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{{Infobox person
[[Controllo deadbeat|Pagina principale]]
| name =Baruch Goldstein
| image =Baruch Goldstein.jpg
| image_size =
| alt =
| caption =
| birth_date = {{Birth date|1956|12|9}}
| birth_place = [[Brooklyn]], [[New York]], [[United States]]
| death_date = {{Death date and age|1994|2|25|1956|12|9}}
| death_place = [[Hebron]], [[West Bank]]
| death_cause = Beaten to death
| resting_place = [[Kiryat Arba]], across from the Meir Kahane Memorial Park
| resting_place_coordinates = <!-- {{coord|LAT|LONG|display=inline,title}} -->
| residence =[[Kiryat Arba]]
| nationality =
| ethnicity =
| citizenship =
| other_names = Benjamin Goldstein<ref name="Time"/>
| known_for = Killing 29 Palestinians and injuring 125
| alma_mater = [[Yeshiva University]] (1977) highest honors, [[Albert Einstein College of Medicine]]<ref name="Time"/>
| employer =
| occupation = [[Physician]] (emergency doctor)
| years_active = 11
| home_town =
| title =
| party =
| boards =
| religion = [[Orthodox Judaism]]
| spouse = Miriam Goldstein
| children =
| parents =
| relations =
| awards =
| footnotes =
| misc =
}}
 
'''Baruch Kopel Goldstein''' ({{lang-he|'''ברוך קופל גולדשטיין'''}}; December 9, 1956 &ndash; February 25, 1994) was an [[United States|American]]-born [[Israelis|Israeli]] [[physician]] and [[mass murderer]] who perpetrated the 1994 [[Cave of the Patriarchs massacre]] in the city of [[Hebron]], killing 29 [[Palestinian people|Palestinian]] Muslim worshipers and wounding another 125.<ref>[http://www.jta.org/news/article/2010/08/26/2740644/cia-paper-cites-jewish-acts-of-terrorism "CIA paper cites Jewish acts of terrorism"], JTA, 26 August 2010</ref><ref>Hillel Kutler, [http://pqasb.pqarchiver.com/jpost/access/62534564.html?dids=62534564:62534564&FMT=ABS&FMTS=ABS:FT&date=Apr+30%2C+1995&author=HILLEL+KUTTLER%3B+WASHINGTON&pub=Jerusalem+Post&desc=US+report+cites+increase+in+terrorism+deaths+in+Israel&pqatl=google "US report cites increase in terrorism deaths in Israel"], ''Jerusalem Post'', 30 April 1995</ref>
Il '''controllo deadbeat''', nell'ambito del [[controllo automatico]], è una tecnica usata per sintetizzare dei controllori analogici o digitali. Ha come obbiettivi principali, in risposta ad un dato segnale in ingresso, il raggiungimento del valore finale nel tempo minimo e l'assenza di errore a regime.
 
The Israeli government condemned the massacre and responded by arresting followers of [[Meir Kahane]], forbidding certain settlers from entering Arab towns and demanding that those settlers turn in their army-issued rifles.<ref name = "NYT Haberman"/> Goldstein was denounced by mainstream Orthodox Judaism<ref name="ethics"/> and was widely described as insane by Israelis.<ref name="wilson"/>
==Controllori digitali==
Un controllore digitale deadbeat richiede che, in seguito all'applicazione di un [[Segnale (fisica)|segnale di prova]] (gradino, rampa, parabola, ecc.):
# l'uscita raggiunga il valore finale nel tempo minimo
# l'errore a regime sia nullo
# non ci siano oscillazioni (ringing) tra gli istanti di campionamento
===Progettazione===
Si considera anzitutto un sistema in [[retroazione]] unitaria, descritto dalla [[funzione di trasferimento]] discreta:
 
