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Impulso rettangolare
1.6
1.4
1.2
Segnale
1
0.8
0.6
0.4
0.2
0
−0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Tempo [s]
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Spettro delle Ampiezze
5
0
−5
|F(ω)| [dB]
−10
−15
−20
−25
−30
−35
−40
0
10
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Spettro delle Ampiezze
5
|X(ω)|(c), |G(jω)|(r), |Y(ω)|(b) [dB]
0
−5
−10
−15
−20
−25
−30
−35
−40
0
10
1
2
10
10
ω
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Risposta(r) all’impulso(b)
1.6
1.4
1.2
Segnale
1
0.8
0.6
0.4
0.2
0
−0.2
0
0.2
0.4
0.6
0.8
1
1.2
Tempo [s]
Wl‚cDždf_r[^t_r…gMpN_ÔtGY\i‹…Y\[^ce[On_=]†…c†nn`dzgMpN_J̖…cedL
1.4
1.6
1.8
2
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Spettro delle Ampiezze
5
|X(ω)|(c), |G(jω)|(r), |Y(ω)|(b) [dB]
0
−5
−10
−15
−20
−25
−30
−35
−40
0
10
1
2
10
10
ω
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Risposta(r) all’impulso(b)
1.6
1.4
1.2
Segnale
1
0.8
0.6
0.4
0.2
0
−0.2
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Tempo [s]
W
0
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Spettro delle Ampiezze
5
|X(ω)|(c), |G(jω)|(r), |Y(ω)|(b) [dB]
0
−5
−10
−15
−20
−25
−30
−35
−40
0
10
1
2
10
10
ω
Wl‚(É'gM[^a!gMijce[OnY‡ncei‹…YMdzgMp,coaMcep'pŸgxdf_b]†…Y])n%g [^cepMncei‹…Ydf_b]†kMp©n%g!¤
Risposta(r) all’impulso(b)
1.6
1.4
1.2
Segnale
1
0.8
0.6
0.4
0.2
0
−0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Tempo [s]
WlÅ«[oªBk^cG])nY·tCg^]–Y‡gM[^te’^c‹p,cÓtGY\i‹…Y\[^ce[On_M]†…c†nn`dzgMpN_Mg‡àg^]–]gjvdscGªBk^ce[^wOg£]–Y\[^YugOnnc`Ä
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Spettro delle Ampiezze
5
|X(ω)|(c), |G(jω)|(r), |Y(ω)|(b) [dB]
0
−5
−10
−15
−20
−25
−30
−35
−40
0
10
1
2
10
10
ω
Wl‚(É'gM[^a!gMijce[OnY‡ncei‹…YMdzgMp,coaMcep'pŸgxdf_b]†…Y])n%g [^cepMncei‹…Ydf_b]†kMp©n%g!¤
Risposta(r) all’impulso(b) triangolare
1.6
1.4
1.2
Segnale
1
0.8
0.6
0.4
0.2
0
−0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Tempo [s]
Wl‚Y£]†…c†nn`dsYoaMcep'p,c9gMi‹…_bcGwwc½aE_R}ŒMŽ€c»
Š ]–Y])n%gM[^w_hgMp'ijce[Onc9_baMce[On_btGY‰gMp'p,Y£]†…c†nn`dsY
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Spettro delle Fasi
200
arg X(ω)(c), G(jω)(r), Y(ω)(b) [deg]
150
100
50
0
−50
−100
−150
−200
−250
0
10
1
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10
ω
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2
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Risposta(r) all’impulso(b) triangolare
1.6
1.4
1.2
Segnale
1
0.8
0.6
0.4
0.2
0
−0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Tempo [s]
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Spettro delle Fasi
200
100
50
0
−50
−100
r
arg X(ω)(c), G (jω)(r), Y(ω)(b) [deg]
150
−150
−200
−250
−300
−350
0
10
WlÅ«pVdf_Ãn%gdsaMYxaE_!vg^]–c
1
2
10
10
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Risposta(r) all’impulso(b) triangolare
1.6
1.4
1.2
Segnale
1
0.8
0.6
0.4
0.2
0
−0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Tempo [s]
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15
10
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−10
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Diagramma delle Ampiezze con ω =30 e K=2.33
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20
|Ga(jω)| (b−−), |G0(jω)| (r) [dB]
15
10
5
0
−5
−10
−15
−20
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10
1
10
2
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Confronto risposte all’impulso(b)
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
−0.2
0
0.1
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0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Tempo [s]
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gMp'prÉ«_ri‹…MkMp,]–Ymdsc†nn%gM[^•Y\pŸgdscÓaMcep]`_b])nceiog
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anello aperto(r−−), retroazione e comp.(g)
Confronto risposte all’impulso(b)
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
−0.2
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Tempo [s]
ñ –"*0Mòó)&#2z$'òˆô%*hõsõ+32s)ò\=òz2#"+&+/,/,*eOò3%$h21ò3/,/,*0Eö)$'ò3-@$÷*hõ#*`Oøùfù3úûùü
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{~}f€ucHgMpJ]`_b])nceiog
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Confronto segnali di controllo
anello aperto(r−−), retroazione e comp.(g)
15
10
5
0
−5
−10
−15
WRXZY\[ƍê
¥
0
0.1
0.2
äeΙc|ê ™¥
dsc†n`dsYMg^w_bY\[gOnYm{
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Tempo [s]
ÎeΙ•\pN_‘_r[^•\dscG]–]`_ gMpJ]`_b])nceiog
{~}f€ucHgMpJ]`_b])nceiog
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Confronto segnali di controllo
anello aperto(r−−), retroazione e comp.(g)
6
5
4
3
2
1
0
−1
−2
−3
−4
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Tempo [s]
ñ –"*0Mòó)&#2z$'òˆô%*hõsõ+32s)ò\=òz2#"+&+/,/,*eOò3%$h21ò3/,/,*0Eö)$'ò3-@$÷*hõ#*`Oøùfù3úûùü
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4%5 4 6
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}f€»tGY\[xc‡]–ce[^wOg ¸\Qå
Sistema con (−) e senza(−−) saturazione
Confronto risposte all’impulso(b)
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
−0.2
WRXZY\[uê§¥
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Tempo [s]
äeÎmc‹ê £¥
ÎeÎ|p,cdf_b]†…Y])ncxgMp'prÉ«_ri‹…MkMp,]–YÇdsc†nn%gM[^•Y\pŸgdscžaMcepy]`_b])nc`Ä
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Sistema con (−) e senza(−−) saturazione
Confronto risposte all’impulso(b)
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
−0.2
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Tempo [s]
ñ –"*0Mòó)&#2z$'òˆô%*hõsõ+32s)ò\=òz2#"+&+/,/,*eOò3%$h21ò3/,/,*0Eö)$'ò3-@$÷*hõ#*`Oøùfù3úûùü
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diagramma di Nyquist
risposta nel tempo
1.5
1.8
1.6
1
1.4
0.5
1.2
1
1.2 1.5
2.2
1
0.68
0.56
0.47
1
0
0.82
0.68
0.8
0.39
0.33
−0.5
0.6
0.27
0.56
0.4
0.22
−1
0.18
0.47
0.2
0.15
0
−1.5
−2
−1.5
−1
−0.5
0
0.5
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1
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0
10
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20
30
40
2
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60
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