{"id":17698,"date":"2024-08-06T19:32:25","date_gmt":"2024-08-06T16:02:25","guid":{"rendered":"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/"},"modified":"2024-08-06T19:32:25","modified_gmt":"2024-08-06T16:02:25","slug":"%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87","status":"publish","type":"post","link":"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/","title":{"rendered":"\u0686\u06af\u0648\u0646\u0647 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 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href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d9%85%d9%88%d8%b4%da%a9_%da%86%db%8c%d8%b3%d8%aa%d8%9f\" >\u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0686\u06cc\u0633\u062a\u061f<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" 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href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d9%85%d9%88%d8%b4%da%a9_%d8%b3%d8%a7%d8%af%d9%87_%d8%b4%d8%af%d9%87_%d8%af%d8%b1%da%a9_%da%a9%d9%86%d8%aa%d8%b1%d9%84%d8%b1%d9%87%d8%a7%db%8c_pid\" >\u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0633\u0627\u062f\u0647 \u0634\u062f\u0647: \u062f\u0631\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631\u0647\u0627\u06cc PID<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" 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href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d8%aa%d8%ac%d8%b2%db%8c%d9%87_%d9%88_%d8%aa%d8%ad%d9%84%db%8c%d9%84_%d8%ab%d8%a8%d8%a7%d8%aa\" >\u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u062b\u0628\u0627\u062a<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-8\" 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href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d9%85%d9%87%d9%86%d8%af%d8%b3%d8%a7%d9%86_%da%86%da%af%d9%88%d9%86%d9%87_%d9%85%d8%b9%d8%a7%d8%af%d9%84%d9%87_%d8%aa%d8%a7%d8%a8%d8%b9_%d8%a7%d9%86%d8%aa%d9%82%d8%a7%d9%84_%d9%81%db%8c%d8%b2%db%8c%da%a9%db%8c_%d8%b1%d8%a7_%d9%be%db%8c%d8%af%d8%a7_%d9%85%db%8c_%da%a9%d9%86%d9%86%d8%af%d8%9f\" >\u0645\u0647\u0646\u062f\u0633\u0627\u0646 \u0686\u06af\u0648\u0646\u0647 \u0645\u0639\u0627\u062f\u0644\u0647 \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0641\u06cc\u0632\u06cc\u06a9\u06cc \u0631\u0627 \u067e\u06cc\u062f\u0627 \u0645\u06cc \u06a9\u0646\u0646\u062f\u061f<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-10\" 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href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d9%85%d8%b1%d8%ad%d9%84%d9%87_1_%d9%88%d8%a7%d8%b1%d8%af_%da%a9%d8%b1%d8%af%d9%86_%da%a9%d8%aa%d8%a7%d8%a8%d8%ae%d8%a7%d9%86%d9%87_%d9%87%d8%a7\" >\u0645\u0631\u062d\u0644\u0647 1: \u0648\u0627\u0631\u062f \u06a9\u0631\u062f\u0646 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0647\u0627<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d9%85%d8%b1%d8%ad%d9%84%d9%87_2_%d8%b9%d9%85%d9%84%da%a9%d8%b1%d8%af_%d8%a7%d9%86%d8%aa%d9%82%d8%a7%d9%84_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d9%85%d9%88%d8%b4%da%a9_%d8%b1%d8%a7_%d8%aa%d8%b9%d8%b1%db%8c%d9%81_%da%a9%d9%86%db%8c%d8%af\" >\u0645\u0631\u062d\u0644\u0647 2: \u0639\u0645\u0644\u06a9\u0631\u062f \u0627\u0646\u062a\u0642\u0627\u0644 \u0633\u06cc\u0633\u062a\u0645 \u0645\u0648\u0634\u06a9 \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646\u06cc\u062f<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d9%85%d8%b1%d8%ad%d9%84%d9%87_3_%db%8c%da%a9_%da%a9%d9%86%d8%aa%d8%b1%d9%84%d8%b1_pid_%d8%a8%d8%a7_%d9%be%d8%a7%d8%b1%d8%a7%d9%85%d8%aa%d8%b1%d9%87%d8%a7%db%8c_%d8%ac%d8%af%db%8c%d8%af_%d8%b7%d8%b1%d8%a7%d8%ad%db%8c_%da%a9%d9%86%db%8c%d8%af\" >\u0645\u0631\u062d\u0644\u0647 3: \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 PID \u0628\u0627 \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u062c\u062f\u06cc\u062f \u0637\u0631\u0627\u062d\u06cc \u06a9\u0646\u06cc\u062f<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d9%85%d8%b1%d8%ad%d9%84%d9%87_4_%d8%a7%d8%b9%d9%85%d8%a7%d9%84_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%da%a9%d9%86%d9%86%d8%af%d9%87_pid_%d8%af%d8%b1_%d8%b9%d9%85%d9%84%da%a9%d8%b1%d8%af_%d8%a7%d9%86%d8%aa%d9%82%d8%a7%d9%84_%d9%85%d9%88%d8%b4%da%a9\" >\u0645\u0631\u062d\u0644\u0647 4: \u0627\u0639\u0645\u0627\u0644 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u062f\u0631 \u0639\u0645\u0644\u06a9\u0631\u062f \u0627\u0646\u062a\u0642\u0627\u0644 \u0645\u0648\u0634\u06a9<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d9%85%d8%b1%d8%ad%d9%84%d9%87_5_root_locus_%d8%a8%d8%b1%d8%a7%db%8c_%d8%aa%d8%ac%d8%b2%db%8c%d9%87_%d9%88_%d8%aa%d8%ad%d9%84%db%8c%d9%84_%d8%a8%d9%87%d8%b1%d9%87\" >\u0645\u0631\u062d\u0644\u0647 5: Root Locus \u0628\u0631\u0627\u06cc \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u0628\u0647\u0631\u0647<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-16\" href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d9%85%d8%b1%d8%ad%d9%84%d9%87_6_%d8%b7%d8%b1%d8%ad_%d8%a7%d9%88%d9%84%db%8c%d9%87_%d8%a8%d8%b1%d8%a7%db%8c_%d8%aa%d8%ac%d8%b2%db%8c%d9%87_%d9%88_%d8%aa%d8%ad%d9%84%db%8c%d9%84_%d9%be%d8%a7%db%8c%d8%af%d8%a7%d8%b1%db%8c\" >\u0645\u0631\u062d\u0644\u0647 6: \u0637\u0631\u062d \u0627\u0648\u0644\u06cc\u0647 \u0628\u0631\u0627\u06cc \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-17\" href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d9%85%d8%b1%d8%ad%d9%84%d9%87_7_%d8%b7%d8%b1%d8%ad_nyquist_%d8%a8%d8%b1%d8%a7%db%8c_%d8%aa%d8%ac%d8%b2%db%8c%d9%87_%d9%88_%d8%aa%d8%ad%d9%84%db%8c%d9%84_%d8%ab%d8%a8%d8%a7%d8%aa\" >\u0645\u0631\u062d\u0644\u0647 7: \u0637\u0631\u062d Nyquist \u0628\u0631\u0627\u06cc \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u062b\u0628\u0627\u062a<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-18\" href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d8%a2%d8%ae%d8%b1%db%8c%d9%86_%d9%85%d8%b1%d8%ad%d9%84%d9%87_%d9%be%d8%b3_%d8%a7%d8%b2_%d8%b7%d8%b1%d8%a7%d8%ad%db%8c_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d9%85%d9%88%d8%b4%da%a9\" >\u0622\u062e\u0631\u06cc\u0646 \u0645\u0631\u062d\u0644\u0647 \u067e\u0633 \u0627\u0632 \u0637\u0631\u0627\u062d\u06cc \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-19\" href=\"https:\/\/rasanegaar.com\/blog\/%da%86%da%af%d9%88%d9%86%d9%87-%db%8c%da%a9-%d8%b3%db%8c%d8%b3%d8%aa%d9%85-%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%85%d9%88%d8%b4%da%a9-%d8%a8%d8%b3%d8%a7%d8%b2%db%8c%d9%85-%d9%86%d8%b8%d8%b1%db%8c%d9%87\/#%d9%86%d8%aa%db%8c%d8%ac%d9%87_%da%af%db%8c%d8%b1%db%8c_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d9%87%d8%a7%db%8c_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d8%ba%db%8c%d8%b1_%d8%ae%d8%b7%db%8c\" >\u0646\u062a\u06cc\u062c\u0647 \u06af\u06cc\u0631\u06cc: \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u063a\u06cc\u0631 \u062e\u0637\u06cc<\/a><\/li><\/ul><\/nav><\/div>\n<span class=\"span-reading-time rt-reading-time\" style=\"display: block;\"><span class=\"rt-label rt-prefix\">\u0632\u0645\u0627\u0646 \u0644\u0627\u0632\u0645 \u0628\u0631\u0627\u06cc \u0645\u0637\u0627\u0644\u0639\u0647: <\/span> <span class=\"rt-time\"> 10<\/span> <span class=\"rt-label rt-postfix\">\u062f\u0642\u06cc\u0642\u0647<\/span><\/span><p> <br \/>\n<\/p>\n<section class=\"post-content \" data-test-label=\"post-content\">\n<p>\u0633\u0627\u062e\u062a \u0647\u0631 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644\u06cc\u060c \u0627\u0632 \u062c\u0645\u0644\u0647 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9\u060c \u0634\u0627\u0645\u0644 \u062a\u0631\u06a9\u06cc\u0628 \u062a\u0626\u0648\u0631\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0628\u0627 \u0628\u0631\u0646\u0627\u0645\u0647 \u0646\u0648\u06cc\u0633\u06cc \u0627\u0633\u062a.<\/p>\n<p>\u062a\u0626\u0648\u0631\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0645\u0637\u0627\u0644\u0639\u0647 \u0627\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0686\u06af\u0648\u0646\u0647 \u0645\u06cc \u062a\u0648\u0627\u0646 \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627 \u0631\u0627 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0648\u0631\u0648\u062f\u06cc \u0647\u0627 \u0628\u0647 \u0634\u06cc\u0648\u0647 \u0627\u06cc \u0645\u0637\u0644\u0648\u0628 \u0631\u0641\u062a\u0627\u0631 \u06a9\u0631\u062f.<\/p>\n<p>\u0647\u0648\u0627\u067e\u06cc\u0645\u0627\u0647\u0627\u060c \u0645\u0627\u0634\u06cc\u0646\u200c\u0647\u0627\u060c \u0642\u0637\u0627\u0631\u0647\u0627\u060c \u0645\u062f\u0627\u0631\u0647\u0627\u060c \u0645\u0648\u0634\u06a9\u200c\u0647\u0627 \u0648 \u0628\u0633\u06cc\u0627\u0631\u06cc \u0627\u0632 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u062f\u06cc\u06af\u0631 \u0628\u0627\u06cc\u062f \u0645\u063a\u0632 \u06cc\u0627 \u0645\u0639\u0645\u0627\u0631\u06cc \u062f\u0631\u0648\u0646 \u062e\u0648\u062f \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u0646\u062f.<\/p>\n<p>\u062a\u0626\u0648\u0631\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0645\u0637\u0627\u0644\u0639\u0647 \u0645\u0639\u0645\u0627\u0631\u06cc \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0627\u06cc\u0646 \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0627\u0633\u062a.<\/p>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647\u060c \u0631\u0648\u0634 \u0627\u0639\u0645\u0627\u0644 \u0646\u0638\u0631\u06cc\u0647 \u06a9\u0646\u062a\u0631\u0644 \u0628\u0631\u0627\u06cc \u0627\u06cc\u062c\u0627\u062f \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u067e\u0627\u06cc\u062a\u0648\u0646 \u0631\u0627 \u0628\u0631\u0631\u0633\u06cc \u062e\u0648\u0627\u0647\u06cc\u0645 \u06a9\u0631\u062f.<\/p>\n<p>\u0627\u06cc\u0646 \u06cc\u06a9 \u0631\u0627\u0647\u0646\u0645\u0627\u06cc \u0633\u0627\u062f\u0647 \u0628\u0631\u0627\u06cc \u0686\u06af\u0648\u0646\u06af\u06cc \u0627\u06cc\u062c\u0627\u062f \u0645\u0639\u0645\u0627\u0631\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0627\u0633\u062a.  \u062f\u0631 \u0627\u06cc\u0646 \u0645\u0648\u0631\u062f\u060c \u0622\u0646 \u0631\u0627 \u0628\u0631 \u0627\u0633\u0627\u0633 \u0631\u0648\u06cc \u06cc\u06a9 \u0645\u0648\u0634\u06a9<\/p>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0627 \u0645\u0648\u0627\u0631\u062f \u0632\u06cc\u0631 \u0622\u0634\u0646\u0627 \u062e\u0648\u0627\u0647\u06cc\u062f \u0634\u062f:<\/p>\n<ul>\n<li>\u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u0645\u0648\u0634\u06a9 \u0648 \u067e\u062e\u062a \u06a9\u06cc\u06a9: \u0645\u0642\u0627\u06cc\u0633\u0647 \u0627\u06cc \u0633\u0631\u06af\u0631\u0645 \u06a9\u0646\u0646\u062f\u0647<\/li>\n<li>\u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0633\u0627\u062f\u0647 \u0634\u062f\u0647: \u062f\u0631\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631\u0647\u0627\u06cc PID<\/li>\n<li>\u0645\u062b\u0627\u0644 \u06a9\u062f: \u0637\u0631\u0627\u062d\u06cc \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 \u0633\u0627\u062f\u0647 PID<\/li>\n<li>\u0646\u062a\u06cc\u062c\u0647 \u06af\u06cc\u0631\u06cc: \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u063a\u06cc\u0631 \u062e\u0637\u06cc<\/li>\n<\/ul>\n<p><strong>\u062a\u0648\u062c\u0647 \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u06cc\u062f:<\/strong> \u0645\u0627 \u0641\u0631\u0636 \u0645\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u0645\u0648\u0634\u06a9 \u062a\u063a\u06cc\u06cc\u0631\u0646\u0627\u067e\u0630\u06cc\u0631 \u0632\u0645\u0627\u0646 \u0627\u0633\u062a\u060c \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0639\u0646\u06cc \u06a9\u0647 \u0631\u0641\u062a\u0627\u0631 \u0622\u0646 \u062f\u0631 \u0637\u0648\u0644 \u0632\u0645\u0627\u0646 \u062a\u063a\u06cc\u06cc\u0631 \u0646\u0645\u06cc \u06a9\u0646\u062f.  \u067e\u0631\u062f\u0627\u062e\u062a\u0646 \u0628\u0647 \u067e\u0648\u06cc\u0627\u06cc\u06cc \u0647\u0627\u06cc \u0645\u062a\u063a\u06cc\u0631 \u0628\u0627 \u0632\u0645\u0627\u0646\u060c \u0627\u06cc\u0646 \u0622\u0645\u0648\u0632\u0634 \u0631\u0627 \u0628\u06cc\u0634 \u0627\u0632 \u0622\u0646\u0686\u0647 \u0645\u0646 \u0645\u06cc \u062e\u0648\u0627\u0647\u0645 \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0645\u06cc \u06a9\u0646\u062f. <\/p>\n<p><!--kg-card-begin: html--><\/p>\n<h2 id=\"Cake\"><span class=\"ez-toc-section\" id=\"%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d9%87%d8%a7%db%8c_%d9%85%d9%88%d8%b4%da%a9_%d9%88_%d9%be%d8%ae%d8%aa_%da%a9%db%8c%da%a9_%d9%85%d9%82%d8%a7%db%8c%d8%b3%d9%87_%d8%a7%db%8c_%d8%b3%d8%b1%da%af%d8%b1%d9%85_%da%a9%d9%86%d9%86%d8%af%d9%87\"><\/span>\u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u0645\u0648\u0634\u06a9 \u0648 \u067e\u062e\u062a \u06a9\u06cc\u06a9: \u0645\u0642\u0627\u06cc\u0633\u0647 \u0627\u06cc \u0633\u0631\u06af\u0631\u0645 \u06a9\u0646\u0646\u062f\u0647<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><!--kg-card-end: html--><\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/cake.jpg\" class=\"kg-image\" alt=\"\u06a9\u06cc\u06a9\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0639\u06a9\u0633 \u0628\u0631\u0646\u062a \u06a9\u06cc\u0646 \u0631\u0648\u06cc \u067e\u06cc\u06a9\u0633\u0644 \u0647\u0627<\/figcaption><\/figure>\n<h3 id=\"what-is-a-rocket-control-system\"><span class=\"ez-toc-section\" id=\"%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d9%85%d9%88%d8%b4%da%a9_%da%86%db%8c%d8%b3%d8%aa%d8%9f\"><\/span>\u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0686\u06cc\u0633\u062a\u061f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u062a\u0635\u0648\u0631 \u06a9\u0646\u06cc\u062f \u062f\u0631 \u062d\u0627\u0644 \u062d\u0645\u0627\u06cc\u062a \u0627\u0632 \u06cc\u06a9 \u06a9\u06cc\u06a9 \u0647\u0633\u062a\u06cc\u062f.  \u062f\u0633\u062a\u0648\u0631 \u067e\u062e\u062a \u0634\u0645\u0627 \u0645\u0631\u0627\u062d\u0644 \u0648 \u0645\u0648\u0627\u062f \u0644\u0627\u0632\u0645 \u0628\u0631\u0627\u06cc \u067e\u062e\u062a \u06a9\u06cc\u06a9 \u0631\u0627 \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc \u062f\u0647\u062f.<\/p>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u0642\u06cc\u0627\u0633:<\/p>\n<ul>\n<li>\u06a9\u06cc\u06a9 \u0647\u0645\u0627\u0646 \u0645\u0648\u0634\u06a9 \u0627\u0633\u062a<\/li>\n<li>\u062f\u0633\u062a\u0648\u0631 \u0627\u0644\u0639\u0645\u0644 \u0628\u0631\u0646\u0627\u0645\u0647 \u067e\u0631\u0648\u0627\u0632 \u0645\u0648\u0634\u06a9 \u0627\u0633\u062a<\/li>\n<li>\u0627\u0642\u062f\u0627\u0645\u0627\u062a \u0646\u0627\u0646\u0648\u0627 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0627\u0633\u062a<\/li>\n<\/ul>\n<p>\u0647\u0645\u0627\u0646\u0637\u0648\u0631 \u06a9\u0647 \u062f\u0645\u0627\u06cc \u0641\u0631 \u06cc\u0627 \u0632\u0645\u0627\u0646 \u0645\u062e\u0644\u0648\u0637 \u06a9\u0631\u062f\u0646 \u0631\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc \u062f\u0647\u06cc\u062f \u062a\u0627 \u0628\u0647\u062a\u0631\u06cc\u0646 \u06a9\u06cc\u06a9 \u0631\u0627 \u0628\u062f\u0633\u062a \u0622\u0648\u0631\u06cc\u062f\u060c \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0645\u0648\u0634\u06a9 \u0631\u0627 \u0628\u0631\u0627\u06cc \u0627\u0637\u0645\u06cc\u0646\u0627\u0646 \u0627\u0632 \u0645\u0627\u0646\u062f\u06af\u0627\u0631\u06cc \u0622\u0646 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc \u062f\u0647\u062f. \u0631\u0648\u06cc \u0631\u0648\u0646\u062f \u062e\u0648\u062f \u0631\u0627 \u0627\u062f\u0627\u0645\u0647 \u0645\u06cc \u062f\u0647\u062f \u0648 \u062b\u0627\u0628\u062a \u0645\u06cc \u0645\u0627\u0646\u062f.<\/p>\n<h3 id=\"why-are-control-systems-important-in-programming\"><span class=\"ez-toc-section\" id=\"%da%86%d8%b1%d8%a7_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d9%87%d8%a7%db%8c_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d8%af%d8%b1_%d8%a8%d8%b1%d9%86%d8%a7%d9%85%d9%87_%d9%86%d9%88%db%8c%d8%b3%db%8c_%d9%85%d9%87%d9%85_%d9%87%d8%b3%d8%aa%d9%86%d8%af%d8%9f\"><\/span>\u0686\u0631\u0627 \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u062f\u0631 \u0628\u0631\u0646\u0627\u0645\u0647 \u0646\u0648\u06cc\u0633\u06cc \u0645\u0647\u0645 \u0647\u0633\u062a\u0646\u062f\u061f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0628\u0627 \u062f\u0631\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644\u060c \u062f\u0631 \u0637\u0631\u0627\u062d\u06cc \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645\u06cc \u0648 \u062a\u0641\u06a9\u0631 \u0633\u06cc\u0633\u062a\u0645\u06cc \u0628\u0647\u062a\u0631 \u062e\u0648\u0627\u0647\u06cc\u062f \u0634\u062f.<\/p>\n<p>\u0647\u0645\u0686\u0646\u06cc\u0646 \u0634\u0645\u0627 \u0631\u0627 \u0642\u0627\u062f\u0631 \u0645\u06cc \u0633\u0627\u0632\u062f \u062a\u0627 \u0631\u0648\u0634 \u062a\u0646\u0638\u06cc\u0645 \u0641\u0631\u0622\u06cc\u0646\u062f\u0647\u0627 \u062f\u0631 \u062d\u0644\u0642\u0647 \u0647\u0627\u06cc \u0628\u0627\u0632\u062e\u0648\u0631\u062f \u0631\u0627 \u0628\u06cc\u0627\u0628\u06cc\u062f.  \u0627\u06cc\u0646 \u062f\u0631 \u0628\u0633\u06cc\u0627\u0631\u06cc \u0627\u0632 \u0632\u0645\u06cc\u0646\u0647 \u0647\u0627\u06cc \u0628\u0631\u0646\u0627\u0645\u0647 \u0646\u0648\u06cc\u0633\u06cc \u0628\u0633\u06cc\u0627\u0631 \u0645\u0647\u0645 \u0627\u0633\u062a.<\/p>\n<p>\u0634\u0645\u0627 \u0639\u0645\u062f\u062a\u0627\u064b \u0627\u0632 \u062a\u0626\u0648\u0631\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0648 \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0647\u0646\u06af\u0627\u0645 \u0627\u06cc\u062c\u0627\u062f \u0646\u0631\u0645 \u0627\u0641\u0632\u0627\u0631 \u0628\u0631\u0627\u06cc \u0645\u0648\u0627\u0631\u062f \u0632\u06cc\u0631 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u062e\u0648\u0627\u0647\u06cc\u062f \u06a9\u0631\u062f:<\/p>\n<ul>\n<li><strong>\u0631\u0628\u0627\u062a\u06cc\u06a9 \u0648 \u0627\u062a\u0648\u0645\u0627\u0633\u06cc\u0648\u0646<\/strong>: \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u062d\u0631\u06a9\u062a \u062f\u0642\u06cc\u0642 \u0648 \u0633\u0627\u0632\u06af\u0627\u0631\u06cc \u0631\u0627 \u062f\u0631 \u0631\u0648\u0628\u0627\u062a \u0647\u0627 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u062d\u0644\u0642\u0647 \u0647\u0627\u06cc \u0628\u0627\u0632\u062e\u0648\u0631\u062f \u0628\u0631 \u0627\u0633\u0627\u0633 \u0627\u0645\u06a9\u0627\u0646 \u067e\u0630\u06cc\u0631 \u0645\u06cc \u06a9\u0646\u0646\u062f \u0631\u0648\u06cc \u0648\u0631\u0648\u062f\u06cc \u0633\u0646\u0633\u0648\u0631<\/li>\n<li><strong>\u067e\u0631\u062f\u0627\u0632\u0634 \u0633\u06cc\u06af\u0646\u0627\u0644 \u0648 \u0627\u0631\u062a\u0628\u0627\u0637\u0627\u062a<\/strong>: \u0627\u0646\u062a\u0642\u0627\u0644 \u062f\u0627\u062f\u0647 \u0647\u0627\u060c \u062a\u0635\u062d\u06cc\u062d \u062e\u0637\u0627 \u0648 \u0641\u06cc\u0644\u062a\u0631 \u06a9\u0631\u062f\u0646 \u0631\u0627 \u0628\u0631\u0627\u06cc \u0627\u0631\u062a\u0628\u0627\u0637\u0627\u062a \u0642\u0627\u0628\u0644 \u0627\u0639\u062a\u0645\u0627\u062f \u0628\u0647\u06cc\u0646\u0647 \u0645\u06cc \u06a9\u0646\u0646\u062f.<\/li>\n<li><strong>\u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u062c\u0627\u0633\u0627\u0632\u06cc \u0634\u062f\u0647 \u0648 \u0627\u06cc\u0646\u062a\u0631\u0646\u062a \u0627\u0634\u06cc\u0627<\/strong>: \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u062a\u0639\u0627\u0645\u0644\u0627\u062a \u062f\u0633\u062a\u06af\u0627\u0647 \u0628\u0627 \u0645\u062d\u06cc\u0637 \u0647\u0627 \u0631\u0627 \u0645\u062f\u06cc\u0631\u06cc\u062a \u0645\u06cc \u06a9\u0646\u0646\u062f\u060c \u0648\u0631\u0648\u062f\u06cc \u0647\u0627\u06cc \u062d\u0633\u06af\u0631 \u0631\u0627 \u067e\u0631\u062f\u0627\u0632\u0634 \u0645\u06cc \u06a9\u0646\u0646\u062f \u0648 \u062e\u0631\u0648\u062c\u06cc \u0647\u0627 \u0631\u0627 \u0628\u0647 \u0637\u0648\u0631 \u0645\u0648\u062b\u0631 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u0646\u062f.<\/li>\n<\/ul>\n<h3 id=\"how-to-create-a-rocket-control-system\"><span class=\"ez-toc-section\" id=\"%d8%b1%d9%88%d8%b4_%d8%a7%db%8c%d8%ac%d8%a7%d8%af_%db%8c%da%a9_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d9%85%d9%88%d8%b4%da%a9\"><\/span>\u0631\u0648\u0634 \u0627\u06cc\u062c\u0627\u062f \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0627\u0632 \u0646\u0638\u0631 \u0642\u06cc\u0627\u0633 \u067e\u062e\u062a \u06a9\u06cc\u06a9 \u0645\u0627:<\/p>\n<ol>\n<li><strong>\u06a9\u06cc\u06a9 \u0648 \u062f\u0633\u062a\u0648\u0631 \u063a\u0630\u0627 \u0631\u0627 \u0627\u0646\u062a\u062e\u0627\u0628 \u06a9\u0646\u06cc\u062f<\/strong>: \u06cc\u06a9 \u0627\u0633\u062a\u0631\u0627\u062a\u0698\u06cc \u06a9\u0646\u062a\u0631\u0644\u06cc \u0633\u0627\u062f\u0647\u060c \u0645\u0627\u0646\u0646\u062f \u0627\u0646\u062a\u062e\u0627\u0628 \u062f\u0633\u062a\u0648\u0631 \u067e\u062e\u062a \u06a9\u06cc\u06a9 \u067e\u0627\u06cc\u0647\u060c \u0627\u0646\u062a\u062e\u0627\u0628 \u06a9\u0646\u06cc\u062f.  \u06cc\u06a9 \u0627\u0646\u062a\u062e\u0627\u0628 \u0631\u0627\u06cc\u062c \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u0627\u0633\u062a \u0632\u06cc\u0631\u0627 \u0633\u0627\u062f\u0647 \u0648 \u0645\u0648\u062b\u0631 \u0627\u0633\u062a.<\/li>\n<li><strong>\u062f\u0631\u06a9 \u0645\u0648\u0627\u062f \u062a\u0634\u06a9\u06cc\u0644 \u062f\u0647\u0646\u062f\u0647<\/strong>: \u06cc\u06a9 \u0645\u062f\u0644 \u0631\u06cc\u0627\u0636\u06cc \u0627\u0632 \u0645\u0634\u062e\u0635\u0627\u062a \u0648 \u0645\u0633\u06cc\u0631 \u062d\u0631\u06a9\u062a \u0645\u0648\u0634\u06a9 \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u06a9\u0646\u06cc\u062f.  \u0645\u0627\u0646\u0646\u062f \u0645\u0637\u0627\u0644\u0639\u0647 \u062f\u0633\u062a\u0648\u0631 \u063a\u0630\u0627 \u0648 \u0645\u0648\u0627\u062f \u062a\u0634\u06a9\u06cc\u0644 \u062f\u0647\u0646\u062f\u0647.  \u0628\u0647 \u0627\u06cc\u0646 \u062a\u0631\u062a\u06cc\u0628\u060c \u0645\u0627 \u062f\u0631\u06a9 \u0631\u0648\u0634\u0646\u06cc \u0627\u0632 \u0633\u06cc\u0633\u062a\u0645 \u0628\u0647 \u062f\u0633\u062a \u0645\u06cc \u0622\u0648\u0631\u06cc\u0645.<\/li>\n<li><strong>\u062c\u0645\u0639 \u0622\u0648\u0631\u06cc \u0645\u0648\u0627\u062f \u0627\u0648\u0644\u06cc\u0647<\/strong>: \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0627\u0648\u0644\u06cc\u0647 \u0631\u0627 \u0645\u0627\u0646\u0646\u062f \u062c\u0645\u0639 \u0622\u0648\u0631\u06cc \u0645\u0648\u0627\u062f \u0627\u0648\u0644\u06cc\u0647 \u062e\u0648\u062f \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f. <\/li>\n<li><strong>\u0645\u062e\u0644\u0648\u0637 \u06a9\u0631\u062f\u0646 \u0648 \u067e\u062e\u062a<\/strong>: \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0648 \u0622\u0632\u0645\u0627\u06cc\u0634 \u06a9\u0646\u06cc\u062f\u060c \u062f\u0642\u06cc\u0642\u0627\u064b \u0645\u0627\u0646\u0646\u062f \u0645\u062e\u0644\u0648\u0637 \u06a9\u0631\u062f\u0646 \u0645\u0648\u0627\u062f \u0648 \u067e\u062e\u062a.  \u0627\u06cc\u0646 \u0634\u0627\u0645\u0644 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0646\u0645\u0648\u062f\u0627\u0631\u0647\u0627\u06cc \u0645\u062e\u062a\u0644\u0641 \u0628\u0631\u0627\u06cc \u0628\u0631\u0631\u0633\u06cc \u062b\u0628\u0627\u062a \u0648 \u0639\u0645\u0644\u06a9\u0631\u062f \u0627\u0633\u062a.