{"id":8802,"date":"2026-04-05T17:33:21","date_gmt":"2026-04-05T08:33:21","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=8802"},"modified":"2026-10-04T11:41:04","modified_gmt":"2026-10-04T02:41:04","slug":"%ec%a0%9c%ec%96%b4%ea%b8%b0-%ed%95%84%ec%9a%94-%ec%a1%b0%ea%b1%b4-%ec%95%94%ea%b8%b0%ec%9c%84%ec%a3%bc-%ec%a0%95%eb%a6%ac","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/%ec%a0%9c%ec%96%b4%ea%b8%b0-%ed%95%84%ec%9a%94-%ec%a1%b0%ea%b1%b4-%ec%95%94%ea%b8%b0%ec%9c%84%ec%a3%bc-%ec%a0%95%eb%a6%ac\/","title":{"rendered":"\uc81c\uc5b4\uae30 \ud544\uc694 \uc870\uac74 \uc554\uae30\uc704\uc8fc \uc815\ub9ac"},"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\/2026\/04\/NeoStudio_20260405_173033_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4_\uae30\uc220\uc0ac_16_001.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"NeoStudio_20260405_173033_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4_\uae30\uc220\uc0ac_16_001\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-0e19ada9-0b68-4be2-a542-b91ea4798f09\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/NeoStudio_20260405_173033_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4_\uae30\uc220\uc0ac_16_001.pdf\">NeoStudio_20260405_173033_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4_\uae30\uc220\uc0ac_16_001<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/NeoStudio_20260405_173033_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4_\uae30\uc220\uc0ac_16_001.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-0e19ada9-0b68-4be2-a542-b91ea4798f09\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"802\" height=\"608\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-2.png\" alt=\"\" class=\"wp-image-8806\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-2.png 802w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-2-768x582.png 768w\" sizes=\"auto, (max-width: 802px) 100vw, 802px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1280\" height=\"1215\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-3.png\" alt=\"\" class=\"wp-image-8808\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-3.png 1280w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-3-768x729.png 768w\" sizes=\"auto, (max-width: 1280px) 100vw, 1280px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\ucc45\uc774 \ud2c0\ub824 \uc554\uae30 \ud63c\ub3d9\ub428. \uc815\ub9ac!<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1267\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-4.png\" alt=\"\" class=\"wp-image-8814\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-4.png 1267w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-4-768x776.png 768w\" sizes=\"auto, (max-width: 1267px) 100vw, 1267px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1280\" height=\"571\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-5.png\" alt=\"\" class=\"wp-image-8815\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-5.png 1280w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-5-768x343.png 768w\" sizes=\"auto, (max-width: 1280px) 100vw, 1280px\" \/><\/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\/2026\/04\/image-6.png\" alt=\"\" class=\"wp-image-8817\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-6.png 921w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-6-768x1067.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=\"1280\" height=\"807\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-7.png\" alt=\"\" class=\"wp-image-8818\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-7.png 1280w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-7-768x484.png 768w\" sizes=\"auto, (max-width: 1280px) 100vw, 1280px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1392\" height=\"1349\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-9.png\" alt=\"\" class=\"wp-image-8822\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-9.png 1392w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-9-768x744.png 768w\" sizes=\"auto, (max-width: 1392px) 100vw, 1392px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1324\" height=\"1238\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-8.png\" alt=\"\" class=\"wp-image-8821\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-8.png 1324w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-8-768x718.png 768w\" sizes=\"auto, (max-width: 1324px) 100vw, 