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+
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figura 1
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(a)

S(s)
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Vg A C AP g C dr TArF RP T` APr Vg dFP C tP R Vg dFP T tVr Y v Crx A
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Set Poin
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R1

R1

C2

POT 4

error
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sumador

integrador

15 Vcc

R1

R1
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proporcional
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ed)cciAQHC3QIHXDASXaXiVyaiYqiAcAERc&eiYpcEAcq9cVAfRQcq'XfVc3VDiAyyf`ceqXy`
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r d F T V d r d P r V g t hV l R A C R P V Y T ` d V V g t C H g T R P F T V H x V T T H l P
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gt CV ` Y d Y t FH ` tHPr A C t RP C F T C d T CA S C t C TA
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Pr P F HPr C tr AgP d Y F C t VrPrA C dr TArF C tr VgVr` Vr T CH ` RV dFP RH
yGQIHqqDAmyXfVeQIHXViViq3yc#zwAfVicWVEtDAXqyiq3fHcbkqHCeQXHhY XVcb`
TVg TA d YHP C TAl TVg VgPV `Vg HP HgAx RPV THl TV Vr t C` V T Vg d TFP F VgVr
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Figura 4:Set P
oint

Rb
POT 1

Ra

Vin

Vout

g A g C T A V l t H P T A d C H T A P t V g t h V r t V g t R P V P H ` Y F t R H C T ` F A T t
zcwAVfRccVeyciPQfxEdcbcyVaiAT DCB 1q'X9y`Xq)XV3XqQbaQIH)QEHCc'DiAycIHccA Xh cA
XfVnDiAXV`XeQHXV3XfVEdCcIHkcUASXXeVAfRQcQVC3XiHQHhT QzigidcEA%iAycXbaiYAfRc9qXVzcA
t T dF C tVg P t t RP C F t T st THl Ax RPV tA T t Vg dFPAgV ` d TA APr CVP RT
cyQfHcEAbcBcqcyfidnacXqjX'VAfRQcqkcHUtflyqXqAIRXVfCycViA'q%caXk&yqXkcb`
T A P d F C V ` H C H g A F T ` Y A T V V r t V T H l V g C d d g T V g F d g T A P t T V g u V l P V C V R r T V C H
A g d ` F T A P t T C t r T A V r P V A d g C d r d F t V d F P C H ` d A G s G P R P V A r R P
yciAycIHzcViADAyqc3aXiFcwA%HfRyEFfC'VRX%iAcARcbaUYBIg!GiXo#!GfQVCSXiPd3QIHF
TcyVWyDEAqXcVfReEYbHiREFfCeVRX&XfCX9qIwAqQWiAT XieQIH%QqUgyq%Hhq Q
A P t A P r C C V P V x d C V ` d r d F t V d F V g t h g 5 C r x P V H Y F t H d P V g F s E P H
!GiX  # %98
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g RH A Hg T Pr Vg THl TV d` F RPV Y T` t TAP dF CV `H CHgAF T` YA TV dFVg t
qHCceeqciAvqeVAiRQcyXqiAycIHV3XaXfVyaUYdcQfHcwA&ccqcnfidyacXqXfCXq'9h
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tecEAcDiA)XuX@aQIHpA3XVXVEVpVpAR9h cVScARyQIHWqXV3cepXVXmVpqtigidcEApqg
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g C T R P F A R P T ` T V g T C A l T V d Y V r C t P t T V g R P d P V l C ` T A P t T A V g P H t C H
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qIHiFQnHhP CIRXfVXV djv)DXfuUdcXVqz&qwADyVSXiVyqr)VA h bqg
A QARX&qHRXaqUgXVDqcey%qfHEdcHDwAc&DUAXpX)DiAidiTqhc%cHXV cHyX)cb)cciFidyzpcnAhP Vt
h r x t V t V H d g P C ` A u V l A P g C R C H T T V P V C d r A C t C ` T V C H ` t A g A T ` V C
R V t C A H R C ` t T A P t V g t C H g C V P V x t T t d ` t d t H t T P A ` r F H t V r P V A C T H Y
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t F h F V t V t T R V g t H g @ T V g t R P V P H ` Y F t T V g H P r A g A F V d F A T A C T R V g
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Figura 5:equivalencia en circuit y diagrama de bloue

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R1

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Figura 6:con
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Figura 10:circuit sumador

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Figura 9:otra forma de implemen el der
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Figura 8:con
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