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k(v-*) (y-")
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F mz! k,(y x) c(y x) mz!

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[mry" + cy' + kzl: cxt * kzx

lmrx" - cx' a (k, * kr)x : -cyt - k,y I k,u
,'"ral ,r. ."\Y
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(-,r' cs kt td- b*Y ( cs kr)Y krU

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l, ,'v,' b,',sY, + k,y,'- b,ry2 + kl2 -ul
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;{__l.r- b(xrii}
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krx, krx, k.x, c txt frzxz
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(s) =
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d)G(s)= s

(s+1)(s+2)
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s(s+1)(s+2)

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I f' - mrxt' =; k(t - y) - mtxtl

mf"*kx-ky

I f: mry" -+ -k(y x)+ F - m,

mry"lky:kx+F

lm,x" + kx : ky
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a)

-. . =k(s +40)
G(s)
s(s +20)

-
Ht.t=
' (s+20)
tr

b)
 volt
v/r = rsJ9l1! ki = 10
m m
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k=0.2Nm kg
Amp cL = 0.008
sec
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L" =0
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r =0.5m
r = 0.1sec

:";'pfu -rt": -.p f, -rg-, ,.lr:S i^*(A

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9r rr_i s.J}

a)s6 +s5 +4sa +3st -s' -4s-4 =0

b)s3 +3s2
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.rt!:. j$. as !-Ln u$ (JJlrl ,'-,1. ,1 1r, ,..r -u o"L p- r{v

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a" 1

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Q' R1(A:SR2 - R2 - R22 A1S + l)

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lq, - q, : A hi - Q, AtsH l

|n,-n, - R,e:
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lu,-Hr-R,q,
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Q' R2(Q"+As&Q"
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-' R1A,S +l' :

+ Q.+Q,C|-SAt't e"(ArSR2+ A2A3ilR3- 4SR3+

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Rl ', R, R:A; + Rt- R,'A,S . R,',

o A(s)
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o 1

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=+ Q" + Q,C]-1A1"' : e"e4"SR2 + ,42A35R3 - 4SR3 +

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ln, : &42 IH,: R,Q.
tqr-q":A, h', : A.SH z
In, ^[ar+Q,-Q"
Ir,, - RzQ
"
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Q'
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A,+L
'R,

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lrRrs +1 44s +1
.= Q' *().
lrRr,s +1 -(1+ 4R2S)8"

o 1

Q' (1+4R1,S)(1+ A"R S)

a" l
Q, (7+ A2R2s)
 ':.l*,lr !i -l .:l,:r.Laa-5.-r]A ,l(-/-ill/ \

Lrl!, dJls &l Jr ..l.,il, a-n1.1

i.+- jL"j clrlj aS 'lt< a:J,j ;1-.:; t.) K(9
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riL 4,jB - , L:< ,i^ -L i 6B 4< !,< , .'-j ,u}lt K(e
3-' "
. .r-&L :-1r 10 { cr.r:;: t JKsL fiL cal-ti as +( aij,i ,-}^ l-,, K(i
cli 4: I ) M, . ,-n*+ a+ Ft" , {r-J: 5 u,:lj,!: L) llJfi.l uL"j }rtL dJs Ljrl }
. + -,r:i
!c!l JlrL 4= r +l G- flr.r K JllL € crljl ar
i-J- ;Loj c!.1-: r-J+G

K
G(s) =
+3s+3.25s2
H(s) = sa1
G(s)-
s(s2 +2s+2)
 il
GG) =
s0+lxt+!)
'49'
 ft(s +1)
s-l)(s'1+4s+16)

sa+5s3+14s2+10s

s(s + 1)(s + 2)(s + 3)(s +4)(s'? + 10s + 29)

K(s + 1)
ft) G(s) =
,s