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H1 H2
- +
R + + θ + Y
G1 G2
-
H3
H1 H2
(a) Redraw the block diagram with H1 = H2 = 0, R as the input and ✓ as the output.
Therefore, the transfer function from R to ✓ is
R + θ
G1
-
G2H3
✓ G1
= .
R 1 + G 1 G 2 H3
Y G1 G2
The same result can be found by noting that R
= 1+G1 G2 H3
where Y = G2 ✓.
2
( (+)
Exercício 3: Encontre a função de transferência -) (+) para o sistema multivariável mostrado abaixo.
.
Homework 1
Reading : Franklin, Powell, and Emami-Naeni, Chapter 3
2
N (s)
E(s) + 10 + Y (s)
R(s) + s+2 + +
- - s(s + 1)
0.5s