1324px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"925\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-10.png\" alt=\"\" class=\"wp-image-8824\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-10.png 925w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-10-768x1063.png 768w\" sizes=\"auto, (max-width: 925px) 100vw, 925px\" \/><\/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=\"alhVemkBuv\"><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=5Jd17NJ13V#?secret=alhVemkBuv\" data-secret=\"alhVemkBuv\" 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=\"O6zLa6SfsO\"><a href=\"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\/\">\uc81c\uc5b4\uae30 \uc124\uacc4\uc2dc \uace0\ub824 \uc0ac\ud56d<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"\u201c\uc81c\uc5b4\uae30 \uc124\uacc4\uc2dc \uace0\ub824 \uc0ac\ud56d\u201d \u2014 now0930 \uc77c\uc9c0\" src=\"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\/embed\/#?secret=FYbZUcMe0K#?secret=O6zLa6SfsO\" data-secret=\"O6zLa6SfsO\" 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=\"AXoLtlHFjz\"><a href=\"https:\/\/now0930.pe.kr\/wordpress\/%ec%a0%9c%ec%96%b4%ea%b8%b0-%ea%b5%ac%eb%b9%84-%ec%a1%b0%ea%b1%b4\/\">\uc81c\uc5b4\uae30 \uad6c\ube44 \uc870\uac74<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"\u201c\uc81c\uc5b4\uae30 \uad6c\ube44 \uc870\uac74\u201d \u2014 now0930 \uc77c\uc9c0\" src=\"https:\/\/now0930.pe.kr\/wordpress\/%ec%a0%9c%ec%96%b4%ea%b8%b0-%ea%b5%ac%eb%b9%84-%ec%a1%b0%ea%b1%b4\/embed\/#?secret=UBoro75DfI#?secret=AXoLtlHFjz\" data-secret=\"AXoLtlHFjz\" width=\"580\" height=\"327\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe>\n<\/div><\/figure>\n\n\n\n<div class=\"chapter19-wide\">\n\n  <h1>\uc81c\uc5b4\uae30 \ud544\uc694 \uc870\uac74 \uc554\uae30\uc704\uc8fc \uc815\ub9ac<\/h1>\n\n  <div class=\"subtitle\">\n    Stability \u00b7 Tracking \u00b7 Regulation \u00b7 Sensitivity \u00b7 System Type \u00b7 Steady-State Error \u00b7 Final Value Theorem\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. \uc81c\uc5b4\uae30\uc758 4\uac00\uc9c0 \ud544\uc694 \uc870\uac74<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uc81c\uc5b4\uae30\uc5d0\uc11c \ud655\uc778\ud574\uc57c \ud560 \uc870\uac74\uc744\n      \ub2e4\uc74c \ub124 \uac00\uc9c0\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <ol>\n      <li>Stability<\/li>\n      <li>Tracking<\/li>\n      <li>Regulation<\/li>\n      <li>Sensitivity<\/li>\n    <\/ol>\n\n    <div class=\"memory\">\n      <strong>\n        \uc548\uc815\uc131 \u2192 \ucd94\uc885 \u2192 \uc678\ub780 \uc81c\uac70 \u2192 \ubbfc\uac10\ub3c4 \uc21c\uc11c\ub85c\n        \uad6c\ubd84\ud558\uc5ec \uc554\uae30\ud558\ub294 \ud615\ud0dc\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. \uae30\ubcf8 Block Diagram<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 Reference R,\n      \uc678\ub780 W,\n      Sensor Noise V\uac00 \ucd9c\ub825 Y\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc744\n      \ud558\ub098\uc758 Block Diagram\uc73c\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n                       W\n                       \u2502\n                       \u25bc\n      R \u2500\u2500\u25ba (+) \u2500\u2500\u25ba D \u2500\u2500\u25ba (+) \u2500\u2500\u25ba G \u2500\u2500\u2500\u2500\u2500\u25ba Y\n             \u25b2                         \u2502\n             \u2502                         \u2502\n             \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 H \u25c4\u2500\u2500\u2500\u2500 (+) \u25c4\u2500\u2500\u2518\n                                \u25b2\n                                \u2502\n                                V\n    <\/pre>\n\n    <p>\n      \ucd9c\ub825 Y\ub294 R, W, V\uc758 \uc138 \uc785\ub825\uc5d0 \uc758\ud574 \uacb0\uc815\ub418\ub294 \uac83\uc73c\ub85c\n      \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. Reference R\uc5d0 \ub300\ud55c \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc678\ub780\uacfc Sensor Noise\ub97c 0\uc73c\ub85c \ub450\uace0\n      Reference R\uc5d0 \ub300\ud55c \ucd9c\ub825\ub9cc \ud655\uc778\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      W = 0,\n      V = 0\n    <\/div>\n\n    <div class=\"formula\">\n      Y \/ R\n      =\n      DG \/ (1 + DGH)\n    <\/div>\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uc774\ub97c\n      Reference Tracking\uacfc \uc5f0\uacb0\ud558\uc5ec \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. Tracking<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Tracking\uc740 Reference\uac00 \ubcc0\ud560 \ub54c\n      \ucd9c\ub825\uc774 \uc5bc\ub9c8\ub098 \uc798 \ub530\ub77c\uac00\ub294\uc9c0\ub97c \ud655\uc778\ud558\ub294 \uc870\uac74\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Tracking\n      \u2192\n      Reference\ub97c \uc798 \ub530\ub77c\uac00\ub294\uac00?