Esercitazioni di Fondamenti di automatica

112- - 31311 1xzA 31 20= = = -= - --00-2ce + Ciémi(t)

ui= = u(2e cemc(t) uz uz= =* 2my(t) Ce(3e 13Mi= =[A-XiF]ri Mi 0- =p[x I]Mz+ut 0=-- -- Mi2O 1 It- 1) IRte DM121 O -Il 1OO e1 =- =- Ous 800-2 _I " Me2u 0=+ -2M" Mi 0+ =- M"M 0 0==- =[A X2[]uzu2 0> =- --- us22 1- uI00 0=?u001E 242 2Mz 123+ 0- = t 13 DM2-IR0u2 1t=u2 == -- EE123 = O[A 131]u313 0p =--- -12 us2- uc11- 0=- 3u33⑧ 00-S I 132Mz2M3 + 0=- t-uz1343 tEIR-13 M3 t+ 0- == = t~ I-u3 I= 1T T- 110200-22 001-1T =I= 111 010 ---001 E 0120 00 21- -(11 d Vc" v3T(0 /001)vit 11) === -VITB [Mi+-mich) + 0= 0(210 b C1 I1)x C c+ - = + 0#0b 0Ob b 17+ + =1 + 0002b 1 ++ 02b + -M2(t) VzTB + 0-p b + 111)(0 (1C 1) Ic+ 0- -b IE - = OOb + 0O - b 1+ 0 +c 0= CE 2V3TB è excitobileM3(t) >0 - non= >D milt)LC1C ECC1) OSS-C .- I * O ~Eb +mict) --I +C 1b + 0M a le+X 2cM3(t)2 c- + 7 0c+ 1- -+C 2D la interna ilstudiare stabilità orintoticamenterisulta glitultisistema emendos t o b i l aa a. -(Re[i]co) convergentireale negativaantavoloci parte aa sono3i 1 2= ,, E iTi 1 Ti.C = = -1[2 == [)) entinguernipiet= cento ada3 -spons u2}Xoe M , f(s)B -Bx +CCSIc A)w(s) +D == -- I[ 1] B10c == 8- T2)3)(5 O(5 O++1: (S 2(s 2)S- 3)2)(s 52 1 +2 + ++S -+ 3- 2=1)p(s) 0(s1)(s(SI - 1)(S2(s 2)(2)z)(S +o3SO ++ 1)+ s= ++ - +I- (S 1)(s 3)+ 2)(s1)2)(s(S +3)(s +++ + O (S 3)0 1) (s++1)(sS 3)- 1)O 5O (SS 2+ + (s + ++P(s) I 3)(P(s) (S 2(s 2)(S 3)3)2)(s 1)(s= (s+ +++ + +-= -(S 3)+ 2)(s(s ++(2) =P(s)Bw(sl = = 1)(5(s 3)(z)+ + IS limeimk 1W(s) === . os + 1S-0 * * ** ce 3t(31 +- eXe(t) Mzc2ece uz+ 12 +m ui u3= ++= (110) I IviTXo2 = = =8IvaTxo 11) 2co 2(2 == - =OI(001)V3Txo I(3 = = 0 I=Iye(t) (t)y(z) y+= +Ye(t) Y(t) nel dominiolavoriamo di lopeonexo= a↓ I z3)P(s)x0 (S 2(s 2)(S 3)3)2)(s 1)(s(s+ +++ + =+--= (S 3)1)(s 2)(s + O++ 25) 3)1) (s(s(S(s 2)(s 3) + S2++ + + 3)+ (s- 55 6 x+ 5+ S + 5+ us 63+ 3 5+ + us5- + 3+ +, - --= -==(S (S 1)(s 3)(S3)2)(s1)(s 2)(s+ 1) (s 3)2)(s++ +++ ++++1I25 Ri8+ R2 32 32 37 y*2 2 -(t)3 fD Ge e 2)+(t)= S+ = -=+ +-+= --1)(s 2)(s(S 3)+ +2+ sS+ st+ 825 + 6ein 3==(S 22)(s 3)S +1 +D -- E25 8+eim U= -(S 1)(S 3) 1+ + -S - zp- 825 +e s 1=(S 1) (S 2)++ RI2 2raS-2Rbw+ 2 +w(s)u(s)