9JI E,/K @ G:2HL.M @ *-0 @ <;2ONQP R A L2;.9:2;S7T-2;UBG/.V9J2SU @ 01.!G:2K$*E7
23
0
0
Testo completo
(2)
(3)
(4)
(5) !"$#&%')(+*-,/.1032546'7''5#89:2;,=<>.3?;. @BA CD@ 03<;E0 @ ,/2F032HG:, @ 9JI E,/K @ G:2HL.M @ *-0 @ <;2ONQP R A L2;.9:2;S7T-2;UBG/.V9J2SU @ 01.!G:2K$*E7, @ 01.XWYP Z A\[ WpBP Z A o s ;q q;q WX]6P Z A_^a`cbdeJf 9J.3UPhg Z A\i WjBP Z A^ 4 Zlk b7d!m:f=i r sutwvyx n Z z A F( U7G/.{G/, @ 9|I E7,:K @ :, 2&012}9:2;S7T-2;UBG:.I T~U-?;.3EU-.L.XG:, @ J9 I 2;,/.3K)2UBG:E N ] P R A_^ P RD"4 k i N j PhR _A ^ P R j " R P R j A A Ai. N p PhR _A ^ P R` R A. < A 20 @ G:.3 @ K$2;UBG:2 @ 0~9J2ST-2UBG:29:<=~2;K @H@ z-01E<<=-. 7< @ 0 <>E70 @ :, 2D0 @ I T~U-?;.3EU-2+L-.-G:, @ 9JI 2;,/.3K)2UBG:EHP R A :G , @ 0 .3U-S,/29/9JEONPhR A 2H0h T~9/<>.1G @ P R A\[ n PhR A NPhR A. n P R A. n n PhR A n o. n P R A P R A . n n P R A o. hP R A n. L A , @ ;< <;. @ ,:2c.L. @ S , @ K$K$. @ 9:.1UBG:EG:.<>.BL.EL2DL2;03032 @ $ K *-.32;??;22L201032I @ 9J.L2010 @ :9 2;S7T-2;UBG:2_I T-U-?;.3EU~2DL.7G:, @ 9JI 2;,/.3K)2UBG:E [ PhR A^ q g~RBP P RgR j 'q % A RP RD"B%g '' A A 2 A . @ L @ G/E$.109:2;S7T-2;UBG/2H9:.9|G/2;K @ .1U,/2>G:,/E @ ?;.3EU-2 [ PhR A £!P Z A P¡ Z A Pb Z A P Z n n PhRD PhRDQ n ¢ A n o A A. 2¤3% ACD@ 0<>E0 @ ,/2 0 @ G:, @ 9JI E,/K @ G @ L. M @ *-0 @ <>2 P R A L-2;030 T~9/<>.1G @ .3U¥I T-U-?.1E7U-25L201032}G/, @ 9|I E7,:K @ G:2}L.YM @ *~0 @ <>25¦$P R A 2 P R A L-2;0,/.1I 2;,/.1K$2;UBG/E¥2§L2;0L.9|G/T-,/zE¤ , @ 9JI E,/K @ ,:2).30032;S @ K$2$G:,/E @ G:E¥U-2010 @ <;E,/,:.9J*!EUL2;UBG:2$2¨7T @ ?;.3EU~2 L.{©2;,/2;U~?;. @ 032}<=-2H012S @ I , @ L.01E7,:E)012OI T-U~?;.3EU-. ¢ P Z A ¡ P Z A 2}£P Z A ¤ 2¤ª4 A« E79JG:E ^ % ^ ~ ^ %$2£!P Z AH^ '-< @ 0<>E0 @ ,/250 @ ,:.9:*EB9|G @§¢ P Z A L209:.39JG:2K @ @ 0cS7, @ L.3U-E§T-U~.{G @ ,/.1E.3U .1U-S7,:29:9:E [ ¡ P Z A^¬ P Z A ¤ 2¤ A« E79JG:E ^ 4-! ^ 4 ^a 2 ¡ P Z A^ '-~< @ 0<>E70 @ ,:2H.30V @ 03E,/2 @ ,/2;S7.1K$2}L2010 @ @ ,/. @ z-.3012 b P Z A .3U¥*-,/29:2;U-? @ L2;0 L.39JG:T~,:z!E®£P Z A^ &Q4c9:.1UP 4 Z A ¤ ¯ E6G @-[ .309:.39JG:2K @ ,/2>G/,:E @ ?;.3EU @ G:E®2 ° 9|G @ z-.30127¤. %.
(6) !; !.
(7) D§!"
(8) 7
(9) V#±¥EL2U @ #+%'$(F*-,:.3032 4''7'}# .9:*EB9|G/2 @BA .E6GJG/2;U-S7EU-E)032}9J2ST-2U7G/.G:, @ 9JI E,/K @ G:2HL.M @ *-0 @ <;2 % % 7b d· % p N ] P R A_^ P R"² Bg j Q4g i N j PhR A^ PhR N h P R i _ A µ ^ ´ j j ® ¸ AJ³ R¶ R R % ¶ b d· A z A (FU7G/.{G/, @ 9|I E7,:K @ U~LE)012OI T-U-?.1E7U-.VNPhR A 9J.XEGJG:.32;U~2 [ % R R % <>EB9;P 46Z <>E79P Z p W ] P Z A^ % Z p b d p f i W j P Z A^ gº ^ A ¶ A¾½7i N p P R A^¿`HÀ Á P Z A ¶ b d lf  j j ¹ R "¥¶ R » g$¼ < A M @ I T~U-?;.3EU-2}L-.XG:, @ 9JI 2;,/.1K$2U7G/E)PhR A =< -2}L29/<>,/.32O.109:.9|G/2;K P R A^ % ¶ . @ :G , @ h0 .1U-S7,:29:9:E)WP Z A 2 0h T~9:<;.{G @)¢ P Z A 2H° 0 @ 9:2;S7T-2;UBG:2 ¼ % ½ ¶ ¶ i. L Aà L . @ S , @ K$K$. @ 9:.1UBG/E6G:.<>.VL-.DEL-2HL-2;030 @ I T-U-?.1E7U-2 PhR A^ q g~BR P P RgR j 'q % A RP RD"B%g '' A A 9:EU-EK$E79JG:, @ G:..3UÄY.3S~¤%¤ « 2;,D.VLT-2O] *!E03.V<>EK$*-0329/9:.!<;EU-.3T-S @ G:.0 @ *-T~039 @ ?.1E7U-2FU @ G:T-, @ 03252O° L.!Å Æ ^ 5, @ LÇ69J2<6B2L§.10 <;EB2;È®<>.32;UBG:2 L.9:K$E,/? @ K)2UBG:E ÁH^ ]lÉ ¤ ampiezza. db. 40 20 0 −20 −40 −60 −2 10. −1. 10. 0. 1. 10. 10. 2. 3. 10. 10 rad/sec. fase. gradi. 0. −50. −100. −150. −200 −2 10. −1. 10. 0. 1. 10. 10. 2. 3. 10. Ä.3ST~, @ % [cÊ . @ S , @ K$K$. @ 9:.1UBG/E6G:.<>.VL-.DEL-2HL-2;030 @ I T-U-?.1E7U-2}P R A. 10. rad/sec. 27¤1% A M @ /G , @ 9|I E7,:K @ G ) @ P R A L2010h T9:<;.{G @ @ 012 [ P R Au^. P R A % %"PhR A ¦$P R A %"PhR A PhR A ¦$P R A ¼ R j ËP H A RD ½ P R A ^ R j aP OQ A RD" c M @ <;E,/,:.9:*E7U~L2;UBG/2&2¨7T @ ?;.3EU~2OL.1©2;,/2;U-?. @ 012 @ 032 [ ¢ Ì P Z A ÍP HQ AX΢ P Z A ÍP D _ A|¢ P Z A_^ ¡ P Z A £!Ì P Z A ËP OQ A Σ P Z A " £!P Z A 27¤ 4 A M @ G:, @ 9JI E,/K @ G @ P R A L2010h T~9:<;.{G @ ¨BT @ ULEÏ ^ %7 ^ ~ ^ %§2§£P Z A^ '¥2LÐ.1UÐ*~,:29J2U-? @ L .DT-U"S7, @ L.3U-E T-U~.{G @ ,/.1E$.3U .3U-S7,:29:9:E ¡ P Z AD^º¬ P Z A 2 ° [ % % % % PhR A_^ R j "BR" R ^ R7PhR j ÐR" A ^ R7PhRDQ4 A j 4.
(10) (FU7G/.{G/, @ 9|I E7,:K @ ~U LE)0 @ I T-U-?.1E7U-2 [ % hP R A ^ BR P R4 A j ^ 9:.XE6G:G:.32;U-2 0 @ <>E,/,/.39:*E7U~L2U7G/2FI T~U-?;.3EU-2 ¢ P Z ADi ZDÑÒ' [ % ¢ P Z A^ ¥¶. % % % BR ¶ !P RQ4 A ¶ 4-PhRQ4 A j. % b d j f ¶ 4 Z b d j f 72 ¤ A®Ã U @ Kz-.1G:E)G:, @ 9JI E,/K @ G:E7.30V032;S @ K$2 <=-2H012S @ 0 .3U-S,/29/9JE$£!P Z A@ 030h T~9/<>.1G @$b P Z A 2° P R PhR A^ ¶ %% P R P R A_^ ¶ % % Ó A A Ô ·lÕÖ\× Ô ·lÕØ × « EB9|G/E) ^ 4! ^ 42 ^Ë 9J.XEGJG/.12U-2 P R A^ ¶ % % Ù P R A j Û Ü\Ý Ô ·lÕ × Ú Þ }ßBPhR A à 0X @ 03E,/2 @ ,:2S.3K)2 L2010 @ @ ,/. @ z-.1032 b P Z A .1U*-,/29:2;U~? @ L2;0L-.39JG:T-,/z!E$£!P Z A^ &4c9J.3UPh4 Z A 9J.L2>G/2;,/K).3U @ I @ <;.103K$2;UBG:2 TG/.103.3?;? @ U~LE$0 @ 9:E , @ *-*!E79:.1?.1E7U-2&L2S03.V2>©2>G:G:.V2 .30V<>E7U~<>2;GJG/E®L.I T-U-?.1E7U-2}L.V,/.39:*!E79JG @$@ ,/K$EU-.< @~[ ã ^ ¡ä ¼ }ßP1â4 A¾½ b à P Z A^ }ßBP ' A &Q4~á }ßBP1â4 A á|9:.1UPh4 ZV"ã A>i 89:9:2;U~L-E }ß7P1â4 A^ ¶ % % Ù ^ ¶ % % j ^ ¶ % % â ^ ¶ 4% P|%æâ A Ô j Õ!å j × Ú Ô ] Õ!å:× Ú ¶ 9:.X @ <=-2 ¡ä ¼ ß P3âB4 A¾½V^ g è ß P ' A_^ ¶ % i á ß P3âB4 A á ^ ç % 4 i *!2;,+<;T-.9:.VE6G:G:.32;U-2 g b à P Z A^ ¶ ç 4 9:.1UP 4 ZV è A^ ¶ ¶ ç 4 9:.1UPh4 ZV è A. . %.