\n    <\/div>\n\n    <p>\n      NeoStudio\uc5d0\ub294 Tracking\uacfc\n      System Type\uc758 \uad00\uacc4\ub3c4 \ud568\uaed8 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. \uc678\ub780 W\uc5d0 \ub300\ud55c \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      R\uacfc V\ub97c 0\uc73c\ub85c \ub450\uace0\n      W\uac00 \ucd9c\ub825 Y\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\ub9cc \ud655\uc778\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      R = 0,\n      V = 0\n    <\/div>\n\n    <div class=\"formula\">\n      Y \/ W\n      =\n      G \/ (1 + DGH)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. Regulation<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 Regulation\uc744\n      \uc678\ub780 W\uac00 \uc874\uc7ac\ud560 \ub54c\n      \ucd9c\ub825\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc744 \uc5bc\ub9c8\ub098 \uc904\uc774\ub294\uac00\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Regulation\n      \u2192\n      \uc678\ub780 W\uac00 \uc788\uc744 \ub54c\n      \uc774\ub97c \uc798 \uadf9\ubcf5\ud558\ub294\uac00?\n    <\/div>\n\n    <p>\n      Loop Gain\uc774 \ucee4\uc9c0\uba74\n      \uc678\ub780\uc5d0 \ub300\ud55c \ucd9c\ub825 \uc601\ud5a5\uc744 \uc904\uc774\ub294 \ubc29\ud5a5\uc73c\ub85c \uc815\ub9ac\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. Sensor Noise V\uc5d0 \ub300\ud55c \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      R\uacfc W\ub97c 0\uc73c\ub85c \ub450\uace0\n      Sensor Noise V\uc5d0 \ub300\ud55c \ucd9c\ub825 \uad00\uacc4\ub97c \uad6c\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      R = 0,\n      W = 0\n    <\/div>\n\n    <div class=\"formula\">\n      Y \/ V\n      =\n      -DG \/ (1 + DGH)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. \ucd9c\ub825 Y\uc758 \uc804\uccb4 \uad00\uacc4<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uc911\ucca9\uc758 \uc6d0\ub9ac\ub97c \uc774\uc6a9\ud558\uc5ec\n      R, W, V\uc758 \uc601\ud5a5\uc744 \ud558\ub098\uc758 \uc2dd\uc73c\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Y\n      =\n      DG\/(1+DGH) \u00b7 R\n      +\n      G\/(1+DGH) \u00b7 W\n      &#8211;\n      DG\/(1+DGH) \u00b7 V\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        R, W, V \uac01\uac01\uc5d0 \ub300\ud55c \uc804\ub2ec\ud568\uc218\ub97c \uad6c\ud55c \ub4a4\n        \ud569\ud558\uc5ec \uc804\uccb4 \ucd9c\ub825\uc744 \ud45c\ud604\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. 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      NeoStudio\uc5d0\uc11c\ub294 \uc704\uc758 Y\uc2dd\uc744 \uc774\uc6a9\ud558\uc5ec\n      Error\ub3c4 R, W, V\uc5d0 \ub300\ud574 \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=\"warning\">\n      <strong>\n        \uc774 Error \uc2dd\uc740 NeoStudio\uc5d0\uc11c H\ub97c \uc0dd\ub7b5\ud558\uc5ec\n        \uc815\ub9ac\ud55c \ubd80\ubd84\uc744 \uadf8\ub300\ub85c \ubc18\uc601\ud558\uc600\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. Stability<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 Stability\ub97c\n      \uc2dc\uac04\uc5d0 \ub530\ub77c \uc2dc\uc2a4\ud15c \uc751\ub2f5\uc774 \ubc1c\uc0b0\ud558\ub294\uc9c0,\n      \uc218\ub834\ud558\ub294\uc9c0\ub97c \ud655\uc778\ud558\ub294 \uc870\uac74\uc73c\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Stability\n      \u2192\n      \uc2dc\uac04\uc774 \uc9c0\ub098\uba74\uc11c\n      \uc2dc\uc2a4\ud15c\uc774 \ubc1c\uc0b0\ud558\ub294\uac00?\n      \uc218\ub834\ud558\ub294\uac00?