Goldstein's gravesite became a pilgrimage site for Jewish extremists.<ref name = "Party"/> In 1999, after the passing of Israeli legislation outlawing monuments to terrorists, the Israeli army dismantled the shrine that had been built to Goldstein at the site of his interment.<ref name=dismantle />
<math>G(z)=\frac{D(z)G_p(z)}{1+D(z)G_p(z)}</math>
 
==Early life and education==
In questo contesto <math>D(z)</math> è il controllore e <math>G_p(z)</math> la funzione di trasferimento del plant.
Goldstein was born in [[Brooklyn]], [[New York]] to an [[Orthodox Jewish]] family. He attended the [[Yeshiva of Flatbush]] religious [[Jewish day school|day school]] and [[Yeshiva University]].<ref>Precker, Michael. [http://infoweb.newsbank.com/iw-search/we/InfoWeb?p_action=doc&p_docid=0ED3D460D1AEC80A&p_docnum=1&p_queryname=NaN&p_product=NewsBank&p_theme=aggregated4&p_nbid=Q4CL4EJFMTE4NTg0NzQ0OS4yODY4NjU6MTo3OnJhLTE4ODg "Brooklyn's image as extremist hotbed disputed by some Borough defenders say ties to Israel cherished, but radical groups aren't"], ''[[The Dallas Morning News]]'', March 20, 1994. Accessed August 6, 2007. "'This is not what we are teaching,' said Rabbi David Eliach, principal at the Yeshiva of Flatbush, where Dr. Goldstein attended high school."</ref> He received his medical training at [[Albert Einstein College of Medicine]]. He belonged to the [[Jewish Defense League]] (JDL), a militant Jewish organization founded by his boyhood acquaintance [[Meir Kahane]].<ref>[http://news.bbc.co.uk/onthisday/hi/dates/stories/february/25/newsid_4167000/4167929.stm BBC NEWS] "Goldstein had been a member of the Jewish Defense League."</ref>
 
==Immigration to Israel==
La progettazione viene fatta per [[sintesi diretta]]. In altre parole si sceglie la forma generica che dovrà avere la funzione di trasferimento del sistema in anello chiuso e a partire da quella si impone la forma del regolatore. Se <math>G_m(z)</math> è la forma del sistema in anello chiuso che si vuole imporre, è facile verificare che la forma del controllore sarà <math> D(z)=\frac{G_m(z)}{G_p(z)\left [1-G_m(z)\right ]} </math> quale che sia il valore di <math>G_m(z)</math>.
Goldstein immigrated to [[Israel]] in 1983.<ref name="Time"/> He served as a physician in the [[Israel Defense Forces]] (IDF), first as a conscript, then in the reserve forces. Following the end of his active duty, Goldstein worked as a physician and lived in the [[Israeli settlement]] of [[Kiryat Arba]] near [[Hebron]], where he worked as an emergency doctor, and was involved in treating victims of Arab-Israeli violence.<ref>[http://news.bbc.co.uk/onthisday/hi/dates/stories/february/25/newsid_4167000/4167929.stm BBC NEWS] "Goldstein had lived in Israel for 11 years and was a doctor in the Jewish settlement of Kiryat Arba, just outside Hebron." "As the settlement's main emergency doctor he was involved in treating victims of Arab-Israeli violence."</ref> Israeli press reports stated that Goldstein refused to treat Arabs, even Arab soldiers serving in the IDF; this was also reflected in comments by his acquaintances,<ref>[http://books.google.com/books?id=xvvPh-ob6OQC&pg=PA98&lpg=PA98&dq=terror+baruch+goldstein&source=bl&ots=zWfWcegzBE&sig=A2-eodZSI3G8ulh1O9EZtscj4P8&hl=en&ei=b4exSfGmGZqqtQPtkfjXAQ&sa=X&oi=book_result&resnum=2&ct=result#PPA98,M1 Mass-mediated Terrorism] Brigitte Lebens Nacos, Rowman & Littlefield, 2002</ref> although there was one account of him treating a wounded Palestinian. Goldstein was active in Kahane's [[Kach and Kahane Chai|Kach]] party and was third on the party list for the [[Knesset]] during the 1984 elections.<ref>[http://books.google.com/books?id=M23n0qDTvkQC&pg=PA259&dq=Baruch+Goldstein+Brother+Against&hl=en&ei=LzW-TJ_yBYaZ4AaOn527AQ&sa=X&oi=book_result&ct=result&resnum=1&sqi=2&ved=0CCsQ6AEwAA#v=onepage&q=Goldstein%20list&f=false "Brother Against Brother"] By Ehud Sprinzak pg. 242</ref>
È quindi possibile suddividere la progettazione in più fasi distinte, ognuna di esse imporrà delle specifiche via via più stringenti sulla forma che il regolatore dovrà avere.
He compared Israel's democracy to Germany under Nazism, and was in the habit of wearing a [[yellow badge|yellow star]] with the word ''Jude'' on it.<ref>Ami Pedahzur, Arie Perliger,''Jewish Terrorism in Israel,'' Columbia Univerity Press, 2011. p.71.</ref>
====Raggiungimento del valore finale in tempo minimo====
Affinché l'uscita raggiunga il valore finale in un numero limitato di passi, si impone che la funzione di trasferimento del sistema in anello chiuso sia del tipo <math>G_m(z)=a_0+a_1z^{-1}+...+a_Nz^{-N}</math> dove, affinché il ritardo del sistema in anello chiuso non sia inferiore a quello del sistema in anello aperto, dev'essere <math>N\ge n</math> se n è il grado del polinomio caratteristico del plant.
 