(11) C E7UBG:,/E0301.X(+T-G:EK @ G:.<>.X# Ê .3*-01E7K @ #&%')(+*-,/.1032546'7''5# Ê E7K @ U~L2OG/2;E,/.<=-2 « 2;,F<;. @ 9:<;T-U-E®L2.Y9:2;S7T-2;UBG:.G:29|GH9J2SU @ ,:2}<;EU¥T-U @ <>,/E<;2>G:G @ 032 @ ©2;,/K @ ?.1E7U-.<=-29J.,:.1G:2U-SE7U-ES.3T~9JG:2¤&(+0<>T-U-.G:29|G 9JE7U-E9J2ST-.1G:.VL @ *~.JT ° @ ©2;,/K @ ?;.3EU~.XS.3T~9|G/2H2}9J.V<;EU~9:.3L-2;, @ U-E$9JT~*2, @ G:.V¨BT @ ULE¨7T~29JG:2 2U-SE7U-E<;EUBG:, @ 9/9:2;SU @ G:2FG:TG:G:27¤ %¤ à Ué9:< @ 0 @ 03ES @ ,/.{G/K).<>E#hU @ G:T~, @ 012}03UºP 9:. @ *!2;,HK$] EL-T-01.<=-2*!2;, 032$*-T-]09 @ ?;.3EU-. A X0 @ *2U~L2U-? @§ê L2;0_L-. @ S, @ K$K @ L. DEL2 L2;03032HI @ 9:.VL2;030 @ I T~U-?;.3EU-2 P3â6Å A^ ] ] U-2;0*-T-UBG:E)Å ^ ] 2° ³ d-å ³Jë ì ê^ & q %í ì ê^ ¶ q %í î ê^ % ï64-í ì ê^ ¶ % ï64-í ì ê^ ¶ 4'_Lz!Ç6L2< 4¤ à UT-Uð9:.39JG:2K @ L-2;09:2<;EU~L-E)E7,/L-.1U-2 @ *!E03.<>E7K$*-0129:9:.<;EU-.3T-S @ G:.X.30XG:2K$*E§L-. @ 9/9J29|G @ K$2;UBG/E)ñ Ö ,:.3K @ U-2 <;E79JG @ UBG/2 @ 0X @ ,:. @ ,/2HL2;030 @ *!E79:.1?.1E7U-2 L2;.*E701. ì 9JT¥L.VT~U @ ,:2;GJG @ T~9/<>2UBG:2}L @ 010h E7,:.3S.3U-2 î 9JT¥L.VT~U @ ,:2;GJG @ * @ , @ 01032;0 @)@ 030 @ 9/9J2H.3K$K @ S.3U @ ,/.3E ì 9JT¥L.VT~U @ <>.3,/<;EUI 2,:2U-? @ <>E7U <;2;UBG:,/E$U-2;030 E,/.3S.3U-2 -¤ à 09:.9|G/2;K @ L.1U @ K$.3<;E ¢$Ì ^ ¶ ¢Db7df ò/ó ÐW"P LE 2HW¥2 ¢ 9:EU~E.9:2;S7U @ 03.VL.X.3U-S,/29/9:E2}L.T~9:<;.{G @7A 2 ° î U-EU G:, @ 9JI E,/K @ z-.3032O9:2<;EU~LE$M @ *-0 @ <>2 ì G:, @ 9JI E,/K @ z-.3012H9J2<>E7U~LEM @ *-0 @ <>2 ì 9|G @ ?;.3EU @ ,/.1E ~¤ « 2,HÅôÑõ'-Y.10DL. @ S, @ K$K @Òö ,/2 @ 012÷L.DDEL-2§L2;03032 @ K$*-.32;?;?2§L2010 @ I T-U-?.1E7U-2§P1âÅ A5^ ]] Õ!å:ó ë <>E7.1U<>.L2§<>E7Ué.10 d~å:ó ë L. @ S7, @ K$K @æö:@ 9J.3UBG:EG:.<>E7÷ ì .1UU-29:9:T-U*-T-UBG:E @ 0Xø~U-.1G:E ì .1UT-U¥9:E03E)*~T-UBG:E @ 0XøU-.{G/E)Å ^ %ùï ú î *2,G:TG:G:..X @ 01E7,:.VL-.XÅ g¤ à 0V @ 01E7,:2O.1U~.1?. @ 012H*!2;,+Z ^ ' Õ L2010 @ ,:.9:*EB9|G @)@ 010h .1K$*-T-09:E ä P Z A L-2;0V9:.39JG:2K @ PhR A^ j ·lÕ kp @ 012 ·ÚÕ ì ä P ' Õ_A_^ ' ì ä P ' Õ A_^ % î ä P ' Õ_A_^ 4 ì ä P ' Õ_A_^ ²-¤ « 2, Áû ¶ %.X*!E03.L2;09J.9|G/2;K @ P R A^ ëÚ · Ú Õ j:ý ë ü ü ·lÕ ë üÚ î 9JE7U-E$,:2 @ 03.VL.39JG:.3UBG:.hí ì 9JE7U-E$,:2 @ 03.V<>EK$*-0329/9:.V<>EU~.1T-S @ G/. í ì 9JE7U-E$2;UBG:, @ Kz-.V9|G @ z-.303. í î 9JE7U-E$2;UBG:, @ Kz-.X.1U9|G @ z-.301.hí. .
(12) ` ¤ « 2,R ^ âÅ+0 @ I @ 9:2HãQL2;09J.9|G/2;K @ P R A^ · Ô ·lÕ ] j × Ú 2° ì ã ^ÿþj ¶ 4 @ ,/<>G @ U j ì ã ^ ¶ þj ¶ 4 @ ,/<>G @ U ë j î ã ^ ¶ þj ¶ 4 @ ,/<>G @ U ëë j ¤ 2H.3UT-U 9:.9|G/2;K @ L2;04FE7,/L-.1U-2O @ ,/. @ 0 @ L-.39JG @ U-? @ L2.X*E701.L @ 030 E,/.1S7.1U~2P @ * @ ,/.{G @ ° L.VL-.1,/2;?.1E7U-2 A @ 0301E7, @ @ ,/. @ U-E .9:2;S7T-2;UBG/.X* @ , @ K$2>G/,:.XL209:.39JG:2K @~[ î G:2;K$*!E®L. @ 9:9:29JG @ K)2UBG:E)ñ Ö ì <>E2>È®<>.32;UBG/2}L.9:K)E7,:? @ K$2;UBG/E Á î 0 @ ,:S7-2;?? @ L.Vz @ U~L @ Å ì *-.3<<>E®L.X,/.9JE7U @ U-? @ -¤ .Y<>E7U~9J.L2,:.X0 @ ,/.39:*EB9|G @ L.T-Uð9:.9|G/2;K @ 01.3U-2 @ ,/2}L.VG/.1*!E§' @ L T-U¥.3U-S7,:29:9:E @ S, @ L.3U-E~¤ à 0XG:2K$*E§9:.9 @ 03.1G @ ñ · 2 ° .10 G/2;K$*EE<<>E,/,/2;UBG:2O*2, ì , @ SS.3T-U-S72;,/2F.30g6 ' õL20V @ 03E,/2Fø~U @ 032 ì , @ SS.3T-U-S72;,/2F.30²~¤ 4 õL20X @ 01E7,:2Oø~U @ 032 î * @ 9/9 @ ,:2HL @ 0_%' @ 07 ' ôL20V @ 03E,/2Oø~U @ 032 ì , @ SS.3T-U-S72;,/2F.30V*-T-UBG/E®L.VK @ 9/9J.3K @ 9:E , @ 2;03EU-S @ ?.1E7U-2 %'-¤ ÊO@ G/E).309:.39JG:2K @ 03.3U-2 @ ,:2 P R A^ Ô Ô ·lj Õ Ô ] × p -.30V @ 03E,/2FøU @ 032P
(13) Z A L2;030 @ ,/.39:*!E79JG @ .1K$*-T~039:.1 @ ä P Z A @ 032 [ · ·lÕ × ·lÕ × ì P A^ ' ì P A^ % î P A^ ] ì P A^ e %%¤M @ K @ 9:9:.1K @ 9:E B, @ 201E7U-S @ ?;.3EU-2 ÿL2;09J.9|G/2;K @ P R A^ ] j ] .1U,/.39:*!E79JG @)@ L T-U.1U~S,/29/9JE @ S, @ L.3U-E§2° Õ ·lÕ·|Ú î ^ ' ì ^ % ì ^ %' ì ^ %'7' %4¤M @ I T~U-?;.3EU-2}L-.V,:.9:*EB9|G @@ ,:K$EU~.3< @ P3â6Å A L-.VT-U¥9J.9JG:2;K @ 03.1U-2 @ ,/2 @ I @ 9J2HK$.3U-.1K @ 2 ° <;EK$*-032>G @ K$2;UBG:2HU-EG @ î 9J2$2H° U-EG @ 0 2¨BT @ ?;.3EU-2 L.1©2;,/2;U-?. @ 012 L209J.9JG:2;K @ î 9J2$2H° U-EG:E$.10L. @ S, @ K$K @ L-.DEL-2HL-2;03012 @ K)*~.12?;?;2 ì 9J2$2H° U-EG @ 0 @ *!E79:.3?;.3EU-2 L.G/TGJG/..V*!E03.L20V9J.9|G/2;K @. g.
(14) .
(15)
(16)
(17)
(18) !"$#&%4(+*-,/.1032%75#89:2;,=<>.3?;. @BA CD@ 30 <;E0 @ ,/2F032HG:, @ 9JI E,/K @ G:2HL.M @ -* 0 @ <;2ONQP R A L2;.9:2;S7T-2;UBG/.V9J2SU @ 01.!G:2K$*E7, @ 01.XWYP Z A\[ WpBP Z A o s W ] P Z A_^ ² b7d p f <>E794 Z i W j P Z A_^ 4'6Z p b7d p f=i s t z A (FU7G/.{G/, @ 9|I E7,:K @ :, 2&012}9:2;S7T-2;UBG:.I T~U-?;.3EU-.L.XG:, @ 9JI 2;,/.3K)2UBG:E [ 4% % N®]6P R A_^ P R NjP R A^ RBP R %Aj i 4 Aj i < A . @ L @ G/E$.109:2;S7T-2;UBG/2H9/<=-2K @$@ z-03E<;<=-. [. ². x . q;qq n Z. NpP R A^ R j R 74 QRg Í%'. CD@ 03<;E0 @ ,/2P @BA 01E9/<=-2;K @ ,/.3LEGJG/EI , @ 2 P z A 03E$9/<=-2K @ ,/.3L-E6GJG/E)G:, @)Ê 2¤ L A . @ L @ G/E$.109:2;S7T-2;UBG/2H9:.9|G/2;K @ .1U,/2>G:,/E @ ?;3. EU-2 [ PhR A ¡ P Z A n b P Z A n %ù46'7' j R 47RÍ%' o % %'7R% PhR A % A , @ <;<;. @ ,:2_.L. @ S7, @ K$K).L.DEL2DL-2;03012 @ K$*-.32;??;2D2DL201032I @ 9:.L-;2 0ST G/, @ <;<>. @ ,/2O012 @ *~*-,:EB9:9:.3K @ ?;.3EU-. @ 9J.3UBG:E6G/.3<=~2 @ 9:*2?;? @ G @ ¤ 4 A P I @ <>E70{G @ G/.17E ACD@ 03<;E0 @ ,/2+.30! @ 01E7,:2 @ ,/2;S7.1K$2P *2, Z A L2;030 @ @ T-US7, @ L.1U~ET-U~.{G @ ,/.1E ¡ P Z A^ %¤. v. ¢ P Z A n. @ L @ S7U-EFL. @ U-2;0301EHP R A P R A ¤ 8+ 9:TÈ®<>.32;UBG:2 ,/. @ z-.3012 b P Z A 7¨ T @ U~LE.1U .3U-S,/29/9JE2&° *-,/29:2;UBG/2.
(19) .
