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 "!$#&%'(*)*+-,/..-0214365798:.";<.>=?,@>.A (*'0B)*CD+>(E."FD.G7H3I=?=?.-7H)*.-5J=K(
L&M-N*OQPSRTPSNU
VW PSX WZY RT[]\SOQN^ W_ OQX P`N YY ^ Y [ NbacX W P
dRTX W [ NbdQOQe WZY acN*Ofd
H(s) =

1000
s(s + 10)2

H(s) =

1000
s(s + 10)2

HgihjN Yk Y dQ\SlmNnN Y dilmR Y [Ze WZY ^ W e YQY NSOQo>R YQY N*lpN W drqsONSdXH^ZOt^ W RudQeHRuOQNve?o9N*Pb^ W PSXHOQONEP
dQNS^]O _ OQX _ XHOdRTX WZW NSwxy[ Nnz>e{R W
gZ|X WZW NSOrwTN Y P~}]*lUenacX W P
dQRuX W]W N*wJ[ ^ Yfk Y d\SlmN e YY NSOQo-Rg
gikhe{wP`^ZwuN*OrwTepoKe{wTNS^]Ot[]^z>e{R W k ^]RJe YY ^]OQNeH^ Yk Y dQ\SlmNb^ W NlUe{OQzHNb[ N _ }Ze Y Nb> g
grJeP`X WIY RTz W NnN Y d^ WY RTz W eHwJ*P~}ZNSwTX W ^ W RudQeHRuOQNHghe{wP`^]wTNSOw NSOQOQNS^]ON W OQSz9RulmN _ NSOQlUe W N W dN W dOQN weP`X WZY Ruz W N N`dwTe
Y XHOdRTNb[]^ Yk Y dQ\SlmNHg]t _ X W [ OQNqpwTeplmSlmN ^]N Y dRTX WY RwTemPSX WZY Ruz W NN Y dt^ W NO~e{l _ N[ N _ N W dQNUHg
Zg VW [  Y RuOQNe?oHX9RuOlUe{R W dN W e W dr^ W e YQY N*Oo-R YY NS lmN W dON Yf_ N*P`dQe W drwTN Y P`X W [ RudRTX WZYrY ^]RToKe W dN Y
NSNSOQOQOON*N*^]^]OOrY[ d~NbeKddRO~ e?^] W N e{W z9^]NiwuwT NHW RuN p() = 0 g
xXH^]OtPSNa:e{RTON9 X W eH[?X9R W dte{^p()
P`X9OOQN*=P`d5%
N*^]O _ OX _ X9OfdQRuX W]W N*w6x]^ W PSXHOQONEP
dQNS^]OrqpONSdQeHOQ[[ N _ }Ze Y N9g
|X W]W N*OrwuN W XH^]o9N*e{^ Y P~}ZSlUevacX W P`dRTX W]W N*w[ Nw e YY NSOQo-R YQY N*lmN W d*g
he{wP`^ZwuN*OrwuN Y_ e{O~e{lm\`dQON Y [ ^"P`XHOQOQN*P
dQNS^]OEg
L&M-N*OQPSRTPSN
VW PSX WZY RT[]\SOQN[ N W XH^]o9N*e{^wuN Yk Y dQ\SlmN[ NbacX W P
dRTX W [ NbdQOQe WZY acN*Ofd
VW [  Y RTONOQ*e{wTR Y N*Oj^ W e YQY NSOQo>R YQY N*lpN W djqpONSdXH^ZO^ W Rd~e{RTON _ NSOQlpNSdfd~e W dt[ N Y e{dR Y a:eHRuOQNiwTNPSe{}ZRuN*O[]NbP~}Ie{OQzHN YY ^]RuoKe W db
OQ[   _ _ X e WZYQYY N*NblmX NY P`W RTdrwuwNeKWdQXH RTOX9N^ZN P`WwTNb acX9NSOQ^ZlmP`wTSNbN acNSOQlmSN9
dN*l _ZY [ NOQ _ X WZY Nbqm>[ NZg Y D BF 5%
NSOQOQNS^]O Y dQeKdQR ^]N W ^]wTwuN9g

