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Root Locus
5
4
3
2
Imaginary Axis
% No Matlab:
%
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% Teoria de Controle Moderno I
%
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1
0
-1
-2
-3
-4
%
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-5
-7
-6
-5
-4
-3
-2
Real Axis
-1
Root Locus
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-8
-7
-6
-5
-4
-3
Real Axis
-2
-1
Root Locus
0.2
0.15
Imaginary Axis
0.1
0.05
0
-0.05
-0.1
-0.15
-0.2
-3.5
-3
-2.5
-2
-1.5
Real Axis
-1
-0.5
0.5
...
KG ( s ) H ( s ) 1
Condio de Mdulo
(1)
KG ( s) H ( s ) (2k 1)180 o ,
onde k = 0, 1, 2, 3,
Condio de ngulo
KG ( s ) H ( s ) 1
KG ( s)por:
H ( s)
for dado
k ( s z1 )
( s p1 )( s p2 )( s p3 )( s p4 )
Portanto o ngulo KG
de( s) H ( s),
KG ( s) H ( s),
e o Mdulo de
. zeros ang
. polos 1 1 2 3 4
KG
( s) H ( s ) ang
ser:
KG
(s) H (s)
ser:
KB1
A1 A2 A3 A4
Exerccios
Bibliografia
Bibliografia
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