CBD3D0D9D8CXD3D2BM BJBABLBABEBABJ R + C G c G p Σ - BYCXCVD9D6CTBDBM BVCPD7CRCPCSCTBVD3D1D4CTD2D7CPD8CXD3D2DBCXD8CWCDD2CXD8DDBYCTCTCSCQCPCRCZ BYD3D6D8CWCTD7DDD7D8CTD1D3CUBYCXCVD9D6CTBDDBCTCWCPDACT BZ D4 BP BD B4D7B7BDB5B4D7B7BDBCB5 CCCWCTC8C1CRD3D1D4CTD2D7CPD8D3D6CRCPD2CQCTD4D9D8CXD2D8CWCTCUD3D6D1BM BZ CR BPCZ D4CX B7 CZ CX D7 BP CZ D4CX D7B7CZ CX D7 BP CZ D4CX B4D7B7CZ CX BPCZ D4CX B5 D7 BM CCCWCTCRD3D2D7D8CPD2D8 CZ D4CX D7CTD6DACTD7CPD7D8CWCTCVCPCXD2D3CUD8CWCTCRD3D1D4CTD2D7CPD8D3D6CPD2CSD8CWCTD6CPD8CXD3 CZ CX BPCZ D4CX CSCTD8CTD6D1CXD2CTD7 D8CWCT DECTD6D3 D3CU D8CWCT CRD3D1D4CTD2D7CPD8D3D6BA C1D2 D8CWCXD7 D4D6D3CQD0CTD1 DBCTACD6D7D8CTD0CTCRD8 D8D3 D1CPCZCT CZ CX CZ D4CX BPBDBN CPD2CSD8CWCTDECTD6D3D3CUD8CWCTC8C1CRD3D1D4CTD2D7CPD8D3D6CRCPD2CRCTD0D7D8CWCTD4D3D0CT D3CUD8CWCTD4D0CPD2D8CPD8D7BPA0BD BTD7CPD7CRD3D2D7CTD5D9CTD2CRCT BZ CR B4D7B5BZ D4 B4D7B5BP C3 D4CX D7B4D7B7BDBCB5 BM CCCWCTD6D3D3D8D0D3CRD9D7CXD7D7CWD3DBD2CXD2BYCXCVD9D6CTBECCD3CPCRCWCXCTDACT D8 D4 BOBCBMBID7CTCRBN DBCTD1D9D7D8CWCPDACT AX CS BQ AP BCBMBI BPBHBMBE D6CPCSBBD7CTCRBM BYD3D6CRD3D2DACTD2CXCTD2CRCTDBCTCRCWD3D3D7CT AX CS BPBID6CPCSBBD7CTCRBM BD Im(s) Re(s) -5 6 s + 10 s -10 BYCXCVD9D6CTBEBM CAD3D3D8C4D3CRD9D7D3CUBZCPCXD2BVD3D1D4CTD2D7CPD8CTCSCBDDD7D8CTD1 CCCWCTCVCPCXD2D8D3D4D0CPCRCTD8CWCTCRD0D3D7CTCSD0D3D3D4D4D3D0CTD7CPD8 D7BPA0BHA6CYBICXD7 C3 D4CX BPCYD7CYCYD7B7BDBCCY CY D7BPA0BHB7CYAX BE CS BPAX BE D2 BM CBCXD2CRCT DBCTCPD6CTCPD0D0D3DBCTCSBEBCB1D3DACTD6D7CWD3D3D8B8D3D9D6D2CTDCD8CVD3CPD0CXD7D8D3CSCTD8CTD6D1CXD2CT AX CS BACCCWCT CUD3D0D0D3DBCXD2CVC5BTCCC4BTBUCSCXCPD0D3CVD9CTD7CWD3DBD7D8CWCPD8DBCTCRCPD2D0CTD8 AG BPBCBMBGBHBA BXBWCDBQDC BPB9BCBABGBHB6D4CXBBD7D5D6D8B4BDB9BCBABGBHCMBEB5 DCBP B9BDBABHBKBFBCBHBKBJBJBLBEBLBIBLBIBLCTB7BCBC