Hgx&OQX _ X Y NSO^ W P`X9OOQN*P`dN*^]O*g |X W]W NSOrwTN Y P~}]*lUe acX W P


dQRuX W]W NSw[ ^ Yfk Y d\SlmNe YQY NSOQo>Rg
W [ RPSe{dRTX WZY_ XH^]OwTNP~}ZXHRuM[ ^PSXHOQONEP
dN*^]O ^Ze W [X W XH^IP`wTNwTN Yk Y dQ\SlmN Y e WZY P`XHOQOQN*P
dQNS^]OEHwevO _ X WZY NR W [ RP`RTNSwTwuN
N W ON*zHR Y dQO*Nep^ W [  _ e YQY N*lmN W dt[ NH>g
gr _ e{OdRTO[ ^pPSeH}]RuN*O[ NP~}ZeHOz9N Y S[ `dQNSOQlmR W N*OwetlUeHOz9N4[ N _ }Ze Y N ^]N[ XHRudDe?o9XHRTOwTN Yk Y dQ\SlmNjPSXHOQORTzHNSdDwe _ ^Zw Y eKdQRuX W
[ N PSXH^ _ ^ZONbqUH[]
P`X9OOQN Y_ X W []e W dQNHg
gr|`dN*OlmR W NSOrwemlUe{OQzHNbc0[ N _ }Ze Y N ^ e{^]O~e{RudwuN Yk Y dQ\SlmN W X W P`X9OOQRuz9qmPSN`dfdQN _ ^]w Y e{dRTX W g
ZgL W [ E[ ^]RTONwTN Y_ eHOQeHlm\`dOQN Y [ ^"PSXHOQONEP
dN*^]OEg
g VW P`X WIY R[ \SOQN ^ZNUwuN Yk-Y d\*lmNme YY NSOQo-R Y ^ Rdn[ N Yb_ N*OfdQ^]O eKdQRuX WZYW X{dQSN Y d gDhjN Yb_ NSOd^ZO e{dRTX WZY eHzHR YY N W d Y ^ZOwTe
dO~e WIY lmR YY RuX W [ NwemP`X9lplUe W [ Ne{^ Yfk Y d\*lpN PSXHlmlmNbwuNblmX W dOQNbwTevZz9^]OQNbPSR[ N YY XH^ Y g
%

yc

+
C(s)

H(s)

Correcteur
Avance de phase

cjD e YY NSOQo-R YQY N*lmN W de?o9N*PP`X9OOQN*P`dNS^ZOjxye?o?e W P`Nb[ N _ }Ie Y N


e>|iX W]W NSOrw N`M _ OQN YQY RTX W [ N
: O~e WZY acXHOQlmSNb[ N Je _ wTe9P`Nb[ Nw N*OOQNS^]O N W acX W P`dRTX W [ N
N`d
g
Ghe{wP`^]wTNSOw N*OOQNS^]OrN W O*zHRTE(s)
_ NSOd^ZOf
lpN _ NSOQlUe W N W d Y RwepPSX WZY RTz W NbN Y dt^ W *P~}ZNSwTX W N`d Y RX W P`X WZY R[ \*YONc(s)
^ ]NbwTe D(s)
eKdQRuX W N Y dPSX WZY dQe W dQNHg ^]NPSX WZY dQe{dN`df<X Wi hjXHlmlmN W djOQSlmE[ RuN*OqnP`N _ OX wu\*lmN x&OX _ X Y N*O4^ W P`XHOQOQN*P
dQNS^]O
qpe9[?XHR W [ OQNe{^P`X9OOQN*P`dNS^ZOqme?oKe W P`Nb[ N _ }Ze Y N _ OQ*PS*[ N W dEg
PE|iSdNSOQlmR W NSODwuN Y_ eHOQeHlp\SdOQN Y [ NjPSNjP`X9OOQN*P`dN*^]O Y e WZY lpX [ RuZN*OwTN Y_ N*OfacX9OlUe W P`N Y [ ^vP*e{}]RTNSOD[ NjP~}Ie{OQzHN Y R W RudRe{wg


