1 1 c1 c2 c c 1 1 1 1 1 1 1 1

= + + 3 + 4 = − + −
( s+ 2 )( s+3 )( s+ 4 ) s s s+ 2 s +3 s+ 4 24 s 4 s +2 3 s+3 8 s+ 4
c i=G ( s=p i )( s− pi )

1 1
c 1=G ( s=0 ) s= =
( 0+2 )( 0+ 3 ) ( 0+4 ) 24
1 −1
c 2=G ( s=−2 )( s+2 ) = =
−2 (−2+3 ) (−2+4 ) 4
1 1
c 3=G ( s=−3 ) (s +3)= =
−3 (−3+2 ) (−3+4 ) 3
1 −1
c 4 =G ( s=−4 ) ( s +4 )= =
−4 (−4 +3 ) (−4+ 2 ) 8

1 ω
( s+ 2 )( s+3 )( s+ 4 ) ( s +ω 2 )
2

ω
( s+ ωi ) ( s−ωi ) ( s +2 ) ( s+ 3 ) ( s+ 4 )
a+¿ a c1 c2 c3
+ −¿ + + + ¿¿
s−ωi s+ ωi s+2 s+3 s +4
c i=G ( s=p i )( s− pi )

a 1 −1
−¿=G ( s=−ωi ) ( s+ωi )= = G ( −ωi ) ¿
−2 i ( −ωi+2 ) (−ωi+3 ) ( −ωi+4 ) 2 i

a 1 1
+ ¿=G ( s=ωi ) ( s−ωi ) = = G ( ωi ) ¿
2 i ( ωi+2 )( ωi+3) ( ωi +4 ) 2 i

G ( ωi ) 1 G (−ωi ) 1 c1 c2 c3
L
−1
{ 2i s−ωi
− + + +
2i s+ ωi s+2 s+3 s +4 }
G ( ωi ) ωit G (−ωi ) −ωit
y (t)= e − e +c 1 e−2t + c 2 e−3 t + c3 e−4 t
2i 2i
G ( ωi ) ωit G (−ωi ) −ωit
y ( t → ∞ )= e − e =A ( ω ) sen ( ωt+ ϕ ( ω ) )
2i 2i
A ( ω )=|G ( ωi )|

imag ( G ( ωi ) )
ϕ ( ω )=tg−1
( real ( G ( ωi ) ) )
y ( t ) =A ( ω ) sen ( ωt+ ϕ ( ω ) ) + c1 e−2 t +c 2 e−3t +c 3 e−4 t
y ( t → ∞ )= A ( ω ) sen ( ωt +ϕ ( ω ))

1
A ( ω )=|G ( ωi )|=
|( ωi+ 2 )( ωi+3 )( ωi+ 4 ) |
z=2−4 i

|z|=√ ℜ2+ ℑ2= √22 + 42= √ 4+16=2 √5

1 (−ωi+ 2 )(−ωi+3 )(−ωi+ 4 )
A ( ω )=|G ( ωi )|= |( ωi+ 2 )( ωi+3 )( ωi+ 4 ) (−ωi+ 2 )(−ωi+3 )(−ωi+ 4 ) |
(−ωi+ 2 )(−ωi+ 3 )(−ωi+4 )
A ( ω )=|G ( ωi )|=
| ( ω2 +4 ) ( ω 2+ 9 ) ( ω2 +16 ) |
( ω2 −5 ωi+ 6 ) (−ωi+ 4 ) (−ω3 i+ 4 ω2 +5 ω2−20 ωi−6 ωi+24 )
A ( ω )=|G ( ωi )|=
|( ω2 +4 ) ( ω 2+ 9 )( ω2 +16 )
=
||
( ω2 +4 ) ( ω2 +9 )( ω2 +16 ) |
2 2
(−ω 3 i+9 ω2 −26 ωi+24 ) ( 9 ω2 +24 ) + ( −26 ω−ω3 )
A ( ω )=
| ( ω2 + 4 ) ( ω 2+ 9 ) ( ω 2+16 )
=
|√ 2 2
( ω2 +4 ) ( ω2 +9 ) ( ω2 +16 )
2

