‫א‬ J٤

122
  EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

‫א‬‫א‬‫א‬‫א‬K ‫א‬ J٥
K‫א‬‫א‬‫א‬‫א‬
 
R(s) E(s)
 
C(s)
K
s2
 
r(t) e(t) c(t)
 
 
B(s) 2
s4  
b(t)

W‫א‬‫א‬‫א‬‫א‬ J٦
‫א‬‫א‬E
 ‫א‬‫א‬‫א‬E
 ‫א‬E
 ess‫א‬‫א‬‫א‬E

Kp
C(s)
1 1
Constant s+2
Sum1 1 G(s)
Ki
s

 

W‫א‬‫א‬‫א‬‫א‬ J٧
‫א‬‫א‬E
 ‫א‬‫א‬‫א‬ E

 ‫א‬E

123
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 ess‫א‬‫א‬‫א‬E

 Kp
1  
C(s)
Constant
 s
1
Ki 1

s+1
  G(s)

 
Kd du/dt
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

124
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 

 

  



125
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
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 
Disturbance ‫א‬‫א‬

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 EF‫א‬‫א‬ ‫א‬‫א‬‫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 
Over Damping ‫א‬

127
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫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 Conditioning ‫א‬
Signal Conversion ‫א‬
Simulation 

128
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
 
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
Underdamping 
Unit step ‫א‬
Unity Feedback 

  

129
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬
 

 ‫א‬  ‫א‬‫א‬
Modern Control System, Edison Wesley,
 R. C. Dorf
1990
Control System Design, Saunders College
 C. T. Chen
Publishing, 1993.
Feedback Control System, Prentice Hall,
John Van De Vegta
1990.

 B. Kuo Automatic Control Systems, Prentice Hall

Process Control Instrumentation Technology,
 Johnson, C. D
Prentice Hall, 2002
Introduction to Control Systems Technology,
 Bateson, R. N.
Prentice Hall, 2002
Modern control Engineering, Prentice Hall,
Ogata, K.
1997
Modern Control Systems, Addison Wesley,
Dorf, R. C. and
Bishop, R. H. 1998
Introduction to control system technology;7th
Robert N. Bateson
edition1993
،‫א‬‫א‬، ‫א‬‫א‬
‫א‬
١٩٩١،‫א‬‫א‬‫א‬

130
 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 

 ‫א‬  ‫א‬‫א‬
  ‫א‬‫א‬ J‫א‬‫א‬‫א‬‫א‬
‫–א‬‫א‬K
 ‫–א‬
‫א‬ J١–‫א‬‫א‬
 ‫א‬‫א‬‫א‬K
 ١٩٨٧ J–‫א‬‫א‬‫א‬‫א‬ J‫א‬

131