{"id":6870,"date":"2024-03-15T22:15:34","date_gmt":"2024-03-15T13:15:34","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=6870"},"modified":"2026-10-04T10:03:39","modified_gmt":"2026-10-04T01:03:39","slug":"lead-lag-compensator","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/lead-lag-compensator\/","title":{"rendered":"lead, lag compensator"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\uc9c4\uc0c1 \ubcf4\uc0c1\ubc95\uacfc \uc9c0\uc0c1 \ubcf4\uc0c1\ubc95\uc744 \ube44\uad50\ud558\uc5ec \uc124\uba85\ud558\uc2dc\uc624.<\/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\/03\/\uc81c\ubaa9-\uc5c6\uc74c-42.jpg\" alt=\"\" class=\"wp-image-6871\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/03\/\uc81c\ubaa9-\uc5c6\uc74c-42.jpg 936w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/03\/\uc81c\ubaa9-\uc5c6\uc74c-42-768x1050.jpg 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=\"914\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/03\/image-41.png\" alt=\"\" class=\"wp-image-8838\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/03\/image-41.png 914w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/03\/image-41-768x1076.png 768w\" sizes=\"auto, (max-width: 914px) 100vw, 914px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"http:\/\/www.kocw.net\/home\/cview.do?cid=787c83eec52624ae\">KOCW \uacfd\uad00\uc6c5, \uc790\ub3d9\uc81c\uc5b4 2019, \ucc38\uc870<\/a><\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-now-0930 wp-block-embed-now-0930\"><div class=\"wp-block-embed__wrapper\">\n<blockquote class=\"wp-embedded-content\" data-secret=\"kN6GGrh4vf\"><a href=\"https:\/\/now0930.pe.kr\/wordpress\/lag-compensator-%eb%ac%b8%ec%a0%9c%ed%92%80%ec%9d%b4\/\">112\ud68c Lag compensator \ubb38\uc81c\ud480\uc774<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"\u201c112\ud68c Lag compensator \ubb38\uc81c\ud480\uc774\u201d \u2014 now0930 \uc77c\uc9c0\" src=\"https:\/\/now0930.pe.kr\/wordpress\/lag-compensator-%eb%ac%b8%ec%a0%9c%ed%92%80%ec%9d%b4\/embed\/#?secret=7LRdKd1FdU#?secret=kN6GGrh4vf\" data-secret=\"kN6GGrh4vf\" width=\"580\" height=\"327\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-now-0930 wp-block-embed-now-0930\"><div class=\"wp-block-embed__wrapper\">\n<blockquote class=\"wp-embedded-content\" data-secret=\"b8xONuKNov\"><a href=\"https:\/\/now0930.pe.kr\/wordpress\/root-locus-design\/\">lag compensator \uc124\uacc4 root locus design<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"\u201clag compensator \uc124\uacc4 root locus design\u201d \u2014 now0930 \uc77c\uc9c0\" src=\"https:\/\/now0930.pe.kr\/wordpress\/root-locus-design\/embed\/#?secret=BpUn4uIm3j#?secret=b8xONuKNov\" data-secret=\"b8xONuKNov\" width=\"580\" height=\"327\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe>\n<\/div><\/figure>\n\n\n\n&#8220;`html\n<div class=\"chapter19-wide\">\n\n  <h1>Lead \u00b7 Lag Compensator<\/h1>\n\n  <div class=\"subtitle\">\n    Lead Compensator \u00b7 Lag Compensator \u00b7 PI \u00b7 PD \u00b7 Pole \u00b7 Zero \u00b7 Steady-State Error \u00b7 Transient Response\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. Lead \u00b7 Lag Compensator<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 Lead\uc640 Lag \ubcf4\uc0c1\uae30\ub97c\n      \ub2e4\uc74c \ud615\ud0dc\uc758 \uc804\ub2ec\ud568\uc218\ub85c \ub098\ud0c0\ub0b8\ub2e4.