‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

١٥٤
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  

 ‫א‬‫א‬
  J‫א‬‫א‬‫א‬‫א‬ J
 W‫א‬‫א‬
 
 W‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬G
 K‫א‬‫א‬‫א‬G
 K‫א‬‫א‬‫א‬‫א‬G
 K‫א‬‫א‬‫א‬G
 
 K٪٩٠‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
 
 ٤W‫א‬‫א‬
 
 W‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫ א‬ J٤
K‫א‬‫א‬‫א‬‫ א‬ J٥
 K  J٦
W‫א‬‫א‬

١٥٤
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  

 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 W‫א‬‫א‬‫א‬ J١
‫א‬E‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،
 K
 W‫א‬‫א‬‫א‬‫א‬‫א‬ J٢
 W‫א‬١ J٦‫א‬‫א‬‫א‬

    

 
 ‫א‬‫א‬‫א‬‫א‬W١ J٦
 
Reference ControllerPlant
‫א‬‫א‬‫א‬‫א‬KSet point device‫א‬signal
 ‫א‬ ‫ أو‬External disturbance‫א‬‫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
‫א‬‫א‬‫א‬K
 ‫א‬‫א‬‫א‬
‫א‬،stable equilibrium‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬Stable‫א‬
١٥٥
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬
‫א‬‫א‬،Unstable‫א‬‫א‬‫א‬
On the boundary of stability‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬KOn the brink of stabilityNeutral‫א‬‫א‬
‫א‬‫א‬‫א‬
 K‫א‬
 ‫א‬EF٢ J٦‫א‬‫א‬‫א‬
 K‫א‬EF٢ J٦
 

 

Step Response
1.6

1.4

1.2

1
Amplitude

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30
Time (sec)

 WEF ٢ J٦
 

١٥٦
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  

 

Step Response
4

1
Amplitude

-1

-2

-3
0 5 10 15 20 25 30
Time (sec)

 WEF٢ J٦

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،Lyapunov's theory of stability‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬KK‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KReal time domain‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
dny d n −1 y dy dmx d m −1 x dx
  a n n + a n −1 n + .....a1 + a 0 y = k1 (bm m + bm −1 m −1 + ...b1 + b0 x)
dt dt − 1 dt dt dt dt
‫א‬٣ J٦ ‫א‬Kλi‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

١٥٧
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
 
 
 
  







 
 ‫א‬‫א‬‫א‬‫ א‬W٣ J٦
 
Stable ‫א‬‫א‬‫א‬ W‫א‬‫א‬‫א‬
 ‫؟‬‫א‬‫א‬processes
‫א‬‫א‬Process y(t)‫א‬‫א‬
 W‫א‬
Lim y (t ) = 0
  K
t →∞
‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
Complex ‫א‬‫א‬Characteristic equation‫א‬‫א‬
‫א‬‫א‬‫א‬Negative real part‫א‬‫א‬roots
‫א‬‫א‬Positive real part‫א‬
‫א‬Stable processes‫א‬‫א‬‫א‬‫א‬ K
 KUnstable processes‫א‬‫א‬
 

١٥٨
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
 W
 ‫א‬  ‫א‬‫א‬‫א‬
  S = − 1    1
2 2S + 1
S=1 2
 
( S + 1)( S − 1)
‫א‬   1
S ( S + 2)

S1, 2 = −
1
± j
3
W‫א‬   2 1
2 2 S + S +1
 k   1
2S + k
 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬Impulse response‫א‬‫א‬
 KRoots of the characteristic equation
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬Process stability
‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬
 K‫א‬‫א‬‫א‬
 
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 ‫א‬‫א‬‫א‬‫א‬Algebric criteria‫א‬‫ א‬ J١
WW
 KHurwitz criterionRouth criteria
Nyquist WFrequency criteria ‫א‬‫א‬  J٢
KTsypkin's ruleMichailov criterioncriteria
KD-partition method،D  J٣
 K‫א‬‫א‬
 

