{"id":6777,"date":"2024-03-09T22:31:59","date_gmt":"2024-03-09T13:31:59","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=6777"},"modified":"2026-10-04T09:55:12","modified_gmt":"2026-10-04T00:55:12","slug":"%ec%a0%9c%ec%96%b4%ea%b8%b0-%ec%84%a4%ea%b3%84%ec%8b%9c-%ea%b3%a0%eb%a0%a4-%ec%82%ac%ed%95%ad","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/%ec%a0%9c%ec%96%b4%ea%b8%b0-%ec%84%a4%ea%b3%84%ec%8b%9c-%ea%b3%a0%eb%a0%a4-%ec%82%ac%ed%95%ad\/","title":{"rendered":"\uc81c\uc5b4\uae30 \uc124\uacc4\uc2dc \uace0\ub824 \uc0ac\ud56d"},"content":{"rendered":"\n

\uc790\ub3d9\uc81c\uc5b4\uc2dc\uc2a4\ud15c\uc744 \uc124\uacc4\ud560 \ub54c \uace0\ub824\ud560 \uc0ac\ud56d 5\uac00\uc9c0\ub97c \uc124\uba85\ud558\uc2dc\uc624<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\uc790\ub3d9\uc81c\uc5b4\uc2dc\uc2a4\ud15c\uc744 \uc124\uacc4\ud560 \ub54c \uace0\ub824\ud574\uc57c \ud558\ub294 \uc8fc\uc694 \uc0ac\ud56d\uc740 \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4:<\/p>\n\n\n\n

    \n
  1. \uc2dc\uc2a4\ud15c \uc548\uc815\uc131<\/strong>: \uc81c\uc5b4 \uc2dc\uc2a4\ud15c\uc758 \uae30\ubcf8\uc801\uc778 \ubaa9\ud45c \uc911 \ud558\ub098\ub85c, \uc124\uacc4 \uc2dc \ud56d\uc0c1 \uace0\ub824\ud574\uc57c \ud569\ub2c8\ub2e4<\/a>1<\/sup><\/a>.<\/li>\n\n\n\n
  2. \uc131\ub2a5 \uba85\uc138<\/strong>: \uc2dc\uc2a4\ud15c\uc758 \uc751\ub2f5 \uc18d\ub3c4, \uc624\ubc84\uc288\ud2b8, \uc548\uc815\uc131 \ub4f1\uc758 \uc131\ub2a5\uc744 \uc815\ud655\ud558\uac8c \uba85\uc138\ud574\uc57c \ud569\ub2c8\ub2e4<\/a>1<\/sup><\/a>.<\/li>\n\n\n\n
  3. \uc81c\uc5b4\uae30\uc758 \ud55c\uacc4<\/strong>: \uac01 \uc81c\uc5b4\uae30\ub294 \ud2b9\uc815\ud55c \uc7a5\uc810\uc744 \uac00\uc9c0\uc9c0\ub9cc \ub3d9\uc2dc\uc5d0 \ud55c\uacc4\ub3c4 \uc874\uc7ac\ud569\ub2c8\ub2e4. \uc774\ub97c \ud30c\uc545\ud558\uace0 \uc801\uc808\ud55c \uc81c\uc5b4\uae30\ub97c \uc120\ud0dd\ud574\uc57c \ud569\ub2c8\ub2e4<\/a>1<\/sup><\/a>.<\/li>\n\n\n\n
  4. \uc2dc\uc2a4\ud15c \ubbfc\uac10\ub3c4<\/strong>: \uc678\ubd80 \uc7a1\uc74c \ub610\ub294 \ubcc0\ud654\uc5d0 \ub300\ud55c \uc2dc\uc2a4\ud15c\uc758 \ubbfc\uac10\ub3c4\ub97c \ucd5c\uc18c\ud654\ud558\ub824\ub294 \ub178\ub825\uc774 \ud544\uc694\ud569\ub2c8\ub2e4<\/a>1<\/sup><\/a>.<\/li>\n\n\n\n
  5. \ube44\uc6a9\uacfc \ubcf5\uc7a1\uc131<\/strong>: \uc131\ub2a5\uc744 \ud5a5\uc0c1\uc2dc\ud0a4\uae30 \uc704\ud574 \ubcf5\uc7a1\ud55c \uc2dc\uc2a4\ud15c\uc744 \uc124\uacc4\ud560 \uc218 \uc788\uc9c0\ub9cc, \uc774\ub294 \ube44\uc6a9 \uc99d\uac00\uc640 \uc720\uc9c0 \ubcf4\uc218\uc758 \uc5b4\ub824\uc6c0\uc744 \ucd08\ub798\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4<\/a>1<\/sup><\/a>.<\/li>\n<\/ol>\n\n\n\n

    \uc774\ub7ec\ud55c \uc694\uc18c\ub4e4\uc740 \uc2dc\uc2a4\ud15c\uc758 \uc131\ub2a5\uacfc \uc548\uc815\uc131\uc744 \ubcf4\uc7a5\ud558\uba70, \uc0ac\uc6a9\uc790\uc758 \uc694\uad6c\uc0ac\ud56d\uc744 \ucda9\uc871\ud558\ub294 \ub370 \uc911\uc694\ud55c \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e41<\/sup><\/a>.<\/p>\n\n\n\n“`html\n

    \n\n

