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&>':> (s I -A) X(6):. ß -1LLs)

Ac~) ~(&) '= (sr -Ar 3 .-\L(s)

~ ~ (s) : . C [ Csr -At..-l ß ;-- DJ ttLlS)

ü-i.) ~~ v~ cur.d J2Jee-n~ ~v Ai ~v Vi

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y (s)

u(s) k'

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b) damrih'ö

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d) ;ta-p ICLc.o- h-a.xlSfOf-rno.t-Prl '00

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~ f 0lt) cl-/:;

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€.-) cli~6Cl-nce. ~ fu.nct>ön

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1 +- &fO 's A ~ )

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6~te.n1 "6 ~ -6+a..b~ ..

(,p~ ~ 5:=0)

0) GlS) ­

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-'-'-; s. e.... <t:j.. k ~10i

'T~ = i ~ ~O.·b

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e. 1-i-S

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Y= [~ 0 ]

. (s) HjS)

S 1 $) -V

~ GCs)r , I

R t(cJ ~) y(

pno~~ S· ~ (1)

a) ~ (~) ::: *C\ (-\,) ( \)

lG\ pPC\ce ~91~~S~{)J( ~ (\)

Y(s L:: l . L Q (S) -::b G(s) =- ~($l.::: ----'-1_ f\ 2> ~($) 14- S

B1. PT11 - e~ l'V? t: tij5):= \< l \+.}) -::: \< ( \ + -t.) ... 1 (\..,.us) (\+S)

® fN e~C\~i'Je ~eed ~ck ~

Open -~oop b~ s4etr\: \-11 (s) . G{s) ~ - COl (S)

COILS) ::: k ( I+}). \ __ \<: ( ~\-\-~) _ K~ ( \+s) f\s _. As( S4 I} - f\S2~

COl (s L::- k ~S2

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-)(- ~o Res. R" 2 == o· ~ VJ:::: 2

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If- ~'t1 -;: ('191-\}-rr :::- ('2?1-IJ 1'1 ; 91;: t,2. Y'l-IT) 2.

Cfn ::= :+ ~

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s) (<;) \..h(s)

I

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GCS)

O?eVl -e,DP s~s~em ~

C02 (s) ~ \\(\4- -t-) . l - - \(l \ 1'S ) 14 'b - f\S 2.

Roo-\ JOoJsof C62(SJ ~ ¥ _ poPes: r\7 z :;;: 0 .;:p. Y\ ~ 2 •

J«, d? 91 -:= _'2911f - ~ J ~ Tf. ::: 911'\ ) 11 l., 2."S'

VI-/\') 2­

~11 := -\0-11

2· PDlI- ~ehi : \

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-y

(\ -t·ToS) (\ ",T\5)

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f~ed ~c~: (\)(s)

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D 3:= I< ('+2$) ~ \( ( \-'\ 2S) f\;>(\-tS) ~ls1..-+s)

Roo+ lows oR Coo: ~ - 'Lenos: XI ~ - \/"2. -:=:? rn :=! . ~ ~ot'es ~ (4S ( S+I) =- c> ~ ~1 ~ 0 ~ P2.::- - \ -d> Y;.$ 2 . ~ _ Cf'" -:::: l'2 ?1-111l -;:: ('2}'t -lJ-n s ('2. 91 -I) 1'1' ; 91:s I

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t61:"S" \ai\ \ >0:5

6-1-k )0 \ \\

\ ~ 60- k>o ~ K <'60

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d) OpeV?-Roo~ ~4en;.

