 ‫א‬‫א‬‫א‬

ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]

‫א‬‫א‬‫א‬‫א‬

‫א‬ J

‫א‬‫א‬
233
  ‫א‬  233 ‫א‬
 ‫א‬‫א‬ ‫א‬J 

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

 

،،‫א‬‫א‬،‫א‬‫א‬
‫א‬‫א‬‫א‬?‫א‬‫א‬?W ‫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‫א‬
 W‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬،‫א‬‫א‬
 K‫א‬‫א‬،‫א‬،‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ ‫א‬‫א‬ 
 
 K‫א‬‫א‬‫א‬‫א‬‫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‫אא‬‫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
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]

‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬

‫א‬‫א‬
 ‫א‬‫א‬

1
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 ‫א‬‫א‬W‫א‬‫א‬

K1J 1
‫א‬‫א‬K2J 1
 ‫א‬K3J 1
 ‫א‬‫א‬K4J 1
 ‫א‬‫א‬K1J 4J 1
 ‫א‬‫א‬‫א‬K2J 4J 1
 ‫א‬‫א‬K3J 4J 1
 ‫א‬K4J 4J 1
 ‫א‬K5J 4J 1
 ‫א‬‫א‬K5J 1
 ‫א‬‫א‬‫א‬‫א‬K1J 5J 1
 ‫א‬‫א‬‫א‬‫א‬K2J 5J 1
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K6J 1
 E‫א‬F‫א‬‫א‬‫א‬K1J 6J 1
 ‫א‬‫א‬‫א‬‫א‬K2J 6J 1
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K7J 1
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K8J 1
 ‫א‬‫א‬‫א‬K9J 1
 




  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬
 K‫א‬‫א‬
 K‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬‫א‬
K‫א‬
EF‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬
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  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 J  K
EControl-SystemF‫א‬
‫א‬‫א‬‫א‬‫א‬K  
‫א‬K  ‫א‬‫א‬‫א‬‫א‬‫א‬K
‫א‬J ‫א‬‫א‬J ‫א‬‫א‬J ‫א‬F‫א‬

 ‫א‬‫א‬‫א‬‫א‬KE‫א‬
 K‫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‫א‬
،‫א‬‫א‬
 ،‫א‬
‫א‬‫א‬‫א‬
KKK‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬ 
W‫א‬‫א‬
 ،‫א‬‫א‬
 ،‫א‬‫א‬‫א‬
 KKKK‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

‫א‬EUrban PlanningF‫א‬‫א‬‫א‬ETransportation SystemsF

‫א‬‫א‬‫א‬‫א‬KEEnvironmentF
‫א‬ERobotF‫א‬‫א‬EComputersF‫א‬‫א‬
 K‫א‬‫א‬‫א‬

WECommon Control System's ComponentsF‫א‬‫א‬ K

 K‫א‬‫א‬‫א‬‫א‬WEInputF‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬WEOutputF‫א‬
KEOutputF‫א‬EInputF‫א‬‫א‬WEErrorF‫א‬
 K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬WEReferenceF‫א‬
K‫א‬‫א‬

 ‫א‬ K
 W‫א‬‫א‬‫א‬‫א‬


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 



 
‫א‬

‫א‬



‫א‬E1J1F


‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
K‫א‬‫א‬‫א‬K‫א‬

W‫א‬‫א‬‫א‬‫א‬E2J 1F

 ‫א‬‫א‬  


 
‫א‬‫א‬

   
‫א‬
 

   ‫א‬


 ‫א‬E2J1F

‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬KE2J 1F
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 ‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬ 
F‫א‬  ‫א‬‫א‬‫א‬
 ‫א‬K
‫א‬‫א‬‫א‬‫א‬KE‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ ‫א‬
 K‫א‬

 W‫א‬‫א‬E3J 1F
 ‫א‬E ‫א‬F ‫א‬E3J 1F
‫א‬
  E ‫א‬‫א‬F ‫א‬
 ‫א‬‫א‬
 ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
‫א‬K ‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ ‫א‬E
 ‫א‬‫א‬F‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
  ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
 
Pneumatic valve Controller

‫א‬
Inflow


Outflow
(a)

‫א‬ ‫א‬ ‫א‬‫א‬

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

Float

(b)

‫א‬‫א‬E3J1F

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

E3J ‫א‬F‫א‬‫א‬‫א‬‫א‬E3J 1F‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 WE‫א‬FE4J 1F
EF
 
 ‫א‬‫א‬‫א‬E4J 1F‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ ‫א‬  ‫א‬‫א‬
  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
E‫א‬‫א‬‫א‬FE‫א‬F‫א‬ ‫א‬ ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬ 
 K‫א‬‫א‬E4J ‫א‬F‫א‬K‫א‬‫א‬‫א‬

 ‫א‬
Brain

 ‫א‬‫א‬
 
 ‫א‬  ‫א‬
‫א‬ ‫א‬‫א‬
 ‫א‬‫א‬

‫א‬

 ‫א‬E8J1F

 ‫א‬ ‫א‬ ‫א‬

Input Hand Output
Brain Hand
‫א‬‫א‬ Muscle ‫א‬
E ‫א‬F
‫א‬
Eye

(b)

 ‫א‬E4J1F

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬E5J 1F
 ENumerical ControlF ‫א‬‫א‬E5J 1F‫א‬
‫א‬KENumbersF‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬KE‫א‬F‫א‬
‫א‬‫א‬‫א‬ ‫א‬KEReaderF‫א‬‫א‬‫א‬ ‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬E‫א‬‫א‬F‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

Frequency-modulated pulse
Tachometer

 ‫א‬ ‫א‬
Reader Controller D-A Amp Motor
conv Cutter
 ‫ א‬‫א‬

 ‫א‬‫א‬
‫א‬ P ‫א‬
‫א‬‫א‬
Pulse D-A Feedback
conv

 ‫א‬

  ‫א‬
Tape
E5J1F 


‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬EAnalog to Digital ConverterF
‫א‬‫א‬EDigital to Analog ConverterF
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 K‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬‫א‬‫א‬E6J 1F

 
 ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬K‫א‬
‫א‬ ‫א‬
 K‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬E7J 1F
blast F
 ‫א‬‫א‬K‫א‬‫א‬E6J 1F‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬35‫א‬Efurnace
F‫א‬ ‫א‬‫א‬‫א‬‫א‬ 4000
 KE‫א‬
‫א‬‫א‬ ‫א‬
‫א‬ 1
2 Top gas
Iron ore 3
4 Blast
‫א‬ Coke furnace
 Limestone ‫א‬
‫א‬ Hot air Slag
 Steam Pig iron
‫ א‬Oxygen ‫א‬
 Oil


 ‫א‬‫א‬
Command Computer
Command  
Reference input

‫א‬‫א‬ E6J1F


 ‫א‬‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ ‫א‬‫א‬‫א‬K‫א‬E‫א‬
‫א‬‫א‬K ‫א‬‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

‫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K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
‫א‬K
 ‫א‬‫א‬‫א‬‫א‬‫א‬ K‫א‬

 ‫א‬‫א‬ ‫א‬ ‫א‬K‫א‬‫א‬
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬K‫א‬

 W‫א‬E8J 1F
 
 E7J 1F‫א‬

 ‫א‬‫א‬‫א‬Pulses‫א‬K
‫א‬‫א‬ ‫א‬‫א‬‫א‬J  U a 
E‫א‬F ‫א‬‫א‬K‫א‬‫א‬
، ‫א‬‫א‬  ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

