EF

‫א‬‫א‬
 ‫א‬‫א‬

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 ‫א‬‫א‬
 W‫א‬
 K‫א‬‫א‬‫א‬‫א‬ K١
 K K٢
 K‫א‬‫א‬ K٣
 K‫א‬‫א‬‫א‬‫א‬ K٤

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
  ١ J٥
K
 ‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
  K ‫א‬‫א‬
 ‫א‬‫א‬K ‫א‬
 ‫א‬
 K‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬ ٢ J٥
R(s) C(s)
G(s)
r(t) c(t)
 
K،E١ J٥F
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬K‫א‬‫א‬‫א‬
  r (t ) = R sin(θ )
‫א‬ωωt‫א‬‫א‬‫א‬‫א‬θ‫א‬‫א‬‫א‬‫א‬R
‫א‬‫א‬ ‫א‬f ω = 2πf  (rad/s)‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬  ‫א‬‫א‬K(Hz)
 W‫א‬
  c(t ) = C sin( β )
‫א‬‫א‬‫א‬‫א‬، ‫א‬‫א‬ β ‫א‬‫א‬C
‫א‬‫א‬
 ‫א‬‫א‬‫א‬
E١ J٥F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K
 W‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬ E
C ( s) = R(s) ⋅ G ( s)
‫א‬‫א‬ω‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ E
 ‫א‬‫א‬‫א‬jωs‫א‬
W
C ( jω ) = R ( jω ) ∗ G ( jω )

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
W‫א‬‫א‬‫א‬‫א‬‫א‬
 E
  G ( jω ) = Re ( jω ) + j Im( jω )
  G ( jω ) = G ( jω ) ∠φ
 W
  G ( jω ) = (Re ( jω ) )2 + (Im( jω ) )2
Im( jω )
  φ = tan −1 ( )
Re ( jω )
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  C ( jω ) ∠β = ( R( jω ) ∠θ )∗ ( G ( jω ) ∠φ )
W‫א‬‫א‬ E
W‫א‬‫א‬ K١
  C ( jω ) = R ( jω ) ∗ G ( jω )
 W
  C = R ⋅ G ( jω )
 K‫א‬‫א‬‫א‬R‫א‬‫א‬‫א‬C
W‫א‬‫א‬‫א‬‫א‬ K٢
∠β = ∠θ + ∠φ
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  β = ωt + φ
 K‫א‬‫א‬‫א‬‫א‬ φ ‫א‬‫א‬‫א‬‫א‬
 WE١ J٥F
 W‫א‬‫א‬c(t)‫א‬‫א‬‫א‬

R(s) K C(s)
r(t)=Rsin(ωt) τs + 1 c(t)
 
  W‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
  c(t ) = C sin(β )
‫א‬β‫א‬‫א‬C‫א‬‫א‬

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 W‫א‬
  C = R ∗ G ( jω )
  β = ωt + φ
 W‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
Wjω‫א‬‫א‬s E
K
G ( jω ) =
τjω + 1
W‫א‬‫א‬‫א‬ E
K
G ( jω ) =
1 + ω 2τ 2
W‫א‬‫א‬ E
φ = ∠G ( jω ) = − tan −1 (ωτ )
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
RK
 C =
1 + ω 2τ 2
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  β = ωt − tan −1 (ωτ )
 W‫א‬c(t)‫א‬‫א‬
sin (ωt − tan −1 (ωτ ) )
RK
  c(t ) =
1+ ω τ 2 2

WEF‫א‬‫א‬‫ א‬٣ J٥
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬db‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬،ω‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٢ J٥F
 W‫א‬‫א‬‫א‬‫א‬
  G ( s) = 100
 W‫א‬
KKp=100‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
G ( jω ) = 100
W‫א‬‫א‬‫א‬ E
G ( jω ) = 100
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log100 = 40 dB
W‫א‬‫א‬‫א‬‫א‬ E
0
φ = tan −1 ( ) = 0o
100
KE٢ J٥F‫א‬،‫א‬ E

Bode Diagram
41

40.5
Magnitude (dB)

40

39.5

39
1

0.5
Phase (deg)

-0.5

-1
0 1
10 10
Frequency (rad/sec)

