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 𝑟(𝑠) 𝐾𝑜
= 𝑇=𝐷
δ (s) (𝑠𝑡 + 1)
α=0
α = β −ψ
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m(𝑢−
ሶ ψሶ v) = T− D⋅cos(α) 𝑢 = 𝑉⋅cos(α) αሶ = −
𝐷
⋅tan(α)-ψሶ
𝑚⋅𝑉
m(𝑣+ሶ ψሶ u)= −D⋅ sin(α) V = 𝑉⋅sin(α)
𝑚⋅𝑉 1
λ= αሶ = − ⋅tan(α)−ψሶ ሶ β =ψ
λβ+
𝐷 λ

β(𝑠) 1 β(𝑠) 1
= =
ψ(s) (𝑠λ + 1) δ (s) 𝑠(𝑠λ + 1)(𝑠𝑡 + 1)