==Massacre==
Si noti come il regolatore possegga la dinamica inversa del plant. Benché da un punto di vista matematico ciò sia sempre possibile, da un punto di vista pratico devono essere rispettate una serie di condizioni che si assicurano che il sistema in anello chiuso sia stabile e che il controllore sia causale.
{{main|Cave of the Patriarchs massacre}}
On February 25, 1994, that year's [[Purim]] day, Goldstein entered a room in the [[Cave of the Patriarchs]] that was serving as a mosque, wearing "his army uniform with the insignia of rank, creating the image of a reserve officer on active duty." <ref>http://www.mfa.gov.il/MFA/Government/Law/Legal%20Issues%20and%20Rulings/COMMISSION%20OF%20INQUIRY-%20MASSACRE%20AT%20THE%20TOMB%20OF%20THE</ref> He then opened fire, killing 29 worshippers and wounding more than 125.<ref name=haaretz_Issacharoff>[http://www.haaretz.com/hasen/spages/1152775.html ''Settlers remember gunman Goldstein; Hebron riots continue]''. Issacharoff, Avi. [[Haaretz]]. March 01, 2010.</ref> Mosque guard Mohammad Suleiman Abu Saleh said he thought that Goldstein was trying to kill as many people as possible and described how there were "bodies and blood everywhere".<ref name=BBC20050225/> Eventually, Goldstein was overcome and beaten to death by survivors of the [[massacre]].<ref name=Time19940307>{{cite news|authors=George J. Church, Lisa Beyer, Jamil Hamad, Dean Fischer, J.F.O. McAllister|date=March 7, 1994|title=When Fury Rules| work= [[Time (magazine)|Time]]| url= http://www.time.com/time/magazine/article/0,9171,980291,00.html| accessdate = <!-- 24 July 24 2011 -->}}</ref> According to [[Ian Lustick]], "by mowing down Arabs he believed wanted to kill Jews, Goldstein was reenacting part of the [[Purim]] story."<ref>[[Ian Lustick]], ''For The Land and The Lord'', Council on Foreign Relations (1988) 2nd ed., 1994, Preface</ref>
 