<\/li>\n<li><strong>\u0627\u0641\u0632\u0648\u062f\u0646 \u0644\u0645\u0633 \u0646\u0647\u0627\u06cc\u06cc<\/strong>: \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627 \u0631\u0627 \u062f\u0631\u0633\u062a \u0645\u0627\u0646\u0646\u062f \u0627\u0641\u0632\u0648\u062f\u0646 \u062a\u0632\u0626\u06cc\u0646\u0627\u062a \u0646\u0647\u0627\u06cc\u06cc \u0628\u0647 \u06a9\u06cc\u06a9 \u062e\u0648\u062f \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f \u062a\u0627 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0631\u0627 \u0628\u0631\u0627\u06cc \u06a9\u0627\u0631\u0627\u06cc\u06cc \u0628\u0647\u06cc\u0646\u0647 \u06a9\u0646\u06cc\u062f.<\/li>\n<li><strong>\u062f\u0646\u0628\u0627\u0644 \u062f\u0633\u062a\u0648\u0631 \u063a\u0630\u0627<\/strong>: \u0637\u0631\u062d \u062e\u0648\u062f \u0631\u0627 \u0628\u0647 \u0634\u06a9\u0644\u06cc \u06a9\u0627\u0631\u0628\u0631\u062f\u06cc \u062a\u0628\u062f\u06cc\u0644 \u06a9\u0646\u06cc\u062f\u060c \u0645\u0627\u0646\u0646\u062f \u067e\u06cc\u0631\u0648\u06cc \u0627\u0632 \u062f\u0633\u062a\u0648\u0631 \u06a9\u06cc\u06a9.<\/li>\n<\/ol>\n<p><!--kg-card-begin: html--><\/p>\n<h2 id=\"Rocket\"><span class=\"ez-toc-section\" id=\"%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d9%85%d9%88%d8%b4%da%a9_%d8%b3%d8%a7%d8%af%d9%87_%d8%b4%d8%af%d9%87_%d8%af%d8%b1%da%a9_%da%a9%d9%86%d8%aa%d8%b1%d9%84%d8%b1%d9%87%d8%a7%db%8c_pid\"><\/span>\u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0633\u0627\u062f\u0647 \u0634\u062f\u0647: \u062f\u0631\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631\u0647\u0627\u06cc PID<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><!--kg-card-end: html--><\/p>\n<h3 id=\"a-simple-control-system-the-pid-controller\"><span class=\"ez-toc-section\" id=\"%db%8c%da%a9_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d8%b3%d8%a7%d8%af%d9%87_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%da%a9%d9%86%d9%86%d8%af%d9%87_pid\"><\/span>\u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0633\u0627\u062f\u0647: \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<figure class=\"kg-card kg-image-card kg-width-wide kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/M6_ControlSystemsdiagram.png\" class=\"kg-image\" alt=\"\u0646\u0645\u0648\u062f\u0627\u0631 M6_Control Systems\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0646\u0645\u0648\u0646\u0647 \u0627\u06cc \u0627\u0632 \u0646\u0645\u0648\u062f\u0627\u0631 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 (\u0645\u0646\u0628\u0639)<\/figcaption><\/figure>\n<p>\u0647\u0631 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644\u06cc \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 \u062f\u0627\u0631\u062f \u06a9\u0647 \u0622\u0646 \u0631\u0627 \u0627\u062c\u0631\u0627 \u0645\u06cc \u06a9\u0646\u062f.  \u06cc\u06a9\u06cc \u0627\u0632 \u067e\u0631\u06a9\u0627\u0631\u0628\u0631\u062f\u062a\u0631\u06cc\u0646 \u06a9\u0646\u062a\u0631\u0644\u0631\u0647\u0627\u060c \u06a9\u0646\u062a\u0631\u0644\u0631 PID \u0627\u0633\u062a.<\/p>\n<p>\u062f\u0631 \u0645\u062b\u0627\u0644 \u06a9\u062f \u0627\u06cc\u0646\u062c\u0627\u060c \u0627\u0632 \u06a9\u0646\u062a\u0631\u0644\u0631 PID \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u06a9\u0631\u062f.  \u0627\u06cc\u0646 \u0628\u0647 \u0627\u06cc\u0646 \u062f\u0644\u06cc\u0644 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0633\u0627\u062f\u0647 \u0633\u0627\u062f\u0647 \u0648 \u0645\u0648\u062b\u0631 \u0627\u0633\u062a.<\/p>\n<p>\u062f\u0631 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9\u060c \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u0645\u0648\u0634\u06a9 \u0628\u0647 \u0637\u0648\u0631 \u0645\u062f\u0627\u0648\u0645 \u0645\u0633\u06cc\u0631 \u0645\u0648\u0634\u06a9 (\u0628\u0644\u0648\u06a9 \u067e\u0631\u062f\u0627\u0632\u0634) \u0631\u0627 \u0628\u0627 \u0645\u0642\u0627\u06cc\u0633\u0647 \u0645\u0648\u0642\u0639\u06cc\u062a \u0641\u0639\u0644\u06cc \u0622\u0646 \u0628\u0627 \u062c\u0627\u06cc\u06cc \u06a9\u0647 \u0628\u0627\u06cc\u062f \u0628\u0627\u0634\u062f (\u0628\u0644\u0648\u06a9 \u0628\u0627\u0632\u062e\u0648\u0631\u062f) \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f.<\/p>\n<p>\u0628\u0647 \u0627\u06cc\u0646 \u062a\u0631\u062a\u06cc\u0628 \u0645\u0648\u0634\u06a9 \u0645\u06cc \u0645\u0627\u0646\u062f \u0631\u0648\u06cc \u0633\u06cc\u0631 \u06a9\u0631\u062f\u0647 \u0648 \u0628\u0647 \u0645\u0642\u0635\u062f \u0646\u0647\u0627\u06cc\u06cc \u062e\u0648\u062f \u0645\u06cc \u0631\u0633\u062f.<\/p>\n<p>\u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u062f\u0627\u0631\u0627\u06cc \u0633\u0647 \u0628\u062e\u0634 \u06a9\u0644\u06cc\u062f\u06cc \u0627\u0633\u062a \u06a9\u0647 \u062f\u0631 \u0628\u062e\u0634 \u067e\u0631\u062f\u0627\u0632\u0634 \u0648 \u0628\u0627\u0632\u062e\u0648\u0631\u062f \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0627\u0631 \u0645\u06cc \u06a9\u0646\u0646\u062f: \u0628\u0647\u0631\u0647 \u0645\u062a\u0646\u0627\u0633\u0628 (Kp)\u060c \u0628\u0647\u0631\u0647 \u0627\u0646\u062a\u06af\u0631\u0627\u0644 (Ki) \u0648 \u0628\u0647\u0631\u0647 \u0645\u0634\u062a\u0642 (Kd).<\/p>\n<ul>\n<li><strong>\u0628\u0647\u0631\u0647 \u0645\u062a\u0646\u0627\u0633\u0628 (Kp):<\/strong> \u0628\u0647 \u0647\u0631 \u062e\u0637\u0627\u06cc\u06cc \u0641\u0648\u0631\u0627\u064b \u0648\u0627\u06a9\u0646\u0634 \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f \u0648 \u0628\u0627\u0639\u062b \u0645\u06cc\u200c\u0634\u0648\u062f \u06a9\u0647 \u0633\u06cc\u0633\u062a\u0645 \u0628\u0647 \u0633\u0631\u0639\u062a \u067e\u0627\u0633\u062e \u062f\u0647\u062f\u060c \u0627\u0645\u0627 \u06af\u0627\u0647\u06cc \u0627\u0648\u0642\u0627\u062a \u0628\u0627\u0639\u062b \u0645\u06cc\u200c\u0634\u0648\u062f \u06a9\u0647 \u0647\u062f\u0641 \u0631\u0627 \u0628\u06cc\u0634 \u0627\u0632 \u062d\u062f \u0645\u062c\u0627\u0632 \u06a9\u0646\u062f.<\/li>\n<li><strong>\u0628\u0647\u0631\u0647 \u0627\u0646\u062a\u06af\u0631\u0627\u0644 (Ki):<\/strong> \u062e\u0637\u0627\u0647\u0627\u06cc \u06af\u0630\u0634\u062a\u0647 \u0631\u0627 \u0628\u0627 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0631\u062f\u0646 \u0622\u0646\u0647\u0627 \u062f\u0631 \u0637\u0648\u0644 \u0632\u0645\u0627\u0646 \u0628\u0631\u0637\u0631\u0641 \u0645\u06cc \u06a9\u0646\u062f \u0648 \u0627\u0632 \u0634\u0631 \u062e\u0637\u0627\u0647\u0627\u06cc \u0628\u0627\u0642\u06cc \u0645\u0627\u0646\u062f\u0647 \u062e\u0644\u0627\u0635 \u0645\u06cc \u0634\u0648\u062f\u060c \u0627\u0645\u0627 \u062f\u0631 \u0635\u0648\u0631\u062a \u062a\u0646\u0638\u06cc\u0645 \u0628\u06cc\u0634 \u0627\u0632 \u062d\u062f \u0628\u0627\u0644\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0646\u0627\u067e\u0627\u06cc\u062f\u0627\u0631 \u06a9\u0646\u062f.<\/li>\n<li><strong>\u0628\u0647\u0631\u0647 \u0645\u0634\u062a\u0642 (Kd): <\/strong>\u062e\u0637\u0627\u0647\u0627\u06cc \u0622\u06cc\u0646\u062f\u0647 \u0631\u0627 \u067e\u06cc\u0634\u200c\u0628\u06cc\u0646\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f \u062a\u0627 \u0628\u0647 \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u0627\u0632 \u0628\u06cc\u0634 \u0627\u0632 \u062d\u062f \u0648 \u0647\u0645\u0648\u0627\u0631 \u06a9\u0631\u062f\u0646 \u067e\u0627\u0633\u062e \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0645\u06a9 \u06a9\u0646\u062f.<\/li>\n<\/ul>\n<p>\u0628\u0647 \u0647\u0645\u06cc\u0646 \u062f\u0644\u06cc\u0644 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u0622\u0646 \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID (Proportional-Integral-Derivative) \u0645\u06cc \u06af\u0648\u06cc\u0646\u062f.<\/p>\n<p>\u0627\u06cc\u0646 \u0633\u0647 \u0642\u0633\u0645\u062a \u0628\u0627 \u0647\u0645 \u06a9\u0627\u0631 \u0645\u06cc \u06a9\u0646\u0646\u062f \u062a\u0627 \u06cc\u06a9 \u0633\u06cc\u06af\u0646\u0627\u0644 \u06a9\u0646\u062a\u0631\u0644\u06cc \u0627\u06cc\u062c\u0627\u062f \u06a9\u0646\u0646\u062f \u06a9\u0647 \u062a\u0646\u0638\u06cc\u0645\u0627\u062a \u0645\u0648\u0634\u06a9 \u0631\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc \u062f\u0647\u062f.  \u0627\u06cc\u0646 \u062a\u0636\u0645\u06cc\u0646 \u0645\u06cc \u06a9\u0646\u062f \u06a9\u0647 \u067e\u0627\u06cc\u062f\u0627\u0631\u060c \u062f\u0642\u06cc\u0642 \u0648 \u0645\u0648\u062b\u0631 \u0627\u0633\u062a.<\/p>\n<p>\u0628\u0627 \u06a9\u0646\u062a\u0631\u0644\u0631 PID\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u0645 \u0631\u0648\u0634 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u0648\u0642\u0639\u06cc\u062a \u0648 \u0633\u0631\u0639\u062a \u0648\u0631\u0648\u062f\u06cc\u200c\u0647\u0627\u06cc\u06cc \u0645\u0627\u0646\u0646\u062f \u0631\u0627\u0646\u0634 \u0648 \u0627\u0631\u062a\u0641\u0627\u0639 \u0631\u0627 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u06cc\u0645 \u062a\u0627 \u0645\u0637\u0645\u0626\u0646 \u0634\u0648\u06cc\u0645 \u0645\u0648\u0634\u06a9 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a \u0648 \u0631\u0648\u06cc \u0645\u0633\u06cc\u0631 \u0645\u0648\u0631\u062f \u0646\u0638\u0631 \u0622\u0646<\/p>\n<h3 id=\"analyzing-stability\"><span class=\"ez-toc-section\" id=\"%d8%aa%d8%ac%d8%b2%db%8c%d9%87_%d9%88_%d8%aa%d8%ad%d9%84%db%8c%d9%84_%d8%ab%d8%a8%d8%a7%d8%aa\"><\/span>\u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u062b\u0628\u0627\u062a<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/stability.jpg\" class=\"kg-image\" alt=\"\u062b\u0628\u0627\u062a\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0639\u06a9\u0633 \u0634\u06cc\u0648\u0627 \u0627\u0633\u0645\u06cc\u062a \u0631\u0648\u06cc \u067e\u06cc\u06a9\u0633\u0644 \u0647\u0627<\/figcaption><\/figure>\n<p>\u0637\u0631\u0627\u062d\u06cc \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 PID \u0628\u0647 \u0645\u0639\u0646\u0627\u06cc \u0637\u0631\u0627\u062d\u06cc \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a.<\/p>\n<p>\u0627\u06cc\u0646 process \u0628\u0647 \u0637\u0631\u0627\u062d\u06cc \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u067e\u0627\u06cc\u062f\u0627\u0631\u060c \u0622\u0646\u0627\u0644\u06cc\u0632 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u0645\u06cc \u06af\u0648\u06cc\u0646\u062f.<\/p>\n<p>\u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0632\u06cc\u0627\u062f\u06cc \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f\u060c \u0627\u0645\u0627 \u062f\u0631 \u0645\u062b\u0627\u0644 \u06a9\u062f \u0627\u0632 \u0622\u0646 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u062e\u0648\u0627\u0647\u06cc\u0645 \u06a9\u0631\u062f:<\/p>\n<ul>\n<li><strong>\u062c\u0627\u06cc\u06af\u0627\u0647 \u0631\u06cc\u0634\u0647: <\/strong>\u062b\u0628\u0627\u062a \u0648 \u067e\u0627\u0633\u062e \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f<\/li>\n<li><strong>\u0646\u0645\u0648\u062f\u0627\u0631 \u0628\u0648\u062f: <\/strong>\u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0646\u0645\u0627\u06cc\u0634 \u0645\u06cc \u062f\u0647\u062f <em>\u06a9\u0633\u0628 \u06a9\u0631\u062f\u0646 <\/em>\u0648 <em>\u062d\u0627\u0634\u06cc\u0647 \u0641\u0627\u0632<\/em><\/li>\n<li><strong>\u0637\u0631\u062d \u0646\u0627\u06cc\u06a9\u06cc\u0633\u062a: <\/strong>\u062b\u0628\u0627\u062a \u0648 \u0646\u0648\u0633\u0627\u0646\u0627\u062a \u0628\u0627\u0644\u0642\u0648\u0647 \u0631\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f<\/li>\n<\/ul>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u062d\u0627\u0644\u062a\u060c \u0628\u0647\u0631\u0647 \u0648 \u062d\u0627\u0634\u06cc\u0647 \u0641\u0627\u0632 \u0628\u0647 \u0633\u0627\u062f\u06af\u06cc \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0639\u0646\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0631\u0627 \u062a\u062d\u0645\u0644 \u06a9\u0646\u062f.