    \uc81c\uc5b4\uae30 \uc124\uacc4\uc2dc \uace0\ub824 \uc0ac\ud56d<\/h1>\n\n
    \n Negative Feedback \u00b7 Stability \u00b7 Transient Response \u00b7 Steady-State Error \u00b7 Robustness \u00b7 Controllability \u00b7 Observability \u00b7 Optimal Control\n <\/div>\n\n\n \n

    1. Negative Feedback System<\/h2>\n\n
    \n\n

    \n \ud544\uae30\uc5d0\uc11c\ub294 \uc81c\uc5b4\uc2dc\uc2a4\ud15c\uc758 \uae30\ubcf8\uad6c\uc870\ub85c\n Negative Feedback System\uc744 \uc81c\uc2dc\ud55c\ub2e4.\n <\/p>\n\n 

    \n                         Disturbance\n                              \u2502\n                              \u25bc\n      r(t) \u2500\u2500\u25ba (+) \u03a3 \u2500\u2500\u25ba [ Controller ] \u2500\u2500\u25ba [ Plant ] \u2500\u2500\u25ba y(t)\n                \u25b2  -                                  \u2502\n                \u2502                                     \u2502\n                \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 [ Sensor ] \u25c4\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n    <\/pre>\n\n    
    \n      \uae30\uc900\uac12\uacfc \ucd9c\ub825\uc758 \ucc28\uc774\ub97c \uc774\uc6a9\ud558\uc5ec\n      \uc81c\uc5b4\uc785\ub825\uc744 \uacb0\uc815\ud55c\ub2e4.\n    <\/p>\n\n    
    \n      \n        \uc678\ub780\uc758 \uc601\ud5a5\uc744 \uc904\uc774\uace0\n        \ubaa9\ud45c\uac12\uc744 \ucd94\uc885\ud558\uae30 \uc704\ud574\n        Negative Feedback System\uc744 \uc0ac\uc6a9\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
    2. Stability<\/h2>\n\n  
    \n\n    
    \n      \uc81c\uc5b4\uae30 \uc124\uacc4\uc5d0\uc11c\n      \uc548\uc815\uc131\uc774 \uac00\uc7a5 \uc911\uc694\ud558\ub2e4\uace0 \ud544\uae30\uc5d0 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    
    \n      \uc2dc\uc2a4\ud15c\uc774 \ubd88\uc548\uc815\ud558\ub2e4\uba74\n      Controller\uc758 Pole\uacfc Zero\ub97c \uc801\uc808\ud788 \ucd94\uac00\ud558\uac70\ub098\n      System Gain\uc744 \uc870\uc808\ud55c\ub2e4.\n    <\/p>\n\n    
    \n      Controller Pole \/ Zero \uc870\uc815\n      +\n      System Gain \uc870\uc815\n      \u2192\n      Stability \ud655\ubcf4\n    <\/div>\n\n    
    \n      \uc548\uc815\uc131 \ud310\ub2e8 \ubc29\ubc95\uc73c\ub85c\n      \ub2e4\uc74c \ub450 \uac00\uc9c0\uac00 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    
      \n      
    • Root Locus\uac00 LHP\uc5d0 \uc704\uce58<\/li>\n      
    • Nyquist Criterion \ub9cc\uc871<\/li>\n    <\/ul>\n\n    
      \n      Closed Loop Pole\n      \u2208\n      LHP\n      \u2192\n      Stable\n    <\/div>\n\n    
      \n      \n        \uc81c\uc5b4\uae30 \uc124\uacc4\uc758 \uccab \ubc88\uc9f8 \uc870\uac74\uc740\n        Closed-Loop System\uc758 \uc548\uc815\uc131 \ud655\ubcf4\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
      3. Transient Response<\/h2>\n\n  
      \n\n    
      \n      \uacfc\ub3c4\uc0c1\ud0dc\uc5d0\uc11c\ub294\n      \uc2dc\uc2a4\ud15c\uc758 \uc751\ub2f5\uc18d\ub3c4\uc640 \uc751\ub2f5\ud615\ud0dc\ub97c \uace0\ub824\ud55c\ub2e4.\n    <\/p>\n\n    