Palestinian protests immediately followed the shooting; in the following week, 25 Palestinians were killed by the [[Israel Defense Forces]], and five Israelis were killed as well.<ref name="mej">Middle East Journal, ''Chronology'', vol 48, no 3 (Summer 1994) p. 511 ff.</ref> According to Aditi Bhaduri, writing in ''[[The Hindu]]'', following the riots, Israel imposed a two-week curfew on the 120,000 Palestinian residents of Hebron.<ref name = "Hindu">{{cite web | first = Bhaduri| last = Aditi| title = Fabled town, divided and bruised| url = http://www.hindu.com/thehindu/mag/2006/05/21/stories/2006052100090100.htm| work = [[The Hindu]]| date = May 21, 2006| accessdate = October 19, 2009
Le condizioni di causalità sono:
| quote = Still fresh in the memory of almost all the inhabitants was the Goldstein case of 1994, when a two-week curfew was imposed on the 1,20,000 {{sic}} Palestinian residents of the city, while the 400 Jewish settlers of H2 were free to move around.}}
# Il grado del numeratore di D(z) non può essere maggiore del grado del denominatore
</ref> Israeli Prime Minister [[Yitzhak Rabin]] telephoned [[PLO]] leader [[Yasser Arafat]], and described the attack as a "loathsome, criminal act of murder".<ref name=BBC20050225>[http://news.bbc.co.uk/onthisday/hi/dates/stories/february/25/newsid_4167000/4167929.stm On This Day 1994: Jewish settler kills 30 at holy site], February 25, 2005, BBC News.</ref> The Israeli government condemned the massacre, and responded by arresting followers of Meir Kahane, forbidding certain settlers from entering Arab towns, and demanding that those settlers turn in their army-issued rifles.<ref name = "NYT Haberman">{{cite web | first=Clyde| last=Haberman|authorlink=Clyde Haberman| title = West Bank Massacre; Israel Eases Curfew in Territories; Ensuing Riots Deepen Pessimism| url=http://www.nytimes.com/1994/03/03/world/west-bank-massacre-israel-eases-curfew-territories-ensuing-riots-deepen.html?scp=1&pagewanted=all| work=[[The New York Times]]| page=A1| date=March 3, 1994| accessdate=October 19, 2009| quote = But he [Rabin] has imposed tougher measures against a relatively small number of the most militant settlers, which, while far from what the Palestinians want, represents a significant shift for the Government. Several days after ordering the arrest of five people faithful to the anti-Arab preaching of the late Rabbi Meir Kahane, the army began today to carry out other measures, telling 18 settlers to stay out of Arab towns and to turn in their army-issued rifles.}}</ref> Goldstein was immediately "denounced with shocked horror even by the mainstream Orthodox",<ref name="ethics">The ethics of war in Asian civilizations: a comparative perspective By Torkel Brekke, Routledge, 2006, p.44</ref> and most in Israel classified Goldstein as insane.<ref name="wilson">Wilson, Rodney. 2007. Review Article: Islam and Terrorism. British Journal of Middle Eastern Studies. 34(2):203-213. [http://www.informaworld.com/10.1080/13530190701427933]. (accessed 29 August 2010).</ref>
# Se nel plant è presente un ritardo di k intervalli di campionamento, nel controllore dev'esserci necessariamente un ritardo di h intervalli di campionamento con <math>h\ge k</math>
 
==Gravesite and shrine==
La prima di queste condizioni è dettata dal fatto che se il grado del numeratore della funzione di trasferimento è maggiore del grado del denominatore, essa risponde ad un impulso di Kronecker applicato all'istante zero con un segnale più veloce del segnale d'ingresso. Il sistema è quindi anticipativo e non è fisicamente realizzabile.
[[Image:Baruch Goldstein tomb.jpg|thumb|right|Goldstein's tomb.]]
Goldstein is buried across from the Meir Kahane Memorial Park in [[Kiryat Arba]], a Jewish settlement adjacent to Hebron. The park is named in memory of Rabbi [[Meir Kahane]], founder of the Israeli [[far-right]] political party [[Kach and Kahane Chai|Kach]], a group classified by the [[United States]] and Israeli governments as a [[terrorist organization]]. Goldstein was a long-time devotee of Kahane.<ref name="Time">{{cite journal|last= Lacayo|first=Richard|coauthors=Lisa Beyer, Massimo Calabresi, and Eric Silver|date=March 7, 1994|title=The Making of a Murderous Fanatic| journal= [[Time (magazine)|Time]]| url= http://www.time.com/time/magazine/article/0,9171,980282,00.html| accessdate = October 19, 2009}}</ref>
 
