{"id":7945,"date":"2025-04-16T08:29:35","date_gmt":"2025-04-15T23:29:35","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=7945"},"modified":"2026-10-04T11:14:21","modified_gmt":"2026-10-04T02:14:21","slug":"feedback-system","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/feedback-system\/","title":{"rendered":"feedback system"},"content":{"rendered":"\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\/2025\/04\/NeoStudio_20250416_010008_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"NeoStudio_20250416_010008_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac15\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-88a79d96-2fc0-40cb-9d1b-9a6a3cd7a263\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/NeoStudio_20250416_010008_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\">NeoStudio_20250416_010008_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac15<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/NeoStudio_20250416_010008_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-88a79d96-2fc0-40cb-9d1b-9a6a3cd7a263\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\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=\"u8V65AvRcd\"><a href=\"https:\/\/now0930.pe.kr\/wordpress\/sensitivity\/\">sensitivity<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"\u201csensitivity\u201d \u2014 now0930 \uc77c\uc9c0\" src=\"https:\/\/now0930.pe.kr\/wordpress\/sensitivity\/embed\/#?secret=1LU1s6ArfQ#?secret=u8V65AvRcd\" data-secret=\"u8V65AvRcd\" width=\"580\" height=\"327\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe>\n<\/div><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Filter gain ( F )\uc740 \ubd80\ud558\uc758 \uc751\ub2f5, \ud2b9\ud788 \ucc38\uc870 \uc785\ub825 ( R )\uc774 \ucd9c\ub825 ( Y )\uc5d0 \uc5b4\ub5bb\uac8c \uc601\ud5a5\uc744 \uc8fc\ub294\uc9c0\ub97c \uc870\uc808\ud558\ub294 \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \uc2dd (4.19)\uc744 \ub2e4\uc2dc \ubcf4\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">[ Y = \\frac{G D_{cl} F}{1 + G D_{cl} H} R + \\frac{G}{1 + G D_{cl} H} W &#8211; \\frac{H G D_{cl}}{1 + G D_{cl} H} V, ]<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc5ec\uae30\uc11c ( F )\ub294 ( R )\uc5d0 \uacf1\ud574\uc838\uc11c \uccab \ubc88\uc9f8 \ud56d, \uc989 \ucc38\uc870 \ucd94\uc801 \uc131\ub2a5\uc744 \uacb0\uc815\ud569\ub2c8\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc544\ub798\uc5d0\uc11c ( F )\uc758 \uc5ed\ud560\uacfc \uc758\ubbf8\ub97c \uc790\uc138\ud558\uac8c \uc124\uba85\ud569\ub2c8\ub2e4:<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\ucc38\uc870 \uc785\ub825\uc758 \uc804\ucc98\ub9ac \uc5ed\ud560:<\/strong><br>( F )\ub294 \ucc38\uc870 \uc2e0\ud638 ( R )\uc5d0 \ub300\ud574 \uc804\ucc98\ub9ac(\ub610\ub294 \ud544\ud130\ub9c1)\ub97c \uc218\ud589\ud558\ub294 \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \uc989, ( R )\uc5d0 ( F )\ub97c \uacf1\ud558\uc5ec ( G D_{cl} )\uc640 \ud568\uaed8 \ud3d0\ub8e8\ud504\uc758 \ub3d9\uc791\uc5d0 \ubc18\uc601\uc2dc\ud0b5\ub2c8\ub2e4. \uc774\ub97c \ud1b5\ud574 \uc6d0\ud558\ub294 \ud2b8\ub798\ud0b9 \ud2b9\uc131\uc744 \uc5bb\uae30 \uc704\ud574 \uc785\ub825 \uc2e0\ud638\uc758 \uc2a4\ud399\ud2b8\ub7fc\uc774\ub098 \ub3d9\uc801 \ud2b9\uc131\uc744 \uc870\uc808\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n\n\n\n<li><strong>\uc804\uccb4 \ub8e8\ud504 \uc804\ub2ec\ud568\uc218\uc758 \uc218\uc815:<\/strong><br>\uc77c\ubc18\uc801\uc778 \ud3d0\ub8e8\ud504 \uc804\ub2ec\ud568\uc218\ub294 [ \\frac{G D_{cl}}{1 + G D_{cl} H} ] \ub85c \ud45c\ud604\ub429\ub2c8\ub2e4. \uadf8\ub7f0\ub370 ( F )\ub97c \ud3ec\ud568\ud558\uba74 \ucc38\uc870 \uc785\ub825\uacfc \ucd9c\ub825 \uc0ac\uc774\uc758 \uc804\ub2ec \ud568\uc218\ub294 [ \\frac{G D_{cl} F}{1 + G D_{cl} H} ] \ub85c \ubcc0\ud558\uac8c \ub418\uc5b4, ( F )\uac00 \ucd94\uac00\uc801\uc778 \uc790\uc720\ub3c4\ub97c \uc81c\uacf5\ud558\ub294 \uc148\uc785\ub2c8\ub2e4. ( F )\ub97c \uc801\uc808\ud788 \uc124\uacc4\ud568\uc73c\ub85c\uc368 \uc6d0\ub798\uc758 open-loop \ucee8\ud2b8\ub864\ub7ec ( G D_{cl} )\uc5d0 \ucd94\uac00\uc801\uc778 \ud544\ud130 \ud6a8\uacfc\ub97c \ubd80\uc5ec\ud560 \uc218 \uc788\uace0, \uc774\ub97c \ud1b5\ud574 \uc6d0\ud558\ub294 \uc751\ub2f5 \ud2b9\uc131(\uc608\ub97c \ub4e4\uc5b4, \uacfc\ub3c4 \uc751\ub2f5\uc758 \ud3c9\ud65c\ud654, \ub9ac\ub4dc \ud639\uc740 \ub808\uadf8 \ubcf4\uc0c1)\uc774 \uad6c\ud604\ub429\ub2c8\ub2e4.<\/li>\n\n\n\n<li><strong>Unity Feedback \uad6c\uc870\uc640\uc758 \ube44\uad50:<\/strong><br>\ub9cc\uc57d ( F )\ub97c \uc13c\uc11c \uc804\ub2ec\ud568\uc218 ( H )\uc640 \ub3d9\uc77c\ud558\uac8c \uc120\ud0dd\ud558\uba74 (( F = H )), \uc2dd\uc740<br>[ \\frac{G D_{cl} H}{1 + G D_{cl} H} ] \ud615\ud0dc\uac00 \ub418\uc5b4 \uc804\ud615\uc801\uc778 unity feedback \uc2dc\uc2a4\ud15c\uacfc \uc720\uc0ac\ud558\uac8c \ub3d9\uc791\ud569\ub2c8\ub2e4. \uc774\ub807\uac8c \ud558\uba74 \uc13c\uc11c \ub3d9\ud2b9\uc131\uacfc \uc804\ucc98\ub9ac \ud2b9\uc131\uc774 \uc77c\uce58\ud558\uac8c \ub418\uc5b4, \ubd84\uc11d\uc774\ub098 \ud29c\ub2dd\uc774 \ub2e8\uc21c\ud574\uc9c0\ub294 \ud6a8\uacfc\ub97c \ubcfc \uc218 \uc788\uc2b5\ub2c8\ub2e4.<br>\ubc18\ub300\ub85c ( F \\neq H )\uc778 \uacbd\uc6b0, \ud544\ud130 ( F )\uc758 \ud2b9\uc131\uc5d0 \ub530\ub77c \ucc38\uc870 \ucd94\uc801 \uc751\ub2f5\uc774 \ub2ec\ub77c\uc9c0\uac8c \ub429\ub2c8\ub2e4.<\/li>\n\n\n\n<li><strong>\uc2e4\uc81c \uc124\uacc4\uc5d0\uc11c\uc758 \uace0\ub824\uc0ac\ud56d:<\/strong>\n<ul class=\"wp-block-list\">\n<li><strong>\uc124\uacc4 \uc790\uc720\ub3c4:<\/strong> ( F )\ub294 \uc5d4\uc9c0\ub2c8\uc5b4\uc5d0\uac8c \ucc38\uc870 \uc785\ub825\uc5d0 \ub530\ub978 \uc2dc\uc2a4\ud15c \uc751\ub2f5\uc744 \uc138\ubc00\ud558\uac8c \uc870\uc808\ud560 \uc218 \uc788\ub294 \ucd94\uac00\uc801\uc778 \uc124\uacc4 \ud30c\ub77c\ubbf8\ud130\ub97c \uc81c\uacf5\ud569\ub2c8\ub2e4.<\/li>\n\n\n\n<li><strong>\uc131\ub2a5 \ubc0f \uc548\uc815\uc131 \uc0ac\uc774\uc758 \uade0\ud615:<\/strong> ( F )\ub97c \uc5b4\ub5bb\uac8c \uc124\uc815\ud558\ub294\uc9c0\uc5d0 \ub530\ub77c \ud3d0\ub8e8\ud504 \uc2dc\uc2a4\ud15c\uc758 \uacfc\ub3c4 \uc751\ub2f5, \uc8fc\ud30c\uc218 \uc751\ub2f5, \uadf8\ub9ac\uace0 \uc678\ub780 \uc5b5\uc81c \ud2b9\uc131\uc774 \ub2ec\ub77c\uc9d1\ub2c8\ub2e4. \ub530\ub77c\uc11c, ( F )\uc758 \uc120\ud0dd\uc740 \ub2e8\uc21c\ud788 \uc774\uc0c1\uc801\uc778 \uc751\ub2f5\uc744 \ub9cc\ub4dc\ub294 \uac83\ubfd0\ub9cc \uc544\ub2c8\ub77c, \uc2e4\uc81c \ud50c\ub79c\ud2b8\uc758 \ub3d9\ud2b9\uc131\uacfc \uc13c\uc11c \ub178\uc774\uc988, \uadf8\ub9ac\uace0 \uad6c\ud604\uc0c1\uc758 \uc81c\uc57d \uc870\uac74\uc744 \ubaa8\ub450 \uace0\ub824\ud558\uc5ec \uacb0\uc815\ub418\uc5b4\uc57c \ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\uc694\uc57d\ud558\uba74, filter gain ( F )\ub294 \ucc38\uc870 \uc785\ub825\uc5d0 \ud544\ud130\ub9c1 \ud6a8\uacfc\ub97c \ubd80\uc5ec\ud558\uc5ec \uc804\uccb4 \ud3d0\ub8e8\ud504 \uc804\ub2ec\ud568\uc218\ub97c \uc218\uc815\ud558\uace0 \uc6d0\ud558\ub294 \ud2b8\ub798\ud0b9 \ubc0f \uc751\ub2f5 \ud2b9\uc131\uc744 \uad6c\ud604\ud560 \uc218 \uc788\ub3c4\ub85d \ud574\uc8fc\ub294 \uc911\uc694\ud55c \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \uc774\ub294 open-loop\uc640 unity feedback \uc2dc\uc2a4\ud15c\uc758 \uc7a5\uc810\uc744 \uacb0\ud569\ud558\ub294 \uc5ed\ud560\uc744 \ud558\uba70, \uc801\uc808\ud55c ( F )\uc758 \uc120\ud0dd\uc740 \uc124\uacc4\uc790\uac00 \ubaa9\ud45c\ub85c \ud558\ub294 \uc131\ub2a5\uacfc \uc2dc\uc2a4\ud15c\uc758 \uc548\uc815\uc131\uc744 \uade0\ud615 \uc788\uac8c \ub9de\ucd94\ub294 \ub370 \ud070 \uc601\ud5a5\uc744 \ubbf8\uce69\ub2c8\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\uc640 \uad00\ub828\ud574 \uad6c\uccb4\uc801\uc778 \uc0ac\ub840\ub098 \ucd94\uac00\uc801\uc778 \ud574\uc11d\uc774 \ud544\uc694\ud558\uc2dc\uba74 \ub9d0\uc500\ud574\uc8fc\uc138\uc694!<\/p>\n\n\n\n&#8220;`html\n<div class=\"chapter19-wide\">\n\n  <h1>Feedback System<\/h1>\n\n  <div class=\"subtitle\">\n    Feedback \u00b7 Controller \u00b7 Plant \u00b7 Disturbance \u00b7 Sensor Noise \u00b7 Filter \u00b7 Sensitivity\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. Filter\uac00 \uc5c6\ub294 Feedback System<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uba3c\uc800\n      Filter\uac00 \uc5c6\ub294 Feedback System\uc744 \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n                   +                    +\n      R \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25b6 (\u03a3) \u2500\u2500\u25b6 D \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25b6 (\u03a3) \u2500\u2500\u25b6 G \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25b6 Y\n                   -                    +\u25b2\n                   \u25b2                     \u2502\n                   \u2502                     W\n                   \u2502\n                   \u2502                 + V\n                   \u2502                   \u2502\n                   \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500(\u03a3)\u25c0\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 Y\n    <\/pre>\n\n    <ul>\n      <li>R : Reference<\/li>\n      <li>D : Controller<\/li>\n      <li>G : Plant<\/li>\n      <li>W : \uc678\ub780<\/li>\n      <li>V : Sensor Noise<\/li>\n      <li>Y : Output<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. \ucd9c\ub825 Y<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uae30\uc900\uc785\ub825 R,\n      \uc678\ub780 W,\n      Sensor Noise V\uac00 \ub3d9\uc2dc\uc5d0 \uc874\uc7ac\ud560 \ub54c\n      \ucd9c\ub825 Y\ub97c \ub2e4\uc74c\uacfc \uac19\uc774 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Y\n      =\n      DG\/(1+DG) \u00b7 R\n      +\n      G\/(1+DG) \u00b7 W\n      &#8211;\n      DG\/(1+DG) \u00b7 V\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        R, W, V\uac00 \uac01\uac01 Output Y\uc5d0\n        \ub2e4\ub978 \uc804\ub2ec\ud568\uc218\ub97c \ud1b5\ud574 \uc601\ud5a5\uc744 \uc900\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. Superposition<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uac01 \uc785\ub825\uc758 \uc601\ud5a5\uc744\n      Superposition\uc73c\ub85c \uac01\uac01 \ubd84\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \ud558\ub098\uc758 \uc785\ub825\ub9cc \ub0a8\uae30\uace0\n      \ub098\uba38\uc9c0 \uc785\ub825\uc744 0\uc73c\ub85c \ub450\uc5b4\n      Y\uc5d0 \ub300\ud55c \uc804\ub2ec\ud568\uc218\ub97c \uad6c\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. Reference