 ‫א‬‫א‬ ‫א‬

‫א‬ 
‫א‬‫א‬ ‫א‬



E7J1F


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 WEFlow GraphF‫א‬EBlock DiagramF‫א‬‫ א‬K

 ‫א‬W
 ‫א‬‫א‬
 ،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬K
 K‫א‬‫א‬‫א‬‫א‬
  ‫א‬‫ א‬K1-4-1
elements‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬
 KBlock diagram‫א‬‫א‬‫א‬‫א‬K
 blocks‫א‬‫א‬‫א‬
 ‫א‬
‫א‬‫א‬output signal‫א‬input signal‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬transfer function

 E8J 1F‫א‬K
 ‫א‬ ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
‫א‬
 ‫א‬‫א‬‫א‬ ‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬


X (s) G (s) Y(s)

‫א‬‫א‬E8J1F


 W
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

Y(s) G(s)X(s)
Y(s)
 G(s)
X(s)

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬

 ‫א‬ J 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE9J 1F‫א‬EF‫א‬‫א‬


X2(s) X1(s)

+ +

X3(s) - Y(s)
+

Xn(s)

‫א‬E9J1F


 W
 Y(s) X1 (s) X 2 (s) X 3 (s) ................ X n (s)
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


  ‫א‬ J 
‫א‬‫א‬7‫א‬
  ‫א‬  ‫א‬
comparing element  ‫א‬‫א‬Kfeedback signal
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE10J 1F


R(s) + E(s)
‫א‬‫א‬ ‫א‬

‫א‬
‫א‬ C(s)

‫א‬‫א‬‫א‬E10J1F


 W‫א‬
 E(s) R(s) C(s) (3 - 3)

‫א‬ J 
‫א‬‫א‬ C(s) ‫א‬‫א‬
KE11J 1F‫א‬‫א‬‫א‬‫א‬
 K‫א‬


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


C(s) C(s)

C(s)

‫א‬‫א‬E11J1F


  ‫א‬‫א‬‫א‬
K ‫א‬‫א‬
 W‫א‬‫א‬‫א‬

 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J 
 K‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬ J 
 ‫א‬‫א‬‫א‬‫א‬   J 
K‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬ J 
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 
 ‫א‬‫א‬‫א‬‫א‬E1J 3F‫א‬
 ‫א‬‫א‬
H,X,Y,Z‫א‬ ‫א‬‫א‬‫א‬P‫א‬K
 KS‫א‬‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

Equivalent Block
Transformation Equation Block Diagram
Diagram

Combining Blocks P2
1 Y = (P1P2)X X P1 Y X P1 P2 Y
in Cascade

Combining Blocks
In parallel; or + X Y
2 Y = P1 X ± P2X X Y
Eliminating a P1 P1± P2
Forward Loop ±

X P1 + Y
Removing a block P2
3 From a Forward Y = P1 X ± P2X P2 P2 ±
Path

X P1 Y
Eliminating a + Y
4 Y = P1(X P2Y) X
Feedback loop P1 1 ± P1P2

X 1 + Y
Removing a Block P2 P1P2
5 From a Feedback Y = P1(X P2Y) P2
Loop


 ‫א‬‫א‬ E J F

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

Equivalent Block
Transformation Equation Block Diagram
Diagram

W Z W Z
Rearranging
6a Z=W±X±Y X Y
Summing Points
Y X

W Z
W Z
Rearranging
Z=W±X±Y
6b Summing Points X X

Y Y

Moving a Summing X Z
Z = PX ± Y X Z P
7 Point Ahead of a P

Block Y 1 Y
P

Moving a Summing Z X Z
X P
8 Point Beyond of a Z = P(X ± Y) P

Block Y Y
P

Moving a Takeoff
X Y
Point Ahead of a X Y P
9 Y = PX P
Block
Y Y
P

Moving a Takeoff Y X
Y
X P
Point Beyond a Y = PX P
10
Block X
1
P

X Z
Moving a Takeoff X Z

Point Ahead of a Z
11 Z=X±Y Y
Summing point
Z
Y

X Z
X Z
Moving a Takeoff X
Y
12 Point Beyond a Z=X±Y
Summing point Y X


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

  ‫א‬

 K ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
‫א‬‫א‬  ‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
  ‫א‬ J 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K
 ‫א‬
 ‫א‬‫א‬
 
 ‫א‬
 KE12J 1FK‫א‬


 ‫א‬‫א‬‫א‬E12J1F
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

‫א‬Masons rule‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬

  ‫א‬‫א‬ J 
 ‫א‬ ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬ K
 ‫א‬‫א‬
‫א‬‫א‬‫א‬K ‫א‬‫א‬
 KE13J 1F

a
(a)
X1 X2

a b ab
(b) =
X1 X2 X1 X3

a
a+b
(c) X1 X2 =
X1 X2

a ac
X1 c X1
(d) = X4
X4
b bc
X2 X2

ab
1-bc
a X2 b X3 ab X3
(e) = =
X1 X1 X1 X3
c bc

 ‫א‬‫א‬‫א‬E13J1F

 W‫א‬E13J 1F‫א‬‫א‬
 X2 aX1 Ea13J 1F‫א‬ X 2 ‫א‬J 1
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬J 2
KEb13J 1F
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬J 3
Ec13J 1F‫א‬
Ed13J 1F‫א‬‫א‬J 4
WEe13J 1F‫א‬‫א‬J 5

x3 2, x2 1 3

x3 1 3 :
 x3 [ /(1 ] :
1

 K‫א‬‫א‬‫א‬‫א‬E14J 1F‫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 G1(s) G2(s)
G1(s) G2(s) C(s)
R(s) E(s)

-H(s)

H(s)

K ‫א‬‫א‬‫א‬E14J1F

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

‫א‬
E‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 ‫א‬‫א‬‫א‬‫א‬
 W‫א‬

1
 (3 - 15)


 Pk path gain of th forward path ‫א‬‫א‬
 determinant of graph ‫א‬

 Z1J E‫א‬‫א‬FHEF
 J E‫א‬FHKKKKKKK

 1 .......... 
, , ,

 W
  Z‫א‬‫א‬‫א‬

  Z
,

 Z‫א‬
, ,

  k = ‫א‬‫א‬‫א‬‫א‬ 

 WE9J 1F
 ‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
( )
 K ‫א‬‫א‬‫א‬
( )

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 



 W‫א‬‫א‬‫א‬
 P1 G 1G 2 G 3
 W‫א‬
L1 G 1G 2 H 1
 L2 G 2G 3H 2
L3 G 1G 2 G 3
 W ‫א‬‫א‬‫א‬‫א‬

1 (L1 L2 L3 )

1 - G 1G 2 H 1 G 2G 3H 2 G 1G 2 G 3

‫א‬‫א‬‫א‬ 1   P1 ‫א‬ ‫א‬
   ‫א‬‫א‬‫א‬
 W 
 1 1
( )
 W ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
( )