      \n      \ud544\uae30\uc5d0\uc11c\ub294 \ub2e4\uc74c \uc131\ub2a5\uc9c0\ud45c\ub97c \uc5b8\uae09\ud55c\ub2e4.\n    <\/p>\n\n    
        \n      
      • Settling Time<\/li>\n      
      • Overshoot<\/li>\n      
      • \uac01 \uc0c1\ud669\uc5d0 \uc801\ud569\ud55c \uc131\ub2a5\uae30\uc900<\/li>\n    <\/ul>\n\n    
        \n      Reference \ubcc0\ud654\n      \u2192\n      Transient Response\n      \u2192\n      \ubaa9\ud45c\uac12 \ucd94\uc885\n    <\/div>\n\n    
        \n      \n        \ubaa9\ud45c\uac12\uc774 \ubcc0\ud654\ud588\uc744 \ub54c\n        \uc2dc\uc2a4\ud15c\uc774 \uc5bc\ub9c8\ub098 \ube60\ub974\uace0 \uc801\uc808\ud558\uac8c\n        \ub530\ub77c\uac00\ub294\uc9c0\ub97c \uace0\ub824\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        4. Steady-State Response<\/h2>\n\n  
        \n\n    
        \n      Steady State\ub294\n      Transient State\ub97c \uc9c0\ub09c \ud6c4\n      \uc2dc\uc2a4\ud15c\uc758 \ubaa9\ud45c\uc624\ucc28\ub97c \uc5bc\ub9c8\ub098 \uc904\uc77c \uc218 \uc788\ub294\uc9c0\ub97c \ubcf8\ub2e4.\n    <\/p>\n\n    
        \n      Steady-State Error\n      =\n      \ubaa9\ud45c\uac12 – \uc815\uc0c1\uc0c1\ud0dc \ucd9c\ub825\n    <\/div>\n\n    
        \n      \ud544\uae30\uc5d0\uc11c\ub294 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\uac00\n      System Type\uc5d0 \uc758\ud574 \uacb0\uc815\ub41c\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    
        \n      System Type\n      \u2192\n      Steady-State Error\n    <\/div>\n\n    
        \n      \n        \uacfc\ub3c4\uc751\ub2f5\ubfd0 \uc544\ub2c8\ub77c\n        \ucd5c\uc885\uc801\uc73c\ub85c \ubaa9\ud45c\uac12\uc5d0 \uc5bc\ub9c8\ub098 \uc815\ud655\ud558\uac8c \ub3c4\ub2ec\ud558\ub294\uc9c0\ub3c4\n        \uc81c\uc5b4\uae30 \uc124\uacc4\uc758 \uc911\uc694\ud55c \uae30\uc900\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        5. \uc678\ub780\uc5d0 \ub300\ud55c \uac15\uc778\uc131<\/h2>\n\n  
        \n\n    
        \n      \ud544\uae30\uc5d0\uc11c\ub294 \uc678\ub780\uc774\n      \ube44\uad50\uc801 \ub0ae\uc740 \uc8fc\ud30c\uc218 \uc601\uc5ed\uc73c\ub85c \ub4e4\uc5b4\uc624\ub294 \uacbd\uc6b0\ub97c \uc124\uba85\ud55c\ub2e4.\n    <\/p>\n\n    
        \n      \uc11c\uc11c\ud788 \ubcc0\ud654\ud558\ub294 \uc678\ub780\uc774 \ubc1c\uc0dd\ud558\ub354\ub77c\ub3c4\n      \uc2dc\uc2a4\ud15c\uc774 \uc774\ub97c \ube60\ub974\uac8c \ubcf5\uc6d0\ud560 \uc218 \uc788\uc5b4\uc57c \ud55c\ub2e4.\n    <\/p>\n\n    
        \n      Disturbance\n      \u2192\n      Output \ubcc0\ud654\n      \u2192\n      Feedback\n      \u2192\n      \ubcf5\uc6d0\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        6. Bandwidth\uc640 Noise<\/h2>\n\n  
        \n\n    
        \n      \ud544\uae30\uc5d0\uc11c\ub294 System Bandwidth\ub97c \uace0\ub824\ud558\uc5ec\n      \uace0\uc8fc\ud30c Sensor Noise\uc758 \uc601\ud5a5\uc744 \uc904\uc774\ub294 \ubc29\ud5a5\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    
