2 1
β
60(4) 8 0.
−2
G0(s) = s(−30)(1)2
=− G∞(s)
s −20.
30 G0(s)
β = |G0(s)|s=2 20
10
β
0
G∞(s)
= 4 = 12 db. −10
−20
−30
−1 0 1 2 3 4
10 10 10 10 10 10
−45
γ = |G∞(s)|s=200
Fase [gradi]
−90
−135
−270
ϕ0
−1 0 1 2 3 4
10 10 10 10 10 10
Pulsazione ω [rad/s]
1470 (300) 70 0.
s −80. γ
−120. −3
G∞(s)
Fase iniziale ϕ0 = − 32 π. −160.
7 30 300
s3
−360.
50
β
0
β = |G0(s)|s=7 −50
−100
γ
= 10 = 20 db. G∞(s)
−150
−200
−1 0 1 2 3 4
10 10 10 10 10 10
γ = |G∞(s)|s=300
Fase [gradi]
−225
ϕ0 ϕ∞
1470 −270
= = −85.28 db.
3003
−315
−360
−1 0 1 2 3 4
10 10 10 10 10 10
Pulsazione ω [rad/s]
β 0.
50 (5)2 5 −20. −2
G0(s) = =
s (900)(5)
−40. 0
γ
18 s −60.
−80.
−2
G∞(s)
Fase iniziale ϕ0 = − π2 .
−100.
0.5 5 30
50 (−s)2 5 −180. ϕ∞
G∞(s) = = 2
s (s2 )(10 s)
s −270.
β = |G0(s)|s=0.5 −20
−40
γ
5 −60
G∞(s)
= = −5.1 db. −80
9 −100
−120
−2 −1 0 1 2 3
10 10 10 10 10 10
−160
ϕ∞
5 −210
302 −310
−360
−2 −1 0 1 2 3
10 10 10 10 10 10
Pulsazione ω [rad/s]
s (400)400 s 0.
G0(s) −2
G0(s) = (1)(9) = −20.
9 −40.
−60.
−1 γ
Fase iniziale ϕ0 = π2 .
−80.
−100.
G∞(s)
0.333 3 400
s (s) 1 −180.
G∞(s) = (3 s)(s2 )
= ϕ0
3s −270.
β
Ampiezza [db]
β = |G0(s)|s=0.333 0 G0(s)
400
= = 23.4 db. −50
γ
27 G∞(s)
−100
−2 −1 0 1 2 3 4
10 10 10 10 10 10 10
γ = |G∞(s)|s=400
Fase [gradi]
−180
1 −225
ϕ0
= = −61.58 db. −270
1200 −315
−360
−2 −1 0 1 2 3 4
10 10 10 10 10 10 10
Pulsazione ω [rad/s]
Guadagno β per ω = 1:
Ampiezza [db]
40
30 G0(s) γ
β = 20 db = 10. β
20
G∞(s)
Pulsazioni critiche ω: 10
0
−1 0 1 2 3
0 → un polo 10 10 10 10 10
180
Coefficiente δ: 0
−90
−1 0 1 2 3
Mωn = 1 → δ = 0.5. 10 10 10
Pulsazione ω [rad/s]
10 10
60
G0(s)
Ampiezza [db]
50
β = 40 db = 100. 40
β G∞(s) γ
30
Pulsazioni critiche ω: 20
10
0 → un polo 0
10
−2 −1
10
0
10 10
1
10
2 3
10
4
10
Coefficiente δ: −45
−90
−2 −1 0 1 2 3 4
10 10 10 10 10 10 10
Ampiezza [db]
30
β = 40 db = 100. 20
10
Pulsazioni critiche ω: 0
−10
−2 −1 0 1 2 3
10 10 10 10 10 10
0 → uno zero
Diagramma delle fasi
0.2 → due poli c.c. stabili 90
30
20 → un polo stabile 0
−30
Coefficiente δ: −60
−90
MR = 1.66 → δ = 0.3.
−2 −1 0 1 2 3
10 10 10 10 10 10
Pulsazione ω [rad/s]
Ampiezza [db]
40
30
20
G(0) = 100. 10
0
−10
−20
Pulsazioni critiche ω: −30
−40
−50
0.2 → due poli c.c. stabili 10
−2 −1
10
0
10
1
10
2
10
3
10 10
4
−45
Coefficiente δ: −90
MR = 5 → δ = 0.1. −135
−180
−2 −1 0 1 2 3 4
10 10 10 10 10 10 10
Pulsazione ω [rad/s]
1) L’espressione analitica della funzione G(s) è la seguente:
32 (s + 5)2 100 (1 + 0.2 s)2
G(s) = 2 = .
(s + 0.04 s + 0.04)(s + 200) (1 + s + 25 s2 )(1 + 0.005 s)
140
2π Tm Ta
Tω = ≃ 31.57 s. 0
0 50 100 150 200 250
0.199 Time [s]