CBD4BND9D8CXD3D2 BJBABLBABJBABE R + C G c G p Σ - BYCXCVD9D6CT BDBM BVCPD7CRCPCSCT BVD3D1D4CTD2D7CPD8CXD3D2 DBCXD8CW CDD2CXD8DDBYCTCTCSCQCPCRCZ BYD3D6 D8CWCT D7DDD7D8CTD1 D3CU BYCXCVD9D6CT BD DBCTCWCPDACT BZ D4 BP BD D7B4D7 B7BCBMBHB5 CPD2CS BZ CR B4D7B5BP C3 CR B4D7 B7 CPB5 BE D7 CPBA BYCXCVD9D6CT BE CVCXDACTD7 D8CWCT D4D3D0CPD6 D6CTD4D6CTD7CTD2D8CPD8CXD3D2 D3CU CTCPCRCWD3CUD8CWCTCUCPCRD8D3D6D7 CXD2 BZ CR BZ D4 CTDACPD0B9 D9CPD8CTCS CPD8 D7 BP A0BFB7CYBEBA CCCWCPD8 CXD7 D8CWCT DACTCRD8D3D6 CE BD CXD7 D8CWCT D4D3D0CPD6 D6CTD4D6CTD7CTD2D8CPD8CXD3D2 D3CU D8CWCT CUCPCRD8D3D6 D7 CXD2 D8CWCT CSCTD2D3D1CXD2CPD8D3D6 D3CU BZ CR BZ D4 B8 CE BE D8CWCT D4D3D0CPD6 D6CTD4D6CTD7CTD2D8CPD8CXD3D2 D3CU D8CWCT CUCPCRD8D3D6 D7 B7BCBMBHB8 CPD2CS CE BF D8CWCT D4D3D0CPD6 D6CTD4D6CTD7CTD2D8CPD8CXD3D2 D3CU D7 B7 CPBACCCWD9D7B8 BZ CR BZ D4 CY D7BPA0BFB7CYBE BP C3 CR CYCE BF CY BE BI BEAB B4CYCE BD CY BE BI BEAI BD B5B4CYCE BE CY BI AI BE B5 BP C3 CR CYCE BF CY BE CYCE BD CY BE CYCE BE CY BI B4BEABA0BEAI BD A0AI BE B5 CCCWCT CTDACPD0D9CPD8CXD3D2 D3CU BZ CR BZ D4 CPD8 D7 BP A0BFB7CYBECWCPD7D2D3DBCQCTCTD2 CQD6D3CZCTD2 CSD3DBD2 CXD2D8D3 CPCRD3D1D4D3D7CXD8CT D1CPCVD2CXD8D9CSCT CPD2CS CP CRD3D1D4D3D7CXD8CT CPD2CVD0CTBA BYD3D6 D8CWCT D6D3D3D8 D0D3CRD9D7 D8D3 D4CPD7D7 D8CWD6D3D9CVCW D8CWCXD7 D4D3CXD2D8B8 DBCTD1D9D7D8 CWCPDACT BEABA0BEAI BD A0AI BE BP A0BDBKBC ? BM CBCXD2CRCT CPD0D0 D8CWCT CPD2CVD0CTD7 CTDCCRCTD4D8 AB CPD6CT CZD2D3DBD2B8 DBCT CRCPD2 DBD6CXD8CT AB BP BEAI BD B7 AI BE A0BDBKBC ? BE BP BE A2 BDBKBC ? A0D8CPD2 A0BD B4BEBPBFB5 A3 B7 A2 BDBKBC ? A0D8CPD2 A0BD B4BEBPBEBMBHB5 A3 A0BDBKBC ? BE BP BEBLBEBMBIBE ? B7BDBGBDBMBFBG ? A0BDBKBC ? BE BP BDBEBIBMBLBK ? BD Re(s) Im(s) V 1 V 2 -0.5 a V 3 2 -3 -a θ 1 θ 2 2 zeros 2 poles BYCXCVD9D6CT BEBM CBCPD8CXD7CUCPCRD8CXD3D2 D3CU BTD2CVD0CT BVD3D2CSCXD8CXD3D2 BYD3D6 BWCTD7CXD6CTCS BVD0D3D7CTCS C4D3D3D4 