1 1 1
A ( ω )=
| =
| =
( ωi+2 ) ( ωi+3 ) ( ωi+4 ) |ωi+2||ωi+3||ωi+4| √ (ω + 4)(ω + 9)( ω2 +16)
2 2

imag ( G ( ωi ) ) −ω 3−26 ω
ϕ ( ω )=tg−1
( real ( G ( ωi ) ) ) (
=tg −1 2
9 ω +24 )
imag ( G ( ωi ) )
ϕ ( ω )=tg−1
( real ( G ( ωi ) ) )
=−t g−1 ( α ( ( ωi+ 2 ) ) )−t g−1 ( α ( ( ωi+ 3 ) ) )−t g−1 ( α ( ( ωi+ 4 ) ) )

ϕ ( ω )=−t g−1 ( ω2 )−t g ( ω3 )−t g ( ω4 )

−1 −1

1
A ( ω )= 2 2 2
√( ω +4 ) ( ω +9 )( ω +16 )
1
Mg=20 log ( A )=20 log
( √( ω2 +4 ) ( ω2 +9 )( ω2 +16 ) )
 1 1 1
Mg=20 log ( A )=20 log
( √( ω2 +4 ) ) +20 log
( √( ω 2+ 9 ) ) +20 log
( √( ω 2+ 16 ) )
1 1 1
Mg=20 log ( A )=20 log
( √( 2
ω +4 ))
+20 log
( √( 2
ω +9 ))
+20 log
( √( 2
ω + 16 ))
1 −1 /2
=( ω2 +4 )
2
√( ω +4 )
log ( x a ) =a log ( x )

Mg=20 log ( A )=−10 log ( ( ω2 + 4 ) ) −10 log ( ( ω2 +9 ) ) −10 log ( ( ω2 +16 ) )

Caso ω ≪ 2 , ω≪ 3 , ω ≪ 4

Mg=20 log ( A )=−10 log ( ( 4 )) −10 log ( ( 9 ) ) −10 log ( ( 16 ) )=constante

Caso ω ≫ 2 , ω≪ 3 , ω ≪ 4

Mg=20 log ( A )=−10 log ( ( ω2 ) ) −10 log ( ( 9 )) −10 log ( ( 16 ) )

Mg=20 log ( A )=−20 log ( ω )−10 log ( ( 9 ) )−10 log ( ( 16 ) ) =−20 log ω+ c

Caso ω ≫ 2 , ω≫ 3 , ω ≪ 4

Mg=20 log ( A )=−20 log ( ω )−20 log ( ω )−10 log ( ( 16 ) ) =−40 log ω +c

Caso ω ≫ 2 , ω≫ 3 , ω ≫ 4

Mg=20 log ( A )=−20 log ( ω )−20 log ( ω )−20 log ( ω )=−60 log ω

s +20
G ( s )=
( s +1 )2 ( s+10 )
Mg ( ω )=20 log ( A ( ω ) )=20 log |G ( ωi )|

ωi+ 20
Mg ( ω )=20 log ( A ( ω ) )=20 log
|( ωi+1 )2 ( ωi+10 ) |
|ωi−20|
Mg ( ω )=20 log ( A ( ω ) )=20 log
(| 2
ωi+ 1| |ωi+ 10 |)
1/ 2
( ω 2+(−20)2 )
Mg ( ω )=20 log ( A ( ω ) )=20 log
(( 2
( ω +1 )
1 2
2
) ( ω +10 )
2
1
2 2 )
 1 2 1

−20 log ( ( ω + 1 ) ) −20 log ( ω +10 )

2 2 1/ 2 2 2 2 2 2
Mg ( ω )=20 log ( ω + 20 )

Mg ( ω )=10 log ( ω 2+ 202 )−20 log ( ω 2+ 1 )−10 log ( ω 2+10 2)

Caso ω ≪ 1 ,ω ≪ 10 , ω ≪20

Mg ( ω )=10 log ( 202 ) −20 log (1 )−10 log ( 102 )=cte

Caso ω ≫ 1 ,ω ≪ 10 , ω ≪20

Mg ( ω )=10 log ( 202 ) −40 log ( ω 1 )−10 log ( 102 )=−40 log ω+C
Caso ω ≫ 1 ,ω ≫ 10 , ω ≪20

Mg ( ω )=10 log ( 202 ) −40 log ( ω 1 )−20 log ( ω 1 )=−60 log ω+ C

Caso ω ≫ 1 ,ω ≫ 10 , ω ≫20

Mg ( ω )=20 log ( ω 1 )−40 log ( ω1 )−20 log ( ω1 )=−40 log ( ω )