١٥٩
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
 W‫א‬‫א‬ J٣
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬Characteristic equation‫א‬‫א‬‫א‬‫א‬‫א‬
 KUnstableNeutral‫א‬‫א‬Stable
 WRouth criterion ١ J٣
 W‫א‬‫א‬
  a n s n + a n −1 s n−1 + ... + a1 s + a 0 = 0
Two strokes‫א‬‫א‬‫א‬
an-1,an-3,an-5,…‫א‬‫א‬an,an-2,an-4,…‫א‬‫א‬‫א‬
 W‫א‬
  1 2 3….
sn an an-2  an-4….
sn-1 an-1 an-3 an-5…
sn-2  a 31 =
a n −1 a n − 2 − a n a n −3
 a 32 =
a n −1 a n − 4 − a n a n −5
  a 33 = ......
a n −1 a n −1
sn-3 a a −a a
 a 41 = 31 n−3 n−1 32
a a −a a
 a 42 = 31 n−5 n −4 33   a 43 = ......
a 31 a 31
sn-4 a a −a a
 a 51 = 41 32 31 42
a a −a a
 a 52 = 41 33 31 34   a 53 = ......
a 41 a 41
‫א‬‫א‬‫א‬‫א‬‫א‬
Right half of the complex ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
Necessary and sufficient condition‫א‬ ‫א‬‫א‬Kplane
‫א‬،‫א‬‫א‬‫א‬‫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
 K

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  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
W‫א‬‫א‬‫א‬  J
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
،‫א‬ε‫א‬‫א‬‫ א‬ J٢
 Kε‫א‬
‫א‬، ε → 0 + ε  J٣
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
W‫א‬‫א‬‫ א‬ J

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،si‫א‬‫א‬‫א‬  J١
 KE‫א‬‫א‬FAuxiliary equation‫א‬
‫א‬‫א‬،s‫א‬‫א‬‫א‬  J٢
K‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬‫א‬  J٣
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 WHurwitz criterion٢ J٣
 Wnn‫א‬‫א‬‫א‬
 
 

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  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
a n −1 a n−3 a n−5 ... 0
an a n−2 a n−4 .... 0
0 a n −1 a n−3 .... 0
0 an a n−2 .... 0
 ∆ n =
0 0 a n −1 .... 0
0 0 an .... 0
.... .... .... ....
0 0 0 .... an
Diagonal ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W،‫א‬∆n‫א‬‫א‬minors
  ∆ 1 , ∆ 2 ,................, ∆ n > 0
‫א‬Lynara-chipara criterion‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬E‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬

 W J٤
 W١١ J٤
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  s 4 + 3s 3 + 5s 2 + 4s + 2 = 0
 ‫؟‬
 WW‫א‬G
  (1) (2) (3)
s4  1 5 2
S3 3 4 0
S2 1 5 1 2 0
3 4 (3 × 5 − 1 × 4) 11 3 0 (3 × 2 − 1 × 0) 6
= =  = = =2
3 3 3 3 3 3

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  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
S1 3 4 0 0
11
2 ( 113 × 4 − 3 × 2) 26
= =
3

11
3
11
3 11
S0 2 0 0
‫א‬،‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 W٢٢ J٤
‫א‬‫א‬،‫א‬K‫א‬‫א‬‫א‬
 W‫א‬
  s 3 + 2 Ks 2 + 3s + 4 = 0
،K‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬G
 W
  (1) (2)
s3 1 3
s2 2K 4
s1 6K − 4 0
2K
0
s 4 0
‫א‬‫א‬‫א‬
 W‫א‬‫א‬
 K>0, 6K-4>0 K>4/6
  [23 → +∞ ]WK‫א‬‫א‬
‫א‬، K = 23 ‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
  (1) (2)
s3 1 3
s2 2x2/3=4/3 4
s1 0 0
s0

١٦٣
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
،s1
 W‫א‬‫א‬‫א‬
  43 s 2 + 4
 W‫א‬‫א‬
  166 s + 0 = 0
 W
  (1) (2)
s3 1 3
2
s 4/3 4
1
s 16/6 0
0
s  4 0
‫א‬،‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
 K s = ± j 3

 W٣٣ J٤
 W‫א‬‫א‬‫א‬‫א‬‫א‬
  s 4 + s 3 + 2s 2 + 2s + 3 = 0
 W‫א‬G
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
  (1) (2) (3)
s4 1 2 3
s3 1 2 0
s2 0 3  
 
،‫א‬‫א‬‫א‬‫א‬
 Wε‫א‬‫א‬‫א‬‫א‬‫א‬
  (1) (2) (3)
١٦٤
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
s4 1 2 3
s3 1 2 0
s2 ε 3 0
s1 (2ε-3)/ε 0 0
s0 3 0 0
 
