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RTS 2+9:J+GUJD2V
WYX#ZA[\XF]_^a`cbedfg)]_h7]ibej?fA]k` l 1er [\d` df!m3hDmnXDiToafA]TZ3mndpm\Zeiqed_^a]_i_^arDlFfA]s]_lc^utvmnXDifA]Qw
0A@B0A43C7682xV w yDmn^uX K z ZA[\XF]_ipmnX+if!`cf{ifejK|F] T z 0A@B0A43C+62}" w yDmn^uX 2K z ZA[\XF]_ipmnXDifQ`cfQifejK|F] T z
0A@B0A43C7682~ w yDmn^uX K z ZA[\XF]_ipmnX+if!`cf{ifejK|F] 2T z 03@B0A43C+62# w yDmn^uX K z ZA[\XF]ipmnXDif!`cf{ifejK|F] T /2
 [\lcdTZpm\ZelcX>`cfA]]_h ]_ibej?fA]Qw
mL|com\ZAfedY][\X5|M\oaf`FmnXF]Toaf{|comnX#ZA[\jK|coaf
cf z
< `c[\XcXFfedTomnououlcdf!`cf{omdqe|[\XF]f^uXF` ^aZe^afeouoaf z `cqeifed_jK^uXFfedToafifejK|F]`cfQdqe|M[\XF]f z oafifejK|F]T`cf{j?[\X+iqAf!feiom
tvmnoafelcd`cfomdqe|[\XF]f^uXF` ^aZe^afeouoafQfeX#dqeyv^uj?f|Mfed_jmnXFfeX+i z
Y [\jK|mndfedToafA]Tr+lmni_df]_h7]ibej?fA]feX5ifed_j?fA]T`cfdpmn|c^a` ^uiq
RTS 2+9:J+GUJD2"
WYXZA[\XF]_^a`cbedf}lcXi_Ffed_j?[\j?bei_df8xj?fedZelcdfrDlc^{]fedpmx]_lc|c|[v]q>ei_df>lcX]_h ]_ibej?f#ou^uXFq3mn^udf f}]_h ]_ibej?f#dfeou^af}om
ifejK|Mqedpmni_lcdf!dqAfeouoaf tempr (t) omyvdpm\` lmni_^a[\X>yvdpmAtLqAf!]lcdkoafi_Ffed_j?[\j?bei_df tempg (t)
 m[\XFZei_^a[\X#`cfQi_dpmnXF]fed_iY`cfZAfQ]_h ]_ibej?ffA]_i]_lc|c|[v]qAfei_dfQ`cf{om[\d_j?fKw
T empg (s)
bm sm + ... + b1 s + 1 mAtLfAZ
m<n
=K
T empr (s)
an sn + ... + a1 s + 1
WYX`cqA]_^udfmAtL[\^ud feX}dqe|M[\XF]pflcXFffeXDi_dqAfZA[\XF]_ipmnXDif
feX}dqeyv^uj?f|fed_jmnXFfeXDi om)ZA[\oa[\XcXFf
`cf{j?fedZelcdf]3fA]_iz ]_ipm ^uou^a]pqAfN / lFfeouoafQ`c[\^uiTei_dfomtvmnoafelcz dTtemp
` l5yDgmn=^uX#temp
]ipmni_^arDr lFf K
Xc^ui_^mnoafej?feXDi z oafi_Ffed_j?[\j?bei_df?^uXF` ^ar+lFf 20 C  ofA]iQfeXF]_lc^uifK|coa[\XcyLq?`FmnXF]lcX mn^uX 10 C feiQ[\XdfeoabetLf
^uX+ifed_t\mnouoaf!`cfifejK|F]dqeyvlcou^afedoafA]T`c[\XcXFqAfA]TZA[\XF]_^uyvXFqAfA]Y`FmnXF]oaf{ipm oaf3mnl 
i ]fAZA[\XF`cfA]   v v gD
3  z  z v z  z  z  z  z
tempg ( C)
1Y qetL[\oulci_^a[\X>ifejK|M[\dfeouoaf`cf tempg
mLr+lFfeoB]_^uyvXmno`feXDi_dqAf!oaf]_h ]_ibej?ffA]_i^uo][\lcjK^a]MQ{[\XcXFfedomnououlcdfQ`cf!ZAf]_^uyvXmno
< |mnd_i_^udT` l5ipm oaf3mnl  z fA]rDlc^a]p]fedkomnououlcdfQ`cfom][\d_i_^af temp (t)
ZN f]_h ]_ibej?fkqeipmnXDi` l 1er [\d` df z feX`cqA` lc^udfT]pmZA[\XF]_ipmnX+ifT`cfgifejK|F] T v Zed_^udfoms[\XFZei_^a[\X`cfki_dpmnXF]fed_i
fi_Ffed_j?[\j?bei_df{fA]_ifeXF]_lc^uifT|com\ZAqY`FmnXF]lcXoa[7Z3mno/`c[\X+iomQifejK|Mqedpmni_lcdfsfA]_i`cf 0 C WYXmni_ifeXF`om!]_ipm ^uou^a]pm:
i_^a[\X` l#Xc^utLf3mnl#`cf{omKZA[\oa[\XcXFfQ`cfj?fedZelcdfQ|clc^a][\X5mn^uikj?[\XDifedTou^uXFq3mn^udfej?feX+iTomifejK|qedpmni_lcdfQ`FmnXF]Toaf{oa[+Z3mno
]pfeoa[\X5omoa[\^B]_lc^utvmnXDif?w
mAtLfAZ a = 0.2 C/seconde
tempr (t) = a.t
mL{[\XcXFfedomoa[\^1`qetL[\oulci_^a[\X>`cf temp (t)
< Xdqeyv^uj?fK|Mfed_jmnXFfeX+i z r+lFfeouoafKfA]_igom` ^qedfeXFZAf z lcX^uXF]_ipmnX+i t `c[\XcXFq z feX+i_dfKomifejK|qedpmni_lcdfKdqAfeouoaf
feikomKifejK|Mqedpmni_lcdf!oulFf]_lcdkomyvdpm\` lmni_^a[\X>` l#i_Ffed_j?[\j?bei_df

