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8/9/2019 Otomatik Kontrol Sistemleri - Sakarya Üniversitesi 2014 Butunleme Soruları
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TO[ KAKNRZĸN-KAKNRZIEĸN @ÑL. :8?2 IRI@ORĸN NIERZIA JÑRÑEAK@K
?
ĿĿ Ŀ
.?)
( )sD ( )s Z 8.3
8.2 ?s +
( )s B
( )d
sC ?
s
D.?) s8,3
C ( s )s(8,2s ?)
0+
) ()0() ()08
()0() ()08 d s
Z( s ) Z( s )λ( s )
? O.Ã.R.G ? C ( s )C ( s )0 0
+ + Ŀ.
ę ĿĿ ()0() ()08 L LĿ sss 8
d s
Z( s )k af` s
? C ( s )C ( s )↚0
+
sss 8 s 8
? / s s(8,2s ?)k af` s af` 88,3 s(8 ,2s ?) 3
? * ?8s(8,2s ?)
↚ ↚
+0 0 0
+ ++
+
Ŀ ĿĿ .OřęĿ ()0() ()08 /OOJ Ŀ ř.
0?8 ,) ()0 () ()08) ()0 () ()0 ()
ĿĿ ĿĿ.
8/9/2019 Otomatik Kontrol Sistemleri - Sakarya Üniversitesi 2014 Butunleme Soruları
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TO[ KAKNRZĸN-KAKNRZIEĸN @ÑL. :8?2 IRI@ORĸN NIERZIA JÑRÑEAK@K
:
) ()0() ()0 () ę ę Ŀ .J >
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Ŀ Ŀ Ŀ ĿĿřĿ ę ZD ( )∕ BD ( )∕ Ŀ Ŀ LL Ŀ.
?) ()0() ()0 8
s d Z
s d
8,3 * ?8
C ( s )C ( s ) 3 ?s(8,2s ?)D ( s ) Z( s ) Z( s )
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s(8,2s ?)
+0 0 0
+ + ++
+
ę ,
Z Zs 8 s 8
8,3 ?D ( ) af` sD ( s ) af` s ?
s(8 ,2s ?) 3 s↚ ↚∕ 0 0 0
+ +
:) ()08 () 0 () Ŀ ,
J řęĿ . J ř Ŀ Ŀ
s B :
s d
?,3;
C ( s ) ? ?,3;s( s :,; )D ( s ) B( s )
?3,;? C ( s )C ( s ) s s( s :,;s ?3,; )?
s( s :,; )
+0 √ 0 √ 0 √
+ + ++
+
ę ,
B B :s 8 s 8
?,3;D ( ) af` sD ( s ) af` s 8,?
s( s :,;s ?3 ,; )↚ ↚
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+ +
Z BD( ) D ( ) D ( ) ? 8.? 8.6∕ 0 ∕ + ∕ 0 √ 0
ř ()0() ř ()0() 8.? (%?8) ę LL ę .
8/9/2019 Otomatik Kontrol Sistemleri - Sakarya Üniversitesi 2014 Butunleme Soruları
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TO[ KAKNRZĸN-KAKNRZIEĸN @ÑL. :8?2 IRI@ORĸN NIERZIA JÑRÑEAK@K
4
:)
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N
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s 4s :
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p
p
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s
s
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ĿĿ ĿĿ ĿĿ ę ę ĿĿ .
: N : ĿĿ Ŀ ę ę ĿĿ : Ŀ Ŀ.
N Ŀ> ( ) ( ) 8bC s L sbs 0 Ŀ.
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:
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4 :8
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s s
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s
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s s
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+ +
+ √ +
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?,:s : 8 s ?,2?2√ 0 ↚ 0 ¿
ę Ŀ (ĿĿ) ę N
Ŀ .
ę . (
Ŀ, Ŀ, ĿĿ ĿęĿ .)
8/9/2019 Otomatik Kontrol Sistemleri - Sakarya Üniversitesi 2014 Butunleme Soruları
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TO[ KAKNRZĸN-KAKNRZIEĸN @ÑL. :8?2 IRI@ORĸN NIERZIA JÑRÑEAK@K
2
:
:
:( ) ( ) ( ) ( )? ? 8 (? ) (4 4 ) : : 8
4 :
4 :s s s sG C L N G N s N s N
s s
s s0 + 0 + 0
√ +
+ +⇚ 0 + + √ + + 0
L ĿĿ ĿĿ : ř ĿĿĿ.
