Criterio de Jury

G( z) =

0.3679 z + 0.2642
( z 0.3679)( z 1)

Y ( z)
K (0.3679 z + 0.2642)
= 2
R( z ) z + (0.3679 K 1.3679) z + 0.3679 + 0.2642 K
P ( z ) = z 2 + (0.3679 K 1.3679) z + 0.3679 + 0.2642 K = 0
1.- P (1) > 0

P (1) = 1 + (0.3679 K 1.3679) + 0.3679 + 0.2642 K > 0

K >0

2.- P (1) > 0

P (1) = 1 (0.3679 K 1.3679) + 0.3679 + 0.2642 K > 0
K < 26.382

3.- a0 < an
0.3679 + 0.2642 K < 1
5.1775 < K < 2.3925

0 < K < 2.3925

Mtodo de Routh-Hurwitz
Ec. Caracterstica P ( z ) = z 2 + (0.3679 K 1.3679) z + 0.3679 + 0.2642 K
Transformacin bilineal
z=

w +1
w 1

w +1
w +1
P ( w) =
+ (0.3679 K 1.3679)
+ 0.3679 + 0.2642 K = 0
w 1
w 1
2

w2 (0.1037 K ) + (1.2642 0.5284 K ) w + (1.7358 0.1037 K ) = 0

Tabla R-H

w2
w1
w0

0.1037K
1.2672-0.5284K
0.1037 K + 1.7358

0.1037 K + 1.7358
0

1.- 0.1037 K > 0

2.- 1.2642 0.5284 K > 0
3.- 0.1037 K + 1.7358 > 0

1.- K > 0
2.- K < 2.4089
3.- K < 16.7387
0 < K < 2.4089

Transformacin bilineal T0 = 0.1

z=

1 + 0.1w
1 0.1w

1 + 0.1w
1 + 0.1w
P ( w) =
+ (0.3679 K 1.3679)
+ 0.3679 + 0.2642 K = 0
1 0.1w
1 0.1w
2

w2 (0.0274 0.0010 K ) + (0.1264 0.0528 K ) w + 0.63K = 0

Tabla R-H
w2
w1
w0

0.0274 0.0010K
0.1264 0.0528K
0.63K

1.- 0.0274 0.0010 K > 0

2.- 0.1264 0.0528 K > 0
3.- 0.63K > 0

1.- K < 27.4

2.- K < 2.3939
3.- K > 0
0 < K < 2.39

0.63K
0