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R(s)
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PID
Kp+Ki/s+Kds
Plant
G(s)
Y(s)
t
y(t)
G₁(s)
G₂(s)
G₃(s)
Kp + Ki/s + Kd s
ζ = c/(2√mk)
ωn = √(k/m)
T(s) = G(s)/(1+G(s)H(s))
∑
∫
∂
π
ω
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