\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      Pole\uacfc Zero\uac00 \ubaa8\ub450 \uc874\uc7ac\ud558\uba70,\n      <strong>p\uc640 z\uc758 \uc0c1\ub300\uc801\uc778 \uc704\uce58<\/strong>\uc5d0 \ub530\ub77c\n      Lead \ub610\ub294 Lag \ubcf4\uc0c1\uae30\uac00 \ub41c\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        Lead \/ Lag\uc758 \uad6c\ubd84 \ud575\uc2ec\uc740\n        Pole\uacfc Zero\uc758 \uc0c1\ub300\uc801\uc778 \uc704\uce58\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. Lag Compensator<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      G<sub>Lag<\/sub>(s)\n      =\n      (s + z) \/ (s + p)\n    <\/div>\n\n    <div class=\"formula\">\n      p &lt;&lt; z\n    <\/div>\n\n    <pre>\n      s-plane\n\n      \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u00d7\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25cb\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba\n             -z           -p? \n    <\/pre>\n\n    <div class=\"warning\">\n      <strong>\n        \uc6d0\ubcf8 \ud544\uae30\uc758 p, z \ud45c\uae30\ub294\n        \uc808\ub300\uac12 \uae30\uc900\uc758 \uc704\uce58\uad00\uacc4\ub85c \uc801\ud600 \uc788\ub2e4.\n        \uc5ec\uae30\uc11c\ub294 \uc6d0\ubcf8\uc758 \ud575\uc2ec \ud45c\ud604\uc778\n        p &lt;&lt; z\ub97c \uadf8\ub300\ub85c \uc720\uc9c0\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. Lag Compensator\uc640 PI \uc81c\uc5b4\uae30<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 Lag Compensator\ub97c\n      PI \uc81c\uc5b4\uae30\uc640 \ub300\uc751\ud558\uc5ec \uc124\uba85\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      PI\n      =\n      K<sub>p<\/sub>\n      +\n      K<sub>i<\/sub>\/s\n    <\/div>\n\n    <div class=\"formula\">\n      PI\n      =\n      (K<sub>p<\/sub>s + K<sub>i<\/sub>) \/ s\n    <\/div>\n\n    <div class=\"formula\">\n      PI\n      \u221d\n      (s + z) \/ s\n    <\/div>\n\n    <p>\n      \uc774\uc0c1\uc801\uc778 PI \uc81c\uc5b4\uae30\ub294\n      \uc6d0\uc810\uc5d0 Pole\uc744 \uac16\ub294 \ud615\ud0dc\ub85c \uc815\ub9ac\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. Lag Compensator\uc758 \ubaa9\uc801<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c Lag Compensator\uc758 \uc8fc\uc694 \ubaa9\uc801\uc740\n      <strong>Steady-State Error \uac10\uc18c<\/strong>\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Lag Compensation\n      \u2192\n      Steady-State Error \u2193\n    <\/div>\n\n    <p>\n      \ub450 \ubc88\uc9f8 \ud544\uae30\uc5d0\ub294\n      PI \uc81c\uc5b4\uae30\uc640 \uc5f0\uacb0\ud558\uc5ec\n      \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub97c \uc904\uc774\ub294 \ubc29\ud5a5\uc73c\ub85c \uc815\ub9ac\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        Lag :\n        \uc815\uc0c1\uc0c1\ud0dc \uc131\ub2a5 \uac1c\uc120\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. System Type\uacfc \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 PI\uc758 \uc801\ubd84\uae30\n      <code>1\/s<\/code>\ub97c \uc774\uc6a9\ud558\uba74\n      System Type\uc774 \ubcc0\ud55c\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      1\/s\n      \u2192\n      System Type \ubcc0\uacbd\n      \u2192\n      Steady-State Error \uac1c\uc120\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. Lag Compensator\uc758 Pole \u00b7 Zero \uc704\uce58<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Lag Compensator\uc5d0\uc11c\ub294\n      Pole\uc774 Zero\ubcf4\ub2e4 \uc6d0\uc810\uc5d0 \uac00\uae5d\ub3c4\ub85d \ubc30\uce58\ud558\ub294 \ud615\ud0dc\uac00\n      \ud544\uae30\uc5d0 \uadf8\ub824\uc838 \uc788\ub2e4.