t

trrs

s trrs t s str

t rs s r
s rstrs q s

q s s

ss q t

rs s
sts

s st
r t q

s ts

st s

rsst

st

sq tr

r
r

s ts s t

trr

st

rst st t

rs

rstrs rtrs

trr s rtrs

rtrs

s st

tr

st

ss

rts ts ssts r
s tr

r q
s rtrs
st
rr

sts rts

r s

t sts ts r r
s s

s
ss s
tr rsst

rrs

rsst
s
q rt
trr tt q

s t
t

s trr

rtr rs

trrs s r s

s t

rs

rtrs trr

rst rsst t

sts

rt

q s

st
s
s
strr
srrs r r

rs

s s s s tt r
trr s rs r sr
s s
rt

Prr

st

r s

rtrs

r trt r s

trrs

 st t
st

rsst

r r
rst st

r s s r
ts s
s
rsst
trs t

s sr

r s

tr

sr

tr

q r

trrs

rqr

tr

r sst s
r

tr r

rsst s s t rtt
r s
sr r
s

rtr

trsr q s

rtrs

rrs
rtr r s
sr ts

str

stt t

rtr rsst

Gp(s) =

K expLs

s+ 1
ts s
trr t

rtrs ts s s r s

rtrs

trr
P
P
P

r Prtrs trr

Kc

0, 9 L
1, 2L

Ti

L
0,3

2L

Td
0
0
0, 5L

t r

s str sq tr
trsr

Gp(s)

r s
s s
trr

r st r

s q t
rrr
q s t
r

tr s tr rsst rr rst

stt s

s q s srs

r r qs
tr

r s s
st

sq

q r

q s str
tr

Qe(t)

tr

h(t)

rst rs

r t s

r sst rs t s
tr

s r q st
s rtrs
r t q
s sts

r str

trs sr

rsst sst tr st tr s

q st

rsr r
r rqr

rsst

r r r rr t
rr

q s

r s

rtr

r s s

str

tr

rtrs

rsst s

st rs

s r t s rtrs
strrt
ss

trs

s str

K = 0, 975 L = 0, 006 = 0, 068 0, 006 = 0,

0674

r t trs
r

s
s rs

r rt rs s s tr

s rtrs s
rs srr

trrs s t q s st s

t rt r trr
st tr

q s s s r st s ss

rsst s

trr
P
P
P

Td
Kc
Ti

11, 233
0
10, 11
0, 2
0
13, 48 0, 012 0, 003

r Prtrs s s
trrs

q
sst

s rstrs s

q rrr s

rt s t r q s trr
rsst
s trr

s r

s sr q

P s str

trr P s rtrs s s

q s str

r sst s
P

trr

s srr r P rsst tt
rstr rrr
r s rsst trstr s tt t srs t
stt
t srt r rrs s r
rr
t r t
st r

tr s s

s str rs

rs rr t tr rstt

r rs

rr

r rs t
tr

s s rssts
rtrs

strs

r q

s s s

trr r rr rsst trstr rt

r trt
sr sr rr
rst rs

t s tt t
tr

tr

stt t srt

Ti

t s r trr P s rtrs

s srs

trs t t

2 rs

str

sr

Kc = 2 Ti = 0,

rsst ts s rstrs sts

t s srr s t st q sr
tr t

rss

s t

st t st rs rs
str
rst rsst
r
r s

rt

rr q s

q s tt q s

rrs

rt s r sst

t st

sst

str

rr t

rr

r sq
tr

r s t

Kcr

rt

Pcr

r rt

sr trs

r
rt

rtr

rtrs trr rs s

t s s trsr rs s

rs

r rts r sr ts trt t rtr st

trt

trr
P
P
P

Kc
0, 5Kcr
0, 45Kcr
0, 5Kcr

Ti

Pcr
1,2

0, 5Pcr

r Prtrs trr
t

Td
0
0
0, 125Pcr

t s

q rr t s rtrs trs
r

rtr s

s s str s

trs t sr

ss st rr rsst s

Pr sst
t

tr

q s

s t r r
rtrs t q
s rt q
s t

str

s s

trsr trr

rsst

rr

stt s r

rst

rrr

tr

ss

r st
tr

s s
t rtr
st

trsr

rs s

trt r rr s sst

tr

rr t

rt s tt Pr s t
rr q

rtrst

s str

1+

KLA
(s + 4) (s + 8) (s +
20)

= 0 s3 + 30s2 + 224s + (480 +LA ) = 0

s3

30

LA

b1

rtr

224

b1 =

LA

6720 (480 + 100K LA )

0 KLA 62, 4 Kcr = 62, 4
12

s tr

rt s s
r s

Pcr

tr

s str

ss

s3 + 30s2 + 224s + 6720 =

0

s1 = 30 s2,3 = 14, 96j cr = 14, 96 Pcr = 2

cr

s rs

Kcr

Pcr

Pcr = 0, 42

trr

trr s

s s str st rr rsst s

rs

Td
Kc
Ti

31, 2
0
28, 08 0, 35
0
31, 2 0, 21 0, 0525

trr
P
P
P

r Prtrs
trr

s st rrr r s
q s

sst

r r st
tt rr
rr s rsst
trstr r

rt sr

s r r P P

P t s rstrs rsst

s str s
trr

rsst t

s s

r sst s trr
P

trr trr
st trstr

P s r stsr

rstr rrr r rs

sr srt r s tt str r s
trr

rtrs

r s tt sr t tr t r t t
r s
srr

r rs

Ti

r rsst trstr r st r q s
tt str

rr

s s r t

s sr

r rs

 s
r q
s s

rst r r

trr P s rtrs

rsst trstr

Kc = 3 Ti = 0, 35