?) ĿĿĿ Ŀ ř ĿĿ.
? N 8 N ?, 4 4N 8 N ?, :N : 8 N ?+ 5 ↚ 5 √ √ 5 ↚ 1 + 5 ↚ 5 √
? N ?√ 1 1 ĸK NĿĿ ĿĿ JN
? N 8 N ?, 4 4N 8 N ?, :N : 8 N ?+ 1 ↚ 1 √ √ 1 ↚ 5 + 1 ↚ 1 √
? N ?√ 5 5 ĸK NĿĿ ĿĿ NN
:) ĿĿĿ 8 ĿĿ. ?. ę ĿęĿ Ŀ 8Ŀ.
4 4 8N √ ≨ niřuaueboe 8N ≨ ia`oaĿbĿr. N 85 OFBF.
ę 8 N 1 5 ∕ ĿęĿ .
BĿĿ ř ę ř N ę ĿęĿ ęĿ.
ř ř.
:
?
8
? N
4 4N :N
s :N :
s 8: 8s
+
√+
+
N0? Ŀ Ŀ. ĿĿ ę ę ę .
:s tkrf`bke bkenak` yozĿaĿr vk N ykrfek Ns niyuaur.
:(? N )s ( :N : ) 8+ + + 0 bkenak`febk N0? yozĿaĿr.
:
?,:( ) : 2 8 ?,2?2sG s s m0 + 0 ↚ 0 ¿
?. ĿĿ ĿĿ. ? N 8+ 5 fsk N ?5 √ bĿr.
4 4N 8√ 5 fsk N ?1 bfr.:N : 8+ 5 N ?5 √ bĿr.
Ckrkn niřua vk yktkr niřuaaor c÷z ÷eñek oaĿebĿęĿebo
8 N ?1 1 oroaĿęĿebo ia`oaĿbĿr. TĿeĿr nozoeã .
8/9/2019 Otomatik Kontrol Sistemleri - Sakarya Üniversitesi 2014 Butunleme Soruları
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TO[ KAKNRZĸN-KAKNRZIEĸN @ÑL. :8?2 IRI@ORĸN NIERZIA JÑRÑEAK@K
;
4)
)
0? 0:.3 ę Ŀ ĿĿ Ŀ ĿęĿ ř ř ĿĿ.
b R s:,3 sk k√√ 0 b R :.3 0
R ?s0 , b R :R 8.3 R 0 + iaoron yozĿaĿr.b R s: ,3 s :s 8.3 sk k k k
√√ √ √0 0
:sR :s :k k z
√ √ √0 0 bfr.
C ( ) Ŀ 0? Ŀ ę. ř Ŀ.
» 8,3 ` ? 8,3 ` 8,40 ↚ 0 √ ↚ 0 Ŀ.
]IL Z(s)
D(s)R0?se
+-
:,3sk
s ?
√
+
ŕ Ŀ
) D( z )
Z( z ) .
) :
Z( s )s
0 ř D( z ) D( )∕ .
) ĿĿ D( )∕ .
8/9/2019 Otomatik Kontrol Sistemleri - Sakarya Üniversitesi 2014 Butunleme Soruları
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TO[ KAKNRZĸN-KAKNRZIEĸN @ÑL. :8?2 IRI@ORĸN NIERZIA JÑRÑEAK@K
7
sR :sR 8 ,3 sR sR ? :sR :
R ?se
? k k kC( z ) ] k z k z
s s ?
√ √ √
√ √ √ √
0
√ 0 ↚ 0 ↚ 0
+
řD( z ) C( z )
Z( z ) ? C( z )0
+ ę . C() řęĿ ĿřĿ.
( )( )
8,3sR ? : k
C( z ) ? z z ] s s ?
√
√ √
0 √ +
( )
8,3sk
] s s ?
√
+ Ŀ
( ) ( ) ( ) ( )
8,3 sR ( ? 8 ,4 )sR sR 8 ,4sR 8 ,4sR ?k k k k k
] » ? 8,4 ] ] z ] s s ? s s ? s s ? s s ?
