{"id":8952,"date":"2026-04-25T11:06:21","date_gmt":"2026-04-25T02:06:21","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=8952"},"modified":"2026-10-04T11:45:32","modified_gmt":"2026-10-04T02:45:32","slug":"ip-%ec%a0%9c%ec%96%b4%ea%b8%b0%eb%aa%a9%ec%a0%81-%ea%b5%ac%ed%98%84","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/ip-%ec%a0%9c%ec%96%b4%ea%b8%b0%eb%aa%a9%ec%a0%81-%ea%b5%ac%ed%98%84\/","title":{"rendered":"IP \uc81c\uc5b4\uae30\ubaa9\uc801, \uad6c\ud604"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"894\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-47.png\" alt=\"\" class=\"wp-image-8955\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-47.png 894w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-47-768x1100.png 768w\" sizes=\"auto, (max-width: 894px) 100vw, 894px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"915\" height=\"1280\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-48.png\" alt=\"\" class=\"wp-image-8956\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-48.png 915w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-48-768x1074.png 768w\" sizes=\"auto, (max-width: 915px) 100vw, 915px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1269\" height=\"1480\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-45.png\" alt=\"\" class=\"wp-image-8953\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-45.png 1269w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-45-768x896.png 768w\" sizes=\"auto, (max-width: 1269px) 100vw, 1269px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1246\" height=\"1201\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-46.png\" alt=\"\" class=\"wp-image-8954\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-46.png 1246w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2026\/04\/image-46-768x740.png 768w\" sizes=\"auto, (max-width: 1246px) 100vw, 1246px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\ubaa8\ud130\uc5d0\uc11c \uc9c4\ub3d9\uc758 \uc758\ubbf8<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ubaa8\ud130 \uc81c\uc5b4\uc5d0\uc11c \ub9d0\ud558\ub294 <strong>\uc9c4\ub3d9(oscillation)<\/strong>\uc740 \ub2e8\uc21c\ud788 \u201c\ub5a8\ub9bc\u201d\uc774 \uc544\ub2c8\ub77c, <strong>\uc81c\uc5b4 \ub8e8\ud504\uac00 \uacfc\ub3c4\ud558\uac8c \ubc18\uc751\ud574\uc11c \ucd9c\ub825\uc774 \ubaa9\ud45c\uac12 \uc8fc\ubcc0\uc744 \ubc18\ubcf5\uc801\uc73c\ub85c \ub118\ub098\ub4dc\ub294 \ud604\uc0c1<\/strong>\uc744 \ub73b\ud569\ub2c8\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">\ud83d\udd39 1. \uc9c4\ub3d9\uc758 \ubb3c\ub9ac\uc801 \uc758\ubbf8<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\ubaa8\ud130\uac00 \uc18d\ub3c4\ub098 \uc704\uce58\ub97c \uc81c\uc5b4\ud560 \ub54c, \uc81c\uc5b4\uae30\uac00 \ub108\ubb34 \ud070 \uc774\ub4dd(gain)\uc744 \uac00\uc9c0\uba74 \ub2e4\uc74c\uacfc \uac19\uc740 \uc77c\uc774 \uc0dd\uae41\ub2c8\ub2e4:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\ubaa9\ud45c \uc18d\ub3c4\uc5d0 \ub3c4\ub2ec\ud558\ub824\ub294 \uacfc\uc815\uc5d0\uc11c <strong>\uacfc\ub3c4\ud558\uac8c \ud1a0\ud06c\ub97c \uc90c<\/strong><\/li>\n\n\n\n<li>\uadf8 \uacb0\uacfc \uc18d\ub3c4\uac00 \ubaa9\ud45c\ub97c \ucd08\uacfc \u2192 \uc81c\uc5b4\uae30\uac00 \ub2e4\uc2dc \ubc18\ub300 \ubc29\ud5a5\uc73c\ub85c \ud1a0\ud06c\ub97c \uc90c<\/li>\n\n\n\n<li>\uc774 \uacfc\uc815\uc774 \ubc18\ubcf5\ub418\uba74\uc11c <strong>\uc18d\ub3c4\ub098 \uc804\ub958\uac00 \uc9c4\ub3d9<\/strong>\ud558\uac8c \ub429\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\uc989, \uc9c4\ub3d9\uc740 <strong>\uc81c\uc5b4\uae30\uc758 \uacfc\ub3c4\ud55c \ubc18\uc751<\/strong> \ub54c\ubb38\uc5d0 \uc0dd\uae30\ub294 <strong>\uc790\uae30 \uad50\uc815\uc758 \ubc18\ubcf5 \ud604\uc0c1<\/strong>\uc774\uc5d0\uc694.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">\ud83d\udd39 2. \uc81c\uc5b4 \uc774\ub860\uc801 \uad00\uc810<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\uc9c4\ub3d9\uc740 \uc2dc\uc2a4\ud15c\uc758 <strong>\ud3d0\ub8e8\ud504 \uadf9\uc810(closed-loop poles)<\/strong>\uc774 \ud5c8\uc218\ucd95 \uadfc\ucc98\uc5d0 \uc788\uc744 \ub54c \ub098\ud0c0\ub0a9\ub2c8\ub2e4.<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uc774\ub4dd\uc774 \ub108\ubb34 \ud06c\uba74 \uadf9\uc810\uc774 \ud5c8\uc218\ucd95\uc5d0 \uac00\uae4c\uc6cc\uc838 \u2192 <strong>\uac10\uc1e0\ube44(\u03b6)<\/strong>\uac00 \uc791\uc544\uc9d0 \u2192 \uc9c4\ub3d9 \ubc1c\uc0dd<\/li>\n\n\n\n<li>\uc774\ub4dd\uc744 \uc904\uc774\uba74 \uadf9\uc810\uc774 \uc67c\ucabd\uc73c\ub85c \uc774\ub3d9 \u2192 \uac10\uc1e0\ube44 \uc99d\uac00 \u2192 \uc9c4\ub3d9\uc774 \uc904\uace0 \uc548\uc815\ud654<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\uadf8\ub798\uc11c \uad50\uc7ac\uc5d0\uc11c \u201c\uc9c4\ub3d9\uc774 \ubc1c\uc0dd\ud558\uba74 \uc774\ub4dd\uc774 \ud06c\ub2e4\uace0 \ubcfc \uc218 \uc788\ub2e4\u201d\uace0 \ud55c \uac70\uc608\uc694.