The gravesite has become a [[pilgrimage]] site for Jewish extremists; a plaque near the grave reads "To the holy Baruch Goldstein, who gave his life for the Jewish people, the Torah and the nation of Israel." At least 10,000 people have visited the grave since the massacre.<ref name = "Party">{{cite web| title = Graveside party celebrates Hebron massacre| url = http://news.bbc.co.uk/2/hi/middle_east/685792.stm| publisher = [[BBC News]]| date = March 21, 2000| accessdate = October 19, 2009}}</ref> In 1996, members of the [[Labor Party (Israel)|Labor Party]] called for the shrine-like landscaped prayer area near the grave to be removed, and Israeli security officials expressed concern that the grave would encourage [[extremists]].<ref>[http://www.jewishsf.com/content/2-0-/module/displaystory/story_id/4961/edition_id/91/format/html/displaystory.html "Goldstein's grave draws extremists"], [[Jewish Telegraphic Agency]], November 22, 1996.</ref> In 1999, following passage of a law designed to prohibit monuments to [[terrorists]], and an associated Supreme Court ruling, the Israeli Army bulldozed the shrine and prayer area set up near Goldstein's grave.<ref>[http://archives.cnn.com/1999/WORLD/meast/12/29/israel.goldstein/index.html "Israel removes shrine to mosque murderer"], [[CNN]], 29 December 1999.</ref>
Le condizioni per la stabilità sono:
# Tutti i poli instabili o criticamente stabili di <math>G_p(z)</math> devono essere zeri di <math>1-G_m(z)</math>
# Tutti gli zeri di <math>G_p(z)</math> che si trovano nella regione di instabilità devono essere zeri di <math>G_m(z)</math>
 