        \n      High Frequency Sensor Noise\n      \u2192\n      Attenuation\n    <\/div>\n\n    
        \n      \ub3d9\uc2dc\uc5d0 \uc81c\uc5b4\uc5d0 \ud544\uc694\ud55c \uc800\uc8fc\ud30c \uc601\uc5ed\uc758 \uc2e0\ud638\ub294\n      \uc2dc\uc2a4\ud15c\uc774 \uc801\uc808\ud558\uac8c \ucd94\uc885\ud558\ub3c4\ub85d \uc124\uacc4\ud55c\ub2e4.\n    <\/p>\n\n    
        \n      Magnitude\n          \u2191\n          \u2502\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n          \u2502            \\\n          \u2502             \\\n          \u2502              \\____\n          \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2192 Frequency\n\n            Control \uc601\uc5ed      High-Frequency Noise\n                                \u2193\n                              \uac10\uc1e0\n    <\/pre>\n\n  <\/div>\n\n\n  \n  
        7. Feedforward \uc801\uc6a9<\/h2>\n\n  
        \n\n    
        \n      \uc678\ub780\uc774\ub098 \uce21\uc815 \uac00\ub2a5\ud55c \ubcc0\uc218\ub97c\n      \ubbf8\ub9ac \uc54c \uc218 \uc788\ub294 \uacbd\uc6b0\uc5d0\ub294\n      Feedforward\ub97c \uc0ac\uc6a9\ud558\uc5ec\n      \uc81c\uc5b4\uc131\ub2a5\uc744 \ub192\uc77c \uc218 \uc788\ub2e4\uace0 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    
        \n      Disturbance\n          \u2502\n          \u251c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba [ Feedforward ]\n          \u2502                 \u2502\n          \u2502                 \u25bc\n          \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba Control Input\n    <\/pre>\n\n    
        \n      Feedback\n      +\n      Feedforward\n      \u2192\n      Control Performance \ud5a5\uc0c1\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        8. Controllability<\/h2>\n\n  
        \n\n    
        \n      State Space\ub97c \uc774\uc6a9\ud558\uc5ec\n      \uc2dc\uc2a4\ud15c\uc744 \uc124\uacc4\ud558\ub294 \uacbd\uc6b0\n      Controllability\ub97c \ud655\uc778\ud574\uc57c \ud55c\ub2e4.\n    <\/p>\n\n    
        \n      Controllability\n      =\n      \uc785\ub825\uc73c\ub85c \uc2dc\uc2a4\ud15c\uc758 \uc0c1\ud0dc\ub97c\n      \uc6d0\ud558\ub294 \uc0c1\ud0dc\ub85c \uc81c\uc5b4\ud560 \uc218 \uc788\ub294\uac00\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        9. Observability<\/h2>\n\n  
        \n\n    
        \n      \ucd9c\ub825\uce21\uc5d0\uc11c \ud544\uc694\ud55c \uc0c1\ud0dc\uac12\uc744\n      \ud655\uc778\ud560 \uc218 \uc788\ub294\uc9c0\uc5d0 \ub300\ud55c\n      Observability\ub3c4 \uc911\uc694\ud558\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    
        \n      Observability\n      =\n      \ucd9c\ub825\uc73c\ub85c\ubd80\ud130 \ub0b4\ubd80 \uc0c1\ud0dc\ub97c\n      \ud655\uc778\ud560 \uc218 \uc788\ub294\uac00\n    <\/div>\n\n    
        \n      \n        State-Space \uae30\ubc18 \uc81c\uc5b4\uae30 \uc124\uacc4\uc5d0\uc11c\ub294\n        Controllability\uc640 Observability\ub97c\n        \ubaa8\ub450 \uace0\ub824\ud574\uc57c \ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        10. Controllability\uc640 Observability<\/h2>\n\n  