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">\ud83d\udd39 3. \uc2e4\uc81c \ubaa8\ud130\uc5d0\uc11c\uc758 \uc9c4\ub3d9<\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\uad6c\ubd84<\/th><th>\uc9c4\ub3d9\uc758 \ud615\ud0dc<\/th><th>\uc6d0\uc778<\/th><th>\uacb0\uacfc<\/th><\/tr><\/thead><tbody><tr><td><strong>\uc18d\ub3c4 \uc9c4\ub3d9<\/strong><\/td><td>\uc18d\ub3c4\uac00 \ubaa9\ud45c\uac12 \uc8fc\ubcc0\uc5d0\uc11c \uc624\ub974\ub0b4\ub9bc<\/td><td>\uc18d\ub3c4 \uc81c\uc5b4 \uc774\ub4dd \uacfc\ub300<\/td><td>\ubd88\uc548\uc815\ud55c \ud68c\uc804, \uc18c\uc74c<\/td><\/tr><tr><td><strong>\uc804\ub958 \uc9c4\ub3d9<\/strong><\/td><td>\uc804\ub958\uac00 \ube60\ub974\uac8c \ubcc0\ub3d9<\/td><td>\uc804\ub958 \uc81c\uc5b4 \ub8e8\ud504 \ubd88\uc548\uc815<\/td><td>\ud1a0\ud06c \ubd88\uade0\uc77c, \ubc1c\uc5f4 \uc99d\uac00<\/td><\/tr><tr><td><strong>\uc704\uce58 \uc9c4\ub3d9<\/strong><\/td><td>\uc704\uce58\uac00 \ubaa9\ud45c \uadfc\ucc98\uc5d0\uc11c \ub5a8\ub9bc<\/td><td>\uc704\uce58 \uc81c\uc5b4 \uc774\ub4dd \uacfc\ub300<\/td><td>\uc815\ubc00\ub3c4 \uc800\ud558, \uae30\uacc4\uc801 \ucda9\uaca9<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\u2705 <strong>\uacb0\ub860:<\/strong><br>\ubaa8\ud130 \uc81c\uc5b4\uc5d0\uc11c \uc9c4\ub3d9\uc740 <strong>\uc774\ub4dd\uc774 \ub108\ubb34 \ucee4\uc11c \uc2dc\uc2a4\ud15c\uc774 \uacfc\ub3c4\ud558\uac8c \ubc18\uc751\ud558\ub294 \ubd88\uc548\uc815 \uc9d5\ud6c4<\/strong>\uc785\ub2c8\ub2e4.<br>\uc18d\ub3c4\ub098 \uc804\ub958\uac00 \ubaa9\ud45c\uac12\uc744 \uc911\uc2ec\uc73c\ub85c \ubc18\ubcf5\uc801\uc73c\ub85c \uc624\ub974\ub0b4\ub9ac\uba74, \uc81c\uc5b4\uae30\uac00 \uc5d0\ub108\uc9c0\ub97c \ub0ad\ube44\ud558\uace0 \uae30\uacc4\uc801 \uc2a4\ud2b8\ub808\uc2a4\uac00 \ucee4\uc9c0\uc8e0.<br>\uadf8\ub798\uc11c \uc9c4\ub3d9\uc740 \u201c\uc81c\uc5b4 \uc131\ub2a5\uc774 \uc88b\ub2e4\u201d\ub294 \uc2e0\ud638\uac00 \uc544\ub2c8\ub77c, <strong>\uc774\ub4dd\uc744 \uc904\uc5ec\uc57c \ud55c\ub2e4\ub294 \uacbd\uace0<\/strong>\ub85c \ubd05\ub2c8\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ubaa8\ud130\ub97c \uc81c\uc5b4\ud560 \ub54c overshoot\uac00 \uc5c6\uc5b4\uc57c \ud558\ub294 \uc774\uc720\ub974 \uc124\uba85\ud574<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\ubaa8\ud130 \uc81c\uc5b4\uc5d0\uc11c <strong>overshoot(\uc624\ubc84\uc288\ud2b8)<\/strong>\uac00 \uc5c6\uc5b4\uc57c \ud558\ub294 \uc774\uc720\ub294 \ub2e8\uc21c\ud788 \u201c\uc608\uc058\uac8c \uc751\ub2f5 \uace1\uc120\uc744 \ub9cc\ub4e4\uae30 \uc704\ud574\uc11c\u201d\uac00 \uc544\ub2c8\ub77c, \uc2e4\uc81c \uc2dc\uc2a4\ud15c \uc548\uc815\uc131\uacfc \ud6a8\uc728\uc5d0 \uc9c1\uacb0\ub418\uae30 \ub54c\ubb38\uc774\uc5d0\uc694.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Overshoot<\/strong> = \ubaa9\ud45c \uc18d\ub3c4\ub098 \uc704\uce58\ub97c \ucd08\uacfc\ud574\uc11c \uc9c0\ub098\uce5c \ub4a4 \ub2e4\uc2dc \ub418\ub3cc\uc544\uc624\ub294 \ud604\uc0c1<\/li>\n\n\n\n<li>\ubaa8\ud130\uac00 \ubaa9\ud45c\ubcf4\ub2e4 \ub354 \ube60\ub974\uac8c \ub3cc\uac70\ub098, \uc704\uce58\ub97c \uc9c0\ub098\uccd0\uc11c \ub2e4\uc2dc \ub9de\ucd94\ub824\ub294 \uacfc\uc815\uc5d0\uc11c \ubc1c\uc0dd\ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">\ud83d\udd39 2. \uc65c \ubb38\uc81c\uc778\uac00?<\/h3>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\uae30\uacc4\uc801 \ucda9\uaca9<\/strong>\n<ul class=\"wp-block-list\">\n<li>\uc704\uce58 \uc81c\uc5b4\uc5d0\uc11c overshoot\uac00 \uc788\uc73c\uba74 \ub85c\ubd07 \ud314\uc774\ub098 \uae30\uacc4 \uc7a5\uce58\uac00 \ubaa9\ud45c \uc704\uce58\ub97c \uc9c0\ub098\uccd0\uc11c \u201c\ud37d\u201d \ud558\uace0 \uba48\ucd94\uac70\ub098 \ub418\ub3cc\uc544\uc635\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\uc774\ub294 \uae30\uacc4\uc801 \ub9c8\ubaa8, \uc9c4\ub3d9, \uc18c\uc74c\uc744 \uc720\ubc1c\ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\uc5d0\ub108\uc9c0 \ub0ad\ube44<\/strong>\n<ul class=\"wp-block-list\">\n<li>\ubaa9\ud45c\ub97c \ucd08\uacfc\ud588\ub2e4\uac00 \ub2e4\uc2dc \ub418\ub3cc\uc544\uc624\ub294 \uacfc\uc815\uc5d0\uc11c \ubd88\ud544\uc694\ud55c \ud1a0\ud06c\uc640 \uc804\ub958\uac00 \uc18c\ubaa8\ub429\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\uc989, \ud6a8\uc728\uc774 \ub5a8\uc5b4\uc9c0\uace0 \ubc1c\uc5f4\uc774 \uc99d\uac00\ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\uc815\ubc00\ub3c4 \uc800\ud558<\/strong>\n<ul class=\"wp-block-list\">\n<li>CNC, \ud504\ub9b0\ud130, \ub85c\ubd07 \uac19\uc740 \uc815\ubc00 \uc81c\uc5b4\uc5d0\uc11c\ub294 overshoot\uac00 \uc788\uc73c\uba74 \uc6d0\ud558\ub294 \uc704\uce58\uc5d0 \uc815\ud655\ud788 \ub3c4\ub2ec\ud558\uc9c0 \ubabb\ud569\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\ubbf8\uc138\ud55c \uc624\ucc28\uac00 \ub204\uc801\ub418\uba74 \uc804\uccb4 \uc2dc\uc2a4\ud15c \uc131\ub2a5\uc774 \ud06c\uac8c \ub5a8\uc5b4\uc9d1\ub2c8\ub2e4.