==Veneration of Goldstein and celebration of the massacre==
Queste condizioni sono necessarie poiché nella pratica non è possibile compensare con precisione i poli e gli zeri. A questo proposito è opportuno ricordare che un [[modello matematico]] non rappresenta il sistema in sé ma una sua approssimazione. Talvolta questi sistemi sono conosciuti soltanto grazie alle loro [[modello black box|variabili esterne]] e costituiscono quindi un'approssimazione decisamente grossolana. Per quanto detto è impossibile stabilire con precisione la posizione di un polo o di uno zero per compensarli con precisione. Tutto ciò non crea problemi alla stabilità del sistema quando i poli sono stabili ma la situazione diventa problematica se i poli sono instabili (ci si può rendere conto facilmente degli effetti di una cancellazione imperfetta di un polo o di uno zero analizzando il[[luogo delle radici]] del sistema).
At Goldstein's funeral, Rabbi Yaacov Perrin claimed that even one million Arabs are "not worth a Jewish fingernail".<ref name="LATimes-022894">{{cite news|title=Extremists Pay Tribute to Killer of 48 at Funeral|last=Kraft|first=Scott|newspaper=[[Los Angeles Times]]|date=1994-02-28|page=A1}}</ref><ref name="wrmea-0399">{{cite journal|title=Growing Intolerance Threatens the Humane Jewish Tradition|last=Brownfeld|first=Allan C.|journal=[[Washington Report on Middle East Affairs]]|date=March 1999|pages=84–89|accessdate=2011-04-11|url=http://www.wrmea.com/component/content/article/175/1866-growing-intolerance-threatens-the-humane-jewish-tradition.html}}</ref><ref name="TheNewCrusades">{{cite book|title=The new crusades: constructing the Muslim enemy|author=Emran Qureshi, Michael Anthony Sells|page=129|publisher=[[Columbia University Press]]|isbn=0-231-12667-0|year=2003}}</ref> Samuel Hacohen, a teacher at a Jerusalem college, declared Goldstein the "greatest Jew alive, not in one way but in every way" and said that he was "the only one who could do it, the only one who was 100 percent perfect."<ref name="wrmea-0399"/><ref name="TheNewCrusades"/> In contrast, mainstream Jewish religious leaders "rejected the suggestion that killing Palestinians with an automatic rifle" was authorized by the [[Torah]].<ref name="LATimes-022894"/> Rabbi [[Dov Lior]] of Kiryat Arba declared that Goldstein was "holier than all the martyrs of the Holocaust."<ref>Sefi Rachlevsky,[http://www.haaretz.com/opinion/ruth-calderon-in-the-wonderland-of-mutilated-israeli-ideology.premium-1.514589 'Ruth Calderon in the wonderland of mutilated Israeli ideology,'] at [[Haaretz]], 10 April 2013</ref>
In the weeks following the massacre, hundreds of Israelis traveled to Goldstein's grave to celebrate Goldstein's actions. Some [[Hasidic Judaism|Hasidim]] danced and sang around his grave.<ref name=nyt>Haberman, Clyde.[http://www.nytimes.com/1994/04/01/world/hundreds-of-jews-gather-to-honor-hebron-killer.html?pagewanted=1 "Hundreds Of Jews Gather To Honor Hebron killer"], April 1, 1994, New York Times.</ref> Although the government has said that those who celebrated the massacre represented only a tiny minority of Israelis, a ''New York Times'' report states that Israeli government claims may understate the phenomenon.<ref name=nyt /> According to one visitor to the gravesite in the wake of the attacks, "If [Goldstein] stopped these so-called peace talks, then he is truly holy because this is not real peace."<ref name=nyt /> Some visitors kissed and hugged the gravestone, or even kissed the earth under which Goldstein was buried, declaring him a "saint" and "hero of Israel".<ref name=nyt />
 
The phenomenon of the adoration of Goldstein's tomb persisted for years, despite Israeli government efforts to crack down on those making pilgrimage to Goldstein's grave site.<ref name = "Party" /> The grave's epitaph said that Goldstein "gave his life for the people of Israel, its Torah and land".<ref name=dismantle>GreenBerg, Joel. [http://www.nytimes.com/1999/12/30/world/israel-destroys-shrine-to-mosque-gunman.html "Israel destroys shrine to mosque gunman"], December 30, 1999, New York Times.</ref> In 1999, after the passing of Israeli legislation outlawing monuments to terrorists, the Israeli army dismantled the shrine that had been built to Goldstein at the site of his interment.<ref name=dismantle /> In the years after the dismantling of the shrine, radical Jewish settlers continued to celebrate the anniversary of the massacre in the West Bank, sometimes even dressing up themselves or their children to look like Goldstein.<ref name = "Party" /><ref name=bou>Bouckaert, Peter. [http://books.google.com/books?id=6aLsz14aKJsC&pg=PT91&dq=Center+of+the+storm:+a+case+study+of+human+rights+abuses+in+Hebron+District+Goldstein&as_brr=3&client=firefox-a&cd=1#v=onepage&q=&f=false ''Center of the Storm: a case study of human rights abuses in Hebron District''], 2001, page 82.</ref>
====Errore a regime nullo====
Si considera un ingresso nella forma:
 
In 2010, Jewish settlers were criticized that during celebrations of Purim they sang songs praising Baruch Goldstein's massacre demonstratively in front of their Arab neighbours. A phrase from the song reads "Dr. Goldstein, there is none other like you in the world. Dr. Goldstein, we all love you… he aimed at terrorists' heads, squeezed the trigger hard, and shot bullets, and shot, and shot."<ref>http://www.ynetnews.com/articles/0,7340,L-3857671,00.html Sheikh Jarrah Jews praise Baruch Goldstein on Purim</ref>
<math>V(z)=\frac{P(z)}{\left (1-z^{-1} \right )^{q+1}}</math>
 