tempr (t)

tempg (t)

RTS 2+9:J+GUJD2}~
WYXKZA[\XF]_^a`cbedflcX|Mfei_^uij?[\ifelcdsZA[\lcdpmnXDi-ZA[\X+i_^uXDlr+lc^7[\XFZei_^a[\XcXFfkfeXdqeyv^uj?fou^uXFq3mn^udf fk]ZpFqejm{`cfZAfj?[\ifelcd-fA]_i
dfe|cdqA]feXDiqY]_lcd'omYFyvlcdf  D [\X?feX+i_dqAf u(t) fA]_i'omsifeXF]_^a[\X?`cfkZA[\jKjmnXF`cf z ]m{][\d_i_^afkfA]_vi' omst7^uifA]]f`cfkd[\ipmni_^a[\X (t)
Ze^fQ`cj?fA][\]i[\felFlc] dYfeXDi_dpm:aXFflcXFfQZmnd_yLf!jmniqed_^mnou^a]qAfQ|mndoaf!ZA[\lc|coafQdqA]_^a]_ipmnX+i cr (t) F fA]smnlci_dfA]XF[\ipmni_^a[\XF]T]p[\XDiT|cdqAZe^a]pqAfA]


 
i(t)

Cr(t)
u(t)

J
f

e(t)

Cm(t)