<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\uc0c1\uc704 \uc81c\uc5b4 \ub8e8\ud504 \ubd88\uc548\uc815<\/strong>\n<ul class=\"wp-block-list\">\n<li>\uc18d\ub3c4 \ub8e8\ud504\uc5d0\uc11c overshoot\uac00 \ubc1c\uc0dd\ud558\uba74 \uc704\uce58 \ub8e8\ud504\uac00 \uacc4\uc18d \ubcf4\uc815\ud574\uc57c \ud558\ubbc0\ub85c, \uc804\uccb4 \uc81c\uc5b4\uac00 \ubd88\uc548\uc815\ud574\uc9c8 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">\ud83d\udd39 3. \uc18d\ub3c4 \uc81c\uc5b4\uc640 \uc704\uce58 \uc81c\uc5b4\uc5d0\uc11c\uc758 \ucc28\uc774<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\uc18d\ub3c4 \uc81c\uc5b4<\/strong>: overshoot\uac00 \uc788\uc73c\uba74 \uc21c\uac04\uc801\uc73c\ub85c \ub108\ubb34 \ube60\ub974\uac8c \ud68c\uc804 \u2192 \ubd80\ud558\uc5d0 \ucda9\uaca9, \uc804\ub958 \uae09\uc99d<\/li>\n\n\n\n<li><strong>\uc704\uce58 \uc81c\uc5b4<\/strong>: overshoot\uac00 \uc788\uc73c\uba74 \ubaa9\ud45c \uc704\uce58\ub97c \uc9c0\ub098\uccd0\uc11c \ub2e4\uc2dc \ub9de\ucd94\ub824\ub294 \uacfc\uc815 \u2192 \uc815\ubc00\ub3c4 \uc190\uc2e4, \uae30\uacc4\uc801 \uc2a4\ud2b8\ub808\uc2a4<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\u2705 <strong>\uacb0\ub860:<\/strong><br>\ubaa8\ud130 \uc81c\uc5b4\uc5d0\uc11c overshoot\ub294 <strong>\ubd88\ud544\uc694\ud55c \uc5d0\ub108\uc9c0 \uc18c\ube44, \uae30\uacc4\uc801 \ucda9\uaca9, \uc815\ubc00\ub3c4 \uc800\ud558<\/strong>\ub97c \uc77c\uc73c\ud0a4\ubbc0\ub85c \ubc18\ub4dc\uc2dc \uc5b5\uc81c\ud574\uc57c \ud569\ub2c8\ub2e4.<br>\uadf8\ub798\uc11c \uc81c\uc5b4\uae30 \uc124\uacc4\uc5d0\uc11c\ub294 <strong>\ube60\ub978 \uc751\ub2f5 \uc18d\ub3c4\ubcf4\ub2e4 overshoot \uc5c6\ub294 \uc548\uc815\ub41c \uc751\ub2f5<\/strong>\uc744 \ub354 \uc911\uc694\ud558\uac8c \ubd05\ub2c8\ub2e4.<\/p>\n\n\n\n<div class=\"chapter19-wide\">\n\n  <h1>IP \uc81c\uc5b4\uae30 \ubaa9\uc801 \u00b7 \uad6c\ud604<\/h1>\n\n  <div class=\"subtitle\">\n    IP Controller \u00b7 PI Controller \u00b7 Zero \u00b7 Overshoot \u00b7 Speed Control \u00b7 Integral Gain \u00b7 Proportional Gain \u00b7 1st Order Lag Filter\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. IP \uc81c\uc5b4\uae30\uc758 \ubaa9\uc801<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc190\uae00\uc528 \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      IP \uc81c\uc5b4\uae30\uc758 \ubaa9\uc801\uc744\n      <strong>Overshoot \uc5b5\uc81c<\/strong>\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      IP Controller\n      \u2192\n      Overshoot \uc5b5\uc81c\n    <\/div>\n\n    <p>\n      \uae30\uc874 PI \uc18d\ub3c4 \uc81c\uc5b4\uae30\uc758 \uc804\ub2ec\ud568\uc218\uc5d0\ub294\n      Zero\uac00 \ud3ec\ud568\ub418\uace0,\n      \uc774 Zero\uac00 Overshoot \ubc1c\uc0dd\uacfc \uc5f0\uacb0\ub41c\ub2e4\uace0 \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        IP \uc81c\uc5b4\uae30\uc758 \ud575\uc2ec \ubaa9\uc801:\n        PI \uc81c\uc5b4\uae30\uc5d0\uc11c \uc0dd\uae30\ub294 Zero\ub97c \uc81c\uac70\ud558\uc5ec\n        Overshoot\ub97c \uc5b5\uc81c\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. PI \uc18d\ub3c4 \uc81c\uc5b4\uae30\uc758 \uc751\ub2f5<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      \ube44\ub840\uc801\ubd84 \uc18d\ub3c4 \uc81c\uc5b4\uae30\uc758 \uc18d\ub3c4 \uc751\ub2f5\uc744\n      \uc138 \ud56d\uc73c\ub85c \ubd84\ub9ac\ud558\uc5ec \ubcf4\uc5ec\uc900\ub2e4.