==See also==
Essa comprende i segnali di riferimento più semplici:
{{Portal|Judaism|Biography|Israel|Terrorism}}
* per <math>P(z)=1</math> e <math>q=0</math> si ha il gradino unitario
*[[Kahanism]]
* per <math>P(z)=Tz-1</math> e <math>q=1</math> si ha la rampa unitaria
*[[Jewish fundamentalism]]
*[[Israeli-Palestinian conflict]]
*[[List of terrorist incidents]]
 
==References==
e così via.
{{Reflist|2}}
 
==External links==
Si vuole che l'errore vada a zero in un tempo finito e che rimanga tale. Poiché la dinamica dell'errore si può scrivere come:
*[http://www.mfa.gov.il/MFA/Government/Law/Legal%20Issues%20and%20Rulings/COMMISSION%20OF%20INQUIRY-%20MASSACRE%20AT%20THE%20TOMB%20OF%20THE Israel Ministry of Foreign Affairs -- Excerpts from the report of the Commission of Inquiry Into the Massacre at the Tomb of the Patriarchs in Hebron (aka the "Shamgar Report")]
*[http://www.unhchr.ch/tbs/doc.nsf/0/d6631f0eaea188fe8025675a005570fa?Opendocument UN document containing extracts of the Israeli inquiry report]
*[http://www.time.com/time/magazine/article/0,9171,980291-3,00.html When Fury Rules] Time Magazine, March 7, 1994.
 
{{Authority control|VIAF=30343001}}
<math>\begin{align}E(z)&=V(z)-Y(z)\\
{{Persondata <!-- Metadata: see [[Wikipedia:Persondata]] -->
&=V(z)-V(z)G_m(z) \\
| NAME =Goldstein, Baruch
&=\frac{P(z)\left [1-G_m(z) \right ]}{(1-z^{-1})^{q+1}} \end{align}</math>
| ALTERNATIVE NAMES =
 
| SHORT DESCRIPTION =
si impone la condizione <math>1-G_m(z)=(1-z^{-1})N(z)</math> dove <math>N(z)</math> è un generico polinomio in <math>z^{-1}</math>. In questo modo si verifica facilmente che l'errore avrà la dinamica <math>E(z)=P(z)N(z)</math> e andrà quindi a zero dopo un numero finito di passi, quale che sia il valore di <math>N(z)</math> purché siano rispettate le condizioni di stabilità e causalità.
| DATE OF BIRTH =December 9, 1956
 
| PLACE OF BIRTH =[[Brooklyn]], [[New York]], [[United States]]
====Evitare fenomeni di ringing====
| DATE OF DEATH =February 25, 1994
Per capire cos'è il fenomeno del ringing e come prevenirlo bisogna studiare la dinamica della variabile di attuazione. A questo proposito si consideri un plant con tutti i poli e gli zeri nella regione di stabilità e sia <math>p_1=-a</math> un polo del controllore molto vicino al punto -1. Con questi presupposti si [[Controllo deadbeat#metodo semplificato|dimostra]] che il controllore per ingressi a gradino si può scrivere nella forma: <math> D(z)=\frac{1}{(s-a)\tilde{G}_p(z)}\frac{1}{z^h-1}</math>
| PLACE OF DEATH =[[Hebron]], [[West Bank]]
 
}}
In questo caso la variabile di attuazione può essere descritta dalla funzione di trasferimento: <math>\frac{U(z)}{V(z)}=\frac{D(z)}{1+D(z)G_p(z)}=\frac{1}{\tilde{G}_p(z)(z-a)}z^{-h}</math>.
{{DEFAULTSORT:Goldstein, Baruch}}
 
