Cours Signaux & Systemes

l ChnIfro l.
ofIons do sysfomos
ISIT Jorbn AIouI IochIr Cours sIgnnux of sysfomos

ChnIfro I ofIons do sysfomos

l F1InIfIon dùn sysfomo
!n sysfomo so dF1InIf commo uno onfIfF roInfIvomonf IndIvIdunIIsnbIo, quI
so dFfncho do son confoxfo ou do son mIIIou fouf on rocFdnnf n dos
Fchnngos nvoc son onvIronnomonf. Cos Fchnngos concornonf Ios onfrFos
Inforvonnnfos sur Io sysfomo of Ios sorfIos quI on dFcouIonf.

IIg l.l schFmnfIsnfIon symboIIquo dùn sysfomo
SIgnnI dònfrFo IndFondnnf du sysfomo of donnF nr dos ncfIonnours.
SIgnnI do sorfIo dFondnnf du sysfomo of du sIgnnI dònfrFo.
O !n sysfomo ouf ofro monovnrInbIo ou muIfIvnrInbIos II ouf nvoIr
IusIours onfrFos commnndnnf IusIours sorfIos.
O !n sysfomo osf dIf IInFnIro sI Io rIncIo do suorosIfIon s'nIIquo.
Iour
1 1
$ $ = of
2 2
$ $ = sorfIos rosocfIvos du sysfomo
corrosondnnf nux onfrFos
1 2
et , un sysfomo osf dIf IInFnIro sI

1 2 1 2
$ $ $ + = + .
2 Sysfomo on boucIo ouvorfo
!orsquùn sysfomo osf commnndF on boucIo ouvorfo, In sorfIo FvoIuo suIvnnf
In nnfuro of I`nmIIfudo do IònfrFo. Toufo1oIs, In sorfIo ouf dIvorgor of
FvoIuo IndFondnmmonf do IònfrFo. On dIf quo Io sysfomo dovIonf InsfnbIo.
On vorrn n Ius fnrd. Iour FvIfor In sIfunfIon dÌnsfnbIIIfF, II osf
2 ChnIfro l. ofIons do sysfomos
rnIsonnnbIo, n rIorI, do rondro n IònfrFo un comfo rondu sur I`FvoIufIon do
In sorfIo our FvIfor uno foIIo sIfunfIon.
3 Sysfomo on boucIo 1ormFo
!n sysfomo on boucIo 1ormFo ormof n IònfrFo do so rondro comfo do
I`FvoIufIon do In sorfIo. Iour cof o11of, IònfrFo do commnndo du sysfomo sorn
FInborFo suIvnnf uno consIgno donnFo of un comfo rondu sur In sorfIo.
!n sfrucfuro du sysfomo on boucIo 1ormFo ossodo doux chnnos
!no chnno dIrocfo, ou chnno d`ncfIon, quI mof on jou uno uIssnnco
Imorfnnfo
!no chnno do rofour, ou chnno dòbsorvnfIon.

IIg l.2 SchFmn bIoc du sysfomo nufomnfIquo.
4 InfFrof do In confro rFncfIon
Commo vu rFcFdommonf, un sysfomo do commnndo on boucIo 1ormFo
ormof do comonsor dos orfurbnfIons oxfornos of do gnrnnfIr In sfnbIIIfF
du sysfomo.
4.l IxomIo
SoIf Io sysfomo nynnf un gnIn A In1InI, dòu In sorfIo InconfroInbIo quI
dIvorgo. !o rIncIo do In confro rFncfIon consIsfo n rnmonor n IònfrFo uno
nrfIo du sIgnnI do sorfIo.

1 I S
IIg l.3 Confro rFncfIon
=
1
$
1 = , of $ 1 = nIors = =
+
+

1
$
$

$

!o gnIn on boucIo ouvorfo osf nIors dIvIsF nr Io formo lI.A on ndmoffnnf
quo l<<I.A , on ouf dIro quo Io gnIn on boucIo 1ormFo
1

.
4.2 ConcIusIon
onc on snIf 1nIro frnvnIIIor Io sysfomo nvoc un gnIn 1InI
f
confroInbIo
grnco n In confro rFncfIon.
5 AssorvIssomonf of rFguInfIon
Commo vu rFcFdommonf, un sysfomo do commnndo on boucIo 1ormFo
ormof do comonsor dos orfurbnfIons oxfornos of do gnrnnfIr In sfnbIIIfF
du sysfomo.
5.l AssorvIssomonf
C'osf In oursuIfo nr In sorfIo d'uno consIgno quI ouf ofro vnrInbIo nu
cours du foms. ous souhnIfons nvoIr dnns co cns uno orrour nuIIo.
Iondnnf I`Ffudo do I`nssorvIssomonf, In orfurbnfIon osf suosFo nuIIo.
5.2 !FguInfIon
C'osf In comonsnfIon do consIgno do orfurbnfIons vnrInbIos sur In sorfIo.
nns Io cndro do In rFguInfIon, nous nnnuIons IònfrFo our no nous occuor
quo dos orfurbnfIons.
6 SIgnnux of sysfomos
6.l CInssI1IcnfIon
!n cInssI1IcnfIon dos sysfomos nufomnfIquos osf IIFo n In nnfuro dos sIgnnux
do commnndo mIs on jou.
O !n sIgnnI osf dIf confInu Iorsquo n chnquo Insfnnf corrosond uno
vnIour du sIgnnI.
O !n sIgnnI FchnnfIIIonnF osf un sIgnnI ouvnnf nvoIr uno In1InIfF do
vnIours mnIs on dos Insfnnfs bIon dFformInFs.
O !n sIgnnI osf dIf qunnfI1IF Iorsquo n chnquo Insfnnf ouf corrosondro
uno vnIour nrmI un nombro 1InI.
O !n sIgnnI osf dIf numFrIquo IorsquÌI osf dF1InIf n dos Insfnnfs bIon
dFformInFs nuxquoIs corrosond dos vnIours bIon dFformInFos nrmI
un nombro 1InI.


6.2 SIgnnux cnnonIquos
I11Fronfs sIgnnux fyIquos nIIquFs n I'onfrFo dùn sysfomo our 1nIro uno
nnnIyso fomoroIIo ou 1rFquonfIoIIo of ormoffnnf do
O IncIIIfor In rFsoIufIon dos FqunfIons dI11FronfIoIIos,
O Iormoffro dos comnrnIsons onfro dI11Fronfs sysfomos.
O IdonfI1Ior Io sysfomo FfudIF.
6.2.l ImuIsIon do Irnc
Co sIgnnI nofF of osf uno ImuIsIon brovo quI vnuf
0 on fouf oInf snu1 nu voIsInngo do 0 t = .
!ÌmuIsIon do Irnc osf nIors dF1InIo nr
0
lim ( ) 1
t
t 0
+
= of ( ) 0 0 t t 0 = V >
SI IònfrFo ( ) ( ) e t t 0 = In sorfIo osf dIfo rFonso
ImuIsIonnoIIo.
6.2.2 IchoIon unIfnIro

!n FchoIon unIfnIro osf dF1InIf nr
( ) 1 si 0
( ) 0 si 0
u t t
u t t
= > |
,
=
|

Còsf In 1oncfIon dòxIsfonco ou cnusnIo.
SI IònfrFo ( ) ( ) e t u t = In sorfIo osf dIfo rFonso IndIcIoIIo, oIIo nous In1ormo
sur In nnfuro, In rnIdIfF of In rFcIsIon.
1
e

f
o
( ) t 0
o
f
l
( ) u t

Fig 1.4 . Classification des signaux
6.2.3 !nmo

!no rnmo osf dF1InIo nr
( ) si 0
( ) 0 si 0
7 t k t t
7 t t
= > |
,
=
|

Cof ossnI ormof d`FvnIuor Ios cnncIfFs du
sysfomo n suIvro uno consIgno vnrInbIo. !òrrour
ormnnonfo mosurFo s`noIIo orrour do suIvI ou orrour do frnnngo.
6.2.4 SInusodo

!os onfrFos sInusodnIos sonf fros ufIIIsFos our
FfudIor Io comorfomonf dynnmIquo dos
sysfomos. !n sorfIo corrosondnnfo n ( ) sin e t t =
osf noIFo rFonso hnrmonIquo.

? ConcIusIon
Au cours do co romIor chnIfro on n FvoquF quoIquos nofIons sur Ios
sysfomos nufomnfIquos of Ios sIgnnux do commnndo. On sÌnfFrossorn dnns
In suIfo n I`Ffudo dos sIgnnux n foms confInu.

f
( ) 7 t
f
( ) e t
6 ChnIfro 2. SIgnnux n foms confInu

ChnIfro II SIgnnux n foms confInu

l AnnIyso fomoroIIo dos sIgnnux n foms confInu
l.l Trnns1ormFo do !AI!ACI
!òufII do frnns1ormnfIon do !nInco ormof non souIomonf In rFsoIufIon dos
FqunfIons dI11FronfIoIIos mnIs nussI In rorFsonfnfIon sImII1IFo dùn
sysfomo dnns Io domnIno do !nInco.
l.l.l F1InIfIon
A foufo 1oncfIon du foms ( ) f t , nuIIo our 0 t sIgnnI cnusnI, nous 1nIsons
corrosondro uno 1oncfIon ( ) F p do vnrInbIo comIoxo , quo nous noIons
frnns1ormFo do !AI!ACI do ( ) f t . Coffo frnns1ormFo osf dF1InIo nr
)
0
( ) ( ) ( )
pt
F p L f t f t e dt
+
= =
nvoc p f 9 = +
!n condIfIon dòxIsfonco do ( ) F p osf
0
( )
t
f t e dt
9
+

l.l.2 IrorIFfFs
!InFnrIfF soIf ( ) f t of ( ) g t doux 1oncfIons du foms nynnf rosocfIvomonf
( ) F p of ( ) p commo frnns1ormFos do !nInco of of doux consfnnfos.
ous nvons ( ) ( ) ( ) ( )
L
f t g t F p p + +
!ofnrd soIf v un rofnrd nssocIF n uno 1oncfIon ( ) ( )
L p
f t F p e
:
:

