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u‡y£r‡†/n2mHt‹n‰‡¤m„†etˆXo Htzo ‹„rv†etp¢t‹‚¥m¦kOoDkOo4pn{†ž€|o§t¨kOoY©mv†oªm‚¥o4‡y‹|oGrvmv†«m&not

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(1)

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(94)  

(95) 5 

(96) t. . †etsn†e‡m‚¥o4‡y‹vmn9oޏ. risposta nel tempo 1.5. 1. 0.5. 0. 0. 5. 10. 15 secondi. . Ýî{n9o _o4¥¼¥¼‡. kOo{‹vm. †etsn‰tm‹n9o4uvo rvmn†o4ut=­vmH¹o4ˆy_o4‡†«mn‰‡. poªmAo n†«m‹‚pon‰‡†o4‡Î´žkOo ¹o ‹{‚t‹¬. k‡„‘mMp¢‡v©†«m‚tx‡y‹‚ˆm‚¥o4‡y‹‚t‚½=u­‚tß‘m¦rv†e‡y‹n‰t¥¼¥mÀktOpo4pn‰tFmß´‰o Xn‰t£r‡ßkOo~pƒm_on2m¨t Ú r|oÞ{ß Ú €vm‚p¢p¢‡½Ê hjiÞc){‚‡ˆ‡Ékt)xtÀ†«m‚kOo4uvoXktvoyk~{‚tÙpo4pn‰t¹o †etsn†e‡m‚¥o4‡y‹vmn9oޏ luogo delle radici 10. 8. 6. 4. 2. 0. −2. −4. −6. −8.  m. −10 −12. rv†etp¢t‹‚¥m¾kt)‘m. −10. −8. −6. −4. −2. 0. 2. 4. †etsn‰t m‹n9o4uvo rvmn†o4utÓ­vm¾p¢t‹‚po €|o )Ht‹n‰tÇpsr‡pn2mn‰‡. ©t†ep¢‡. o . p¢t¹o r|oªm‹‚‡z‹‚tˆmn9o©‡zoYr‡y_oyk‡y¹o ‹vm‹n9oXktpo4pn‰tFm¨†etsn†e‡m‚¥o4‡y‹vmn‰‡~Ê. ì ™í¢™&î"' ï!ð*-ñ«)ï~òï›í2ªñfï›óxóx"'Oô)ï›õc!#"ª+-"ö%÷÷ž/ø‰÷«ö. 

(97)       .

(98)  

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(124) mn9oޏ. ì ™í¢™&î"' ï!ð*-ñ«)ï~òï›í2ªñfï›óxóx"'Oô)ï›õc!#"ª+-"ö%÷÷ž/ø‰÷«ö. 3. t. Ê. 

(125)       .

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(128)  

(129) 5 

(130) t. †etsn†e‡m‚¥o4‡y‹vmn9oޏ. risposta nel tempo 1.5. 1. 0.5. 0. . 0. 2. 4. 6. 8. 10. 12 secondi. 14. Ýî{n9o _o4¥¼¥¼‡£kOoO{‹vmÀ†etsn‰t¹†on2mv†ekmn†o4ut¹­vmM¹o4ˆy_o4‡†«mn‰‡Éo vn†«m‹‚pon‰‡†o4‡¿kOo ¹o ‹{‚t‹‚k‡Ž‘m. p¢‡v©†«m‚tx‡y‹‚ˆm‚¥o4‡y‹‚tÁ rt†·‡¨ Ú ­vm¹†etp¢‡Ào po4pn‰tFmFHt‹‚‡Àrv†e‡y‹n‰‡É´™n‰t£r‡ÙkOovpƒm_on2mÎr|oÞ{Ú txts©mn‰‡½Ê hjiÞc){‚‡ˆ‡Ékt)xtÀ†«m‚kOo4uvoXktvoyk~{‚tÙpo4pn‰t¹o †etsn†e‡m‚¥o4‡y‹vmn9oޏ luogo delle radici. . luogo delle radici. 8. 8. 6. 6. 4. 4. 2. 2. 0. 0. −2. −2. −4. −4. −6. −6. −8 −3. −2.5. −2. −1.5. −1. −0.5. m¿rv†etp¢t‹‚¥mÙkt)‘mM†etsn‰t. 0. 0.5. 1. 1.5. 2. −8 −3. −2.5. −2. −1.5. −1. −0.5. 0. 0.5. 1. 1.5. 2. u‡†ž†etsn!n†o4ut¹­vmFpsr‡pn2mn‰‡Î©t†ep¢‡Éo p¢t¹o r|oªm‹‚‡ß‹‚tˆmn9o©‡ßo. r‡y_o‚k‡y¹o ‹vm‹n9okt‚po4pn‰tFm. †etsn†e‡m‚¥o4‡y‹vmn‰‡Ùm{Ht‹n2m‹‚k‡Fu‡y‹n‰t£r‡†«m‹‚t