\n    <\/p>\n\n    <p>\n      \uc774 \uac00\uc6b4\ub370 Zero\uc5d0 \ud574\ub2f9\ud558\ub294 \ud56d\uc774\n      <strong>\uc624\ubc84\uc288\ud2b8\uc758 \uadfc\uc6d0<\/strong>\uc73c\ub85c \ud45c\uc2dc\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      PI Controller\n      \u2192\n      \uc804\ub2ec\ud568\uc218\uc5d0 Zero \uc874\uc7ac\n      \u2192\n      Overshoot \ubc1c\uc0dd\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. PI \uc81c\uc5b4\uae30\uc758 Zero<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc190\uae00\uc528\uc5d0\uc11c\ub294 PI \uc81c\uc5b4\uae30\uc758 \ube44\ub840\uc774\ub4dd K<sub>p<\/sub>\uc640\n      \uc801\ubd84\uc774\ub4dd K<sub>i<\/sub>\uac00\n      \uc624\ucc28 \uc804\uccb4\uc5d0 \uc791\uc6a9\ud558\ub294 \uad6c\uc870\ub97c \ucd9c\ubc1c\uc810\uc73c\ub85c \ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      e\n      =\n      \u03c9<sub>m<\/sub><sup>*<\/sup>\n      &#8211;\n      \u03c9<sub>m<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      PI\n      =\n      K<sub>p<\/sub>\n      +\n      K<sub>i<\/sub>\/s\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c Reference\uc5d0\ub3c4 \ube44\ub840\ud56d\uc774 \uc9c1\uc811 \uc791\uc6a9\ud558\uba70,\n      \uc774 \uad6c\uc870\uc5d0\uc11c \uc0dd\uae30\ub294 Zero\uac00\n      \uc18d\ub3c4 \uc751\ub2f5\uc758 Overshoot\uc640 \uc5f0\uacb0\ub418\uc5b4 \uc788\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. IP \uc81c\uc5b4\uae30\uc758 \uae30\ubcf8 \uc544\uc774\ub514\uc5b4<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc190\uae00\uc528 \uc774\ubbf8\uc9c0\uc758 \ud575\uc2ec \uba54\ubaa8\ub294\n      K<sub>p<\/sub>\ub97c\n      \uc624\ucc28\n      \u03c9<sub>m<\/sub><sup>*<\/sup>-\u03c9<sub>m<\/sub>\n      \uc804\uccb4\uc5d0 \uc5f0\uacb0\ud558\uc9c0 \uc54a\ub294 \uac83\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      \uae30\uc874 PI:\n      K<sub>p<\/sub>\n      \u2192\n      (\n      \u03c9<sub>m<\/sub><sup>*<\/sup>\n      &#8211;\n      \u03c9<sub>m<\/sub>\n      )\n    <\/div>\n\n    <div class=\"formula\">\n      IP:\n      K<sub>p<\/sub>\n      \u2192\n      \u03c9<sub>m<\/sub>\n    <\/div>\n\n    <p>\n      \uc989 \uc801\ubd84\uae30\ub294 \uc18d\ub3c4\uc624\ucc28\ub97c \uc785\ub825\uc73c\ub85c \ubc1b\uace0,\n      \ube44\ub840\uae30\ub294 \uc2e4\uc81c \uc18d\ub3c4 \u03c9<sub>m<\/sub>\uc5d0\n      \ud53c\ub4dc\ubc31 \ud615\ud0dc\ub85c \uc791\uc6a9\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. IP \uc81c\uc5b4\uae30 \uad6c\uc870<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                  +                     +\n      \u03c9m* \u2500\u2500\u2500\u2500\u2500\u2500\u2500(\u03a3)\u2500\u2500\u2500\u2500\u25ba Ki\/s \u2500\u2500\u2500\u2500\u2500\u2500\u2500(\u03a3)\u2500\u2500\u2500\u2500\u25ba ia\n                  \u25b2                     \u25b2\n                  \u2502 -                   \u2502 -\n                  \u2502                     \u2502\n                  \u2502                    Kp\n                  \u2502                     \u25b2\n                  \u2502                     \u2502\n                  \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 \u03c9m\n    <\/pre>\n\n    <p>\n      \uccab \ubc88\uc9f8 \ud569\uc0b0\uc810\uc5d0\uc11c\ub294\n      \uc9c0\ub839\uc18d\ub3c4\uc640 \uc2e4\uc81c\uc18d\ub3c4\uc758 \uc624\ucc28\ub97c \uad6c\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      e\n      =\n      \u03c9<sub>m<\/sub><sup>*<\/sup>\n      &#8211;\n      \u03c9<sub>m<\/sub>\n    <\/div>\n\n    <p>\n      \uc774 \uc624\ucc28\ub294 \uc801\ubd84\uae30 K<sub>i<\/sub>\/s\ub85c \ub4e4\uc5b4\uac00\uace0,\n      \uc2e4\uc81c\uc18d\ub3c4 \u03c9<sub>m<\/sub>\uc5d0 \ube44\ub840\ud55c\n      K<sub>p<\/sub>\u03c9<sub>m<\/sub>\uc774\n      \ub4a4\uc758 \ud569\uc0b0\uc810\uc5d0\uc11c \ucc28\uac10\ub41c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. IP \uc81c\uc5b4\uae30\uc758 \uc804\ub958 \uc9c0\ub839<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc190\uae00\uc528 \uad6c\uc870\ub97c \uc2dd\uc73c\ub85c \ub098\ud0c0\ub0b4\uba74\n      \uc804\ub958 \uc9c0\ub839\uc740 \ub2e4\uc74c \ud615\ud0dc\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      i<sub>a<\/sub>\n      =\n      K<sub>i<\/sub>\/s\n      (\n      \u03c9<sub>m<\/sub><sup>*<\/sup>\n      &#8211;\n      \u03c9<sub>m<\/sub>\n      )\n      &#8211;\n      K<sub>p<\/sub>\u03c9<sub>m<\/sub>\n    <\/div>\n\n    <p>\n      \uc774\ub97c \uc815\ub9ac\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      i<sub>a<\/sub>\n      =\n      K<sub>i<\/sub>\/s\n      \u00b7\n      \u03c9<sub>m<\/sub><sup>*<\/sup>\n      &#8211;\n      (\n      K<sub>p<\/sub>\n      +\n      K<sub>i<\/sub>\/s\n      )\n      \u03c9<sub>m<\/sub>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. IP \uc81c\uc5b4\uae30\uc758 Motor Block<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac\uc758 IP \uc81c\uc5b4\uae30 \ube14\ub85d\ub3c4\ub294\n      \ub2e4\uc74c \ud750\ub984\uc73c\ub85c \uad6c\uc131\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <pre>\n      \u03c9m*\n       \u2502\n       \u25bc\n      (+)\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba Kis\/s \u2500\u2500\u2500\u25ba (+) \u2500\u2500\u2500\u25ba ia \u2500\u2500\u2500\u25ba KT \u2500\u2500\u2500\u25ba (+) \u2500\u2500\u2500\u25ba 1\/Js \u2500\u2500\u2500\u25ba \u03c9m\n       \u25b2                         \u25b2                         \u25b2                    \u2502\n       \u2502 -                       \u2502 -                       \u2502 -TL                \u2502\n       \u2502                         \u2502                         \u2502                    \u2502\n       \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u253c\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\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n                                 \u2502\n                                Kps\n                                 \u25b2\n                                 \u2502\n                                \u03c9m\n    <\/pre>\n\n    <p>\n      \uc2e4\uc81c\uc18d\ub3c4 \u03c9<sub>m<\/sub>\uc740\n      \uc801\ubd84\uae30 \uc785\ub825\uc73c\ub85c\ub3c4 \ud53c\ub4dc\ubc31\ub418\uace0,\n      K<sub>ps<\/sub>\ub97c \uac70\uccd0\n      \uc804\ub958 \uc9c0\ub839 \uc0dd\uc131\ubd80\uc5d0\ub3c4 \ud53c\ub4dc\ubc31\ub41c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. IP \uc18d\ub3c4 \uc81c\uc5b4\uae30\uc758 \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294 \ubd80\ud558\ud1a0\ud06c\ub97c \uc81c\uc678\ud558\uace0\n      \uc18d\ub3c4\uc9c0\ub839\uc5d0\uc11c \uc2e4\uc81c\uc18d\ub3c4\uae4c\uc9c0\uc758 \uc804\ub2ec\ud568\uc218\ub97c\n      \ub2e4\uc74c\uacfc \uac19\uc774 \uc720\ub3c4\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      \u03c9<sub>m<\/sub>\n      \/\n      \u03c9<sub>m<\/sub><sup>*<\/sup>\n      =\n      (\n      K<sub>T<\/sub>K<sub>is<\/sub>\/J\n      )\n      \/\n      [\n      s\u00b2\n      +\n      (\n      K<sub>T<\/sub>K<sub>ps<\/sub>\/J\n      )s\n      +\n      K<sub>T<\/sub>K<sub>is<\/sub>\/J\n      ]\n    <\/div>\n\n    <p>\n      \ubd84\uc790\uc5d0 s\uc758 \ud568\uc218\uac00 \uc5c6\ub294\n      2\ucc28 \ud615\ud0dc\ub85c \uc815\ub9ac\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        IP \uc81c\uc5b4\uc5d0\uc11c\ub294 \uc18d\ub3c4\uc9c0\ub839 \uc804\ub2ec\ud568\uc218\uc758\n        \ubd84\uc790 Zero\uac00 \uc81c\uac70\ub41c \ud615\ud0dc\uac00 \ub41c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. Zero \uc81c\uac70\uc640 Overshoot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc190\uae00\uc528\uc5d0\uc11c\ub294\n      \uc548\uc815\ud55c \uc2dc\uc2a4\ud15c\uc5d0\uc11c Zero\uac00\n      \ubbf8\ubd84\uae30\ucc98\ub7fc \ub3d9\uc791\ud558\uc5ec\n      Overshoot\uc640 \uc5f0\uacb0\ub41c\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Zero \uc874\uc7ac\n      \u2192\n      Overshoot \ubc1c\uc0dd\n    <\/div>\n\n    <div class=\"formula\">\n      Zero \uc81c\uac70\n      \u2192\n      Overshoot \uc5b5\uc81c\n    <\/div>\n\n    <p>\n      IP \uad6c\uc870\uc5d0\uc11c\ub294\n      \ube44\ub840\ud56d\uc758 \uc704\uce58\ub97c \ubcc0\uacbd\ud558\uc5ec\n      \uc18d\ub3c4\uc9c0\ub839 \uc804\ub2ec\ud568\uc218\uc758 Zero\ub97c \uc81c\uac70\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. IP \uc81c\uc5b4\uae30\uc758 \ub4f1\uac00 \ubcc0\ud658<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub450 \ubc88\uc9f8 \uc190\uae00\uc528\uc640 \uad50\uc7ac \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      IP \uc81c\uc5b4\uae30\ub97c \ub2e4\uc2dc \uad6c\uc131\ud558\uba74\n      <strong>1\ucc28 \uc9c0\uc5f0 \ud544\ud130 + PI \uc81c\uc5b4\uae30<\/strong>\uc640\n      \uac19\uc740 \ud615\ud0dc\ub85c \ud45c\ud604\ud560 \uc218 \uc788\uc74c\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n      \u03c9m*\n       \u2502\n       \u25bc\n      \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n      \u2502    1\ucc28 \uc9c0\uc5f0 \ud544\ud130     \u2502\n      \u2502                     \u2502\n      \u2502        1            \u2502\n      \u2502 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500  \u2502\n      \u2502 (Kps\/Kis)s + 1      \u2502\n      \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n       \u2502\n       \u25bc\n      (+) \u2500\u2500\u2500\u2500\u2500\u25ba [ Kps + Kis\/s ] \u2500\u2500\u2500\u2500\u2500\u25ba ia\n       \u25b2\n       \u2502 -\n       \u2502\n       \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 \u03c9m\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. \ub4f1\uac00 1\ucc28 \uc9c0\uc5f0 \ud544\ud130<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac\uc5d0\uc11c IP \uc81c\uc5b4\uae30\uc758 \uc9c0\ub839 \uc785\ub825\ubd80\ub294\n      \ub2e4\uc74c 1\ucc28 \uc9c0\uc5f0 \ud544\ud130\uc640 \ub4f1\uac00\ub77c\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      F(s)\n      =\n      1\n      \/\n      [\n      (\n      K<sub>ps<\/sub>\/K<sub>is<\/sub>\n      )s\n      +\n      1\n      ]\n    <\/div>\n\n    <p>\n      \uc801\ubd84 \uc2dc\uc815\uc218\ub294\n      \ub2e4\uc74c\uacfc \uac19\uc774 \ud45c\uc2dc\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      T<sub>c<\/sub>\n      =\n      K<sub>ps<\/sub>\n      \/\n      K<sub>is<\/sub>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. PI \uc81c\uc5b4\uae30\uc640 \ub4f1\uac00 \uad6c\uc870<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      1\ucc28 \uc9c0\uc5f0 \ud544\ud130\ub97c \ud1b5\uacfc\ud55c \uc9c0\ub839\uac12\uc744\n      \uc77c\ubc18\uc801\uc778 PI \uc81c\uc5b4\uae30\ub85c \uc785\ub825\ud558\ub294 \ud615\ud0dc\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      PI\n      =\n      K<sub>ps<\/sub>\n      +\n      K<sub>is<\/sub>\/s\n    <\/div>\n\n    <pre>\n      Speed Command\n           \u2502\n           \u25bc\n       1st Order\n       Lag Filter\n           \u2502\n           \u25bc\n          (+)\n           \u2502\n           \u25bc\n          PI\n           \u2502\n           \u25bc\n         Motor\n           \u2502\n           \u25bc\n          \u03c9m\n           \u2502\n           \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 Feedback\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. \uc9c0\ub839 \ubcc0\ud654\uc640 Overshoot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac\uc5d0\uc11c\ub294 1\ucc28 \uc9c0\uc5f0 \ud544\ud130 \ub54c\ubb38\uc5d0\n      \uc18d\ub3c4\uc9c0\ub839\uc774 \uae09\uaca9\ud558\uac8c \ubcc0\ud558\uc9c0 \uc54a\uac8c \ub418\uc5b4\n      Overshoot\uac00 \ubc1c\uc0dd\ud558\uc9c0 \uc54a\ub294 \ubc29\ud5a5\uc73c\ub85c \uc124\uba85\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      \uae09\uaca9\ud55c Speed Command\n      \u2192\n      1\ucc28 \uc9c0\uc5f0 \ud544\ud130\n      \u2192\n      \uc644\ub9cc\ud55c \uc9c0\ub839\n      \u2192\n      Overshoot \uc5b5\uc81c\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. \uc751\ub2f5\uc18d\ub3c4\uc758 Trade-off<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac\uc640 \uc190\uae00\uc528\uc5d0\uc11c\ub294\n      Zero\ub97c \uc81c\uac70\ud558\uba74 Overshoot\ub294 \uc5b5\uc81c\ub418\uc9c0\ub9cc\n      \uc9c0\ub839\uc5d0 \ub300\ud55c \uc751\ub2f5\uc740 \ub2e4\uc18c \ub2a6\uc5b4\uc9c0\ub294 \uac83\uc73c\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Zero \uc874\uc7ac\n      \u2192\n      \ube60\ub978 \ubc18\uc751\n      +\n      Overshoot\n    <\/div>\n\n    <div class=\"formula\">\n      Zero \uc81c\uac70\n      \u2192\n      Overshoot \uac10\uc18c\n      +\n      \uc751\ub2f5\uc18d\ub3c4 \uc800\ud558\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        IP \uc81c\uc5b4\ub294 \ube60\ub978 \uc9c0\ub839 \uc751\ub2f5\ubcf4\ub2e4\n        Overshoot\uac00 \uc5c6\ub294 \uc751\ub2f5\uc744 \uc5bb\ub294 \ubc29\ud5a5\uc73c\ub85c\n        PI \uad6c\uc870\ub97c \ubcc0\uacbd\ud55c \uac83\uc73c\ub85c \uc815\ub9ac\ub418\uc5b4 \uc788\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. IP \uc81c\uc5b4\uae30\uc758 \uac10\uc1e0 \ud2b9\uc131<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad50\uc7ac\uc5d0\uc11c\ub294 IP \uc81c\uc5b4\uae30\uc758 \uc18d\ub3c4\uc9c0\ub839 \uc751\ub2f5 \ud2b9\uc131\uc774\n      \uc2dd\uc758 \uac10\uc1e0\ube44\uc5d0 \uc758\ud574 \uacb0\uc815\ub41c\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uc784\uacc4\uac10\uc1e0 \ud2b9\uc131\uc774 \ub418\ub3c4\ub85d\n      \u03b6 = 1\ub85c \uc124\uacc4\ud558\ub294 \uacbd\uc6b0\uc758 \uad00\uacc4\ub3c4 \uc81c\uc2dc\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      \u03b6 = 1\n    <\/div>\n\n    <div class=\"formula\">\n      \u03c9<sub>pi<\/sub>\n      =\n      \u03c9<sub>sc<\/sub> \/ 4\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>16. PI\uc640 IP\uc758 \uad6c\uc870 \ucc28\uc774<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\uad6c\ubd84<\/th>\n          <th>PI \uc81c\uc5b4\uae30<\/th>\n          <th>IP \uc81c\uc5b4\uae30<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>\ube44\ub840\ud56d \uc785\ub825<\/strong><\/td>\n          <td>\uc18d\ub3c4\uc624\ucc28<\/td>\n          <td>\uc2e4\uc81c\uc18d\ub3c4 