FrIvnfIon
1 2 1
( )
( ) (0) '(0) (0)
n
n n n n
n
d f t
L p F p p f p f f
dt

=

|
II on
dFcouIo
( )
( ) (0)
df t
L pF p f
dt

=

|
of
2
2
2
( )
( ) (0) '(0)
d f t
L p F p pf f
dt

=

|

InfFgrnfIon
0 0
0
1 1
( ) ( ) ( )
t t
t
L f x dx F p f x dx
p p =

= +

| |

VnIour 1InnIo
0
lim ( ) lim ( )
t p
f t pF p

= sI oIIo oxIsfo.
VnIour InIfInIo
0
lim ( ) lim ( )
t p
f t pF p

= sI oIIo oxIsfo.
? ChnIfro 2. SIgnnux n foms confInu
ConvoIufIon
0
( ) ( ) ( ) ( ) ( ) ( ) L f g t d L f g t d F p p : : : : : :
+ +

= =

| |

Avnnco ( ) ( )
at
L g t e F p a
= +
|

!omnrquos

: SI Ios condIfIons InIfInIos sonf nuIIos nIors
FrIvor dnns Io domnIno fomoroI rovIonf n muIfIIIor nr dnns Io
domnIno do !nInco.
InfFgror dnns Io domnIno fomoroI rovIonf n dIvIsor nr dnns Io
domnIno do !nInco.
: SI ( ) f t osf dF1InIo nr uno FqunfIon dI11FronfIoIIo dòrdro n, ( ) F p osf
dF1InIo nr un oIynomo do dogrF n.
l.l.3 IxomIos
Chorchons Ios frnns1ormFos do !nInco our
1
( ) ( ) f t u t = ,
2
( ) ( ) f t t u t = ,
( ) ( )
at
f t e u t
= ,
( ) sin ( ) f t t u t =
)
1 1 1
0 0
0
1 1 1
( ) ( ) ( ) 0
pt pt pt
F p L f t f t e dt e dt e
p p p
+
+ +

= = = = = =

| |

)
1 1 1
2 2
0 0 0 0
( ) ( ) 0
pt pt pt pt
p p p
F p L f t te dt te e dt e dt
+ + + +

= = = = +
|

) 2 2 2
1 1 1 1 1
0 0
0 1
pt pt
p p
p p p
e e
+ +

= = = =
| |

)
( ) ( )

0 0 0
0
1 1
( ) ( ) ( )
pt at pt p a t p a t
F p L f t f t e dt e e dt e dt e
p a p a
+
+ + +
+ +

= = = = = =

+ +
|

Commo sin
2
f t f t
e e
t
f

= nIors
( )
2
f t f t
e e
F p L
f

=

|

2 2 2 2
1 1 1 1 1 2
( )
2 2 2
f t f t
f
F p L e L e
f f p f p f f p p

+ +
= = = =

| |
+ + +
' ' ' '

l.2 Trnns1ormFo do !nInco Invorso
l.2.l F1InIfIon
!n frnns1ormFo do !nInco Invorso unIInfFrnIo ( ) f t dùno 1oncfIon ( ) F p osf
dF1InIo nr )
1
1
2
( ) ( ) ( )
pt
f
f t L F p F p e dp
6
+
= =

In rnfIquo, commo Ios frnns1ormFos do In Iunrf dos sIgnnux usuoIs sonf
dos 1rncfIons rnfIonnoIIos,
( )
( )
( )
p
F p
D p
= , II su11If do Ios dFcomosor on
1rncfIons sImIos.
ChnIfro 2. SIgnnux n foms confInu
l.2.2 CnIcuI nr dFcomosIfIon on FIFmonfs sImIos
On ourrn ufIIIsor In dFcomosIfIon on FIFmonfs sImIos ou on consIdoro
nussI quo d ( ) p < d ( ) D p . On ouf ufIIIsor nussI Ios fnbIos do
frnns1ormFo.

lor Cns ( ) D p n`n quo dos oIos sImIos
1 2
( ) ( )
( )
( ) ( )( )...( )
n
p p
F p
D p p p p p p p
= =

nvoc
1 2
...
n
p p p
1 2
1 2
( ) ...
n
n

F p
p p p p p p
= + + +

ou ( )
i
i i
p p
F p p p
=
=
AIors
1 2
1 2
( ) ( ... ) ( )
n
p t p t p t
n
f t e e e u t = + + +

IxomIo
2

( )
2 ( 1)( 2) ( 1) ( 2)
p p
F p
p p p p p p
+ +
= = = +
+ + + + + +
nvoc
1
2
2
p
p
p
=
+
= =
+
of
2
1
1
p
p
p
=
+
= =
+

2
( ) (2 ) ( )
t t
f t e e u t

=

2omo Cns ( ) D p ossodo dos oIos doubIos

1 2
2 2
1 1
1
( )
( )
( )
p
F p
p p p p
p p
= = +

nvoc
1
1
( )
p p
p
=
= of
1
2
( )
p p
d
p
dp
=
=

IxomIo

1 2
2 2
( )
( 1) ( 1)
1
p
F p
p p
p
+
= = +
+ +
+
nvoc
1
1
2
p
p
=
= + = of

2
1
1
p
d p
dp
=
+
= =
AIors
2
2 1
( )
( 1) ( 1)
F p
p p
= +
+ +
( ) (2 ) ( ) 2 1 ( )
t t t
f t te e u t t e u t

= + = +
If Ius gFnFrnIomonf

1 2
1
1 1
1 1
( )
( ) ...
( )
n
n n n
p
F p
p p p p
p p p p

= = + + +

Avoc our 1 2 n A A

1
1
1
1
( )
1 !
2
2 2
p p
d
p
2 dp
=
=

ChnIfro 2. SIgnnux n foms confInu
l.3 TnbIo dos frnns1ormFos

F(p) transforme de Laplace de
f(t)
f(t)
1
( ) t 0
p
e
:

( ) t 0 :
1
p
( ) u t
1
p
e
p
:
( ) u t :
2
1
p
( ) t u t
1
avec n entier positiI
n
p

1
( )
1 !
n
t
u t
n

1
p a +

( )
at
e u t

2
1
p a +

( )
at
t e u t

1
1 p : +

1
( )
t
e u t
:
:

2
1
1 p : +

2
( )
t
t
e u t
:
:

1
1 p p : +

(1 ) ( )
t
e u t
:

2
1
1 p p : +

( ) ( )
t
t e u t
:
: :

+

2
1
1 p p : +

(1 (1 ) ) ( )
t
t
e u t
:
:
+
l0 ChnIfro 2. SIgnnux n foms confInu

1
1
n
p : +

1
( )
1 !
t n
n
t
e u t
n
:
:

2 2
p
+
sin( ) ( ) t u t
2 2
p
p +
cos( ) ( ) t u t

2
2
p a
+ +

sin( ) ( )
at
e t u t

2
2
p a
p a
+
+ +

cos( ) ( )
at
e t u t

2 2
0
1
p p +

0 2
0
1
1 cos( ) ( ) t u t

2
0
2 2
0 0
2 p 2 p
+ +
avec 1 2

0
2 0
0
2
sin 1 ( )
1
2 t
e 2 t u t
2

2
0
2 2
0 0
2 p p 2 p
+ +

0
2
0
2
1
1 sin 1 ( )
1
2 t
e 2 t u t
2
+
+

' '

Avec
1
cos ( ) 2

=
0
2 2
0 0
2
p 2
p 2 p

+
+ +

0
2
0
cos 1 ( )
2 t
e 2 t u t

1 2
1
1 1 p p : : + +

1 2
1 2
1
( )
t t
e e u t
: :
: :
+

' '

1 2
1
1 1 p p p : : + +

1 2
1 2
1 2
1
1 ( )
t t
e e u t
: :
: :
: :
+ +

' ' ' '

( ) F p a +
( )
at
e f t

ll ChnIfro 2. SIgnnux n foms confInu
2 AnnIyso 1rFquonfIoIIo dos sIgnnux n foms confInu
2.l IoncfIons ufIIos
O IoncfIon rocfnngIo

1 1
2 2
7ect t u t u t = +

1
2
1
2
1
0
t
t
| A
=
,
>
|

t
T
7ect

O IoncfIon frInngIo

1 - 1
0 1
t t
t7i t
t
| A
=
,
>
|

t
T
t7i

O IoncfIon SInus cnrdInnI

sin( )
sin ( )
t
c t
t
6
6
=

2
T

2
T
f
l
1 1 f
l
T T f
l
-5 -1 -3 -2 -1 0 1 2 3 1 5
-0. 5
0
0. 5
1
1. 5
3|rus c ard|ra|
l erps (s )
A
r
p
|
|
l
u
d
e
f
l
2.2 ConvoIufIon
( )* ( ) ( ) ( ) f t g t f g t d : : :
+

IxomIo monfrons quo ( ) * ( ) t7i t 7ect t 7ect t =
( )* ( ) ( ) ( ) 7ect t 7ect t 7ect 7ect t d : : :
+

Iour 0 1 t ,
1
2
1
2
( )* ( ) 1
t
7ect t 7ect t d t :
= =

Iour 1 0 t ,
1
2
1
2
( )* ( ) 1
t
7ect t 7ect t d t :
+
= = +

Iour 1 t A ou 1 t > , ( )* ( ) 0 7ect t 7ect t =
SoIf on1In
1 1
( )* ( )
0
t pou7 t
7ect t 7ect t
ailleu7
| A
=
,
|

2.3 !n sFrIo do IO!!II!
On ufIIIso rIncInIomonf Io dFvoIoomonf on sFrIo do IourIor dnns Io cns
dos sIgnnux FrIodIquos. Co dFvoIoomonf ormof do nssor du domnIno
fomoroI nu domnIno 1rFquonfIoI.
Iour fouf sIgnnI FrIodIquo do FrIodo T, on I`FcrIf ( ) ( ) x t x t T = + .
)
0
1
( ) cos( ) sin( )
n n
n
x t x n t n t
=
= + +
ou
2
2 f
T
6
6 = =
Avoc
2
2
0
1
( )
T
T
x x t dt
T

=
vnIour moyonno.

