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Carnet: 09-10196
PROBLEMA SEMANAS 10 y 11
1
( ) = ( + 1)
3 = 60
2
(0 1 1) 0
=
3
3
Root Locus
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1.2
-1
-0.8
-0.6
-0.4
-0.2
-1
>> s=tf('s')
Transfer function:
s
>> g=1/(s+1)/(s+1)
Transfer function:
1
------------s^2 + 2 s + 1
>> rlocus(g)
0.2
( + 1)
( + 1) +
( + 1)
( + 1) +
Queremos que ( + 1) = 0
Entonces:
= ( + 1) = (
= (3
+2
+ )
+ 4 + 1) = 0
= ( + 1) = 0,148
( )=
para un tiempo de
(B)
Considerando ( ) = 0
( )=
( )0
( )
( )
=
=
( )
1+ ( ) ( )
( )=
1
( + 1)
( + 1)
0,148
+
( + 1)
( + 1)
( )
=
( )
( + 1) + 0,148
(C)
El Diagrama de Bode del sistema, es el siguiente:
Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = -180 deg (at 0 rad/s)
Magnitude (dB)
-20
-40
-60
-80
0
Phase (deg)
-45
-90
-135
-180
-2
10
-1
10
10
10
10
Frequency (rad/s)
De esta manera, G(
)=(
) = 0,9901.
1
+ 1)
Nyquist Diagram
0.8
0.6
0.4
Imaginary Axis
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-0.8
-0.6
-0.4
-0.2
0
Real Axis
0.2
0.4
0.6
0.8