R bb2`pBbb2K2Mi

R bb2`pBbb2K2Mi

RXR h.@.a @ bb2`pBbb2K2Mi

.2pQB` R@ *QKKM/2b /2 pQH T`BKB`2 /2 HǶB`#mb j3y
/Tiû /2 JSkyyN *Q``B;û T;2 Rk

X T`ûb2MiiBQM
G2 i?ĕK2 T`QTQbû +QM+2`M2 HǶû`QMmiB[m2 2i THmb T`iB+mHBĕ`2K2Mi H +QKKM/2 2M TQbBiBQM /2b ;Qm@
p2`M2b /2 T`Q7QM/2m` /2 HǶB`#mb j3yX GǶB`#mb j3y 2bi mM pBQM /2 HB;M2 +BpBH ;`Qb@TQ`i2m` HQM;@+Qm``B2`
[m/`B`û+i2m` ¨ /Qm#H2 TQMi T`Q/mBi T` B`#mb- }HBH2 /Ƕ1.a- +QMbi`mBi T`BM+BTH2K2Mi 2M HH2K;M2-
1bT;M2- 6`M+2 2i _QvmK2@lMB 2i bb2K#Hû ¨ hQmHQmb2X

6B;m`2 RXRXR Ĝ *QKKM/2 /2 pQH /2 HǶB`#mb j3y

GQM;m2m` ?Q`b@iQmi dj K
>mi2m` k9-R K
.BKĕi`2 /m 7mb2H;2 d-R9 K *?[m2 ;Qmp2`M2 /2 T`Q7QM/2m` 2bi `2HBû2 m S>_ T` /2b +?`MBĕ`2b Qm HBBbQMb TBpQib UpQB` 6B@
1Mp2`;m`2 dN-3 K ;m`2 RXRXjV 2i 2bi Km2 2M `QiiBQM T` mM2 mMBiû /2 +QKKM/2 +QMbiBimû2 /2 /2mt +iBQMM2m`b UpQB`
am`7+2 HB`2 398 Kk 6B;m`2 RXRX9V ,
SQmbbû2 /2b KQi2m`b jRy FL 9 ě mM2 b2`pQ+QKKM/2 Ua*V- +iBQMM2m` T`BM+BTH `2HBû m +B`+mBi ?v/`mHB[m2 /2 HǶpBQM UpQB` 6B@
oBi2bb2 /2 +`QBbBĕ`2 Ry9y FKf? UJ+? y-38V ;m`2 RXRX8V c
oBi2bb2 KtBKH2 RyNy FKf? UJ+? y-3NV ě mM 1> U1H2+i`Q >v/`mHB+ +imiQ` , +iBQMM2m` ûH2+i`Q@?v/`QbiiB[m2V- miBHBbû 2M +b /2 /û7BHHM+2
Jbb2 KtB m /û+QHH;2 8ey i
/2 H b2`pQ+QKKM/2 Qm /m +B`+mBi ?v/`mHB[m2 T`BM+BTHX *2i +iBQMM2m` 2bi HBK2Miû ûH2+i`B[m2@
UV U#V *`+iû`BbiB[m2b /2 HǶA_"la j3y K2Mi 2i T`Q/mBi HQ+H2K2Mi- pB mM KQi2m` ûH2+i`B[m2 2Mi`ŗMMi mM2 TQKT2- HǶûM2`;B2 ?v/`mHB[m2
Mû+2bbB`2 ¨ bQM 7QM+iBQMM2K2Mi UpQB` 6B;m`2 RXRXeVX
*2b mMBiûb /2 +QKKM/2 bQMi B/2MiB[m2b TQm` H2b [mi`2 ;Qmp2`M2b /2 T`Q7QM/2m`X
XRX G2b +QKKM/2b /2 pQH T`BKB`2b
SQm` TBHQi2` mM pBQM- BH 2bi Mû+2bbB`2 /2 TQmpQB` +QMi`ƬH2` 2M T2`KM2M+2 b2b ûpQHmiBQMb /Mb HǶ2bT+2 XjX G2b bQm`+2b /ǶûM2`;B2
bmBpMi i`QBb /B`2+iBQMb Qm t2b UpQB` 6B;m`2 RXRXRV , .2mt ivT2b /ǶûM2`;B2 bQMi miBHBbûb TQm` HǶHBK2MiiBQM /2b mMBiûb /2 +QKKM/2 ,
ě HǶt2 /2 H+2i Up2`iB+HV c ě HǶûM2`;B2 ?v/`mHB[m2 TQm` HǶHBK2MiiBQM /2b b2`pQ+QKKM/2b-
ě HǶt2 /2 `QmHBb U?Q`BxQMiH 2i /Mb H /B`2+iBQM /2 H K`+?2V c ě HǶûM2`;B2 ûH2+i`B[m2 TQm` HǶHBK2MiiBQM /2b 1>X
