{"id":860,"date":"2016-08-06T20:03:47","date_gmt":"2016-08-06T23:03:47","guid":{"rendered":"http:\/\/apcmode.com\/?page_id=860"},"modified":"2016-08-15T11:25:26","modified_gmt":"2016-08-15T14:25:26","slug":"lugar-das-raizes-para-metodo-lambda-em-processo-integrador","status":"publish","type":"page","link":"https:\/\/apcmode.com\/?page_id=860","title":{"rendered":"Lugar das ra\u00edzes para \u03bb-tun em processo integrador"},"content":{"rendered":"<p>Na representa\u00e7\u00e3o no mapa S, processos integradores G(s) possuem um p\u00f3lo na origem. Combinado com o zero e o p\u00f3lo (tamb\u00e9m na origem) do controlador C<sub>PI<\/sub>(s), a trajet\u00f3ria do lugar das ra\u00edzes ser\u00e1 forma conforme mostrado na figura abaixo.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-864\" src=\"https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-6.png\" alt=\"Capturar\" width=\"749\" height=\"390\" srcset=\"https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-6.png 749w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-6-300x156.png 300w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-6-100x52.png 100w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-6-150x78.png 150w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-6-200x104.png 200w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-6-450x234.png 450w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-6-600x312.png 600w\" sizes=\"auto, (max-width: 749px) 100vw, 749px\" \/><\/p>\n<p>Para que os polos se posicionem no ponto de encontro (posi\u00e7\u00e3o 1\/\u03bb), a FT do controlador, C(s), deve ser calculada de acordo com as seguintes considera\u00e7\u00f5es:<\/p>\n<ol>\n<li>O lugar das ra\u00edzes segue uma trajet\u00f3ria circular, onde 1\/Ti \u00e9 o centro da circunfer\u00eancia. Assim, para que o ponto de encontro seja em 1\/ \u03bb, Ti deve ser igual a 2* \u03bb<\/li>\n<li>A equa\u00e7\u00e3o caracter\u00edstica (1+CG) deve apresentar dois p\u00f3los reais e iguais, assim:<\/li>\n<\/ol>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-866 aligncenter\" src=\"https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-7.png\" alt=\"Capturar\" width=\"225\" height=\"176\" srcset=\"https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-7.png 316w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-7-300x235.png 300w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-7-100x78.png 100w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-7-150x118.png 150w, https:\/\/apcmode.com\/wp-content\/uploads\/2016\/08\/Capturar-7-200x157.png 200w\" sizes=\"auto, (max-width: 225px) 100vw, 225px\" \/><\/p>\n<p>*obs.: esta dedu\u00e7\u00e3o n\u00e3o levou em conta tempo morto na fun\u00e7\u00e3o de transfer\u00eancia do processo<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Na representa\u00e7\u00e3o no mapa S, processos integradores G(s) possuem um p\u00f3lo na origem. Combinado com o zero e o p\u00f3lo (tamb\u00e9m na origem) do controlador CPI(s), a trajet\u00f3ria do lugar das ra\u00edzes ser\u00e1 forma conforme mostrado na figura abaixo. Para &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/apcmode.com\/?page_id=860\"> <span class=\"screen-reader-text\">Lugar das ra\u00edzes para \u03bb-tun em processo integrador<\/span> Read More &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":348,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"full-width-page.php","meta":{"footnotes":""},"class_list":["post-860","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/apcmode.com\/index.php?rest_route=\/wp\/v2\/pages\/860","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/apcmode.com\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/apcmode.com\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/apcmode.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/apcmode.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=860"}],"version-history":[{"count":0,"href":"https:\/\/apcmode.com\/index.php?rest_route=\/wp\/v2\/pages\/860\/revisions"}],"up":[{"embeddable":true,"href":"https:\/\/apcmode.com\/index.php?rest_route=\/wp\/v2\/pages\/348"}],"wp:attachment":[{"href":"https:\/\/apcmode.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=860"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}