Download - 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계
![Page 1: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/1.jpg)
자동제어(Automatic Control) 4장블록선도와신호흐름선도
교재: Automatic Control Systems
![Page 2: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/2.jpg)
블록선도
WHY?1.단순성 & 융통성2.시스템의구성이나연결관계표현또은전달함수와함께시스템전체의인과관계표시
3.선형및비선형시스템의모델링
![Page 3: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/3.jpg)
Block Diagrams
![Page 4: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/4.jpg)
![Page 5: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/5.jpg)
![Page 6: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/6.jpg)
EXAMPLE 4-1-1
![Page 7: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/7.jpg)
EXAMPLE 4-1-2
![Page 8: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/8.jpg)
피드백제어시스템의기본블록선도
![Page 9: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/9.jpg)
3-1-2 Relation between Mathematical Equations and Block Diagrams
![Page 10: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/10.jpg)
![Page 11: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/11.jpg)
![Page 12: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/12.jpg)
![Page 13: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/13.jpg)
![Page 14: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/14.jpg)
4-1-3 Block Diagram Reduction: Branch point relocation
G2(s)H1(s)
A(s)G2(s)H1(s)
![Page 15: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/15.jpg)
3-1-3 Block Diagram Reduction: Comparator relocation
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EXAMPLE 3-1-5 Find the input–output transfer function of the system
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fig_03_18b
G11+G1G2H1
![Page 18: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/18.jpg)
4-1-4 Block Diagram of Multi-Input Systems—Special Case: Systems with a Disturbance
![Page 19: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/19.jpg)
G2
![Page 20: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/20.jpg)
다변수시스템의블록선도와전달함수
![Page 21: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/21.jpg)
![Page 22: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/22.jpg)
• 예제 3-1
![Page 23: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/23.jpg)
Signal-Flow Graphs (신호흐름선도)
• 블록선도의단순화된표현• 선형대수방정식의변수사이의입출력관계를도식적으로나타내는방법
• N개의대수방정식선형시스템
NjsYsGsYN
kkkjj ,,2,1 )()()(
1!==
´=
å
å
=
입력이득출력
![Page 24: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/24.jpg)
Signal-Flow Graphs (신호흐름선도)
• 기본요소– 마디(node): 변수– 가지(branch): 이득과방향
• 예제 3-2
y2 = a12 y1
4452255
4443342244
4432233
3321122
yayayyayayay
yayayyayay
+=++=
+=+=
![Page 25: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/25.jpg)
Figure 3-7 (p. 50)Step-by-step construction of the signal-flow graph in Eq. (3-27).
![Page 26: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/26.jpg)
4-2 SIGNAL-FLOW GRAPHS (SFGs)
![Page 27: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/27.jpg)
기본성질
1. 선형시스템에만적용2. 방정식은원인과결과꼴의대수방정식3. 마디는변수, 원인과결과의순서로왼쪽에서오른쪽, 입력에서출력으로
4. 신호는가지의화살표방향으로5. 마디 yk에서 yj로향하는가지는변수 yj의변수 yk에대한의존관계를나타냄
6. 마디 yk와 yj사이의가지를따라이동하는신호 yk는가지이득 akj가곱해져서마디 yj에서신호 akjyk가전달
![Page 28: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/28.jpg)
정의
• 입력마디(or source): 밖으로나가는가지들만을갖는마디
• 출력마디(or sink): 들어오는가지들만을갖는마디• 경로(path): 같은방향으로의연속적인가지들의집합• 전방경로(forward path): 입력마디에서출발하여출력마디에서끝나는경로로서어느마디도한번이상거쳐서는안됨.
![Page 29: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/29.jpg)
정의
• 루프(loop): 같은마디에서출발하고끝나는경로로서다른마디는한번이상거쳐서는안됨.
• 경로이득(path gain): 경로를이루는가지들의이득의곱
• 비접촉루프(nontouching loop): 신호흐름선도의두부분이공통의마디를공유하지않을경우.
![Page 30: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/30.jpg)
신호흐름선도의연산법
1. 마디로표시된변수의값은마디로들어오는모든신호의합과같다.
– y1=a21y2+a31y3+a41y4+a51y5
2. 마디로표시된변수의값은그마디를나가는모든가지를따라전달된다.