ě HǶt2 /2 iM;;2 U?Q`BxQMiH 2i T2`T2M/B+mHB`2 ¨ H K`+?2VX
SQm` +2H- H2 TBHQi2 ;Bi bm` H2b +QKKM/2b /2 pQH /2 HǶpBQMX 1M T`iB[m2- QM /BbiBM;m2 /2mt ivT2b /2 X9X bb2`pBbb2K2Mi 2M TQbBiBQM
+QKKM/2b , G2b +QMbB;M2b ûKBb2b T` H2 TBHQi2 ¨ HǶB/2 /m DQvbiB+F Qm T` H2 TBHQi2 miQKiB[m2 bQMi i`MbKBb2b
ě H2b +QKKM/2b /2 pQH T`BKB`2b miBHBbû2b T2M/Mi iQmi H2 pQH [mB T2`K2ii2Mi /2 +QMi`ƬH2` HǶûpQHmiBQM mt Q`/BMi2m`b /2 +QKKM/2 /2 pQH UpQB` 6B;m`2 RXRXdVX *2b /2`MB2`b /ûi2`KBM2Mi- 2M 7QM+iBQM /2 HQBb
/2 HǶpBQM miQm` /2 b2b t2b /2 `û7û`2M+2 , /2 TBHQi;2 T`2MMi 2M +QKTi2 mM +2`iBM MQK#`2 /2 T`Kĕi`2b UHiBim/2- pBi2bb2- 2i+XV- H2b KQmp2K2Mib
ě H ;Qmp2`M2 /2 /B`2+iBQM Qm ;Qmp2`MBH TQm` H2 H+2i- /2b ;Qmp2`M2b HBKBiMi ûp2Mim2HH2K2Mi H2b ûpQHmiBQMb /2 HǶpBQM ¨ bQM 2Mp2HQTT2 /2 pQH- +Ƕ2bi@¨@/B`2 mt
ě H2b BH2`QMb 2i H2b bTQBH2`b TQm` H2 `QmHBb- `û;BK2b 2i iiBim/2b bȿ`bX AH 2tBbi2 /2b /Bzû`2M+2b /2 T?BHQbQT?B2 ¨ +2 bmD2i 2Mi`2 H2b /2mt T`BM+BTmt
ě H2b ;Qmp2`M2b /2 T`Q7QM/2m` 2i H2 THM ?Q`BxQMiH `û;H#H2 US>_V TQm` H2 iM;;2X pBQMM2m`b /m K`+?û ,
ě G2b +QKKM/2b /2 pQH b2+QM/B`2b miBHBbû2b T2M/Mi H2b T?b2b /Ƕii2``Bbb;2 2i /2 /û+QHH;2 [mB ě "Q2BM; T2`K2i m TBHQi2 /2 i`Mb;`2bb2` +2b HBKBi2b T` T`2bbBQM m@/2H¨ /ǶmM2 #miû2-
T2`K2ii2Mi /2 KQ/B}2` H +QM};m`iBQM û`Q/vMKB[m2 /2 HǶpBQM , ě B`#mb 2KTā+?2 iQmi2 ûpQHmiBQM m@/2H¨ /2b HBKBi2b /2 bû+m`BiûX
ě ?vT2`bmbi2Mii2m`b UpQH2ib 2i #2+bV TQm` H TQ`iM+2 c G TQbBiBQM /2 HǶ+iBQMM2m` 2bi /ûi2`KBMû2 T` H2 +Ti2m` BM/m+iB7 HBMûB`2 /2 TQbBiBQM BKTHMiû /Mb
ě H2b bTQBH2`b UQm û`Q7`2BMbV TQm` H i`ŗMû2X H iB;2 /m pû`BMX G TQbBiBQM /2 H ;Qmp2`M2 2bi /ûi2`KBMû2 T` mM +Ti2m` `QiiB7 /QMi HǶt2 /2 `QiiBQM
+QśM+B/2 p2+ HǶt2 /2b +?`MBĕ`2bX
XkX G2b ;Qmp2`M2b /2 T`Q7QM/2m` G2b mi`2b BM7Q`KiBQMb i`MbKBb2b mt Q`/BMi2m`b /2 +QKKM/2 /2 pQH T`QpB2MM2Mi 2bb2MiB2HH2K2Mi ,
GǶB`#mb  j3y 2bi û[mBTû /2 [mi`2 ;Qmp2`M2b /2 T`Q7QM/2m` /BbTQbû2b bvKûi`B[m2K2Mi bm` H2 THM ě /2b ;v`QKĕi`2b , pBi2bb2b /2 `QiiBQM miQm` /2b t2b /2 iM;;2- H+2i 2i `QmHBb c
?Q`BxQMiH `û;H#H2 US>_V /2 HǶpBQM UpQB` 6B;m`2 RXRXkVX ě /2b ++ûHû`QKĕi`2b , ++ûHû`iBQMb p2`iB+H2b 2i Hiû`H2bX