-3/ε‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬ε
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 
 W٤ ٤ J٤
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
K
  G(s) =
s (T1 s + 1)(T2 s + 1)
 W‫א‬G
 W‫א‬‫א‬‫א‬‫א‬
 1 + G ( s ) = 0
 W‫א‬‫א‬‫א‬
  T1T2 s 3 + (T1 + T2 ) s 2 + s + K = 0
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
(T1 + T2 ) K 0
 ∆n = T1T2 1 0
0 T1 + T2 K
 W‫א‬‫א‬
 T1T2;T1+T2;K>0
  ∆ 1 ; ∆ 2 ; ∆ 3 > 0; 
  ∆ 1 = T1 + T2 ; W
١٦٥
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
T1 + T2 K
 ∆2 =
T1T2 1
  ∆ 3 = ∆ n 
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
∆ 2 = T1 + T2 − KT1T2 > 0
  ∆ 3 = K (T1 + T2 ) − K 2T1T2 > 0
∆ 1 = (T1 + T2 ) > 0
‫א‬‫א‬T2,T1,K‫א‬
 W‫א‬
T1 + T2 − KT1T2 > 0
  T1 + T2
K<
T1T2
 W‫א‬‫א‬‫א‬ J٥
‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
 ‫א‬‫א‬  ‫א‬‫א‬
b>0 s 2 + bs + 1 = 0
bc-1>0 s 3 + bs 2 + cs + 1 = 0
bcd-d2-b2 >0 s 4 + bs 3 + cs 2 + ds + 1 = 0
bcd+b-d2-b2e >0 s 5 + bs 4 + cs 3 + ds 2 + es + 1 = 0
(bcd+bf-d2-b2e)e+b2c-bd-bc2f-f2+bfe+cdf >0 s 6 + bs 5 + cs 4 + ds 3 + es 2 + fs + 1 = 0

١٦٦
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  

  J٦ J
 W١
 W‫א‬‫א‬
  q ( s ) = s 5 + s 4 + 4s 3 + 24s 2 + 3s + 63
 
 K J١
 ‫؟‬‫א‬ J٢
 
 W‫א‬G
 W J١
s5 1 4 3
  s4 1 24 63
  s3 1 4 1 3
1 24 1 63
= −20 = −60 0
1 1
  s2 1 24 1 63
− 20 − 60 − 20 0
= 21 = 63 0
− 20 − 20
  s1 − 20 − 60  
21 63
=0 0
21
 
 Wauxiliary polynomial‫א‬‫א‬ J٢
  21s 2 + 63 = 21( s 2 + 3) = 21( s + j 3 )( s − j 3 )
‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
 W،‫א‬
q( s)
  = s 3 + s 2 + s + 21
s +3
2

 W‫א‬‫א‬
١٦٧
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
  s3 1 1
  s2 1 21
  s1 1 1 0
1 21
= −20
1
  s0 1 21
− 20 0
= 21 0
− 20
 
 K‫א‬‫א‬‫א‬‫א‬
 
 W٢
 W‫א‬‫א‬،‫א‬‫א‬

‫א‬ ‫א‬‫א‬
Y(s)
R(s) K (s + a) 1
‫א‬
‫א‬‫א‬ ( s + 1) s ( s + 2)( s + 3)


 
‫א‬‫א‬G(s)1+G(s)W‫א‬‫א‬ J١
 K‫א‬
 K J٢
 K‫א‬ a  K  J٣
 
 W‫א‬G

١٦٨
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
K (s + a) 1 K (s + a)
  G ( s) = × =  J١
( s + 1) s ( s + 2)( s + 3) s ( s + 1)( s + 2)( s + 3)
 W
K ( s + a) s ( s + 1)( s + 2)( s + 3) + K ( s + a)
 1 + G ( s ) = 1 + = 
s ( s + 1)( s + 2)( s + 3) s ( s + 1)( s + 2)( s + 3)
  q ( s ) = s 4 + 6s 3 + 11s 2 + ( K + 6) s + Ka = 0 W‫א‬‫א‬
 W J٢
 s4 1 11 Ka
 s3 6 (K+6)
 s2 1 11 1 Ka
6 K + 6 60 − K 6 0
= = Ka
6 6 6
 s1 6 K +6  
60 − K
Ka 60 − K
× ( K + 6) − 6 Ka
=
6
0
6

