{"id":6199,"date":"2024-01-28T10:08:26","date_gmt":"2024-01-28T01:08:26","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=6199"},"modified":"2026-10-04T08:51:01","modified_gmt":"2026-10-03T23:51:01","slug":"lag-compensator-%eb%ac%b8%ec%a0%9c%ed%92%80%ec%9d%b4","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/lag-compensator-%eb%ac%b8%ec%a0%9c%ed%92%80%ec%9d%b4\/","title":{"rendered":"112\ud68c Lag compensator \ubb38\uc81c\ud480\uc774"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"715\" height=\"282\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-51.png\" alt=\"\" class=\"wp-image-6200\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Type 0 \uc2dc\uc2a4\ud15c\uc5d0\uc11c Kp\uac00 \uc8fc\uc5b4\uc84c\uc744 \uacbd\uc6b0, Steady state error\ub97c \uac10\uc18c\uc2dc\ud0a4\uae30 \uc704\ud55c Lag compensator\uc758 pole\uacfc zero\ub97c \uc120\uc815.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"921\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-79.png\" alt=\"\" class=\"wp-image-8840\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-79.png 921w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-79-768x1067.png 768w\" sizes=\"auto, (max-width: 921px) 100vw, 921px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"921\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-80.png\" alt=\"\" class=\"wp-image-8841\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-80.png 921w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-80-768x1067.png 768w\" sizes=\"auto, (max-width: 921px) 100vw, 921px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\uac8c \ub0b4\uac00 \uc0dd\uac01\ud558\ub294 \ub2f5! unity feedback\uc73c\ub85c \ubcc0\uacbd \ud544\uc694. \uc774 \ub54c open loop transfer function\uc758 \uc6d0\uc810 pole\uc774 \uc2dc\uc2a4\ud15c \ud0c0\uc785\uc744 \uacb0\uc815.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"936\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-53.png\" alt=\"\" class=\"wp-image-6203\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-53.png 936w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-53-768x1050.png 768w\" sizes=\"auto, (max-width: 936px) 100vw, 936px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"936\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-54.png\" alt=\"\" class=\"wp-image-6204\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-54.png 936w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-54-768x1050.png 768w\" sizes=\"auto, (max-width: 936px) 100vw, 936px\" \/><\/figure>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/NeoStudio_20240509_183523.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"NeoStudio_20240509_183523\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-2b1c5dcc-ab48-4f61-9a06-e683a9602ca0\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/NeoStudio_20240509_183523.pdf\">NeoStudio_20240509_183523<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/NeoStudio_20240509_183523.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-2b1c5dcc-ab48-4f61-9a06-e683a9602ca0\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"http:\/\/www.kocw.net\/home\/cview.do?cid=787c83eec52624ae\">KOCW \uacfd\uad00\uc6c5 \uad50\uc218, Design Lag\/Lead compensator \ucc38\uc870.<\/a><\/p>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/Section-4-Steady-State-Error.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"Section-4-Steady-State-Error\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-5fc072ac-82da-4dd2-9722-0bf1177c66f6\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/Section-4-Steady-State-Error.pdf\">Section-4-Steady-State-Error<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/Section-4-Steady-State-Error.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-5fc072ac-82da-4dd2-9722-0bf1177c66f6\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/notes-ess-non-unity.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"notes-ess-non-unity\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-1d5b3220-c0c6-4f57-9100-8135d2c64781\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/notes-ess-non-unity.pdf\">notes-ess-non-unity<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/notes-ess-non-unity.