R k Gv+û2 *?`H2K;M2
R bb2`pBbb2K2Mi R bb2`pBbb2K2Mi

S>_ :Qmp2`M2 1tiû`B2m`2 .`QBi2 U1.V

:Qmp2`M2 AMiû`B2m`2 .`QBi2 UA.V

:Qmp2`M2 AMiû`B2m`2 :m+?2 UA:V

:Qmp2`M2 1tiû`B2m`2 :m+?2 U1:V

6B;m`2 RXRX9 Ĝ _2T`ûb2MiiBQM T`iB2HH2 UbMb H2b +?`MBĕ`2bV /2 HǶmMBiû /2 +QKKM/2

6B;m`2 RXRXk Ĝ G2b ;Qmp2`M2b /2 T`Q7QM/2m`

lMBiû /2 +QKKM/2 /2 lMBiû /2 +QKKM/2 /2

6B;m`2 RXRX8 Ĝ a2`pQ+QKKM/2
H ;Qmp2`M2 2tiû`B2m`2 *?`MBĕ`2 H ;Qmp2`M2 BMiû`B2m`2
;m+?2 U1:V ;m+?2 UA:V

UV

lMBiû /2
*?`MBĕ`2
+QKKM/2 +iBQMb û`Q@
/vMKB[m2b

6B;m`2 RXRXe Ĝ 1>

U#V

6B;m`2 RXRXj Ĝ G2b ;Qmp2`M2b /2 T`Q7QM/2m` "X *QKKM/2 /2b +iBQMM2m`b

`+?Bi2+im`2 /m bvbiĕK2 /2 +QKKM/2
G +QMbB;M2 /2 TQbBiBQM /2b ;Qmp2`M2b /2 T`Q7QM/2m` T2mi āi`2 /û}MB2 ,
ě bQBi KMm2HH2K2Mi ¨ HǶB/2 /2 DQvbiB+Fb bBimûb /Mb H +#BM2 /2 TBHQi;2 UmM TQm` H2 +TBiBM2- mM

Gv+û2 *?`H2K;M2 j 9 Gv+û2 *?`H2K;M2

R bb2`pBbb2K2Mi R bb2`pBbb2K2Mi

*X MHvb2 /2 H 7QM+iBQM /2 b2`pB+2 6Sk Ŀ bb2`pB` 2M TQbBiBQM H ;Qmp2`M2 /2 T`Q7QM/2m` ŀ

PM b2 T`QTQb2 /Ƕûim/B2` H `ûHBbiBQM /2 H 7QM+iBQM /2 b2`pB+2 6Sk Ŀ bb2`pB` 2M TQbBiBQM H ;Qmp2`M2
/2 T`Q7QM/2m` ŀX PM b2 HBKBi2` ¨ HǶbb2`pBbb2K2Mi 2M TQbBiBQM /2 H b2`pQ+QKKM/2 /ǶmM2 ;Qmp2`M2
BMiû`B2m`2X
1M `BbQM /2b /û7Q`KiBQMb HQ+H2b /m2b mt +iBQMb mt[m2HH2b bQMi bQmKBb H2 S>_ 2i H ;Qmp2`M2-
H /BbiM+2 G 2Mi`2 H2b TQBMib /Ƕii+?2K2Mib  2i " /2 HǶmMBiû /2 +QKKM/2 T2mi ~m+im2`X "B2M [m2 H
#``2 /2 `2M7Q`i UpQB` 6B;m`2 RXRX9V 2M HBKBi2 +QMbB/û`#H2K2Mi HǶBKTQ`iM+2- H +QMMBbbM+2 /2 H TQbBiBQM
x2 UpQB` 6B;m`2 RXRXN /2 H iB;2 /m pû`BM MǶ2bi Tb bm{bMi2 TQm` /ûi2`KBM2` p2+ +2`iBim/2 H TQbBiBQM
M;mHB`2 /2b ;Qmp2`M2bX .ǶQɍ mM2 bi`m+im`2 p2+ /2mt #Qm+H2b /Ƕbb2`pBbb2K2Mi 2M TQbBiBQM `2T`ûb2Miû2
6B;m`2 RXRX3X

*H+mHi2m`
βc x2c i Q x2 β
+− *Q``2+i2m` +− *Q``2+i2m` a2`pQpHp2 oû`BM :Qmp2`M2
6B;m`2 RXRXd Ĝ "Qm+H2 /Ƕbb2`pBbb2K2Mi 2M TQbBiBQM
x2m