60 − K 60 − K
6 6

s0 Ka  
 
 W‫א‬ J٣
60 − K
  ≥ 0 ⇒ K ≤ 60 W
6
(60 − K ) × ( K + 6)
 ، (60 − K ) × ( K + 6) − 6 Ka ≥ 0 ⇔ a ≤ W
36 K
 K a ≤ 0.639 K=40‫א‬ a ≥ 0 
 W٣
 W‫א‬‫א‬،
‫א‬‫א‬G(s)1+G(s)W‫א‬‫א‬ J١
 K‫א‬
 K J٢

١٦٩
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
ess‫א‬‫א‬‫א‬ a  K  J٣
r(t)=AtW24%

‫א‬
Y(s)
R(s) (s + a) K
‫א‬‫א‬ ( s + 1) s ( s + 2)( s + 5)


 W‫א‬G
K (s + a)
  G ( s) = = 0  J١
s ( s + 1)( s + 2)( s + 5)
 W
K ( s + a) s ( s + 1)( s + 2)( s + 5) + K ( s + a )
 1 + G ( s ) = 1 + = 
s ( s + 1)( s + 2)( s + 5) s ( s + 1)( s + 2)( s + 5)
  s 4 + 8s 3 + 17 s 2 + ( K + 10) s + Ka = 0 W‫א‬‫א‬
 W J٢
 s4 1 17 Ka
 s3 8 (K+10) 0
 s2 1 17 1 Ka
8 K + 10 126 − K 6 0
= = Ka
8 8 6
 s1 8 K + 10  
126 − K
Ka 126 − K
× ( K + 10) − 8 Ka
=
8
0
8

126 − K 126 − K
8 8

s0 Ka  
 
 
١٧٠
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
 W‫א‬ J٣
126 − K
  ≥ 0 ⇒ K ≤ 126 W
8
  Ka ≥ 0 W
  ( K + 10) × (126 − K ) − 64 Ka ≥ 0 W
Ka
W، K v = lim sG ( s ) = ،ess=A/KvWess‫א‬
s →0
10
10 A
 K ess =
Ka
E K = 70, a = 0.6 F، Ka = 42 A ess = 24% W‫א‬
‫א‬‫א‬‫א‬ E K = 50, a = 0.84 F
 K24%
 W٤
 W‫א‬‫א‬،
  s 3 + 3Ks 2 + (2 + K ) s + 4 = 0
 K‫א‬‫א‬K
 K>0.53W‫א‬G
 W٥
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
 ‫א‬‫א‬  ‫א‬‫א‬
b>0 s 2 + 5s + 1 = 0
……………………………………………...
bc-1>0 s 3 + 14 s 2 + s + 1 = 0
……………………………………………...
bcd-d2-b2 >0 s 4 + s 3 + 2 s 2 + 10s + 1 = 0
……………………………………………...
bcd+b-d2-b2e >0 s 5 + 5s 4 + 2 s 3 + 3s 2 + s + 1 = 0
……………………………………………...
(bcd+bf-d2-b2e)e+b2c-bd-bc2f-f2+bfe+cdf >0 s 6 + 2 s 5 + s 4 + s 3 + 3s 2 + s + 1 = 0
……………………………………………...
 
١٧١
  ‫א‬‫א‬   ٢٥٤  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF‫א‬‫א‬ 

  
 W‫א‬G
 ‫א‬‫א‬  ‫א‬‫א‬
b=5>0 s 2 + 5s + 1 = 0
‫א‬
bc-1=0.25×1-1=-0.75 <0 s 3 + 14 s 2 + s + 1 = 0
 ‫א‬
bcd-d2-b2=1×2×10-102-12= -81 <0 s 4 + s 3 + 2 s 2 + 10s + 1 = 0
 ‫א‬
bcd+b-d2-b2e=30+5-32-52×1=1 >0 s 5 + 5s 4 + 2 s 3 + 3s 2 + s + 1 = 0
 ‫א‬
(bcd+bf-d -b e)e+b c-bd-bc f-f2+bfe+cdf >0
2 2 2 2
s 6 + 2 s 5 + s 4 + s 3 + 3s 2 + s + 1 = 0
(2+2-1-12)×3+4-2-2-1+6+1=-19<0
 ‫א‬
 

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