BXBWCDBQCTDCD4B4DCB5 CPD2D7 BP BEBABCBHBFBGBIBCBEBKBGBEBEBCBKBKBJCTB9BCBD BXBWCDBQDBD2 BP BHBBBCBABGBH DBD2 BP BE BDBABDBDBDBDBDBDBDBDBDBDBDBDBDBDBDCTB7BCBD BXBWCDBQDBCS BP DBD2B6D7D5D6D8B4BDB9BCBABGBHCMBEB5 DBCS BP BLBABLBEBEBHBFBLBGBLBLBJBDBJBIBFBKCTB7BCBC BXBWCDBQCZ BP BEBH B7 DBCSCMBE C3BP BDBABEBFBGBHBIBJBLBCBDBEBFBGBHBIBKCTB7BCBE BXBWCDBQ BUCPD7CTCSD3D2D8CWCTD7CTCRCPD0CRD9D0CPD8CXD3D2D7DBCTCRCWD3D3D7CT BZ CR B4D7B5BP BDBEBFBMBHB4D7B7BDB5 D7 BM CFCTCRCPD2D2D3DBCRD3D1D4D9D8CT C3 DA BPD0CXD1 D7AXBC BDBEBFBMBHB4D7B7BDB5 D7B7BDBC BPBDBEBMBGBN DBCWCXCRCWCSD3CTD7D1CTCTD8D8CWCTD7D4CTCRCXACCRCPD8CXD3D2 D3D2 C3 DA BA CFCTCRCPD2D8D6DDD8D3CXD1D4D6D3DACTD3D2D8CWCXD7D6CTD7D9D0D8CQDDD1D3DACXD2CVD8CWCTDECTD6D3D3CUD8CWCTC8C1CRD3D1B9 D4CTD2D7CPD8D3D6 CPD6D3D9D2CSB8 CQD9D8 CPD7 D8CWCT CUD3D0D0D3DBCXD2CV CPD2CPD0DDD7CXD7 D7CWD3DBD7B8 D8CWCXD7 CXD7D8D3D2D3CPDACPCXD0BA CCCWCTCUD3D0D0D3DBCXD2CVC5BTCCC4BTBUD4D6D3CVD6CPD1ACD2CSD7 CPB8CPD2CSC3 DA D3DACTD6CPD6CPD2CVCTD3CUCPCRCRCTD4D8CPCQD0CT DACPD0D9CTD7 D3CU AX CS BA D4BD BP BD D4BE BP BDBC CZD4D0CPD2D8BPBD D3D1CTCVCPD2 BP BI DECTD8CPBP BCBABIBL CSDB BP BCBABCBH CXBPBC DBCWCXD0CT D3D1CTCVCPD2 BOBDBC D7BPB9D3D1CTCVCPD2B6DECTD8CP B7 CYB6D3D1CTCVCPD2B6D7D5D6D8B4BDB9DECTD8CPCMBEB5BN DCBPD3D1CTCVCPD2B6DECTD8CPBN BF 4 4.5 5 5.5 6 6.5 7 7.5 -25 -20 -15 -10 -5 0 5 10 15 K v ω d BYCXCVD9D6CTBFBM C3 DA CPD7CPCUD9D2CRD8CXD3D2D3CU AX CS CXBPCXB7BDBN CPD0D4CWCPB4CXB5 BP CPD2CVD0CTB4D7B5 B7 CPD2CVD0CTB4D7 B7 D4BDB5 B7CPD2CVD0CTB4D7 B7 D4BEB5 B9 D4CXBN CPB4CXB5 BP DC B7 B4 DC BB D8CPD2B4CPD0D4CWCPB4CXB5 B5 B5BN DCD4B4CXB5 BP D3D1CTCVCPD2B6D7D5D6D8B4BDB9DECTD8CPCMBEB5BN CZB4CXB5 BP B4 CPCQD7B4D7B5B6CPCQD7B4D7 B7 D4BDB5B6CPCQD7B4D7 B7 D4BEB5 B5BB B4CZD4D0CPD2D8B6CPCQD7B4D7 B7 