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

( ) 1 1

( )
 G 1G 2 G 3
1 - G 1G 2 H 1 G 2 G 3 H 2 G 1G 2 G 3

 WE10J 1F
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬




 W‫א‬
 W‫א‬‫א‬‫א‬

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

L1 G 4 H1
L2 G 2G 7H 2

L3 G 6G 4G 5H 2
L4 G 2 G 3G 4 G 5 H 2

 W  L 2 ‫א‬‫א‬ L1 ‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


 1 (L1 L 2 L 3 L 4 ) L1 L 2
 W P1 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 1 

 ‫א‬‫א‬ K
open loop‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
 Kclosed loop control system‫א‬‫א‬‫א‬‫א‬

  ‫א‬‫א‬‫א‬‫א‬ K1-5-1
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬

Actuating signal

 ‫א‬  ‫א‬

System
components
Input signal Output signal
(command) (controlled variable)
 ‫א‬‫א‬‫א‬‫א‬

 ‫א‬E15J1F 

‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬E15J 1F
‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬
 
 K‫א‬‫א‬‫א‬‫א‬

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

  ‫א‬‫א‬‫א‬‫א‬ K2-5-1
K ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ Actuating signal
Controller

 ‫א‬  ‫א‬

+ forward-path
 System
Input signal Output signal
(command)
- E
 
M
 components
(controlled variable)
 ‫א‬‫א‬‫א‬‫א‬

feedback-path
System
components

 

 ‫א‬E16-1) 


،‫א‬block diagram‫א‬‫א‬E16J 1F

controller K‫א‬E‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬
 ‫א‬ ‫א‬plant‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬E‫א‬F‫א‬K‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬
‫א‬‫א‬
 ‫א‬‫א‬ ‫א‬ ‫א‬‫א‬
‫א‬‫א‬K
‫א‬‫א‬ ‫א‬
 operational amplifier‫א‬
 K
‫א‬‫א‬M‫א‬‫א‬
 ‫א‬‫א‬Kplant‫א‬‫א‬‫א‬‫א‬‫א‬EF
 K‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K
‫א‬ ‫א‬
 ‫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 J 
‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
  ‫א‬‫א‬‫א‬‫א‬
 ‫א‬ J 
‫א‬ ‫א‬‫א‬‫א‬‫א‬ K ‫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

 E‫א‬F‫א‬‫א‬‫ א‬K
 ‫א‬ ‫א‬output ‫א‬‫א‬ 
 ‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬reference input
‫א‬‫א‬‫א‬ ‫א‬K ‫א‬‫א‬‫א‬‫א‬
 K
‫א‬‫א‬‫א‬‫א‬ K
‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬
 K‫א‬K‫א‬‫א‬‫א‬‫א‬

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬K

 E17J 1F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬F ‫א‬ ‫א‬ ‫א‬  C(s) ‫א‬
E
 W‫א‬‫א‬‫א‬

 
Summing point Branch point

 ‫א‬

‫א‬ R(s) E(s) C(s) ‫א‬

+ G(s)
‫א‬ Output

C(s)
‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E17J1F

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
E F ‫א‬‫א‬  
 ‫א‬‫א‬ ‫א‬
 H(s) ‫א‬‫א‬
 ‫א‬‫א‬ ‫א‬ ‫א‬ 
 C(s) ‫א‬ ‫א‬‫א‬KE6J 3F
 W B(s) ‫א‬‫א‬
 B(s) H(s)C(s) (3 - 5)

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

+ G(s)

B(s)

H(s)

‫א‬‫א‬‫א‬E18J1F

 W‫א‬‫א‬‫א‬E18J 1F‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 
 Direct or forward transfer function‫א‬‫א‬‫א‬J ‫א‬

C(s)
 G(s) (3 - 6)
E(s)

 feedback transfer function‫א‬‫א‬‫א‬J 2

B(s)
 H(s) (3 - 7)
C(s)

transfer function open-loop‫א‬‫א‬‫א‬‫א‬J 3

B(s)
 G(s)H(s) (3 - 8)
E(s)

transfer function closed-loop‫א‬‫א‬‫א‬‫א‬J 4

 E7J 3F H(s) 1 ‫א‬E18J 1F‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬E8J 3F

C(s) G(s)E(s)

E(s) R(s) B(s) (3 - 9)

 WE9J 3F‫א‬E5J 3F‫א‬

 E(s) R(s) H(s)C(s)
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W
C(s) G(s)E(s)
C(s) G(s)[R(s) - H(s)C(s)
 C(s) G(s)R(s) - G(s)H(s)C(s)
C(s) G(s)H(s)C(s) G(s)R(s)
[1 G(s)H(s)]C(s) G(s)R(s)

 W‫א‬‫א‬‫א‬‫א‬

C(s) G(s)
 (3 - 10)
R(s) 1 G(s)H(s)

 W‫א‬‫א‬‫א‬‫א‬

G(s)
 ( ) R(s) (3 - 11)
1 G(s)H(s)
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K


 ( ) 
 ‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
R(s) 
 ‫א‬،
  ‫א‬‫א‬E19J 1F
 W‫א‬‫א‬‫א‬D(s)‫א‬‫א‬

‫א‬Z‫א‬‫א‬ ‫א‬ R(s)‫א‬‫א‬J 
 K R(s)‫א‬‫א‬
‫א‬، D(s)‫א‬‫א‬‫א‬‫א‬ R(s)Z‫א‬J 
KD(s)‫א‬


Disturbance
N(s)

R(s) C(s)
+ G1(s) G2(s)

H(s)


 ‫א‬‫א‬‫א‬‫א‬E19J1F


D(s)‫א‬‫א‬ ( ) KR(s) ‫א‬‫א‬ ( ) 

 WE13J 3FE12J 3F‫א‬‫א‬‫א‬K

( ) ( )
 2
(3 - 12)
( ) 1 1( ) 2 ( ) ( )

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

( ) ( ) 2( )
 1
(3 - 13)
( ) 1 1( ) 2 ( ) ( )

R(s) ‫א‬‫א‬ ‫א‬‫א‬‫א‬
 W D(s)‫א‬‫א‬

( ) ( ) ( )
 G2( )
[ 1 ( ) ( ) ( )] (3 - 14)
1 1 ( )G 2 ( ) ( )


 ‫א‬‫א‬‫א‬ K

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
J 3F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
K ‫א‬‫א‬ ‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫א‬ E‫א‬
‫א‬
 ‫א‬‫א‬‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬E18J 1F‫א‬
 ‫א‬‫א‬
 KE‫א‬J 3F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 :E11J 1F
 ‫א‬‫א‬‫א‬‫א‬

‫א‬



 WE12J 1F
 ‫א‬‫א‬‫א‬ ‫א‬C،R 
 ‫א‬‫א‬
 ‫א‬
 ‫א‬‫א‬
 K


 :‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 



 WEF‫א‬EF‫א‬‫א‬

G 1G 2 G 3
C(s) 1 G 1G 2 H

R(s) G 1G 2 G 3
1
1 G 1G 2 H

 WE1 G 1G 2 H F‫א‬‫א‬


( )
 1 2 3

( ) 1 1 2 1 2 3


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 WE13J 1F
‫א‬K‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 WE15J 1F
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬



 :‫א‬



  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 WE16J 1F
 K C ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
R




 :‫א‬



  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 



‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬J 1
‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬J 2
‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J 3
‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J 4
‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬J 5
K‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬J 6


 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J 7
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


( )
K ‫א‬‫א‬‫א‬‫א‬‫א‬J 8
( )