<\/p>\n<p>\u062d\u0627\u0634\u06cc\u0647 \u0633\u0648\u062f \u0628\u0647 \u0645\u0627 \u0645\u06cc \u06af\u0648\u06cc\u062f \u06a9\u0647 \u0686\u0642\u062f\u0631 \u0633\u0648\u062f \u0633\u06cc\u0633\u062a\u0645 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0628\u062f\u0648\u0646 \u0627\u0632 \u062f\u0633\u062a \u062f\u0627\u062f\u0646 \u062b\u0628\u0627\u062a \u0627\u0641\u0632\u0627\u06cc\u0634 \u06cc\u0627\u0628\u062f.  Gain \u06cc\u0639\u0646\u06cc \u0686\u0642\u062f\u0631 \u0633\u06cc\u06af\u0646\u0627\u0644 \u0648\u0631\u0648\u062f\u06cc \u0631\u0627 \u062a\u0642\u0648\u06cc\u062a \u06a9\u0646\u06cc\u0645 \u062a\u0627 \u0633\u06cc\u06af\u0646\u0627\u0644 \u062e\u0631\u0648\u062c\u06cc \u062a\u0648\u0644\u06cc\u062f \u0634\u0648\u062f.<\/p>\n<p>\u062d\u0627\u0634\u06cc\u0647 \u0641\u0627\u0632 \u0628\u0647 \u0645\u0627 \u0645\u06cc \u06af\u0648\u06cc\u062f \u06a9\u0647 \u0686\u0642\u062f\u0631 \u062a\u0627\u062e\u06cc\u0631 \u0628\u062f\u0648\u0646 \u0627\u0632 \u062f\u0633\u062a \u062f\u0627\u062f\u0646 \u062b\u0628\u0627\u062a \u0642\u0627\u0628\u0644 \u062a\u062d\u0645\u0644 \u0627\u0633\u062a.  \u062a\u0623\u062e\u06cc\u0631 \u062f\u0631 \u062a\u0626\u0648\u0631\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0639\u0646\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0686\u0647 \u0645\u062f\u062a \u0632\u0645\u0627\u0646 \u0637\u0648\u0644 \u0645\u06cc \u06a9\u0634\u062f \u062a\u0627 \u062e\u0631\u0648\u062c\u06cc \u0628\u0647 \u0648\u0631\u0648\u062f\u06cc \u067e\u0627\u0633\u062e \u062f\u0647\u062f.<\/p>\n<p>\u0627\u06cc\u0646 \u0628\u0647 \u0645\u0627 \u0645\u06cc \u06af\u0648\u06cc\u062f \u06a9\u0647 \u0686\u06af\u0648\u0646\u0647 Kp\u060c Ki \u0648 Kd \u0631\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0647\u06cc\u0645 \u062a\u0627 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u0628\u062a\u0648\u0627\u0646\u062f \u0645\u0648\u0634\u06a9 \u0631\u0627 \u0628\u0647 \u0634\u06cc\u0648\u0647 \u0627\u06cc \u0645\u0648\u062b\u0631 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u062f.<\/p>\n<h3 id=\"the-need-for-transfer-functions-controlling-the-rocket-and-determining-component-values\"><span class=\"ez-toc-section\" id=\"%d9%86%db%8c%d8%a7%d8%b2_%d8%a8%d9%87_%d8%aa%d9%88%d8%a7%d8%a8%d8%b9_%d8%a7%d9%86%d8%aa%d9%82%d8%a7%d9%84_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d9%85%d9%88%d8%b4%da%a9_%d9%88_%d8%aa%d8%b9%db%8c%db%8c%d9%86_%d9%85%d9%82%d8%a7%d8%af%db%8c%d8%b1_%d8%a7%d8%ac%d8%b2%d8%a7\"><\/span>\u0646\u06cc\u0627\u0632 \u0628\u0647 \u062a\u0648\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644: \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0648 \u062a\u0639\u06cc\u06cc\u0646 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0627\u062c\u0632\u0627<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<figure class=\"kg-card kg-image-card kg-width-wide\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/Transfer-function-v2.png\" class=\"kg-image\" alt=\"Transfer-function-v2\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><\/figure>\n<p>\u0628\u0631\u0627\u06cc \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc \u0647\u0631 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644\u06cc\u060c \u0628\u0647 \u062f\u0648 \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0646\u06cc\u0627\u0632 \u062f\u0627\u0631\u06cc\u0645: \u06cc\u06a9\u06cc \u0646\u0638\u0631\u06cc \u0648 \u062f\u06cc\u06af\u0631\u06cc \u0641\u06cc\u0632\u06cc\u06a9\u06cc.<\/p>\n<p>\u062a\u0648\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0628\u0647 \u0645\u0627 \u0645\u06cc \u06af\u0648\u06cc\u0646\u062f \u06a9\u0647 \u0686\u06af\u0648\u0646\u0647 \u0648\u0631\u0648\u062f\u06cc \u0647\u0627 \u0628\u0647 \u0635\u0648\u0631\u062a \u0631\u06cc\u0627\u0636\u06cc \u0628\u0647 \u062e\u0631\u0648\u062c\u06cc \u062a\u0628\u062f\u06cc\u0644 \u0645\u06cc \u0634\u0648\u0646\u062f.<\/p>\n<p>\u062a\u0627\u0628\u0639 \u0646\u0638\u0631\u06cc\u060c \u062f\u0631 \u0627\u06cc\u0646 \u0645\u0648\u0631\u062f\u060c \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u0627\u0633\u062a.<\/p>\n<p>\u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0633\u06cc\u0633\u062a\u0645 \u0641\u06cc\u0632\u06cc\u06a9\u06cc \u0646\u0634\u0627\u0646 \u062f\u0647\u0646\u062f\u0647 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062f\u0646\u06cc\u0627\u06cc \u0648\u0627\u0642\u0639\u06cc \u0648 \u0631\u0641\u062a\u0627\u0631 \u0627\u062c\u0632\u0627\u06cc \u0641\u06cc\u0632\u06cc\u06a9\u06cc \u062f\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0627\u0633\u062a.<\/p>\n<p>\u0628\u0627 \u062a\u0631\u06a9\u06cc\u0628 \u0647\u0631 \u062f\u0648\u060c \u0645\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u0631\u0641\u062a\u0627\u0631 \u0645\u0648\u0627\u062f \u0648 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0627\u062c\u0632\u0627\u0621 \u0645\u0627\u0646\u0646\u062f:<\/p>\n<ul>\n<li>\u0645\u0642\u0627\u062f\u06cc\u0631 \u062e\u0627\u0632\u0646 \u0628\u0631\u0627\u06cc \u0630\u062e\u06cc\u0631\u0647 \u0627\u0646\u0631\u0698\u06cc<\/li>\n<li>\u0645\u0642\u0627\u062f\u06cc\u0631 \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u0633\u0646\u0633\u0648\u0631 \u0628\u0631\u0627\u06cc \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u062f\u0642\u06cc\u0642 \u062f\u0627\u062f\u0647 \u0647\u0627 \u0648 \u0628\u0627\u0632\u062e\u0648\u0631\u062f<\/li>\n<li>\u062b\u0627\u0628\u062a \u0647\u0627\u06cc \u0641\u0646\u0631\u06cc \u0628\u0631\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u062c\u0630\u0628 \u0634\u0648\u06a9<\/li>\n<li>\u0631\u062a\u0628\u0647 \u0628\u0646\u062f\u06cc \u0641\u0634\u0627\u0631 \u0628\u0631\u0627\u06cc \u0645\u062e\u0627\u0632\u0646 \u0633\u0648\u062e\u062a \u0648 \u0627\u06a9\u0633\u06cc\u062f \u06a9\u0646\u0646\u062f\u0647<\/li>\n<\/ul>\n<p>\u0628\u0647 \u0627\u06cc\u0646 \u062a\u0631\u062a\u06cc\u0628\u060c \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u0646\u0647 \u062a\u0646\u0647\u0627 \u0645\u063a\u0632 \u0645\u0648\u0634\u06a9 \u0627\u0633\u062a\u060c \u0628\u0644\u06a9\u0647 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0645\u0642\u0627\u062f\u06cc\u0631 \u0627\u062c\u0632\u0627\u06cc \u0645\u0648\u0631\u062f \u0646\u06cc\u0627\u0632 \u0631\u0627 \u0628\u0647 \u0645\u0627 \u0628\u06af\u0648\u06cc\u062f \u062a\u0627 \u0645\u0648\u0634\u06a9 \u0628\u062a\u0648\u0627\u0646\u062f \u0645\u0633\u06cc\u0631 \u062e\u0648\u062f \u0631\u0627 \u0637\u06cc \u06a9\u0646\u062f.<\/p>\n<h3 id=\"how-do-engineers-find-the-physical-transfer-function-equation\"><span class=\"ez-toc-section\" id=\"%d9%85%d9%87%d9%86%d8%af%d8%b3%d8%a7%d9%86_%da%86%da%af%d9%88%d9%86%d9%87_%d9%85%d8%b9%d8%a7%d8%af%d9%84%d9%87_%d8%aa%d8%a7%d8%a8%d8%b9_%d8%a7%d9%86%d8%aa%d9%82%d8%a7%d9%84_%d9%81%db%8c%d8%b2%db%8c%da%a9%db%8c_%d8%b1%d8%a7_%d9%be%db%8c%d8%af%d8%a7_%d9%85%db%8c_%da%a9%d9%86%d9%86%d8%af%d8%9f\"><\/span>\u0645\u0647\u0646\u062f\u0633\u0627\u0646 \u0686\u06af\u0648\u0646\u0647 \u0645\u0639\u0627\u062f\u0644\u0647 \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0641\u06cc\u0632\u06cc\u06a9\u06cc \u0631\u0627 \u067e\u06cc\u062f\u0627 \u0645\u06cc \u06a9\u0646\u0646\u062f\u061f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u0627\u0628\u062a\u062f\u0627 \u0628\u0627\u06cc\u062f \u0628\u0641\u0647\u0645\u06cc\u0645 \u06a9\u0647 \u0645\u0648\u0634\u06a9 \u0628\u0631\u0627\u06cc \u0686\u06cc\u0633\u062a.<\/p>\n<p>\u0622\u06cc\u0627 \u0645\u0627\u0647\u0648\u0627\u0631\u0647 LEO (\u0645\u062f\u0627\u0631 \u067e\u0627\u06cc\u06cc\u0646 \u0632\u0645\u06cc\u0646) \u06cc\u0627 MEO (\u0645\u062f\u0627\u0631 \u0645\u062a\u0648\u0633\u0637 \u200b\u200b\u0632\u0645\u06cc\u0646) \u0631\u0627 \u0628\u0647 \u0641\u0636\u0627 \u0645\u06cc \u0641\u0631\u0633\u062a\u062f \u06cc\u0627 \u0645\u0648\u0634\u06a9\u06cc \u0631\u0627 \u0628\u0647 \u0645\u0627\u0647\u061f<\/p>\n<p>\u067e\u0633 \u0627\u0632 \u062f\u0627\u0646\u0633\u062a\u0646 \u06a9\u0627\u0631\u0628\u0631\u062f \u0622\u0646\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u0645 \u0628\u0627 \u0631\u06cc\u0627\u0636\u06cc \u0648 \u0641\u06cc\u0632\u06cc\u06a9 \u0645\u0639\u0627\u062f\u0644\u0647 \u0641\u06cc\u0632\u06cc\u06a9\u06cc \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0631\u0627 \u067e\u06cc\u062f\u0627 \u06a9\u0646\u06cc\u0645.<\/p>\n<p>\u062f\u0631 \u0648\u0627\u0642\u0639 \u06cc\u06a9 \u0631\u0634\u062a\u0647 \u0645\u0647\u0646\u062f\u0633\u06cc \u06a9\u0627\u0645\u0644 \u0628\u0647 \u0646\u0627\u0645 \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f <strong>\u0634\u0646\u0627\u0633\u0627\u06cc\u06cc \u0633\u06cc\u0633\u062a\u0645<\/strong> \u0627\u062e\u062a\u0635\u0627\u0635 \u062f\u0627\u062f\u0647 \u0634\u062f\u0647 \u0628\u0647 \u0627\u06cc\u0646.<\/p>\n<p>\u062d\u0627\u0644 \u0628\u06cc\u0627\u06cc\u06cc\u062f \u0628\u0628\u06cc\u0646\u06cc\u0645 \u06a9\u0647 \u0686\u06af\u0648\u0646\u0647 \u0628\u0631\u0627\u06cc \u0647\u0631 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644\u06cc\u060c \u0639\u0645\u0644\u06a9\u0631\u062f \u0627\u0646\u062a\u0642\u0627\u0644 \u0641\u06cc\u0632\u06cc\u06a9\u06cc \u0622\u0646 \u0631\u0627 \u067e\u06cc\u062f\u0627 \u06a9\u0646\u06cc\u0645.<\/p>\n<p><!--kg-card-begin: html--><\/p>\n<h2 id=\"Code\"><span class=\"ez-toc-section\" id=\"%d9%85%d8%ab%d8%a7%d9%84_%da%a9%d8%af_%d8%b7%d8%b1%d8%a7%d8%ad%db%8c_%db%8c%da%a9_%da%a9%d9%86%d8%aa%d8%b1%d9%84%d8%b1_%d8%b3%d8%a7%d8%af%d9%87_pid\"><\/span>\u0645\u062b\u0627\u0644 \u06a9\u062f: \u0637\u0631\u0627\u062d\u06cc \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 \u0633\u0627\u062f\u0647 PID<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><!--kg-card-end: html--><\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/rocket.jpg\" class=\"kg-image\" alt=\"\u0645\u0648\u0634\u06a9\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0639\u06a9\u0633 \u0627\u0632 Pixabay<\/figcaption><\/figure>\n<p>\u062d\u0627\u0644\u0627 \u0628\u0627 \u0627\u06cc\u0646 \u0645\u062b\u0627\u0644 \u06a9\u062f\u060c \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0633\u0627\u062f\u0647 \u0628\u0631\u0627\u06cc \u0645\u0648\u0634\u06a9 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u06cc\u0645.<\/p>\n<p>\u0642\u0628\u0644 \u0627\u0632 \u0627\u06cc\u0646\u06a9\u0647 \u0648\u0627\u0631\u062f \u06a9\u062f \u0634\u0648\u06cc\u0645\u060c \u0628\u06cc\u0627\u06cc\u06cc\u062f \u062f\u0631 \u0645\u0648\u0631\u062f \u062f\u0633\u06cc \u0628\u0644 \u0635\u062d\u0628\u062a \u06a9\u0646\u06cc\u0645.<\/p>\n<p>\u062f\u0633\u06cc \u0628\u0644 \u0627\u0632 \u0645\u0642\u06cc\u0627\u0633 \u0644\u06af\u0627\u0631\u06cc\u062a\u0645\u06cc \u0628\u0631\u0627\u06cc \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0635\u062f\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u06a9\u0646\u062f.  \u062f\u0631 \u062a\u0626\u0648\u0631\u06cc \u06a9\u0646\u062a\u0631\u0644\u060c \u0622\u0646\u0647\u0627 \u0633\u0648\u062f \u0631\u0627 \u0628\u0647 \u06af\u0648\u0646\u0647 \u0627\u06cc \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0645\u06cc \u06a9\u0646\u0646\u062f \u06a9\u0647 \u062a\u062c\u0633\u0645 \u0622\u0633\u0627\u0646 \u062a\u0631 \u0628\u0627\u0634\u062f \u0631\u0648\u06cc \u0646\u0645\u0648\u062f\u0627\u0631\u0647\u0627<\/p>\n<p>\u0628\u0647 \u0627\u06cc\u0646 \u062a\u0631\u062a\u06cc\u0628\u060c \u0645\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0628\u0632\u0631\u06af \u0648 \u06a9\u0648\u0686\u06a9 \u0628\u06cc\u0634\u062a\u0631\u06cc \u0631\u0627 \u062f\u0631 \u06cc\u06a9 \u0645\u062d\u062f\u0648\u062f\u0647 \u0642\u0627\u0628\u0644 \u0645\u062f\u06cc\u0631\u06cc\u062a \u0628\u0628\u06cc\u0646\u06cc\u0645.