\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. Closed-Loop \ud2b9\uc131\ubc29\uc815\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Closed Loop\uc758 \ud2b9\uc131\ubc29\uc815\uc2dd\uc740\n      \ub2e4\uc74c \ud615\ud0dc\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      1 + DG = 0\n    <\/div>\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294\n      \uc774 \uc2dd\uc744 \ub9cc\uc871\uc2dc\ud0a4\ub294 Pole \uc704\uce58\ub97c \uc774\uc6a9\ud558\uc5ec\n      Stability\ub97c \ud310\ub2e8\ud558\ub294 \ud750\ub984\uc73c\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. Open-Loop\uc640 Closed-Loop Pole<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\ub294 Open Loop\uac00\n      \ub2e4\uc74c \ud615\ud0dc\uc778 \uacbd\uc6b0\ub97c \uc608\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      G<sub>OL<\/sub>\n      =\n      D \u00b7 G\n      =\n      (b\/a)(d\/c)\n    <\/div>\n\n    <p>\n      Open Loop\uc5d0\uc11c\ub294 \uac01 \uc804\ub2ec\ud568\uc218\uc758 Pole\uc744 \ud655\uc778\ud558\uace0,\n      Closed Loop\uc5d0\uc11c\ub294\n      1 + DG = 0\uc744 \ub9cc\uc871\ud558\ub294 Pole\uc744 \ud655\uc778\ud558\ub294 \ud750\ub984\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. Regulation\uacfc Loop Gain<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 Error \uc2dd\uc5d0\uc11c\n      Reference\uc640 \uc678\ub780\uc758 \uc601\ud5a5\uc744 \uc904\uc774\uae30 \uc704\ud574\n      Loop Gain\uc744 \ud06c\uac8c \ud558\ub294 \ubc29\ud5a5\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      D \u2192 \u221e\n      \u2192\n      Reference Error \uac10\uc18c\n    <\/div>\n\n    <div class=\"formula\">\n      D \u2192 \u221e\n      \u2192\n      Disturbance \uc601\ud5a5 \uac10\uc18c\n    <\/div>\n\n    <p>\n      \ubc18\uba74 Sensor Noise V\ub294\n      \ub2e4\ub978 \ubc29\ud5a5\uc73c\ub85c \uc601\ud5a5\uc744 \ubc1b\uc744 \uc218 \uc788\ub2e4\ub294 \uba54\ubaa8\uac00 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. Sensitivity \uc815\uc758<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc640 NeoStudio\uc5d0\uc11c\ub294 Sensitivity\ub97c\n      \uc804\ub2ec\ud568\uc218 T\uc758 \uc0c1\ub300 \ubcc0\ud654\uc640\n      G\uc758 \uc0c1\ub300 \ubcc0\ud654\uc758 \ube44\ub85c \uc815\uc758\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      S<sub>G<\/sub><sup>T<\/sup>\n      =\n      (dT\/T)\n      \/\n      (dG\/G)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. Closed-Loop \uc804\ub2ec\ud568\uc218\uc758 Sensitivity<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Closed-Loop \uc804\ub2ec\ud568\uc218\ub97c\n      \ub2e4\uc74c\uacfc \uac19\uc774 \ub450\uace0 \ubbf8\ubd84\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      T\n      =\n      DG \/ (1 + DG)\n    <\/div>\n\n    <div class=\"formula\">\n      dT\/dG\n      =\n      D \/ (1 + DG)\u00b2\n    <\/div>\n\n    <p>\n      \uc774\ub97c Sensitivity \uc815\uc758\uc5d0 \ub300\uc785\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      S<sub>G<\/sub><sup>T<\/sup>\n      =\n      1 \/ (1 + DG)\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Loop Gain DG\uac00 \ucee4\uc9c8\uc218\ub85d\n        G\uc758 \ubcc0\ud654\uc5d0 \ub300\ud55c Closed-Loop \uc804\ub2ec\ud568\uc218\uc758 Sensitivity\uac00 \uc791\uc544\uc9c4\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>16. Sensitivity\uc758 \ubaa9\uc801<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 G\uac00 \ubcc0\ud558\ub354\ub77c\ub3c4\n      \uc804\uccb4 Transfer Function\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc744 \uc904\uc774\ub294 \uac83\uc744\n      Sensitivity\uc758 \uad00\uc810\uc73c\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      G \ubcc0\ud654\n      \u2192\n      T \ubcc0\ud654 \ucd5c\uc18c\ud654\n    <\/div>\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc758 \uc720\ub3c4\uc5d0\uc11c\ub3c4\n      \ucd5c\uc885\uc801\uc73c\ub85c \ub2e4\uc74c \uc2dd\uc744 \uc5bb\ub294\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      S<sub>G<\/sub><sup>T<\/sup>\n      =\n      1 \/ (1 + DG)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>17. Sensor H\uc640 Sensitivity<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc5d0\ub294 Sensor H\uac00 \ubcc0\ud560 \ub54c\uc758\n      Sensitivity\ub3c4 \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      \ud544\uae30\uc5d0\ub294 \uc774 \uac12\uc774\n      Loop Gain\uc774 \ud070 \uacbd\uc6b0 \uc57d 1\uc774 \ub418\ub294 \ubc29\ud5a5\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      DGH \u226b 1\n      \u2192\n      S<sub>H<\/sub><sup>T<\/sup> \u2248 1\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c Sensor \uc120\ud0dd\uacfc \uad00\ub828\ud55c \uba54\ubaa8\uac00 \ud568\uaed8 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>18. System Type<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294 System Type\uc744\n      Open-Loop \uc804\ub2ec\ud568\uc218\uc5d0\uc11c \uc6d0\uc810 Pole\uc758 \uac1c\uc218\uc640 \uc5f0\uacb0\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      DG\n      =\n      DG&#8217; \/ s<sup>n<\/sup>\n    <\/div>\n\n    <p>\n      \uc5ec\uae30\uc11c n\uc740\n      \uc6d0\uc810\uc5d0 \uc874\uc7ac\ud558\ub294 Pole\uc758 \uac1c\uc218\ub97c \ub098\ud0c0\ub0b4\ub294 \uac83\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      System Type\n      =\n      Open-Loop\uc758 \uc6d0\uc810 Pole \uac1c\uc218\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>19. Type 0 \u00b7 Type 1 \u00b7 Type 2<\/h2>\n\n  <div class=\"card\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>System Type<\/th>\n          <th>\uc6d0\uc810 Pole \uac1c\uc218<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>Type 0<\/strong><\/td>\n          <td>0<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Type 1<\/strong><\/td>\n          <td>1<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Type 2<\/strong><\/td>\n          <td>2<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>20. \uc785\ub825\uc758 \ucc28\uc218 k<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc640 \uad50\uc7ac \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      Polynomial Reference Input\uc744\n      \ub2e4\uc74c\uacfc \uac19\uc774 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      R(s)\n      =\n      1 \/ s<sup>k+1<\/sup>\n    <\/div>\n\n    <p>\n      k \uac12\uc5d0 \ub530\ub77c\n      Position, Velocity, Acceleration \uc785\ub825\uc73c\ub85c \uc5f0\uacb0\ud558\ub294 \ud45c\uac00 \uc788\ub2e4.\n    <\/p>\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>k<\/th>\n          <th>\uc785\ub825<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td>0<\/td>\n          <td>Position \/ Step<\/td>\n        <\/tr>\n\n        <tr>\n          <td>1<\/td>\n          <td>Velocity \/ Ramp<\/td>\n        <\/tr>\n\n        <tr>\n          <td>2<\/td>\n          <td>Acceleration<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>21. Final Value Theorem<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub294 Final Value Theorem\uc73c\ub85c \uacc4\uc0b0\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      lim<sub>t\u2192\u221e<\/sub> e(t)\n      =\n      lim<sub>s\u21920<\/sub> sE(s)\n    <\/div>\n\n    <p>\n      \uad50\uc7ac \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      Final Value Theorem\uc744 \uc801\uc6a9\ud558\uae30 \uc704\ud55c\n      Pole \uc870\uac74\ub3c4 \ud568\uaed8 \uc5b8\uae09\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>22. Closed-Loop \uc804\ub2ec\ud568\uc218\uc640 Error<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uad50\uc7ac \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      Closed-Loop Transfer Function\uc744 \ub2e4\uc74c\uacfc \uac19\uc774 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      T(s)\n      =\n      GD \/ (1 + GDH)\n    <\/div>\n\n    <p>\n      System Error\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      E(s)\n      =\n      R(s)\n      &#8211;\n      Y(s)\n    <\/div>\n\n    <div class=\"formula\">\n      E(s)\n      =\n      [1 &#8211; T(s)]R(s)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c Reference-to-Error \uc804\ub2ec\ud568\uc218\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      E(s)\/R(s)\n      =\n      1 &#8211; T(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>23. Polynomial Reference\uc758 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Reference Input\uc774\n      k\ucc28 Polynomial\uc77c \ub54c\n      \ub2e4\uc74c \uad00\uacc4\uac00 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      R(s)\n      =\n      1 \/ s<sup>k+1<\/sup>\n    <\/div>\n\n    <div class=\"formula\">\n      E(s)\n      =\n      [1-T(s)]\n      \/\n      s<sup>k+1<\/sup>\n    <\/div>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      lim<sub>s\u21920<\/sub>\n      [1-T(s)]\n      \/\n      s<sup>k<\/sup>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>24. Type\uacfc \uc785\ub825 \ucc28\uc218\uc758 \ube44\uad50<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      Open-Loop\uc758 \uc6d0\uc810 Pole \uac1c\uc218 n\uacfc\n      \uc785\ub825 \ucc28\uc218 k\uc758 \ud06c\uae30\ub97c \ube44\uad50\ud558\uc5ec\n      \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28\ub97c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      DG\n      =\n      DG&#8217; \/ s<sup>n<\/sup>\n    <\/div>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      lim<sub>s\u21920<\/sub>\n      s<sup>n-k<\/sup>\n      \/\n      (\n      