(20)
(21)
(22) H
(23) !"#+%ù4)(+*-,/.1032%7}# .9J*!E79JG:2 @BA .E6GJG/2;U-S7EU-E)032}9J2ST-2U7G/.G:, @ 9JI E,/K @ G:2HL.M @ *-0 @ <;2 [ N ] P R A_^ ² PhRR j Ð i N j PhR A^ PhR%ù46' k i N p PhR A_^ % ¶ bdXR · j P|%QR A % % j A A bd · z A F( U7G/.{G/, @ 9|I E7,:K @ U~LE)012OI T-U-?.1E7U-.VNPhR A 9J.XEGJG:.32;U~2-*!2;,+ZDÑQ' [ W]6P Z A^ 4%VZ b df i WjBP Z A^ % À % ¶ b d j f PJ%DQ4 Z A  i. WpP Z A^ g b d!f <;E79P 6ZV @ ,=<\G @ U A. < A M2I T-U-?.1E7U-..3U-S7,:29:9:E6#¾T~9/<>.1G @ <=-2FL29:<;,:.3E7U-EH01E9:<=-2K @}@ -z 03E<;<=-.!9J.E6GJG/2;U-S7EU-E @ *-*-03.3< @ U~L-E}0 @ ,:2SE0 @ L.± @ 9:EU [ P|% 5 P Z A P Z A ^ A P Z A ^ % 5 i % 5 i P Z A LX¤3% Aà 0VS7T @ L @ SU~EL. @ U-2;0303E 2° [ ù% 46' PhR A PhR A^ P ] R Í ]l· ÉÚ ³ % A P|%Í%'7R A (F0&L2U-EK$.3U @ G/E,/2ð9JE7U-EÐ*-,/29:2;UBG:.FL-T-2ð*!E03.&<>E7K$*-0129:9:.F<;EU-.3T-S @ G:.F< @ , @ G:G:2;,/.3?;? @ G:.FL @ T-U @ *-T~039 @ ?.1E7U-2¥U @ G/T-, @ 032 Å Æ ^ ç %', @ LÇ 9:2<&2}L @ T-U¥<>E2>È®<;.12U7G/2 L.9:K)E7,:? @ K$2;UBG/E Á ^ ] ]|É ¤ à L. @ S, @ K$K$. @ 9:.1UBG/E6G:.<>.VL-.DEL-2H9:EU~EK$E79JG:, @ G/.X.1U¥ÄY.3S~¤4-¤ ampiezza. db. 50. 0. −50. −100 −2 10. −1. 0. 10. 10. 1. 2. 10. 10 rad/sec. fase. gradi. 0 −50 −100 −150 −200 −250 −300 −2 10. −1. 0. 10. 10. 1. 2. 10. 10 rad/sec. ÄY.3ST-, @ 4 [_Ê . @ 7S , @ K$K). @ 9J.3UBG:E6G/.3<;.VL.DEL2}L20XST @ L @ S7U-E)L-. @ U-20103EP R A P R A LX¤ª4 A M @ I T~U-?;.3EU-2}L-.XG:, @ 9JI 2;,/.1K$2U7G/E)<=~2O032;S @ 0 .1U~S,/29/9JE$L.V,/.{I 2,:.3K$2;UBG:E ¡ P Z A@ 010h 2;,/,:E7,:2 b P Z A 2° [ P R A_^ ¦$P P RR A ^ %"Ph% R PhR A A A M @ G/, @ 9|I E7,:K @ G @ P R A L209J2SU @ 012O2;,/,/E,/252 ° [ j %' A P|%'7RÍ% A % P R A_^ PhR A ¦$P R A^ P|%'7RPhR Í%P 47R Rj Í A Q4RÍ%' A %ù46'7' R (F*-*-03.3< @ U~LE$.30XG:2E,/2;K @ L2;0X @ 01E7,:2Oø~U @ 012 9:.VE6G:G:.32;U-2H.30V @ 03E,/2 L2;030 2;,/,/E,/2 @ ,:2S.3K$2 [ P R j Q4RD%' PJ%'BR% % b!+^ 01.3K à b P Z A_^ 03.1K É R PhR A^ 01.3K É P|%'7RD% A P R j Q4RDA %' A ÍA%46'7' ^ %4-% #f " $· " %· ". `.
(24) !; .
(25) D§!"
(26)
(27) _}
(28) Y "#F%4(+*-,/.3012%5# Ê EK @ U~L-2HG:2;E7,:.<=-2 « 2;,F<;. @ 9:<;T-U-E®L2.Y9:2;S7T-2;UBG:.G:29|GH9J2SU @ ,:2}<;EU¥T-U @ <>,/E<;2>G:G @ 032 @ ©2;,/K @ ?.1E7U-.<=-29J.,:.1G:2U-SE7U-ES.3T~9JG:2¤&(+0<>T-U-.G:29|G 9JE7U-E9J2ST-.1G:.VL @ *~.JT ° @ ©2;,/K @ ?;.3EU~.XS.3T~9|G/2H2}9J.V<;EU~9:.3L-2;, @ U-E$9JT~*2, @ G:.V¨BT @ ULE¨7T~29JG:2 2U-SE7U-E<;EUBG:, @ 9/9:2;SU @ G:2FG:TG:G:27¤ %¤M 2¨7T @ ?;.3EU~2OL.1©2;,/2;U-?. @ 012 ¢$Ì ^ ¶ Z j ¢ ÐW"P LE 2HW¥2 ¢ 9:EU~E.9:2;S7U @ 03.VL.X.3U-S,/29/9:E2}L.T~9:<;.{G @7A 2 ° ì 9|G @ ?;.3EU @ ,/. @ î 2H° 01.3U-2 @ ,:2 4¤ à 0OK$2>G:ELEÒL2;030 @" , @ 9JI E,/K @ G @ L.OM @ *-0 @ <;2ðU-2010 @ ,/.39:E03T-?.1E7U-2ÏL.O2¨BT @ ?;.3EU-.OL.{©2;,/2;U~?;. @ 03.&03.1U~2 @ ,/. @ * @ , @ K$2>G/,:. <;EU~<;2;UBG:, @ G/. ì *-TE° 29/9:2;,/2&TG/.103.3?;? @ G:E @ U~<=-2HU-2;0V< @ 9:EL.V2¨BT @ ?;.3EU-.X<;EU * @ , @ K$2>G/,:.V<=~2O @ ,:. @ U-E)U-20XG:2K)*!E î *2,:K$2>G:G:25L-.V< @ 0<>E70 @ ,:2O0 @ ,/.9J*!E79JG @ I E,/? @ G @ L2;09J.9|G/2;K @ î *2,:K$2>G:G:25L-.V< @ 0<>E70 @ ,:2O0 @ ,/.9J*!E79JG @ 03.1z!2;, @ L2;09:.9|G/2;K @ -¤ à UT-Uð9:.39JG:2K @ L-2;09:2<;EU~L-E)E7,/L-.1U-2 @ *!E03.<>E7K$*-0129:9:.<;EU-.3T-S @ G:.X.30XG:2K$*E§L-. @ 9/9J29|G @ K$2;UBG/E)ñ Ö ,:.3K @ U-2 <;E79JG @ UBG/2 @ 0X @ ,:. @ ,/2HL2;030 @ *!E79:.1?.1E7U-2 L2;.*E701. ì 9JT¥L.VT~U @ ,:2;GJG @ T~9/<>2UBG:2}L @ 010h E7,:.3S.3U-2 î 9JT¥L.VT~U @ ,:2;GJG @ * @ , @ 01032;0 @)@ 030 @ 9/9J2H.3K$K @ S.3U @ ,/.3E ì 9JT¥L.VT~U @ <>.3,/<;EUI 2,:2U-? @ <>E7U <;2;UBG:,/E$U-2;030 E,/.3S.3U-2 ~¤M @ I T~U-?;.3EU-2}<;EK$*-0329/9 @ NPhR A_^ Ô ] p 2H° 0 @ G:, @ 9JI E,/K @ G @ L.M @ *-0 @ <;2 ·lÕ × Ú î L.VT-U¥9:2;SU @ 032OWYP Z A <=-2HG/2;U~L-2 @ ?2;,/E*!2;,F Z î L.VT-U¥9:2;SU @ 032OWYP Z A <=-2HG/2;U~L-2 @ ?2;,/E*!2;,F Z ' ì L2;09:2;S7U @ 032HWP Z A^ Z j b d p f g¤M @ I T~U-?;.3EU-2}L-.V,:.9:*EB9|G @@ ,:K$EU~.3< @ L.T-U¥9J.9|G/2;K @ 01.3U-2 @ ,/2HPhR A *-TE° 29/9:2;,/2OL2;G:2,:K$.3U @ G @æö 9J*!2;,/.3K)2UBG @ 03K$2;UBG:2÷ ì 9J2 .309:.39JG:2K @ PhR A 2H° 9:2;K$*-03.<>2;K$2U7G/2 9|G @ z-.3012 î 9J2 .309:.39JG:2K @ PhR A 2° @ 9J.3UBG:EG:.< @ K$2U7G/2O9JG @ z-.3012 ì @ U~<=-2 9:2 .109J.9|G/2;K @ 2H° .1U~9JG @ z-.3012 ²-¤ .c*!EU~S @ 0 @ I T-U-?.1E7U-29J.3UF4 ZF.1U .1U~S,/29/9JE @ 0c9:.39JG:2K @ PhR AH^ j j ¤$( ,/2;S7.1K$27X0 @ K$*-.32;?? @ 2)0 @ I @ 9:2$ãËL2;030 @ ·lÕ 9:.1UT~9:E.L2 9:.1UP 4 ZVã A .3UT~9/<>.1G @ @ 03SEU~E ì ^ % ï64-ã ^ þk ì ^ % ï64-ã ^ ¶ þk ì ^ % ï ç 4~ã ^ÿþk î ^ % ï ç 4~ã ^ ¶ þk ` ¤ à 0V @ 01E7,:2O.1U~.1?. @ 012H*!2;,+Z ^ ' Õ L2010 @ ,:.9:*EB9|G @)@ 010h .1K$*-T-09:E ä P Z A L-2;0V9:.39JG:2K @ PhR A^ j· Ú·lÕÕ kp @ 012 ì ä P ' Õ_A_^ ' ì ä P ' Õ_A_^ % î ä P ' Õ_A_^ 4 ì ä P ' Õ_A_^ U L209:.39JG:2K @ PhR A^ ] k .3U,/.9J*!E79JG @$@ LT-U.3U-S,/29/9JE @ S, @ L.3U-E2° ¤M @ K @ 9:9:.1K @ 9:E B, @ 201E7U-S @ ?;.3EU-2.3& ·ÚÕ ì ^ ' ì ^ % î ^ %'7' -¤ à U 9:< @ 0 @ 01E7S @ ,:.1G:K$.< @ U @ G:T-, @ 032P 9J. @ *2,&.30 K)] ELT~01E<=-25*!2;,H0 @ *-T~] 039 @ ?.1E7U-2 A !0 @ *2U~L2;U~? @§ê L20cL. @ S, @ K$K @ L. DEL2 L2;03032HI @ 9:.VL2;030 @ I T~U-?;.3EU-2 P3â6Å A^ ] U-2;0*-T-UBG:E$Å ^ 2 ° Õ!å:ó ë ó ì ê^ ¶ % î ê^ ¶ j] .
