Stosujac kryterium Hurwitza zbadac dla jakiego k uklad regulacji jest stabilny
______ ______ _____ _____
x | | | | | | | |
_ | | | 1 | | 1 | | 1 | y
-->|_|--->| k |----->| ---- |------>| --- |----->| --- |-------->
^ | | | s+1 | | s+2 | | s+3 | |
|- |______| |______| |_____| |_____| |
| |
|______________________________________________________|

charakterystyka czestotliwosciowa dla PD

Kryterium Nyquista - Wyznaczyc wzmocnienie krytyczne dla

______ ______ _____ _____ _____
x | | | | | | | | | |
_ | | | 1 | | 1 | | 1 | | 1 | y
-->|_|--->| k |----->| ---- |------>| --- |----->| --- |-----| --- |------>
^ | | | s+1 | | s+1 | | s+1 | | s+1 | |
|- |______| |______| |_____| |_____| |_____| |
| |
|_________________________________________________________________|

blad statyczny - wartosc odchylenia regulacji est

**************************************************************************************

S1 = -N
-J+j(N-J)
-J-j(N-J)
1
ko = ----------
2 2
J +(N-J)

| z
____ V ____
w _ e | | u _ x | | y
--->|_|---| R |----|_|---->| OR |---->
^ |____| |____| |
| |
| |
|______________________________|

1
ko = -
N

Ti = N

N>=J w
N