 KKp=100،E٢ J٥F
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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٣ J٥F
 W‫א‬‫א‬‫א‬‫א‬
  G ( s) = −100
 W‫א‬
KKp=-100‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs  ‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
G ( jω ) = −100
W‫א‬‫א‬‫א‬ E
G ( jω ) = 100
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log100 = 40 dB
W‫א‬‫א‬‫א‬‫א‬ E
0
φ = tan −1 ( ) = 180o
− 100
KE٣ J٥F‫א‬،‫א‬ E

Bode Diagram
41

40.5
Magnitude (dB)

40

39.5

39
181

180.5
Phase (deg)

180

179.5

179
0 1
10 10

  Frequency (rad/sec)

 KKp=-100،E٣ J٥F
- ٥٧ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٤ J٥F
 W‫א‬‫א‬‫א‬‫א‬
1
  G ( s) =
100
 W‫א‬
1

 K K p = 
 ‫א‬‫א‬‫א‬‫א‬
100
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
1
G ( jω ) =
100
W‫א‬‫א‬‫א‬ E
1
G ( jω ) =
100
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log(100) −1 = − 40 dB
W‫א‬‫א‬‫א‬‫א‬ E
0 0
φ = tan −1 ( ) − tan −1 ( ) = 00
1 100
KE٤ J٥F‫א‬،‫א‬ E
Bode Diagram
-39

-39.5
Magnitude (dB)

-40

-40.5

-41
1

0.5
Phase (deg)

-0.5

-1
0 1
10 10

  Frequency (rad/sec)

1
 K K p = ،E٤ J٥F
100
- ٥٨ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٥ J٥F
 W‫א‬‫א‬‫א‬‫א‬
  G ( s) = 10s
 W‫א‬
K K D = 10 
 ‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
G ( jω ) = j10ω
W‫א‬‫א‬‫א‬ E
G ( jω ) = 10ω
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log(10ω ) ........... dB
W‫א‬‫א‬‫א‬‫א‬ E
10ω
φ = tan −1 ( ) = 90o
0
KE٥ J٥F‫א‬،‫א‬ E

Bode Diagram
40

35
Magnitude (dB)

30

25

20

15
91

90.5
Phase (deg)

90

89.5

89
0 1
10 10
Frequency (rad/sec)

K K D = 10 ،E٥ J٥F

- ٥٩ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٦ J٥F
 W‫א‬‫א‬‫א‬‫א‬
1
  G ( s) =
10s
 W‫א‬
1
K K I = ‫א‬‫א‬‫א‬‫א‬
10
 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
1
G ( jω ) =
j10ω
W‫א‬‫א‬‫א‬ E
1
G ( jω ) =
10ω
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 20 log(10ω ) −1 ............ dB
W‫א‬‫א‬‫א‬‫א‬ E
0 10ω
φ = tan −1 ( ) − tan −1 ( ) = −90o
1 0
KE٦ J٥F‫א‬،‫א‬ E
Bode Diagram
-15

-20
Magnitude (dB)

-25

-30

-35

-40
-89

-89.5
Phase (deg)

-90

-90.5

-91
0 1
10 10
Frequency (rad/sec)

1
K K p = ،E٦ J٥F
10
- ٦٠ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 WE٧ J٥F
 W‫א‬‫א‬‫א‬‫א‬
  G ( s) = τs + 1
 W‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
G ( jω ) = 1 + jτω
W‫א‬‫א‬‫א‬ E
G ( jω ) = 1 + (τω ) 2
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = 10 log(1 + (τω ) )2
........... dB
W‫א‬‫א‬‫א‬‫א‬ E
φ = tan −1 (τω )
‫א‬‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬KdB‫א‬
 W‫א‬
  ω c = 1
τ
 W‫א‬‫א‬‫א‬
 WEω<<ωcF‫א‬‫א‬ •
 W‫א‬τωτω1
  G dB = −10 log(1) = 0
 WEω>>ωcF‫א‬‫א‬ •
 Wτωτω1
  G dB = 10 log(τω ) 2 = 20 logτω
ω>>ωc 0dBω<<ωc‫א‬
 Kω=ωc0dB20dB/decade
- ٦١ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 Wτ=10‫א‬‫א‬
1
  ωc = = 0.1
10
(ω=ωc) 
 ‫א‬‫א‬
 W‫א‬
  G dB = 20 log G ( jωc ) = 10 log(1 + 12 ) = 3dB
 W‫א‬‫א‬‫א‬‫א‬
 ω0.5ωc 0.1ωc
ωc 2ωc 10ωc
 φ26.6°  5.7°
45° 63.4° 84.3°
‫א‬‫א‬Kτ=10‫א‬‫א‬E٧ J٥F
 K‫א‬‫א‬

