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1
Y ( s ) = 2 2
X ( s )
2
1
s
s
+
+
Operando:
Y (s)
1
1/ 2
1
1
= 2 2
=
=
=
2
X ( s ) s + 2s + 1 ( s + r1 )( s + r2 ) ( 1s + 1)( 2 s + 1) 1 2 s + ( 1 + 2 ) s + 1
donde:
r1, 2
2 1
= 1 2
1 + 2
2
CELSO MONTALVO
>1
=1
CELSO MONTALVO
Amplitude
0.8
System: untitled2
Time (sec):
0.7 1
Amplitude: 0.632
0.6
System: S1
Time (sec): 2.15
Amplitude: 0.632
0.5
0.4
0.3
0.2
0.1
0
0
5
Time (sec)
10
CELSO MONTALVO
Step Response
1.5
Disparo (overshoot):
(Mxima Desviacin)
Velocidad de Amortiguacin:
(Razn de Asentamiento)
Tiempo de Levantamiento:
Tiempo de Asentamiento:
B
=e
A
C
=e
B
B
1
1 2
tr
0.5
A
0
0
10
15
20
25
Time (sec)
1 2
tr =
arctg
1 2
t
1 2
ts 3.912
T=
Perodo/Frecuencia de Oscilacin:
1 2
1 2
Y (s) =
CELSO MONTALVO
Amplitude
1 2
1 2
=
n = 1/
n
s 2 + 2n s + n 2
Impulse Response
1
1.6
0.8
1.4
0.6
1.2
0.4
Amplitude
Amplitude
Step Response
1.8
= 0.1
0.8
0.6
0.4
= 0.7
= 0.4
= 0.2
= 0.4
= 0.2
= 0.1
0.2
0
-0.2
-0.4
0.2
0
0
= 0.7
-0.6
10
15
Time (sec)
CELSO MONTALVO
20
25
30
-0.8
0
10
12
Time (sec)
14
16
18
20
FIN