2
2
2
( ) cos( )
T
T
n
x t n t dt
T

2
2
2
( ) sin( )
T
T
n
x t n t dt
T

( ) 0 7ect t t : ( ) 0 7ect t t : >
1
2
t
1
2
t + :
l
!os sIgnnux do uIsnfIon rorFsonfonf Io 1ondnmonfnI of coux do
uIsnfIon n sonf dIfs sIgnnux hnrmonIquos do rnng n.
Iormo comIoxo
On monfro quo ( )
f n t
n
x t C e

+

nvoc
2
2
1
( )
T
T
f n t
n
C x t e dt
T

.
If quo
2
0
2
n n
n
n n
n
f
C
pou7 n
f
C

|
=
>
,
+
|

òu et
n n n n n n
C C f C C

= + =
2.4 Trnns1ormFo do IourIor
Còsf uno gFnFrnIIsnfIon do In sFrIo do IourIor our Ios sIgnnux
dFformInIsfos non FrIodIquos. IIIo ormof uno rorFsonfnfIon 1rFquonfIoIIo
du sIgnnI socfro dos 1rFquoncos du sIgnnI.
)
2
( ) ( ) ( ) ( )
f t f f t
X f F x t x t e dt x t e dt
6
+ +

= = =

2.4.l IrorIFfFs
( ) ( ) x t X f , ( ) ( ) X t x f , ( ) ( ) x t X f , *( ) *( ) x t X f
( ) ( ) ( ) ( ) a x t b y t a X f b Y f + +

( )
2 ( )
n
n
n
d x t
f f X f
dt
6
( ) * ( ) ( ) ( ) x t y t X f Y f
( ) ( ) ( ) * ( ) x t y t X f Y f
0 0
( ) ( ) exp( 2 ) x t t X f f f t 6
0 0
( ) exp( 2 ) ( ) x t f f t X f f 6
1
( ) ( )
f
x a t X
a a

( ) 1 t 0 , 1 ( ) f 0
FmonsfrnfIon do quoIquos rorIFfFs
TrnnsInfIon fomoroIIo
)
2
0 0
( ) ( )
f f t
F x t t x t t e dt
6
+

On 1nIf un chnngomonf do vnrInbIo
0
u t t du dt = =
)
0 0
2 2 2
0
( ) ( ) ( )
f f t f f t f f u
F x t t x u e e du e X f
6 6 6
+

= =

TrnnsInfIon 1rFquonfIoIIo
)
0
2 2
0
( ) exp( 2 ) ( )
f f t f f t
F x t f f t x t e e dt
6 6
6
+

)
0
2 ( )
0 0
( ) exp( 2 ) ( ) ( )
f f f t
F x t f f t x t e dt X f f
6
6
+

= =

FrIvnfIon
)
2
'( ) '( )
f f t
F x t x t e dt
6
+

On 1nIf uno InfFgrnfIon nr nrfIos
2 2 2
0
'( ) | ( ) | 2 ( )
f f t f f t f f t
x t e dt x t e f f x t e dt
6 6 6
6
+ +
+

= +

)
'( ) 2 ( ) F x t f f X f 6 =
.......
...
...
.
2.4.2 Trnns1ormFo dos sIgnnux usuoIs
SoIonf Ios sIgnnux
1
( ) ( ) x t 7ect t =
2
( ) ( )
at
x t e u t
=
0
( ) cos(2 ) x t f t 6 =
2
( ) ( ) ( ) x t x t x t =
1 1
2 2
1 1
2 2
2 2 2
1
1
( ) ( )
2
f f t f f t f f t
X f 7ect t e dt e dt e
ff
6 6 6
6
+ +

= = =
|

1 1 sin
sin ( )
2 2
f f f f
f f f f
e e f
e e c f
ff f f f
6 6
6 6
6
6 6 6
+
= = = =

' '

2 2 2
2
0 0
1
( ) ( )
2
f f a t f f a t a t f f t
X f e u t e dt e dt e
ff a
6 6 6
6
+
+ +
+ +

= = =
|
+

1
2 ff a 6
=
+

0 0
2 2
2 2
0
( ) cos(2 )
2
f f t f f t
f f t f f t
e e
X f f t e dt e dt
6 6
6 6
6

+ +

+
= =

0 0
2 ( ) 2 ( )
1 1 1 1
0 0 2 2 2 2
( ) ( )
f f f t f f f t
e dt e dt f f f f
6 6
0 0
+ +
+

= + = + +

0 0
0 0
2 2
2 2
1 1
2 2 2 2 2 2
( ) ( ) ( ) ( ) ( ) ( )
2
f f t f f t
f f t f f t
e e
x t x t x t x t x t e x t e
6 6
6 6

+
= = = +
0 0
2 2
1 1 1 1
2 2 2 0 2 0 2 2 2 2
( ) ( ) ( ) ( ) ( )
f f t f f t
X f F x t e F x t e X f f X f f
6 6
= + = + +
| |

SoIf on1In
1 1
2 2
0 0
1 1
( )
2 ( ) 2 ( )
X f
f f f a f f f a 6 6
= +
+ + +

2.5 Trnns1ormFo do IourIor Invorso
SI un sIgnnI ( ) x t osf n FnorgIo 1InIo, nIors Io nssngo Invorso ( ) ( ) X f x t
osf ossIbIo of on n
)
1 2
( ) ( ) ( )
f f t
x t F X f X f e df
6
+

= =

l6 ChnIfro 3. IoncfIons do frnns1orf

ChnIfro III IoncfIons do frnns1orf

l Sysfomos IInFnIros
!n sysfomo IInFnIro foI quo dFjn vu ouf ofro rorFsonfF nr

ous nous IImIfons nux sysfomos monovnrInbIos l onfrFo, l sorfIo.
!n sysfomo IInFnIro d'ordro n osf dFcrIs nr uno FqunfIon dI11FronfIoIIo
IInFnIro n coo11IcIonfs consfnnfs do In 1ormo
0 0
( ) ( )
i f n 2
i f i f
i f
d s t d e t
a b
dt dt
= =
=

nvoc 2 n sysfomo hysIquo.
2 IoncfIon do frnns1orf
ous nvons vu rFcFdommonf quo In roInfIon onfro IònfrFo ( ) e t of In sorfIo ( ) s t
dùn sysfomo IInFnIro osf donnFo nr uno FqunfIon dI11FronfIoIIo du fyo

0 0
( ) ( )
avec
i f n 2
i f i f
i f
d s t d e t
a b 2 n
dt dt
= =
=

Chorchons nIors In frnns1ormFo do !nInco do coffo FqunfIon on nIIqunnf
IòFrnfour ! n chncun dos doux mombros. ous noforons rosocfIvomonf ( ) p
of ( ) $ p Ios frnns1ormFos dos 1oncfIons ( ) e t of ( ) s t .
0 0
( ) ( )
i f n 2
i f i f
i f
d s t d e t
L a L b
dt dt
= =

=

| |

Aros frnns1ormnfIon, on obfIonf, sI Ios condIfIons InIfInIos sonf nuIIos
0 0
( ) ( )
n 2
i f
i f
i f
a p $ p b p p
= =
=

If donc
2
0
0 1 2
2
0 1 2
( )
0
...
( ) ( ) ( )
...
2
f
f
2
f
2
n n
i
n
i
H p
i
b p
b b p b p b p
$ p p p
a a p a p a p
a p
=
=
+ + + +
= =
+ + + +

l? ChnIfro 3. IoncfIons do frnns1orf
( ) ( ) ( ) $ p H p p =
( )
( )
( )
$ p
H p
p
= osf noIFo 1oncfIon do frnns1orf.
2
0 1 2
2
0 1 2
... ( )
( )
... ( )
2
2
n
n
b b p b p b p p
H p
a a p a p a p D p
+ + + +
= =
+ + + +

!o numFrnfour
2
0 1 2 1 2
( ) ... ( )( )...( )
2
2 2
p b b p b p b p k p : p : p : = + + + + =
!o dFnomInnfour
2
0 1 2 1 2
( ) ... ( )( )...( )
n
n D n
D p a a p a p a p k p p p p p p = + + + + =
1 2 1 2
1 2 1 2
( )( )...( ) ( )( )...( ) ( )
( )
( ) ( )( )...( ) ( )( )...( )
2 2
D n n
k p : p : p : p : p : p : p
H p K
D p k p p p p p p p p p p p p

= = =

: !os z
I
sonf Ios zFros do In 1oncfIon do frnns1orf, Ios
I
sonf Ios oIos do In
1oncfIon do frnns1orf.
: !o dogrF n du dFnomInnfour ( ) D p osf noIF ordro do In 1oncfIon do
frnns1orf ( ) H p .
: K osf noIF Io gnIn sfnfIquo.
3 SchFmn 1oncfIonnoI
!os sysfomos IInFnIros confInus sonf souvonf rorFsonfFs nr dos schFmns
1oncfIonnoIs schFmns bIocs.
!o sysfomo d`FqunfIons osf romIncF nr un onsombIo do bIocs rorFsonfnnf
Ios 1oncfIons do frnns1orf.
3.l IIFmonfs dùn schFmn 1oncfIonnoI
n !o bIoc
II ossodo uno onfrFo of uno sorfIo. II osf n nofor quo Ios 1Iochos sonf
foujours orIonfFos do IònfrFo vors In sorfIo.

( ) ( ) ( ) $ p H p p =

b !o sommnfour / comnrnfour

!o sommnfour osf muIfI onfrFos mnIs no
ossodonf quùno sorfIo. !os onfrFos sonf
n11ocfFs du sIgno Ius our uno onfrFo osIfIvo
of du sIgno moIns our uno onfrFo nFgnfIvo.

1 2
( ) ( ) ( ) ( ) $ p p p p = +
l ChnIfro 3. IoncfIons do frnns1orf
!o comnrnfour osf un sommnfour quI ormof do 1nIro In dI11Fronco do doux
onfrFos do comnror.

1 2
( ) ( ) ( ) $ p p p =

c !n joncfIon
!n brnncho do rFIovomonf 2 n Io momo sIgnnI quo In brnncho rIncInIo
l of n`n11ocfo ns coIuIcI.