<\/p>\n<p>\u0628\u0647 \u0639\u0628\u0627\u0631\u062a \u062f\u06cc\u06af\u0631\u060c \u0628\u0627 \u062f\u06cc\u062f\u0646 \u0628\u0647\u0631\u0647 \u062f\u0631 \u0645\u0642\u06cc\u0627\u0633 \u0644\u06af\u0627\u0631\u06cc\u062a\u0645\u06cc\u060c \u0645\u06cc\u200c\u0628\u06cc\u0646\u06cc\u0645 \u06a9\u0647 \u0648\u0631\u0648\u062f\u06cc \u0686\u0642\u062f\u0631 \u062a\u0642\u0648\u06cc\u062a \u0645\u06cc\u200c\u0634\u0648\u062f \u062a\u0627 \u062e\u0631\u0648\u062c\u06cc \u062f\u0631 \u06cc\u06a9 \u0645\u062d\u062f\u0648\u062f\u0647 \u0642\u0627\u0628\u0644 \u0645\u062f\u06cc\u0631\u06cc\u062a \u0627\u0632 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0628\u0627\u0634\u062f.<\/p>\n<p>\u0631\u0648\u0634 \u0622\u0646 \u0631\u0627 \u0647\u0645 \u062a\u0648\u0636\u06cc\u062d \u062e\u0648\u0627\u0647\u0645 \u062f\u0627\u062f root \u0644\u0648\u06a9\u0648\u0633\u060c \u0646\u0645\u0648\u062f\u0627\u0631 Bode\u060c \u0648 \u0646\u0645\u0648\u062f\u0627\u0631 \u0646\u0627\u06cc\u06a9\u06cc\u0633\u062a \u0628\u0647 \u0645\u0647\u0646\u062f\u0633\u0627\u0646 \u062f\u0631 \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u0646\u062f.<\/p>\n<p>\u0628\u06cc\u0627\u06cc\u06cc\u062f \u06a9\u062f \u0631\u0627 \u0628\u0628\u06cc\u0646\u06cc\u0645 &#8211; \u0648 \u0633\u067e\u0633 \u0622\u0646 \u0631\u0627 \u0628\u0644\u0648\u06a9 \u0628\u0647 \u0628\u0644\u0648\u06a9 \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u0645\u06cc \u06a9\u0646\u06cc\u0645:<\/p>\n<pre><code># Step 1: Import libraries\nimport matplotlib.pyplot as plt\nimport control as ctrl\n\n# Step 2: Define a new rocket transfer function with poles closer to the imaginary axis\nnum = [10] \nden = [2, 2, 1] \nG = ctrl.TransferFunction(num, den)\n\n# Step 3: Design a PID controller with new parameters\nKp = 5\nKi = 2\nKd = 1\nC = ctrl.TransferFunction([Kd, Kp, Ki], [1, 0])\n\n# Step 4: Applying the PID controller to the rocket transfer function\nCL = ctrl.feedback(C * G, 1)\n\n# Step 5: Plot Root Locus for Closed-Loop System\nplt.figure(figsize=(10, 6))\nctrl.root_locus(C * G, grid=True)\nplt.title(\"Root Locus Plot (Closed-Loop)\")\n\n# Step 6: Plot Bode Plot for Closed-Loop System\nplt.figure(figsize=(10, 6))\nctrl.bode_plot(CL, dB=True, Hz=False, deg=True)\nplt.suptitle(\"Bode Plot (Closed-Loop)\", fontsize=16)\n\n# Step 7: Plot Nyquist Plot for Closed-Loop System\nplt.figure(figsize=(10, 6))\nctrl.nyquist_plot(CL)\nplt.title(\"Nyquist Plot (Closed-Loop)\")\n\nplt.show()\n<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/1.png\" class=\"kg-image\" alt=\"1\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u06a9\u062f \u06a9\u0627\u0645\u0644<\/figcaption><\/figure>\n<h3 id=\"step-1-import-libraries\"><span class=\"ez-toc-section\" id=\"%d9%85%d8%b1%d8%ad%d9%84%d9%87_1_%d9%88%d8%a7%d8%b1%d8%af_%da%a9%d8%b1%d8%af%d9%86_%da%a9%d8%aa%d8%a7%d8%a8%d8%ae%d8%a7%d9%86%d9%87_%d9%87%d8%a7\"><\/span>\u0645\u0631\u062d\u0644\u0647 1: \u0648\u0627\u0631\u062f \u06a9\u0631\u062f\u0646 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0647\u0627<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code>import matplotlib.pyplot as plt\nimport control as ctrl<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/2.png\" class=\"kg-image\" alt=\"2\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0648\u0627\u0631\u062f\u0627\u062a \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0647\u0627<\/figcaption><\/figure>\n<p>\u0645\u0627 \u0627\u06cc\u0646\u062c\u0627\u06cc\u06cc\u0645 import \u062f\u0648 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647:<\/p>\n<ul>\n<li>matplotlib: \u06cc\u06a9 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0631\u0633\u0645 \u0628\u0631\u0627\u06cc \u0627\u06cc\u062c\u0627\u062f \u0627\u0646\u0648\u0627\u0639 \u0645\u062e\u062a\u0644\u0641 \u062a\u062c\u0633\u0645<\/li>\n<li>\u06a9\u0646\u062a\u0631\u0644: \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0627\u06cc \u0628\u0631\u0627\u06cc \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u0648 \u0637\u0631\u0627\u062d\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644<\/li>\n<\/ul>\n<h3 id=\"step-2-define-the-transfer-function-of-the-rocket-system\"><span class=\"ez-toc-section\" id=\"%d9%85%d8%b1%d8%ad%d9%84%d9%87_2_%d8%b9%d9%85%d9%84%da%a9%d8%b1%d8%af_%d8%a7%d9%86%d8%aa%d9%82%d8%a7%d9%84_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d9%85%d9%88%d8%b4%da%a9_%d8%b1%d8%a7_%d8%aa%d8%b9%d8%b1%db%8c%d9%81_%da%a9%d9%86%db%8c%d8%af\"><\/span>\u0645\u0631\u062d\u0644\u0647 2: \u0639\u0645\u0644\u06a9\u0631\u062f \u0627\u0646\u062a\u0642\u0627\u0644 \u0633\u06cc\u0633\u062a\u0645 \u0645\u0648\u0634\u06a9 \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646\u06cc\u062f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code>num = [10] \nden = [2, 2, 1] \nG = ctrl.TransferFunction(num, den)<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/3.png\" class=\"kg-image\" alt=\"3\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0633\u06cc\u0633\u062a\u0645 \u0645\u0648\u0634\u06a9 \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646\u06cc\u062f<\/figcaption><\/figure>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u06a9\u062f \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0633\u06cc\u0633\u062a\u0645 \u0641\u06cc\u0632\u06cc\u06a9\u06cc \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u0645\u06cc \u06a9\u0646\u06cc\u0645<\/p>\n<ul>\n<li><strong><code>num=[10]<\/code><\/strong>: \u0628\u0647\u0631\u0647 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0631\u0648\u06cc 10 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f.<\/li>\n<li><strong><code>den=[2,2,1]<\/code><\/strong>:<strong> <\/strong>\u0645\u062e\u0631\u062c \u0631\u0627 \u062a\u0639\u0631\u06cc\u0641 \u0645\u06cc \u06a9\u0646\u062f.<\/li>\n<li><strong><code>G = ctrl.transferFunction(num, cen)<\/code><\/strong>:<strong> <\/strong>\u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0631\u0627 \u0645\u06cc \u0633\u0627\u0632\u062f.<\/li>\n<\/ul>\n<p>\u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0645\u06cc \u062e\u0648\u0627\u0647\u06cc\u0645 \u0628\u0627 PID \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u06cc\u0645:<\/p>\n<p><!--kg-card-begin: html--><\/p>\n<p>    <meta charset=\"UTF-8\"><br \/>\n    <meta name=\"viewport\" content=\"width=device-width, initial-scale=1.0\"><br \/>\n    <title>\u0645\u0639\u0627\u062f\u0644\u0647 \u0628\u0644\u06a9 \u0634\u0648\u0644\u0632<\/title><\/p>\n<div class=\"card\">\n<div class=\"card-body\">\n<p class=\"card-text\">\n<p>                $$\\frac{\\partial V}{\\partial t} + \\frac{1}{2}\\sigma^2 S^2 \\frac{\\partial^2 V}{\\partial S^2} = rV &#8211; rS \\frac{\\partial V}{\\partial S}$$\n            <\/p>\n<h5 class=\"card-title\" style=\"text-align: center;\">\u0639\u0645\u0644\u06a9\u0631\u062f \u0627\u0646\u062a\u0642\u0627\u0644 \u0645\u0648\u0634\u06a9<br \/>\n          <\/h5>\n<\/p><\/div><\/div>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u0645\u062b\u0627\u0644 \u06a9\u062f\u060c \u0645\u0639\u0627\u062f\u0644\u0647 \u0645\u0648\u0634\u06a9 \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0628\u0633\u06cc\u0627\u0631 \u0633\u0627\u062f\u0647 \u0627\u0633\u062a.  \u0627\u0645\u0627 \u062f\u0631 \u0632\u0646\u062f\u06af\u06cc \u0648\u0627\u0642\u0639\u06cc\u060c \u062a\u0648\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0645\u0648\u0634\u06a9\u060c \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u062e\u0637\u06cc \u062a\u063a\u06cc\u06cc\u0631\u0646\u0627\u067e\u0630\u06cc\u0631 \u0632\u0645\u0627\u0646 \u0646\u06cc\u0633\u062a\u0646\u062f.  \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0622\u0646\u0647\u0627 \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u0628\u0633\u06cc\u0627\u0631 \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0627\u06cc \u0647\u0633\u062a\u0646\u062f.<\/p>\n<h3 id=\"step-3-design-a-pid-controller-with-new-parameters\"><span class=\"ez-toc-section\" id=\"%d9%85%d8%b1%d8%ad%d9%84%d9%87_3_%db%8c%da%a9_%da%a9%d9%86%d8%aa%d8%b1%d9%84%d8%b1_pid_%d8%a8%d8%a7_%d9%be%d8%a7%d8%b1%d8%a7%d9%85%d8%aa%d8%b1%d9%87%d8%a7%db%8c_%d8%ac%d8%af%db%8c%d8%af_%d8%b7%d8%b1%d8%a7%d8%ad%db%8c_%da%a9%d9%86%db%8c%d8%af\"><\/span>\u0645\u0631\u062d\u0644\u0647 3: \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 PID \u0628\u0627 \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u062c\u062f\u06cc\u062f \u0637\u0631\u0627\u062d\u06cc \u06a9\u0646\u06cc\u062f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code>Kp = 5\nKi = 2\nKd = 1\nC = ctrl.TransferFunction([Kd, Kp, Ki], [1, 0])<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/4.png\" class=\"kg-image\" alt=\"4\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 PID \u0628\u0627 \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u062c\u062f\u06cc\u062f \u0637\u0631\u0627\u062d\u06cc \u06a9\u0646\u06cc\u062f<\/figcaption><\/figure>\n<p>\u0627\u06cc\u0646 \u06a9\u062f \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u0631\u0627 \u0628\u0627 \u062f\u0633\u062a\u0627\u0648\u0631\u062f\u0647\u0627\u06cc \u062e\u0627\u0635 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f \u0648 \u06cc\u06a9 \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u062f:<\/p>\n<ul>\n<li><strong><code>Kp = 5<\/code><\/strong>: \u0628\u0647\u0631\u0647 \u0645\u062a\u0646\u0627\u0633\u0628 \u0631\u0627 \u0631\u0648\u06cc 5 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f.<\/li>\n<li><strong><code>Ki = 2<\/code><\/strong>: \u0628\u0647\u0631\u0647 \u0627\u0646\u062a\u06af\u0631\u0627\u0644 \u0631\u0627 \u0631\u0648\u06cc 2 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f.<\/li>\n<li><strong><code>Kd = 1<\/code><\/strong>: \u0628\u0647\u0631\u0647 \u0645\u0634\u062a\u0642 \u0631\u0627 \u0631\u0648\u06cc 1 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f.<\/li>\n<li><strong><code>C = ctrl.TransferFunction([Kd, Kp, Ki], [1, 0])<\/code><\/strong>: \u06cc\u06a9 \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u0627\u0632 \u06a9\u0646\u062a\u0631\u0644\u0631 PID \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u062f<\/li>\n<\/ul>\n<h3 id=\"step-4-applying-the-pid-controller-to-the-rocket-transfer-function\"><span class=\"ez-toc-section\" id=\"%d9%85%d8%b1%d8%ad%d9%84%d9%87_4_%d8%a7%d8%b9%d9%85%d8%a7%d9%84_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%da%a9%d9%86%d9%86%d8%af%d9%87_pid_%d8%af%d8%b1_%d8%b9%d9%85%d9%84%da%a9%d8%b1%d8%af_%d8%a7%d9%86%d8%aa%d9%82%d8%a7%d9%84_%d9%85%d9%88%d8%b4%da%a9\"><\/span>\u0645\u0631\u062d\u0644\u0647 4: \u0627\u0639\u0645\u0627\u0644 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u062f\u0631 \u0639\u0645\u0644\u06a9\u0631\u062f \u0627\u0646\u062a\u0642\u0627\u0644 \u0645\u0648\u0634\u06a9<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<pre><code>CL = ctrl.feedback(C * G, 1)\n<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/5.png\" class=\"kg-image\" alt=\"5\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0627\u0639\u0645\u0627\u0644 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u062f\u0631 \u0639\u0645\u0644\u06a9\u0631\u062f \u0627\u0646\u062a\u0642\u0627\u0644 \u0645\u0648\u0634\u06a9<\/figcaption><\/figure>\n<ul>\n<li><strong><code>C * G<\/code><\/strong>: \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u0631\u0627 \u0636\u0631\u0628 \u0645\u06cc \u06a9\u0646\u062f <code>C<\/code> \u0628\u0627 \u0633\u06cc\u0633\u062a\u0645 <code>G<\/code> (\u0645\u0648\u0634\u06a9) \u0628\u0631\u0627\u06cc \u062a\u0634\u06a9\u06cc\u0644 \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u062d\u0644\u0642\u0647 \u0628\u0627\u0632\u060c \u06a9\u0647 \u0631\u0641\u062a\u0627\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0628\u062f\u0648\u0646 \u0628\u0627\u0632\u062e\u0648\u0631\u062f \u0648 \u0627\u062a\u06a9\u0627 \u0645\u062f\u0644 \u0645\u06cc \u06a9\u0646\u062f. \u0631\u0648\u06cc \u062a\u0646\u0638\u06cc\u0645\u0627\u062a \u0627\u0632 \u067e\u06cc\u0634 \u062a\u0639\u0631\u06cc\u0641 \u0634\u062f\u0647<\/li>\n<li><strong><code>ctrl.feedback(C * G, 1)<\/code><\/strong>: \u062a\u0627\u0628\u0639 \u0627\u0646\u062a\u0642\u0627\u0644 \u062d\u0644\u0642\u0647 \u0628\u0633\u062a\u0647 \u0631\u0627 \u0628\u0627 \u0627\u0639\u0645\u0627\u0644 \u0628\u0627\u0632\u062e\u0648\u0631\u062f \u0648 \u0646\u0645\u0627\u06cc\u0634 \u0631\u0641\u062a\u0627\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0628\u0627 \u0628\u0627\u0632\u062e\u0648\u0631\u062f \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc \u06a9\u0646\u062f.  \u0627\u06cc\u0646 \u0628\u0647 \u0622\u0646 \u0627\u062c\u0627\u0632\u0647 \u0645\u06cc \u062f\u0647\u062f \u062a\u0627 \u0648\u0631\u0648\u062f\u06cc \u0647\u0627 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u062f \u0648 \u0628\u0647 \u0637\u0648\u0631 \u062e\u0648\u062f\u06a9\u0627\u0631 \u062e\u0637\u0627\u0647\u0627 \u0631\u0627 \u062a\u0635\u062d\u06cc\u062d \u06a9\u0646\u062f.<\/li>\n<li><strong><code>CL<\/code><\/strong>: \u0633\u06cc\u0633\u062a\u0645 \u062d\u0644\u0642\u0647 \u0628\u0633\u062a\u0647 \u062d\u0627\u0635\u0644 \u0631\u0627 \u0630\u062e\u06cc\u0631\u0647 \u0645\u06cc \u06a9\u0646\u062f\u060c \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 \u0631\u0627 \u0628\u0627 \u0645\u0648\u0634\u06a9 \u06cc\u06a9\u067e\u0627\u0631\u0686\u0647 \u0645\u06cc \u06a9\u0646\u062f \u062a\u0627 \u0639\u0645\u0644\u06a9\u0631\u062f \u0645\u0648\u0631\u062f \u0646\u0638\u0631 \u0631\u0627 \u0627\u0632 \u0637\u0631\u06cc\u0642 \u0628\u0627\u0632\u062e\u0648\u0631\u062f \u062d\u0641\u0638 \u06a9\u0646\u062f\u060c \u0648 \u0628\u0631\u0627\u06cc \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u06cc\u0627 \u0634\u0628\u06cc\u0647 \u0633\u0627\u0632\u06cc \u0628\u06cc\u0634\u062a\u0631 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f.<\/li>\n<\/ul>\n<h3 id=\"step-5-root-locus-for-gain-analysis\"><span class=\"ez-toc-section\" id=\"%d9%85%d8%b1%d8%ad%d9%84%d9%87_5_root_locus_%d8%a8%d8%b1%d8%a7%db%8c_%d8%aa%d8%ac%d8%b2%db%8c%d9%87_%d9%88_%d8%aa%d8%ad%d9%84%db%8c%d9%84_%d8%a8%d9%87%d8%b1%d9%87\"><\/span>\u0645\u0631\u062d\u0644\u0647 5: Root Locus \u0628\u0631\u0627\u06cc \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u0628\u0647\u0631\u0647<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u06a9\u062f:<\/p>\n<pre><code>plt.figure(figsize=(10, 6))\nctrl.root_locus(C * G, grid=True)\nplt.title(\"Root Locus Plot (Closed-Loop)\")<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/6.png\" class=\"kg-image\" alt=\"6\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>Root Locus Graph \u0631\u0627 \u0627\u06cc\u062c\u0627\u062f \u06a9\u0646\u06cc\u062f<\/figcaption><\/figure>\n<p>\u0645\u0627 \u0627\u06cc\u0646 \u0637\u0631\u062d \u0631\u0627 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u06cc\u0645:<\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/root-locus.png\" class=\"kg-image\" alt=\"root-\u0645\u0646\u0628\u0639\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0646\u0645\u0648\u062f\u0627\u0631 \u0645\u0646\u0628\u0639 \u0631\u06cc\u0634\u0647 \u0633\u0627\u062f\u0647<\/figcaption><\/figure>\n<p>\u0627\u06cc\u0646 \u06cc\u06a9 \u0627\u0633\u062a root \u0646\u0645\u0648\u062f\u0627\u0631 \u0645\u06a9\u0627\u0646  \u0627\u06cc\u0646 \u0628\u0631\u0627\u06cc \u06a9\u0645\u06a9 \u0628\u0647 \u0645\u0647\u0646\u062f\u0633\u0627\u0646 \u062f\u0631 \u0645\u0637\u0627\u0644\u0639\u0647 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0627\u062e\u062a\u0631\u0627\u0639 \u0634\u062f.<\/p>\n<p>\u0635\u0644\u06cc\u0628 \u0647\u0627 \u0631\u0648\u06cc \u0646\u0645\u0648\u062f\u0627\u0631\u06cc \u06a9\u0647 \u0642\u0637\u0628 \u0646\u0627\u0645\u06cc\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f \u0628\u0633\u06cc\u0627\u0631 \u0645\u0647\u0645 \u0627\u0633\u062a.<\/p>\n<p>\u0627\u06af\u0631 \u0622\u0646\u0647\u0627 \u0647\u0633\u062a\u0646\u062f \u0631\u0648\u06cc \u062f\u0631 \u0633\u0645\u062a \u0686\u067e \u0646\u0645\u0648\u062f\u0627\u0631\u060c \u0633\u06cc\u0633\u062a\u0645 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a.  \u0627\u06af\u0631 \u0622\u0646\u0647\u0627 \u0647\u0633\u062a\u0646\u062f \u0631\u0648\u06cc \u0633\u0645\u062a \u0631\u0627\u0633\u062a\u060c \u0633\u06cc\u0633\u062a\u0645 \u0646\u0627\u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a.<\/p>\n<p>\u0647\u0631\u0686\u0647 \u0628\u06cc\u0634\u062a\u0631 \u0628\u0647 \u0633\u0645\u062a \u0686\u067e \u0628\u0627\u0634\u0646\u062f\u060c \u0633\u06cc\u0633\u062a\u0645 \u0633\u0631\u06cc\u0639\u200c\u062a\u0631 \u067e\u0633 \u0627\u0632 \u06cc\u06a9 \u0627\u062e\u062a\u0644\u0627\u0644 \u0628\u0647 \u062d\u0627\u0644\u062a \u0639\u0627\u062f\u06cc \u0628\u0627\u0632 \u0645\u06cc\u200c\u06af\u0631\u062f\u062f \u0648 \u0628\u0646\u0627\u0628\u0631\u0627\u06cc\u0646\u060c \u067e\u0627\u06cc\u062f\u0627\u0631\u062a\u0631 \u062e\u0648\u0627\u0647\u062f \u0628\u0648\u062f.<\/p>\n<p>\u0627\u0645\u0627 \u062d\u0631\u06a9\u062a \u0628\u06cc\u0634\u062a\u0631 \u0628\u0647 \u0633\u0645\u062a \u0686\u067e \u0628\u0633\u062a\u0647 \u0628\u0647 \u0627\u06cc\u0646 \u0627\u0645\u0631 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0628\u0627\u0639\u062b \u0646\u0648\u0633\u0627\u0646\u0627\u062a \u0628\u0633\u06cc\u0627\u0631 \u0632\u06cc\u0627\u062f\u06cc \u0634\u0648\u062f \u0631\u0648\u06cc \u0645\u06a9\u0627\u0646 \u0647\u0627\u06cc \u062e\u0627\u0635 \u0622\u0646\u0647\u0627<\/p>\n<p>\u0646\u06a9\u062a\u0647 \u06a9\u0644\u06cc\u062f\u06cc \u0627\u06cc\u0646 \u0627\u0633\u062a:<\/p>\n<ul>\n<li>\u0628\u0627 \u062a\u063a\u06cc\u06cc\u0631 \u062f\u0631 <strong><code>Kp<\/code><\/strong>\u060c<strong> <code>Ki<\/code><\/strong>\u060c<strong> <\/strong>\u0648 <strong><code>Kd<\/code><\/strong>\u060c \u0627\u06cc\u0646<strong> <\/strong>\u0642\u0637\u0628 \u0647\u0627 \u0631\u0627 \u0628\u0647 \u0633\u0645\u062a \u0686\u067e \u062d\u0631\u06a9\u062a \u0645\u06cc \u062f\u0647\u062f \u062a\u0627 \u062c\u0627\u06cc\u06cc \u06a9\u0647 \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u0628\u062f\u0648\u0646 \u0627\u06cc\u062c\u0627\u062f \u0646\u0648\u0633\u0627\u0646.<\/li>\n<\/ul>\n<p>\u0628\u0627 \u0627\u06cc\u0646 \u062d\u0627\u0644 root \u0646\u0645\u0648\u062f\u0627\u0631 \u0645\u06a9\u0627\u0646 \u0628\u0631\u0627\u06cc \u0627\u0637\u0645\u06cc\u0646\u0627\u0646 \u0627\u0632 \u062b\u0628\u0627\u062a \u06a9\u0627\u0641\u06cc \u0646\u06cc\u0633\u062a.  \u0645\u0627 \u0628\u0627\u06cc\u062f \u0627\u0632 \u067e\u0644\u0627\u062a Bode \u0648 Nyquist \u0646\u06cc\u0632 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u0645.  \u0641\u0642\u0637 \u0628\u0627 \u0622\u0646\u0647\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u0628\u0647\u062a\u0631\u06cc\u0646 \u0645\u0642\u0627\u062f\u06cc\u0631 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u0631\u0627 \u0628\u0631\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0628\u062f\u0633\u062a \u0622\u0648\u0631\u06cc\u0645.<\/p>\n<h3 id=\"step-6-bode-plot-for-stability-analysis\"><span class=\"ez-toc-section\" id=\"%d9%85%d8%b1%d8%ad%d9%84%d9%87_6_%d8%b7%d8%b1%d8%ad_%d8%a7%d9%88%d9%84%db%8c%d9%87_%d8%a8%d8%b1%d8%a7%db%8c_%d8%aa%d8%ac%d8%b2%db%8c%d9%87_%d9%88_%d8%aa%d8%ad%d9%84%db%8c%d9%84_%d9%be%d8%a7%db%8c%d8%af%d8%a7%d8%b1%db%8c\"><\/span>\u0645\u0631\u062d\u0644\u0647 6: \u0637\u0631\u062d \u0627\u0648\u0644\u06cc\u0647 \u0628\u0631\u0627\u06cc \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u06a9\u062f:<\/p>\n<pre><code>plt.figure(figsize=(10, 6))\nctrl.bode_plot(CL, dB=True, Hz=False, deg=True)\nplt.suptitle(\"Bode Plot (Closed-Loop)\", fontsize=16)<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/7.png\" class=\"kg-image\" alt=\"7\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0646\u0645\u0648\u062f\u0627\u0631 Bode Plot \u0631\u0627 \u0627\u06cc\u062c\u0627\u062f \u06a9\u0646\u06cc\u062f<\/figcaption><\/figure>\n<p>\u0645\u0627 \u0627\u06cc\u0646 \u0637\u0631\u062d \u0631\u0627 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u06cc\u0645:<\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/bode.png\" class=\"kg-image\" alt=\"\u0646\u0648\u06cc\u062f \u062f\u0627\u062f\u0646\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0637\u0631\u062d \u0633\u0627\u062f\u0647 \u0628\u0648\u062f<\/figcaption><\/figure>\n<p>\u0646\u0645\u0648\u062f\u0627\u0631 Bode \u0628\u0631\u0627\u06cc \u06a9\u0645\u06a9 \u0628\u0647 \u0645\u0647\u0646\u062f\u0633\u0627\u0646 \u062f\u0631 \u062f\u0631\u06a9 \u0686\u06af\u0648\u0646\u06af\u06cc \u0648\u0627\u06a9\u0646\u0634 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u0628\u0647 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0648 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u0622\u0646 \u062f\u0631 \u0634\u0631\u0627\u06cc\u0637 \u0645\u062e\u062a\u0644\u0641 \u0627\u0628\u062f\u0627\u0639 \u0634\u062f.<\/p>\n<p>\u0646\u0645\u0648\u062f\u0627\u0631 Bode \u0647\u0645\u0686\u0646\u06cc\u0646 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u0648 \u062d\u0627\u0634\u06cc\u0647 \u0627\u06cc\u0645\u0646\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f.<\/p>\n<p>\u0628\u06cc\u0627\u06cc\u06cc\u062f \u0628\u0641\u0647\u0645\u06cc\u0645 \u06a9\u0647 \u0686\u06af\u0648\u0646\u0647 \u06a9\u0627\u0631 \u0645\u06cc \u06a9\u0646\u062f:<\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/detail-bode.png\" class=\"kg-image\" alt=\"\u062c\u0632\u06cc\u06cc\u0627\u062a\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u062a\u0648\u0637\u0626\u0647 \u0628\u0648\u062f \u062f\u0631 \u062c\u0632\u0626\u06cc\u0627\u062a<\/figcaption><\/figure>\n<p>\u0646\u0645\u0648\u062f\u0627\u0631 \u0631\u0648\u06cc \u0628\u0627\u0644\u0627\u06cc \u0622\u0646 \u0646\u0645\u0648\u062f\u0627\u0631 \u0628\u0632\u0631\u06af\u06cc \u0648 \u0632\u06cc\u0631 \u0622\u0646 \u067e\u0644\u0627\u062a \u0641\u0627\u0632 \u0646\u0627\u0645\u06cc\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f.<\/p>\n<p>\u0646\u0645\u0648\u062f\u0627\u0631 \u0628\u0632\u0631\u06af\u06cc \u0628\u0647\u0631\u0647 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062f\u0631 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0647\u0627\u06cc \u0645\u062e\u062a\u0644\u0641 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0645\u06cc \u06a9\u0646\u062f.  \u0628\u0647\u0631\u0647 \u0628\u0627\u0644\u0627\u062a\u0631 \u0628\u0647 \u0645\u0639\u0646\u0627\u06cc \u0648\u0627\u06a9\u0646\u0634 \u0633\u0631\u06cc\u0639\u062a\u0631 \u0648 \u0642\u0648\u06cc \u062a\u0631 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u062e\u0648\u0628 \u0627\u0633\u062a.