C8D3D0CTD7 CCCWCTD2 CP BP BFA0 BE D8CPD2B4BDBKBC ? A0BDBEBIBMBLBK ? B5 BP BFA0 BE D8CPD2B4BHBFBMBCBE ? B5 BP A0BDBMBGBLAX BDBMBH CCCWCT CVCPCXD2 D8CWCPD8 D4D0CPCRCTD7 CP CRD0D3D7CTCS D0D3D3D4 D4D3D0CT CPD8 D7 BP A0BFB7CYBEB8 CPD2CS CPD2D3D8CWCTD6 CPD8 D7 BP A0BFA0CYBECXD7D3CQD8CPCXD2CTCS CQDDD7D3D0DACXD2CV C3 CR CYCE BF CY BE CYCE BD CY BE CYCE BE CY BPBDBN D3D6 C3 BP CYCE BD CY BE CYCE BE CY CYCE BF CY BE BM B4BDB5 CCCWCT CVCPCXD2 D8D3 D4D0CPCRCT D8CWCT D4D3D0CTD7 CPD8 D8CWCXD7 D0D3CRCPD8CXD3D2 CXD7 D8CWCTD2 C3 BP BDBFA2 D4 BDBCBMBEBH BIBMBEBH BPBDBIBMBIBGBK CCCWCT C8BWBBC8C1 CRD3D1D4CTD2D7CPD8D3D6 CXD7 D8CWCTD2 BZ CR BP BDBIBMBIBGBKB4D7B7BDBMBHB5 BE D7 C1CU DBCTDBCXD7CWD8D3CQD6CTCPCZ D8CWCXD7 CSD3DBD2 CXD2D8D3 CRD3D2D7D8CPD2D8D7B8 DBCTCWCPDACT CZ CS A2CZ D4CX BPBDBIBMBIBGBKBM C1CU DBCTDBCTD6CT CQD9CXD0CSCXD2CV D8CWCT CRD3D1D4CTD2D7CPD8D3D6 D9D4 CPD7 ACD6D7D8 CP C8BW CPD2CS D8CWCTD2 CP C8C1B8 DBCT DBD3D9D0CS CPD7D7CXCVD2 CZ CS BPBDBIBMBIBGBK CPD2CS CZ D4CX BPBDBM BE D7 B9BDBABD B9BDBABE B9BDBABDBH B9BDBABDBG BDBABDBGBG BDBABDBGBF C3 BGBABHBG BDBDBABE BJBABCBD BIBABGBE BIBABIBH BIBABIBHBL CCCPCQD0CT BDBM CBCTCPD6CRCWCUD3D6 BVD0D3D7CTCS C4D3D3D4 C8D3D0CT CCCWCTD2 D8CWCT DECTD6D3 D3CU D8CWCT C8BW CXD7 CZ D4CS CZ CS BP CP BPBDBMBHBN D7D3 D8CWCPD8 CZ D4CS BP BDBMBHA2CZ CS BPBDBMBHA2BDBIBMBIBGBK BP BEBGBMBLBJ C1D2 CP D7CXD1CXD0CPD6 CUCPD7CWCXD3D2 D8CWCT DECTD6D3 D3CU D8CWCT C8C1 CXD7 CZ CX CZ D4CX BP CP BPBDBMBHBN D7D3 D8CWCPD8 CZ CX BP CZ D4CX A2BDBMBHBPBDA2BDBMBHBPBDBMBHBM CFCTD2D3DBCWCPDACT D8CWCT CUD3D9D6 CRD3D2D7D8CPD2D8D7 D8CWCPD8 CSCTACD2CT CP C8C1BW CRD3D1D4CTD2D7CPD8D3D6BA C8CPD6D8 CQBA C3 CP BP D0CXD1 D7AXBC D7 BE BZ CR B4D7B5BZ D4 B4D7B5BPD0CXD1 D7AXBC D7 BE AY BDBIBMBIBGBKB4D7B7BDBMBHB5 BE D7 BE B4D7 B7BCBMBHB5 AZ BP BDBIBMBJBGBKA2BDBMBH BE BCBMBH BPBEBLBMBLBIBJBM CCCWCTD2 D8CWCT D7D8CTCPCSDD D7D8CPD8CT CTD6D6D3D6 