3.2 !ogIos do sImII1IcnfIon

n IIocs on cnscndo

b IIocs on nrnIIoIo

c FIncomonfs dùno joncfIon ou noud

IoInf do rFIovomonf
(1) ( ) ( ) X p X p
(2) ( ) X p
l ChnIfro 3. IoncfIons do frnns1orf
d FIncomonf dùn sommnfour ou comnrnfour

3.3 Cns dos sysfomos boucIFs
!os schFmns bIocs dos sysfomos nssorvIs ossodonf uno sfrucfuro on boucIo
1ormFo quI 1nIf nnrnfro qunfro FIFmonfs ossonfIoIs !n comnrnfour, uno
chnno dIrocfo, uno joncfIon of uno chnno do rofour.

( ) H p osf In 1oncfIon frnns1orf do In chnno dIrocfo of ( ) p osf In 1oncfIon
frnns1orf do In chnno do rofour.
On on dFduIf In IoncfIon do Trnns1orf on IoucIo IormFo ITII ( ) F p
) ( ) ( ) ( ) ( ) ( ) $ p H p p p $ p = ( ) ( ) ( ) ( ) ( ) ( ) $ p H p p H p p $ p =
) ( ) 1 ( ) ( ) ( ) ( ) $ p H p p H p p + =
( ) ( )
( )
( ) 1 ( ) ( )
$ p H p
F p
p H p p
= =
+

nns Io cns dùn rofour unIfnIro cnd ( ) 1 p = nIors

( )
( )
1 ( )
H p
F p
H p
=
+

On ufIIIso nussI In IoncfIon do Trnns1orf on IoucIo Ouvorfo ITIO ( ) T p ,
c'osf In 1oncfIon do frnns1orf du sysfomo nvoc ouvorfuro do In boucIo do
rofour nu nIvonu du comnrnfour.

20 ChnIfro 3. IoncfIons do frnns1orf

( ) ( ) ( ) T p H p p =

4 Crnho do frnns1orf
4.l F1InIfIon
!n grnho do frnns1orf ou grnho do 1Iuonco osf consfIfuF dùn onsombIo do
noud of do brnnchos. !os nouds rorFsonfonf Ios vnrInbIos du sysfomo of
sonf rorFsonfFs nr dos ronds. !os brnnchos roIIonf Ios nouds onfro oux of
chnquo brnncho osf orIonfFo of n11ocfFo dùn coo11IcIonf corrosondnnf n In
frnnsmIffnnco
1
( )
( )
i
i
X p
X p
+
nvoc
1 i
X
+
noud d`nrrIvFo of
i
X noud do dFnrf.
ùn noud ouvonf nrfIr IusIours brnnchos, II s`ngIf nIors dùn noud
sourco. !n noud nuquoI nrrIvonf IusIours brnnchos osf noIF uIfs.

IxomIo
2 1
2 x x x = +
2
x ax bx = +
1
x hx x =

4.2 !FducfIon dos grnhos
4.2.l Trnns1ormnfIons FIFmonfnIros

2 1
x a x ab x = =
1
( ) $ p
x
1
x
2
x

x
1
2
a
b
h
1
x
1
x
2
x
b
a
x
1
x
b a

2l ChnIfro 3. IoncfIons do frnns1orf

2 1 1 1
( ) x ax bx a b x = + = +

2 1 1
( ) x bx b ax cx bax bcx = = + = +

2 1 1
( ) x ax a bx cx bax acx = = =
1 1
(1 )
1
ba
x ac bax x x
ac
+ = =
+

4.2.2 !ogIo do Mnson
!n 1ormuIo do Mnson ormof do sImII1Ior un grnho do frnns1orf. IIIo osf
donnFo nr
1
n
i i
i
P
y e
=
A
=
A

nns coffo 1ormuIo y osf In vnrInbIo do sorfIo of o osf In vnrInbIo dònfrFo.
O II osf Io oIds dùn nrcours dIrocf do IònfrFo vors In sorfIo, obfonu
on muIfIIInnf Ios oIds do foufos Ios brnnchos du nrcours I. nns un
nrcours, II osf InfordIf do nssor dùn noud Ius dùno 1oIs.
O osf Io nombro do nrcours dIrocf do IònfrFo vors In sorfIo.
O A osf Io dFformInnnf du grnho donnF nr
-oucles i,j -oucles i,j,k
-oucles
disjointes disjointes
1 .....
i i f i f k
A = + +

2
x
1
x
b + a
2
x
1
x
b
a

2
x 1
x
c
a

x
b
x
1
x
a b
c b
x
1
x
2
x
b
a
c
x
1
x
1
a b
a c
+
II osf Io oIds dùn nrcours 1ormF boucIo on nrf dùn noud of on y
rovIonf.
os boucIos sonf dIfos dIsjoInfos sI oIIos nònf nucun noud on commun.
O
i
A osf Io dFformInnnf du grnho obfonu on surImnnf fouf Ios
nouds du nrcours numFro I.
IxomIo

ombro do boucIos 2
1 1
H H =
2
H =
ombro do nrcours dIrocfs 2
1 1
P H H =
2 5
P H =
1 1 2 2
P P
y e
A + A
=
A

1 2
1 A = +
1
1 0 1 A = =
2
1 H A =

1 5 1 5
1 1
1 1

1 1
H H H H H H H H
y
y e
H H H e H H H
+ +
= =
+

5 !orFsonfnfIon 1rFquonfIoIIo dos 1oncfIons do
frnns1orf
ConsIdFrons un sysfomo IInFnIro d'ordro quoIconquo nvoc uno onfrFo of uno
sorfIo. SI I'onfrFo osf sInusodnIo, ( ) sin e t t = , In rorIFfF IInFnIro du
sysfomo 1nIf quo In sorfIo sorn FgnIomonf uno sInusodo, do momo uIsnfIon
quo I'onfrFo. On nurn ( ) sin s t $ t = + .
Coffo rFonso sorn cnrncfFrIsFo nr doux nrnmofros Io gnIn
$
T
= of Io
dFhnsngo . Cos doux nrnmofros dFondonf do In uIsnfIon do
x
1
x
2
x

x
1
1
1
H

H
5
H
H
IònfrFo of s`FcrIvonf ( )
$
T f
= of arg ( ) T f = ou ( ) T f osf In 1oncfIon

do frnns1orf du sysfomo dnns InquoIIo on romInco In vnrInbIo do !nInco p
nr f .
IxomIo

Chorchons In roInfIon IInnf Vsf of Vof.
On n ( ) ( )
s c
J t R I t = of ( ) ( )
e c
J t J t =
`nufro nrf
( )
( )
c
c
dJ t
I t C
dt
=
( )
( )
e
s
dJ t
J t R C
dt
= ( ) ( )
s e
J p RC p J p =
SoIf
( )

( )
s
e
J p
RC p
J p
=
In rFgImo sInusodnI, ( ) sin( )
e 2
J t J t = nIors ( ) sin( )
2
s 2
J t RC J t
6
= + soIf
on rorFsonfnfIon comIoxo
s e
J fRC J = .
!o gnIn sorn
s
e
J
fRC
J
= II osf cInIr quo sI on romInco p nr f
dnns In 1oncfIon do frnns1orf on obfIonf Io gnIn dFformInF our uno onfrFo
sInusodnIo.
6 ConcIusIon

On n vu nu cours do co chnIfro dos nofIons do bnso sur Ios sysfomos, Ios
sIgnnux of Ios oufIIs do modFIIsnfIon. On sÌnfFrosso nr In suIfo n I`Ffudo
fomoroIIo of 1rFquonfIoIIo dos sysfomos do romIor of do socond ordro.

Vo
*
C
!
Vs
24 ChnIfro 4. Ifudo fomoroIIo dos sysfomos do l
or
of do socond ordro

ChnIfro IV Ifudo fomoroIIo dos
sysfomos do l
or
of do socond ordro.

On vouf cnrncfFrIsor Ios sysfomos nr Iour comorfomonf vIsnvIs n uno
onfrFo donnFo. Co dornIor ouf ofro mIs on FvIdonco nr In rFonso ( ) s t .
CInssIquomonf, on ouf nrondro bonucou dos sysfomos on obsorvnnf In
rFonso nux onfrFos suIvnnfos
I'ImuIsIon rFonso ImuIsIonnoIIo
I'FchoIon rFonso IndIcIoIIo
In rnmo rFonso on vIfosso
l Ifudo dùn sysfomo do romIor ordro
l.l IoncfIon do frnns1orf
!n sysfomo du romIor ordro gFnFrnIIsF osf dFcrIf nr
0 1 0 1
( ) ( )
( ) ( )
ds t de t
b s t b a e t a
dt dt
+ = +
!n sysfomo du romIor ordro osf un sysfomo our IoquoI
0
0 a of
1
0 a = . !n
1oncfIon do frnns1orf osf
0
0 1
( )
a
T p
b b p
=
+
quo nous ouvons moffro sous In 1ormo ( )
1
K
T p
p :
=
+
nvoc
0
0
a
K
b
= CnIn sfnfIquo du sysfomo.
1
0
b
b
: = consfnnfo do foms du sysfomo.
or
of do socond ordro
l.2 !Fonso n un FchoIon
On nIIquo n I'onfrFo do co sysfomo un FchoIon d'nmIIfudo
0
. ( ) p osf In
frnns1ormFo do !nInco do I'onfrFo ,
0
( )

p
p
= . !n sorfIo du sysfomo osf

0
( ) ( ) ( )
1
K
$ p p T p
p p :
= =
+

!n dFcomosIfIon do ( ) $ p donno
0
1
( )
1
$ p K
p p
:
:
+
=

+
' '

If on1In
0
( ) 1
t
s t K e
:
+
=

' '

0
: 2: : : 5:
K
.2
95
T
s(t)

Iour un sysfomo do romIor ordro, on ouf dFduIro n nrfIr do sn rFonso
IndIcIoIIo Ios cnrncfFrIsfIquos suIvnnfos
Toms do rFonso n 5 còsf Io foms nFcossnIro our quo ( ) s t
nffoInf 5 do sn vnIour 1InnIo t .
5
5 0 0
( ) 1 0.95
t
s t K e K
:
+
= =

' '

5
0.95 1
t
e
:
=
5
0.05
t
e
:
5
(20) t Log : =
5
2.9957 t : : =
0
0
( ) lim ( ) lim ( )
t p
s s t p $ p K

