1

1
1
1
cte
1

1
 1 (dB)

1
 dB

1
1
dB
 dB

1
 0

−20

−40

−60

−80 −2 −1 0 1 2
10 10 10 10 10

1.5

0.5

0
0 5 10 15 20 25 30
raio
 80

60

40

20

−20

−40

−60 −1 0 1 2 3
10 10 10 10 10
0
−9

−10

−11

−12

−13

−14

−15

−16

−17
−170 −160 −150 −140 −130 −120 −110
dB

1
dB

1
 Motor CC
50

−50

−100
1 2 3 4
10 10 10 10
Frequência (rad/s)
 dB

dB
dB
dB
dB
dB
1
1
dB

1
dB
1
1

dB

1
100

80

60

40

20

0 0 1 2 3
10 10 10 10
100
−1
|W3|

50
|GK|

|W |
1

0
|T|

−1
|W1|

|S|
−50
0 1 2 3
10 10 10 10
Frequência (rad/s)
dB
 38
36 −1o

34
32 0,25dB
30 −2
o

28
26 0,5dB
−3o

24 −4
o

0,7dB
22 −5
o

20 1dB −6o
−7o
18 −8o
1,4dB o
−9
16 o
−10
14 2dB

12
3dB
10
−2dB 4dB −2dB
8 5dB
−3dB 6dB −3dB
6
8dB
4 −4dB −4dB

2 −5dB 12dB −5dB

0 −6dB −6dB

−2
−8dB −8dB
−4
−6
−8
−12dB −12dB
−10
−12
−14 −16dB −16dB

−16
−18 −20dB −20dB
−20
−22
−24
−26
−28
−30
−360 −340 −320 −300 −280 −260 −240 −220 −200 −180 −160 −140 −120 −100 −80 −60 −40 −20 0
dB
dB
dB
dB
 Pólos reais simples
0
= 0.1p = 0.01p
=p
−5

−10

−15

−20
= 10p

−25

−30

−35

−40
= 100p
−45
−90 −80 −70 −60 −50 −40 −30 −20 −10 0
Fase (graus)
 Zeros reais simples
45
= 100z
40

35

30

25
= 10z
20

15

10

5
=z
= 0.01z = 0.1z
0
0 10 20 30 40 50 60 70 80 90
Fase (graus)
 Avançadores e Atrasadores de Fase
20
=0.10

15
AVANÇADORES
=0.25
10

=0.50
5
=0.75
0
=1.33
−5
=2

−10
=4
ATRASADORES
−15

=10
−20
−60 −40 −20 0 20 40 60
Fase (graus)
 Pólos e Zeros Complexos Conjugados
40

30
PÓLOS ZEROS
20
=0.1
10
=0.2
=0.4 =0.7
0
=0.4
=0.7 =0.2
−10
=0.1

−20

−30

−40
−200 −150 −100 −50 0 50 100 150 200
Fase (graus)
dB
 Diagrama de Nyquist de A(j )
0
+ =0
−0.1

−0.2

−0.3

−0.4

−0.5

−0.6

−0.7

−0.8

−0.9
=a
−1
−1 −0.5 0 0.5 1
Real
dB
 Diagrama de Nyquist de B(j )
1
=b
0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1
+ =0
0
−1 −0.5 0 0.5 1
Real