D8D3 CP D4CPD6CPCQD3D0CXCR CXD2D4D9D8 CXD7 CT D7D7 BP BD C3 CP BP BD BEBLBMBLBIBJ BPBCBMBCBFBFBGBN D3D6 D0CTD7D7 D8CWCPD2 CUD3D9D6 D4CTD6CRCTD2D8BA C8CPD6D8 CRBA CCCWCT D7DDD7D8CTD1 CWCPD7 D8CWD6CTCT CRD0D3D7CTCS D0D3D3D4 D4D3D0CTD7B8 D8DBD3D3CUDBCWCXCRCWDBCTCZD2D3DBB8 D2CPD1CTD0DD D8CWCT CRD0D3D7CTCS D0D3D3D4 D4D3D0CTD7 CPD8 CPD4D4D6D3DCCXD1CPD8CTD0DD D7 BP A0BFA6 CYBEBA CCCWCT D6D3D3D8 D0D3CRD9D7 D3CU D8CWCT CRD3D1D4CTD2D7CPD8CTCS D7DDD7D8CTD1 CXD7 D7CWD3DBD2 CXD2 BYCXCVD9D6CT BFBA CCCPCQD0CT BD D7CWD3DBD7 D8CWCT D7CTCPD6CRCWCUD3D6D8CWCT D8CWCXD6CS CRD0D3D7CTCS D0D3D3D4 D4D3D0CTBA CFCTD7CTCT D8CWCPD8 D8CWCT D8CWCXD6CS CRD0D3D7CTCS D0D3D3D4 D4D3D0CT DBCXD0D0 CQCT CPD8 CPCQD3D9D8 D7 BP A0BDBMBDBGBG CCCWCT D3D8CWCTD6 D8DBD3 CRD0D3D7CTCS D0D3D3D4 D4D3D0CTD7 DBCXD0D0 CQCT CPD8 CPD4D4D6D3DCCXD1CPD8CTD0DD D7 BP A0BFA6CYBEBA CCCWCT CUD3D0D0D3DBCXD2CV C5BTCCC4BTBU CSCXCPD0D3CVD9CT DACTD6CXACCTD7 D8CWCTD7CT CRD3D1D4D9D8CPD8CXD3D2D7 CPD2CS D4D0D3D8D7 D8CWCT D9D2CXD8 D7D8CTD4 D6CTD7D4D3D2D7CT D7CWD3DBD2 CXD2 BYCXCVD9D6CT BGBA BF Re(s) Im(s) -0.5 -3 2 -1.5 2 poles2 zeros BYCXCVD9D6CT BFBM CAD3D3D8 C4D3CRD9D7 D3CU BVD3D1D4CTD2D7CPD8CTCS CBDDD7D8CTD1 BXBWCDBQCVCRCVD4 BP DED4CZB4CJB9BDBABH B9BDBABHCLB8CJBC BC B9BCBABHCLB8BIBABIBHBLB5 CICTD6D3BBD4D3D0CTBBCVCPCXD2BM BIBABIBHBL B4D7B7BDBABHB5CMBE B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9 D7CMBE B4D7B7BCBABHB5 BXBWCDBQD8CR BP CUCTCTCSCQCPCRCZB4CVCRCVD4B8BDB5 CICTD6D3BBD4D3D0CTBBCVCPCXD2BM BIBABIBHBL B4D7B7BDBABHB5CMBE B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9B9 B4D7B7BDBABDBGBGB5 B4D7CMBE B7 BIBABCBDBHD7 B7 BDBFBABDB5 BXBWCDBQD7D8CTD4B4D8CRB8BGB5 BXBWCDBQD4D6CXD2D8 B9CSCTD4D7 D7D6BJBLBJBEBACTD4D7 BTCRCPD6CTCUD9D0CRCPD0CRD9D0CPD8CXD3D2 D7CWD3DBD7 D8CWCPD8 D8CWCT CRD0D3D7CTCS D0D3D3D4 D8D6CPD2D7CUCTD6 CUD9D2CRD8CXD3D2 CXD7BM CC CR B4D7B5BP BIBMBIBHBLB4D7B7BDBMBHB5 