<\/p>\n<p>\u0646\u0645\u0648\u062f\u0627\u0631 \u0641\u0627\u0632\u060c \u062a\u063a\u06cc\u06cc\u0631 \u0641\u0627\u0632 \u0645\u0639\u0631\u0641\u06cc \u0634\u062f\u0647 \u062a\u0648\u0633\u0637 \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062f\u0631 \u0641\u0631\u06a9\u0627\u0646\u0633 \u0647\u0627\u06cc \u0645\u062e\u062a\u0644\u0641 \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u0645\u06cc \u06a9\u0646\u062f.  \u062a\u063a\u06cc\u06cc\u0631 \u0641\u0627\u0632 \u0632\u0645\u0627\u0646\u06cc \u062f\u06cc\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f \u06a9\u0647 \u0628\u0647\u0631\u0647 0 \u0628\u0627\u0634\u062f.<\/p>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u062d\u0627\u0644\u062a\u060c \u0628\u0627 \u062e\u0637 \u0633\u0628\u0632 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u0645 \u0628\u0628\u06cc\u0646\u06cc\u0645 \u0686\u0647 \u0632\u0645\u0627\u0646\u06cc \u0628\u0647\u0631\u0647 \u0635\u0641\u0631 \u0627\u0633\u062a \u0648 \u0686\u0647 \u062a\u063a\u06cc\u06cc\u0631 \u0641\u0627\u0632\u06cc \u0628\u0627 \u0622\u0646 \u062f\u0631 \u062e\u0637 \u0642\u0631\u0645\u0632 \u0645\u0631\u062a\u0628\u0637 \u0627\u0633\u062a.  \u062a\u0642\u0631\u06cc\u0628\u0627 63 \u062f\u0631\u062c\u0647 \u0627\u0633\u062a.<\/p>\n<p>\u06cc\u06a9 \u0645\u062d\u062f\u0648\u062f\u0647 \u0627\u06cc\u062f\u0647 \u0622\u0644\u060c \u062a\u063a\u06cc\u06cc\u0631 \u0641\u0627\u0632 30 \u062a\u0627 60 \u062f\u0631\u062c\u0647 \u0627\u0633\u062a \u06a9\u0647 \u062b\u0628\u0627\u062a \u0648 \u0633\u0631\u0639\u062a \u067e\u0627\u0633\u062e \u0631\u0627 \u0645\u062a\u0639\u0627\u062f\u0644 \u0645\u06cc \u06a9\u0646\u062f.<\/p>\n<p>\u0628\u06cc\u0634 \u0627\u0632 60 \u062f\u0631\u062c\u0647\u060c \u0633\u06cc\u0633\u062a\u0645 \u0628\u0633\u06cc\u0627\u0631 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a\u060c \u0627\u0645\u0627 \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u0648\u0627\u06a9\u0646\u0634 \u0633\u06cc\u0633\u062a\u0645 \u0628\u0647 \u062a\u063a\u06cc\u06cc\u0631\u0627\u062a \u0631\u0627 \u06a9\u0627\u0647\u0634 \u062f\u0647\u062f.<\/p>\n<p>\u0628\u0646\u0627\u0628\u0631\u0627\u06cc\u0646 \u067e\u0633 \u0627\u0632 \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u0646\u0645\u0648\u062f\u0627\u0631\u060c \u0645\u06cc \u062a\u0648\u0627\u0646 \u0646\u062a\u06cc\u062c\u0647 \u06af\u0631\u0641\u062a \u06a9\u0647 \u0627\u06cc\u0646 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a.<\/p>\n<h3 id=\"step-7-nyquist-plot-for-stability-analysis\"><span class=\"ez-toc-section\" id=\"%d9%85%d8%b1%d8%ad%d9%84%d9%87_7_%d8%b7%d8%b1%d8%ad_nyquist_%d8%a8%d8%b1%d8%a7%db%8c_%d8%aa%d8%ac%d8%b2%db%8c%d9%87_%d9%88_%d8%aa%d8%ad%d9%84%db%8c%d9%84_%d8%ab%d8%a8%d8%a7%d8%aa\"><\/span>\u0645\u0631\u062d\u0644\u0647 7: \u0637\u0631\u062d Nyquist \u0628\u0631\u0627\u06cc \u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u062b\u0628\u0627\u062a<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u062f\u0631 \u0627\u06cc\u0646 \u06a9\u062f:<\/p>\n<pre><code>plt.figure(figsize=(10, 6))\nctrl.nyquist_plot(CL)\nplt.title(\"Nyquist Plot (Closed-Loop)\")<\/code><\/pre>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/8.png\" class=\"kg-image\" alt=\"8\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0646\u0645\u0648\u062f\u0627\u0631 Nyquist Plot \u0631\u0627 \u0627\u06cc\u062c\u0627\u062f \u06a9\u0646\u06cc\u062f<\/figcaption><\/figure>\n<p>\u0645\u0627 \u0627\u06cc\u0646 \u0637\u0631\u062d \u0631\u0627 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc \u06a9\u0646\u06cc\u0645:<\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/nyquist.png\" class=\"kg-image\" alt=\"nyquist\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0646\u0645\u0648\u062f\u0627\u0631 \u0637\u0631\u062d \u0646\u0627\u06cc\u06a9\u06cc\u0633\u062a<\/figcaption><\/figure>\n<p>Nyquist Plot \u0627\u0628\u0632\u0627\u0631\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u0645\u0647\u0646\u062f\u0633\u0627\u0646 \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u062f \u062a\u0627 \u0628\u0647 \u0633\u0631\u0639\u062a \u0628\u0631\u0631\u0633\u06cc \u06a9\u0646\u0646\u062f \u06a9\u0647 \u0622\u06cc\u0627 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a \u06cc\u0627 \u0646\u0647.<\/p>\n<p>\u062e\u06cc\u0644\u06cc \u0633\u0627\u062f\u0647 \u0627\u0633\u062a:<\/p>\n<ul>\n<li>\u0627\u06af\u0631 \u062f\u0631 \u0646\u0642\u0637\u0647 (1-0) \u062f\u0627\u06cc\u0631\u0647 \u0627\u06cc \u062f\u0631 \u0627\u0637\u0631\u0627\u0641 \u0635\u0644\u06cc\u0628 \u0633\u0631\u062e \u0648\u062c\u0648\u062f \u0646\u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u062f\u060c \u0633\u06cc\u0633\u062a\u0645 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a.<\/li>\n<li>\u0627\u06af\u0631 \u062f\u0627\u06cc\u0631\u0647 \u0647\u0627\u06cc\u06cc \u062f\u0631 \u0627\u0637\u0631\u0627\u0641 \u0635\u0644\u06cc\u0628 \u0642\u0631\u0645\u0632\u060c \u06cc\u0639\u0646\u06cc \u062f\u0627\u06cc\u0631\u0647 \u0647\u0627\u06cc\u06cc \u062f\u0631 \u062c\u0647\u062a \u0639\u0642\u0631\u0628\u0647 \u0647\u0627\u06cc \u0633\u0627\u0639\u062a\u060c \u062f\u0631 \u0646\u0642\u0637\u0647 (-1 0) \u0648\u062c\u0648\u062f \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u062f\u060c \u0633\u06cc\u0633\u062a\u0645 \u0646\u0627\u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a.<\/li>\n<\/ul>\n<p>\u0627\u0632 \u0622\u0646\u062c\u0627\u06cc\u06cc \u06a9\u0647 \u062f\u0627\u06cc\u0631\u0647 \u0627\u06cc \u062f\u0631 \u0627\u0637\u0631\u0627\u0641 \u0635\u0644\u06cc\u0628 \u0633\u0631\u062e \u0648\u062c\u0648\u062f \u0646\u062f\u0627\u0631\u062f\u060c \u0627\u06cc\u0646 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0627\u0633\u062a.<\/p>\n<h3 id=\"last-step-after-designing-the-rocket-control-system\"><span class=\"ez-toc-section\" id=\"%d8%a2%d8%ae%d8%b1%db%8c%d9%86_%d9%85%d8%b1%d8%ad%d9%84%d9%87_%d9%be%d8%b3_%d8%a7%d8%b2_%d8%b7%d8%b1%d8%a7%d8%ad%db%8c_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d9%85%d9%88%d8%b4%da%a9\"><\/span>\u0622\u062e\u0631\u06cc\u0646 \u0645\u0631\u062d\u0644\u0647 \u067e\u0633 \u0627\u0632 \u0637\u0631\u0627\u062d\u06cc \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u067e\u0633 \u0627\u0632 \u062a\u06a9\u0645\u06cc\u0644 \u0637\u0631\u0627\u062d\u06cc \u0627\u06cc\u0646 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 PID\u060c \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u0627\u0632 \u0627\u0628\u0632\u0627\u0631\u0647\u0627\u06cc\u06cc \u0645\u0627\u0646\u0646\u062f Simulink \u0628\u0631\u0627\u06cc \u06cc\u0627\u0641\u062a\u0646 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0644\u0627\u0632\u0645 \u0628\u0631\u0627\u06cc \u0628\u0633\u06cc\u0627\u0631\u06cc \u0627\u0632 \u0627\u062c\u0632\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u0645.<\/p>\n<p>\u0628\u0647 \u0639\u0628\u0627\u0631\u062a \u062f\u06cc\u06af\u0631\u060c \u067e\u0633 \u0627\u0632 \u062f\u0631\u06cc\u0627\u0641\u062a \u0628\u0647\u062a\u0631\u06cc\u0646 \u0645\u062a\u063a\u06cc\u0631\u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID\u060c \u0646\u0648\u0628\u062a \u0628\u0647 \u06cc\u0627\u0641\u062a\u0646 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0627\u062c\u0632\u0627\u06cc \u0641\u06cc\u0632\u06cc\u06a9\u06cc \u0645\u0648\u0634\u06a9 \u0645\u06cc \u0631\u0633\u062f.<\/p>\n<p>\u0628\u0631\u062e\u06cc \u0627\u0632 \u0627\u06cc\u0646 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0639\u0628\u0627\u0631\u062a\u0646\u062f \u0627\u0632:<\/p>\n<ul>\n<li>\u0645\u0642\u0627\u062f\u06cc\u0631 \u0645\u0642\u0627\u0648\u0645\u062a \u0628\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u062c\u0631\u06cc\u0627\u0646 \u062c\u0631\u06cc\u0627\u0646<\/li>\n<li>\u0645\u0642\u0627\u062f\u06cc\u0631 \u062e\u0627\u0632\u0646 \u0628\u0631\u0627\u06cc \u0630\u062e\u06cc\u0631\u0647 \u0627\u0646\u0631\u0698\u06cc<\/li>\n<li>\u0645\u0642\u0627\u062f\u06cc\u0631 \u0633\u0644\u0641 \u0628\u0631\u0627\u06cc \u0645\u062f\u06cc\u0631\u06cc\u062a \u062a\u062f\u0627\u062e\u0644 \u0627\u0644\u06a9\u062a\u0631\u0648\u0645\u063a\u0646\u0627\u0637\u06cc\u0633\u06cc<\/li>\n<li>\u0645\u0642\u0627\u062f\u06cc\u0631 \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u0633\u0646\u0633\u0648\u0631 \u0628\u0631\u0627\u06cc \u0627\u0646\u062f\u0627\u0632\u0647 \u06af\u06cc\u0631\u06cc \u062f\u0642\u06cc\u0642 \u062f\u0627\u062f\u0647 \u0647\u0627 \u0648 \u0628\u0627\u0632\u062e\u0648\u0631\u062f<\/li>\n<li>\u0627\u0633\u062a\u062d\u06a9\u0627\u0645 \u0648 \u062f\u0648\u0627\u0645 \u0645\u0648\u0627\u062f \u0628\u0631\u0627\u06cc \u0628\u062f\u0646\u0647 \u0648 \u0628\u0627\u0644\u0647 \u0647\u0627\u06cc \u0645\u0648\u0634\u06a9<\/li>\n<li>\u06af\u0634\u062a\u0627\u0648\u0631 \u0648 \u0633\u0631\u0639\u062a \u0645\u0648\u0631\u062f \u0646\u06cc\u0627\u0632 \u0628\u0631\u0627\u06cc \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc \u0633\u0631\u0648\u0648<\/li>\n<li>\u062b\u0627\u0628\u062a \u0647\u0627\u06cc \u0641\u0646\u0631\u06cc \u0628\u0631\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u062c\u0630\u0628 \u0634\u0648\u06a9<\/li>\n<li>\u0631\u062a\u0628\u0647 \u0628\u0646\u062f\u06cc \u0641\u0634\u0627\u0631 \u0628\u0631\u0627\u06cc \u0645\u062e\u0627\u0632\u0646 \u0633\u0648\u062e\u062a \u0648 \u0627\u06a9\u0633\u06cc\u062f \u06a9\u0646\u0646\u062f\u0647<\/li>\n<\/ul>\n<p>\u0628\u0627 \u062a\u0634\u06a9\u0631 \u0627\u0632 Simulink\u060c \u0645\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u062a\u0645\u0627\u0645 \u0627\u06cc\u0646 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0645\u0648\u0631\u062f \u0646\u06cc\u0627\u0632 \u0628\u0631\u0627\u06cc \u0637\u0631\u0627\u062d\u06cc \u06cc\u06a9 \u0645\u0648\u0634\u06a9 \u0628\u0627 \u062a\u0648\u062c\u0647 \u0628\u0647 \u0645\u0627\u0645\u0648\u0631\u06cc\u062a \u0622\u0646 \u0631\u0627 \u0628\u062f\u0633\u062a \u0622\u0648\u0631\u06cc\u0645.<\/p>\n<p>\u0628\u0627 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u067e\u0627\u06cc\u062f\u0627\u0631\u060c \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u0631\u0648\u06cc \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 PID \u0628\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0639\u0645\u0644\u06a9\u0631\u062f \u0627\u0646\u062a\u0642\u0627\u0644 \u0641\u06cc\u0632\u06cc\u06a9\u06cc \u06cc\u06a9 \u0645\u0648\u0634\u06a9\u060c \u0645\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u062a\u0645\u0627\u0645 \u0645\u0642\u0627\u062f\u06cc\u0631 \u0645\u0648\u0631\u062f \u0646\u06cc\u0627\u0632 \u0628\u0631\u0627\u06cc \u0647\u0631 \u062c\u0632\u0621 \u0631\u0627 \u0628\u062f\u0633\u062a \u0622\u0648\u0631\u06cc\u0645.<\/p>\n<p><!--kg-card-begin: html--><\/p>\n<h2 id=\"Conclusion\"><span class=\"ez-toc-section\" id=\"%d9%86%d8%aa%db%8c%d8%ac%d9%87_%da%af%db%8c%d8%b1%db%8c_%d8%b3%db%8c%d8%b3%d8%aa%d9%85_%d9%87%d8%a7%db%8c_%da%a9%d9%86%d8%aa%d8%b1%d9%84_%d8%ba%db%8c%d8%b1_%d8%ae%d8%b7%db%8c\"><\/span>\u0646\u062a\u06cc\u062c\u0647 \u06af\u06cc\u0631\u06cc: \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u063a\u06cc\u0631 \u062e\u0637\u06cc<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><!