        \n\n    
        \n          Input u(t)\n              \u2502\n              \u25bc\n          \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n          \u2502 System \u2502\n          \u2502 State x\u2502\n          \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n              \u2502\n              \u25bc\n          Output y(t)\n\n\n      Controllability\n      Input \u2192 State \uc81c\uc5b4 \uac00\ub2a5 \uc5ec\ubd80\n\n      Observability\n      Output \u2192 State \ud655\uc778 \uac00\ub2a5 \uc5ec\ubd80\n    <\/pre>\n\n    
        \n      Controllable\n      +\n      Observable\n      \u2192\n      State-Space Controller Design\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        11. Optimal Control<\/h2>\n\n  
        \n\n    
        \n      Optimal Control\uc5d0\uc11c\ub294\n      \ubb34\uc5c7\uc5d0 \uc911\uc810\uc744 \ub450\uace0 \uc81c\uc5b4\ud560 \uac83\uc778\uc9c0 \ud310\ub2e8\ud574\uc57c \ud55c\ub2e4.\n    <\/p>\n\n    
        \n      \ud544\uae30\uc5d0\uc11c\ub294 LQR\uc744 \uc608\ub85c \ub4e4\uc5b4\n      \uc0c1\ud0dc\uc758 \uc131\ub2a5\uacfc \uc81c\uc5b4\uc785\ub825 \ube44\uc6a9 \uc0ac\uc774\uc758\n      \uade0\ud615\uc744 \uace0\ub824\ud55c\ub2e4.\n    <\/p>\n\n    
        \n      LQR Cost\n      =\n      \u222b\n      (\n      State Cost\n      +\n      Control Cost\n      )\n      dt\n    <\/div>\n\n    
        \n      \n        \uc6d0\ubcf8 \ud544\uae30\uc758 LQR \uc218\uc2dd\uc740 \uc190\uae00\uc528\uac00 \ubd88\uba85\ud655\ud558\uc5ec\n        \ud589\ub82c\uc2dd\uc758 \uc138\ubd80 \uae30\ud638\ub97c \uc784\uc758\ub85c \ud655\uc815\ud558\uc9c0 \uc54a\uace0\n        \ud544\uae30\uc5d0\uc11c \uba85\ud655\ud55c \uc758\ubbf8\uc778\n        \uc0c1\ud0dc \uc131\ub2a5\uacfc \uc81c\uc5b4\ube44\uc6a9\uc758 Cost Function \uad00\uacc4\ub9cc \ubc18\uc601\ud588\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        12. \uc131\ub2a5\uacfc \uc6b4\uc601\ube44\uc6a9\uc758 Trade-Off<\/h2>\n\n  
        \n\n    
        \n      \ud544\uae30\uc5d0\uc11c\ub294 \uc81c\uc5b4\uc131\ub2a5\uacfc \ube44\uc6a9 \uc0ac\uc774\uc5d0\n      Trade-Off\uac00 \uc874\uc7ac\ud55c\ub2e4\uace0 \uc124\uba85\ud55c\ub2e4.\n    <\/p>\n\n    
        \n      \uc131\ub2a5 \uc911\uc2dc\n          \u2502\n          \u251c\u2500\u2500 \ube60\ub978 \uc751\ub2f5\n          \u251c\u2500\u2500 \ub192\uc740 \uc81c\uc5b4\uc131\ub2a5\n          \u2514\u2500\u2500 \uc6b4\uc601\ube44\uc6a9 \uc99d\uac00 \uac00\ub2a5\n\n                  \u2195 Trade-Off\n\n      \ube44\uc6a9 \uc911\uc2dc\n          \u2502\n          \u251c\u2500\u2500 \uc6b4\uc601\ube44\uc6a9 \uac10\uc18c\n          \u2514\u2500\u2500 \uc81c\uc5b4\uc131\ub2a5 \uc800\ud558 \uac00\ub2a5\n    <\/pre>\n\n    
        \n      \n        \uc131\ub2a5\ub9cc \ucd5c\ub300\ud654\ud558\uac70\ub098 \ube44\uc6a9\ub9cc \ucd5c\uc18c\ud654\ud558\ub294 \uac83\uc774 \uc544\ub2c8\ub77c\n        \ub450 \uc694\uc18c \uc0ac\uc774\uc758 \uc801\uc808\ud55c \uade0\ud615\uc810\uc744 \ucc3e\uc544\uc57c \ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        13. Optimal Control \uc801\uc6a9 \uc608<\/h2>\n\n  
