July 2014
Intermediate to advanced
344 pages
6h 41m
Japanese
Content preview from エンジニアのためのフィードバック制御入門
Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
O’Reilly covers everything we've got, with content to help us build a world-class technology community, upgrade the capabilities and competencies of our teams, and improve overall team performance as well as their engagement.I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.I’ve been on the O’Reilly platform for more than eight years. I use a couple of learning platforms, but I'm on O'Reilly more than anybody else. When you're there, you start learning. I'm never disappointed.I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.
23.3
極の位置と応答パターン
■
241
23.2.1.2
多重極
伝達関数の部分分数展開が、つぎの式のように分母がべき乗になって表れる場合が
あります。
H
(
s
) =
… ＋
A
j
＋ …
(
s
−
p
j
)
μ
この場合は、この極は「次数
μ
の多重極」と言われます。表 20-1 により、この項の時間
応答はつぎのように
t
μ−1
が付きます。
h
(
s
)
＝ … ＋
A
j
t
μ−1
e
p
j
t
＋ …
最後に、
A
j
/(s
−
p
j
)
μ
が部分分数展開で現れると、より低次の項すべて
(A
k
/(s
−
p
j
),
A
ℓ
/(
s
−
p
j
)
2
,
…
,
A
m
/(
s
−
p
j
)
μ−1
)
も出てきます。
23.2.1.3
虚軸上の極
極が純虚数である場合、すなわち、その実部が零であるならば、極は虚軸上に位置
します。そのモードの振幅は時間とともに増加も減少もしません。このモードを「安定
限界」と言います。虚軸上にある多重極は、時間応答の項
t
が付くので安定限界のモー
ドではありません。
23.2.1.4
極零相殺
極と零点が同じ位置
p
k
＝
z
k
にある場合があります。この場合、伝達関数の各要素は
キャンセル（極零相殺）され、その効果は望ましくないモードを抑制するこ
とができる
ため、意図的に導入されることがあります。極零相殺には、あたかも、新たな要素を
制御ループに付加し、望ましくないモードの極の位置あるいはその近傍で零点を作る
ような効果があります。極と零点の相殺が完全ではなくても、この操作の効果は発散
するモードの振幅をかなり減少させることができます。
23.3
極の位置と
Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
and much more.
Read now
Unlock full access
More than 5,000 organizations count on O’Reilly
O’Reilly covers everything we've got, with content to help us build a world-class technology community, upgrade the capabilities and competencies of our teams, and improve overall team performance as well as their engagement.Julian F.
I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.Addison B.
I’ve been on the O’Reilly platform for more than eight years. I use a couple of learning platforms, but I'm on O'Reilly more than anybody else. When you're there, you start learning. I'm never disappointed.Amir M.
I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.