U1Y ]ZFqejm` l5j?[\ifelcdsZA[\lcdpmnX+iYZA[\XDi_^uX+l


cw dqA]_^a]_ipmnXFZAf!feik^uXF` lFZeipmnXFZAf!`cfo ^uXF` lc^uiT` l#j?[\ifelcd z e(t) w7ZAfej^uXF` lc^uif z k wcZA[\XF]_ipmnXDif`cf{ZAfej
w ^uXFfed_i_^afi[\ipmnoaf mnd dfj?[\ifelcd z f wcZA[+f
Ze^afeX+iY`cf{d[\i_ifej?feXDiYt+^a]r+lFfel z kb i wcZA[\XF]_ipmnXDif`cfQZA[\lc|coaf
WYX#]_lc|c|[v]fedpmr+lFf{i[\lcifom|clc^a]]pmnXFZAfqeoafAZei_d_^ar+lFf!` l5j?[\ifelcdTfA]iZA[\XDtLfed_i_^af!feX5|clc^a]p]pmnXFZAfj?qAZ3mnXc^ar+lFfQZvfA]_i:` ^udf
mndYZA[\XF]qAr+lFfeXDi ki = kb = k
Pm (t) = cm (t)(t) = e(t)i(t)
 |mnd_i_^ud!`cfKomoa[\^-`WYcjmn|c|cou^ar+lFqAf)o ^uXF` lc^uifeiQ`cfKomoa[\^[\XF`Fmnj?feX+ipmnoaf)`cfom` h7XmnjK^ar+lFf z `cqA` lc^udfKoafA]
qAr+lmni_^a[\XF]` h+XmnjK^ar+lFfA]yL[\lctLfed_XmnXDikoafsZA[\jK|[\d_ifej?feXDiT` lj?[\ifelcd WYX]lc|c|M[v]fedpm`FmnXF]om!]lc^uifsr+lFf L = 0
Y|c|cou^ar+lFfedomi_dpmnXF][\d_j?qAf?`cf mn|com\ZAfmnl dfeomni_^a[\XF]!|cdqAZAqA`cfeXDifA] 1 X`cqA` lc^udfKoaf?]pZFqejm[\XFZei_^a[\XcXFfeo` l
]h7]_ibej?f
7|cd_^uj?fed (s) ][\lF]om)[\d_j?f (s) = H(s)U (s) + Hcr (s)Cr (s) B dqAZe^a]fed!of
7|cdfA]]^a[\X` lyDmn^uX]_ipmni_^ar+lFf
fei{`cfQomZA[\XF]_ipmnXDif`cfQifejK|F] `cf!omK[\XFZei_^a[\X`cfQi_dpmnXF]fed_i
dqAZe^a]fed{qeyDmnoafej?feXDi{of
|cdfA]]_^a[\X` l
K
yDmn^uX]ipmni_^arDlFf Kcr fei`cfomZA[\XF]_ipTmnXDif`cfifejK|F] Tcr `cfom[\XFZei_^aH(s)
[\X>`cf/ i_dpmnXF]fed_i Hcr (s)
mnXF]kom]lc^uifQ[\X5|cdfeXF` dpmKoafA]ktvmnoafelcd]]_lc^utvmnXDifA]w K = 10rd/s.V z Kcr = 25rd/s.m.N
g Y [\^ui cr (t) = 0 WYXmn|c|cou^ar+lFfmnlKj?[\ifelcd'lcX?qAZFfeoa[\X?`cfifeXF]_^a[\X?`mnjK|cou^ui_lF`cf U0 = 1.5V D mnoaZelcoafed'omst+^uifA]p]f
`cf{d[\ipmni_^a[\X}` l5j?[\ifelcdYfeX5dqeyv^uj?f|fed_jmnXFfeXDi
XFf[\^a]om{t\mnoafelcd-` ldqeyv^uj?fk|Mfed_jmnXFfeX+imni_ife^uXDif z [\XZA[\XcXFfAZeifklcXFfZpmnd_yLfT{omnd df` lKj?[\ifelcd + fkZA[\lc|coaf
dqA]^a]_ipmnXDik` #omZmnd_yLffA]_im\]]_^ujK^uom oafQlcX5qAZFfeoa[\X>`mnjK|cou^ui_lF`cf Cr0 = 0.2m.N lFfeouoaffA]iomXF[\lctLfeouoaf
t7^uifA]]f{` lj?[\ifelcdYfeXdqeyv^uj?f|fed_jmnXFfeXDi/
RTS 2+9:J+GUJD2>
[\^uioaf m\Z`cfQ]pfAZei_^a[\X S dfe|cdqA]feXDiq]_lcdkomFyvlcdf c Xc^ui_^mnoafej?feXDi z oaf m\ZQfA]_ikt7^a`cffeioafA]ktvmnXcXFfA]][\X+ikfed_j?qAfA]
R, L
J

qe(t)

qs(t)