        \n\n    
        \n      \ud544\uae30\uc5d0\uc11c\ub294 \uc774\ub7ec\ud55c \uade0\ud615\uc810\uc774 \uc911\uc694\ud55c \uc0ac\ub840\ub85c\n      \uc778\uacf5\uc704\uc131 \uc790\uc138\uc81c\uc5b4\ub97c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    
        \n      Control Performance\n      \u2194\n      Control Energy \/ Cost\n    <\/div>\n\n    
        \n      Optimal Point\n      \u2192\n      Required Performance \ub9cc\uc871\n      +\n      Control Cost \ucd5c\uc18c\ud654\n    <\/div>\n\n  <\/div>\n\n\n  \n  
        14. \uc81c\uc5b4\uae30 \uc124\uacc4 \uace0\ub824\uc0ac\ud56d \uc815\ub9ac<\/h2>\n\n  
        \n\n    \n\n      \n        \n          \n\n        \n          \n          \n          \n          \n          
        No.<\/th>\n          \uace0\ub824\uc0ac\ud56d<\/th>\n          \ud544\uae30 \ud575\uc2ec<\/th>\n        <\/tr>\n      <\/thead>\n\n      
        1<\/td>\n          Stability<\/strong><\/td>\n          \n            Pole\/Zero\u00b7Gain \uc870\uc815,\n            Root Locus LHP,\n            Nyquist Criterion\n          <\/td>\n        <\/tr>\n\n        
        2<\/td>\n          Transient \/ Steady State<\/strong><\/td>\n          \n            Settling Time, Overshoot,\n            \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\n          <\/td>\n        <\/tr>\n\n        
        3<\/td>\n          Robustness<\/strong><\/td>\n          \n            \uc678\ub780 \uc5b5\uc81c,\n            Bandwidth,\n            Sensor Noise,\n            Feedforward\n          <\/td>\n        <\/tr>\n\n        
        4<\/td>\n          Observability \/ Controllability<\/strong><\/td>\n          \n            State-Space \uc81c\uc5b4 \uac00\ub2a5\uc131\uacfc\n            \uc0c1\ud0dc \uad00\uce21 \uac00\ub2a5\uc131\n          <\/td>\n        <\/tr>\n\n        
        5<\/td>\n          Optimal Control<\/strong><\/td>\n          \n            \uc81c\uc5b4\uc131\ub2a5\uacfc \uc6b4\uc601\ube44\uc6a9\uc758\n            Trade-Off\n          <\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  \n  
        15. \uc774\ubbf8\uc9c0 \uc804\uccb4 \ud750\ub984<\/h2>\n\n  
        \n\n    
        \n      Negative Feedback\n             \u2502\n             \u25bc\n         Stability\n             \u2502\n             \u25bc\n      Transient Response\n      Steady-State Error\n             \u2502\n             \u25bc\n      Disturbance \/ Noise\n         Robustness\n             \u2502\n             \u25bc\n      Controllability\n      Observability\n             \u2502\n             \u25bc\n       Optimal Control\n             \u2502\n             \u25bc\n      Performance \u2194 Cost\n    <\/pre>\n\n  <\/div>\n\n\n  \n  
