Escolar Documentos
Profissional Documentos
Cultura Documentos
erro
Y ( s)
G( s)
entrada
R( s )
H ( s)
Y ( s) R( s )
R( s )
G( s)
Y ( s)
H ( s)
G( s) 1 G( s)
G( s)
N ( s) D( s )
zeros
H ( s)
N ( s) D( s ) N ( s )
polos
E ( s)
R( s) 1 G( s)
sR( s) s 0 1 G ( s )
1 R( s ) s
1 R( s ) 2 s
R( s )
1 s3
Parbola
Acelerao constante
R( s )
1 s
1 1 1 s 1 G( s) 1 lim G( s)
s 0
( s z1 )...(s zn ) G( s) K , zi , pi 0 ( s p1 )...(s pm )
( s z1 )...(s zn ) Kp ( s p1 )...(s pm )
lim G( s) K
s 0
lim e(t )
t
1 1 K p
( s z1 )...(s zn ) G( s) K , zi , pi 0 s( s p1 )...( s pm )
( s z1 )...(s zn ) s( s p1 )...(s pm )
lim G( s) K
s 0
lim e(t )
t
1 0 1
( s z1 )...(s zn ) G( s) K 2 , zi , pi 0 s ( s p1 )...(s pm )
( s z1 )...(s zn ) 2 s ( s p1 )...(s pm )
lim G( s) K
s 0
lim e(t )
t
1 0 1
R( s )
1 s2
lim sG( s) sK
s 0
lim e(t )
t
1 0
sG( s) sK
( s z1 )...(s zn ) , zi , pi 0 s( s p1 )...(s pm )
( s z1 )...(s zn ) Kv ( s p1 )...(s pm )
lim sG( s) K
s 0
lim e(t )
t
1 Kv
sG( s) sK
( s z1 )...(s zn ) , zi , pi 0 s 2 ( s p1 )...(s pm )
( s z1 )...(s zn ) s( s p1 )...(s pm )
lim sG( s) K
s 0
lim e(t )
t
1 0
R( s )
1 s3
s 2G ( s ) s 2 K
( s z1 )...(s zn ) , zi , pi 0 ( s p1 )...(s pm )
( s z1 )...(s zn ) 0 ( s p1 )...(s pm )
lim s 2G( s) s 2 K
s 0
lim e(t )
t
1 0
s 2G ( s ) s 2 K
( s z1 )...(s zn ) , zi , pi 0 s( s p1 )...(s pm )
( s z1 )...(s zn ) 0 ( s p1 )...(s pm )
lim s 2G( s) sK
s 0
lim e(t )
t
1 0
s 2G ( s ) s 2 K
( s z1 )...(s zn ) , zi , pi 0 s 2 ( s p1 )...(s pm )
lim s 2G( s) K
s 0
( s z1 )...(s zn ) Ka ( s p1 )...(s pm )
lim e(t )
t
1 Ka
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0 0
10
15 20 Time (sec)
25
30
35
10
Amplitude
0 0
5 Time (sec)
10
1200
1000
Amplitude
800
600
400
200
0 0
10
15 20 Time (sec)
25
30
35
G( s)
G( s)
10s 20 s 2 7 s 12
2( s 4)( s 1) ( s 2 6s 9)( s 2) s
4s 2 1.6s 0.2 G( s) s3 s 2
1 G( s) 3 s as