K C(s) ‫א‬‫א‬‫א‬J 9


 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J 10
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J 11
 W‫א‬
Y(s) Y(s) E(s) E(s)
 , , ,
R(s) N 0
N(s) R 0 R(s) N 0
N(s) R 0

‫א‬K ‫א‬
 ‫א‬‫א‬ J 12
 W‫א‬‫א‬‫א‬
 5
, 4
, 2
, 5

1 1 1 2


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]

‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬

‫א‬‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 ‫א‬‫א‬‫א‬W‫א‬‫א‬

 K1J 2
 K2J 2
 K1J 2J 2
 ‫א‬‫א‬K2J 2J 2
 K3J 2J 2
 ‫א‬‫א‬K4J 2J 2
 ‫א‬K5J 2J 2
 ‫א‬‫א‬‫א‬K6J 2J 2
 ‫א‬‫א‬‫א‬‫א‬K7J 2J 2
 ‫א‬K3J 2
 ‫א‬‫א‬K4J 2
 ‫א‬‫א‬K1J 4J 2
 ‫א‬‫א‬K2J 4J 2
 ‫א‬‫א‬K3J 4J 2
 ‫א‬‫א‬K4J 4J 2
 ‫א‬‫א‬‫א‬K5J 4J 2
 ‫א‬‫א‬‫א‬K6J 4J 2
 ‫א‬‫א‬‫א‬‫א‬K7J 4J 2
 




  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
،‫א‬
،
،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬
‫א‬
‫א‬‫א‬‫א‬

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

  K
‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬error signal‫א‬
‫א‬‫א‬‫א‬EF‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫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
 W‫א‬‫א‬‫א‬

 K‫א‬‫א‬‫א‬‫א‬J ‫א‬
 K‫א‬‫א‬J 2
 K‫א‬‫א‬J 3
 K‫א‬‫א‬‫א‬J 4
 K‫א‬‫א‬‫א‬J 5

‫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K ‫א‬
‫א‬ ‫א‬ ‫א‬  ‫א‬‫א‬‫א‬
 K‫א‬‫א‬

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 K

  K

 ‫א‬‫א‬‫א‬ Laplace Transform‫א‬‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬‫א‬‫א‬ ،‫א‬‫א‬
‫א‬‫א‬‫א‬{Exponential Functions‫א‬‫א‬‫א‬Sinusoidal Function
ESFComplex VariableAlgebraic Functions

  
 ‫א‬، ‫א‬ ‫א‬‫א‬
 KS-plane

‫א‬‫ א‬K
‫א‬‫א‬ complex variable‫א‬‫א‬
 W‫א‬‫א‬K‫א‬‫א‬
 K Real PartJ 
.j Imaginary Part
Y- ‫א‬‫א‬‫א‬‫א‬‫א‬x-axis‫א‬‫א‬‫א‬‫א‬‫א‬
 KS-plane‫א‬‫א‬‫א‬E1J 2F axis

s-plane

1 1+ j 1
s1

0 1

S-plane‫א‬‫א‬ J 

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 
 ‫א‬‫א‬‫א‬ G (s) ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬S‫א‬‫א‬‫א‬
 G (s) =Re G(s) +Im G(s) E1J 2F
 WE‫א‬J 2F‫א‬
b 0s m b1s m 1 ....... b m
 G(s)
a 0s n a 1s n 1 ....... a n
W‫א‬‫א‬‫א‬

(s z1 )(s z 2 )........(s z m )
 G(s) K
(s p1 )(s p 2 )........(s p n )
E2J 2F



‫א‬ ‫א‬‫א‬S-plane‫א‬‫א‬
 ‫א‬‫א‬
 poles ‫א‬E P1 P2 , ….., Pm FsE‫א‬s‫א‬F
zero‫א‬  E Z1 , Z2 , ……, Zn FXEXF
 ‫א‬‫א‬pole‫א‬‫א‬KEOF
K‫א‬

 W1J 2
‫א‬‫א‬‫א‬ Gs ‫א‬Poles and Zeros‫א‬‫א‬
WS-plane
25( 4)( 2)
 G(s)
( 3)( 5) 2
 W‫א‬
 ‫א‬‫א‬Poles
2
 s(s 3)(s 5) 0
 W
 1 0, = 2
=-3(simple poles) and 3,4 second order pole F5J Z
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 WZeros‫א‬‫א‬
 25(s 4)(s 2) 0
 W
 s1 4 , s2 2 (simple zeros)

poles and zero
 ‫א‬E2J 2F‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
j

G-PLANE S-PLANE

SIMPLE
SECOND ZEROS POLE
ORDER POLE

A
X O X O X X
-5 -4 -3 -2 -1
C E B D

E J F   S-plane‫א‬‫א‬E J F



 W2J 2
 ‫א‬‫א‬‫א‬ G(s) ‫א‬Poles and Zero‫א‬‫א‬
S-
 Wplane
( 4)
 ( ) 2
( 6)( 2 10)

 W‫א‬
 W‫א‬
K(s 4)
 G(s)
(s 6)(s 1 j3)(s 1 j3)

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 Wpoles‫א‬‫א‬
 (s 6)(s 1 j3)(s 1 j3) 0
 W
 s1 6, s 2 1 j3, s 3 1 j3

poles 
 ‫א‬E3J 2F‫א‬S-plane‫א‬‫א‬‫א‬
 K‫א‬‫א‬and zeros

j

S-PLANE
COMPLEX POLE
B
- +4
- +3
SIMPLE ZEROS
POLE - +2
- +1
A D
x o
-6 -5 -4 -3 -2 -1
- -1
COMPLEX POLE - -2
- -3
C
- -4

E J F    S-plane‫א‬‫א‬E J F




   K
t)fF‫א‬  ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
‫א‬‫א‬KESF F(s) ‫א‬EtF‫א‬‫א‬‫א‬
‫א‬‫א‬SJ 
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬

 f(t) = a function of time t‫א‬‫א‬
 s = a complex variable
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 ZL‫א‬
ZEf(t) F(s‫א‬‫א‬‫א‬
W‫א‬‫א‬t(f)‫א‬‫א‬‫א‬


 [ ( )] ( ) [ ( )] () E3J 2F
0 0


 W3J 2
 Step Functions‫א‬‫א‬‫א‬‫א‬
K ‫א‬ ‫א‬E4J 2F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 
 W‫א‬‫א‬‫א‬‫א‬

() 0 for t 0

f(t) K for t 0
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬K

f(t)

t
0

‫א‬‫א‬ E J F


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬
 W‫א‬‫א‬‫א‬‫א‬

[ ( )]

 ( ) 0
0

1
[ ( )] ( ) if K 1 then ( ) (Unit step function)


 W4J 2
Ramp Function‫א‬‫א‬‫א‬‫א‬‫א‬
EtF‫א‬‫א‬E5J 2F‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬
 W

() 0 for t 0

f(t) Kt for t 0

 ‫؟‬‫א‬‫א‬‫א‬‫א‬K‫א‬K

f(t)

 ‫א‬‫א‬‫א‬ E J F

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬
 W‫א‬‫א‬‫א‬‫א‬
 ( ) 2

 W‫א‬‫א‬Ek=1F
 ( ) 2 (Unit - ramp function)