R \u2192 Output Y<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      W=0, V=0\uc73c\ub85c \ub450\uba74\n      Reference R\uc5d0 \ub300\ud55c \ucd9c\ub825\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      Y\/R\n      =\n      DG\/(1+DG)\n    <\/div>\n\n    <p>\n      \ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. Disturbance W \u2192 Output Y<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      R=0, V=0\uc73c\ub85c \ub450\uba74\n      \uc678\ub780 W\uc5d0 \ub300\ud55c \ucd9c\ub825\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      Y\/W\n      =\n      G\/(1+DG)\n    <\/div>\n\n    <p>\n      \ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. Sensor Noise V \u2192 Output Y<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      R=0, W=0\uc73c\ub85c \ub450\uba74\n      Sensor Noise V\uac00 \ucd9c\ub825\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      Y\/V\n      =\n      -DG\/(1+DG)\n    <\/div>\n\n    <p>\n      \ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. \uc138 \uc785\ub825\uc758 \uc601\ud5a5<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\uc785\ub825<\/th>\n          <th>\ucd9c\ub825 Y\uc5d0 \ub300\ud55c \uc804\ub2ec\ud568\uc218<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>Reference R<\/strong><\/td>\n          <td>DG\/(1+DG)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Disturbance W<\/strong><\/td>\n          <td>G\/(1+DG)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Sensor Noise V<\/strong><\/td>\n          <td>-DG\/(1+DG)<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. Error<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Error\ub294 Reference\uc640 Output\uc758 \ucc28\uc774\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      E = R &#8211; Y\n    <\/div>\n\n    <p>\n      \uc55e\uc758 Y \uc2dd\uc744 \uc774\uc6a9\ud558\uba74\n      NeoStudio\uc5d0\uc11c\ub294 Error\ub97c \ub2e4\uc74c \uad00\uacc4\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      E\n      =\n      1\/(1+DG) \u00b7 R\n      &#8211;\n      G\/(1+DG) \u00b7 W\n      +\n      DG\/(1+DG) \u00b7 V\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Error\uc5d0\ub294 Reference\ubfd0 \uc544\ub2c8\ub77c\n        Disturbance\uc640 Sensor Noise\uc758 \uc601\ud5a5\ub3c4 \ud3ec\ud568\ub41c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. Filter\uc640 Sensor Dynamics\uac00 \uc788\ub294 \uacbd\uc6b0<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub450 \ubc88\uc9f8 \ud398\uc774\uc9c0\uc5d0\uc11c\ub294\n      Reference \uc55e\uc5d0 Filter F\ub97c \ucd94\uac00\ud558\uace0,\n      Feedback \uacbd\ub85c\uc5d0 Sensor Dynamics H\ub97c \ucd94\uac00\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n      R \u2500\u2500\u25b6 F \u2500\u2500\u25b6 (+\u03a3-) \u2500\u2500\u25b6 D \u2500\u2500\u25b6 (+\u03a3) \u2500\u2500\u25b6 G \u2500\u2500\u2500\u2500\u2500\u25b6 Y\n                       \u25b2               \u25b2\n                       \u2502               \u2502\n                       \u2502               W\n                       \u2502\n                       \u2502       Y + V\n                       \u2502          \u2502\n                       \u2514\u2500\u2500\u2500\u2500 H \u25c0\u2500(\u03a3)\n    <\/pre>\n\n    <ul>\n      <li>F : Reference Filter<\/li>\n      <li>H : Sensor Dynamics<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. Filter F\uc640 Sensor H\uac00 \uc788\ub294 \ucd9c\ub825\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0 \uae30\ub85d\ub41c \ucd9c\ub825\uc740\n      \ub2e4\uc74c\uacfc \uac19\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Y\n      =\n      DFG\/(1+DGH) \u00b7 R\n      +\n      G\/(1+DGH) \u00b7 W\n      &#8211;\n      DGH\/(1+DGH) \u00b7 V\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. Reference \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Reference\uc5d0\uc11c Output\uae4c\uc9c0\uc758 \uc804\ub2ec\ud568\uc218\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      T\n      =\n      Y\/R\n      =\n      DFG\/(1+DGH)\n    <\/div>\n\n    <p>\n      \ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        F\ub294 Reference R\uc5d0\uc11c\n        Output Y\ub85c \uac00\ub294 \uacbd\ub85c\uc5d0 \ud3ec\ud568\ub418\uc5b4\n        Reference \uc751\ub2f5\uc744 \uc870\uc815\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. F\uc758 \uc5ed\ud560<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294\n      Transfer Function\uc744 \uc870\uc815\ud558\uae30 \uc704\ud574\n      F\ub97c \uc124\uacc4\ud560 \uc218 \uc788\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      T\n      =\n      DFG\/(1+DGH)\n    <\/div>\n\n    <div class=\"formula\">\n      F \ubcc0\uacbd\n      \u2192\n      R \u2192 Y \uc804\ub2ec\ud2b9\uc131 \ubcc0\uacbd\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. F = H<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc6d0\ubcf8\uc5d0\ub294 F\uc640 H\ub97c \uac19\uac8c \ub450\uba74\n      Unity Feedback System\uacfc \uc720\uc0ac\ud55c \ud615\ud0dc\ub85c\n      \ub2e8\uc21c\ud558\uac8c \uc124\uacc4\ud560 \uc218 \uc788\ub2e4\ub294 \uba54\ubaa8\uac00 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      F = H\n    <\/div>\n\n    <div class=\"warning\">\n      <strong>\n        \uc774\ub294 NeoStudio\uc5d0 \uae30\ub85d\ub41c \ud45c\ud604\uc744 \uadf8\ub300\ub85c \ubc18\uc601\ud558\uc600\ub2e4.\n        \uc678\ubd80 \uc81c\uc5b4\uc774\ub860\uc73c\ub85c \ucd94\uac00 \ud574\uc11d\ud558\uc9c0 \uc54a\uc558\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. Disturbance\uc640 Sensor Noise<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Filter\uc640 Sensor Dynamics\ub97c \ud3ec\ud568\ud574\ub3c4\n      W\uc640 V\ub294 \ucd9c\ub825\uc5d0 \uc601\ud5a5\uc744 \uc900\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Y\/W\n      =\n      G\/(1+DGH)\n    <\/div>\n\n    <div class=\"formula\">\n      Y\/V\n      =\n      -DGH\/(1+DGH)\n    <\/div>\n\n    <p>\n      \uc6d0\ubcf8\uc5d0\uc11c\ub294 W\uc640 V\uac00\n      Error\uc5d0 \ud3ec\ud568\ub418\uae30 \ub54c\ubb38\uc5d0\n      Feedback\uc744 \uc774\uc6a9\ud558\uc5ec \uac1c\uc120\ud560 \uc218 \uc788\ub2e4\ub294 \ubc29\ud5a5\uc73c\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. Sensitivity<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc138 \ubc88\uc9f8 \ud398\uc774\uc9c0\uc5d0\uc11c\ub294\n      Closed-Loop Transfer Function T\uac00\n      \uac01 \uad6c\uc131\uc694\uc18c \ubcc0\ud654\uc5d0 \uc5bc\ub9c8\ub098 \uc601\ud5a5\uc744 \ubc1b\ub294\uc9c0\ub97c\n      Sensitivity\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      T\n      =\n      DFG\/(1+DGH)\n    <\/div>\n\n    <p>\n      \uc6d0\ubcf8\uc5d0\uc11c\ub294\n      T\ub97c G, F, H\uc5d0 \ub300\ud574 \ubbf8\ubd84\ud558\uc5ec\n      \uac01\uac01\uc758 Sensitivity\ub97c \uacc4\uc0b0\ud558\ub294 \ubc29\ubc95\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>16. Sensitivity\uc758 \uc77d\ub294 \ubc29\ubc95<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\ub294\n      Transfer Function T\uc5d0 \ub300\ud574\n      \ub2e4\uc74c\uacfc \uac19\uc774 \uac01 Parameter\uc758 \uc601\ud5a5\uc744 \uacc4\uc0b0\ud55c\ub2e4\uace0 \uc801\ud600 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      \u2202T\/\u2202G\n      ,\n      \u2202T\/\u2202F\n      ,\n      \u2202T\/\u2202H\n    <\/div>\n\n    <p>\n      \uc774\ub97c \uc815\uaddc\ud654\ud55c Sensitivity\ub85c\n      \uac01 \uad6c\uc131\uc694\uc18c \ubcc0\ud654\uc758 \uc601\ud5a5\uc744 \ube44\uad50\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>17. Filter F\uc758 Sensitivity<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      F\ub294 \uc804\ub2ec\ud568\uc218 T\uc758 \ubd84\uc790\uc5d0 \uc9c1\uc811 \uacf1\ud574\uc838 \uc788\ub2e4.\n    <\/p>\n\n    <p>\n      NeoStudio\uc5d0 \uae30\ub85d\ub41c F\uc5d0 \ub300\ud55c Sensitivity\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      S<sub>F<\/sub><sup>T<\/sup>\n      =\n      1.0\n    <\/div>\n\n    <p>\n      \uc774\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        \uc6d0\ubcf8\uc5d0\uc11c\ub294 F \ubcc0\ud654\uac00\n        T\uc5d0 \uadf8\ub300\ub85c \ubc18\uc601\ub418\ub294 \uad00\uacc4\ub85c \uae30\ub85d\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>18. Plant G\uc758 Sensitivity<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Plant G\ub294 Feedback Loop \ub0b4\ubd80\uc5d0 \uc874\uc7ac\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      G\uc5d0 \ub300\ud55c Sensitivity\ub294\n      \ub2e4\uc74c\uacfc \uac19\uc774 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      S<sub>G<\/sub><sup>T<\/sup>\n      =\n      1\/(1+DGH)\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Loop Gain DGH\uac00 \ucee4\uc9c0\uba74\n        Plant G \ubcc0\ud654\uac00 Closed-Loop Transfer Function\uc5d0\n        \ubbf8\uce58\ub294 \uc601\ud5a5\uc774 \uac10\uc18c\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>19. Sensor H\uc758 Sensitivity<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Sensor Dynamics H\ub294\n      Feedback \uacbd\ub85c\uc5d0 \ud3ec\ud568\ub41c\ub2e4.\n    <\/p>\n\n    <p>\n      H\uc5d0 \ub300\ud55c Sensitivity\ub294\n      \ub2e4\uc74c\uacfc \uac19\uc774 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      S<sub>H<\/sub><sup>T<\/sup>\n      =\n      -DGH\/(1+DGH)\n    <\/div>\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294\n      H\uc758 \ubcc0\ud654\uac00 \uc804\ub2ec\ud568\uc218\uc5d0 \ubc18\ub300\ubc29\ud5a5\uc73c\ub85c\n      \uc601\ud5a5\uc744 \ubbf8\uce5c\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>20. Sensitivity \ube44\uad50<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\uad6c\uc131\uc694\uc18c<\/th>\n          <th>Sensitivity<\/th>\n          <th>\uc6d0\ubcf8 \ud574\uc11d<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>F<\/strong><\/td>\n          <td>S<sub>F<\/sub><sup>T<\/sup> = 1<\/td>\n          <td>F \ubcc0\ud654\uac00 T\uc5d0 \uc9c1\uc811 \ubc18\uc601<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>G<\/strong><\/td>\n          <td>S<sub>G<\/sub><sup>T<\/sup> = 1\/(1+DGH)<\/td>\n          <td>Loop \uc548\uc5d0 \uc788\uc5b4 \uc601\ud5a5 \uac10\uc18c<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>H<\/strong><\/td>\n          <td>S<sub>H<\/sub><sup>T<\/sup> = -DGH\/(1+DGH)<\/td>\n          <td>Feedback \uacbd\ub85c\uc5d0\uc11c \ubc18\ub300\ubc29\ud5a5 \uc601\ud5a5<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>21. Feedback\uacfc Plant \ubcc0\ud654<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc758 \ud575\uc2ec\uc740\n      Plant G\uac00 Feedback Loop \ub0b4\ubd80\uc5d0 \uc788\uc73c\uba74\n      Plant \ud2b9\uc131 \ubcc0\ud654\uac00 \ucd9c\ub825 \uc804\ub2ec\ud568\uc218\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc744\n      \uc904\uc77c \uc218 \uc788\ub2e4\ub294 \uac83\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      |DGH| \u2191\n      \u2192\n      |S<sub>G<\/sub><sup>T<\/sup>| \u2193\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>22. \uc804\uccb4 \uad00\uacc4<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                    Reference R\n                        \u2502\n                        \u25bc\n                      Filter F\n                        \u2502\n                        \u25bc\n                    Error Sum\n                        \u2502\n                        \u25bc\n                   Controller D\n                        \u2502\n                        \u25bc\n                 + Disturbance W\n                        \u2502\n                        \u25bc\n                      Plant G\n                        \u2502\n                        \u25bc\n                      Output Y\n                        \u2502\n                + Sensor Noise V\n                        \u2502\n                        \u25bc\n                  Sensor Dynamics H\n                        \u2502\n                        \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500 Feedback\n\n\n              Closed-Loop Transfer\n                        \u2502\n                        \u25bc\n              T = DFG\/(1+DGH)\n                        \u2502\n             \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u253c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n             \u25bc          \u25bc          \u25bc\n             F          G          H\n             \u2502          \u2502          \u2502\n          S=1      1\/(1+DGH)  -DGH\/(1+DGH)\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>23. NeoStudio \ud575\uc2ec \uc815\ub9ac<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>NeoStudio \ub0b4\uc6a9<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>Controller<\/strong><\/td>\n          <td>D<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Plant<\/strong><\/td>\n          <td>G<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Reference<\/strong><\/td>\n          <td>R<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Disturbance<\/strong><\/td>\n          <td>W<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Sensor Noise<\/strong><\/td>\n          <td>V<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Filter \uc5c6\ub294 R\u2192Y<\/strong><\/td>\n          <td>DG\/(1+DG)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Filter \uc5c6\ub294 W\u2192Y<\/strong><\/td>\n          <td>G\/(1+DG)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Filter \uc5c6\ub294 V\u2192Y<\/strong><\/td>\n          <td>-DG\/(1+DG)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Error<\/strong><\/td>\n          <td>E = R &#8211; Y<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Filter\/Sensor \ud3ec\ud568<\/strong><\/td>\n          <td>T = DFG\/(1+DGH)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>F