Feedback<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc801\ubd84\ud56d \uc785\ub825<\/strong><\/td>\n          <td>\uc18d\ub3c4\uc624\ucc28<\/td>\n          <td>\uc18d\ub3c4\uc624\ucc28<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc9c0\ub839 \uc804\ub2ec\ud568\uc218 Zero<\/strong><\/td>\n          <td>\uc874\uc7ac<\/td>\n          <td>\uc81c\uac70<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Overshoot<\/strong><\/td>\n          <td>\ubc1c\uc0dd \uc6d0\uc778 \uc874\uc7ac<\/td>\n          <td>\uc5b5\uc81c \ubc29\ud5a5<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc751\ub2f5\uc18d\ub3c4<\/strong><\/td>\n          <td>\ube60\ub978 \ubc29\ud5a5<\/td>\n          <td>\ub2e4\uc18c \ub290\ub9b0 \ubc29\ud5a5<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ub4f1\uac00 \ud45c\ud604<\/strong><\/td>\n          <td>PI<\/td>\n          <td>1\ucc28 \uc9c0\uc5f0 \ud544\ud130 + PI<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>17. IP \uc81c\uc5b4\uae30 \uad6c\ud604 \ud750\ub984<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                    \uae30\uc874 PI \uc81c\uc5b4\uae30\n                         \u2502\n                         \u25bc\n               \uc18d\ub3c4\uc751\ub2f5\uc5d0 Zero \uc874\uc7ac\n                         \u2502\n                         \u25bc\n                    Overshoot\n                         \u2502\n                         \u25bc\n                Kp \uc704\uce58\ub97c \ubcc0\uacbd\n                         \u2502\n            \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n            \u25bc                         \u25bc\n      Ki\/s\ub294 \uc18d\ub3c4\uc624\ucc28\uc5d0          Kp\ub294 \uc2e4\uc81c\uc18d\ub3c4\uc5d0\n            \u2502                         \u2502\n            \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n                         \u25bc\n                    IP \uc81c\uc5b4\uae30\n                         \u2502\n                         \u25bc\n               \uc9c0\ub839 \uc804\ub2ec\ud568\uc218 Zero \uc81c\uac70\n                         \u2502\n                         \u25bc\n                   Overshoot \uc5b5\uc81c\n                         \u2502\n                         \u25bc\n             \ub4f1\uac00 1\ucc28 \uc9c0\uc5f0 \ud544\ud130 + PI\n                         \u2502\n                         \u25bc\n                \uc751\ub2f5\uc18d\ub3c4\ub294 \ub2e4\uc18c \uac10\uc18c\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>18. \uc774\ubbf8\uc9c0 \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 \uc774\ubbf8\uc9c0 \ub0b4\uc6a9<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>IP \ubaa9\uc801<\/strong><\/td>\n          <td>Overshoot \uc5b5\uc81c<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>PI \ubb38\uc81c<\/strong><\/td>\n          <td>\uc18d\ub3c4\uc9c0\ub839 \uc804\ub2ec\ud568\uc218\uc758 Zero\uac00 Overshoot \ubc1c\uc0dd\uacfc \uc5f0\uacb0<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uad6c\ud604<\/strong><\/td>\n          <td>K<sub>p<\/sub>\ub97c \uc18d\ub3c4\uc624\ucc28\uac00 \uc544\ub2cc \uc2e4\uc81c\uc18d\ub3c4 \u03c9<sub>m<\/sub>\uc5d0 \uc5f0\uacb0<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc801\ubd84\uae30<\/strong><\/td>\n          <td>K<sub>i<\/sub>\/s\ub294 \u03c9<sub>m<\/sub><sup>*<\/sup>-\u03c9<sub>m<\/sub>\uc5d0 \uc801\uc6a9<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc804\ub958 \uc9c0\ub839<\/strong><\/td>\n          <td>\n            i<sub>a<\/sub>\n            =\n            (K<sub>i<\/sub>\/s)(\u03c9<sub>m<\/sub><sup>*<\/sup>-\u03c9<sub>m<\/sub>)\n            &#8211;\n            K<sub>p<\/sub>\u03c9<sub>m<\/sub>\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>IP \uc804\ub2ec\ud568\uc218<\/strong><\/td>\n          <td>\n            (K<sub>T<\/sub>K<sub>is<\/sub>\/J) \/\n            [s\u00b2+(K<sub>T<\/sub>K<sub>ps<\/sub>\/J)s+K<sub>T<\/sub>K<sub>is<\/sub>\/J]\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Zero<\/strong><\/td>\n          <td>IP \uad6c\uc870\uc5d0\uc11c \uc9c0\ub839 \uc804\ub2ec\ud568\uc218 Zero \uc81c\uac70<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ub4f1\uac00 \uad6c\uc870<\/strong><\/td>\n          <td>1\ucc28 \uc9c0\uc5f0 \ud544\ud130 + PI \uc81c\uc5b4\uae30<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ud544\ud130<\/strong><\/td>\n          <td>1 \/ [(K<sub>ps<\/sub>\/K<sub>is<\/sub>)s + 1]<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc2dc\uc815\uc218<\/strong><\/td>\n          <td>T<sub>c<\/sub>=K<sub>ps<\/sub>\/K<sub>is<\/sub><\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc7a5\uc810<\/strong><\/td>\n          <td>Overshoot \uc5b5\uc81c<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Trade-off<\/strong><\/td>\n          <td>\uc18d\ub3c4\uc9c0\ub839 \uc751\ub2f5\uc774 \ub2e4\uc18c \ub2a6\uc5b4\uc9d0<\/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\uc744 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uace0,\n      \ud574\ub2f9 \ud398\uc774\uc9c0\uc5d0 \uc0bd\uc785\ub41c \uc77c\ubc18 \uc774\ubbf8\uc9c0 4\uc7a5\ub9cc\n      \uc9c1\uc811 \uc2dc\uac01 \ud310\ub3c5\ud558\uc5ec \uc791\uc131\ud558\uc600\ub2e4.