 

psb  s  "!$#&%'(*)*+-,/..-0$1j3I5D7H8.";.>=K,/@-.A (S'0B)EC+-(E."F.G793Z=?=K.-7{)E.>5=K(


L&M-N*OQPSRTPSNU
[ ^ Yfk Y d\*lpN
H(s) =

1000
s(s + 10)2

tS*PSORud^ZON[ NbweU
H(s) =

10
s 1+


s 2
10

JN fY k Y d\*lpNep^ W z9eHR W N W o-RudN YQY N kv = 10 g


Hgt P~}]*lUenacX W P
dQRuX W]W N*wJ[ ^ Yfk Y d\SlmN e YY NSOQo-RD _ e Y [ N [ RusP`^]wud _ e{OdRP`^]wTRu\*ON9g
grGeHOz9N[ N _ }Ze Y N[ N>
VW oHNS^]die?oHXHRTO^ W NlUe{OQzHNb[ N _ }Ze Y N[ N- N W X9^Ze W d Y ^ZOrwuNz>e{R W k [ ^"P`X9OOQN*P`dNS^ZOxg
NW V
HBO (s) =

10k
s 1+


s 2
10

LM _ wTXHRudQe{dRTX W [ Nw R W acXHOQlUeKdRTX WY ^]OrwTeplUe{OQzHN[ N _ }Ie Y N


m

= + BO (C0 )
 

C0
m = 2arctan
2
10
 

C0
m =
=
2arctan
2
10
4
 

C0
2arctan
=
10
4
 
C0 = 10tan
8

i C0 = 4.14rad/s g
|`dN*OlmR W eKdQRuX W []N k
Je _ ^Zw Y eKdQRuX W C0 oH*ORuZNbwTepOQNSweKdQRuX W

10k

C0 1 +

2
C0
100

|HBO (jC0 )| = 1

= 1


C0 1 +
10

2
C0
100

i k = 0.48
gL&OQON*^]O Y dQeKdQR ^]N
N Yk Y dQ\SlmNN Y dt[ N P`we YQY Np ^ W R W d*zHO~eKdN*^]O
p() = 0
L&OQON*^]Ot[ NdO~e? W eHzHNXH^"[ Nbo-RdQN YQY N
N Yk Y dQ\SlmNN Y dt[ N P`we YQY Np ^ W R W d*zHO~eKdN*^]O
N*OOQNS^ZO[]No-RudN YY N W RTNlmeHR YW X WW ^]wuwTNHg
1 e?o9N*P
v () =
Kv = lim sHBO (s) = 10k
s0
Kv
Zgt k-W d}]\ Y N[ ^"PSXHOQONEP
dN*^]OrqpONSdQe{O~[[]N _ }Ze Y N
[]^PSXHOQONEP
dQNS^]Orx
1 + T s e?oHN*P
C(s) = b
b>1
1 + bT s


 

N W V [ ^ Yfk Y d\SlmN e?o9N*PP`XHOQOQN*P


dQNS^]O Y xNSdirx
HBOC (s) = kb

1 + Ts
10

1 + bT s s 1 + s 2
10

Nrx[]XHRudre{XH^ dQNSOrN W e YY N Y acOQ ^]N W P`N Y wuNbz>e{R WW EP`N YY e{RTON _ XH^]Ote?o9XHRTOwe _ OQ*P`R Y RuX W [  Y RTO*NHg
tX9^]oHN*wuwTNbN`M _ OQN YQY RTX W [ Nw N*OOQNS^]Or[ NdQOQeK W eHzHN
1 e?o9N*P
v () =
Kv = lim sHBOC (s) = 10kb
s0
Kv
he{wP`^Zw[ NwTepoKe{wTNS^ZOt[ N b
v () =