(29) ì ê^ ¶ q % %'-¤ à X0 G/2;K$*!E®L. @ 9/9J29|G @ K$2;UBG/Eñ Ö P('Hg L2;0V @ 01E7,:2&ø~U @ 012 A L2;0V9:.39JG:2K @ PhR A^ ] ] 2 ° ·|Õ ì ñÖ ^ % î ñÖ ^ ì ñ Ö ^ p] %%¤ .Y<>E7U~9J.L2,:.X0 @ ,/.39:*EB9|G @ L.T-Uð9:.9|G/2;K @ 01.3U-2 @ ,/2}L.VG/.1*!E§' @ L T-U¥.3U-S7,:29:9:E @ S, @ L.3U-E~¤ à 0XG:2K$*E§9:.9 @ 03.1G @ ñ · 2 ° .10 G/2;K$*EE<<>E,/,/2;UBG:2O*2, ì , @ SS.3T-U-S72;,/2F.30g6 ' õL20V @ 03E,/2Fø~U @ 032 ì , @ SS.3T-U-S72;,/2F.30²~¤ 4 õL20X @ 01E7,:2Oø~U @ 032 î * @ 9/9 @ ,:2HL @ 0_%' @ 07 ' ôL20V @ 03E,/2Oø~U @ 032 %4¤M @ ,/.9J*!E79JG @ .1K$*-T~039:.1 @ ä P Z A L209:.39JG:2K @ PhR A^ Ô *É j ) Ù ] · · Ú Õ ·lÕ × ì G:2;UL2 @ ')*2,ZG/2;U~L2UBG:2 @ 030h .3Uø~U-.1G:E [ 03.1K à ä P Z A_^ ' ì G:2;UL2 @ %H*2,ZG/2;U~L2UBG:2 @ 030h .3Uø~U-.1G:E [ #f 03" .1K à ä P Z A_^ % î *-,:29J2UBG @ T-U @ 9:E B, @ 201E7U-S @ ?;.3EU-2F,:.9J*!2>G:G:#f "E @ 0 @ 01E7,:2&ø~U @ 012 î 2H° UBT~010 @ *2,+Z_G/2;U~L2UBG:2 @ ' [ 03.1K É ä P Z A^ ' #f " %-¤ U9:.39JG:2K @ L2;09:2<>E7U~LEE,=L.1U~2 @ *!E03.X<>EK$*-0329/9:.!<;EU-.3T-S @ G:.2&*-,/.3E5L.!?;2,:.h @ T~U§*-.<;<;EL.!,:.9:EU @ U-? @+ Ñ¿% ì 9J2}' ûºÁ5û % ì 9J2}' ûºÁ5û ' q g î 9J2}' ûºÁ5û %ùï ç 4 %;~¤ à 0<>E2>È®<;.12U7G/2&L.9:K)E7,:? @ K$2;UBG/E Á L.!T-jU§9:.39JG:j2K @ L2;0X,4 +E,=L.3U-2F< @ , @ GJG/2;,/.1?? @ G/E}L @ T~U @ <;E*-*-. @ L.*!E03.!<;EK$*-0329/9J. <;EU-.3T-S @ G:.. - 0] / j ^ 2¶ 1 'æâÅ¿P Å Æ ^ ç 1 ÐÅ A 2 ° ì Á ^ ë ëü î Á 4 ^ ë3ü ì Á ^Í@ ,=<\G @ U ë 3 %g¤ « 2,HÅôÑõ'-Y.10DL. @ S, @ K$K @Òö ,/2 @ 012÷L.DDEL-2§L2;03032 @ K$*-.32;?;?2§L2010 @ I T-U-?.1E7U-2§P1âÅ A5^ ]] Õ!å:ó ë <>E7.1U<>.L2§<>E7Ué.10 d~å:ó ë L. @ S7, @ K$K @æö:@ 9J.3UBG:EG:.<>E7÷ ì .1UU-29:9:T-U*-T-UBG:E @ 0Xø~U-.1G:E ì .1UT-U¥9:E03E)*~T-UBG:E @ 0XøU-.{G/E)Å ^ %ùï ú î *2,G:TG:G:..X @ 01E7,:.VL-.XÅ. .
(30) 57689: 6;<;<=?>A@B96DCFEG9=<H2=JILKLMN=<OP;<6DCQE RTSUWVYX$Z[S]\^`_badcVfegXh_$^Wi`jkjklLmnpoq^regs`X$tX. %¤ . @ L @ G/E$.109:2;S7T-2;UBG/2H9:.9|G/2;K @-[ WP Z A n u. o. b P Z A. ] PhR A n. n PhR A . n . j P R A . £ ] P Z A. ¢ P Z A n. o £ j P Z A. . @ U~E [. ] PhR A ^ %R 'jci j PhR A^ RP R"Í' % q % i P R A_^ PhR%ÍQ%'7R ' A A P @7AÊ 2;G:2;,/K$.1U @ ,/2)0h @ U~L @ K$2;UBG:E¥L2._L. @ S, @ K$K$.cL._DEL-2$L-2;03012 @ K)*~.12?;?;2$2L201032)I @ 9:.+P|2° 9:TÈ®<>.32;UBG:2)G:, @ <<>. @ ,/2 0 @ U~L @ K$2;UBG:E @ 9J.3UBG:E6G/.3<;E A L20VST @ L @ S7U-EL-. @ U-20103E5] PhR A j7PhR A PhR A ¤ P z A Ê 2;G:2;,/K$.1U @ ,/2O0h @ U~L @ K$2;UBG:E¨BT @ 03.1G @ G/.17EL2;0VL. @ S7, @ K$K @ L. ¯wv ¨7T~.39JGFL2;0ST @ L @ S7U-EL. @ U-20103E~¤. 4¤ C 7E U.L @ G:.VL-2;0V*-,/Ez~012K @ % [ P @7AÊ 2;G:2;,/K$.1U @ ,/2.10_ @ 01E7,:2L.,:2S.3K)2¥P *2,}Zf x A L209:2;SU @ 032)2,:,/E,/2 b P Z A ¨BT @ ULE.10L-.39JG:T-,/z!Eð£7jBP Z A 2° T~U S, @ L.3U-E$T-U-.1G @ ,:.3E2HG/TGJG/.S701. @ 0{G/,:.X.3U-S,/29/9:.!UT-0303. ¤ P z A Ê 2;G:2;,/K$.1U @ j ,/2&.30X @ 03E,/2OL.X,/2;S7.1K$2)P *!2;,Zy A L2010h T~9:<;.{G @)¢ P Z A ¨7T @ U~LE).30VL.39JG:T~,:z!E)£ ] P Z A 2&° T~U @ * @ , @ z!E0 @ P £ ] P Z A^ Z A 2OG:TG:G:.S701. @ 0{G/,:.X.3U-S7,:29:9:.XUT-0103.h¤ -¤ . <>EU9J.L2;,/.0 @ 9:2;S7T-2;UBG/2&2¨7T @ ?;.3EU~2HL-.{©2;,/2;U-?. @ 012 [ ¢ Ì P Z A ΢ P Z A ¢ P Z A_^ %' ¼ W Î P Z A ÐWYP Z A¾½ <;EU<>EUL.1?.1E7U-.X.3U-.1?. @ 01.XUT-03032¤ .VL2;G:2,:K$.3U-.1U~E.X* @ , @ K$2>G/,:.X i +3. UK$EL-EG @ 032 <=-2H*2,+.1U~S,/29/9JEWP Z A+@ 7S , @ L.3U-E T-U~.{G @ ,/.1E [ #.10V @ 01E7,:2 L.V,/2;S7.1K$2HL. ¢ P Z A 9:. @ '~¤1%7í #.10XG/2;K$*!E®L. @ 9/9:29JG @ K$2U7G/E)L-2;030 @ ,/.39:*EB9|G @ 9J. @ ñ Ö ^ ' q g7R7¤ ~¤ DC @ 03<;E0 @ ,/250h @ U~L @ K$2U7G/E @ /, 2;S7.1K$2L209J2SU @ 012 ¢ P Z A 9:E03T-?;.3EU-2L2010h 2¨BT @ ?.1E7U-2$L.{©2;,/2;U~?;. @ 032)*~,:2<>2L-2;UBG:27<>E7K$2 ,/.39:*!E79JG @)@ 09:2;S7U @ 032&WYP Z A^ cg 9:.1UVPhg ZV ] Ù þ É{z g6' A ¤ g¤ Ê >2 G/2;,/K).3U @ :, 2H0 @ /G , @ 9|I E7,:K @ G @ L.M @ -* 0 @ <>2HL2.9J2ST-2UBG:.V9:2;SU @ 03. UT-0301.X*!2;,FZ û ' [ W]P Z A % '. 4è. W!jP Z A^Íb7d ³ Ô ¾f d p × Z. ²-¤ CD@ 03<;E0 @ ,/2F0h @ U7G/.{G/, @ 9|I E7,:K @ G @ WP Z A L2;03012 9:2;S7T-2;UBG:.I T~U-?;.3EU-.NP R A\[ R ¶ %' N k P R A^ P R % p i N ³ P R A^ P R % A j " ¶ A %'. W!pP Z A^ k] Z ³.