 W5J 2
Exponential Function‫א‬‫א‬‫א‬‫א‬
 WE6J 2F‫א‬‫א‬‫א‬‫א‬‫א‬
() 0 for t 0

f(t) for t 0

‫؟‬‫א‬‫א‬‫א‬‫א‬K‫א‬K
 W‫א‬
 W‫א‬‫א‬‫א‬‫א‬

f(t)

t
0

‫א‬‫א‬ E J F


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

( )
[ ( )]
0

1 1 1
 ( ) ( )
0
0
[0 1]

1
[ ( )] ( )


 W6J 2
 Sinusoidal Function‫א‬‫א‬‫א‬‫א‬
 WE7J 2F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
() 0 for t 0

f(t) sin for t 0

Sin t

t
t0

‫א‬‫א‬‫א‬ E J F


 ‫؟‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬ 

 W‫א‬
 W‫א‬‫א‬0‫א‬‫א‬

 [sin ] ( ) 2 2


 W‫א‬Ecos t F‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

() 0 for t 0

f(t) cos for t 0

 W‫א‬‫א‬‫א‬‫א‬
 [cos ] ( ) 2 2

EtF‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 E1J 2F‫א‬EsF‫א‬‫א‬


 W7J 2
 W‫א‬‫א‬‫א‬‫א‬
1 f(t) 15
2 - f(t) 5 4e -2t
3 f(t) t - 2e -t

4 x(t) 20sin4t
5 - y(t) 2t cost
6 - h(t) 100 14t 8cost

 W‫א‬
 W‫א‬E1J 2F‫א‬
15
1 ( ) L[15]
s
 2 - F(s) L[5 4e ]- 2t
[5] [4 ]
15 4 9(s 10)
s s 2 s(s 2)
3 F(s) L[t - 2e -t ] [ ] [2 ]
 1 (1 s - 2s 2 )
2
( 2
) ( )
s s 2 ( 1)
s 1
4 80
4 X(s) L[20sin4t] 20[ 2 2
] 2
s 4 s 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

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

f(t) F(s)

1 unit impulse (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

6 sin t
s2 2

s
7 cos t 2 2
s
n!
8 tn (n=1,2,3,…)
sn 1
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)
1 1 at bt 1
12 1 (be ae )
ab a b s(s a)(s b)

13 e-atsin t
(s a) 2 2

s a
14 e-atcos t (s a) 2 2

1
15
1 at
(at 1 e ) 2
s (s a)
a2
2
n nt 2
16 e sin n 1 t n

1 2
s2 2 n s 2
n

1 sin( 1 2
)

1 2 s
2 2
s 2 ns n
17 1 1 2
tan

 E1J 2F
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

‫א‬‫א‬ K
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 Multiplication by a Constant‫א‬‫א‬WE1F
 Wf(t)‫א‬‫א‬‫א‬F(s)،‫א‬k

 L[kf(t)] kF(s) E4J 2F


 Sum and Difference‫א‬‫א‬WE2F
 W‫א‬‫א‬ f 2 (t)  f1 (t) ‫א‬‫א‬‫א‬ 2 ( )  1 ( ) 


 L[f1 (t) f 2 (t)] F1 (s) F2 (s) E5J 2F

Differentiation‫א‬WE3F

 t=0 f(0) ‫א‬‫א‬ f(t) ‫א‬‫א‬‫א‬ ( ) 


df(t)
 L[ ] F(s) lim f(t) sF(s) - f(0) E6J 2F
dt 0

‫א‬‫א‬Kt=0f(t)‫א‬‫א‬‫א‬‫א‬f(0)
 W‫א‬‫א‬
d 2 f(t)
 L[ ] F(s) sf(0) - f (0) E7J 2F
dt 2

 Integration‫א‬WE4F
 Ws‫א‬‫א‬‫א‬f(t)‫א‬‫א‬‫א‬‫א‬

F(s) f (0)
  L[ ( )d ] E8J 2F
 f -1 (0) f(t)dt at t 0 Wt=0‫א‬‫א‬ f -1 (0) 

 K‫א‬‫א‬‫א‬‫א‬E1J 2F‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


  ‫א‬ K

 ‫א‬‫א‬‫א‬‫א‬
 ‫א‬ ‫א‬‫א‬‫א‬
F(sF‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬KEtF‫א‬‫א‬EsF‫א‬
 W 1
‫א‬Kf(t)‫א‬‫א‬

 L-1 [ (s)] ( ) E9J 2F
 W
 EF(s)=Laplace transformation of f(t‫א‬‫א‬‫א‬
L-1 Inverse laplace transformation ‫א‬

 W8J 2
1
F(s) ‫א‬‫א‬
s 10
 W‫א‬
W
 ‫א‬‫א‬E1J 2F‫א‬4‫א‬‫א‬
 Wa=10
1
 f(t) L 1[ ] e 10t

s 10

 W9J 2
27
 F(s) 2
‫א‬‫א‬
s 81


 W‫א‬
9
 F(s) 3 2
W‫א‬‫א‬‫א‬
s 92
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


 ‫א‬‫א‬E1J 2F‫א‬6‫א‬‫א‬
 W 9 3‫א‬‫א‬‫א‬


 f(t) L 1[F(s)] 3sin9t K‫א‬


‫א‬‫א‬E1J 2F‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬K
  
‫א‬ ‫א‬‫א‬‫א‬
K ‫א‬‫א‬ ‫א‬‫א‬‫א‬ 
E2J 2F‫א‬K ‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
 W‫א‬‫א‬

( ) (( )..........(s - )
 ( ) 1 2

( 1 )(s - 2 )...........( Pn )

 E Z1 , Z 2 ,..... Z m F‫א‬‫א‬ ‫א‬K

‫א‬‫א‬‫א‬ K n m ‫א‬ ‫א‬
  
 W‫א‬

A1 A2 An
 F(s) ....... E10J 2F
s p1 s p2 s p n1

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬‫א‬‫א‬E A1 , A 2 ,..... A n F



A1 (s p1 ).F(s)
1
A 2 (s p 2 ).F(s)
2
A n (s p n ).F(s)
n

‫א‬‫א‬E10J 2F‫א‬ A1 , A 2 ,..... A n 

  ‫א‬‫א‬
 W‫א‬‫א‬K‫א‬
 F(t) L-1[F(s)] A1e
-p1t
A 2e
-p 2t
........ A n e
-p nt


 W10J 2
 W‫א‬‫א‬‫א‬
( 3)
 ( )
( 1)( 2)
 W‫א‬
 W‫א‬‫א‬‫א‬‫א‬
A1 A2
 F(s)
s 1 s 2
 W A1 , A 2 ‫א‬‫א‬
s 3 -1 3 2
A1 (s 1) 2
(s 1)(s 2) -1 2 1
 1

s 3 -2 3 1
A2 (s 2) 1
(s 1)(s 2) 2
-2 1 1

 W‫א‬‫א‬‫א‬1
2 1
 F(s)
s 1 s 2
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


 ‫א‬‫א‬  ‫א‬‫א‬‫א‬ ‫א‬
 W‫א‬

2 1 
F(t) L-1 [ ] L-1 [ ]
s 1 s 2

f(t) 2e - t e -2t 
 11WJ 2
 W‫א‬‫א‬‫א‬
200
 ( )
s(s 10)