βm *Ti2m`
mi`2 TQm` H2 +QTBHQi2V-
ě bQBi T` H2 TBHQi2 miQKiB[m2 bB +2ii2 7QM+iBQM 2bi +iBpû2X
*2b +QMbB;M2b bQMi i`MbKBb2b mt Q`/BMi2m`b /2 +QKKM/2 /2 pQH Ui`QBb Q`/BMi2m`b T`BM+BTmt S_AJ
*Ti2m`
R- k 2i j 2i i`QBb Q`/BMi2m`b b2+QM/B`2b a1* R- k 2i jVX G2 h#H2m RXRXd +B@/2bbQmb T`û+Bb2- TQm` +?[m2
;Qmp2`M2- H2b Q`/BMi2m`b 2M b2`pB+2 2i H2b +iBQMM2m`b [mǶBHb +QKKM/2Mi bmBi2 ¨ mM2 /û7BHHM+2 /ǶmM Qm
/2 THmbB2m`b Q`/BMi2m`bX BMbB- TQm` H ;Qmp2`M2 BMiû`B2m`2 /`QBi2 A.- H2b T`BQ`Biûb bQMi H2b bmBpMi2b , 6B;m`2 RXRX3 Ĝ "Qm+H2b /Ƕbb2`pBbb2K2Mi 2M TQbBiBQM /ǶmM2 b2`pQ+QKKM/2
RX a* Ub2`pQ+QKKM/2V 2M KQ/2 +iB7 +QKKM/û2 T` S_AJ j c
kX 1> 2M KQ/2 +iB7 +QKKM/û2 T` S_AJ k bB S_AJ j 2M TMM2 c *XRX 6QM+iBQM /2 i`Mb72`i /m pû`BM
jX a* 2M KQ/2 +iB7 +QKKM/û2 T` a1* j bB S_AJ j 2i S_AJ k 2M TMM2b c ú[miBQM /2b /û#Bib
9X 1> 2M KQ/2 +iB7 +QKKM/û2 T` a1* k bB S_AJ j- S_AJ k 2i a1* j 2M TMM2bX G 6B;m`2 RXRXN T`ûb2Mi2 H2 pû`BM ?v/`mHB[m2 /2 KMƾmp`2 /2 H ;Qmp2`M2X

:Qmp2`M2b
1: A: A. 1.
a* 1> a* 1> 1> a* 1> a*
S_AJ R j j k
k R k R PM MQi2
a1* R j j k ě x2 , H TQbBiBQM /2 H iB;2 /m pû`BM T`
k R k R `TTQ`i ¨ H TQbBiBQM M2mi`2 c
ě Vi , pQHmK2 /2 H +?K#`2 B UB 4 R Qm kV c
h#H2 RXRXd Ĝ *QKKM/2 /2b KQ/2b +iB7b /2b +iBQMM2m`b /2b ;Qmp2`M2b /2 T`Q7QM/2m`
ě S , b2+iBQM miBH2 /m pû`BM c
ě Pi , T`2bbBQM /Mb H +?K#`2 B c
PM miBHBb2 H2b p`B#H2b #QQHû2MM2b bmBpMi2b ,
ě Qi , /û#Bi 2Mi`Mi /Mb H +?K#`2 BX
ě H X Us 4 C Qm oV , *B`+mBi ?v/`mHB[m2 X 2M 7QM+iBQMM2K2Mi MQ`KH c
p2+
ě Ei UB 4 R Qm kV , _ûb2m ûH2+i`B[m2 Ei 2M 7QM+iBQMM2K2Mi MQ`KH c
UV oû`BM 2M TQbBiBQM M2mi`2 U#V /QMMû2b
ě Pi UB 4 R- k Qm jV , P`/BMi2m` PRIMi 2M 7QM+iBQMM2K2Mi MQ`KH c
ě Si UB 4 R- k Qm jV , P`/BMi2m` SECi 2M 7QM+iBQMM2K2Mi MQ`KHX 6B;m`2 RXRXN Ĝ oû`BM
PM T2mi BMbB /û}MB` H2b KQ/2b +iB7b /2b a* 2i /2b 1> bQmb H 7Q`K2 /ǶmM2 û[miBQM HQ;B[m2X S`
2t2KTH2- H2 KQ/2 +iB7 /2 H b2`pQ+QKKM/2 Ua*V /2 H ;Qmp2`M2 BMiû`B2m`2 /`QBi2 UA.V b2` MQiû ,
PM +QMbB/ĕ`2 H2 pû`BM 2M TQbBiBQM M2mi`2- QM  HQ`b V1 = V2 = V0 X G2b û[miBQMb /2 /û#Bi bǶû+`Bp2Mi ,
   
SCID = Hj · P3 + E2 + P2 · S3 d x2 V0 d P1
Q1 = S · +
dt B dt
ZRX h`+2` H2 HQ;B;`KK2 /2 SCID X d x2 V0 d P2
ZkX .ûi2`KBM2`- T` TTHB+iBQM /m i?ûQ`ĕK2 /2 .2 JQ`;M- HǶû[miBQM #QQHû2MM2 /m KQ/2 KQ`iBbb2K2Mi Q2 = S · −
dt B dt
/2 H b2`pQ+QKKM/2 /2 H ;Qmp2`M2 BMiû`B2m`2 /`QBi2X
ZjX .ûi2`KBM2` HǶû[miBQM #QQHû2MM2 /m KQ/2 +iB7 /2 HǶ1> /2 H ;Qmp2`M2 BMiû`B2m`2 /`QBi2 EHAID X p2+ ,