h(t)
S

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 YW X?[\lct7dfY[\XF`omstvmnXcXFfk`feXDi_dqAf z omst\mnXcXFfk`cfk]p[\d_i_^afkqeipmnXDi-jmn^uX+ifeXDlFfTfed_j?qAf WYX?ZA[\XF]_^a`cbedfTrDlFfoaf`cq ^ui
`feX+i_dqAffA]_imnoa[\d]m\]]_^ujK^uom oafTslcX?qAZpFfeoa[\X {[\XcXFfed-oqAr+lmni_^a[\X` ^qedfeX+i_^afeouoafTdfeou^mnX+i-oaf`cq ^ui-`feX+i_dqAf qe(t)
ommnlcifelcd h `cfou^ar+lc^a`cfQ`FmnXF]koaf m\Z


 

{ [\XcXFfedom[\XFZei_^a[\X#`cfi_dpmnXF]_fed_i H(s) lBfA]_iZAfQr+lc^Z3mndpm\Zeiqed_^a]fQZAfei_if{[\XFZei_^a[\X#`cfi_dpmnXF]_fed_i/


fAZA[\XF]_^a`cqed[\XF]?oaf m\Zt7^a`cf#mAtLfAZ#QoafA(s)
]?tvmnXcXFfA]Kfed_j?qAfA] WYX[\lct7df5jmn^uX+ifeXmnXDioafA]`cfel tvmnXcXFfA] m\ZmnX+i
r+lFf?oaf`cq ^ui`cf][\d_i_^affA]_i`c[\XcXFq|mnd qs(t) = h/R ZAfAZe^fA]_ilcXFfmn|c|cd[A ^ujmni_^a[\Xyvd[v]]_^abedfN z Rqe ipmnX+iom