= = = còsf Io rFgImo ormnnonf.
or
of do socond ordro
!n fnngonfo n IòrIgIno ossodo
0
K
:
commo onfo.
0
( ) 0.2 s K : =
!òrrour sfnfIquo osf
0
( ) lim ( ) ( ) 1
t
e t s t K 1
= =
l.3 !Fonso n uno rnmo
On nIIquo n I'onfrFo do co sysfomo uno rnmo d'nmIIfudo . onc
2
( )

p
p
= . !n sorfIo du sysfomo osf

2
( ) ( ) ( )
1
K
$ p p T p
p p :
= =
+

2
2
1
( )
1
$ p K
p p p
: :
:
+
= +

+
' '

( )
t
s t K t e
:
: :
+
= +

' '

0
: 2: : : 5:
0
A:
2A:
A:
A:
5A:
K1
K~1
K1
et
:
T
:
G

!os cnrncfFrIsfIquos do coffo rFonso sonf
SI 1 K = , In sorfIo ( ) s t suIf I'onfrFo nvoc un rofnrd consfnnf: . !n
dI11Fronco osf noIFo orrour do frnnngo of vnuf : , 1 K = .
!o rFgImo ormnnonf ( )
p
s t K t : = .
SI 1 K , ( )
p
s t of ( ) e t n'onf ns In momo onfo. IIs dIvorgonf.
2? ChnIfro 4. Ifudo fomoroIIo dos sysfomos do l
or
of do socond ordro
l.4 !Fonso n uno ImuIsIon
On nIIquo n I'onfrFo do co sysfomo uno ImuIsIon d'nmIIfudo
0
. onc
0
( ) p = . !n sorfIo du sysfomo osf
0
( ) ( ) ( )
1

$ p p T p
p :
= =
+

0
( )
t

s t e
:
:
=

0
: 2: : : 5:
KE
0
:
s(t)(K
:).e
-t:

2 Ifudo dùn sysfomo do socond ordro

!n sysfomo do socond ordro osf rFgIf nr uno FqunfIon dI11FronfIoIIo do
socond ordro do fyo
2 2
2 1 0 2 1 0 2 2
( ) ( ) ( ) ( )
( ) ( )
d y t dy t d e t de t
b b a y t a a a e t
dt dt dt dt
+ + = + +
nns Io cndro do co cours nous n`FfudIorons quo Io cns ou
2 1
0 a a = = .
Cnd
2
2 1 0 0 2
( ) ( )
( ) ( )
d y t dy t
b b a y t a e t
dt dt
+ + =

or
of do socond ordro
2.l IoncfIon do frnns1orf
!n 1oncfIon do frnns1orf du sysfomo do socond ordro FfudIF osf obfonuo on
nIIqunnf In frnns1ormFo do !nInco n I`FqunfIon dI11FronfIoIIo
0
0 0
2
2 1 2
2 1 0
0 0
( )
( )
1
a
a b Y p
b b
p b p b p b
p p
b b
= =
+ +
+ +

On dF1InIf Ios coo11IcIonfs suIvnnfs
0
0
a
K
b
= gnIn sfnfIquo.
2
2
0 0
1 b
b
= nvoc
0
0
2
b
b
= uIsnfIon roro non nmorfIo ou uIsnfIon
nnfuroIIo.
1
0 0
2 b
b
= ou osf Io coo11IcIonf d`nmorfIssomonf.

1
0 2
2
b
b b
=
.
Cos coo11IcIonfs nous ormoffonf do moffro I`FqunfIon dI11FronfIoIIo sous In
1ormo sfnndnrd
2
2 2
0 0
1 ( ) 2 ( )
( ) ( )
d y t dy t
y t K e t
dt dt

+ + =
SoIf
2
0
2 2
2
0 0
2
0 0
( )
( )
2 1
( ) 2
1
K Y p K
T p
p p p
p p

= = =
+ +
+ +

Chorchons Ios oIos do In 1oncfIon do frnns1orf rncIno du dFnomInnfour

2 2 2 2 2
0 0 0
1 A = =
!o sIgno do A dFond do In vnIour do , froIs cns sonf dIsfInguFos
Cnsl 1 > donc 0 A > of Io sysfomo ossodo doux oIos rFoIs
2
1,2 0 0
1 p =
Cns2 1 = donc 0 A = of Io sysfomo ossodo un oIo rFoI doubIo
0 0
p =
Cns3 1 donc 0 A of Io sysfomo ossodo doux oIos comIoxos
conjuguFs
2
1,2 0 0
1 p f =
or
of do socond ordro
2.2 !Fonso n un FchoIon
Iour uno onfrFo on FchoIon
0
( )

p
p
=
Cnsl 1 > rFgImo nmorfI
2
1,2 0 0
1 p =

2
0 0 0
1 2 1 2
( )
1 1
K K
$ p
p p p p p p p p
: :
= =
+ +
nvoc
1
1
1
p
: =
2
2
1
,
p
: = .
2 2
1 2
2 2
2 1 1 2 1 2
0 0
1 2 2 1 1 2 1 2
1 1 1 1
( )
1 1 1 1
$ p K K
p p p p p p
: :
: : : : : :
: : : : : : : :
+

+

= + + = +

+ + + +
' '

' '

1 2
0 1 2
2 1
1
( ) 1 ( )
t t
s t K e e u t
: :
: :
: :
+ +
= +

' ' ' '

0
2
1
8
10
12
11
1
0 1 2 5
K
T
1.5,
0
5, K.E
0
10

!n rFonso osf rocho dùn sysfomo do romIor ordro snu1 quo In fnngonfo n
IòrIgIno osf horIzonfnIo.
nns co cns rFcIs
0 0
1.5, 5 10 et K = = = on n
0
( ) 10 s K = =
1
: = 0.5236
2
: = 0.0?64
or
of do socond ordro
Cns2 1 = rFgImo crIfIquo
0 0
p = of
0
1
:
=

2 2
0 0 0
0 0 0 2 2 2
0
0 0 0
1 1
( ) $ p K K K
p p
p p p p p p

+
= = =

+
+ +
' '

0 0
0 0 0
( ) 1 1
t t
t t
t
s t K te e K e e

: :
:

+
= =

' '

0
2
1
8
10
12
11
1
0 1 2 5
K
T
1,
0
5, K.E
0
10

Co rFgImo ormof d`nvoIr In rFonso nmorfIo In Ius rnIdo nvoc un
dFnssomonf nuI.
nns co cns rFcIs
0 0
1, 5 10 et K = = =
on n
0
( ) 10 s K = = of : = 0.2.
Cns3 1 rFgImo oscIIInnf
2
1,2 0 0
1 p f =

2 2
0 0 0 0
2 2
1 2 0 0
( )
2
K K
$ p
p p p p p p p p

= =
+ +

`nros In fnbIo do frnns1ormFo

0
2
0 0
2
1
( ) 1 sin 1 ( )
1
t
s t K e t u t
+
= +

' '
nvoc
1
cos
=
3l ChnIfro 4. Ifudo fomoroIIo dos sysfomos do l
or
of do socond ordro

0
2
1
8
10
12
11
1
0 1 2 5
K
1
0.2,
0
5, K.E
0
10
--------- --------- T
l
r
l
p
l
r
T

!o rFgImo oscIIInnf osf cnrncfFrIsF nr
!n uIsnfIon roro nmorfIo
p

2
0
1
p
=
!n soudo FrIodo T còsf In FrIodo dos oscIIInfIons nmorfIos.
2
0
2 2
1 p
T
6 6

= =

!o foms do Ic
p
t còsf Io foms do romIor Ic
2
p
p
T
t
6
= = of on
gFnFrnI
pk
p
k
t
6
=
!o foms do monfFo
2
t còsf Io foms nu bouf duquoI In rFonso
nffoInf In vnIour ormnnonfo our In romIoro 1oIs.
`nros IòxrossIon do ( ) s t , on n
2
t foI quo

sin 0
p 2
t + = soIf
p 2
t 6 + = dòu 1 1 1
2
2 p
p
T
t t
6
6 6 6
+ + +
= = =

' ' ' ' ' '
.
!o foms do rFonso n 5
7
t còsf Io foms nu bouf duquoI In sorfIo
so sfnbIIIso onfro 5 do In vnIour ormnnonfo. Co foms no ouf ns
or
of do socond ordro
ofro oxrImF nnnIyfIquomonf. Son rFduIf
0 7
t osf donnF on 1oncfIon do
nr nbnquo.
!os dFnssomonfs sonf donnFs nr Ios oxfrFmums do ( ) s t foIs quo
0
( ) ( ) ( )
i pi p pi
D s t s t s t K = = .
!o romIor dFnssomonf
1 1 0 0
( ) ( )
p
p
D s t K s K
6
= =

0 0
1 0 0 0
2 2
1 1
( ) sin sin
1 1
p p
p
D s K K e K e
6 6

6
6

= = + =

0
2 2
0
1 1 2
0 0
2
1
1
1
K e K e
6 6

= =

If on gFnFrnI
2
1
0
( 1)
k
k
k
D K e
6
=
On dF1InIf nussI Io dFnssomonf roInfI1 on
2
1
( 1) 100
k
k
k
D e
6
= .
On romnrquo quo our Ios froIs vnIours do Iòrrour sfnfIquo osf In momo

0
( ) lim ( ) ( ) 1
t
e t s t K 1
= =
2.3 !Fonso n uno rnmo
In nIIqunnf n I'onfrFo uno rnmo d'nmIIfudo
2
( )

p
p
= .
!n sorfIo du sysfomo osf

2
0
2 2 2
0 0
( ) ( ) ( )
2
K
$ p p T p
p p p

= =
+ +

Cnsl 1 > rFgImo nmorfI
2
1,2 0 0
1 p =

1 2 1 2
2 2
1 2 1 2
( )
p p p p
$ p K K
p p p p p p p p p p
+
= =

' '


1 2 2 1
2
1 2 1 1 2 1 2 2 1 2
1 1 1 1
( )
p p p p
$ p K
p p p p p p p p p p p p p p
+
+
= + + +

' '

In osnnf
1
1
1
p
:
= of
2
2
1
p
:
= IòxrossIon dovIonf

or
of do socond ordro

2 2
1 2
1 2 2
1 2 2 1
1 2
1 1 1 1
( )
1 1
$ p K
p p
p p
: :
: :
: : : :
: :
+

= + + + +

+ +

' '

