PARTE C)

Para K=1

Root Locus

Im
aginaryAxis

-2

-4

-6
-12

-10

-8

-6

-4
Real Axis

PARTE D)

-2

Step Response
0.9

0.8

0.7

0.6

Am
plitude

0.5

0.4

0.3

0.2

0.1

0.1

Para k=4

PARTE F)

0.2

0.3

0.4 Time (sec)

0.5

0.6

0.7

0.8

0.9

Nichols Chart

40

30

20

10

Open-LoopGain(dB)

X: -163.1
Y: -0.2553
0

-10

-20

-30

-40

-50
-180

Para k=4

PARTE E)

-135

-90 (deg)
Open-Loop Phase

-45

Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 17.2 deg (at 39.4 rad/sec)

40
30
20
10

Magnitude(dB)

0
-10
-20
-30
-40
-50
-60
0

Phase(deg)

-45

-90

-135

-180

-1

10

10

10

Frequency (rad/sec)

Para k=4

PARTE G)

10

10

Step Response
0.9

0.8

0.7

0.6

Amplitude

0.5

0.4

0.3

0.2

0.1

0.1

Para k=4

PARTE H)

0.2

0.3

0.4 Time (sec)

0.5

0.6

0.7

0.8

0.9

Bode Diagram
-20
-30
-40

X: 18.92
Y: -35.43

-50

Magnitude (dB)

-60

X: 29.89
Y: -43.38

-70
-80
-90
-100
-110
-120
0

Phase (deg)

-45

-90

-135

-180

10

Para K=1

PARTE 1-C)

10

Frequency (rad/sec)

10

10

Step Response

1.4

1.2

Am
plitude

0.8

0.6

0.4

0.2

Para
K=1

0.2

0.4

0.6

0.8

1
Time (sec)

1.2

1.4

1.6

1.8