Gv+û2 *?`H2K;M2 8 e Gv+û2 *?`H2K;M2

R bb2`pBbb2K2Mi R bb2`pBbb2K2Mi

*XjX 6QM+iBQM /2 i`Mb72`i /m pû`BM

PM MQi2 Q(p)- P(p)- X2 (p)- Fe (p) H2b i`Mb7Q`Kû2b /2 GTH+2 /2b p`B#H2b Q(t)- P(t)- x2 (t) 2i Fe (t)X
PM +QMbB/ĕ`2 MmHH2b H2b +QM/BiBQMb BMBiBH2bX
ZeX .ûi2`KBM2` H2b i`Mb7Q`Kû2b /2 GTH+2 /2b û[miBQMb RXR 2i RXkX
PM `2T`ûb2Mi2 +2b /2mt û[miBQMb T` H2 b+?ûK 7QM+iBQMM2H 6B;m`2 RXRXRRX 1M `K2MMi H T2`im`#iBQM
bm` HǶ2Mi`û2- H `û/m+iBQM /2 H #Qm+H2 +QM/mBi m b+?ûK #HQ+ bBKTHB}û /2 H 6B;m`2 RXRXRkX
2 · B · S2
PM MQi2 rh = H `B/2m` ?v/`mHB[m2 /m pû`BMX
V0

Fe (p) d
R

Q(p) 2·B P(p) − 1 X2 (p)

+− S +
V0 · p p · (me · p + c)
6B;m`2 RXRXRy Ĝ :Qmp2`M2 2M TQbBiBQM β = 0ê

V0 d Pi S·p
ě , /û#Bi /2 +QKT`2bbB#BHBiû /m ~mB/2 PM TQb2 mbbB ,
B dt
/Mb H +?K#`2 B c Q(t) ≈ Q1 (t) ≈ Q2 (t) 6B;m`2 RXRXRR Ĝ a+?ûK #HQ+ /m pû`BM
ě B , KQ/mH2 /2 +QKT`2bbB#BHBiû /m ~mB/2 c
P(t) = P1 (t) − P2 (t)
ě S , b2+iBQM miBH2 /m pû`BMX
Fe (p)
Z9X JQMi`2` [m2 HǶQM  HQ`b H1 (p)
dx V dP
Q(t) = S · 2 + 0 . URXRV
dt 2 · B dt Q(p) − X2 (p)
+ H(p)

*XkX ú[miBQMb Kû+MB[m2b

PM +QMbB/ĕ`2 H2 pû`BM 2M TQbBiBQM M2mi`2 p2+ mM M;H2 /ǶBM+HBMBbQM /2 H ;Qmp2`M2 β = 0ê UpQB` 6B@ 6B;m`2 RXRXRk Ĝ a+?ûK #HQ+ bBKTHB}û /m pû`BM
;m`2 RXRXRyVX PM miBHBb2 H2b MQiiBQMb bmBpMi2b ,
ZdX .ûi2`KBM2` H 7QM+iBQM /2 i`Mb72`i H(p) 2i KQMi`2` [mǶ2HH2 T2mi b2 K2ii`2 bQmb H 7Q`K2 +MQMB[m2
ě m2 , Kbb2 /2 H iB;2 /ǶmM pû`BM c #» d x (t) bmBpMi2 ,
ě Fc = −c 2 · x#»2 , 7Q`+2 2M;2M/`û2 T` H2 pû`BM
ě IC , BM2`iB2 /2 H ;Qmp2`M2 miQm` /2 HǶt2 dt KQ
2M KQ/2 KQ`iBbb2K2Mi c H(p) =  
(C, y#»2 ) c
#» ě c , +Q2{+B2Mi /ǶKQ`iBbb2K2Mi pBb[m2mt c ξ p2
ě Fe , `ûbmHiMi2 /2b 7Q`+2b û`Q/vMKB[m2b T@ p· 1+2· ·p+ 2
ě R , /BbiM+2 c ω0 ω0
THB[mû2 m +2Mi`2 /2 TQmbbû2 CPG c
#» ě d , /BbiM+2 c
ě Fv = P · S · x#»2 , 7Q`+2 2M;2M/`û2 T` H2 pû`BM 2M 1M /û/mB`2 H2b 2tT`2bbBQMb /2 KQ - ω0 2i ξ 2M 7QM+iBQM /2 rh - S- me 2i cX
ě H pBi2bb2 /2 HǶpBQM 2bi bmTTQbû2 +QMbiMi2
KQ/2 +iB7 c #» Z3X .ûi2`KBM2` H1 (p) 2M 7QM+iBQM /2 d- R- S- rh X
Va = Va · x#»2 X
*X9X a+?ûK 7QM+iBQMM2H /2 H #Qm+H2 /Ƕbb2`pBbb2K2Mi BMi2`M2
>vTQi?ĕb2 , PM +QMbB/ĕ`2 T2iBi H2 KQmp2K2Mi /2 `QiiBQM β /2 H ;Qmp2`M2 miQm` /2 H TQbBiBQM M2mi`2X
x PM /K2i [m2 H2 /û#Bi Q(t) 2bi T`QTQ`iBQMM2H ¨ HǶBMi2MbBiû /m +Qm`Mi i(t) T`+Qm`Mi H #Q#BM2 /2
.Mb +2b +QM/BiBQMb- QM /K2ii` [m2 β = 2 X +QKKM/2 /2 H b2`pQ+QKKM/2 bQBi ,
R
PM +QMbB/ĕ`2 H 6B;m`2 RXRXRyX G2 bvbiĕK2 BbQHû +QKT`2M/ H2b /2mt pû`BMb +QKTH2ib UiB;2 2i +vHBM/`2V 2i
H ;Qmp2`M2X Q(t) = Ks · i(t) URXjV
Z8X úMQM+2` H2 i?ûQ`ĕK2 /2 HǶûM2`;B2 +BMûiB[m2X .ûKQMi`2` HQ`b [m2 HǶQM T2mi û+`B`2 HǶû[miBQM /Bzû`2M@
iB2HH2 , G2 +Ti2m` /2 TQbBiBQM `2MpQB2 mM2 i2MbBQM T`QTQ`iBQMM2HH2 ¨ H TQbBiBQM x2 /2 H iB;2 /m pû`BM ,