– y6=a16y1, y7=a17y1, y8=a18y1
![Page 31: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/31.jpg)
3. 두마디를연결하는같은방향으로의병렬가지는병렬가지들이이득의합과같은이득을갖는하나의가지로대치가능
4. 같은방향으로직렬로연결된가지들은가지이득들의곱과같은이득을하나의가지로대치가능
![Page 32: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/32.jpg)
![Page 33: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/33.jpg)
피드백제어시스템의신호흐름선도
![Page 34: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/34.jpg)
Example 4-2-1
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신호흐름선도의일반이득공식
• 일반이득공식• 여기서
å= D
D==
N
k
kk
in
out Myy
M1
![Page 36: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/36.jpg)
• 예제 4-2-3
![Page 37: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/37.jpg)
• 예제 4-2-4
![Page 38: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/38.jpg)
![Page 39: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/39.jpg)
비입력마디와출력마디사이에일반이득공식의적용
Let yin be an input and yout be an output node of an SFG. The gain, yout /y2 , where y2 is not an input, may be written as
Because ∆ is independent of the inputs and the outputs, the last equation is written as
![Page 40: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/40.jpg)
Simplified Gain FormulaCondition: when all loops and forward paths are touching,
![Page 41: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/41.jpg)
State Diagram (상태선도)
• 신호흐름선도의확장: 상태방정식, 미분방정식을나타냄• 라플라스변환된상태방정식을이용하여신호흐름선도의법칙에따라구성
• x1(t)와 x2(t)가 1차미분의관계에있다면,
)()(2
1 txdttdx=
![Page 42: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/42.jpg)
State Diagram (상태선도)
• 적분기의과거는 x1(t0)로나타내고, 상태천이는 t=t0에서시작된다고가정하면, 0<t<t0에대해 x2(t)=0이다.
• 적분기출력이 배의입력과초기조건 x1(t0)/s의합
0012
1 )()()( tstx
ssX
sX ³+= t
1-s
![Page 43: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/43.jpg)
State Diagram (상태선도)의용도
1. 시스템의미분방정식으로부터쉽게구성된다.따라서상태변수와상태방정식이금방구해진다.
2. 시스템의전달함수로부터그려질수있다. (전달함수의분해)
3. 컴퓨터에의해시스템의프로그래밍에이용된다.4. 라플라스변환영역에서의상태천이방정식은상태선도로부터신호르름선도이득공식에의해서구할수있다.
5. 시스템의전달함수는상태선도로부터구해질수있다.6. 상태방정식과출력방정식은상태선도로부터구해질수있다.
![Page 44: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/44.jpg)
미분방정식으로부터상태선도구하기
• 상태선도를구하려면식을정리해서,
• 적분기의출력은상태변수 x1, x2, …, xn으로정의된다.
![Page 45: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/45.jpg)
Figure 3-19 (p. 60)State-diagram representation of the differential equation of Eq. (3-58).
![Page 46: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/46.jpg)
Automated Control Systems, 8/E by Benjamin C. Kuo and Farid GolnaraghiCopyright © 2003 John Wiley & Sons. Inc. All rights reserved.
• 예제 3-8
![Page 47: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/47.jpg)
상태선도에서전달함수구하기
• 입력과출력사이의전달함수는다른모든입력과초기상태를 0으로놓고이득공식에의하여상태선도로부터얻어진다.
• 예제 4-3-2
231
)()(
2 ++=
sssRsY
![Page 48: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/48.jpg)
상태선도에서상태와출력방정식구하기
• 상태방정식과출력방정식은이득공식에의하여상태선도로부터구할수있다.
• 상태방정식:
• 출력방정식:1. 상태선도에서상태와출력방정식구하기
)()()(tbrtax
dttdx
+=
)()()( tdrtcxty +=
![Page 49: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/49.jpg)
1. 상태와출력방정식은라플라스연산자s와초기상태를포함하지않으므로상태선도에서초기상태와이득 의적분기가지를제거한다.
2. 상태방정식에대해상태변수의도함수는상태방정식의좌변에나타나므로이들변수를출력마디로한다. 출력방정식에있는출력 y(t)는당연히출력마디변수임.
3. 상태변수와입력은상태와출력방정식의우변에나타나므로이들변수를입력마디로간주한다.
4. 이득공식을상태선도에적용한다.
1-s
![Page 50: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/50.jpg)
• 예제 3-10
)()(3)(2)(
)()(
212
21
trtxtxdttdx
txdttdx
+--=
=
)()( 1 txty =
![Page 51: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/51.jpg)
Automated Control Systems, 8/E by Benjamin C. Kuo and Farid GolnaraghiCopyright © 2003 John Wiley & Sons. Inc. All rights reserved.
• 예제 4-3-4
Figure 4-39(a) State diagram.(b) State diagram in part (a) with all initial states and integrators left out.
![Page 52: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/52.jpg)
• For zero initial conditions,
Example 4-4-1
![Page 53: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/53.jpg)
Example 4-4-1
![Page 54: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/54.jpg)
Example 4-4-1
![Page 55: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/55.jpg)
Example 4-4-1
![Page 56: 자동제어(Automatic Control) · 2019-12-20 · 블록선도 why? 1.단순성& 융통성 2.시스템의구성이나연결관계표현또은 전달함수와함께시스템전체의인과관계](https://reader034.vdocuments.net/reader034/viewer/2022050716/5e2605558f4ea84abc230386/html5/thumbnails/56.jpg)
Example 4-4-1