ωi+20
imag
( )
ϕ ( ω )=tg−1
( real
((
2
( ωi+1 ) ( ωi+ 10 )
ωi+ 20
ωi+1 )2 ( ωi+10 ))
)
ωi+20
imag
( )
ϕ ( ω )=tg−1
( real
((
2
( ωi+1 ) ( ωi+ 10 )
ωi+ 20
ωi+1 )2 ( ωi+10 ) ))
=tg−1 ( 20ω )−2 tg ( ω1 )−tg ( 10ω )
−1 −1

ϕ ( ω )=tg−1 ( 20ω )−2tg ( ω1 )−tg ( 10ω )

−1 −1

ϕ ( ω → ∞ )=tg−1 ( ∞ )−2 tg−1 ( ∞ ) −tg−1 ( ∞ ) =90−2∗90−90=−180

ωi−20
imag
( )
ϕ ( ω )=tg−1
( real
((
2
( ωi+1 ) ( ωi+ 10 )
ωi+ 20
ωi+1 )2 ( ωi+10 ))
)
=tg−1 ( −ω
20 ) ω
−1
1
ω
−2tg ( )−tg ( )
10
−1

ϕ ( ω )=−tg−1 ( 20ω )−2tg ( ω1 )−tg ( 10ω )

−1 −1
 (−0,1 s+ 1 )
G ( s )=
( s +1 )( s+50 )

( 0,01 ω 2+1 )
Mg ( ω )=20 log
(| (−0,1 ωi+1 )
( ωi+ 1 )( ωi+50 ) |)
=20 log (√ ( ω 2 +1 )( ω2 +2500 ) )
Mg=10 log ( ( 0,01 ω 2+1 ) ) −10 log ( ( ω2 +1 ) ) −10 log ( ( ω 2+ 2500 ) )

(−0,1ωi+1 )
( )
( )
imag
( ωi+1 ) ( ωi+50 )
ϕ ( ω )=tg−1
−0,1 ωi+1
( )
=t g−1 ( −0,11 ω )−t g ( ω1 )−t g ( 50ω )
−1 −1

real ((ωi+1 )( ωi+ 50 ))

ϕ ( ω → ∞ )=−t g−1 ( 0,11 ω )−t g ( ω1 )−t g ( 50ω )=−270

−1 −1

k
G ( s )=
s + 2ξ ω n s+ω 2n
2

k k2
Mg ( ω )=20 log
(| −ω +2 ξ ω n ωi+ ω2n
2
=20 log
|) (√ 4 ξ2 ω2n ω 2+ ( ω 2n−ω 2)
2
)
k2 2 ω 2 ω4 4 ξ2 ω2
Mg ( ω )=20 log
(√ 4 ξ 2 ω 2n ω 2+ ( ω 2n−ω 2)
2
)
=20 log k −10 log 1−
( + +
ω 2n ω4n ω 2n )
ωn ≫ ω

dMg 1 −4 ω 4 ω3 8 ξ2 ω
dω
=0=−10
2 ω2 ω4 4 ξ 2 ω2 ( ω2n
+ 4 + 2
ωn ωn )
(
ln ( 10 ) 1− 2 + 4 +
ω n ωn ω 2n )
dMg −4 ω 4 ω3 8 ξ2 ω
dω
=0=
ω2n ωn(
+ 4 + 2
ωn )
−4 ω 4 ω3 8 ξ2 ω
0= + 2 +
1 ωn 1

4 ω3 2
−4 ω+ 2
+ 8 ξ ω=0
ωn
 4 ω2 4 ω2
(
ω −4 +
ωn2
+8 ξ
)
2
=0 → ω=0 ou−4+
ωn2
+8 ξ 2=0

ω2 ω2 2
−1+ 2 +2 ξ=0 → 2 =2 ξ −1
ωn ωn

ω=ω n √1−2 ξ 2

1 2
1−2 ξ 2 >0 → ξ2 < → ξ< √ ≈ 0,707
2 2

Margem de ganho →O módulo da magnitude quando ϕ=−180

Margem de fase →É o módulo da fase quando a magnitude é zero – 180.

A ideia é que MF e MG sejam o mais diferente de zero o possível.