1
5
=
10kb
100
2
b=
k

i b 4 g
he{wP`^Zw[ N
xXH^]O W N _ e TY lmX [ RuZNSOrweplmeHOz9N[]N _ }Ze Y N _ OQ*P`E[ NSlmlmN W drOQSzHwTSN9 Ruwa:e{^ diP~}]X9R Y RTO

dN*w ]^ NU

c0
10
1

T
T
10
c0

i T = 10

L&M-N*OQPSRTPSN
[ ^ Yfk Y d\*lpN

c0

T = 2.4s

H(s) =

1000
s(s + 10)2

H(s) =

10
s 2
s(1 + 10
)

tS*PSORud^ZON[ NbweU

eHR W N W o-RudN YY N kv = 10 g


Hgihj}]X9RM[ ^ W PSXHOQONEP
dN*^]O
N Yk-Y d\*lmNN Y dr[ NP`we YQY Nv N*OOQNS^]O Y dQeKdQR ^]NdX9^KXH^ZO YW ^]wTwuNN W w e IY N W P`N[ N _ N*OfdQ^]O eKdRTX WIY w e9P
dRTX W R W dS
zHO~e{wTN W N Y d _ e YW *PSN YQY eHRuOQNHg
L W Y e WZY P`X9OOQN*P`dNS^ZO*X W e"^ W [  _ e YQY N*lmN W dv[ NH>g&hjN*PSR Y Ruz W RuZN ^]NwTelmeHOz9Ns[ N _ }Ze Y N[ ^ Yfk Y d\*lpN
R W RdQRTeHwZN Y d _ NSdRudNHg>xXH^]Ojw e{^ZzHlmN W dN*O*HRuwZa:e{^ d^ W Nie9P
dRTX W []SOQRuo9SNt|v>[ XHU^ W P`X9OOQN*P`dNS^ZO&q e?oKe W PSNt[ N _ }Ie Y Nttxg
gr W e{w k-Y N[ ^"PSeH}]RuN*Ot[ NP~}Ze{OQzHN Y
BF

DBF% 5% BF = 0.7
3
= 0.7 n,BF tr5 % = 3 n,BF =
tr5 %
n,BF = 5rad/s

]X9Olv^]wTN Y [ e _]_ OX?M RTlme{dRTX W


r _ X WZY NbX Y PSRuwTwTe{dX9RuOQN[] Y RuOQSN Y ^ _]_ X Y N^ W PSXHl _ XHOdNSlmN W dt[ ^ NX9OQ[]ONb[ XHlmR W e W d _ XH^]OrwTN Yfk Y d\*lpNbN W g
m = 100BF = 70
c0 = n,BF = 5rad/s


 

grGeHOz9N[ N _ }Ze Y N[ ^ Yfk Y d\SlmN _ XH^]Orwepo?eHwuN*^]Ot[ N

c0

_ OEP`*[]N W dN

= + (C0 )
 

C0
m = 2arctan
2
10
 

C0
m =
2arctan
2
10
m = 37

i
rN*lmeHO ^]NweoKe{wTNS^]OP`Ru[ N YQY ^ Y N Y d wTelUe{OQzHNm[ N _ }Ze Y N ^ e{^]O~e{RudbwuN Y k Y dQ\SlmN Y R Y eacO ^ZN W PSNm[]NsP`XH^ _ ^]OQNmq
H[ZN Y d _ wTe9P`*NtN W c0 = 5rad/s g>L&wTwuNN Y d[ RuBSOQN W dNi[]Niwe lUe{OQzHNt[ N _ }Ze Y Nie9P
dQ^]NSwTNi[ ^ Yk Y dQ\SlmN ^]R6N Y dj[ N 
qpwTe _ ^ Y w Y e{dRTX W c0 = 6.8rad/s X dN W ^]N Y XH^ Y lme{dwe `g
Zgt -k W d}]\ Y N[ ^"PSXHOQONEP
dN*^]O
[]^PSXHOQONEP
dQNS^]O
C(s) = Kc

e?oHNEP

1 + aT s
1 + Ts

a>1

&KuS D{v]{KU`p
 N Yfk Y d\*lpNve _]_ XHOdN*OQeHRdi^ W NnlUe{OQzHNv[ N _ }Ie Y Nv[ N > gIxX9^]Oe?o9XHRTOrwTelUe{OQzHNn[ N _ }Ze Y Nn[]N 6RTwJa:eH^ d ^]NvwuN
P`X9OOQN*P`dN*^]Ore _]_ XHOdNb^ W N _ }Ie Y N Y ^ _]_ wu*lpN W dQe{RTOQNb[]N m = 33 g
c,max