d x2m (t) = Kp · x2 (t) URX9V

m · x¨2 + c · x˙2 = P · S − ·F URXkV
R e
G 7QM+iBQM /2 i`Mb72`i /m +Q``2+i2m` 2bi MQiû2 *UTVX
I G bi`m+im`2 /2 H #Qm+H2 /Ƕbb2`pBbb2K2Mi 2M TQbBiBQM /2 H iB;2 /m pû`BM 2bi `2T`ûb2Miû2 6B;m`2 RXRXRj
p2+ me = 2 · m2 + c2 H Kbb2 û[mBpH2Mi2 `K2Mû2 bm` HǶt2 /2b pû`BMbX
R p2+ ,
9

Gv+û2 *?`H2K;M2 d 3 Gv+û2 *?`H2K;M2

R bb2`pBbb2K2Mi R bb2`pBbb2K2Mi

ě X2c , +QMbB;M2 /2 TQbBiBQM /2 KāK2 mMBiû [m2 X2 - TQbBiBQM /2 H iB;2 /m pû`BM c Fe (p)
ě X2r , bB;MH /2 `û7û`2M+2 /2 KāK2 mMBiû [m2 H2 bB;MH /2 `2iQm` X2m . H1 (p)
ZNX _2T`Q/mB`2 bm` pQi`2 72mBHH2 H2 b+?ûK #HQ+ /2 H 6B;m`2 RXRXRj 2M T`û+BbMi H2b 7QM+iBQMb- "- * 2i .X
ZRyX *QKK2Mi /QBi@āi`2  TQm` [m2 H2 bvbiĕK2 bQBi bb2`pB \ X2c ε(p) Z − X2 (p)
+− Kc E + H(p)
Fe (p)
H1 (p)

X2c X2r I Z − X2 (p)

 +− " * + H(p) 6B;m`2 RXRXR9 Ĝ a+?ûK #HQ+ ¨ `2iQm` mMBiB`2

X2m PM û+`Bi , X2 (p) = F(p) · X2c (p) + F1 (p) · Fe (p)X

. ZRjX .ûi2`KBM2` H2b 7QM+iBQMb F(p) 2i F1 (p) 2M 7QM+iBQM- 2Mi`2 mi`2 /2- KBO - ξ 2i ω 0 X
ZR9X PM `ĕ;H2 ;BM Kc /m +Q``2+i2m` }M [m2 H2 bvbiĕK2 bb2`pB bQBi bi#H2- KQMi`2` HQ`b [m2 bB Fe (t) 2bi
mM2 +iBQM Kû+MB[m2 +QMbiMi2 [m2 HǶQM T2mi `2T`ûb2Mi2` T` mM û+?2HQM /ǶKTHBim/2 a- bQBi Fe (t) = a·u(t)
6B;m`2 RXRXRj Ĝ a+?ûK 7QM+iBQMM2H /2 H #Qm+H2 /Ƕbb2`pBbb2K2Mi 2M TQbBiBQM /m pû`BM Uu(t) 7QM+iBQM /2 >2pBbB/2V- H pH2m` }MH2 /2 x2 (t) M2 /ûT2M/ Tb /2 Fe (t)
G2 b+?ûK 7QM+iBQMM2H /2pB2Mi HQ`b ,
*X8X MHvb2 /2b T2`7Q`KM+2b /2 HǶbb2`pBbb2K2Mi 2M TQbBiBQM /2 H iB;2 /m pû`BM X2c X2 (p)
P#D2+iB7 , /ûi2`KBM2` H2b +QM/BiBQMb Mû+2bbB`2b ¨ H biBb7+iBQM /2b T2`7Q`KM+2b 2tB;û2b 2M i2`K2 /2 +− T(p)
T`û+BbBQM 2i /2 bi#BHBiû /2 H 7QM+iBQM 6hk@R , Ŀ bb2`pB` 2M TQbBiBQM H iB;2 /m pû`BM ŀX