SoIf
1 2
2 2
1 2
1 2
1 2 1 2
( ) ( )
t t
s t K t e e u t
: :
: :
: :
: : : :
+
= + +

' '

0
5
10
15
20
25
0 1 2 5
1.5
T
0 1 2 5
1.5
T
0 1 2 5
1.5
T

Cns2 1 = rFgImo crIfIquo
0 0
p = of
0
1
p
: =

2
0
2 2 2
2
0 0 0
0 0
1 2 1 1 2 1
( )
p
$ p K K
p p p p p p
p p p p p
+
= = + +

' '

2 2
1 1 1 1
( ) 2 2
1
1
$ p K
p p
p
p
: :
:
:
+

= + +

+
+
+

' ' ' '

SoIf ( ) 2 2 ( )
t t
s t K t t e e u t
: :
: :
+
= + +

' '

or
of do socond ordro

0
5
10
15
20
25
0 1 2 5
1
T
0 1 2 5
1
T
0 1 2 5
1
T

Cns3 1 rFgImo oscIIInnf
2
1,2 0 0
1 p f =
Commo dnns Io cns l, on osnnf
1
1
1
p
:
= of
2
2
1
p
:
= IòxrossIon dovIonf

1 2
2 2
1 2
1 2
1 2 1 2
( ) ( )
t t
s t K t e e u t
: :
: :
: :
: : : :
+
= + +

' '

Aros cnIcuI on frouvo
1 2
0
2
: :
+ = ,
2 2
0 0
2
1 2
0
1 1 1
2 2
1 p
f f

: :

= =

2
1 2
0
1
f
e

:
= ,
2
2 2
0
1
f
e

:
= nvoc
2
1
2 ( ) a7ctg

=
0 1 p
t
f t t
e e e

:
= ,
0 2 p
t
f t t
e e e

:

= of on1In
0 0
2
0
2 2
0 0 0
2 1 1 1
( ) ( )
2
p p
f t f t t t f f
p
s t K t e e e e e u t
f

+ +
+
= +

' '
' ' ' '

0
( ) ( )
0
2 1
( ) ( )
2
p p
f t f t
t
p
e e
s t K t e u t
f

+ +
+ +
= +

' ' ' '

or
of do socond ordro

0
0
2
( ) sin( ( )
t
p
p
e
s t K t t u t
+
= + +

' '

0
5
10
15
20
25
0 1 2 5
0.9
T
0 1 2 5
0.1
T
1

nns co cns Io rFgImo ormnnonf osf IdonfIquo nu romIor snu1 quo Iòrrour
osf Ius 1nIbIo. II y n rFsonco dòscIIInfIons our fros 1nIbIo.

3 ConcIusIon
!`Ffudo fomoroIIo nous n donnF uno IdFo sur Io comorfomonf dùn sysfomo
vIsnvIs dùno onfrFo donf on n oxIoIfF our IÌdonfI1Ior. ous FfudIorons nu
chnIfro suIvnnf In rFonso 1rFquonfIoIIo.

36 ChnIfro 5. Ifudo 1rFquonfIoIIo dos sysfomos do l
or
of do socond ordro

ChnIfro V Ifudo 1rFquonfIoIIo dos
sysfomos do l
or
of do 2
omo
ordro

l AnnIyso 1rFquonfIoIIo
ConsIdFrons un sysfomo IInFnIro d'ordro quoIconquo nvoc uno onfrFo of uno
sorfIo. SI I'onfrFo osf sInusodnIo ( ) sin e t t = , In rorIFfF IInFnIro du
sysfomo 1nIf quo In sorfIo sorn FgnIomonf uno sInusodo, do momo uIsnfIon
quo I'onfrFo. On nurn ( ) sin s t $ t = + .
nns uno nnnIyso hnrmonIquo d'un sysfomo, on FfudIo In roInfIon onfro In
1oncfIon do frnns1orf of In rFonso do co sysfomo n uno sInusodo. Coffo
rFonso sorn cnrncfFrIsFo nr doux nrnmofros Io gnIn
$
T
= of Io
dFhnsngo . Cos doux nrnmofros dFondonf do In uIsnfIon do
IònfrFo of s`FcrIvonf ( )
$
T f
= of arg ( ) T f = ou ( ) T f osf In 1oncfIon

do frnns1orf du sysfomo dnns InquoIIo on romInco In vnrInbIo do !nInco p
nr f . !n rorFsonfnfIon nnnIyfIquo du gnIn of coIIo du dFhnsngo on
1oncfIon do no sonf ns oxrossIvos. On rF1Frorn nvoIr uno
rorFsonfnfIon grnhIquo do cos doux nrnmofros on 1oncfIon do In
uIsnfIon. II oxIsfo froIs fyos do rorFsonfnfIons grnhIquos
O !orFsonfnfIon do Iodo consfIfuFo dùno courbo do gnIn ( )
d
T f on
dFcIboI moduIo of uno do hnso arg ( ) T f = nrgumonf.
!`nxo dos nbscIssos osf IognrIfhmIquo do .
3? ChnIfro 5. Ifudo 1rFquonfIoIIo dos sysfomos do l
or
of do socond ordro
O !orFsonfnfIon do yquIsf coffo rorFsonfnfIon donno I`FvoIufIon do
In nrfIo ImngInnIro on 1oncfIon do In nrfIo rFoIIo do ( ) T f Iorsquo
vnrIo do 0 n .
O !orFsonfnfIon do IInck dIfo nussI do IchoIs rorFsonfo ( )
d
T f on
1oncfIon do Iorsquo vnrIo do 0 n .
2 !orFsonfnfIon dnns Io IIou do Iodo
2.l F1InIfIons
Coffo rorFsonfnfIon s'noIIo FgnIomonf !Iou do Iodo. !o gnIn osf
rorFsonfF on dFcIboIs dI

( ) 20log ( )
d
T f T f = Io Iog osf dFcImnI.
!n consfrucfIon rnfIquo consIsfo on In rochorcho dos nsymfofos, Iour oInf
do concours of Io cnIcuI do quoIquos oInfs nrfIcuIIors. !o dFhnsngo osf
souvonf rorFsonfF on dogrFs. A nrf quoIquos rnros oxcofIons, co
dFhnsngo osf nFgnfI1 In sorfIo osf on rofnrd nr rnorf n I'onfrFo.
2.2 Sysfomo do romIor ordro
!n 1oncfIon do frnns1orf dùn sysfomo do romIor ordro s`FcrIf ( )
1
K
T p
p :
=
+

co quI donno
0
( )
1 1
1
n
K K K
T f
f f
f
= = =
+ +
+
nvoc
0
1
:
= of
0
n
= = .
0
uIsnfIon do couuro.
n
uIsnfIon normnIIsFo.

2
2
( ) 20 log ( ) 20 log 20 log 10 log 1
1
n n n
d
n
K
T f T f K
+
= = = +

+
' '

arg ( ) arg arg 1
n n n
T f K f a7ctg = = + =
Iour 0
n
, ( ) 20 log
n
d
T f K of arg ( ) 0
n
T f
Iour
n
, ( ) 20log( )
n n
d
T f of
arg ( )
2
n
T f
6

Commo I'nxo dos nbscIssos osf IognrIfhmIquo, I'nsymfofo do gnIn osf uno
droIfo do onfo 20 / ( )
n
d decade quI Inforcofo In fnngonfo n IòrIgIno our
1
n
= of couo I'nxo dos nbscIssos our
n
K = cnd
0
K = .
or
of do socond ordro
!n courbo du moduIo couo I`nxo dos nbscIssos our
2
1
n
K = nvoc 1 K > .
Iour 1
n
= , ( ) 20 log 10 log 2 20 log
n
d
T f K K = = .
arg ( ) 1
n
T f a7ctg
6
= =

2.3 Sysfomo do socond ordro

!n sysfomo do socond ordro osf dF1InIf nr sn 1oncfIon do frnns1orf ( ) T p
2
2
2
0 0
0 0
( ) ( )
2 1
2
1
1
K K
T p T f
p p
f

= =
+
+ +
+

' '

2
2
2
2
2
( )
1 2
( )
1 2
2
( )
1
n
n n
n
n n
n
n
n
K
T f
K
T f
f
7g T f a7ctg
|
=
=
,
+
+
=

' ' |

10
- 1
10
0
10
1
10
2
10
3
- 90
- 15
0
P
r
a
s
e

(
d
e
g
)
0|agrarres de 8ode
Pu|asal|or er ( r ad/s ec )
- 30
- 20
- 10
0
10
A
r
p
|
|
l
u
d
e

(
d
8
)
20|og()
or
of do socond ordro

In dFvoIonnf Io gnIn ( )
n
T f on frouvo IòxrossIon suIvnnfo

2 2 2 2 2
( )
1 2 1 2 2 1
n
n n n n n
K K
T f

= =
+ + + +

2
2 2
2 1
( )
0
2 1 2 2 1
n n
n
n
n n
T f
K

= =
+ +

2
2 1 0
n n
+ =

2 2 2 2
2 1 0 2 1 0
n n n
+ = + = SoIf
2
1 2
n
= nvoc
2
1 2 0 >
donc
1
2
A our
1
2
> Io moduIo no ossodo ns un mnxImum.
SI 0
n
nIors ( )
n
T f K donc ( ) 20log
n
d
T f K of ( ) 0
n
a7g T f
SI
n
nIors
2
( ) 0
n
n
K
T f
donc ( )
n
d
T f nvoc 0 / d decade
of ( )
n
a7g T f 6

!n rFsonnnco osf obfonuo n
2
0
1 2
R
= of Io Ic
2
2 1
R
K
T

=

- 80
- 0
- 10
- 20
0
20
A
r
p
|
|
l
u
d
e

(
d
8
)
10
- 1
10
0
10
1
10
2
10
3
- 180
- 135
- 90
- 15
0
P
r
a
s
e

(
d
e
g
)
0|agrarres de 8ode
Pu|asal|or er ( r ad/s ec )
1.5
0.Z
0.3
or
of do socond ordro
3 !orFsonfnfIon dnns Io IIou do IInck
!n courbo do IInck rorFsonfo ( )
d
T f on 1oncfIon du dFhnsngo .
Coffo courbo osf grnduFo on . !os cnIcuIs sonf monFs do In momo 1non
quo dnns Io cns do Iodo. IcI on FIImIno .
3.l Sysfomo do romIor ordro
-90 -0 -30 0
-25
-20
-15
-10
-5
0
5
10
0|agr arre de 8|ac |
Pu|as al|or er ( deg)
g
a
|
r

e
r

(
d
8
)