= m = arcsin

a =

a1
a+1

1 + sin(m )
1 sin(m )

&KuS D{v]{KU`
& e?oKe W PSN[]N _ }Ze Y NblUeKM RulUeHwuNbN Y dte _]_ uw R ^]SN qpwe _ ^]w Y eKdQRuX W
c,max

C0

1
= C0
T a
1

C0 a

&KuS D{s9{
Nbz>e{R W Kc _ N*OlmKN`cdi[]N _ wTe9P`N*Ow eKM N V []qmwe _ ^]w Y eKdQRuX W

C0

gV O

|HBOC (jC0 )| = 1 |C(jC0 )H(jC0 )| = 1

|C(jC0 )| = Kc a

|HBOC (jC0 )| = 1 Kc a|H(jC0 )| = 1

10
Kc a
2 ) = 1
C0
C0 (1 + 100

e9P~}Ze W d ]^ N

X W N W []*[ ^]Rudn

2 )

C0
C0 (1 + 100

Kc =
10 a

a = 3.4 T = 0.108s K2 = 0.33

gr YQY NSOQo>R YQY N*lpN W de?o9N*P _ N*OfdQ^]O eKdRTX WIY


LM _ ON YY RTX W [ Nbw NSOQON*^]O E(s)
-XHOdRTNe YQY N*Oo-RTN
Y (s) =

Y X9Rd

H(s)
C(s)H(s)
Yc (s) +
D(s)
1 + C(s)H(s)
1 + C(s)H(s)

VW N W []*[ ^]Rudtw NSM _ ON YY RuX W [ Nw NSOQON*^]O

E(s) = Yc (s) Y (s)


1
H(s)
E(s) =
Yc (s)
D(s)
1 + C(s)H(s)
1 + C(s)H(s)

C0

o9SOQRZNbwepON*wTe{dRTX W


 

&L O}]OQSNSX9^ZOOr\*lpN W NO[ *NbzHRTwlpepN o?eH_ wuNSN*OQ^]lUOe W W N eHW wuNd _ XH^]O


() =
() =

D(s) =

1
s

N`d

Yc (s) =

1
s

lim sE(s)

s0

lim

s0

1
H(s)

1 + C(s)H(s) 1 + C(s)H(s)

he{wP`^]wTX WZY wepwuRTlmRdQN _ X9^]OtP~}Ze9P`^ W [ N Y dNSOQlmN Y


*N OlmNm
1 () =
1 () =

1
1 + C(s)H(s)
1
lim
1+aT
s
s0 1 + Kc
1+T s
lim

s0

10
s 2
s(1+ 10
)

1 () = 0

N*OlmN

2 () =
2 () =
2 () =

H(s)
1 + C(s)H(s)
10
10
1 + aT s
lim
 1 + Kc

s 2
s0
1 + Ts s 1 + s 2
s 1 + 10
10
1
Kc
lim

s0

hjX W PSwu^ Y RTX W 6w NSOQON*^]O Y dQe{dR ^]N W N Y d _ e YW ^ZwuwTNnN WG_ OQ Y N W PSNn[ N _ NSOd^ZO e{dRTX WZY gZxX9^]O*wuRTlmR W NSObP`N`ddNvwTe _ N*Of
d^]O eKdQRuX W PSX WZY dQe W dNH X W R W dOQX [ ^]Rudt^ W `P XHOQOQN*P
dQNS^]Ox&N W_ wT^ Y [ Nw txg
-k W dQ}]\ Y N[ ^"P`X9OOQN*P`dNS^ZOx4
[ ^x&
C(s) = Kc2

1 + Ti s
Ti s

NsP`X9OOQN*P`dN*^]Ox&bN Y dnOQSzHwTU[ NUa:e9`X W q"PSX WZY NSOQoHN*OwTN Yn_ N*OfacX9OlUe W P`N Yb_ OEP`E[ N W dN Y X dN W ^]N Y e?oHNEPpw txg VW
P~}]XHR Y Rud Ti [ Na:eH`X W qpe?o9XHRTO
i

c0
10
1

Ti
Ti
10
c0
Ti = 10c0 Ti = 2

Yg

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