*`Biĕ`2b LBp2mt
Jbb2 Kk /2 H iB;2 /ǶmM pû`BM 8,4 kg
AM2`iB2 A+ /2 H ;Qmp2`M2 BMiû`B2m`2 233 kgm2 6B;m`2 RXRXR8 Ĝ a+?ûK #HQ+ ¨ `2iQm` mMBiB`2 bBKTHB}û
GQM;m2m` /m #`b /2 H2pB2` _ 155 mm
GQM;m2m` / 0,6 m
oQHmK2 oy 5,14 × 10−4 m3 SQm` H bmBi2 /2 HǶûim/2- QM T`2M/ ,
*Q2{+B2Mi /ǶKQ`iBbb2K2Mi + 104 N m−1 s KBO
a2+iBQM miBH2 /m pû`BM a 57,1 cm2 T(p) =  . URXeV
JQ/mH2 /2 +QKT`2bbB#BHBiû /m ~mB/2 " 2,109 Nm2 p 1.0 + 3,9 × 10−5 · p + 3,8 × 10−5 · p 2
J`;2 /2 T?b2 60ê
J`;2 /2 ;BM 10 dB ZR8X .B;`KK2b /2 "Q/2
ú+`i /2 TQbBiBQM εp = 0 mm ZR8X h`+2` H2b /B;`KK2b /2 "Q/2 /2 T(p) TQm` KBO = 1 bm` H2 /Q+mK2Mi `ûTQMb2 UTTB2` b2KBHQ;VX
ú+`i /2 i`ŗM;2 TQm` mM2 +QMbB;M2 x2c )0.1 · t ε T ≤ 2 mm ZR8#X .ûi2`KBM2` T`û+BbûK2Mi H2 KQ/mH2 TQm` ω 180 - H TmHbiBQM TQm` H[m2HH2 HǶ`;mK2Mi pmi −180êX
ZR8+X S`û+Bb2` H2b TQBMib 2i H2b ûHûK2Mib +`+iû`BbiB[m2bX
h#H2 RXRXRj Ĝ úHûK2Mib /m +?B2` /2b +?`;2b ZR8/X .ûi2`KBM2` H2 KQ/mH2 2i HǶ`;mK2Mi /2 T(j · ω r ) TQm` ωr H TmHbiBQM /2 `ûbQMM+2 /m b2+QM/
Q`/`2X
ZRRX *H+mH2` H2b pH2m`b 2i T`û+Bb2` H2b mMBiûb /2 , ZR82X 1M /û/mB`2 H +QM/BiBQM /2 bi#BHBiû bm` KBO X
ZRRX H Kbb2 û[mBpH2Mi2 me 2i H `B/2m` ?v/`mHB[m2 rh c PM b2 T`QTQb2 /2 pû`B}2` H2 `2bT2+i /m +?B2` /2b +?`;2b Uh#H2m RXRXRjV pBb ¨ pBb /2 H T`û+BbBQM 2i
ZRR#X H2 ;BM KQ - H TmHbiBQM T`QT`2 ω0 2i H2 7+i2m` /ǶKQ`iBbb2K2Mi ξ /2 H(p)X /2 H K`;2 /2 ;BMX
SQm` H bmBi2- QM T`2M/` TQm` H2b TTHB+iBQMb MmKû`B[m2b , ZReX _2bT2+i /2 H T`û+BbBQM , /ûi2`KBM2` HǶû+`i ε(t) pBb ¨ pBb /2 HǶ2Mi`û2 T`BM+BTH2 ,
ZReX εp TQm` mM2 +QMbB;M2 x2c (t) = 1 · u(t) /2 ivT2 û+?2HQM mMBiB`2 c
175 ZRe#X εt TQm` mM2 +QMbB;M2 2M `KT2 x2c = 0,1 · t · u(t)X
H(p) =   URX8V
p 1.0 + 3,9 × 10−5 · p + 3,8 × 10−5 · p 2 ZRe+X 1M /û/mB`2 H pH2m` /m ;BM /2 #Qm+H2 KBO T2`K2iiMi /2 biBb7B`2 H2b 2tB;2M+2b /m +?B2`
/2b +?`;2bX
G2 +Q``2+i2m` 2bi ¨ +iBQM T`QTQ`iBQMM2HH2 /2 7QM+iBQM /2 i`Mb72`i C(p) = Kc X G2 b+?ûK #HQ+ ¨ `2iQm` ZRe/X *QM+Hm`2 bm` H TQbbB#BHBiû /2 +2 `û;H;2X
mMBiB`2 2bi `2T`ûb2Miû 6B;m`2 RXRXR9 p2+ K = Kp · Ks X ZRdX _2bT2+i /2 H K`;2 /2 ;BM
X (p) ZRdX .û/mB`2 /m /B;`KK2 /2 "Q/2- H pH2m` /2 KBO T2`K2iiMi /2 `2bT2+i2` H K`;2 /2 ;BM
PM TT2HH2 7QM+iBQM /2 i`Mb72`i 2M #Qm+H2 Qmp2`i2 pBb ¨ pBb /2 HǶ2Mi`û2 X2c - H 7QM+iBQM T(p) = 2
ε(p) bTû+B}û2 T` H2 +?B2` /2b +?`;2bX
Q#i2Mm2 TQm` Fe (p) = 0X ZRd#X Zm2HH2 K`;2 /2 T?b2 2M `ûbmHi2`@iǶBH \
ZRkX .ûi2`KBM2` H 7QM+iBQM /2 i`Mb72`i 2M #Qm+H2 Qmp2`i2 T(p) 2i 2M /û/mB`2 HǶ2tT`2bbBQM /m ;BM /2 H ZR3X *QM+Hm`2 [mMi ¨ H TQbbB#BHBiû /2 biBb7B`2 H2b 2tB;2M+2b /m +?B2` /2b +?`;2b p2+ mM +Q``2+i2m`
#Qm+H2 Qmp2`i2 KBO BMbB [m2 HǶQ`/`2 2i H +Hbb2 /2 T(p)X ¨ +iBQM T`QTQ`iBQMM2HH2 C(p) = Kc X