Sensitivity<\/strong><\/td>\n          <td>1<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>G Sensitivity<\/strong><\/td>\n          <td>1\/(1+DGH)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>H Sensitivity<\/strong><\/td>\n          <td>-DGH\/(1+DGH)<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"warning\">\n    <strong>\n      \uc774 HTML\uc740 WordPress \ud398\uc774\uc9c0 \ubcf8\ubb38\uc758\n      sensitivity \uc124\uba85\uc744 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uace0,\n      NeoStudio PDF 1\uac1c(\ucd1d 3\ud398\uc774\uc9c0)\ub9cc\n      \ud398\uc774\uc9c0\ubcc4 \uc2dc\uac01 \ud310\ub3c5\ud558\uc5ec \uc791\uc131\ud588\ub2e4.\n\n      \uc774 \ud398\uc774\uc9c0\uc5d0\ub294 \ubcc4\ub3c4\uc758 \uc77c\ubc18 \uc774\ubbf8\uc9c0\uac00 \uc5c6\ub2e4.\n\n      1\ud398\uc774\uc9c0\ub294\n      Filter\uac00 \uc5c6\ub294 Feedback System\uc5d0\uc11c\n      Reference R, Disturbance W,\n      Sensor Noise V\uac00 Output Y\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc744\n      Superposition\uc73c\ub85c \ubd84\ub9ac\ud55c\ub2e4.\n\n      2\ud398\uc774\uc9c0\ub294\n      Error E=R-Y\ub97c \uc815\ub9ac\ud558\uace0,\n      Reference Filter F\uc640\n      Sensor Dynamics H\ub97c \ud3ec\ud568\ud55c\n      Feedback System\uc73c\ub85c \ud655\uc7a5\ud55c\ub2e4.\n\n      3\ud398\uc774\uc9c0\ub294\n      Closed-Loop Transfer Function\n      T=DFG\/(1+DGH)\uc5d0 \ub300\ud55c\n      F, G, H\uc758 Sensitivity\ub97c \ube44\uad50\ud55c\ub2e4.\n\n      \uc77c\ubd80 \uc190\ud544\uae30 \uc124\uba85\uc740\n      \uba85\ud655\ud558\uac8c \uc77d\ud788\ub294 \ubc94\uc704\ub9cc \ubc18\uc601\ud558\uc600\ub2e4.\n      Stability Margin,\n      Complementary Sensitivity,\n      Bode\/Nyquist \ud574\uc11d \ub4f1\uc758\n      \uc678\ubd80 \uc81c\uc5b4\uc774\ub860\uc740 \ucd94\uac00\ud558\uc9c0 \uc54a\uc558\ub2e4.\n    <\/strong>\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    Feedback System,\n    Closed Loop,\n    Controller,\n    Plant,\n    Reference,\n    Disturbance,\n    Sensor Noise,\n    Superposition,\n    Error,\n    Reference Filter,\n    Sensor Dynamics,\n    Loop Gain,\n    Sensitivity,\n    Transfer Function\n  <\/div>\n\n<\/div>\n&#8220;`\n","protected":false},"excerpt":{"rendered":"<p>Filter gain ( F )\uc740 \ubd80\ud558\uc758 \uc751\ub2f5, \ud2b9\ud788 \ucc38\uc870 \uc785\ub825 ( R )\uc774 \ucd9c\ub825 ( Y )\uc5d0 \uc5b4\ub5bb\uac8c \uc601\ud5a5\uc744 \uc8fc\ub294\uc9c0\ub97c \uc870\uc808\ud558\ub294 \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \uc2dd (4.19)\uc744 \ub2e4\uc2dc \ubcf4\uba74 [ Y = \\frac{G D_{cl} F}{1 + G D_{cl} H} R + \\frac{G}{1 + G D_{cl} H} W &#8211; \\frac{H G D_{cl}}{1 + G D_{cl} H} V, ] [&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":[1750,1219],"class_list":["post-7945","post","type-post","status-publish","format-standard","hentry","category-1185","tag-feedback-system","tag-sensitivity"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7945","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=7945"}],"version-history":[{"count":2,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7945\/revisions"}],"predecessor-version":[{"id":9686,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7945\/revisions\/9686"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=7945"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=7945"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=7945"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}