\n\n      \uc774 \ud398\uc774\uc9c0\uc5d0\uc11c\ub294 NeoStudio PDF\uac00 \ud655\uc778\ub418\uc9c0 \uc54a\uc558\ub2e4.\n\n      \uccab \ubc88\uc9f8 \uc190\uae00\uc528 \uc774\ubbf8\uc9c0\ub294\n      IP \uc81c\uc5b4\uae30\uc758 \ubaa9\uc801\uc744 Overshoot \uc5b5\uc81c\ub85c \uc815\ub9ac\ud558\uace0,\n      Kp\ub97c \uc18d\ub3c4\uc624\ucc28 \uc804\uccb4\uac00 \uc544\ub2c8\ub77c \uc2e4\uc81c\uc18d\ub3c4 \u03c9m\uc5d0 \uc5f0\uacb0\ud558\uc5ec\n      Zero\ub97c \uc81c\uac70\ud558\ub294 \uad6c\uc870\ub97c \uae30\ub85d\ud55c\ub2e4.\n\n      \ub450 \ubc88\uc9f8 \uc190\uae00\uc528 \uc774\ubbf8\uc9c0\ub294\n      IP \uad6c\uc870\ub97c \ubcc0\ud615\ud558\uc5ec\n      1\ucc28 \uc9c0\uc5f0 \ud544\ud130\uc640 PI \uc81c\uc5b4\uae30\uc758 \ub4f1\uac00 \uad6c\uc870\ub85c \ub9cc\ub4dc\ub294 \uacfc\uc815\uacfc,\n      Zero \uc81c\uac70\uc5d0 \ub530\ub978 Overshoot\u00b7\uc751\ub2f5\uc18d\ub3c4 \uad00\uacc4\ub97c \uae30\ub85d\ud55c\ub2e4.\n\n      \uccab \ubc88\uc9f8 \uad50\uc7ac \uc774\ubbf8\uc9c0\ub294\n      PI \uc18d\ub3c4 \uc81c\uc5b4\uae30\uc5d0\uc11c Zero\uac00 Overshoot\uc758 \uadfc\uc6d0\uc784\uc744 \ubcf4\uc5ec\uc8fc\uace0,\n      \uc774\ub97c \uc81c\uac70\ud558\uae30 \uc704\ud55c IP \uc81c\uc5b4\uae30\uc758 \uae30\ubcf8 \ube14\ub85d\ub3c4\ub97c \uc81c\uc2dc\ud55c\ub2e4.\n\n      \ub450 \ubc88\uc9f8 \uad50\uc7ac \uc774\ubbf8\uc9c0\ub294\n      IP \uc18d\ub3c4 \uc81c\uc5b4\uae30\uc758 \ud3d0\ub8e8\ud504 \uc804\ub2ec\ud568\uc218\uc640\n      1\ucc28 \uc9c0\uc5f0 \ud544\ud130 + PI \uc81c\uc5b4\uae30\uc758 \ub4f1\uac00 \ube14\ub85d\ub3c4\ub97c \uc81c\uc2dc\ud558\uba70,\n      Overshoot\ub294 \uc5b5\uc81c\ub418\uc9c0\ub9cc \uc18d\ub3c4\uc9c0\ub839 \uc751\ub2f5\uc774 \ub2e4\uc18c \ub290\ub824\uc9c0\ub294\n      \ud2b9\uc131\uc744 \uc124\uba85\ud55c\ub2e4.\n\n      \ud398\uc774\uc9c0 \ubcf8\ubb38\uc5d0 \uc788\ub294 \ubaa8\ud130 \uc9c4\ub3d9\uacfc\n      Overshoot\uc5d0 \ub300\ud55c \ubcc4\ub3c4 \uc124\uba85\uc740\n      \uc774\ubc88 HTML \uc791\uc131\uc5d0 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uc558\ub2e4.\n\n      \uc6d0\ubcf8 \uc774\ubbf8\uc9c0\uc5d0 \uc5c6\ub294\n      \ucd94\uac00\uc801\uc778 Root Locus \ud574\uc11d,\n      \ud29c\ub2dd \ubc29\ubc95,\n      \uc2e4\uc81c Motor Parameter \uacc4\uc0b0 \ub4f1\uc740 \ucd94\uac00\ud558\uc9c0 \uc54a\uc558\ub2e4.\n    <\/strong>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    IP Controller,\n    IP \uc81c\uc5b4\uae30,\n    PI Controller,\n    PI \uc81c\uc5b4\uae30,\n    Overshoot,\n    Zero,\n    Speed Controller,\n    Speed Control,\n    Integral Gain,\n    Proportional Gain,\n    Kis,\n    Kps,\n    KT,\n    Motor Speed,\n    Speed Command,\n    First Order Lag Filter,\n    1\ucc28 \uc9c0\uc5f0 \ud544\ud130,\n    Critical Damping,\n    Damping Ratio,\n    \u03b6,\n    Transfer Function\n  <\/div>\n\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>\ubaa8\ud130\uc5d0\uc11c \uc9c4\ub3d9\uc758 \uc758\ubbf8 \ubaa8\ud130 \uc81c\uc5b4\uc5d0\uc11c \ub9d0\ud558\ub294 \uc9c4\ub3d9(oscillation)\uc740 \ub2e8\uc21c\ud788 \u201c\ub5a8\ub9bc\u201d\uc774 \uc544\ub2c8\ub77c, \uc81c\uc5b4 \ub8e8\ud504\uac00 \uacfc\ub3c4\ud558\uac8c \ubc18\uc751\ud574\uc11c \ucd9c\ub825\uc774 \ubaa9\ud45c\uac12 \uc8fc\ubcc0\uc744 \ubc18\ubcf5\uc801\uc73c\ub85c \ub118\ub098\ub4dc\ub294 \ud604\uc0c1\uc744 \ub73b\ud569\ub2c8\ub2e4. \ud83d\udd39 1. \uc9c4\ub3d9\uc758 \ubb3c\ub9ac\uc801 \uc758\ubbf8 \ubaa8\ud130\uac00 \uc18d\ub3c4\ub098 \uc704\uce58\ub97c \uc81c\uc5b4\ud560 \ub54c, \uc81c\uc5b4\uae30\uac00 \ub108\ubb34 \ud070 \uc774\ub4dd(gain)\uc744 \uac00\uc9c0\uba74 \ub2e4\uc74c\uacfc \uac19\uc740 \uc77c\uc774 \uc0dd\uae41\ub2c8\ub2e4: \uc989, \uc9c4\ub3d9\uc740 \uc81c\uc5b4\uae30\uc758 \uacfc\ub3c4\ud55c \ubc18\uc751 \ub54c\ubb38\uc5d0 \uc0dd\uae30\ub294 \uc790\uae30 \uad50\uc815\uc758 \ubc18\ubcf5 \ud604\uc0c1\uc774\uc5d0\uc694. \ud83d\udd39 2. \uc81c\uc5b4 \uc774\ub860\uc801 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