Gv+û2 *?`H2K;M2 N Ry Gv+û2 *?`H2K;M2

R bb2`pBbb2K2Mi

.X úim/2 /m +Q``2+i2m`
PM +?QBbBi mM +Q``2+i2m`- `ûHBb#H2 MmKû`B[m2K2Mi- /2 7QM+iBQM /2 i`Mb72`i ,

ξ p2
1+2 ·p+ 2
N(p) ω0 ω0
C(p) = Kc · = Kc · URXdV
D(p) ξc p2
1+2 ·p+ 2
ωc ωc
*`+iû`BbiB[m2b /m +Q``2+i2m` ,
ě H2 ;BM Kc /m +Q``2+i2m` 2bi +?QBbB /2 i2HH2 bQ`i2 [m2 H pH2m` /m ;BM /2 #Qm+H2 KBO bQBi û;H2 ¨
8y c
ě H2 7+i2m` /ǶKQ`iBbb2K2Mi ξc 2bi +?QBbB û;H ¨ 0,7 c
ě H2 MmKû`i2m` N(p) /2 C(p) 2bi +?QBbB û;H m i2`K2 /m b2+QM/ Q`/`2 /m /ûMQKBMi2m` /2 H 7QM+iBQM
H(p)X
ZRNX .QMM2` H 7QM+iBQM /2 i`Mb72`i 2M #Qm+H2 Qmp2`i2 +Q``B;û2 T(p)X
ZkyX CmbiB}2` H2b +?QBt /2 H pH2m` /m ;BM /2 #Qm+H2 KBO 2i +2HH2 /m 7+i2m` /ǶKQ`iBbb2K2Mi ξc X
PM /QMM2 6B;m`2 RXRXRe /2mt `2T`ûb2MiiBQMb bBKTHB}û2b /Mb "Q/2 /2 HǶûpQHmiBQM /m `TTQ`i /ǶKTHB@
im/2 A(ω)dB Ui`+û bvKTiQiB[m2V 2i /m /ûT?b;2 /2 H 7QM+iBQM /2 i`Mb72`i 2M #Qm+H2 Qmp2`i2 bmBpMi
[m2 ωc 2bi bmTû`B2m` Qm BM7û`B2m` ¨ KBO X

UV KBO < ω c U#V KBO > ω c

6B;m`2 RXRXRe Ĝ h`+û bvKTiQiB[m2 /Mb "Q/2 /2 H 6h"P TQm` KBO < ωc 2i KBO > ωc

ZkRX .Mb [m2H +b H +QM/BiBQM /2 bi#BHBiû 2bi@2HH2 bbm`û2 \ CmbiB}2` pQi`2 `ûTQMb2X
ZkkX 1M /û/mB`2- 2M +QMbB/û`Mi H2 i`+û bvKTiQiB[m2 /2 A(ω)dB- H pH2m` /2 H TmHbiBQM T`QT`2 ωc
T2`K2iiMi /2 `2bT2+i2` mM2 K`;2 /2 T?b2 /2 60êX

Gv+û2 *?`H2K;M2 RR