√ √ √ √
√
⇚ 0 √ ⇚ 0 0 + + + +
8,4sR 8 ,4sR
sR sR
s 8 s ?
k z k z ?s ( s ?)
s( s ? ) z k s( s ?) z k z0 0√
0 + + 0
+ √ + √
z 8,32? z
z ?√
√ z 8,47
8/9/2019 Otomatik Kontrol Sistemleri - Sakarya Üniversitesi 2014 Butunleme Soruları
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TO[ KAKNRZĸN-KAKNRZIEĸN @ÑL. :8?2 IRI@ORĸN NIERZIA JÑRÑEAK@K
3
8/9/2019 Otomatik Kontrol Sistemleri - Sakarya Üniversitesi 2014 Butunleme Soruları
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TO[ KAKNRZĸN-KAKNRZIEĸN @ÑL. :8?2 IRI@ORĸN NIERZIA JÑRÑEAK@K
<
2) ŕ N(/) ęn
A( f )f( t )
0 ęřę ř.
J ) Ŀ ĿĿ. 8f( t ) f0 , 8u( t ) u0
Ŀř Ŀ ř.
) řř B( z ) Ŀ Ŀ
Ŀ ĿĿ .
) 8f Ŀř Ŀ Ŀ ęř
Ŀ ssk 80 Ŀ Ŀ B( z ) Ŀ 9
) )n
Af(t )
0 ubf( t )
u ( t ) A Zf( t )bt
0 + řę Ŀ :bf( t ) Z ?
f ( t ) u( t ) f( t )bt n n
0 √ + .
:
?
Z ? g f ( t ) u( t )f( t )
n n 0 √ +
8 8
* ?8
f ,u
g :Z O f
f n
∊ 0 0 √ ∊
8 8
* 8?
f ,u
f g J
u n
∊ 0 0
∊
* * ∇f(t ) O ∇f( t ) J ∇u(t ) ∇t
0 + ↚ řř
B
88
f ∇f( t ) :Zf ∇f(t ) ∇u(t )
t n n 0 + iaoron yozĿaĿr.
Buru` bkenak`fefe Aopaodk b÷eñřñ`ñ oaĿeĿr fsk,
8
8
f:Z
s f ∇ F( s ) ∇[ ( s )n n
+ 0
8
8
f / n ∇ F( s )
:Zf ∇[ ( s )s
n
0
+
troesgkr giensfyieu kabk kbfafr.
Nu(t) uu(W)
Zf
A
Oatkreotfg VIA= Buru` bkęfřnkef toeĿ`aoeoronjkezkr řknfabk bięrusoaaořtĿr`o yopĿaojfafr.
?f( t ) x (t )0 buru` bkęfřnkef iaoron skãfafr.
:?? ?
bx ( t ) Z ? x ( t ) ( t ) u( t )x ( t )
bt n n 0 √ +
:
? ? ?
Z ? g x ( t ) u( t )x ( t )
n n 0 √ +
?8 8
* ??8
? x ,u
g :Z O x
x n
∊0 0 √
∊
?8 8
* ?8?
x ,u
x g J
u n
∊ 0 0 ∊
* * ?8? ?? ?8 ?
?8?8 ?
?8?
?8
x ∇ x (t ) ∇ x (t ) :Z O ∇ x (t ) J ∇u x ∇ x (t ) ∇u ∇t ∇t n n
x:Zs x ∇ \ (s) ∇[(s)
n n
x / n ∇ x (s)
:Zx ∇[(s)s
n
0 + ↚ 0 +
+ 0
0
+
8/9/2019 Otomatik Kontrol Sistemleri - Sakarya Üniversitesi 2014 Butunleme Soruları
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TO[ KAKNRZĸN-KAKNRZIEĸN @ÑL. :8?2 IRI@ORĸN NIERZIA JÑRÑEAK@K
6
)
sR ? k
s
√
√ 8
8
f / n
:Zfsn
+
) Ŀ 8
8
f / n ∇ F( s )C(s )
:Zf ∇[ ( s )s
n
0 0
+
ř.
08 ę ř ř ĿĿ Ŀ
ĿĿĿĿ. BĿĿ Ŀ B( z )
.
f
z B( z ) N ..... ....
z ?0 + +
√ ř .
NřĿřĿęĿĿ Ŀ/ H.. / H..
/ .