5.

K K
k G(S ) S(S+ √ 2 k ) S( S+ √ 2 k )
G ( S )= T ( S) = T ( S) = =
S (S+ √ 2 k ) 1+G( S) K S ( S+ √2 k ) + K
1+
S ( S+ √ 2 k ) S( S+ √ 2 k )

K K
T ( S) = T ( S) = 2
S ( S+ √ 2 k ) + K ( S + √2 k ) + K

K=W 2n

w n=√ K

2 δ w n=√ 2 K

2 δ √ K= √2 K

δ= √2 K = √2
2 √2 K 2

−√2
∗pi
2
P .O= P .O=4.32 %
2

√ √2
100 e 1−( )
2

4 8
T s= =
√2 √ k √ 2 k
2

T s <1 s

8
<1
√2 k
8< √2 √ k

8
<√ k
√2

8 2
( ) <K
√2
K >32
E5.9

δ∗pi
P .O=100e−
√ 1−δ 2

δ∗pi
5=100e−
√ 1−δ 2

−δ∗pi
√ 1−δ 2
ln ⁡(0.05)=ln ⁡(e )

−δ∗pi
−2.9957 ≤
√1−δ 2

8.9743 ( 1−δ 2 )=δ 2 pi 2

( 8.9743−8.9743 δ 2 ) =δ 2 pi2

8.9743=δ 2 pi2 +8.9743 δ 2

δ 2=0.476242

δ 2=0.69

T s <4
 4
<4
δW n

δW n>1

0,69Wn = 1,01

Wn = 1,4637

pi
T p=
W n √1−δ 2

pi
2
<1
W n √ 1−δ

W n √ 1−δ 2> pi

Wd
β=arctang( )
δW n

W n √1−δ 2
β=arctang( )
δW n

1.059
β=arctang( )
1

β=46.643º

S1,2=¿-δW n ± jW n √ 1−δ 2

S1=−0.989+1.59 j

S1=−0.98−1.59 j
5.10

6(s+ 5)
G ( S )=
s ( s+1)(s +3)(s +10)

K p =lim G( S)
S→0

30
K p=
0

K p =∞

1
e ss =
1+ K p

1
e ss = =0
∞

30
k v=
30
k v =1

1
e ss =
kv

e ss =1