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\ L '3

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. ,c;,".;'"·;--­

r~~~~~{~~;~S"o~c~~l~'~i~1~~;:tr~~1~~~;I~~31W~i~i~~~lt8-~f'?i.~~rti.i~~;trti':'?"~l0;1~b2.Et;''-:{;~f:;:::oW:;;;2r~~;;;:~~~~~;:::I}~f;S;:~lfi;::i;~t~(fl' _.... ~:.::.~,,- ~;";.O'~,'- ·3:__C!S~ .. ;,-,­

" .,1. "~..-J-..,!..u.u.cl--~" .,"

100 102 104 10 6

10 8

, "H", ' C,.. " . " .\ ,. '" -".~."""'-".,.,.,.,.,.",,--r-rr=l

-90

60 c­i c­,

Kreisfrequenz [r~1

l -j

-90 ...~4..J •...:..!J.J.l;L_J.'R"''':''u.u . . . ._...l ..~..Lll!L..-J..._WJ.Jj:.J__.J,._,_;;.!.lU. ....._i.._i_Ll.Ui.iL.._J....i..L.!..U/. .•~.••J._.I••Ll.U~iL .....L~.: ..LJ.l,ll.!L_.. .i, •.• ;..,.lJJI.l.\ .......).•..i-'-l.l,LUL.•._.,...;.~;.lll,..~ 1~-~ 1(Y'-"1 ~O'D ~i)"1 ~0"'2 ~Oftequency~)'~ ~1Y'5 HJ"i ~!Y<I ~Y:l 1(;":0 HY~ I

e)

OR

~S; ~~ St St~""'fltt.'S

Jo.h'1f eo~ t~t' 11..

tJ~"J~

.- 2~?

5" ~ 'ß

~ /1 (J C111,· (;., Ci. /1)

CV-<_

AO GUt i. [;0 G I/e (e"l-" ... o~ dc. ..'("J.)

-20r---~~--=....:..__+---~':7:h.;;__~~---___+_

+) (20 r-----+--------i----......---------j.----_+___ ,+-"01./ IV

~ .. (J AO -(

()-r------r--T--------~~!!!!!!!!!!!!!!!~~----+___b_____4_~~

Bode Diagram

5

Cl ~

:äQ)

-5 'e Cl cu

::i: -10

-15

. .. . .

. . . . "." ".""; .. : ..

: ,. '." : .-45 Cl Q)

~ ", ' .

Q) -90 Vl cu

.s:: CL

-135

.::.::::: :.::::::: :.~~'--.;--:.:::::: ::.:::::: .:::;;.:.:.":::: ......~.. ····V'(·~·o .. ""';'~ ...... ~~..,.,~~~"-....-180 ., . ::::::::::::::::.:: ::r:r:-::::::~~:::::::::: ::::::: . .. ".. . . . . .. . .

-225 '----''--'--'-,--,-,-"lL.--'--'-L-L.UJuL--'---L-'--'-LJw1---'--J'-I..J..1.l.LL1.-----'-.l-.L..UL.LLLL---l.....L-L..l..u.uL----I---'-l.Ju..LLLJ------'----'-'-..LLJ..!JlL.-J......L...;u..LJ.l.LL..-.J-J...LLL1llJ

3 4 510-1 10 10 10

Frequency (rad/sec)

Realteil

ttf.------­Imaginärteil

3

Wl = 10 [r~J -3

-4

'h) Ye S I i I is dc.l. Le- i ( - -1 J 0 ~ ) i~ 0'-_ JLe ~~

t.irh Q f JLee et t V€. { r ('.t.-~. # tVy1G<t"r ~ ). Drtor: K L t"

-C>l

i)

j) Bode Diagram

60

50

20

10

-30

-60

A~ I

k) CorVler +~~t( tr..C te STl~ Wtc<~"'J L... allt c1Wf {Pd.it ~~ l!­

Ir- g.Lc...".:/" ~ · ~ ~~e-.

Bode Diagram

85

80

75

~ 70 Q)

-g 65 ~ lijl 60 :2

55

50

45

-30 Cl Q)

~ Q)

'"11l .c c..

-60

-90 ~=:::::L::.:------'----'--'-----'----.1~~_----'-_'---L......J..--'--J'--'-'-~_----'-_~";;-'-----'--.L-L...J~_----'-_...L..-...L..-,----,--,-,-J 10.3 10.2 10·1 10°

Frequency (rad/sec)