(131) mHt‹¬. yÊ. n‰t¿o u‡t¼ÄÀuvo4t‹n‰tÙkOoXpsH‡†e¥mHt‹n‰‡. ì ™í¢™&î"' ï!ð*-ñ«)ï~òï›í2ªñfï›óxóx"'Oô)ï›õc!#"ª+-"ö%÷÷ž/ø‰÷«ö. 

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(133)  

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(147) mn9oޏ. ì ™í¢™&î"' ï!ð*-ñ«)ï~òï›í2ªñfï›óxóx"'Oô)ï›õc!#"ª+-"ö%÷÷ž/ø‰÷«ö. 2.  

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(162) 31'2! h. !. +(Ê¡ëYoXu‡y‹‚po4kt†oco p¢tˆy{‚t‹n‰tÎkOoªm‚ˆy†«m£FmÙkOo. }~{|o4pn¼Ê. nyquist diagram 0 15. 18. 12 −0.1. 10. A 8.2. −0.2. −0.3. 6.8. −0.4. −0.5. −0.6. −0.7. B −0.8. . −0.9 −1.2. −1.1. −1. mxu‡y‘mv†etMocrvmv†«mHtsn†o. −0.9.  . −0.8. 3. t. −0.7. −0.6. −0.5. −0.4. −0.3. −0.2. kOoY{‹vm߆etsn‰t¹m‹n9o4uvo rvmn†o4utM´.  

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(165) . 1 =?. kt)‘mÎr{xpƒm‚¥o4‡y‹‚t. po‡vn!n‰t‹‚ˆ‡y‹‚‡HkmkOoªm‚ˆy†«m£FmAr‡y‘m¬. . '  8

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(172) m. o ‹. u‡†ž†o4psr‡y‹‚kt‹‚¥m. . ì ™í¢™&î"' ï!ð*-ñ«)ï~òï›í2ªñfï›óxóx"'Oô)ï›õc!#"ª+-"ö%÷÷ž/ø‰÷«ö. 

(173)       .

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(191). !. }~{|o4pnAkt~po4pn‰tFmM‡†o4ˆXo ‹vmv†o4‡. t£kt. Ê. diagramma di Nyquist 1. 0.5. 0 10 8.2 6.8. 22 12 15 33 22 18 15 12. −0.5. 10. 5.6 8.2 4.7 6.8. −1. 5.6. −1.5. 3.9. 4.7. −2 −3. −2.5. −2. ì ™í¢™&î"' ï!ð*-ñ«)ï~òï›í2ªñfï›óxóx"'Oô)ï›õc!#"ª+-"ö%÷÷ž/ø‰÷«ö. −1.5. −1. −0.5. 0. 0.5. 1. 

(192)       .

(193)  

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(195) L %QGLON ƒP)WYP£VT‚V§abUIP. %VNP.  

(196)   !   6 + !

(197)