        \n    \n      \uc774 HTML\uc740 \ud398\uc774\uc9c0 \ubcf8\ubb38\uc774\ub098 \uc678\ubd80 \uc124\uba85\uc744 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uace0\n      \uc77c\ubc18 \ud544\uae30 \uc774\ubbf8\uc9c0 3\uc7a5\ub9cc OCR\/\uc2dc\uac01 \ud310\ub3c5\ud558\uc5ec \uc791\uc131\ud588\ub2e4.\n      \uc774 \ud398\uc774\uc9c0\uc5d0\ub294 NeoStudio PDF\uac00 \ud655\uc778\ub418\uc9c0 \uc54a\uc558\ub2e4.\n\n      \ud2b9\ud788 \ub9c8\uc9c0\ub9c9 \ud398\uc774\uc9c0\uc758 LQR \uc218\uc2dd\uc740 \uc190\uae00\uc528 \uc77c\ubd80\uac00 \ubd88\uba85\ud655\ud558\uc5ec\n      \uc77c\ubc18\uc801\uc778 LQR \uacf5\uc2dd\uc744 \uc784\uc758\ub85c \ubcf4\uc644\ud558\uc9c0 \uc54a\uace0,\n      \uc6d0\ubcf8\uc5d0\uc11c \uba85\ud655\ud558\uac8c \ud655\uc778\ub418\ub294\n      \uc0c1\ud0dc \uc131\ub2a5\uacfc \uc81c\uc5b4\ube44\uc6a9\uc758 \uade0\ud615\uc774\ub77c\ub294 \uc758\ubbf8\uae4c\uc9c0\ub9cc \ubc18\uc601\ud588\ub2e4.\n    <\/strong>\n  <\/div>\n\n\n  \n  
        \n    Controller Design,\n    Negative Feedback,\n    Stability,\n    Root Locus,\n    Nyquist Criterion,\n    Transient Response,\n    Steady-State Error,\n    Settling Time,\n    Overshoot,\n    Robustness,\n    Disturbance Rejection,\n    Bandwidth,\n    Sensor Noise,\n    Feedforward,\n    Controllability,\n    Observability,\n    State Space,\n    Optimal Control,\n    LQR\n  <\/div>\n\n<\/div>\n“`\n","protected":false},"excerpt":{"rendered":"
        \uc790\ub3d9\uc81c\uc5b4\uc2dc\uc2a4\ud15c\uc744 \uc124\uacc4\ud560 \ub54c \uace0\ub824\ud560 \uc0ac\ud56d 5\uac00\uc9c0\ub97c \uc124\uba85\ud558\uc2dc\uc624 \uc790\ub3d9\uc81c\uc5b4\uc2dc\uc2a4\ud15c\uc744 \uc124\uacc4\ud560 \ub54c \uace0\ub824\ud574\uc57c \ud558\ub294 \uc8fc\uc694 \uc0ac\ud56d\uc740 \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4: \uc774\ub7ec\ud55c \uc694\uc18c\ub4e4\uc740 \uc2dc\uc2a4\ud15c\uc758 \uc131\ub2a5\uacfc \uc548\uc815\uc131\uc744 \ubcf4\uc7a5\ud558\uba70, \uc0ac\uc6a9\uc790\uc758 \uc694\uad6c\uc0ac\ud56d\uc744 \ucda9\uc871\ud558\ub294 \ub370 \uc911\uc694\ud55c \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e41. “`html \uc81c\uc5b4\uae30 \uc124\uacc4\uc2dc \uace0\ub824 \uc0ac\ud56d Negative Feedback \u00b7 Stability \u00b7 Transient Response \u00b7 Steady-State Error \u00b7 Robustness \u00b7 Controllability \u00b7 Observability \u00b7 Optimal Control 1. Negative […]<\/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":[1463],"class_list":["post-6777","post","type-post","status-publish","format-standard","hentry","category-1185","tag-1463"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6777","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=6777"}],"version-history":[{"count":2,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6777\/revisions"}],"predecessor-version":[{"id":9598,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6777\/revisions\/9598"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=6777"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=6777"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=6777"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}