\n    <\/p>\n\n    <pre>\n      Real Axis\n\n      \u25c4\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba\n\n             Zero            Pole       Origin\n              \u25cb---------------\u00d7-----------0\n             -z              -p\n\n            |p| &lt; |z|\n    <\/pre>\n\n    <div class=\"formula\">\n      |p| &lt; |z|\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. Lag Compensator\uc758 Bode Plot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 Lag Compensator\uc758 \uc804\ub2ec\ud568\uc218\ub97c\n      Bode Plot\uc744 \uadf8\ub9ac\uae30 \uc26c\uc6b4 \ud615\ud0dc\ub85c \ubc14\uafd4 \ud45c\ud604\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      (s + z)\/(s + p)\n      =\n      K\n      \u00b7\n      (s\/z + 1)\/(s\/p + 1)\n    <\/div>\n\n    <p>\n      p\uac00 z\ubcf4\ub2e4 \uc791\uc740 \uacbd\uc6b0,\n      Pole\uc758 \uc601\ud5a5\uc774 \uba3c\uc800 \ub098\ud0c0\ub098\uace0\n      \uc774\ud6c4 Zero\uc758 \uc601\ud5a5\uc774 \ub098\ud0c0\ub09c\ub2e4.\n    <\/p>\n\n    <pre>\n      Magnitude [dB]\n          \u2191\n          \u2502\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n          \u2502         \\\n          \u2502          \\\n          \u2502           \\\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n          \u2502\n          \u2514\u2500\u2500\u2500\u2500\u2500p\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500z\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba \u03c9\n\n                 Lag\n    <\/pre>\n\n    <div class=\"memory\">\n      <strong>\n        Lag :\n        Pole\uc774 \uba3c\uc800 \ub098\ud0c0\ub098\uace0\n        Zero\uac00 \ub4a4\uc5d0\uc11c \uae30\uc6b8\uae30\ub97c \ubcf5\uc6d0\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. Lead Compensator<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      G<sub>Lead<\/sub>(s)\n      =\n      (s + z) \/ (s + p)\n    <\/div>\n\n    <div class=\"formula\">\n      p &gt;&gt; z\n    <\/div>\n\n    <p>\n      Lead Compensator\uc5d0\uc11c\ub294\n      Zero\uac00 Pole\ubcf4\ub2e4 \uc6d0\uc810\uc5d0 \uac00\uae4c\uc6b4 \ud615\ud0dc\ub85c \uadf8\ub824\uc838 \uc788\ub2e4.\n    <\/p>\n\n    <pre>\n      Real Axis\n\n      \u25c4\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba\n\n             Pole            Zero       Origin\n              \u00d7---------------\u25cb-----------0\n             -p              -z\n\n            |p| &gt; |z|\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. Lead Compensator\uc640 PD \uc81c\uc5b4\uae30<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 Lead Compensator\ub97c\n      PD \uc81c\uc5b4\uae30\uc640 \ub300\uc751\ud558\uc5ec \uc124\uba85\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      PD\n      =\n      K<sub>p<\/sub>\n      +\n      K<sub>d<\/sub>s\n    <\/div>\n\n    <div class=\"formula\">\n      PD\n      =\n      K<sub>d<\/sub>\n      (\n      s + K<sub>p<\/sub>\/K<sub>d<\/sub>\n      )\n    <\/div>\n\n    <p>\n      \uc774\uc0c1\uc801\uc778 PD\ub294 Zero\ub97c \ucd94\uac00\ud558\ub294 \ud615\ud0dc\uc774\uba70,\n      \uc2e4\uc81c Lead Compensator\uc5d0\uc11c\ub294\n      Pole\uc744 \ud568\uaed8 \ucd94\uac00\ud558\ub294 \ud615\ud0dc\ub85c \ud544\uae30\uc5d0 \ub098\ud0c0\ub098 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. Lead Compensator\uc758 \ubaa9\uc801<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 Lead Compensator\uc758 \ubaa9\uc801\uc744\n      <strong>Transient Response \uac1c\uc120<\/strong>\uc73c\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Lead Compensation\n      \u2192\n      Transient Response \uac1c\uc120\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Lead :\n        \uacfc\ub3c4\uc751\ub2f5 \uc131\ub2a5 \uac1c\uc120\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. Lead Compensator\uc758 Bode