Ra kb 1
Ł
ia(t) = - � ia(t) - � �(t) + � ea(t)
Ł
La La La
ia(t)
ea(t)
�(t)
Ra
La
kb
eb(t) = kb � �(t)
Ł
0 = �(t) - �I(t)
J1 � �1(t) = �I�!(t) - b1 � �1(t) - �II(t)
� Ł
0 = �II�!(t) - b2 � �2(t) - k � (�2(t) - �o(t))
Ł
Jo � �o(t) = -bo � �o(t) - k � (�o(t) - �2(t))
� Ł
�1(t)
N1
�1(t) = � �(t),
N2
�2(t)
N3 N1 N3
�2(t) = � �1(t) = � �(t),
N4 N2 N4
�o(t)
�(t)
�(t) = k� � ia(t)
�I(t)
�I�!(t)
N2 N2
�I�!(t) = � �I(t) = k� � ia(t),
N1 N1
�II(t)
�II�!(t)
N4
�II�!(t) = � �II(t),
N3
J1
Jo
b1
b2
bo
k
N1 : N2
N3 : N4
2 2
N1 N3 N1 N3 N3
�II(t) = k � �(t) + b2 2 � �(t) - k � �o(t).
Ł
2
N2 N4 N2 N4 N4
2 2 2
k� N2 k N3 b1 b2 N3
�(t) = � ia(t) - � �(t) - + � �(t)
� Ł
2 2 2
J1 N1 J1 N4 J1 J1 N4
k N2 N3
+ � �o(t)
J1 N1 N4
k bo k N1 N3
�(t)o = � �o(t) - � �o(t) + � �(t).
� Ł
Jo Jo Jo N2 N4