[[Category:1955 births]]
Utilizzando l'espansione in fratti semplici è possibile dimostrare che il polo in -a dà un contributo alla variabile di attuazione del tipo <math>(-a)^{k}</math> cioè alternato con modulo decrescente. In altre parole si può avere una variabile di attuazione che varia in maniera molto brusca, soprattutto all'inizio, e può danneggiare gli attuatori.
[[Category:1994 deaths]]
 
[[Category:Albert Einstein College of Medicine alumni]]
Questo fenomeno si verifica solitamente per periodi di campionamento molto piccoli.
[[Category:American emigrants to Israel]]
 
[[Category:American Kahanists]]
Per evitare fenomeni di ringing bisogna imporre delle condizioni sulla variabile di attuazione. A questo proposito si può mettere in relazione la variabile di attuazione con il segnale di ingresso:
[[Category:American Orthodox Jews]]
 
[[Category:Deaths by beating]]
<math>U(z)=\frac{Y(z)}{G_p(z)}=G_m(z)\frac{V(z)}{G_p(z)}</math>
[[Category:Israeli Kahanists]]
 
[[Category:Israeli military personnel]]
In questo modo è possibile "scegliere" la funzione la forma desiderata per la variabile di attuazione e ricavare le costanti del polinomio<math>G_m(z)</math>.
[[Category:Israeli mass murderers]]
 
[[Category:Israeli military physicians]]
===Metodo semplificato===
[[Category:Israeli Orthodox Jews]]
Se il plant non ha né poli né zeri fuori dal cerchio unitario si può considerare un metodo semplificato per la progettazione del controllore.
[[Category:Israeli–Palestinian conflict]]
 
[[Category:Israeli settlers]]
In questo caso infatti si può sempre raggiungere la situazione ideale in cui <math>G_m(z)=z^{-k}</math>. Il sistema in questo caso si comporta a tutti gli effetti come un vero e proprio "deadbeat", un "tempo morto", poiché l'uscita segue fedelmente l'ingresso dopo k istanti di campionamento.
[[Category:Jewish physicians]]
 
[[Category:Jewish religious terrorism]]
In questa situazione, per ingressi a gradino, è facile verificare che il controllore può essere riscritto come:
[[Category:Naturalized citizens of Israel]]
<math>D(z)=\frac{1}{G_p(z)}\frac{z^{-k}}{1-z^{-k}}</math>
[[Category:People from Brooklyn]]
 
[[Category:Terrorist incidents in the Palestinian territories]]
Si noti come non vengono imposte delle specifiche sulla variabile di attuazione. In altre parole questo metodo da solo non è in grado di evitare fenomeni di ringing.
 
===Metodo semplificato con specifica sull'attuazione===
È possibile considerare un altro metodo semplificato per la progettazione di un controllore deadbeat, imponendo delle specifiche sulla variabile di attuazione.
 
Si consideri un generico plant <math>G_p(z)</math>.
 
Si moltiplica e divide per una costante affinché la somma dei coefficienti del numeratore sia pari ad uno, ottenendo una nuova funzione nella forma: <math>G'(z)=\frac{P(z)}{Q(z)}</math>.
 
Il controllore sarà quindi:
 
<math>D(z)=\frac{Q(z)}{1-P(z)}</math>
 
==Controllori analogici==
Nei sistemi a tempo continuo il controllo deadbeat richiede, in risposta ad un particolare ingresso:
# Errore nullo a regime
# Tempo di salita minimo
# Tempo di assestamento minimo
# Meno del 2% di overshoot/undershoot
# Output del segnale di controllo molto alto
 
Si noti come, a differenza del controllo digitale, il controllo analogico non può garantire che l'uscita raggiunga il segnale di riferimento in un tempo finito.
 
==Bibliografia==
 
*C. Bonivento, C. Melchiorri, R. Zanasi, ''Sistemi di controllo digitale'', Esculapio, 1995. 8885040969
*I. D. Landau, G. Zito, ''Digital control systems'', Springer, 2006. 1846280559
 
[[Categoria:Teoria del controllo]]