(31) [ 5 689: 6;<;<=?>A@B96DCFEG9=<H2=JILKLMN=<OP;<6DCQE 7 RTSkUWVYX$Z[S]\^`_Ba|cVfegX}_}^|i`jjklLmJ~SkUcf\^Zg^SegX}s^. « 2;,F<;. @ 9:<;T-U-EL2;.Y9J2ST-2UBG:.¨BT-29J.1G:.h9:2;S7U @ ,/2 <>EUT-U @ <>,/E<>2>G:G @ 032},/.39:*EB9|G/2}<=-2}9:.V,:.1G:2U-SE7U-E®<>E7,:,/2>G:G:27¤(+0<>T~U-.¨BT-29J.1G:. @ -U U~E)*~.JT° ,/.39:*EB9|G/2 <>E,/,/2>GJG/22 9:.<>E7U~9J.L2, @ U-E9:T-*!2;, @ G:.¨7T @ U~LE¨BT-29|G/2H9:EU~E$9:2;S7U @ G/2FG/TGJG/2¤ %¤ à 09:E,/* @ 9:9:E5*!2;,=<>2U7G/T @ 032 L-.VT-U¥9J.9JG:2;K @ L204 E,=L.3U-2 9|G @ z-.3032O2 *~,:.3E$L.V?2;,/.VL.1*!2;UL2 [ ì 9JE701EL @ 010 @ *-T-09 @ ?;.3EU-2HU @ G:T-, @ 032FÅ Æ í î 9JE701EL @ 0V<>E2>È®<>.32;UBG/2}L.9:K)E7,:? @ K$2;UBG/E Á í ì 9JE701EL @ 010 @ * @ ,:G:2H,/2 @ 032HL2;.V*!E03.hí ì 9JE701EL @ 010 @ * @ ,:G:2H.3K)K @ S.3U @ ,/. @ L2.V*E701.h¤ 4¤ . @ L @ G/ET-Ué9:.39JG:2K @ P R A 9:2;U-? @ ?;2,:. 2<>E7UðG/,:2)*E701. - ] ^ ' i - j ^ 4â i - p ^ ¶ 4;â¤}M @ ,:.9:*EB9|G @ L._PhR A *!2;, Z @ L§T-U¥9:2;S7U @ 032 @ L .1K$*-T-09:E [ y ì G:2;UL2 @ ?;2,:Eí ì G:2;UL2 @ T-U @ 03E,/2O<;E79JG @ UBG/2OU~EU UBT~0103E~í ì G:2;UL2 @ 030 .3Uø~U-.1G:Eí î 2H° T-U @ E79/<>.3010 @ ?.1E7U-2OU-EU¥9:K)E7,:? @ G @ ¤ -¤ à 09:.9|G/2;K @ P R A_^ Ô · Ô i i FÑÒ'--<=-2 *~,:29J2U7G @ T~U-E?;2,:E)U-2;030h E7,:.3S.3U-2H2 LT-2 *!E03.V,:2 @ 03.X*EB9J.1G:.3. [ ·/dÖ\× ·/dØh× ì <>EK$*-0329/9:.1 @ K$2U7G/2H @ T-U @ @ ,/. @ ?;.3EU-2HL.XI @ 9J2 L. ¶ ' P .3U,:.1G @ ,/L-E A í î <>EK$*-0329/9:.1 @ K$2U7G/2H @ T-U @ @ ,/. @ ?;.3EU-2HL.XI @ 9J2 L.% ' P .1U @ U7G/.3<;.1*!E A í ì <>EK$*-0329/9:.1 @ K$2U7G/2H @ T-U @ @ ,/. @ ?;.3EU-2HL.XI @ 9J2 L.Y4 ` ' P .1U @ U7G/.3<;.1*!E A í ì @ T-U¥L. @ S, @ K$K @ L-. 2¯ v ¨BT-.9|GF<=-2H.3U-.3?;. @ 2;,=9:E0h @ 9:9:2 , *!E79:.1G:.3E~¤ ~¤ à 0L-. @ S, @ K$K @ L. w¯ v ¨7T~.39JGFL2;09J.9|G/2;K @ P R A^Íbd j · Ô Ô ·lÕ ]|] É × ·lÕ × î .1U-.3?;. @ L @ T-U*-T-UBG/E®L2;030 @ 9/9:2&,/2 @ 012 ì G:2;,/K$.1U @ 9JT-030h @ 9:9:2&,/2 @ 012P U-EUU-2010h E7,:.3S.3U-2 A í ì 2>©2>GJG/T @ LT~2OS7.1,/.X.3U9:2;U9JE$E, @ ,/.3E @ G:G:E7,:U-E @ 010h E7,:.3S.3U-27í î 2>©2>GJG/T @ .3Uø~U-.1G:.S.3,:.X.3U¥9J2U~9JE)E, @ ,/.3E @ GJG:E7,:U~E @ 010h E7,:.3S.3U-27í g¤M @ 9:E03T-?.1E7U-2 @ ,/2;S7.1K$2HL.VT-U @ 2¨BT @ ?.1E7U-2HL.{©2;,/2;U~?;. @ 032O03.3U-2 @ ,:2 @ * @ , @ K$2;G:,/.V<>E79JG @ UBG:. [ ì U-EU¥L.3*2U~L2}L @ 01032}<>E7U~L.3?;.3EU-.X.3U-.3?;. @ 03. í ì L.1*!2;UL259:2;K$*-,/2HL @ 03012 <>E7U~L.3?;.3EU-.X.3U-.3?;. @ 03. í î U-EU¥L.3*2U~L2}L @ 01032}<>E7U~L.3?;.3EU-.X.3U-.3?;. @ 03.V9J2H.309:.39JG:2K @ 2 ° 9JG @ z-.1032¤ ²-¤ à 09:.9|G/2;K @ P R A_^ ÔÔ ·lÕÖ\× <>EU i &ÑQ' [ ·lÕØ × ì .1UT-U @ <;2;,:G @ z @ U~L @ L.I ,/2¨BT-2;U~?;2}9JI @ 9 @ .3U @ UBG:.<>.3*E9:2}®Ñº ùí î .1UT-U @ <;2;,:G @ z @ U~L @ L.I ,/2¨BT-2;U~?;2}9JI @ 9 @ .3U,:.1G @ ,/LE$9:2}®ÑÒ í ì U-EU¥9JI @ 9 @ kU 2O .3U @ UBG:.<>.3*!E)kU 2H .1U,/.{G @ ,=LE*!2;, @ 0<>T-U @ I ,/2¨BT-2;U~? @ ¤ ` ¤ à L. @ S, @ K$K$.VL.DEL2 L.PhR A^ P R ¶ A\[ ì 9J.VEGJG/2;U-S7EU-E),:.3z @ 0{G @ U~LE @ GJG:E7,:U~E @ 010h @ 9:9:2 L2;03032&I ,/2¨BT-2U-?;2 .VL-. @ S, @ K$K$.VL.VDEL-2}L.P R A_^ P R" A í î 9J.VEGJG/2;U-S7EU-E),:.3z @ 0{G @ U~LE @ GJG:E7,:U~E @ 010h @ 9:9:2 L2;03032&I ,/2¨BT-2U-?;2 .VL-. @ S, @ K$K$.VL.VDEL-2}L.P R A_^ P R ¶ A=d ] í î .10L-. @ S, @ K$K @ L201032 @ K$*-.32;??;2$2O° 01E®9JG:29:9:E$L.P R A^ P RD" A ~¨BT-20103EL2;03032HI @ 9:. 2H° ,:.3z @ 01G @ G:E¤ ¤M @ I ,/2¨BT-2U-? @ L.E79/<>.3010 @ ?.1E7U-2 @ ,/2;S7.1K$2 L2;0V9:.9|G/2;K @ L29/<>,/.{G:G:EL @ 010h 2¨BT @ ?.1E7U-2 L.{©2;,/2;U~?;. @ 032 ¢ Ì P Z A ¢ P Z A^ WP Z A <>E7U §ÑÒ' i 2 ΢ P ' d A_^Í¢ P ' d A_^ ' i WYP Z A^ .1K$*-T~039:E [ ì @ T-K$2;UBG @ 9:2}®<;,:29:<;2í î L.1K$.3UT-.39/<>2}9:2 §<;,:29:<;2í ì U-EU¥L.3*2U~L2}L @ !¤ %%.
(32) 57689: 6;<;<=?>A@B96DCFEG9=<H2=JILKLMN=<OP;<6DCQE RTSUWVYX$Z[S\^`_Ba|cVfegXh_$^|i`jkjklLmTSk_ht`XhSkfX. %¤ Ã L . @ S7, @ K$K).!L.XDEL-2&L. ] PhR A j P R A PhR A^ Ô l] É Ô Ô l· Õ ]l*É /É ) ]É × 9:EU-E5,:.3*E7,JG @ G/.~.3UÄY.1S¤B~7K$2U7G/,:2O¨BT-2;0301.XL. ¯2v ¨BT-.9|G.3U ·|Ú ·|Õ × × ÄY.3S~¤~¤ gain. db. 50 0 −50 −100 −150 −2 10. −1. 0. 10. 1. 10. 2. 10. 3. 10. 10 rad/sec. degrees. phase. −100 −120 −140 −160 −180 −2 10. −1. 0. 10. 1. 10. 2. 10. 3. 10. 10 rad/sec. Ä.3ST~, @ [cÊ . @ S , @ K$K$.VL.DEL2¤ nyquist diagram 0. −0.05. −0.1. −0.15. −0.2. −0.25. −0.1. 4-¤ @BA. 4-¤ z A. −0.09. −0.08. −0.07. −0.06. −0.05. −0.04. −0.03. −0.02. −0.01. 0. ÄY.1S7T-, @ [_Ê . @ S7, @ K)K @ L. ¯wv B¨ T-.9JG¤ M @ I T~U-?;.3EU-2}L-.XG:, @ 9JI 2;,/.1K$2U7G/E5G/, @ j PhR A 2 P R A 2 ° L @ G @ L @-[ j RA j PhPhR R A ^ Y ß PhR A^ ¶ % ] Ph R P R j A PhR PhR ^ ¶ R p %R ''BP|R %j Q Í %'BRÍ% A A A A *!2;,+<;T-. 03.1K à b P Z A_^ 03.3K É R ßBP R A R% ^ ' f#" ·%" M @ I T~U-?;.3EU-2}L-.XG:, @ 9JI 2;,/.1K$2U7G/E5G/, @ ] PhR A 2 P R A 2 ° L @ G @ L @-[ j %'7' A ] P P R R A ^ f ;ßBP R A^ % ] P R % j P R P R ^ R p ÍR %'7P '7RR Í j %'7RÍ% A A A A %4.
(33) *!2;,+<;T-.. 03.3K à ¢ P Z _A ^ 01.3K É Rf;ß7P R A R 4 p ^ 46'7' f#" ·%" A M 2¨7T @ ?;.3EU~2OL.1©2;,/2;U-?. @ 012 <>E7,:,/.9J*!EU~L-2 @ 010 @ G:, @ 9JI E,/K @ G @ L.M @ *-0 @ <;2 P R A ^ j %'P RÍ% A P R A^ NQ P R A R RD *!2;,+<;T-. 9J2H.309J2SU @ 012 L..1U-S7,:29:9:E§2O° T~U S7, @ L.3U-ET~U-.{G @ ,/.1E¥P NP R A_^ %ùï6R A ' q % ^ 03.3K à ¢ P Z A_^ 01.3K É RP R A R% ^ % ' ¶ ^ %'' P ^ Å Æj A #f " %· " .3U-E01G:,/2-L @ G:E<=-2 L22 29:9:2;,/2 ñ Ö ^ Å Æ ^ ' q g ¶ ^ 4 Á Å Æ ^ %4 Á ^ Bï6g ^ ' q ² ¶ Á A§ÊO@ 0X*-,/Ez~012K @ *-,/2<;2L2UBG:2-9:.V @ P R A ^ j %'P RÍ% A P R A^ NQ P R A R Í%47RÍ%'' L @ <;T-. á P3âBg A á ' q g67' i P g A º7' q '7 ¨BT-.3U~L. ¢ P Z A_^ g~á P1âg A á|9:.1U ¼ g6ZXQg6' % è ' P g A¾½ a4 q ²7g69:.3U!Phg ZV"7' q ' % è ' A gM2&I T~U-?;.3EU-.9JE7U-E [ j ] p N§] P R A^ P|% R¶ j b7d % þ ·\A i NjPhR A^ Rb7d ³ g P NjPhR A_^ Rb7d Q· g A>i Np7P R A^ 7 R ' e 4¤M2&I T~U-?;.3EU-.9JE7U-E [ ç W k P Z A_^ 4% Z j b k f W ³ P Z A^ g 4 g b d!f 9:.1UPh4 Z ¶ @ ,/<>G @ U %74 % A. %.
(34) .