CPB4CXB5B5 B5BN CZDAB4CXB5 BP B4CZD4D0CPD2D8B6CZB4CXB5B6CPB4CXB5B5BBB4D4BDB6D4BEB5BN CTD7D7B4CXB5 BP BD BB B4 CZDAB4CXB5B5BN D3D1CTCVCPD2 BP D3D1CTCVCPD2 B7 CSDBBN CTD2CS D4D0D3D8B4DCD4B8CZDAB5 D4D6CXD2D8 B9CSCTD4D7 D4CXBJCPBACTD4D7 BYCXCVD9D6CTBFD7CWD3DBD7 C3 DA CPD7CPCUD9D2CRD8CXD3D2 D3CU AX CS BA BTD7CRCPD2CQCT D7CTCTD2 D8CWCTD6CTCXD7 D3D2D0DDCPD0CXD1CXD8CTCS D6CPD2CVCTD3CU AX CS CUD3D6DBCWCXCRCWD8CWCTDECTD6D3CXD7 CXD2D8CWCTD0CTCUD8CWCPD0CUD4D0CPD2CTBA C1CUDBCTCRCWD3D3D7CTD8CWCTDECTD6D3CUD3D6DBCWCXCRCW C3 DA BQBDBCDBCTCWCPDACTB8CUD3D6 AX CS BPBHBMBID6CPCSBBD7CTCRB8 CPBPBEBMBDBDBJ BN C3 BPBGBKBMBLBH BN C3 DA BPBDBCBMBFBM BG CCCWCTD2D8CWCTCRD3D1D4CTD2D7CPD8D3D6CXD7 BZ CR B4D7B5BP BGBKBMBLBHB4D7B7BEBMBDBDBJB5 D7 BN CPD2CS CCCWCTCUD3D0D0D3DBCXD2CVC5BTCCC4BTBUCSCXCPD0D3CVD9CTCVCTD2CTD6CPD8CTD7D8CWCTD4D0D3D8D7CWD3DBD2CXD2 BYCXCVD9D6CTBGBA BXBWCDBQCPB4BDB5 CPD2D7 BP BEBABDBDBJBDBKBIBFBDBJBLBDBFBFBFBHCTB7BCBC BXBWCDBQCZB4BDB5 CPD2D7 BP BGBABKBLBHBFBLBCBJBCBKBHBEBCBGBFBECTB7BCBD BXBWCDBQCZDAB4BDB5 CPD2D7 BP BDBABCBFBIBGBGBHBGBEBEBKBLBDBLBHBFCTB7BCBD BXBWCDBQCV BP DED4CZB4CJB9BEBABDBDBJCLB8CJBC B9BD B9BDBCCLB8BGBKBABLBHB5 CICTD6D3BBD4D3D0CTBBCVCPCXD2BM BGBKBABLBH B4D7B7BEBABDBDBJB5 B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9 D7B4D7B7BDB5 B4D7B7BDBCB5 BXBWCDBQCW BP BD CWBP BD BXBWCDBQD8CR BP CUCTCTCSCQCPCRCZB4CVB8CWB5 CICTD6D3BBD4D3D0CTBBCVCPCXD2BM BH Time (sec.) Amplitude Step Response 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 BYCXCVD9D6CTBGBM CBD8CTD4CACTD7D4D3D2D7CTD3CUBVD3D1D4CTD2D7CPD8CTCSCBDDD7D8CTD1 BGBKBABLBH B4D7B7BEBABDBDBJB5 B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9 B4D7B7BEBABLBFBLB5 B4D7CMBE B7 BKBABCBIBDD7 B7 BFBHBABEBIB5 BXBWCDBQD7D8CTD4B4D8CRB8BEB5 BI