Plot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Lead Compensator\ub294 Zero\uac00 \uba3c\uc800 \ub098\ud0c0\ub098\uace0\n      Pole\uc774 \ub4a4\uc5d0 \uc704\uce58\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n      Magnitude [dB]\n          \u2191\n          \u2502              \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n          \u2502             \/\n          \u2502            \/\n          \u2502\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n          \u2502\n          \u2514\u2500\u2500\u2500\u2500\u2500z\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500p\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba \u03c9\n\n                Lead\n    <\/pre>\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294\n      Zero \uc774\ud6c4 Magnitude\uac00 \uc99d\uac00\ud558\uace0,\n      Pole \uc774\ud6c4 \ub2e4\uc2dc \uc77c\uc815\ud55c \uae30\uc6b8\uae30\ub85c \ub3cc\uc544\uac00\ub294 \ud615\ud0dc\ub97c \uadf8\ub9b0\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. Lag\uc640 Lead \ube44\uad50<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>Lag Compensator<\/th>\n          <th>Lead Compensator<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>\uc804\ub2ec\ud568\uc218<\/strong><\/td>\n          <td>(s+z)\/(s+p)<\/td>\n          <td>(s+z)\/(s+p)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Pole \u00b7 Zero \uad00\uacc4<\/strong><\/td>\n          <td>p &lt;&lt; z<\/td>\n          <td>p &gt;&gt; z<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc6d0\uc810\uc5d0 \uac00\uae4c\uc6b4 \uc694\uc18c<\/strong><\/td>\n          <td>Pole<\/td>\n          <td>Zero<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ub300\uc751 \uc81c\uc5b4\uae30<\/strong><\/td>\n          <td>PI<\/td>\n          <td>PD<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc8fc\uc694 \ubaa9\uc801<\/strong><\/td>\n          <td>Steady-State Error \uac10\uc18c<\/td>\n          <td>Transient Response \uac1c\uc120<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Bode \ud2b9\uc131<\/strong><\/td>\n          <td>Magnitude \uac10\uc18c \ud6c4 \ud3c9\ud0c4<\/td>\n          <td>Magnitude \uc99d\uac00 \ud6c4 \ud3c9\ud0c4<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. PI \u00b7 Lag \uad00\uacc4<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n      Ideal PI\n\n        Kp + Ki\/s\n             \u2502\n             \u25bc\n         Zero + Pole at Origin\n             \u2502\n             \u25bc\n      Steady-State Error \uac1c\uc120\n\n\n      Practical Lag\n\n        (s + z)\/(s + p)\n             \u2502\n             \u25bc\n       Pole\uc744 \uc6d0\uc810 \uadfc\ucc98\uc5d0 \ubc30\uce58\n             \u2502\n             \u25bc\n      Steady-State \uc131\ub2a5 \uac1c\uc120\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. PD \u00b7 Lead \uad00\uacc4<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n      Ideal PD\n\n        Kp + Kd s\n             \u2502\n             \u25bc\n            Zero\n             \u2502\n             \u25bc\n      Transient Response \uac1c\uc120\n\n\n      Practical Lead\n\n        (s + z)\/(s + p)\n             \u2502\n             \u25bc\n       Zero\uac00 Pole\ubcf4\ub2e4 \uc6d0\uc810\uc5d0 \uac00\uae4c\uc6c0\n             \u2502\n             \u25bc\n      Transient Response \uac1c\uc120\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. \uc774\ubbf8\uc9c0 \uc804\uccb4 \ud750\ub984<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                Compensator\n                     \u2502\n          \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n          \u2502                     \u2502\n          \u25bc                     \u25bc\n         Lag                   Lead\n          \u2502                     \u2502\n        p << z                p >> z\n          \u2502                     \u2502\n          \u25bc                     \u25bc\n          PI                    PD\n          \u2502                     \u2502\n          \u25bc                     \u25bc\n      Steady-State          Transient\n      Error \uac10\uc18c            Response \uac1c\uc120\n          \u2502                     \u2502\n          \u25bc                     \u25bc\n       \uc800\uc8fc\ud30c \uc131\ub2a5           \uc751\ub2f5\uc18d\ub3c4 \/\n         \uac1c\uc120               \uacfc\ub3c4\ud2b9\uc131 \uac1c\uc120\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"warning\">\n\n    <strong>\n      \uc774 HTML\uc740 \ud398\uc774\uc9c0 \ubcf8\ubb38\uc774\ub098 \uc5f0\uacb0\ub41c KOCW \uc790\ub8cc,\n      \ub2e4\ub978 Lag Compensator \ubb38\uc81c\ud480\uc774 \uae00\uc744 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uace0\n      \ud398\uc774\uc9c0\uc758 \uc77c\ubc18 \ud544\uae30 \uc774\ubbf8\uc9c0 2\uc7a5\ub9cc OCR\/\uc2dc\uac01 \ud310\ub3c5\ud558\uc5ec \uc791\uc131\ud588\ub2e4.\n\n      \uc774 \ud398\uc774\uc9c0\uc5d0\ub294 NeoStudio PDF\uac00 \uc5c6\ub2e4.\n\n      \uccab \ubc88\uc9f8 \uc774\ubbf8\uc9c0 \ud558\ub2e8\uc758 \uc138\ubd80 \uc124\uacc4\ubc29\ubc95 \ubb38\uc7a5\uc740\n      \uc77c\ubd80 \uc190\uae00\uc528\uac00 \uba85\ud655\ud558\uc9c0 \uc54a\uc544 \uc784\uc758\ub85c \ubcf5\uc6d0\ud558\uc9c0 \uc54a\uc558\ub2e4.\n\n      Pole\uacfc Zero\uc758 \uad00\uacc4\ub294\n      \uc6d0\ubcf8\uc5d0 \uc801\ud78c p &lt;&lt; z, p &gt;&gt; z \ud45c\ud604\uacfc\n      \ud544\uae30 \uadf8\ub9bc\uc758 \uc704\uce58\uad00\uacc4\ub97c \ud568\uaed8 \ubcf4\uc874\ud558\uc600\ub2e4.\n    <\/strong>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    Lead Compensator,\n    Lag Compensator,\n    Phase Lead,\n    Phase Lag,\n    PI Controller,\n    PD Controller,\n    Pole,\n    Zero,\n    Steady-State Error,\n    Transient Response,\n    Bode Plot,\n    System Type,\n    Compensator Design\n  <\/div>\n\n<\/div>\n&#8220;`\n","protected":false},"excerpt":{"rendered":"<p>\uc9c4\uc0c1 \ubcf4\uc0c1\ubc95\uacfc \uc9c0\uc0c1 \ubcf4\uc0c1\ubc95\uc744 \ube44\uad50\ud558\uc5ec \uc124\uba85\ud558\uc2dc\uc624. KOCW \uacfd\uad00\uc6c5, \uc790\ub3d9\uc81c\uc5b4 2019, \ucc38\uc870 &#8220;`html Lead \u00b7 Lag Compensator Lead Compensator \u00b7 Lag Compensator \u00b7 PI \u00b7 PD \u00b7 Pole \u00b7 Zero \u00b7 Steady-State Error \u00b7 Transient Response 1. Lead \u00b7 Lag Compensator \ud544\uae30\uc5d0\uc11c\ub294 Lead\uc640 Lag \ubcf4\uc0c1\uae30\ub97c \ub2e4\uc74c \ud615\ud0dc\uc758 \uc804\ub2ec\ud568\uc218\ub85c \ub098\ud0c0\ub0b8\ub2e4. Gc(s) = (s + z) \/ (s [&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":[1503,1502,1501],"class_list":["post-6870","post","type-post","status-publish","format-standard","hentry","category-1185","tag-compensator","tag-lag","tag-lead"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6870","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=6870"}],"version-history":[{"count":5,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6870\/revisions"}],"predecessor-version":[{"id":9608,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6870\/revisions\/9608"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=6870"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=6870"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=6870"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}