s<sup>n<\/sup> + DG&#8217;\n      )\n    <\/div>\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\uc870\uac74<\/th>\n          <th>\uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>n &gt; k<\/strong><\/td>\n          <td>0<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>n = k<\/strong><\/td>\n          <td>\uc720\ud55c\ud55c \uac12<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>n &lt; k<\/strong><\/td>\n          <td>\u221e<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>25. Type\ubcc4 Position \u00b7 Velocity \u00b7 Acceleration Error<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc5d0\ub294 Type\ubcc4 \uc624\ucc28\ub97c\n      \ub2e4\uc74c \ud615\ud0dc\ub85c \ud45c\ub85c \uc815\ub9ac\ud558\uace0 \uc788\ub2e4.\n    <\/p>\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>Type<\/th>\n          <th>Position<\/th>\n          <th>Velocity<\/th>\n          <th>Acceleration<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>0<\/strong><\/td>\n          <td>1\/(1+K)<\/td>\n          <td>\u221e<\/td>\n          <td>\u221e<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>1<\/strong><\/td>\n          <td>0<\/td>\n          <td>1\/K<sub>v<\/sub><\/td>\n          <td>\u221e<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>2<\/strong><\/td>\n          <td>0<\/td>\n          <td>0<\/td>\n          <td>1\/K<sub>a<\/sub><\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>26. \uc608\uc81c System<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac \uc774\ubbf8\uc9c0\uc5d0\ub294 \ub2e4\uc74c System \uc608\uc81c\uac00 \uc81c\uc2dc\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      G(s)\n      =\n      1 \/ [s(\u03c4s+1)]\n    <\/div>\n\n    <div class=\"formula\">\n      D(s)\n      =\n      k<sub>p<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      H(s)\n      =\n      1 + k<sub>t<\/sub>s\n    <\/div>\n\n    <div class=\"formula\">\n      F(s)\n      =\n      1\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>27. \uc608\uc81c\uc758 Error<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      System Error\ub97c \ub2e4\uc74c\uacfc \uac19\uc774 \uc804\uac1c\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      E(s)\n      =\n      R(s) &#8211; Y(s)\n    <\/div>\n\n    <div class=\"formula\">\n      E(s)\n      =\n      [\n      1 + (H(s)-1)D(s)G(s)\n      ]\n      \/\n      [\n      1 + H(s)D(s)G(s)\n      ]\n      \u00b7 R(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>28. \uc608\uc81c\uc758 \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Polynomial Reference Input\uc5d0 \ub300\ud574\n      \uad50\uc7ac\uc640 \uc190\uae00\uc528\uc5d0\uc11c\ub294 \ub2e4\uc74c \uacb0\uacfc\ub97c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub> = 0\n      ,\n      k = 0\n    <\/div>\n\n    <div class=\"formula\">\n      e<sub>ss<\/sub>\n      =\n      (1 + k<sub>t<\/sub>k<sub>p<\/sub>)\n      \/\n      k<sub>p<\/sub>\n      ,\n      k = 1\n    <\/div>\n\n    <p>\n      \ubcc4\ub3c4 \uc190\uae00\uc528 \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      \uc774\ub97c Position Error\uc640 Velocity Error\ub85c \uc5f0\uacb0\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Position Error\n      =\n      0\n    <\/div>\n\n    <div class=\"formula\">\n      Velocity Error\n      =\n      (1 + k<sub>t<\/sub>k<sub>p<\/sub>)\n      \/\n      k<sub>p<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      Acceleration Error\n      =\n      \u221e\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>29. \uc678\ub780\uc5d0 \ub300\ud55c System Type<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub9c8\uc9c0\ub9c9 \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      Reference\ub97c 0\uc73c\ub85c \ub450\uace0\n      \uc678\ub780 W\uc5d0 \ub300\ud55c \ucd9c\ub825 \uad00\uacc4\ub97c \ubcc4\ub3c4\ub85c \uac80\ud1a0\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      R = 0\n    <\/div>\n\n    <div class=\"formula\">\n      Y \/ W\n      =\n      T<sub>o,w<\/sub>(s)\n    <\/div>\n\n    <p>\n      \uc678\ub780 \uc804\ub2ec\ud568\uc218\uc5d0\n      s\uc758 \uac70\ub4ed\uc81c\uacf1\uc744 \uacf1\ud558\uc5ec\n      \uc6d0\uc810 Zero\uac00 \uba87 \uac1c\uc778\uc9c0 \ud655\uc778\ud558\ub294 \ubc29\ud5a5\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      T<sub>w<\/sub>(s)\n      =\n      s<sup>n<\/sup>\n      T<sub>o,w<\/sub>(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>30. \uc678\ub780 \uc81c\uac70\uc640 Final Value Theorem<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc678\ub780 \uc785\ub825\uc744\n      1\/s<sup>k+1<\/sup> \ud615\ud0dc\ub85c \ub450\uace0\n      Final Value Theorem\uc744 \uc801\uc6a9\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      y<sub>ss<\/sub>\n      =\n      lim<sub>s\u21920<\/sub>\n      s \u00b7\n      T<sub>o,w<\/sub>(s)\n      \u00b7\n      1\/s<sup>k+1<\/sup>\n    <\/div>\n\n    <div class=\"formula\">\n      y<sub>ss<\/sub>\n      =\n      lim<sub>s\u21920<\/sub>\n      s<sup>n-k<\/sup>\n      T<sub>w<\/sub>(s)\n    <\/div>\n\n    <p>\n      \uc774\ubbf8\uc9c0\uc5d0\ub294 \ub2e4\uc74c \uad00\uacc4\uac00 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      n &gt; k\n      \u2192\n      y<sub>ss<\/sub> = 0\n    <\/div>\n\n    <div class=\"formula\">\n      n = k\n      \u2192\n      \uc720\ud55c\uac12\n    <\/div>\n\n    <div class=\"formula\">\n      n &lt; k\n      \u2192\n      y<sub>ss<\/sub> = \u221e\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>31. \uc81c\uc5b4\uae30 \ud544\uc694 \uc870\uac74 \uc804\uccb4 \ud750\ub984<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                   Controller\n                       \u2502\n        \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u253c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n        \u25bc              \u25bc              \u25bc\n     Stability       Tracking      Regulation\n        \u2502              \u2502              \u2502\n        \u2502              \u2502              \u2502\n   Closed-Loop      Reference      Disturbance\n      Pole           \ucd94\uc885           \uc81c\uac70\n        \u2502              \u2502              \u2502\n        \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u253c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n                       \u2502\n                       \u25bc\n                  Sensitivity\n                       \u2502\n                       \u25bc\n              Parameter \ubcc0\ud654 \uc601\ud5a5\n                       \u2502\n                       \u25bc\n              1 \/ (1 + Loop Gain)\n\n\n             Steady-State Error\n                       \u2502\n                       \u25bc\n                  System Type\n                       \u2502\n                       \u25bc\n             \uc6d0\uc810 Pole \uac1c\uc218 n\n                       \u2502\n                       \u25bc\n          \uc785\ub825 Polynomial \ucc28\uc218 k\uc640 \ube44\uad50\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          n>k         n=k        n<k\n            \u2502          \u2502          \u2502\n            \u25bc          \u25bc          \u25bc\n            0        \uc720\ud55c\uac12        \u221e\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>32. \uc774\ubbf8\uc9c0 \u00b7 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>\uc6d0\ubcf8 \ub0b4\uc6a9<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>\ud544\uc694 \uc870\uac74<\/strong><\/td>\n          <td>Stability, Tracking, Regulation, Sensitivity<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Reference \uc804\ub2ec\ud568\uc218<\/strong><\/td>\n          <td>DG\/(1+DGH)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Disturbance \uc804\ub2ec\ud568\uc218<\/strong><\/td>\n          <td>G\/(1+DGH)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Sensor Noise \uc804\ub2ec\ud568\uc218<\/strong><\/td>\n          <td>-DG\/(1+DGH)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Error<\/strong><\/td>\n          <td>E = R - Y<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Stability<\/strong><\/td>\n          <td>Closed-Loop Pole \ud655\uc778<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Tracking<\/strong><\/td>\n          <td>Reference \ucd94\uc885<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Regulation<\/strong><\/td>\n          <td>\uc678\ub780 \uc601\ud5a5 \uc5b5\uc81c<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Sensitivity<\/strong><\/td>\n          <td>S<sub>G<\/sub><sup>T<\/sup> = 1\/(1+DG)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>System Type<\/strong><\/td>\n          <td>Open-Loop\uc758 \uc6d0\uc810 Pole \uac1c\uc218<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Polynomial Input<\/strong><\/td>\n          <td>R(s)=1\/s<sup>k+1<\/sup><\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Final