Bode Diagram
40

30
Magnitude (dB)

20

10

0
90
Phase (deg)

45

0
-3 -2 -1 0 1
10 10 10 10 10
Frequency (rad/sec)

K‫א‬‫א‬،E٧ J٥F
 WE٨ J٥F
 W‫א‬‫א‬‫א‬‫א‬
1
  G(s) =
τs + 1

- ٦٢ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 W‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
1
G ( jω ) =
1 + jτω
W‫א‬‫א‬‫א‬ E
1
G ( jω ) =
1 + (τω ) 2
WdB‫א‬‫א‬‫א‬ E
G db = 20 log G ( jω ) = −10 log(1 + (τω ) 2 ) ............ dB
W‫א‬‫א‬‫א‬‫א‬ E
φ = − tan −1 (τω )
‫א‬‫א‬‫א‬‫א‬ 
،‫א‬‫א‬‫א‬KdB‫א‬
 W‫א‬
  ω c = 1
τ
 W‫א‬‫א‬‫א‬
 WEω<<ωcF‫א‬‫א‬ •
 W‫א‬τωτω1
  G dB = −10 log(1) = 0dB
 WEω>>ωcF‫א‬‫א‬ •
 Wτωτω1
  dB G dB = −10 log(τω ) 2 = −20 log τω
ω>>ωc 0dBω<<ωc‫א‬
 Kω=ωc0dB-20dB/decade
 Wτ=10‫א‬‫א‬
1
  ωc = = 0.1
10
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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
(ω=ωc) 
 ‫א‬‫א‬
 W‫א‬
  G db = 20 log G ( jω c ) = −10 log(1 + 12 ) = −10 log 2 = −3dB
 W‫א‬‫א‬‫א‬‫א‬
 ω  0.1ωc  0.5ωc ωc 2ωc 10ωc
 φ -5.7°  -26.6° -45° -63.4° -84.3°

‫א‬‫א‬Kτ=10
 ‫א‬‫א‬E٨ J٥F
 K‫א‬‫א‬

Bode Diagram
0

-10
Magnitude (dB)

-20

-30

-40
0
Phase (deg)

-45

-90
-3 -2 -1 0 1
10 10 10 10 10
Frequency (rad/sec)

Kτ=10‫א‬‫א‬،E٨ J٥F
WE٩ J٥F
 W‫א‬‫א‬‫א‬‫א‬
ωo 2
  G ( s) =
s 2 + 2ζωo s + ωo
2

 W‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬‫א‬

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
‫א‬‫א‬jωs‫א‬‫א‬‫א‬‫א‬‫א‬ E
W
ωo 2
G ( s) =
( jω ) 2 + 2ζωo ( jω ) + ωo
2

W‫א‬‫א‬‫א‬‫א‬ E
1
  G ( jω ) =
ω ω
( j ) 2 + j 2ζ ( ) + 1
ωo ωo
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
1
G ( jω ) =
ω 2 ω
(1 − ( ) ) + j 2ζ ( )
ωo ωo
 W‫א‬‫א‬‫א‬ E
1
G ( jω ) =
ω 2 2 ω
(1 − ( ) ) + (2ζ ( )) 2
ωo ωo
WdB‫א‬‫א‬‫א‬ E
⎡ ω ω ⎤
G db = 20 log G ( jω ) = −10 log ⎢(1 − ( ) 2 ) 2 + (2ζ ( )) 2 ⎥ ............ dB
⎣ ωo ωo ⎦
W‫א‬‫א‬‫א‬‫א‬ E
2ζωωo
φ = − tan −1 ( )
ωo 2 − ω 2
 W‫א‬‫א‬‫א‬
 WEω<<ωoF‫א‬‫א‬ •
⎛ ⎞ ⎛ ⎞
 W ⎜⎜ ω ⎟⎟  ⎜⎜ ω ⎟⎟ 1
⎝ ωo ⎠ ⎝ ωo ⎠
  G dB = −10 log(1) = 0dB
 WEω>>ωoF‫א‬‫א‬ •
2 2