(35)
(36)
(37)
(38) !"$#&%;$(+*-,/.1032%7 ` # 89:2;,=<>.3?;. @BA CD@ 30 <;E0 @ ,/2F032HG:, @ 9JI E,/K @ G:2HL.M @ -* 0 @ <;2ONQP R A L2;.9:2;S7T-2;UBG/.V9J2SU @ 01.!G:2K$*E7, @ 10 .XWYP Z A\[ W!p7P Z A o s W ] P Z A^Íb7d ³ f 9J.3UF4 Z i W j P Z A_^ Z j b7d j f/i r s t v x . q;qq Z n. z A (FU7G/.{G/, @ 9|I E7,:K @ :, 2&012}9:2;S7T-2;UBG:.I T~U-?;.3EU-.L.XG:, @ 9JI 2;,/.3K)2UBG:E N§] PhR A_^ PhRD4 k i Nj7P R A^ RBPhRDQ Np7P R A^ PhRDÍR% Qj g " i j 4 A A A < A . @ L @ G @ 0 @ 9:2;S7T-2;UBG:2O2¨BT @ ?;.3EU-2 L.1©2;,/2;U-?. @ 012 ¢ Ì " ¢$^Í W < @ 0<>E0 @ ,/2§0 @ ,:.9:*EB9|G @Ï¢ P Z A L-2;0+9:.39JG:2K @é@ LT-UºS7, @ L.1U~EÏT-U-.1G @ ,:.3Eé.1Uº.3U-S,/29/9:EÏWP Z A^ % i Z¥Ñ ' @ * @ ,:G:.3,/2 L @ <;EU~L.3?;.3EU~.X.1U-.3?;. @ 03.XUT-030127¤ L A . @ L @ G/E$.109:2;S7T-2;UBG/2H9:.9|G/2;K @ .1U,/2>G:,/E @ ?;.3EU-2 [ PhR A £!P Z A ¢ P Z A n ¡ P Z A n b P Z A n %ù46'7' n RBP R j Í%47RÍ%'' A o %' q 4 R PhR A , @ <;<;. @ ,:2&.VL. @ S, @ K$K$.XL.DEL2 L2;03012 @ K)*~.12?;?;2H2 L201032HI @ 9:.VL2;0XS7T @ L @ SU~EL. @ U-2;0303E)PhR A P R A ¤8+-9:TÈ®<>.32;UBG:2 G/, @ <;<>. @ ,/2O012 @ *~*-,:EB9:9:.3K @ ?;.3EU-. @ 9J.3UBG:E6G/.3<=~2 @ 9:*2?;? @ G @ ¤ 2 A Ê .39:2;S7U @ ,/2&¨BT @ 01.1G @ G:.3 @ K$2;UBG:2&.10VL-. @ S, @ K$K @ L. 2¯ v ¨BT-.9|G+L20!S7T @ L @ SU~E5L. @ U~2;0301E)P R A PhR A L-2;0X9J.9JG:2;K @ ,:2;G:,/E @ # ?.1E7U @ G/E)L2;ø~U-.1G:E @ 0X*-T-UBG:E®L A ¤ Ê 2;G:2,:K$.3U @ ,/2 <>EU29 @ GJG:2?;? @ 0h @ 9:<;.39/9 @ 1 Ö L2010h @ 9:.1UBG:EG:E$2,JG/.3< @ 032¤ I AðCD@ 03<;E0 @ ,/2 .30O @ 01E7,:2 @ ,:2S.3K)2 ¢ P A L2;030 T~9/<>.1G @Т P Z A <>E7,:,/.9J*!EU~L-2;UBG:2 @ LºT-UÍ.3U-S,/29/9JEÐL.HL.9|G/T-,/zE @ , @ K)* @ £!P Z AH^ ZF2 ¡ P Z A ^ '-¤ ¯ E6G @-[ .10_9:.9|G/2;K @ ,:2;G:,/E @ ?.1E7U @ G/Eð2$° 9|G @ z-.3032*!2;,}<;T-.2)° *EB9:9:.1z~.1032$TG:.301.3?;? @ ,/2.30 G:2E,/2;K @ L2;0 @ 03E,/2&ø~U @ 032¤ S A CD@ 03<;E0 @ ,/2 .10 @ 03E,/2 @ ,/2;S7.1K$2)L2;030 @ @ ,/. @ z-.1032 b P Z A <;E,/,:.9J*!EUL2;UBG:2 @ 0c9J2ST-2U7G/259:2;SU @ 032L.Y,:.1I 2;,/.3K)2UBG:E [ ¡ P Z AF^ 4+9J.3UZ2}£!P Z A^ '-¤ ¯ E6G @-[ .109J.9|G/2;K @ ,:2;G:,/E @ ?;.3EU @ G:E§2H° 9JG @ z-.30127¤. %;.
(39) !; !.
(40) D§!"
(41) 7
(42) V#±¥EL2U @ +# %;(F*-,:.3032)% ` # .9:*EB9|G/2 @BA .E6GJG/2;U-S7EU-E)032}9J2ST-2U7G/.G:, @ 9JI E,/K @ G:2HL.M @ *-0 @ <;2 [ N ] PhR A^ P RQg 4 j " i N j PhR A^ hP RDQ4 4 p i N p P R A^ % % R% A A b dX· z A (FU7G/.{G/, @ |9 I E7,:K @ W ] P Z A ^. U~LE)012OI T-U-?.1E7U-.VNPhR A 9J.XEGJG:2U-SE7U-E$012OI T-U~?;.3EU-.h-*!2;,+ZDÑÒ' [ % p p W j P Z A_^ % ¶ b d j f ¶ 4 Z b d j f i W p P Z Aw^ Z bd fi ^ < A M @ I T-U-?;.3EU~2§L._G/, @ 9|I 2,:.3K$2;UBG:E¥PhR A <=-2®L29:<;,:.32$.309:.39JG:2K @ 2012G/, @ 9|I E7,:K T~9/<>.1G @)¢ P Z A 9:EU~E)032 9J2ST-2UBG:. P R A^ R j Ð i NQP R A_^ R% i M @ U7G/.{G/, @ 9|I E7,:K @ G @}¢ P Z A L2;09:2;S7U @ 032HL.VT~9/<>.1G @ 2 ° [ 4R 4. PhR A^ R¶ R j Ð ¢ P Z A_^ 4-PJ%. b7df ¼ <;E79~46ZXQ4c9:.1U+46Z ½ ç g b7df <>EB9 4 ZV @ ,/<>G @ U 4 ½ ¼ @ G:2L2;.D9J2SU @ 01._L-..3U-S,/29/9JE ¬ P Z A 2 P R A_^ R7PhR j Ð A ¶ <;E79~46Z A. L Aà 0VS7T @ L @ SU~EL. @ U-2;0303E 2° [. 'P|%_"' q 47R A PhR A P R A^ RBP %R 4j 'Í %47R%'' A 01G:,/2 @ 0*!E03EæU~2;030 E,/.1S7.1U~2 @ 0L2U-EK$.3U @ G/E,/29:EU-Eð*~,:29J2U7G/.LT-2§*!E03.<>E7K)*~0129:9:.D<;EU-.3T-S @ G:.< @ , @ GJG/2;,/.1?? @ G/.L @ T-U @ *-T~039 @ ?.1E7U-2U @ G:T~, @ 0125ÅYÆ ^ %'§, @ LÇ 9:2<52)L @ T-Ué<>E2;È<;.12UBG:2$L._9JK$E7,:? @ K$2;UBG:E Á§^ p ¤ « 2,FÅ ^ g®, @ LÇ 9:2<5.10 ³ L. @ S7, @ K$K @)@ 9:.3U7G/E6G/.3<;E)L201032 @ K$*-.32;??;2H* @ 9:9 @ *!2;,F.10X*-T~U7G/E [ '~P|%_' q 4R A %46'7' P1âg A P1âg A ô01.3K É g-Ph%ùR 46j '7 ^A Gg 6%'7' ^ 4 q ^a` q ²H£ ù % 4 R Í % 7 ' ' %· " à L. @ S, @ K$K$. @ 9:.1UBG/E6G:.<>.VL-.DEL-2H9:EU~EK$E79JG:, @ G/.X.1U¥ÄY.3S~¤g-¤ db. gain 50. 0. -50 -1 10. 0. 1. 10. 2. 10. 10 rad/sec. degrees. phase 0 -50 -100 -150 -1. 10. 0. 1. 10. 2. 10. 10. ÄY.3ST-, @ g [_Ê . @ S7, @ K$K). @ 9J.3UBG:E6G/.3<;.VL.DEL2}L20XST @ L @ S7U-E)L-. @ U-20103EP R A P R A rad/sec. 2 Aà 0!L. @ S, @ K$K @ L. ¯2v ¨BT-.39JGDL-2;09:.9|G/2;K @ 2+° K$EB9|G/, @ :G E .3U§ÄY.1S¤7²-¤cM @ :9 <;.39/9 @ 1 Ö L2;030h @ 9J.3UBG:E6G/E 2,JG/.3< @ 032+9J.< @ 30 <;E0 @ U-2;0 9:2;S7T-2;UBG:2HK$ELE [ % 4'' P % 64 1 Ö ^ % '7' g ¶ 4g A^ 7 4g %g.
(43) nyquist diagram 1. 0. -1. -2. -3. -4. -5 -4. -3. -2. -1. 0. 1. 2. 3. 4. ÄY.3ST-, @ ² [cÊ . @ 7S , @ K$K @ L. ¯wv ¨7T~.39JGFL2;0ST @ L @ S7U-EL. @ U-20103EP R A hP R A I A M @ I T~U-?;.3EU-2}L-.XG:, @ 9JI 2;,/.1K$2U7G/E)<=~2O032;S @ 0 .1U~S,/29/9JE$L.L.9JG:T-,/zE£!P Z A@ 010h T9:<;.{G @¢ P Z A 2° j P R A^ PhP RR A ^ R7PhR j %ù4R7RPhR Í%'7' %ù4RÍÍ%46%'7'7'~' PJA %cQ' 4R A A q A M @ G/, @ 9|I E7,:K @ G @) P R A L209J2SU @ 012 L.XT9:<;.{G @ 2° P R R7PhR j %ù4RÍ%'7' A %. P R . P R A_^ A A^ R7PhR j %ù4RÍ%'7' A Í%46'7'~PJ%_' 4R A R j q (F*-*-03.3< @ U~LE$.30XG:2E,/2;K @ L2;0X @ 01E7,:2Oø~U @ 012 9:.VE6G:G:.32;U-2H.30V @ 03E,/2 L2;030 T~9/<>.1G @$@ ,:2S.3K$2 j %4RD%'' % P¢ A^ 01.3K É R P R A^ 03.3K É RBP R j Í%4RR Í ^ %4 % ' ' Í % 4 ' ~ ' J P % " ' 7 4 R A A %· " %· " q S A M @ I T~U-?;.3EU-2}L-.XG:, @ 9JI 2;,/.1K$2U7G/E)<=~2 012S @ 0 .3U-S,/29/9JE$L.V,/.1I 2;,/.1K$2;UBG/E ¡ P Z A@ 030 @ @ ,/. @ z-.3012 b P Z A 2H° 0 @ 9|G/29/9 @ L20V*-T-UBG:E *-,/2<;2L2UBG:2 j PhR A_^ ¦$P PhRR A ^ RBP R j Í%47RBRP R %Í'' %47R%ù46%'''' P|A %_"' 47R A A q A « 2,+< @ 0<>E70 @ ,:2H.30 @ 03E,/2 @ ,:2S.3K$2}L2;030 @ @ ,:. @ z-.3032 b P Z A <>E7,:,/.9J*!EU~L-2;UBG:2 @ 09J2SU @ 012 ¡ P Z A^ 4FQ9J.3UZD.1U¥.3U-S,/29/9:E 2° z!2;U-2)TG/.103.1?? @ ,:2}.30c<>E7U~<>2;GJG:E L.I T-U-?;.3EU~2)L. ,/.39:*!E79JG @®@ ,:K$EU~.3< @ ¤F( G @ 0125ø~U-2$9J. < @ 03<;E0 @ U-E®. LT-2)2;GJG/E,/.P ' A 2 P3â A>[ P ' A^ ' p j "7â P3â A^ R p ÍR %47ÍR j %4R 6BÍ'7R%'7Í'7R %4'' ^ %7¶ % %ù4 7 7â · !å Ã 0V @ 01E7,:2 @ ,:2S.3K)2 L2010 @ @ ,/. @ z-.1032 b P Z A 2 ° ¨BT-.1UL.V.309J2ST-2UBG:2 b P Z A_ ^ 9:.3UP Zã A LE 72 %4â ' ' % â ã ^@ ,/S ¹ ¶ 7%âF4Í ^ ¶ 7âFÍ%% ^ q %% » ^ % ^ % q %&, @ L . %².
(44) !; .
(45) D§!"
