B-9-8

Sistema sin compesar.

Bod e Diag ram 30 20

10 M ag nitu de (d B)

-1 0

-2 0

-3 0

-4 0 0 Sy s te m: s y s Ph as e Ma rgin ( deg ): 174 Dela y Ma rg in (s e c ): 2.14 A t f re qu enc y (ra d/s e c ): 1.42 Clos ed L oo p Sta ble ? Y e s Sy s te m: s y s Ph as e Ma rgin ( deg ): 120 Dela y Ma rg in (s e c ): 72 .5 A t f re qu enc y (ra d/s e c ): 0.02 89 Clos ed L oo p Sta ble ? Y e s

-4 5 Pha s e ( deg )

-9 0

-1 35

Sy s te m: s y s Ph as e Ma rgin ( deg ): 5.85 Dela y Ma rg in (s e c ): 0.04 18 A t f re qu enc y (ra d/s e c ): 2.45 Clos ed L oo p Sta ble ? Y e s
0 1

-1 80 10
-3

10

-2

10

-1

10

10

Fr equ en c y (ra d/s e c )

Step Res po ns e 1

0.9

0.8

0.7

0.6 Amp litu de

0.5

0.4

0.3

0.2

0.1

50

100

150 Time (s ec )

200

250

300

350



Sitema compesado.

B ode Diag ra m 60 40

20 M a g n itu d e (d B ) Ph a s e (de g )

-20

-40

-60

-80 0

-45

-90

-135 S y s tem: s y s Ph as e Margin (deg): 49.1 Dela y Ma rg in (s ec ): 0.132 A t f requ enc y (rad /s ec ): 6 .4 9 Clos ed 1Loo p Stable? Y es 10 Freq uen c y (ra d/s ec )

-180 10
-2

10

-1

10

10

10

Step Res pons e 1.4

1.2

0.8 A m p litu d e 0.6 0.4 0.2 0 0

0.5

1.5

2 Time (s ec)

2.5

3.5

4.5