 W‫א‬
 W‫א‬‫א‬‫א‬‫א‬
A1 A2
 X(s)
s s 10

 W A1 , A 2 ‫א‬‫א‬
200 200
A1 s 20
s(s 10) 0
0 10
200 200
A2 ( 10) 20
( 10) 10
- 10

 W‫א‬‫א‬‫א‬‫א‬
20 20
 X(s)
s s 10

20 20
f(t) L-1 [X(s)] L-1 [ ] L-1 [ ]
s s 10
f(t) 20 - 20e -10t
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W12J 2
 W‫א‬‫א‬‫א‬
12
 Y(s)
s( s 1)(s 4)

 W‫א‬
 W‫א‬‫א‬‫א‬‫א‬

A1 A2 A3
 Y(s)
s s 1 s 4

 W A1 , A 2 A 3 ‫א‬‫א‬
12 12 12
A1 s 3
s(s 1)(s 4) 0
(0 1)(0 4) 4
12 12 12
 A2 (s 1) 4
s(s 1)(s 4) s -1
1( 1 4) 3
12 12 12
A3 (s 4) 1
s(s 1)(s 4) 4
- 4(-4 1) 12

 W‫א‬‫א‬‫א‬‫א‬


3 4 1
Y(s)
s s 1 4 
3 4 1
() L-1 [ Y(s)] L-1 [ ] L-1 [ ] L-1 [ ] 
s 1 4
() 3 4 4

 ‫א‬‫א‬‫א‬ K
  
 massE8J 2F  ‫א‬ ‫א‬‫א‬

 ‫א‬‫א‬piston ‫א‬Kspringdashpot
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

‫א‬dampingviscous friction‫א‬
 K‫א‬‫א‬‫א‬


KK
Kf‫א‬
m

Ky‫א‬‫א‬
KB‫א‬

K‫א‬
‫א‬
 E EJ8JF
 2F 


‫א‬‫א‬ ‫א‬‫א‬ ‫א‬‫א‬‫א‬
  
  
 W‫א‬

 K‫א‬‫א‬‫א‬‫א‬ J 1
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J 2
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J 3

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
 W‫א‬‫א‬
 F ma E11J 2F
 W
 m=mass‫א‬
a=acceleration‫א‬
force‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬‫א‬‫א‬‫א‬

 M) MassF‫א‬J 
 ‫א‬‫א‬‫א‬‫א‬

w
M
s
 W
  W weight ‫א‬
  g gravity ‫א‬‫א‬Eg=9.8066F


 W f m ( ) ‫א‬‫א‬‫א‬
d2 ( ) ()
  f m (t) Ma(t) M 2 E12J 2F

 K‫א‬V(t)W

 B) Viscous FrictionF‫א‬‫א‬J 
 W f B (t) ‫א‬‫א‬‫א‬

dy(t)
 f B (t) B E13J 2F
dt
 
 B viscous friction ‫א‬‫א‬

 y(t) displacement ‫א‬‫א‬‫א‬‫א‬‫א‬


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 K) Linear SpringF‫א‬‫א‬J 

 W f k (t) ‫א‬‫א‬‫א‬
 f K (t) Ky(t) E14J 2F

‫א‬‫א‬E1J 4F‫א‬‫א‬EKF
 W‫א‬E8J 4F

dy d2
f B - Ky m 2
dt
 E15J 2F
d2 dy
f m 2 B Ky
dt
 WE15J 2F‫א‬‫א‬‫א‬
d2
[m 2
] m[s 2 Y(s) - sy(0) - y (0)]

d
[B ] B[sY(s) - y(0)]

 [Ky] KY(s)
[f] F(s)

 y(0) y(0) 0 W‫א‬‫א‬‫א‬


 (ms 2 Bs K)Y(s) F(s) E16J 2F

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 WE7J 4F‫א‬‫א‬

Y(s) 1
 T.F. 2
E17J 2F
F(s) ms Bs K

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬‫א‬‫א‬‫א‬

Ei(s) E0(s)
Input 1 Ouput
ms2 +Bs + K

K‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫ א‬EE9JJ 2F
F 


 y ‫א‬‫א‬Ky‫א‬‫א‬‫א‬
Edy/dtF ‫א‬EB(dy/dt‫א‬K‫א‬
‫א‬‫א‬‫א‬،‫א‬K
‫א‬ 2 Ed/dtF‫א‬‫א‬ s ‫א‬‫א‬‫א‬
 KE4J 6F‫א‬‫א‬ (d 2 /dt 2 ) ‫א‬

 WE13J 2F
 ‫א‬‫א‬E10J 2F‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬


X1 X2
MASS MASS
SPRING SPRING
f(t)
M1 M2
K1 K2

FOR MASS M1 FOR MASS M2

K‫א‬ E J F
 ‫א‬ E10J 2F 

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬
 x 1 ‫א‬‫א‬‫א‬‫א‬‫א‬
d 2 x1 dx 1
 f(t) M1 B1 K1 (x1 x2)
dt 2 dt

 x 2 ‫א‬‫א‬‫א‬‫א‬‫א‬


d 2 x1 dx 1
0 M2 B1 K1 (x 1 x2)
 dt 2 dt

 W‫א‬‫א‬‫א‬
F(s) (M 1s 2 B1 s K 1 )X 1 (s) K 1 X 2 (s)
 0 (M 2 2
2 2 ) 2 ( ) ( 2 1 ) 1 ( )

 X 2 (s)/F(s) ‫א‬‫א‬‫א‬ X 2 (s)  X 1 (s) 


 ‫א‬‫א‬‫א‬‫א‬ K

 ‫א‬E‫א‬‫א‬J 2F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ angular velocity‫א‬‫א‬‫א‬
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬ damper
‫א‬B‫א‬‫א‬‫א‬‫א‬‫א‬J‫א‬ ‫א‬‫א‬T
 K‫א‬‫א‬‫א‬ ‫א‬‫א‬


 E11
K‫א‬
‫א‬  E J 2J F F


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W
KJ=moment of inertia of the load‫א‬‫א‬‫א‬
Kf=viscous-friction coefficient‫א‬‫א‬
 angular velocity (rad/sec) ‫א‬‫א‬‫א‬‫א‬‫א‬
 T=torque applied to the system ‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬ ‫א‬ ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 WE F‫א‬‫א‬‫א‬ J)F‫א‬‫א‬‫א‬

 T J E18J 2F

 W
 =angular acceleration ( rad/sec 2 F‫א‬‫א‬‫א‬

 W‫א‬‫א‬‫א‬‫א‬‫א‬


  F‫א‬‫א‬‫א‬J 
 W TJ (t) ‫א‬‫א‬‫א‬
d (t) d 2 (t)
 T(t) J (t) J J E19J 2F
dt dt 2

 ‫א‬‫א‬‫א‬‫א‬ (t) W


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

  ‫א‬‫א‬J 

 W ( ) ‫א‬


d(t)
 TB (t) B E20J 2F
dt

 W

B=viscous friction‫א‬‫א‬
  (t) angular displacement Z‫א‬‫א‬‫א‬‫א‬


  F‫א‬‫א‬‫א‬J 
 W‫א‬‫א‬

 Tk (t) K (t) E21J 2F

 spring constant‫א‬EKF

 W‫א‬E‫א‬0J 4F‫א‬‫א‬E8J 4F‫א‬

d
T B J
dt
 d
E22J 2F
T J B
dt

 W،‫א‬‫א‬‫א‬E22J 2F‫א‬‫א‬‫א‬

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 T(s) (Js B) (s) E23J 2F


 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

(s) 1
  E24J 2F
T(s) Js B

 W‫א‬‫א‬‫א‬‫א‬

Ei(s) E0(s)
Input 1 Ouput
Js +B

‫א‬K‫א‬‫א‬ E12
E J F2
‫א‬‫א‬‫א‬ F 


 WE13J 2F
‫א‬ ‫א‬‫א‬ E13J 2F‫א‬‫א‬‫א‬  ‫א‬‫א‬
 K‫א‬
‫א‬‫א‬
SHAFT  
PUMP
T2 K
J2
J1
T1 F
1 2