(46)
(47) _}
(48) Y "#F%;$(+*-,/.3012% ` # Ê EK @ U~L-2HG:2;E7,:.<=-2 « 2;,F<;. @ 9:<;T-U-E®L2.Y9:2;S7T-2;UBG:.G:29|GH9J2SU @ ,:2}<;EU¥T-U @ <>,/E<;2>G:G @ 032 @ ©2;,/K @ ?.1E7U-.<=-29J.,:.1G:2U-SE7U-ES.3T~9JG:2¤&(+0<>T-U-.G:29|G 9JE7U-E9J2ST-.1G:.VL @ *~.JT ° @ ©2;,/K @ ?;.3EU~.XS.3T~9|G/2H2}9J.V<;EU~9:.3L-2;, @ U-E$9JT~*2, @ G:.V¨BT @ ULE¨7T~29JG:2 2U-SE7U-E<;EUBG:, @ 9/9:2;SU @ G:2FG:TG:G:27¤ %¤ à 09:.9|G/2;K @ L.1U @ K$.3<;E ¢$Ì ^ ¶ ¢Db7df ò/ó ÐW"P LE 2HW¥2 ¢ 9:EU~E.9:2;S7U @ 03.VL.X.3U-S,/29/9:E2}L.T~9:<;.{G @7A 2 ° î 01.3U-2 @ ,:2 ì U-EU03.1U-2 @ ,/2 ì 9|G @ ?;.3EU @ ,/.1E î U-EU¥9JG @ ?.1E7U @ ,/.3E 4¤ à 0XG/2;K$*!E®L. @ 9/9J29|G @ K$2;UBG/E)L.T-U¥9J.9|G/2;K @ P R A L204 E,=L.3U-2 9|G @ z-.3032 2O*~,:.3EL.V?2;,/. ì L.1*!2;UL259:E03E)L @ 010 @ *-T-09 @ ?;.3EU-2HU @ G:T-, @ 032OÅYÆ î L.1*!2;UL259:E03E)L @ 010 @ * @ ,:G:2H,/2 @ 012 L2.V*E701. ì L.1*!2;UL259:E03E)L @ 010 @ * @ ,:G:2H.3K$K @ S.3U @ ,/. @ L2.V*!E03. -¤ « 2,+T-UÏ9:.39JG:2K @ P R A L-2;0Y4 E,=L.3U-259JG @ z-.1032}2}*~,:.3E®L.Y?;2,:.h~.30Y012S @ K$2}<=-25012S @ 0 @ K @ 9/9J.3K @ 9JE , @ 201E7U-S @ ?;.3EU-2 @ 0V<;EB2;È®<>.32;UBG:2}L.9JK$E,/? @ K$2;UBG:E Á 2 ° [ ì ^ 46'7' b Ú ì ^¿` ' b7d Ú ì ^ %'7' b Ú î ^ %g b d Ú ~¤ ÊO@ G/E).309:.39JG:2K @ PhR A^ Ô Ô ·lÕ j p × -.30V @ 03E,/2&.3U-.3?;. @ 032P Z ^ ' A L2;030 @ <;E,/,:.9J*!EUL2;UBG:2O,/.39:*EB9|G @ .1K$*-T-09:.1 @ ä P Z A 2° [ · ·lÕ × î ä P ' A_^ % ì ä P ' A_^ jp ì ä P ' A_^ g¤ Uð9J.9|G/2;K @ .1U¥,/2>G/,:E @ ?.1E7U-2&U~2;S @ G:.3 @@ 2;UBG/2HPhR A 9JT~0V, @ K$E$L-.1,/2>G:G:E~ P R A 9:T-0V, @ K$EL.,/2>G/,:E @ ?.1E7U-2&2L @ 2;UBG/2 T-U2012 @ G:E$ST @ L @ SU-E)L. @ U~2;0301E$,/.39:T-01G @ *E<;E$9:2;U9J.3z-.3012 î @ 03012 @ ,/. @ ?;.3EU~.!* @ , @ K$2>G/,:.<=-2HL2;030 @ I T-U~?;.3EU-2}PhR A ì @ 03012 @ ,/. @ ?;.3EU~.!* @ , @ K$2>G/,:.<=-2HL2;030 @ I T-U~?;.3EU-2 PhR A î @ .L.9JG:T-,/z-. @ L~L.{G/.1. @ S2U7G/.V9JT~09J.9JG:2;K @ ²-¤ ÊO@ G/E).30L. @ S7, @ K$K @ L.DEL2 L201032 @ K$*-.32;??;2 L.VT-U¥9:.39JG:2K @ 03.3U-2 @ ,:27-L @ 29/9JE$9J.*-TE° L2L-T-,:,/2 ¨BT-2;0301EL201032HI @ 9:. ì 9JE701E9:2O.30L. @ S7, @ K$K @ L.DEL2H*-,/29:2;UBG @ *!2;U~L-2;U-?2 U-2;S @ G:.32OE$UT-01032 ì 9JE701E9:2O0h .1UBG:2,/9:2;?.1E7U-2 <>E7U0h @ 9:9:2 @ ST @ L @ S7U-ET~U-.{G @ ,/.1E 2H° T-U-.< @ î 9JE701E9:2O.309:.39JG:2K @ 2° @ I @ 9J2HK$.1U~.1K @ ` ¤ à 0L-. @ S, @ K$K @ L. w¯ v ¨7T~.39JGFL.VT-U¥9:.39JG:2K @ <;EU ,:.1G @ ,/L-E*-T~,:E)G:2U~L2 @ 010h E7,:.3S.3U-2H<>E7U§G @ U-S72;UBG:2 ì 2;,:G:.< @ 012 ì E,/.1??;EUBG @ 032 î U-EU¥L2;G:2;,/K$.1U @ z-.3012 ¤ à 0L-. @ S, @ K$K @ L. ¯ .3<=~E09L2;09:.9|G/2;K @ P1âÅ A^ P LE 2 <>EB9|G @ UBG:2H*!E79:.{G/.1 @7A 2 ° [ î T-U*-T-UBG:E ì T-U @ ,/2>GJG @ E,/.1??;EUBG @ 032 ì T-U @ ,/2>GJG @ 2;,:G:.< @ 012. %`.
(49) Bù!.
(50)
(51)
(52)
(53) <ð#. Ê .3*-01E7K @ #D±¥EL2;U @ #+% (+*~,:.3012%7² % A CD@ 03<;E0 @ ,/2F0h @ U7G/.{G/, @ 9|I E7,:K @ G @ WP Z A L2;03012 9:2;S7T-2;UBG:.I T~U-?;.3EU-.NP R A\[ NPhR A_^ P R"% j i NP R A_^ P RRD% j 4 " A A 4 A§ .9:E032;,/2O0 @ 9:2;ST~2;UBG:2H2¨BT @ ?;.3EU-2HL.1©!2,:2U-?;. @ 032 [ L-E 2 WYP Z A^Ëb d ³ f i ZѺ' ¢ Ì P Z A ΢ P Z A^ %' ¼ WYÎ P Z A "WP Z A¾½¾i @ * @ ,JG/.1,/2 L @ <>EUL.1?.1E7U-.X.3U-.1?. @ 01.XUT-03032 [΢ P ' dYA_^ '~ ¢ P ' d A_^ '~¤ A M @ L-.1U @ K$.3< @ L-.VT-U @ <<>2;032;,/EK$2;G:,/E @ K @ 9/9 @ T-U-.1G @ ,:. @ 2 ° L29/<>,/.{G:G @ L @ 010h 2¨BT @ ?.1E7U-2 ¢ Ì P Z A ΢ P Z A ¢ P Z A^ P Z A LE 72 2+° .30!<;E2>È®<>.32;UBG:2&L. @ GJG/,:.1G:E5L-2;0301E)9JK$E,/? @ G:E7,:27 2+° 0 @ ,/.1S7.3L-.{G @ ° L2;030 @ K$E030 @ 2OP Z A 2+° .10!9J2SU @ 012&L..3U-S7,:29:9:E P @ <;<;2;032;, @ ?.1E7U-2 A ¤ Ê 2>G/2;,/K).3U @ ,:2O. @ 01E7,:.XL. 2HL-. .3UK$ELEG @ 012 <=-2O.10V9:.9|G/2;K @@ z-z-. @ S7T @ L @ SU~E59|G @ G/.3<;E)'~¤ 47g 2 9:. @ < @ , @ GJG/2;,/.1?? @ G/E)L @ T~U @ <>E*~*-. @ L.*E701.V,/2 @ 01.V<;E.3U~<>.L2U7G/. ¤ A CD@ 03<;E0 @ ,/20 @ ,:.9J*!E79JG @H@ ,/2;S.3K$2 v P G A L-2;0~9:2;S7T-2;UBG:29:.39JG:2K @ ¨BT @ U~LE$2° *-,/29:2;UBG:2.3U$.1U-S7,:29:9:EO.10~9:2;S7U @ 0329J.3UT~9JE7.3L @ 032 WYP Z A^ 9J.3UVP 46Z A . P G A n. n RBP RD4 " A. o ¶. g A§ , @ ;< <;. @ ,:2&.L. @ S , @ K$K$.XL.DEL2}L201032 @ K$*-.32;?;?2H2}L2;03012HI @ PhR A^ RBP R%Q'~46P R ' 8F-9JTÈ®<;.12U7G/2HG:, @ <<>. @ ,/2F032 @ *-*-,/E79/9:.1K @ ?.1E7U-. @ 9:.1UBG:EG:.<=-2 @. %. v. PG A n. 9J.VL-2;030 @ 9:2;ST~2;UBG:2OI T-U-?.1E7U-2}L.XG/, @ 9|I 2,:.3K$2;UBG:E$P R A ' Aj ¶ P RD% %'' A A 9J*!2;?? @ G @ ¤.