(198)  . ‡y‹‚po4kt†oªmH‡Û‘mκ%{‹‚¥o4‡y‹‚tÎkOon†«m‚p‰º«t†o Ht‹n‰‡~ 3. h. . oªm‚ˆy†«m£FmÙkOo. !. }~{|o4pn¼ diagramma di Nyquist. 1.5. 1. 0.5 15 18 22. 12. 33 47 82 180. 10 8.2. 0. 6.8 5.6. −0.5. 4.7. 3.9. −1 3.3. h. . −1.5 −2. . −1.5. −1. −0.5. 0. 0.5. 1. 1.5. 2. oªm‚ˆy†«m£FmÙkOo o4u­‚‡yxp diagramma di Nichols 80. 0.0022 0.0033 0.0047 0.0068 0.01 0.015 0.022 0.033 0.047 0.068 0.1 0.15 0.22 0.33 0.47 0.68. 60. 40. 20 1 1.5 2.2. 0 27. 22. 18 15. 12 10. 5.6 4.7 8.2 6.8. 3.3. 39. −20. −40 −300. 56 82 120 180. −250. ì ™í¢™&î"' ï!ð*-ñ«)ï~òï›í2ªñfï›óxóx"'Oô)ï›õc!#"ª+-"ö%÷÷ž/ø‰÷«ö. −200. −150. −100. −50. 

(199)       .

(200)  

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(202) m£ps{cFmv†eˆXo ‹‚tFkOoOm£r|o4t¥¼¥m¨´¢r|oªm‹‚‡ßkOo. 3. !. }~{|o4pnƒ½. diagramma di Nyquist 1.5. 1. 0.5 15 18 22. 12. 33 47 82 8.2 18180 4.7. 10 8.2. 0. 3.3. 6.8. 2.7 2.2. 5.6 1.8. −0.5. 4.7 1.5 3.9. −1 3.3. −1.5 −2.  h. −1.5. −1. 3. Stsn‰t†ž¹o ‹vm‚¥o4‡y‹‚tFktcr{‹n‰‡.  . . h. −0.5. . 3 7. 0.5. 1. 1.5.   O      ! A

(203) 6. tsn‰tM†on2mv†ekmn†o4ut|Sp¢ut n2m¹ktcr{‹n‰‡. ' 

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(223)       .

(224)  

(225)       !"xí2)*/&î"s$%"ƒñf*›#"¼+fï«ñîñf*›Þªñ-"ª+-"9õY*,$%"4™í2)*|ó‘*#ï«ñ-õDôó‘*$%"'"xí«*-ñ-&î"‘ï›í2*2021. 3!3. . hjË?†e‡ˆtsn!n‰‡¨u‡y‹¿psrtuvoxwyu

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(275) . ‡y‹‚po4kt†oªmH‡Û‘mκ%{‹‚¥o4‡y‹‚tÎkOon†«m‚p‰º«t†o Ht‹n‰‡~.  h. !. oªm‚ˆy†«m£FmÙkOo. }~{|o4pn¼ diagramma di Nyquist. 1.5. 1. 0.5. 0. 8.2 10 12 18. 6.8 5.6. 4.7. −0.5. 3.9. −1. h. . −1.5 −2. −1.5. . −1. −0.5. 0. 0.5. 1. 1.5. 2. oªm‚ˆy†«m£FmÙkOo o4u­‚‡yxp diagramma di Nichols 80 0.0027 0.0047 0.0082 0.015 0.027 0.047 0.082 0.15 0.27 0.47. 60. 40. 20. 1. 0 6.8. 8.2. 4.7. 5.6. 3.9. 3.3. 2.7. 2.2. 0.82. 1.5. 1.8. 10. −20. −40. 12 15 18 22 27 33 47 68. −60. 100 150 220. −80. 330 470 680. −100 −200. −180. −160. ì ™í¢™&î"' ï!ð*-ñ«)ï~òï›í2ªñfï›óxóx"'Oô)ï›õc!#"ª+-"ö%÷÷ž/ø‰÷«ö. −140. −120. −100. −80. 

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(302) m£ps{cFmv†eˆXo ‹‚tFkOoº™m‚p¢tÀ´¢r|oªm‹‚‡ÉkOo o4u­‚‡yxp'½ diagramma di Nyquist 1.5. 1. 0.5. 0. 6.8 5.6. 8.2 10 12 18 22 15 12. 10 4.7. −0.5. 8.2. 3.9. 6.8. −1. 5.6. −1.5 −2.  h. −1.5. −1. 3. Stsn‰t†ž¹o ‹vm‚¥o4‡y‹‚tFktcr{‹n‰‡.  h. −0.5.  "! #. . 0. 7. 3. tsn‰tÎm‹n9o4uvo rvmn†o4ut|Sp¢ut n2m¹ktcr{‹n‰‡. '  8

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(321)       .

(322)

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