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-1d5b3220-c0c6-4f57-9100-8135d2c64781\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\uc544\ub798\ub294 \uc624\ub2f5. Compensator\ub97c \uc548\ucabd\uc73c\ub85c \ub8e8\ud504 \uc548\ucabd\uc73c\ub85c \uc124\uce58\ud560 \uacbd\uc6b0.<\/p>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/NeoStudio_20240509_183749.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"NeoStudio_20240509_183749\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-3288ac4c-46a7-4d3a-a7a7-10e478a0c143\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/NeoStudio_20240509_183749.pdf\">NeoStudio_20240509_183749<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/NeoStudio_20240509_183749.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-3288ac4c-46a7-4d3a-a7a7-10e478a0c143\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"936\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-53.png\" alt=\"\" class=\"wp-image-6203\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-53.png 936w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-53-768x1050.png 768w\" sizes=\"auto, (max-width: 936px) 100vw, 936px\" \/><\/figure>\n\n\n\n<pre class=\"wp-block-code\"><code><iframe loading=\"lazy\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/05\/NonUnity_Lagcompensator_Example.html\" width=\"600\" height=\"800\" align=\"middle\"><\/iframe><\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code><iframe loading=\"lazy\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/112_Lagcompensator.html\" width=\"600\" height=\"800\" align=\"middle\"><\/iframe><\/code><\/pre>\n\n\n\n&#8220;`html\n<div class=\"chapter19-wide\">\n\n  <h1>112\ud68c Lag Compensator \ubb38\uc81c\ud480\uc774<\/h1>\n\n  <div class=\"subtitle\">\n    Non-Unity Feedback \u00b7 Unity Feedback Conversion \u00b7 Steady-State Error \u00b7 Lag Compensator\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. \ubb38\uc81c<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub97c \uae30\uc874\uc758 1\/2\ub85c \uc904\uc774\uae30 \uc704\ud55c\n      \uc9c0\uc0c1\uc81c\uc5b4\uae30(Lag Controller)\ub97c \uc124\uacc4\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n                     +          20\n      R(s) -------->(\u03a3)---->[ ----------- ]----------> C(s)\n                     -       (s+1)(s+20)                 |\n                     ^                                  |\n                     |             50                   |\n                     +-----------[ ----- ]---------------+\n                                  s+5\n    <\/pre>\n\n    <div class=\"formula\">\n      G(s)\n      =\n      20\n      \/\n      [(s+1)(s+20)]\n    <\/div>\n\n    <div class=\"formula\">\n      H(s)\n      =\n      50\/(s+5)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. Non-Unity Feedback\ub97c Unity Feedback\uc73c\ub85c \ubcc0\ud658<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc6d0\ub798 \uc2dc\uc2a4\ud15c\uc740\n    <\/p>\n\n    <pre>\n                     +     \n      R(s) -------->(\u03a3)------>[ G(s) ]----------> Y(s)\n                     - ^                         |\n                       |                         |\n                       +------[ H(s) ]------------+\n    <\/pre>\n\n    <p>\n      \uc774\ub2e4.