(54) #
(55) `7
(56) !` b¡ B
(57) ¢X
(58)
(59). % A M @ U7G/.{G/, @ 9|I E7,:K @ G @ YW P Z A L-2;0V*-,/.3K)E9:2;S7U @ 032&NQP R A 2H° .1K$K$2L. @ G @ WP Z A^ Z b d p f i ZѺ' « 2, @ UBG:.1G:, @ 9JI E,/K @ ,:2&.109J2<>EULE)9:2;S7U @ 0322H° z2U-2 ,:.9/<>,/.172;,/2&NPhR A U~2;09:2;S7T-2;UBG:2HK$ELE [ NP R A_^ P RR% j 4 " ^ P RÍR% Íj % " 4% P RD% 4 j " A A A M @ U7G/.{G/, @ 9|I E7,:K @ ?;.3EU-2}2O° E7, @ .3K$K)2L. @ G @~[ WP Z A^b d!f ¹ <>EB9~4 ZV 4% 9J.3UF4 Z » i ZѺ' .<>E7,/L @ U~LE$<=-2H @ 032 0 @ 9:2;S7T-2;UBG:2H,/2;0 @ ?.1E7U-2 ¤}9:.1UP Å_Z A¦ ¤ j 9J.3UP Å_ZV @ ,=<\G @ U £¤ A ^ ¥ £j § £ <>E79P Å_Z A 0 @ I T-U-?;.3EU~2 WP Z A *-TE$° 29/9J2,:2O29:*-,/29/9 @)@ U<=-2HU-2;0VK$ELE9:2;ST~2;UBG:2 ç WP Z A^ 4 g b d!f 9J.3UP 46ZX @ ,=<\G @ U+4 AYi ZѺ' 4 A§ÊO@ 030 2¨BT @ ?;.3EU-2HL.1©!2,:2U-?;. @ 032}L @ G @ 9J.X,/.< @ @ 0 @ 9:2;ST~2;UBG:2&I T-U-?.1E7U-2}L.XG/, @ 9|I 2,:.3K$2;UBG:E P R A^ %RB'PhP RDRD % A A M @ G/, @ 9|I E7,:K @ G @ L2;0V9:2;S7U @ 032 L.V.3U-S,/29/9JEWP Z A 2° NP R A_^ RQ% g ¨ T-.3U~L.0 @ G:, @ 9JI E,/K @ G @ L209J2SU @ 012 L.XT9:<;.{G @ 2 ° %'~P RD% 4 % %' % P R A_^ PhR A NPhR A_^ RBP R" A PhRQA g A ^ R R¶ RDg G:.301.3?;? @ U~LE$0 @ 9:<;EK$*!E79:.1?.1E7U-2&.3U I , @ GJG/.V9J2K)*~01.<>.V2L @ UBG:.3, @ 9|I E7,:K @ U~LE9:.XE6G:G:.32;U-2 4 %' ¢ P Z A^ b d p f ¶ b d ³ f i ZDÑÒ' A (F010h 2¨BT @ ?.1E7U-2 L.{©2;,/2;U~?;. @ 032HL @ G @ <;E,/,:.9J*!EUL2&0 @ 9J2ST-2UBG:2OI T-U-?.1E7U-2}L.XG/, @ 9|I 2,:.3K$2;UBG:E P R A_^ R j % RD M2O,/2;0 @ ?.1E7U-.V<>E7,:,/.9J*!EU~L-2;UBG:. @ LT-UST @ L @ SU-E$9|G @ G/.3<;E)T~U-.{G @ ,/.1E)2 @ *E701.,:2 @ 03.V<>E.3U~<;.3L2UBG:.V9:EU-E [ % j ^ ' © ^ ¶ ^ ' q 4g L @ 01032 ¨BT @ 03.V9J.E6GJG/.12U-2 ^ i ^ A M @ I T~U-?;.3EU-2}L-.XG:, @ 9JI 2;,/.1K$2U7G/E)L-2;09:.39JG:2K @ ,/2>G/,:E @ ?.1E7U @ G/E2° PhR A^ R j 4 RQ4 ^ PhRDÍ% 4 P RQ4 A A à 0-9:.39JG:2K @ 2° @ 9J.3UBG:E6G/.3< @ K$2;UBG/29JG @ z-.30127¤ « 2, < @ 0<>E70 @ ,:20 @ ,/.39:*EB9|G @&@ ,/2;S7.1K$2.1U),/.39:*EB9|G @&@ L5T~U$9:2;S7U @ 0329J.3UT~9JE7.3L @ 032 2H° 9:TÈ®<>.32;UBG:2 TG/.103.3?;? @ ,:2H0 @ I T-U-?;.3EU~2}L.V,/.39:*EB9|G @@ ,:K$E7U-.3< @-[ % % P1â4 A_^ P % ^A ¶ %' P|%â A â ¶ M @ ,/.9J*!E79JG @)@ ,:2S.3K$22 ° ¨BT-.3U~L.V0 @ 9J2ST-2UBG:2 [ % ¢ P Z A^ ¶ ç %' 9:.1U}Ph4 ZV @ ,/<>G @ U A %.
(60) g A®Ã L . @ S , @ K$K$. @ 9:.1UBG/E6G:.<>.VL-.DEL-2HL-2;030 @ I T-U-?.1E7U-2}L.XG/, @ |9 I 2,:.3K$2;UBG:E ' Aj PhR A^ RBP R%Q'~46P R ' ¶ P RD% %'' A A 9:EU-E)K$E79JG:, @ G/.XU-2;030 @ 9:2;S7T-2;UBG/2Fø~S7T-, @ ¤ db. gain 0 −10 −20 −30 −40 0 10. 1. 2. 10. 3. 10. 10 rad/sec. degrees. phase 0 −100 −200 −300 −400 −500 0 10. 1. 2. 10. 3. 10. à 0VS7T @ L @ SU~EL20L. @ S , @ K$K @)@ 9:.1UBG:EG:.<>E @ 30 0 @ *-T~039 @ ? .1E7U-2OÅ ^ % '§2° j á P1â%' A á Ö ^ %'~%'P 4P ' ¶ %P|'%'7A ' ^ 46% ' a46²_L- A A . 46'. 10 rad/sec.
(61) B5!; !.
(62) "-
(63) 7
(64) <ð#. . @ L @ G/E$.109:2;S7T-2;UBG/2H9:.9|G/2;K @ L.1U @ K$.3<;E [ ¡ P Z A n o. n. PhR A. Ê .1*~01E7K @ #±ðEL-2;U @ #44)(F*-,:.3032%7². 4-PhR ¶ % A n PhR A^ PhRÍ % A P R" A. ¢ P Z A n. %¤ Ê 3. 9:2;S7U @ ,/2®¨BT @ 03.1G @ G/.1 @ K)2UBG:2§.30L-. @ S, @ K$K @ L. ¯wv ¨7T~.39JG)L2010 @ I T-U~?;.3EU-2 P R A íDL.1,/29:2 .3U"z @ 9J2 @ 0<;,:.1G:2,:.3EÏL. ¯ v ¨BT-.9JG-.30V9J.9JG:2;K @ PhR A ,/2>G/,:E @ ?.1E7U @ G/E§2H° 9|G @ z-.3032í w 4¤ « EB9|G/E PhR A_^ L2;G:2;,/K$.1U @ ,/2O. @ 01E7,:.XL. <=~2OS @ , @ UBG:.9/<>EU~E50 @ 9JG @ z-.301.1Gù@ ° L20V9J.9JG:2;K @ ,/2>G:,/E @ ?;.3EU @ G:E¤ -¤ « EB9|G/E P R A^ R% L.9J2SU @ ,:2¨7T @ 03.{G @ G:.3 @ K$2;UBG/2§.30+L. @ S, @ K$K @ *!E0 @ ,/2 ö <;EK$*-032>G/E7÷ðL2010 @ I T-U-?;.3EU~2 PhR A P R A L2;G:2,:K$.3U @ U~L-E)29 @ GJG @ K$2;UBG:2H.30V @ 03E,/2 1 É L2;030h @ 9J.3UBG:E6G/E$2;,:G:.< @ 0127¤ ~¤ « EB9|G/E P R AD^ R L2;G:2;,/K$.1U @ ,/2 .10 @ 01E7,:2 L. G @ 012}L @ S @ , @ U7G/.1,/2OT-U¥2;,/,:E7,:2 @ ,/2;S7.1K$2 b P( AD^ ' q g).3U¥,:.9:*EB9|G @ @ 0V9J2ST-2U7G/2 9J2SU @ 012HL.V.3U-S,/29/9:E [ ¡ P Z A^ 4 Z\¤ g¤ 2K$*-,:2O*!2;, P R A_^ R -L2;G:2;,/K$.1U @ ,/2F.30! @ 01E7,:2OL. <=-2OS @ , @ UBG:.9:<;EU-E 0 @ 9JG @ z-.301.1Gù@ ° L2;0X9:.39JG:2K @ ,/2>G/,:E @ ?;.3EU @ G:E¤. 4%.
(65) ª«
(66) ¬}2®°¯$«
(67) ±2²³2²r¯´k2²`µ ¯%¶q¯. % A®Ã 0L-. @ S , @ K$K @ L. ¯wv ¨7T~.39JGFL2;030 @ I T~U-?;.3EU-2. 4~P R ¶ % A P R A^ P R % A P RD" A 2° K$E79JG:, @ G:E.1Uæø~S7T-, @« 2;,OÅ ^ '§.30c*-T-UBG:EL.c* @ ,JG/2;U-? @ 2$° P ' AF^ ¶ jp ¤ à UÏz @ J9 2 @ 0c<;,:.1G:2,:.3E L-. ¯wv ¨7T~.39JG}9J. *-TE ° nyquist diagram 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 −0.1 −0.2 −0.3 −0.8. −0.6. −0.4. −0.2. 0. 0.2. 0.4. 0.6. @ !© 2,:K @ ,/2H<=-2H.109:.9|G/2;K @ ,:2;G:,/E @ ?.1E7U @ G/E§2 ° 9JG @ z-.1032¤ 4 A M 2¨7T @ ;? .3EU~2O< @ , @ GJG/2;,/.39JG:.< @ L209J.9JG:2;K @ ,/2>G:,/E @ ?;.3EU @ G:E®2° P R ¶ % A j ËP &Q4 A R 4 ^ ' % P RD4 '. R ^ ¶ % A PhRD A à K$*!EU-2U~LE <=-2G:T-GJG:.2DG:,/2.-<>E2>È®<>.32;UBG/.~9J. @ U~EO*!E79:.1G:.3B.-9:.G/,:E @ <=-2.109J.9|G/2;K @ ,:2;G:,/E @ ?;.3EU @ G:E}2 ° @ 9J.3UBG:E6G/.3< @ K$2;UBG/2 9JG @ z-.1032H*2, 4¶ û û 4 A§« EB9|G/E PhR A_^ ] .30XST @ L @ SU-E$L. @ U-2;0301EL209:.39JG:2K @ L.32UBG @ · P R PhR 4-P R % A A A^ RBP RÍ% A¶ PhR A à 0<;E,/,:.9:*E7U~L2;UBG/2OL. @ S7, @ K$K @ L. w¯ v ¨BT-.9JG 2H° .10V9:2;S7T-2;UBG:2 M @ 9:<;.39/9 @ 1 Ö L2010h @ 9J.3UBG:EG:E$2,JG/.3< @ 0322 ° É ¶ 4 ´ ¶ % ¶ % ¶ % ¸ ^ %; 1 ^ A M 2,:,/E,/2 @ ,/2;S.3K$2H*2,+.1U~S,/29/9JE @ , @ ) K * @ ¡ P Z A^ 4 Z\X2H° .309:2;ST~2;UBG:2 4 . ^ b (P _A ^ ¸ · ^ ¶ ^ ' qg g A M 2¨7T @ ?;.3EU~2O< @ , @ GJG/2;,/.39JG:.< @ L209J.9JG:2;K @ ,/2>G:,/E @ ?;.3EU @ G:E®2O° 0 @ 9J2ST-2UBG:2 %A % RBPhRD4 ÍP % R P ¶ R. R p "BR j ËP FQ4 A ^ ' A « 2,9JG:TL. @ ,:2H0 @ 9|G @ z-.301.1Gù@ ° L-2;0V9:.39JG:2K @ E<;<;E,/,:2OTG/.103.1?? @ ,:2H.30<>,/.{G/2;,/.1E$L. ETG/ % FQ4 4 4 % !P FQ4 A Q4 ¶ ' ¶ 4 44. ¶ ² AR ¶ 4 ^ '.
(68) nyquist diagram 2. 1.5. 1. 0.5. 0. −0.5. −1 −1. −0.5. 0. 0.5. 1. 1.5. 2. 2.5. Ã K$*!EU-2U~LE<=-2HG:T-GJG:..<>E2>È®<;.12U7G/.L2010 @ *-,:.3K @ <>E03EU~U @ :9 . @ U-E$*!E79:.{G/.1.9:.X,:.< @ @ ² ¶ g û û '. 46. 3.
(69)
Documenti correlati
[r]
• Principio del modello interno: affinch´e sia neutralizzato (con errore a regime nullo) un modo r(t) in ingresso corrispondente ad un polo nell’origine di ordine h, occorre che
diagramma di Nyquist... diagramma
QUADRATINI IN UN QUADRATONE Al minimo occorrono n.. LE PIASTRELLE
teorema degli zeri).. teorema degli zeri).. teorema
Svolgere i seguenti esercizi giustificando le
Se applichiamo il campo elettrico esterno ad un solido la cui banda è piena (cioè tutti gli stati permessi sono occupati), succede che ogni elettrone passa da uno stato al
Notiamo che, per come è fatto lo spettro rotazionale, abbiamo diverse frequenze emesse, a seconda della coppia di stati rotazionali tra cui avviene la transizione rotazionale
