x t
( )
x (t)
A
t
0
 A
T
K
G(s) =
(as +1)2
10
G(s) =
4s + 2
s s +1
( )
G s =
( )
s + 5 s +10 s + 20
( )( )( )
 Y Z(s) = 0
zad
Z(s)

Y(s)
E(s) 1 1
Yzad(s)
+
K = 100
K
1+ T1s T2s
KP = 1

T1 = 10
K
P
T2 = 1
0 dla t < 0
Å„Å‚
f t =
( )
òÅ‚7 Å"t dla t e" 0
ół
2
d y t d y t
( ) ( )
3 + 4 - 2 y t =u t
( ) ( )
2
dt dt
y 0 = 2 y 0 = 0
( ) ( )
d iRL t
( )
R 1
= - Å"iRL t + Å"uwe t
( ) ( )
d t L L
uwe t iRL t
( ) ( )
k
G0(s) =
3 2
s + 5s + 8s + 2
4 3 2 6 5 4 3 2
s + s + s + s + 2 = 0 s + 2 s + 5 s + 8 s + 8 s + 8 s + 4 = 0
K Å" 1+T1s
( )
G s =
( )
s Å" 1+T2s
( )
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