\n    <\/p>\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 feedback \uacbd\ub85c H(s)\ub97c\n      unity feedback \ud615\ud0dc\ub85c \ubcc0\uacbd\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n                           +------>[ G ]------+\n                           |                 |\n      R(s) ----->(\u03a3)-------+------>[ H ]------+-----> Y(s)\n                  -        |                 |\n                           +------>[ -1 ]-----+\n                  ^                            |\n                  |____________________________|\n    <\/pre>\n\n    <p>\n      \uc774\ub97c \ud558\ub098\uc758 forward block\uc73c\ub85c \ud569\uce58\uba74\n    <\/p>\n\n    <pre>\n                     +        G\n      R(s) -------->(\u03a3)---->[ ---------- ]------> Y(s)\n                     -       1+G(H-1)              |\n                     ^                              |\n                     |______________________________|\n    <\/pre>\n\n    <div class=\"formula\">\n      G<sub>eq<\/sub>(s)\n      =\n      G(s)\n      \/\n      [1+G(s)(H(s)-1)]\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Non-Unity Feedback \ubb38\uc81c\ub97c\n        Unity Feedback \ud615\ud0dc\ub85c \ubcc0\ud658\ud558\uc5ec\n        \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\uc640 System Type\uc744 \uacc4\uc0b0\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. Equivalent Open-Loop Transfer Function<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      G(s)\n      =\n      20\n      \/\n      [(s+1)(s+20)]\n    <\/div>\n\n    <div class=\"formula\">\n      H(s)\n      =\n      50\/(s+5)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      H(s)-1\n      =\n      50\/(s+5)-1\n    <\/div>\n\n    <div class=\"formula\">\n      =\n      (45-s)\/(s+5)\n    <\/div>\n\n    <p>\n      Equivalent open-loop transfer function\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      G<sub>eq<\/sub>(s)\n      =\n      \\frac{\n        \\frac{20}{(s+1)(s+20)}\n      }{\n        1+\n        \\frac{20}{(s+1)(s+20)}\n        \\frac{45-s}{s+5}\n      }\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. Position Error Constant<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Type 0 \uc2dc\uc2a4\ud15c\uc758 \ub2e8\uc704\uacc4\ub2e8 \uc785\ub825 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      1\/(1+K<sub>p<\/sub>)\n    <\/div>\n\n    <p>\n      \ub85c \uacc4\uc0b0\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>p<\/sub>\n      =\n      lim<sub>s\u21920<\/sub>\n      G<sub>eq<\/sub>(s)\n    <\/div>\n\n    <p>\n      \ud544\uae30 \uacc4\uc0b0\uc5d0\uc11c\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      G(0)\n      =\n      20\/(1\u00d720)\n      =\n      1\n    <\/div>\n\n    <div class=\"formula\">\n      H(0)-1\n      =\n      50\/5 &#8211; 1\n      =\n      9\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>p<\/sub>\n      =\n      1\/(1+9)\n    <\/div>\n\n    <div class=\"formula\">\n      K<sub>p<\/sub>\n      =\n      1\/10\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. \uae30\uc874 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      1\/(1+K<sub>p<\/sub>)\n    <\/div>\n\n    <p>\n      K<sub>p<\/sub>=1\/10\uc744 \ub300\uc785\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      1\/(1+1\/10)\n    <\/div>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      10\/11\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. \ubaa9\ud45c \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ubb38\uc81c \uc870\uac74\uc740 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub97c\n      \uae30\uc874\uc758 1\/2\ub85c \uc904\uc774\ub294 \uac83\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      e<sub>ss,target<\/sub>\n      =\n      (1\/2)\n      e<sub>ss<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      =\n      (1\/2)\n      \u00d7\n      (10\/11)\n    <\/div>\n\n    <div class=\"formula\">\n      e<sub>ss,target<\/sub>\n      =\n      5\/11\n    <\/div>\n\n    <p>\n      Type 0 \uc2dc\uc2a4\ud15c\uc5d0\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      5\/11\n      =\n      1\/(1+K<sub>p,target<\/sub>)\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>p,target<\/sub>\n      =\n      11\/5 &#8211; 1\n    <\/div>\n\n    <div class=\"formula\">\n      K<sub>p,target<\/sub>\n      =\n      6\/5\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. \ud544\uc694\ud55c DC Gain \uc99d\uac00\ube44<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uae30\uc874 Position Error Constant\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>p<\/sub>\n      =\n      1\/10\n    <\/div>\n\n    <p>\n      \ubaa9\ud45c\uac12\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>p,target<\/sub>\n      =\n      6\/5\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c \ud544\uc694\ud55c \uc800\uc8fc\ud30c gain \uc99d\uac00\ube44\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      \u03b2\n      =\n      K<sub>p,target<\/sub>\n      \/\n      K<sub>p<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      \u03b2\n      =\n      (6\/5)\/(1\/10)\n    <\/div>\n\n    <div class=\"formula\">\n      \u03b2\n      =\n      12\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub97c \uc808\ubc18\uc73c\ub85c \uac10\uc18c\uc2dc\ud0a4\uae30 \uc704\ud574\n        \uc800\uc8fc\ud30c gain\uc744 \uc57d 12\ubc30 \uc99d\uac00\uc2dc\ud0a4\ub294\n        Lag compensator\uac00 \ud544\uc694\ud558\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. Lag Compensator \ud615\ud0dc<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 Lag compensator\ub97c\n    <\/p>\n\n    <div class=\"formula\">\n      G<sub>c<\/sub>(s)\n      =\n      (s+z)\/(s+p)\n    <\/div>\n\n    <p>\n      \ud615\ud0dc\ub85c \ub454\ub2e4.\n    <\/p>\n\n    <p>\n      Lag compensator\uc5d0\uc11c\ub294 \uc77c\ubc18\uc801\uc73c\ub85c\n      pole\uc774 zero\ubcf4\ub2e4 \uc6d0\uc810\uc5d0 \ub354 \uac00\uae5d\uac8c \ubc30\uce58\ub41c\ub2e4.\n    <\/p>\n\n    <pre>\n      Re axis\n\n      --------------------\u25cb---------\u00d7----------\u2192\n                         -z        -p          0\n\n      \u25cb : Zero\n      \u00d7 : Pole\n\n      p &lt; z\n    <\/pre>\n\n    <p>\n      DC gain\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      G<sub>c<\/sub>(0)\n      =\n      z\/p\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c \ud544\uc694\ud55c gain \uc99d\uac00\ube44 \u03b2\uc5d0 \ub300\ud574\n    <\/p>\n\n    <div class=\"formula\">\n      z\/p\n      \u2248\n      \u03b2\n    <\/div>\n\n    <p>\n      \ub85c pole\uacfc zero\ub97c \uc815\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. PI \ud615\ud0dc\uc640 Lag Compensator<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 PI Controller\ub3c4 \ub2e4\uc74c\uacfc \uac19\uc774 \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>p<\/sub>\n      +\n      K<sub>i<\/sub>\/s\n    <\/div>\n\n    <div class=\"formula\">\n      =\n      (K<sub>p<\/sub>s+K<sub>i<\/sub>)\/s\n    <\/div>\n\n    <p>\n      \uc6d0\uc810 pole\uc744 \ucd94\uac00\ud558\uba74 System Type\uc774 \uc99d\uac00\ud558\ubbc0\ub85c\n      \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28 \ud2b9\uc131\uc774 \ud06c\uac8c \ubc14\ub010\ub2e4.\n    <\/p>\n\n    <p>\n      \ubc18\uba74 \uc77c\ubc18 Lag compensator\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      G<sub>c<\/sub>(s)\n      =\n      (s+z)\/(s+p)\n    <\/div>\n\n    <p>\n      \ud615\ud0dc\ub85c pole\uacfc zero\ub97c \uc6d0\uc810 \uadfc\ucc98\uc5d0 \ud568\uaed8 \ubc30\uce58\ud558\uc5ec\n      \uc800\uc8fc\ud30c gain\uc744 \uc99d\uac00\uc2dc\ud0a8\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. \ud544\uae30\uc5d0\uc11c \uc120\ud0dd\ud55c Pole-Zero<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uccab \ubc88\uc9f8 \ud544\uae30\uc5d0\ub294 \ub2e4\uc74c \uac12\uc774 \uc801\ud600 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      p = 0.1\n    <\/div>\n\n    <div class=\"formula\">\n      z = 0.3\n    <\/div>\n\n    <p>\n      \uc989\n    <\/p>\n\n    <div class=\"formula\">\n      G<sub>c<\/sub>(s)\n      =\n      (s+0.3)\/(s+0.1)\n    <\/div>\n\n    <p>\n      \ub85c \uc815\ub9ac\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      G<sub>c<\/sub>(0)\n      =\n      0.3\/0.1\n      =\n      3\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. \ub2e4\ub978 \ud544\uae30\uc758 Pole-Zero \uc120\uc815<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub9c8\uc9c0\ub9c9 \uc774\ubbf8\uc9c0\uc5d0\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      z = 2.1p\n    <\/div>\n\n    <p>\n      \ub77c\uace0 \uc801\ud600 \uc788\uace0,\n    <\/p>\n\n    <div class=\"formula\">\n      p = 0.1\n    <\/div>\n\n    <div class=\"formula\">\n      z = 0.21\n    <\/div>\n\n    <p>\n      \ub85c \uc120\uc815\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      G<sub>c<\/sub>(s)\n      =\n      (s+0.21)\/(s+0.1)\n    <\/div>\n\n    <div class=\"formula\">\n      G<sub>c<\/sub>(0)\n      =\n      2.1\n    <\/div>\n\n    <div class=\"warning\">\n      <strong>\n        \uc774\ubbf8\uc9c0 \uc0ac\uc774\uc5d0 pole-zero \uc120\uc815\uac12\uc774 \uc11c\ub85c \ub2e4\ub974\ub2e4.