 
MOTOR

‫א‬ 
K‫א‬ E13J 2F 
 E J F


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬
 W‫א‬‫א‬ 2  1 ‫א‬‫א‬

2
T1 (J 1 )
 2
1 2

K 1 (Js ) 2

 K‫א‬‫א‬ 2  1 


 ‫א‬ K
‫א‬‫א‬،‫א‬E14J 2F‫א‬
 W‫א‬‫א‬‫א‬
‫א‬
 Valve Body‫א‬


‫א‬‫א‬‫א‬14J 2‫א‬ 
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


‫א‬،‫א‬‫א‬  
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬15J 2‫א‬
‫א‬Direct Action Valves‫א‬
‫א‬‫א‬
‫א‬Reverse Action Valves‫א‬
 ‫א‬



‫א‬‫א‬‫א‬15J 2‫א‬


 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬?‫א‬?،‫א‬‫א‬
‫א‬،psi1‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬Cv=5‫א‬
 Kpsi1‫א‬،‫א‬
 K‫א‬‫א‬‫א‬E2J 2F‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


‫א‬‫א‬E2J 2F‫א‬

Cv‫א‬ ‫א‬
0.3 025
3 0.5
14 1
35 1.5
55 2
108 3
174 4
400 6
725 8
 1100 10
 W‫א‬‫א‬‫א‬‫א‬
 1 2
W‫א‬
( 1 2 )( 1 2)
 960 W‫א‬
( 460)

 90 1 2 W
1 2

 W
 Valve Flow Coefficient‫א‬WCV
Gas Specific Gravity‫א‬WGR
 Liquid Specific Gravity‫א‬WGL
ESteam Flow Rate (lb/hour‫א‬WW
EValve Inlet Pressure (psi‫א‬‫א‬WP1
 EValve Outlet Pressure(psi) (psi‫א‬‫א‬WP2
 EGas Flow Rate (ft3/hour at 14.7psia and 60 F‫א‬WQG
ELiquid Flow Rate (Gallon/min‫א‬WQL
EGas Temperature (Degree F‫א‬‫א‬WT
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

Steam Specific Volume at the Valve ‫א‬‫א‬‫א‬WV1

 Eft3/lbF Inlet
Steam Specific Volume at the Valve ‫א‬‫א‬‫א‬WV2
 EOutlet (ft3/lb

 W
،GL=0.92‫א‬‫א‬‫א‬
Safety Factor=0.25‫א‬،P1-P2=60psi،Qmax=320Galon/lmin
 QL=1.25Qmax

 W‫א‬
 1 2 W‫א‬

 
1 2

‫א‬1J 5‫א‬،Cv=49.5QLP1-P2
 inches2

 _  ‫א‬‫א‬‫א‬ K
‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬ 
 W‫א‬‫א‬
 Two-position (ON-OFF) Controller‫א‬‫א‬J 1
 EProportional Controller (P-Controller‫א‬‫א‬J 2
 EIntegral Controller (I-Controller‫א‬‫א‬J 3
 EDifferential Controller (D-Controller‫א‬‫א‬J 4
 PI-Controller‫א‬‫א‬‫א‬J 5
 PD-Controller‫א‬‫א‬‫א‬J 6
 PID-Controller‫א‬‫א‬‫א‬‫א‬J 7
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

‫א‬ ‫א‬‫א‬‫א‬‫א‬ 

‫א‬ 
 ‫א‬‫א‬ ‫א‬‫א‬
 K

  ‫א‬‫ א‬K
M
 ‫א‬E16J 2F‫א‬‫א‬
K E
 F
 K‫א‬‫א‬


 
‫א‬ Max
‫ א‬+ ‫א‬  ‫א‬‫א‬‫א‬ ‫א‬
_ ‫א‬
Min

‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬E16
 E JJ 2F
F .


W‫א‬‫א‬‫א‬
 M=MaxEFfor E>0E25J 2F
M=MinEFfor E>0E26J 2F
 ‫א‬
 ‫א‬E
 ‫א‬‫א‬FM ‫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  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 E ‫א‬‫ א‬K
 ‫א‬
 
 ‫א‬E17J 2F‫א‬‫א‬
 K‫א‬‫א‬ K P ‫א‬



  

 
‫ א‬+ ‫א‬ ‫א‬ ‫א‬‫א‬‫א‬ ‫א‬
_ ‫א‬

‫א‬
‫א‬

K‫א‬‫א‬‫א‬E17
‫א‬‫א‬‫א‬ E JJ F2

F .


‫א‬ ‫א‬  K P  ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ K P K
E‫א‬F‫א‬‫א‬  K P   ‫א‬‫א‬K‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬

 m(t) K P e(t) E27J 2F
 M(s) K P E(s) E28J 2F
M(s)
 K P E29J 2F
E(s)
 ‫א‬K
 ‫א‬‫א‬‫א‬‫א‬E18J 2F‫א‬

 ‫א‬ EaF ‫א‬ ‫א‬
 Ka‫א‬ K P ‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

e(t) m(t)
  
‫א‬ ‫א‬

t t

K‫א‬‫א‬
‫א‬‫א‬ E18 EJ J2FF
.


 ‫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‫ א‬K
‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
‫א‬‫א‬ ‫א‬‫א‬K ‫א‬‫א‬E19J 2F
ER=CF ‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬
 W‫א‬
 E=R-C=0

   
‫ א‬+ ‫א‬ ‫א‬ ‫א‬‫א‬‫א‬ ‫א‬
_ ‫א‬

‫א‬
‫א‬

K‫א‬‫א‬‫א‬ E JE19
‫א‬‫א‬‫א‬ F
J 2F .


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬‫א‬‫א‬‫א‬
t e(t)dt
m(t) KI E30J 2F
0
1
 M(s) K I E(s)
s
M(s) K I E31J 2F
E(s) s
 a‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬
 ‫א‬E20J 2F‫א‬
 Ke(t)=a‫א‬‫א‬‫א‬‫א‬
e(t) m(t)
  
‫א‬ ‫א‬

t t

K‫א‬‫א‬
‫א‬‫א‬ E20J  E2FJ
F
.