-180 -135 -90 -15 0
-80
-Z0
-0
-50
-10
-30
-20
-10
0
10
0|agr arre de 8|ac |
pras e er (deg)
0
a
|
r

e
r

o
o
u
c
|
e

o
u
v
e
r
l
e

(
d
8
)

4l ChnIfro 5. Ifudo 1rFquonfIoIIo dos sysfomos do l
or
of do socond ordro
4 !orFsonfnfIon dnns Io IIou do yquIsf
!o rIncIo do co IIou osf do rorFsonfor ( ) T f dnns Io Inn comIoxo.
On obfIonf uno courbo nrnmFfrIquo on 1oncfIon do .
4.l Sysfomo do romIor ordro

2 2 2 2 2 2
1
( )
1 1 1 1
K f K K K
T f f x fy
f
: :
: : : :

= = = + = +
+ + + +
Io IIou do yquIsf osf
dFcrIf nr Ios oInfs ( , ) x y .
On n

2
2
2
2 2
1
K
x
:
=
+
of

2 2 2
2
2
2 2
1
K
y
:
:
=
+
nIors

2 2 2
2
2 2
2 2 2
2 2
1
1
1
K
K
x y
:
:
:
+
+ = =
+
+

2 2
2 2 2

2 2
K K
x y K x x y
+ +
+ = + =

' ' ' '
!o IIou osf donc un domIcorcIo do
rnyon
2
K
of do confro , 0
2
K
O
+

' '
.

- 2 - 1.5 - 1 - 0.5 0 0.5 1 1.5 2 2.5 3
- 2
- 1.5
- 1
- 0.5
0
0.5
1
1.5
2
K
2
/2 K
1
/2
||eu de Ny qu|s l
Rea| A x|s
l
r
a
g
|
r
a
r
y

A
x
|
s

or
of do socond ordro
!os IIoux dos sysfomos du socond ordro no rFsonfonf ns do nrfIcuInrIfFs.
!n rFsonu do courbos our IusIours vnIours do osf Io suIvnnf.

- 1 - 0.5 0 0.5 1 1.5
- 1.5
- 1
- 0.5
0
0.5
1
1.5
0|agrarres de 8ode
Pu|asal|or er
l
r
a
g
|
r
a
r
y

A
x
|
s
43 ChnIfro 4. Ior1ormnncos dos sysfomos nssorvIs

ChnIfro VI Ior1ormnnco dos sysfomos
nssorvIs

l SfnbIIIfF dos sysfomos nssorvIs
l.l dF1InIfIon
!n sysfomo osf sfnbIo sI of souIomonf sI
F1InIfIon nl !n sysfomo osf dIf sfnbIo sI Iorsqu'on IuI nIIquo uno
onfrFo IImIfFo, sn sorfIo osf FgnIomonf IImIfFo.
F1InIfIon n2 ous dIsons qu'un sysfomo osf sfnbIo qunnd II fond n rovonIr
n son Ffnf ormnnonf nros uno orfurbnfIon. II osf InsfnbIo s'II fond n s'on
FIoIgnor dnvnnfngo.
F1InIfIon n 3 un sysfomo osf sfnbIo sI sn rFonso ImuIsIonnoIIo fond
vors 0 Iorsquo t .
l.2 CondIfIon gFnFrnIo do sfnbIIIfF

!n sysfomo IInFnIro ( ) p do In 1ormo
2
0 1 2
2
1 0 1 2
... ( )
( )
... ( )
2 n
2 i
n
i n i
b b p b p b p p
p
a a p a p a p D p p p
=
+ + + +
= = =
+ + + +

Ou
i
p sonf Ios rncInos do ( ) D p nvoc n 2 > .
!n sfnbIIIfF du sysfomo dFond do In nnfuro dos oIos do In 1oncfIon do
frnns1orf soIf
1
( )
i
n
p t
i
i
s t e
=
=
In rFonso ImuIsIonnoIIo.
SI
i
p osf rFoI
i i
p = of sI
i
p osf comIoxo
i i i
p f = + .
Or
i
t
i
e
sI 0
i
donc !n sysfomo osf sfnbIo sI fous Ios oIos do sn
1oncfIon do frnns1orf sonf n nrfIo rFoIIo sfrIcfomonf nFgnfIvo.
l.3 SfnbIIIfF on boucIo 1ormFo

On n In 1oncfIon do frnns1orf on boucIo 1ormFo
( )
( )
1 ( ) ( )
p
H p
p R p
=
+
. !o
sysfomo osf sfnbIo on boucIo 1ormFo sI Ios oIos do ( ) H p sonf n nrfIo rFoIIo
nFgnfIvo. !os oIos do ( ) H p sonf Ios rncInos do 1 ( ) ( ) p R p + .
ConnnIfro sI un sysfomo osf sfnbIo nFcossIfo donc In dFformInnfIon do fous
sos oIos choso dI11IcIIo Iorsquo Iòrdro dovIonf Imorfnnf. !o crIforo do
!oofh rFsouf Io robIomo.
l.4 CrIforo do !oofh
!o crIforo ormof In dFformInnfIon do In sfnbIIIfF du sysfomo snns connnfro
Ios oIos. Iour I'FnoncF du crIforo, In 1oncfIon do frnns1orf osf
( )
( )
( )
p
F p
D p
= .
SoIf
2
0 1 2
( ) ...
n
n
D p a a p a p a p = + + + +
( ) D p n fous sos oIos n nrfIo rFoIIo nFgnfIvo of FquIvnIonfo nux condIfIons
nFcossnIros suIvnnfos
O Tous Ios
i
a oxIsfonf sonf 0 .
O Tous Ios
i
a sonf do momo sIgno.
ous ouvons nIors FcrIro Io fnbIonu do !oufh quI nous ormof do
dFformInor Ios condIfIons nFcossnIros of su11Isnnfos n In sfnbIIIfF du
sysfomo.

+
( ) p
( ) p
( ) R p
( ) $ p ( ) p 1
n
nn nn2 nn4 . 0
nl
nnl nn3 nn5 . 0
2
Il I2 I3 . 0
. Cl C2 C3 . 0
0
.
0

1 2
1
1
n n n n
n
a a a a
=
1 5
2
1
n n n n
n
a a a a
= .
1 2 1
1
1
n n
a a
C
=
1 5 1
2
1
n n
a a
C
= .
Cos formos sonf cnIcuIFs jusqu`n IòbfonfIon do n IIgnos.
!os condIfIons nFcossnIros of su11Isnnfos our In sfnbIIIfF du sysfomo sonf
donnFos nr I'nnnIyso do In romIoro coIonno
O !o sysfomo osf sfnbIo sI of souIomonf sI fous Ios FIFmonfs do In
romIoro coIonno sonf do momo sIgno.
O !o nombro do chnngomonf do sIgno dnns coffo coIonno donno Io
nombro do oIos n nrfIo rFoIIo osIfIvo.
IxomIos
O
2
( ) 2 8 D p p p p p = + + + +
4

l 3
3

2 4 0
2
2 8 1
2

=
2 0 1
2

=
0
l
2

=
0 0
0
0

=
0

0

!o sysfomo osf sfnbIo uIsquo fous Ios coo11IcIonfs do In romIoro coIonno
sonf do momo sIgno.
O
5 2
( ) 2 2 D p p p p p p = + + + + +

5
l 3 2
4
2 l 3
3
2.5 0.5 0
2
0.6 3 0
l
l2 0
0
3 0
0

!o sysfomo ossodo doux oIos InsfnbIos.

!omnrquo
O SI Io romIor formo d'uno IIgno osf nuI mnIs quo Io rosfo do In IIgno
comorfo dos formos non nuIs, on confInuo on romInnnf co nombro
nr un 0 1 > ofIf our FvIfor In dIvIsIon nr 0.
O SI fous Ios formos d'uno IIgno sonf nuIs, I'FqunfIon ossodo dos rncInos
ImngInnIros uros conjuguFos of so frouvo dFjn on IImIfo do sfnbIIIfF.
Iour oursuIvro Io fnbIonu on FcrIf n In Inco do In IIgno concornFo Ios
coo11IcIonfs obfonus on dFrIvnnf Io oIynomo nuxIIInIro donf Ios
coo11IcIonfs sonf Ios formos do In dornIoro IIgno non nuIIo.

IxomIo
O
2
( ) 5 D p p p p p = + + + +

4
l 5 4
3
l 4 0
2
l 4 0
2
( )
&X
P p p = +
0 0 0
l
2 0 '( ) 2
&X
P p p =
0
4 0
0

Ins do oIos InsfnbIos mnIs Io sysfomo osf on IImIfo do sfnbIIIfF.
4? ChnIfro 4. Ior1ormnncos dos sysfomos nssorvIs
l.5 SfnbIIIfF on rFgImo hnrmonIquo
Qunnd on no connnIf ns In 1oncfIon do frnns1orf do In boucIo ouvorfo, on no
ouf ns rFvoIr In sfnbIIIfF do In boucIo 1ormFo on cnIcuInnf Ios oIos do In
1oncfIon do frnns1orf on II. Coffo nrfIo monfro qu'on ouf rFvoIr coffo
sfnbIIIfF on II n nrfIr do In rorFsonfnfIon grnhIquo du gnIn of du
dFhnsngo on IO.
l.5.l IoInf crIfIquo
Suosons quo our uno uIsnfIon , on nIf ( ) ( ) ( ) 1 R f f T f = = c'osf
ndIro ( ) 1 T f = , of Io dFhnsngo do l0. Iour coffo uIsnfIon, Io
dFnomInnfour do In 1oncfIon do frnns1orf on II sornIf 1 ( ) 0 T f + = . On sornIf
donc on IImIfo do sfnbIIIfF. !o crIforo grnhIquo consIsfo n FfudIor In
osIfIon do In courbo do rFonso hnrmonIquo on IO nr rnorf nu oInf
crIfIquo dF1InI nr ( ) 1 0 T f d = = of arg ( ) 180 T f = of co on vuo
d`FvnIuor In sfnbIIIfF do I'nssorvIssomonf boucIo 1ormFo.
l.5.2 CrIforo du rovors dnns Io Inn do IInck
!n sysfomo IInFnIro boucIF osf sfnbIo sI on dFcrIvnnf In courbo do IInck do
In 1oncfIon do frnns1orf on IO dnns Io sons dos uIsnfIons croIssnnfos, on
InIsso Io oInf crIfIquo sur sn droIfo.
-2Z0 -225 -180 -135 -90 -15 0
-120
-100
-80
-0
-10
-20
0
20
N|c ro|s Crarl
0per-Loop Pras e ( deg)
0
p
e
r
-
L
o
o
p