BE B4D7 B7BFA0CYBEB5B4D7B7BFB7CYBEB5B4D7B7BDBMBDBGBGB5 C8CPD6D8 CSBA BG Time (sec.) Amplitude Step Response 0 0.5 1 1.5 2 2.5 3 3.5 4 0 0.2 0.4 0.6 0.8 1 1.2 1.4 BYCXCVD9D6CT BGBM CDD2CXD8 D7D8CTD4 D6CTD7D4D3D2D7CT D3CU CRD3D1D4CTD2D7CPD8CTCS D7DDD7D8CTD1 CCCWCT CSCPD1D4CXD2CV D6CPD8CXD3 D3CU D8CWCT CSD3D1CXD2CPD2D8 CRD0D3D7CTCS D0D3D3D4 D4D3D0CTD7 CXD7 AG BP CRD3D7CJD8CPD2 A0BD B4BEBPBFB5CL BP CRD3D7CJBFBFBMBIBL ? CLBPBCBMBKBFBM CCCWCT CSCPD1D4CTCS CUD6CTD5D9CTD2CRDD CXD7 AX CS BPBED6CPCSBBD7BAB8 D1CPCZCXD2CV D8 D4 BPBFBMBDBGBDBEBPBEBPBDBMBHBJ D7BA CCCWD9D7B8 D8CWCT D7DDD7D8CTD1 D7CWD3D9D0CS D6CTCPCRCWCXD8D7D4CTCPCZ CXD2 CPCQD3D9D8 BDBABH D7BA CPD2CS CWCPDACTD3DACTD6D7CWD3D3D8 D3CU D0CTD7D7 D8CWCPD2 BEB1BA C8CPD6D8 CTBA CCCWCT D3D9D8D4D9D8 BVB4D7B5 CUD3D6 CP D9D2CXD8 D7D8CTD4 CXD2D4D9D8 CXD7 BVB4D7B5 BP BD D7 CC CR B4D7B5 BP BIBMBIBHBLB4D7B7BDBMBHB5 BE D7B4D7 B7BFA0CYBEB5B4D7B7BFB7CYBEB5B4D7B7BDBMBDBGBGB5 BTD8D8CWCXD7D4D3CXD2D8DBCT CZD2D3DB D8CWCT CVCTD2CTD6CPD0 CUD3D6D1 D3CU CRB4D8B5BA CCCWCPD8 CXD7B8 CRB4D8B5BP CW BDB7BUCT A0BDBMBDBGBGD8 B7BECYC5CYCT A0BFD8 CRD3D7B4BED8 B7 AUB5 CX BDB4D8B5BN DBCWCTD6CT AU BP BI C5BACBD3DBCT CZD2D3DB D5D9CXD8CT CP CQCXD8BA CFCWCPD8 D6CTD1CPCXD2D7 D8D3 CQCT CSD3D2CT CXD7 D8D3 ACD2CS D8CWCT CRD3D2D7D8CPD2D8D7 BU CPD2CS C5BA BU BP B4D7 B7BDBMBDBGBGB5BVB4D7B5 CY D7BPA0BDBMBDBGBG BH BP B4D7 B7BDBMBDBGBGB5 AY BIBMBIBHBLB4D7B7BDBMBHB5 BE D7B4D7 B7BFA0CYBEB5B4D7B7BFB7CYBEB5B4D7B7BDBMBDBGBGB5 AZ CY D7BPA0BDBMBDBGBG BP A0BCBMBCBLBK C5 BP B4D7 B7BFA0CYBEB5BV CR B4D7B5 CY D7BPA0BFB7CYBE BP B4D7 B7BFA0CYBEB5 AY BIBMBIBHBLB4D7B7BDBMBHB5 BE D7B4D7 B7BFA0CYBEB5B4D7B7BFB7CYBEB5B4D7B7BDBMBDBGBGB5 AZ CY D7BPA0BFB7CYBE BP BDBMBCBHBFBL BI A0BEBMBCBDBG D6CPCSBM CCCWD9D7B8 ACD2CPD0D0DD DBCTCWCPDACT CRB4D8B5BP CW BDA0BCBMBCBLBLCT A0BDBMBDBGBGD8 B7BEBMBDBCBKCT A0BFD8 CRD3D7B4BED8 B7BEBMBCBDBFB5 CX BDB4D8B5 BI