 WE30J 2F‫א‬
t a dt
 m(t) KI
0
m(t) K I a t C E32J 2F

‫א‬
 ‫א‬‫א‬m(t)‫א‬t ‫א‬‫א‬
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E20J 2F
‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬K ‫א‬
‫א‬‫א‬
  ‫א‬‫א‬‫א‬K‫א‬
 K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 


‫א‬‫א‬‫א‬‫א‬reset rate‫א‬ ‫א‬
‫א‬  ‫א‬‫א‬‫א‬KR‫א‬C
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،
‫א‬‫א‬
 ‫א‬ ‫א‬‫א‬
 ‫א‬K K I ‫א‬‫א‬‫א‬
 K‫א‬‫א‬ K I 

  ‫א‬‫ א‬K

  ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
‫א‬EcontrollerrateF‫א‬‫א‬‫א‬KE21J 2F
 K‫א‬


 
   
‫ א‬+ ‫א‬ ‫א‬ ‫א‬‫א‬‫א‬ ‫א‬
_ ‫א‬

‫א‬
‫א‬

‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬E21
E JJ F2
F .


 ‫א‬E‫א‬F‫א‬ ‫א‬
‫א‬ ‫א‬‫א‬K‫א‬ 
 ‫א‬‫א‬‫א‬ ‫א‬ ‫א‬
K ‫א‬
  ‫א‬‫א‬
 ‫א‬‫א‬
‫א‬‫א‬‫א‬E22J 2F
 Kunit step function‫א‬

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

e(t) m(t) m(t)

  ‫א‬ ‫א‬
‫א‬
‫א‬‫א‬ ‫א‬‫א‬
‫א‬ 

t t t

‫א‬‫א‬ E22J E 2JF 

K‫א‬‫א‬ F.


Et=0F‫א‬ ‫א‬‫א‬‫א‬
  ‫א‬‫א‬‫א‬
 

 F‫א‬‫א‬ ‫א‬ ‫א‬‫א‬
‫א‬K ‫א‬E‫א‬F‫א‬
 ‫א‬‫א‬KE
 ‫א‬  ‫א‬x(t)=0‫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‫ א‬K
‫א‬ ‫א‬
  ‫א‬‫א‬‫א‬‫א‬
‫א‬   K P 
  ‫א‬
 
  K P 
  ‫א‬‫א‬ ‫א‬‫א‬‫א‬E23J 2F‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬
 K
 ‫א‬‫א‬ K I ‫א‬‫א‬‫א‬
1
‫א‬‫א‬‫א‬ TI  ‫א‬‫א‬
KI
1
 P , K I , or TI 
 ‫א‬‫א‬‫א‬‫א‬KE F‫א‬
TI s
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

  

‫ א‬+ ‫א‬ + ‫א‬ ‫א‬‫א‬‫א‬ ‫א‬
_ + ‫א‬

‫א‬ 
‫א‬

K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ E23J E 2JF F
.


 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

t
 m(t) K P e(t) K I e(t)dt E23J 2F
0


KI KI
 M(s) K P E(s) E(s) (K P )E(s) 
s s

M(s) KI
 KP E24J 2F
E(s) s

K1 ‫א‬ ‫א‬K‫א‬‫א‬E24J 2F
 
‫א‬ ‫א‬ ‫א‬‫א‬K ‫א‬
  K P  
‫א‬‫א‬‫א‬ ‫א‬K ‫א‬
 K‫א‬‫א‬‫א‬

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 

e(t) m(t)
  
   
‫א‬ ‫א‬ 



t t

K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬  EJ J2FF
E24 .



E23J 2F‫א‬‫א‬‫א‬
 ‫א‬‫א‬
 K‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬ 
 KE25J 2F‫א‬‫א‬


  

‫א‬ + ‫א‬ ‫א‬‫א‬‫א‬ ‫א‬
‫א‬ +
+ ‫א‬
_


‫א‬

‫א‬

K‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ ‫א‬‫ א‬E25  E JJ 2FF
.

KP
 W‫א‬E F‫א‬‫א‬‫א‬E34J 2F‫א‬
KP
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

M(s) KI KP
KP
E(s) s KP
M(s) KI
 K P (1 )
E(s) K Ps
M(s) 1
K P (1 )
E(s)

M(s) 1
 K P (1 ) E35J 2F
E(s) Tn s

 W
KP
 Tn K P TI
KI

   K P , Tn 
  ‫א‬‫א‬‫א‬
  Tn 
 ‫א‬‫א‬‫א‬‫א‬ ‫א‬ K P E8J 7F
 K‫א‬‫א‬

  ‫א‬‫א‬‫ א‬K

 ‫א‬ ‫א‬‫א‬ ‫א‬
 KE26J 2F K P ‫א‬


  

‫ א‬+ ‫א‬ + ‫א‬ ‫א‬‫א‬‫א‬ ‫א‬
_ + ‫א‬

‫א‬ 
‫א‬

K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ E26J 2EF 
J F
.


  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

d
 m(t) K P e(t) K D e(t) E36J 2F
dt

 M(s) K P E(S) K D ( )
M(s)
 K P K D E37J 2F
E(S)

 Tv K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E27J 2F
 K K P , Tv ‫א‬‫א‬K‫א‬


  

‫א‬ + ‫א‬ ‫א‬‫א‬‫א‬ ‫א‬
‫א‬ +
+ ‫א‬
_


‫א‬

‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬ E27
 EJ J 2FF
K‫א‬‫א‬‫א‬‫א‬‫א‬  .


‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬E28J 2F‫א‬‫א‬
‫א‬ ‫א‬E ‫א‬F‫א‬ 
Et=0F‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬
 K‫א‬‫א‬

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

e(t) m(t)
  ‫א‬
‫א‬

t t

‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬ E28
 E J J2F 
.
E‫א‬‫א‬‫א‬F


  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬
 W‫א‬

dt
 m(t) KPt KD
dt
 m(t) K P t K D E38J 2F

E28J 2F‫א‬  ‫א‬‫א‬
 K Tv ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

  ‫א‬‫א‬‫א‬‫ א‬K
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
KE29J 2F‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬
 W‫א‬E2.39F‫א‬

t
d
 m(t) K P e(t) K I e(t)dt K D e(t) E39J 2F
0
dt

 KE‫א‬F‫א‬EEe(tF،‫א‬E m(t) F
  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

  

+
‫ א‬+ ‫א‬ + ‫ א‬‫א‬‫א‬‫א‬ ‫א‬
+ ‫א‬
_


‫א‬
‫א‬ 

‫א‬ ‫א‬‫א‬‫א‬‫א‬ E29  E J J2F 

K‫א‬‫א‬‫א‬‫א‬‫א‬  .

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

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬
 W‫א‬‫א‬‫א‬‫א‬E39J 2F
M(s) KI
 KP K D S E40J 2F
E(S) s

  ‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬E30J 2F
 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EE30JJ F2
F .

  ‫א‬‫א‬  233 ‫א‬
‫א‬‫א‬‫א‬  ‫א‬‫א‬ ‫א‬J 

KP
E F‫א‬‫א‬‫א‬‫א‬‫א‬E40J 2F‫א‬
KP
 W‫א‬‫א‬

M(s) KI KP KP
 KP K DS
E(S) s KP KP

M(s) 1
 K P (1 Tv S E41J 2F
E(S) Tn s
 W
1 KD
 TI , Tn TI K P , Tv
KI KP

‫א‬ K P   K P , Tv , Tn   ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ ‫א‬E‫א‬‫א‬F‫א‬‫א‬
 Tv ‫א‬ ‫א‬ Tn K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬E31J 2F‫א‬K‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬


‫א‬‫א‬‫א‬‫א‬ E J F
(F