0
a
|
r

(
d
8
)

l.5.3 CrIforo du rovors dnns Io Inn do yquIsf
!n sysfomo nssorvI IInFnIro osf sfnbIo sI on dFcrIvnnf Io IIou do yquIsf on
IO dnns Io sons dos 1rFquoncos croIssnnfos, on InIsso Io oInf crIfIquo n sn
gnucho.
Ny qu|s l 0|agrar
Rea| A x |s
l
r
a
g
|
r
a
r
y

A
x
|
s
-2 -1. 5 -1 -0. 5 0 0.5 1 1.5 2 2.5 3
-2. 5
-2
-1. 5
-1
-0. 5
0
0.5
1
1.5
|rs lao|e
os c|||arl
sl ao|e

l.5.4 !ogIo du rovors dnns Io Inn do Iodo
SoIf
1
In uIsnfIon our InquoIIo In courbo do gnIn couo I'nxo 0d of
2
In
uIsnfIon our InquoIIo In courbo do hnso nsso nr 180 .
!'nssorvIssomonf osf sfnbIo sI
1
<
2
.

-150
-100
-50
0
50
V
a
g
r
|
l
u
d
e

(
d
8
)
10
- 2
10
- 1
10
0
10
1
10
2
-2Z0
-180
-90
0
P
r
a
s
e

(
d
e
g
)
8ode 0|agrar
Frequerc y ( rad/s ec )
l.6 ogrF do sfnbIIIfF dùn sysfomo nssorvIs
Iour quo In sfnbIIIfF d'un sysfomo nssorvI soIf nssurFo on foufos
cIrconsfnncos orfurbnfIons comrIsos, II 1nuf quo sn courbo do rFonso
hnrmonIquo on IO nsso su11Isnmmonf IoIn du oInf crIfIquo.
On chI11ro Io dogrF do sfnbIIIfF d'un sysfomo IInFnIro nu moyon do In mnrgo
do gnIn of In mnrgo do hnso.
!n mnrgo do gnIn osf Io nombro do dI donf Io gnIn doIf ofro nugmonfF
our nffoIndro Io oInf crIfIquo.
!n mnrgo do hnso osf Io dFhnsngo suIFmonfnIro quI ormof
d'nffoIndro Io oInf crIfIquo.
!os vnIours cournmmonf ndmIsos our nssuror uno sfnbIIIfF su11Isnnfo sonf
O mnrgo do gnIn n l2 dI
O mnrgo do hnso do 30 n 45
Cos mnrgos do sfnbIIIfF ouvonf ofro Iuos dIrocfomonf dnns Ios dI11Fronfs
Inns Iodo, IInck.
l.? Mnrgos do sfnbIIIfF dnns Ios dIvors IIoux
l.?.l !Iou do yquIsf

-2 -1. 5 -1 -0. 5 0 0.5 1 1.5 2 2.5 3
-2. 5
-2
-1. 5
-1
-0. 5
0
0.5
1
1.5
Ny qu|s l 0|agrar
Rea| A x |s
l
r
a
g
|
r
a
r
y

A
x
|
s
V
1/ V
0
0
R

l.?.2 !Iou do IInck

-2Z0 -225 -180 -135 -90 -15 0
-120
-100
-80
-0
-10
-20
0
20
N|c ro|s Crarl
0per-Loop Pras e ( deg)
0
p
e
r
-
L
o
o
p

0
a
|
r

(
d
8
)
V
0
V

l.?.3 !Iou do Iodo

-150
-100
-50
0
50
V
a
g
r
|
l
u
d
e

(
d
8
)
10
- 2
10
- 1
10
0
10
1
10
2
-2Z0
-180
-90
0
P
r
a
s
e

(
d
e
g
)
8ode 0|agrar
Frequerc y ( rad/s ec )
V
V
0

5l ChnIfro 4. Ior1ormnncos dos sysfomos nssorvIs
2 IrFcIsIon dos sysfomos nssorvIs
2.l F1InIfIon

!n sysfomo nssorvIs sorn d'nufnnf Ius rFcIs quo sn sorfIo ( ) s t osf rocho
do In consIgno ( ) e t . On ouf qunnfI1Ior I'orrour onfro In consIgno of In sorfIo
( ) ( ) ( ) t e t s t 1 = . Coffo orrour sorn sIgnI1IcnfIvo do In rFcIsIon do
I'nssorvIssomonf
O Iondnnf Io rFgImo frnnsIfoIro. On nrIorn do rFcIsIon dynnmIquo.
O !no 1oIs Io rFgImo ormnnonf nffoInf. On nrIorn do rFcIsIon
sfnfIquo.
2.2 IrFcIsIon dynnmIquo

Iour FvnIuor coffo rFcIsIon dynnmIquo, on obsorvo In rnIdIfF nvoc InquoIIo
In sorfIo nrrIvo nu rFgImo ormnnonf. SI c'osf rnIdo of ns ou ou
d'oscIIInfIons, on nrIorn d'uno bonno rFcIsIon dynnmIquo. Iour FvnIuor
coffo rFcIsIon dynnmIquo, on chorcho Io foms do rFonso n 5. Co foms
do rFonso osf Io foms n nrfIr duquoI In sorfIo rosfo nufour In vnIour 1InnIo
n 5 ros.
Iour Ios sysfomos do socond ordro nr oxomIo, co foms ouf so mosuror on
frnnnf doux IIgnos horIzonfnIos I'uno n 5, I'nufro n l05 uIs on
chorchnnf n nrfIr do quoI momonf In courbo rosfo onfro cos doux droIfos.
!'nbnquo suIvnnfo donno co foms do rFonso rFduIf
0 7
t on 1oncfIon do
I'nmorfIssomonf .

+
( ) e t

( ) s t ( ) t 1

!'nbnquo monfro qu'un nmorfIssomonf do I'ordro do 0,? osf ofImnI our Io
foms do rFonso.
2.3 IrFcIsIon sfnfIquo

On s'InfFrosso coffo 1oIs n In dI11Fronco, on rFgImo ormnnonf onfro In
consIgno of In sorfIo.

0
lim ( ) lim
t p
t p p 1 1

=
( ) ( ) ( ) ( ) p p $ p p p p 1 1 = =
( )

1 ( )
p
p
p
1 =
+

0
( )
lim
1 ( )
p
p
p
p
1
=
+
Iòrrour dFond du sysfomo of do IònfrFo.
SoIf
2
0 1 2 1
2
0 1 2 1
... 1 ...
( )
... 1 ...
2
2
n
n
b b p b p b p K p
p
a a p a p a p p p
+ + + + + +
= =
+ + + + + +
, osf Io nombro
dÌnfFgrnfIons do ( ) p . s`noIIo cInsso du sysfomo.
SI 0 p nIors ( )
K
p
p

!o fnbIonu suIvnnf rFsumo Ios orrours sfnfIquos dos sysfomos do cInssos
dIvorsos nux dI11Fronfos onfrFos.

( ) e t 0 l 2
ImuIsIon I0. ( ) t 0 0 0 0
IchoIon I0. ( ) u t
0
0
1
K +

0 0
!nmo A0 ( ) t u t

0
1
K

0

CnIcuIs
O ImuIsIon
0
( ) p =
0 =
0
0
0
0
lim 0
1
p
p
K
p
1
= =
+
1 =
0
0
1
lim 0
1
p
p
K
p
1
= =
+

2 =
0
0
2
2
lim 0
1
p
p
K
p
1
= =
+

O IchoIon
0
( )

p
p
=
0 =
0
0
0
0
0
0
1
lim
1
1
p
K
K
p
1
= =
+
+
1 =
0
0
1
1
lim 0
1
p
K
p
1
= =
+

2 =
0
0
2
2
lim 0
1
p
K
p
1
= =
+

O !nmo
0
2
( )

p
p
=
0 =

0
0
0
1
lim
1
p
p K
1
= =
+
1 =

0 0
0
1
1
1
1
lim
1
p

K
p K
p
1
= =
+

2 =
0
0
2
2
1
lim 0
1
p
K
p
p
1
= =
+



IC!I2 !FguInfIon of nssorvIssomonf l.5h
- InfroducfIon n I`Ffudo dos sysfomos nssorvIs IInFnIros confInus
Trnns1ormFo do !AI!ACI, IoncfIon do frnns1orf, schFmn
1oncfIonnoI.
- Ifudo dos sysfomos du romIor of du socond ordro fomoroIIo of
hnrmonIquo
- Ior1ormnncos dùn sysfomo nssorvIs sfnbIIIfF, rFcIsIon rnIdIfF
- CrIforos do sfnbIIIfF nIgFbrIquos of grnhIquos
- Synfhoso dos rFguInfours II mFfhodos of crIforos
- Synfhoso dùn sysfomo nssorvI

- 2 - 1.5 - 1 - 0.5 0 0.5 1 1.5 2 2.5 3
- 2.5
- 2
- 1.5
- 1
- 0.5
0
0.5
1
1.5
Nyqu|s l 0|agr ar
Rea| A x |s
l
r
a
g
|
r
a
r
y

A
x
|
s
g
V
0
-20|og(g)
0
5? ChnIfro 4. Ior1ormnncos dos sysfomos nssorvIs


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l ChnIfro l.

' ' ' '

= of arg ( ) T f = ou ( ) T f osf In 1oncfIon

= ou osf Io coo11IcIonf d`nmorfIssomonf.

' ' ' '

= of arg ( ) T f = ou ( ) T f osf In 1oncfIon

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