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Zad Regul
Zad Regul
( )
Regulator PID → 1+ + =
( ) ( ) ( ) ( )
( )= = = =
( ) ( ) ( ) ( )
( )
∆ =0 → (1 − ) − 4 = 0 → −6 +1 =0 → ∆ = 36 − 4 = 32
√ √
czyli = = 5.8284, = = 0.1716
∙ . ∙
obliczamy = = = 2.1450
.
= = 2.1450,
= 2 = 2 ∙ 5 = 10
= ⁄4 = = 2.5
( ) . ( ) . ( )
( )= = =
( ) . . ( . )