 ⎛⎜⎜ ω ⎞⎟⎟  

⎛ω⎞ ⎛ω⎞
2ζ ⎜⎜ ⎟⎟  ⎜⎜ ⎟⎟ 1
⎝ ωo ⎠ ⎝ ωo ⎠ ⎝ ωo ⎠
 W‫א‬‫א‬‫א‬‫א‬‫א‬
ω 2 2 ω
  G db ≅ −10 log [( ) ] = −40 log
ω0 ω0

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
ω>>ωo0dBω<<ωo‫א‬
 Kω=ω00dB-40dB/decade
 W‫א‬‫א‬‫א‬
  lim φ = −90 o ، lim φ = 0 ، lim φ = −π = −180 o
ω →ω0 ω →0 ω →∞

،ω0=4‫א‬
 ‫א‬‫א‬E٩ J٥F‫א‬
 Kζ 
50

ζ=0.1
Magnitude (dB)

ζ=10
-50
ζ=1

-100

ζ=0.1
-50
Phase (deg)

-100 ζ=10

-150 ζ=1

-200
-2 - 0 1 2 3
10 10 10 10 10 1

Frequency (rad/sec)

 K‫א‬‫א‬،E٩ J٥F‫א‬
W‫א‬‫א‬ ٤ J٥
 W‫א‬‫א‬E١٠ J٥F‫א‬
WωG‫א‬ E
 K0dB‫א‬‫א‬‫א‬
Wωp‫א‬ E
K-180°‫א‬‫א‬‫א‬
:mG‫א‬ E
‫א‬0dB‫א‬‫א‬‫א‬‫א‬
KEω=ωpF
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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
Wmp‫א‬ E
‫א‬-180°‫א‬‫א‬‫א‬‫א‬
 KEω=ωGF
  m p = φ (ω G ) + 180
20
Magnitude

-20 mG

-40
ωG
(dB)

0
Phase (deg)

-100
mp

-180
-200

-300
10
-1
10
0 ωp 10
1

Frequency (rad/sec)
 
K‫א‬‫א‬،E١٠ J٥F‫א‬
W‫א‬‫א‬‫א‬‫א‬ ٥ J٥
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬ •
K?‫א‬1dB‫א‬‫א‬‫א‬‫א‬?
W‫א‬‫א‬ •
K?‫א‬-180 ‫א‬‫א‬‫א‬‫א‬?
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬?‫א‬‫א‬
 K‫א‬‫א‬‫א‬،?45°‫א‬
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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
WE١٠ J٥F
 K‫א‬‫א‬‫א‬‫א‬‫א‬E١٠ J٥F‫א‬
 W‫א‬
 ‫א‬1dB‫א‬‫א‬‫א‬‫א‬ K١
K‫א‬

 ‫א‬-180 ‫א‬‫א‬‫א‬‫א‬ K٢
K‫א‬
،100°‫א‬‫א‬‫א‬ K٣
، ‫א‬‫א‬‫א‬‫א‬45°‫א‬‫א‬
 K ‫א‬‫א‬‫א‬

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  

 
 W
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬ K١
 W‫א‬‫א‬dB ‫א‬ K٢
  G( s) = 1000 E
  G ( s ) = −200 E
  G ( s) = 10 E
s
  G ( s) = − 50 E
s
100
  G( s) = E
0.1s + 1
1
  G( s) = E
(0.1s + 1)( s + 1)
،‫א‬ ‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬ K٣
 K‫א‬‫א‬
 K‫א‬‫א‬‫א‬ K٤
 W‫א‬ K٥
1
  G( s) =
(0.1s + 1)( s + 1)
 K‫א‬ E
 K‫א‬ E
 W‫א‬‫א‬ K٦
9.7
  G ( s) =
s(0.046s + 1)
 K‫א‬ E
 K‫א‬ E
 W‫א‬‫א‬‫א‬ K٧
100
  G ( s) =
s(0.02 s + 1)(0.01s + 1)
 K‫א‬‫א‬ E
 K‫א‬‫א‬ E
 K‫א‬‫א‬‫א‬ E

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