Value<\/strong><\/td>\n          <td>e<sub>ss<\/sub>=lim<sub>s\u21920<\/sub>sE(s)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>n &gt; k<\/strong><\/td>\n          <td>\uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28 0<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>n = k<\/strong><\/td>\n          <td>\uc720\ud55c\ud55c \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>n &lt; k<\/strong><\/td>\n          <td>\uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28 \u221e<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"warning\">\n\n    <strong>\n      \uc774 HTML\uc740 \ud398\uc774\uc9c0 \ubcf8\ubb38 \uc124\uba85\uc744 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uace0,\n      \ud574\ub2f9 \ud398\uc774\uc9c0\uc758 NeoStudio PDF 1\uac1c(\ucd1d 5\ud398\uc774\uc9c0)\uc640\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0 9\uc7a5\ub9cc \uc9c1\uc811 \uc2dc\uac01 \ud310\ub3c5\ud558\uc5ec \uc791\uc131\ud558\uc600\ub2e4.\n\n      NeoStudio PDF\ub294\n      \uc81c\uc5b4\uae30\uc758 4\uac00\uc9c0 \ud544\uc694 \uc870\uac74,\n      R\u00b7W\u00b7V\uc5d0 \ub300\ud55c \uc804\ub2ec\ud568\uc218,\n      Error,\n      Stability,\n      Regulation,\n      Sensitivity\ub97c \uc21c\uc11c\ub300\ub85c \uc815\ub9ac\ud55c\ub2e4.\n\n      \uc77c\ubc18 \uc190\uae00\uc528 \uc774\ubbf8\uc9c0\ub294\n      Sensitivity \uc720\ub3c4,\n      Filtered Input \uad6c\uc870,\n      System Type,\n      Final Value Theorem,\n      Position\u00b7Velocity\u00b7Acceleration Error,\n      \uc678\ub780\uc5d0 \ub300\ud55c System Type\uc744 \uc815\ub9ac\ud55c\ub2e4.\n\n      \uc77c\ubc18 \uad50\uc7ac \ucea1\ucc98 \uc774\ubbf8\uc9c0\ub294\n      T(s)=GD\/(1+GDH),\n      E(s)=[1-T(s)]R(s),\n      Polynomial Reference Input,\n      \uc815\uc0c1\uc0c1\ud0dc \uc624\ucc28 \uc2dd\uacfc \uc608\uc81c\ub97c \uc81c\uacf5\ud55c\ub2e4.\n\n      \uc190\uae00\uc528\uc5d0\uc11c \uc77c\ubd80 \uae30\ud638\uac00 \ubd88\uba85\ud655\ud558\uac70\ub098\n      H\uac00 \uc0dd\ub7b5\ub41c \uc804\uac1c\ub294 \uc6d0\ubcf8\uc5d0\uc11c \ud310\ub3c5\ub418\ub294 \ubc94\uc704\ub9cc \ubc18\uc601\ud558\uc600\ub2e4.\n\n      \ud398\uc774\uc9c0 \ubcf8\ubb38\uc758 \uc124\uba85\uc774\ub098\n      \uc5f0\uacb0\ub41c \ub2e4\ub978 WordPress \uae00\uc758 \ub0b4\uc6a9\uc740 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uc558\ub2e4.\n    <\/strong>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    Controller,\n    Control System,\n    Stability,\n    Tracking,\n    Regulation,\n    Sensitivity,\n    System Type,\n    Steady-State Error,\n    Final Value Theorem,\n    Reference,\n    Disturbance,\n    Sensor Noise,\n    Error,\n    Loop Gain,\n    Pole,\n    Position Error,\n    Velocity Error,\n    Acceleration Error,\n    Type 0,\n    Type 1,\n    Type 2,\n    DG,\n    DGH,\n    S_G^T\n  <\/div>\n\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>\ucc45\uc774 \ud2c0\ub824 \uc554\uae30 \ud63c\ub3d9\ub428. \uc815\ub9ac! \uc81c\uc5b4\uae30 \ud544\uc694 \uc870\uac74 \uc554\uae30\uc704\uc8fc \uc815\ub9ac Stability \u00b7 Tracking \u00b7 Regulation \u00b7 Sensitivity \u00b7 System Type \u00b7 Steady-State Error \u00b7 Final Value Theorem 1. \uc81c\uc5b4\uae30\uc758 4\uac00\uc9c0 \ud544\uc694 \uc870\uac74 NeoStudio\uc5d0\uc11c\ub294 \uc81c\uc5b4\uae30\uc5d0\uc11c \ud655\uc778\ud574\uc57c \ud560 \uc870\uac74\uc744 \ub2e4\uc74c \ub124 \uac00\uc9c0\ub85c \uc815\ub9ac\ud55c\ub2e4. Stability Tracking Regulation Sensitivity \uc548\uc815\uc131 \u2192 \ucd94\uc885 \u2192 \uc678\ub780 \uc81c\uac70 \u2192 \ubbfc\uac10\ub3c4 \uc21c\uc11c\ub85c \uad6c\ubd84\ud558\uc5ec [&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":[1933,1219,1934,1935,1277],"class_list":["post-8802","post","type-post","status-publish","format-standard","hentry","category-1185","tag-regulation","tag-sensitivity","tag-stability","tag-system-type","tag-tracking"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/8802","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=8802"}],"version-history":[{"count":8,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/8802\/revisions"}],"predecessor-version":[{"id":9730,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/8802\/revisions\/9730"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=8802"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=8802"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=8802"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}