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Regulator stanja punog reda• Prijenosna funkcija diskretnog regulacijskog kruga brzine vrtnje s regulatorom stanjapunog reda (Sl. 4.1.a) je:Gz ()ω2 m()z B()z= = =ω () z Az ()R−1( K + K ) T TzB ( z)ω1 ω2I pω2−1A () z + K B () z + K B () z + K B ()( z z− 1) + ( K + K ) T TzB () zp ω1 pω1 ω2 pω2 ∆α p∆α ω1 ω2I pω2gdje je:- A p (z) polinom u nazivniku,- B pω1 (z), B pω2 (z) i B p∆α (z) polinomi u brojniku sljedećih prijenosnih funkcija:(4-33)Gpω1() zω z B z1m()pω1()= = = Gmω() z ⋅ GEGeiG11Gαω()zm () z A () z1Rdp(4-34)Copyright: Nedjeljko Perić34