\n        \ud55c \ud544\uae30\uc5d0\ub294 p=0.1, z=0.3,\n        \ub2e4\ub978 \ud544\uae30\uc5d0\ub294 p=0.1, z=0.21\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n        \uc5ec\uae30\uc11c\ub294 \uc6d0\ubcf8 \uae30\ub85d\uc744 \uadf8\ub300\ub85c \ubcf4\uc874\ud558\uc600\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. \uc774\ubbf8\uc9c0 \uacc4\uc0b0 \uc815\ub9ac<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>\uc774\ubbf8\uc9c0 \uacc4\uc0b0<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>Plant<\/strong><\/td>\n          <td>\n            G(s)=20\/[(s+1)(s+20)]\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Feedback<\/strong><\/td>\n          <td>\n            H(s)=50\/(s+5)\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Unity \ubcc0\ud658<\/strong><\/td>\n          <td>\n            G<sub>eq<\/sub>=G\/[1+G(H-1)]\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uae30\uc874 Kp<\/strong><\/td>\n          <td>\n            1\/10\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uae30\uc874 e<sub>ss<\/sub><\/strong><\/td>\n          <td>\n            10\/11\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ubaa9\ud45c e<sub>ss<\/sub><\/strong><\/td>\n          <td>\n            5\/11\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ubaa9\ud45c Kp<\/strong><\/td>\n          <td>\n            6\/5\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ud544\uae30 1 Pole \/ Zero<\/strong><\/td>\n          <td>\n            p=0.1, z=0.3\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ud544\uae30 2 Pole \/ Zero<\/strong><\/td>\n          <td>\n            p=0.1, z=0.21\n          <\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    Lag Compensator, Steady-State Error,\n    Position Error Constant, Type 0 System,\n    Non-Unity Feedback, Unity Feedback Conversion,\n    Pole, Zero, PI Controller\n  <\/div>\n\n<\/div>\n&#8220;`\n","protected":false},"excerpt":{"rendered":"<p>Type 0 \uc2dc\uc2a4\ud15c\uc5d0\uc11c Kp\uac00 \uc8fc\uc5b4\uc84c\uc744 \uacbd\uc6b0, Steady state error\ub97c \uac10\uc18c\uc2dc\ud0a4\uae30 \uc704\ud55c Lag compensator\uc758 pole\uacfc zero\ub97c \uc120\uc815. \uc774\uac8c \ub0b4\uac00 \uc0dd\uac01\ud558\ub294 \ub2f5! unity feedback\uc73c\ub85c \ubcc0\uacbd \ud544\uc694. \uc774 \ub54c open loop transfer function\uc758 \uc6d0\uc810 pole\uc774 \uc2dc\uc2a4\ud15c \ud0c0\uc785\uc744 \uacb0\uc815. KOCW \uacfd\uad00\uc6c5 \uad50\uc218, Design Lag\/Lead compensator \ucc38\uc870. \uc544\ub798\ub294 \uc624\ub2f5. Compensator\ub97c \uc548\ucabd\uc73c\ub85c \ub8e8\ud504 \uc548\ucabd\uc73c\ub85c \uc124\uce58\ud560 \uacbd\uc6b0. &#8220;`html 112\ud68c Lag Compensator \ubb38\uc81c\ud480\uc774 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_feature_clip_id":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_post_was_ever_published":false},"categories":[1185],"tags":[1237,1238],"class_list":["post-6199","post","type-post","status-publish","format-standard","hentry","category-1185","tag-lag-compansator","tag-pi-controller"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6199","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/comments?post=6199"}],"version-history":[{"count":12,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6199\/revisions"}],"predecessor-version":[{"id":9558,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6199\/revisions\/9558"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=6199"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=6199"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=6199"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}