dqA]^a]_ipmnXFZAfL`cf{omtvmnXcXFfKw
mLqAZed_^udfQoaf{XF[\lctLf3mnl#j?[7`cbeoafQ` h+XmnjK^ar+lFfQ` l]_h ]_ibej?f
< `c[\XcXFfedTom[\XFZei_^a[\X#`cfQi_dpmnXF]fed_i H(s)
Q (s)
RTS 2+9:J+GUJD2
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|Mqed_^uj?feX+ipmno/omQ[\XFZei_^a[\X`cfTi_dpmnXF]fed_i` lcX)]h7]_ibej?fTj?qAZ3mnXc^arDlFf{`c[\X+ioaf
j?[+`cbeoaf{fA]_ilcX`cfel 7^abej?f[\d` df XFfTtvmnd_^mni_^a[\X5feXqAZpFfeoa[\X`cfTofeX+i_dqAf lcXFfT[\dZAfN`cf 5N m!|fed_jK^a]k`feXcdfeyv^a]_i_dfed
oafA]kdqA]_lcouipmni]Y]_lc^ut\mnX+i]!w
lcX|cdfejK^afedY`cqe|m\]]fej?feXDis`cf LfeilcXFf|F]pfelF`c[n|Mqed_^a[7`cfQ`cfA][v]Ze^uouomni_^a[\XF]Y`feXDt7^ud[\Xn] z
lcXFftvmnd_^mni_^a[\X#`cfom]p[\d_i_^af lcX`cqe|com\ZAfej?feXDiTfeXdqeyv^uj?f|fed_jmnXFfeXDis`cf  \Zej
 {[\XcXFfedom[\XFZei_^a[\X#`cfi_dpmnXF]_fed_i`cfQZAf]h7]_ibej?f
Y lFfeo1fA]_iko ^uXF]_ipmnXDiY` l|cdfejK^afedjm: ^uj!lcj`cfQomdqe|M[\XF]fQ^uXF` ^aZe^afeouoaf z oafifejK|F]T`cf{dqe|[\XF]f!KL
RTS 2+9:J+GUJD2}
WYX8ZA[\XF]_^a`cbedflcX]_h ]_ibej?fj?qAZ3mnXc^arDlFfK`c[\X+ioafA]{|Mfed[\d_jmnXFZAfA]QfeX [\lFZeoafK[\lctLfed_ifK]p[\XDilcyLqAfA]{oafeX+ifA] WYX8`cqA]_^udf
dq3mnou^a]fedslcXFfQdqeyvlcomni_^a[\X`cfZAf]_h7]ibej?f!m:FX>`mnj?qeou^a[\dfed]fA]T|Mfed[\d_jmnXFZAfA] M f!Z3mnc^afed{`cfA]YZpmnd_yLfA]T^ujK|[v]qfA]_iToaf
]_lc^utvmnXDi!w
lcX#`cqe|m\]p]fej?feXDiT`cf  L z
oafifejK|F]T`cfdqe|M[\XF]pfQ?LfA]_i`cf j?] z
omK]p[\d_i_^affA]_iqeyDmnoaf!ofeX+i_dqAf!feX5dqeyv^uj?f|fed_jmnXFfeXDi z oa[\d]r+lFf{ofeXDi_dqAf!fA]iklcX#qAZFfeoa[\X
{qeifed_jK^uXFfedTom[\XFZei_^a[\X#`cf{i_dpmnXF]fed_iT` l#]h7]_ibej?fqAr+lc^utvmnoafeXDiTr+lc^BZA[\d_dfA]_|[\XF`#mnl#Z3mnc^afedT`cfZpmnd_yLfA]
RTS 2+9:J+GUJD28$'9n2L43,MI9)EFI6,F432+I19JD,/I19:EF.M4?JL,M.M4NG.I
fe|cdfeXF[\XF]Toaf{|Mfei_^uikj?[\ifelcdsZA[\lcdpmnXDiTZA[\X+i_^uXDl>`cf{of
cfedZe^aZAf! f{j?[\ifelcdYmlcXZA[\jK|[\d_ifej?feXDisou^uXFq3mn^udf WYX
]_lc|c| [v]fedpmK`FmnXF]ZAfeiTf
cfedZe^aZAfQr+lFf{o ^uXF` lFZeipmnXFZAf L 6= 0
 {[\XcXFfedoaf{XF[\lctLf3mnl}]ZFqejm[\XFZei_^a[\XcXFfeo` l]_h7]ibej?f
7|cd_^uj?fed (s) ][\lF]kom[\d_j?f (s) = H(s)U (s) + Hcr (s)Cr (s) / lFfeo1fA]_iko[\d` dfQ`cfQZAf]_h ]_ibej?f
Y lFfeouoafKfA]iof
7|cdfA]]^a[\X8`cfomtvmnd_^mni_^a[\X8jm: ^ujmnoafK`cft+^uifA]p]f]_^'[\Xmn|c|cou^arDlFf?mnlj?[\ifelcdQoafK]^uyvXmno u(t) =

U0 (t)
g XFf[\^a]soaf!dqeyv^uj?f|fed_jmnXFfeXDiQmni_ife^uXDi z [\XZA[\XcXFfAZeifK?omnd df` l}j?[\ifelcd{lcXFfZpmnd_yLf z ZAfr+lc^1ZA[\d_dfA]_|[\XF`
lcX5]_^uyvXmnoBqAZpFfeoa[\X#` lZA[\lc|coaf{dqA]_^a]_ipmnX+iQw cr (t) = cr0 (t)N.m |cd_^uj?fedomXF[\lctLfeouoaftvmnd_^mni_^a[\X5jm:7^ujmnoaf
`cf{t7^uifA]]f` l#j?[\ifelcd
RTS 2+9:J+GUJD2}
[\^uioafQ]h7]_ibej?f{dqeyv^|mndkoqArDlmni_^a[\X}` ^qedfeX+i_^afeouoaf!]_lc^utvmnXDif?w
e

y (3) (t) + 7y (2) (t) + 11y (1) (t) + 5y(t) = u(1) + 2u(t)

 { qeifed_jK^uXFfedom[\XFZei_^a[\X#`cf{i_dpmnXF]_fed_iT`cf!]_h7]ibej?f
Y mnoaZelcoafedToafA]k|M\oafA]Tfei3qed[v]`cfQZAf]_h ]_ibej?f c X>`cqA` lc^udf!r+lFfZAf]_h7]ibej?f{|M[v]]pbA`cf`cfA]|\oafA]`c[\jK^uXmnXDi]

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