--kg-card-end: html--><\/p>\n<figure class=\"kg-card kg-image-card kg-card-hascaption\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/moon.jpg\" class=\"kg-image\" alt=\"\u0645\u0627\u0647\" width=\"600\" height=\"400\" loading=\"lazy\" title=\"\"><figcaption>\u0639\u06a9\u0633 \u067e\u06cc\u062a\u0631 \u062f\u06cc \u0648\u06cc\u0646\u06a9: https:\/\/www.pexels.com\/photo\/photo-of-full-moon-975012\/<\/figcaption><\/figure>\n<p>\u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0632\u06cc\u0627\u062f\u06cc \u0628\u0631\u0627\u06cc \u0628\u0647\u06cc\u0646\u0647\u200c\u0633\u0627\u0632\u06cc \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u062e\u0637\u06cc \u0632\u0645\u0627\u0646 \u062b\u0627\u0628\u062a (LTI) \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f:<\/p>\n<ol>\n<li><strong>\u0631\u0648\u0634 \u0631\u06cc\u0634\u0647 \u0631\u06cc\u0634\u0647<\/strong>: \u0642\u0637\u0628 \u0647\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u0628\u0631\u0627\u06cc \u06a9\u0627\u0647\u0634 \u0646\u0648\u0633\u0627\u0646\u0627\u062a \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f.<\/li>\n<li><strong>\u062a\u062c\u0632\u06cc\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644 \u062a\u0631\u0633\u06cc\u0645 \u0646\u0645\u0648\u062f\u0627\u0631<\/strong>:\u062d\u0627\u0634\u06cc\u0647 \u0641\u0627\u0632 \u0648 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u0631\u0627 \u062d\u0641\u0638 \u06a9\u0646\u06cc\u062f.<\/li>\n<li><strong>\u0637\u0631\u062d \u0646\u0627\u06cc\u06a9\u06cc\u0633\u062a<\/strong>: \u062b\u0628\u0627\u062a \u06a9\u0644\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0627\u06cc\u06cc\u062f \u06a9\u0646\u06cc\u062f.<\/li>\n<\/ol>\n<p>\u0628\u0627 \u0627\u06cc\u0646 \u0627\u0628\u0632\u0627\u0631\u0647\u0627 \u0627\u0645\u06a9\u0627\u0646 \u0627\u06cc\u062c\u0627\u062f \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f.<\/p>\n<p>\u0628\u0627 \u0627\u06cc\u0646 \u062d\u0627\u0644\u060c \u062f\u0631 \u0627\u06cc\u0646 process\u060c \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0631\u0648\u0634 \u0647\u0627\u06cc\u06cc \u0645\u0627\u0646\u0646\u062f \u0631\u0648\u0634 Ziegler-Nichols \u0628\u0631\u0627\u06cc \u06cc\u0627\u0641\u062a\u0646 \u0633\u0631\u06cc\u0639\u062a\u0631 \u0628\u0647\u062a\u0631\u06cc\u0646 \u0645\u062a\u063a\u06cc\u0631\u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 PID \u062a\u0645\u0631\u06cc\u0646 \u062e\u0648\u0628\u06cc \u0627\u0633\u062a.<\/p>\n<p>\u062f\u0631 \u0627\u06a9\u062a\u0634\u0627\u0641 \u062e\u0648\u062f \u0628\u0627 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u0645\u0648\u0634\u06a9\u06cc \u0628\u0633\u06cc\u0627\u0631 \u0633\u0627\u062f\u0647 \u06a9\u0627\u0631 \u06a9\u0631\u062f\u06cc\u0645.<\/p>\n<p>\u062f\u0631 \u0632\u0646\u062f\u06af\u06cc \u0648\u0627\u0642\u0639\u06cc \u0641\u0642\u0637 \u0627\u0632 \u0627\u0628\u0632\u0627\u0631\u0647\u0627\u06cc \u063a\u06cc\u0631 \u062e\u0637\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f \u0632\u06cc\u0631\u0627 \u0647\u0645\u0647 \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u0645\u0648\u0634\u06a9\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u063a\u06cc\u0631 \u062e\u0637\u06cc \u0647\u0633\u062a\u0646\u062f.<\/p>\n<p>\u06cc\u06a9 \u0645\u062b\u0627\u0644 \u06a9\u0646\u062a\u0631\u0644 \u062a\u0637\u0628\u06cc\u0642\u06cc \u200b\u200b\u0627\u0633\u062a \u06a9\u0647 \u062f\u0631 \u0622\u0646 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u062e\u0648\u062f \u0631\u0627 \u062f\u0631 \u0632\u0645\u0627\u0646 \u0648\u0627\u0642\u0639\u06cc \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u062f \u062a\u0627 \u0634\u0631\u0627\u06cc\u0637 \u062f\u0631 \u062d\u0627\u0644 \u062a\u063a\u06cc\u06cc\u0631 \u0631\u0627 \u0645\u062f\u06cc\u0631\u06cc\u062a \u06a9\u0646\u062f<\/p>\n<p>\u06cc\u06a9\u06cc \u062f\u06cc\u06af\u0631 \u0627\u0632 \u0631\u0648\u0634 \u0644\u06cc\u0627\u067e\u0627\u0646\u0648\u0641 \u0627\u0633\u062a.  \u062f\u0631 \u0627\u06cc\u0646 \u062d\u0627\u0644\u062a \u0628\u0647 \u062c\u0627\u06cc \u0627\u06cc\u0646 \u0633\u0647 \u0646\u0645\u0648\u062f\u0627\u0631 \u0628\u0631\u0627\u06cc \u062a\u062d\u0644\u06cc\u0644 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f.<\/p>\n<p>\u0628\u0627 \u0627\u06cc\u0646 \u062d\u0627\u0644\u060c process \u0633\u0627\u062e\u062a \u0627\u06cc\u0646 \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0647\u0645\u06cc\u0634\u0647 \u06cc\u06a9\u0633\u0627\u0646 \u0627\u0633\u062a.  \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u062a\u0648\u0636\u06cc\u062d \u062f\u0627\u062f \u06a9\u0647 \u0686\u06af\u0648\u0646\u0647 \u0627\u06cc\u0646 process \u06a9\u0627\u0631 \u0645\u06cc \u06a9\u0646\u062f \u0648 \u0686\u06af\u0648\u0646\u0647 \u0622\u0646 \u0631\u0627 \u062f\u0631 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u0632\u0645\u0627\u0646 \u0646\u0627\u067e\u0630\u06cc\u0631 \u0627\u0639\u0645\u0627\u0644 \u0645\u06cc \u0634\u0648\u062f.<\/p>\n<figure class=\"kg-card kg-bookmark-card\">\n<div class=\"kg-bookmark-content\">\n<div class=\"kg-bookmark-title\">GitHub &#8211; tiagomonteiro0715\/freecodecamp-my-articles-source-code: \u0627\u06cc\u0646 \u0645\u062e\u0632\u0646 \u06a9\u062f\u06cc \u0631\u0627 \u06a9\u0647 \u0645\u0646 \u062f\u0631 \u0645\u0642\u0627\u0644\u0647\u200c\u0647\u0627\u06cc \u062e\u0628\u0631\u06cc freecodecamo \u062e\u0648\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u0645 \u062f\u0631 \u062e\u0648\u062f \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\u062f.<\/div>\n<div class=\"kg-bookmark-description\">\u0627\u06cc\u0646 \u0645\u062e\u0632\u0646 \u06a9\u062f\u06cc \u0631\u0627 \u06a9\u0647 \u062f\u0631 \u0645\u0642\u0627\u0644\u0647\u200c\u0647\u0627\u06cc \u062e\u0628\u0631\u06cc freecodecamo \u062e\u0648\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u0645\u060c \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\u062f.  &#8211; tiagomonteiro0715\/freecodecamp-my-articles-source-code<\/div>\n<div class=\"kg-bookmark-metadata\"><span class=\"kg-bookmark-author\">tiagomonteiro0715<\/span><span class=\"kg-bookmark-publisher\">GitHub<\/span><\/div>\n<\/div>\n<div class=\"kg-bookmark-thumbnail\"><img decoding=\"async\" src=\"https:\/\/rasanegaar.com\/blog\/wp-content\/uploads\/2024\/08\/freecodecamp-my-articles-source-code.png\" width=\"600\" height=\"400\" alt=\"freecodecamp-my-articles-source-code\" loading=\"lazy\" title=\"\"><\/div>\n<\/figure>\n<\/section>\n<p><br \/>\n<br \/>\u0645\u0646\u062a\u0634\u0631 \u0634\u062f\u0647 \u062f\u0631 1403-08-06 19:32:05<br \/>\n<\/p>\n\n\n<div class=\"kk-star-ratings kksr-auto kksr-align-center kksr-valign-bottom\"\n    data-payload='{&quot;align&quot;:&quot;center&quot;,&quot;id&quot;:&quot;17698&quot;,&quot;slug&quot;:&quot;default&quot;,&quot;valign&quot;:&quot;bottom&quot;,&quot;ignore&quot;:&quot;&quot;,&quot;reference&quot;:&quot;auto&quot;,&quot;class&quot;:&quot;&quot;,&quot;count&quot;:&quot;0&quot;,&quot;legendonly&quot;:&quot;&quot;,&quot;readonly&quot;:&quot;&quot;,&quot;score&quot;:&quot;0&quot;,&quot;starsonly&quot;:&quot;&quot;,&quot;best&quot;:&quot;5&quot;,&quot;gap&quot;:&quot;5&quot;,&quot;greet&quot;:&quot;\u0627\u0645\u062a\u06cc\u0627\u0632 \u0634\u0645\u0627 \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0637\u0644\u0628&quot;,&quot;legend&quot;:&quot;0\\\/5 (0 \u0631\u0627\u06cc)&quot;,&quot;size&quot;:&quot;30&quot;,&quot;title&quot;:&quot;\u0686\u06af\u0648\u0646\u0647 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9 \u0628\u0633\u0627\u0632\u06cc\u0645: \u0646\u0638\u0631\u06cc\u0647 \u06a9\u0646\u062a\u0631\u0644 \u067e\u0627\u06cc\u0647 \u0628\u0627 \u067e\u0627\u06cc\u062a\u0648\u0646&quot;,&quot;width&quot;:&quot;0&quot;,&quot;_legend&quot;:&quot;{score}\\\/{best} ({count} \u0631\u0627\u06cc)&quot;,&quot;font_factor&quot;:&quot;1.25&quot;}'>\n            \n<div class=\"kksr-stars\">\n    \n<div class=\"kksr-stars-inactive\">\n            <div class=\"kksr-star\" data-star=\"1\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" data-star=\"2\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" data-star=\"3\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" data-star=\"4\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" data-star=\"5\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n    <\/div>\n    \n<div class=\"kksr-stars-active\" style=\"width: 0px;\">\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n            <div class=\"kksr-star\" style=\"padding-left: 5px\">\n            \n\n<div class=\"kksr-icon\" style=\"width: 30px; height: 30px;\"><\/div>\n        <\/div>\n    <\/div>\n<\/div>\n                \n\n<div class=\"kksr-legend\" style=\"font-size: 24px;\">\n            <span class=\"kksr-muted\">\u0627\u0645\u062a\u06cc\u0627\u0632 \u0634\u0645\u0627 \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0637\u0644\u0628<\/span>\n    <\/div>\n    <\/div>\n","protected":false},"excerpt":{"rendered":"<p><span class=\"span-reading-time rt-reading-time\" style=\"display: block;\"><span class=\"rt-label rt-prefix\">\u0632\u0645\u0627\u0646 \u0644\u0627\u0632\u0645 \u0628\u0631\u0627\u06cc \u0645\u0637\u0627\u0644\u0639\u0647: <\/span> <span class=\"rt-time\"> 10<\/span> <span class=\"rt-label rt-postfix\">\u062f\u0642\u06cc\u0642\u0647<\/span><\/span>\u0633\u0627\u062e\u062a \u0647\u0631 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644\u06cc\u060c \u0627\u0632 \u062c\u0645\u0644\u0647 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9\u060c \u0634\u0627\u0645\u0644 \u062a\u0631\u06a9\u06cc\u0628 \u062a\u0626\u0648\u0631\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0628\u0627 \u0628\u0631\u0646\u0627\u0645\u0647 \u0646\u0648\u06cc\u0633\u06cc \u0627\u0633\u062a. \u062a\u0626\u0648\u0631\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0645\u0637\u0627\u0644\u0639\u0647 \u0627\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0686\u06af\u0648\u0646\u0647 \u0645\u06cc \u062a\u0648\u0627\u0646 \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627 \u0631\u0627 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0648\u0631\u0648\u062f\u06cc \u0647\u0627 \u0628\u0647 \u0634\u06cc\u0648\u0647 \u0627\u06cc \u0645\u0637\u0644\u0648\u0628 \u0631\u0641\u062a\u0627\u0631 \u06a9\u0631\u062f. \u0647\u0648\u0627\u067e\u06cc\u0645\u0627\u0647\u0627\u060c \u0645\u0627\u0634\u06cc\u0646\u200c\u0647\u0627\u060c \u0642\u0637\u0627\u0631\u0647\u0627\u060c \u0645\u062f\u0627\u0631\u0647\u0627\u060c \u0645\u0648\u0634\u06a9\u200c\u0647\u0627 \u0648 \u0628\u0633\u06cc\u0627\u0631\u06cc \u0627\u0632 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u062f\u06cc\u06af\u0631 \u0628\u0627\u06cc\u062f \u0645\u063a\u0632 \u06cc\u0627 \u0645\u0639\u0645\u0627\u0631\u06cc \u062f\u0631\u0648\u0646 [&hellip;]<\/p>\n","protected":false},"author":6,"featured_media":17699,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1743],"tags":[1747,1938,1919,1779,1924,1744,4059,1822,284,2133,5340,4111,1745,1927,1813],"class_list":["post-17698","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-python","tag-python-vps","tag-1938","tag----python","tag-1779","tag-1924","tag-1744","tag-4059","tag-1822","tag-284","tag-2133","tag-5340","tag-4111","tag-1745","tag-1927","tag-1813"],"acf":[],"_links":{"self":[{"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/posts\/17698","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/users\/6"}],"replies":[{"embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/comments?post=17698"}],"version-history":[{"count":0,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/posts\/17698\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/media\/17699"}],"wp:attachment":[{"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/media?parent=17698"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/categories?post=17698"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/rasanegaar.com\/blog\/wp-json\/wp\/v2\/tags?post=17698"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}