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Solucin:
Funcin de transferencia del sistema es:
Y (S)
Y (S )
6
6
3
6
3
= 3
=
=
=
+
+
2
U (S) S +6 S +11 S +6 (S+ 1)( S+2)(S+3) U (S ) S+1 S+2 S +3
Obteniendo:
[] [
X 1
X 2
X 3
[ []
][ ] [ ]
X1
1 0
0 X1 1
0 2 0 X 2 + 1 u y= 3 6 3 X 2
0
0 3 X 3 1
X3
y=Cx
Donde
1 0
1
A= 1 2 0
0
0 3
[]
0
B= 0
1
C=[ 1 1 0 ]
Solucin:
la funcion de traferenci :
s+ 1 0
1
[ 1 1 0 ] 1 s +2 0
0
0
s+3
][]
0
0
1
G ( s )=C ( sI A )1 B
( s+ 2)( s+3)
0
s+2
s +3
(s +3)
1
0
0
(s+1) 0
1
1
[1 1 0 ]
(s+1)(s+2)(s +3)
[]
s +3
s+ 3
= 3
(s +1)(s +2)(s+ 3) s +6 s2 +11 s +6
Simulacin en el MATLAB
[ ]
0100
A= 0 0 1 0
0001
1000
1=1 , 2 =1 , 3 = j , 4 = j
P1 AP=diag( 1 , 2 , 3 , 4 )
[ ][ ]
1 1 1 1
1 1 1 1
1 2 3 4
P= 2 2 2 2 = 11 j j
1 2 3 4
1 1 1 1
3 3 3 3
11 j j
1 2 3 4
[ ]
1 1 1 1
1 1 1 1 1
P =
4 1 j 1 j
1 j 1 j
1
Tenemos
[ ][ ] [ ] [ ]
1 1 1 1
1 1 1 1 1
P AP=
4 1 j 1 j
1 j 1 j
1
B.11.6
0100
0010
0001
1000
1 1 1 1
1 1 j j
1 1 1 1
1 1 j j
1
A= 0
2 3
Calcule
At
Solucin
e At=L1 [ ( sI A )
2
1
s +1 s+ 2
2
2
+
s+1 s+2
B-11-7
]=L1
{[
s 1
2 s+ 3
]}
1
][
1
1
2 et e2 t
et e2t
s+1 s +2
=
t
2 t
t
2 t
1
2
2 e +2 e
e + 2e
+
s+1 s+ 2
1 0 0 0
0 1 0 0
0 0 j 0
0 0 0 j
B-11-8
Solucin:
1 1
3 2
s 1
2
s 2s 3 ( s 1 i 2)( s 1 i 2)
3 s 2
SI A
s 2 1
1
s ( s 2) 3 3 s
s 11
1
l At l 1
s ( s 1) 2
( s 1) 2
3
s 1 1
( s 1) 2 2 2 ( s 1) 2 2 2
1 t
1 t
t
l sin 2t
l cos 2t 2 l sin 2t
3 t
1 t
l sin 2t
l cos 2t
l sin 2t
2
2
1
x(t ) l At x(0) l At
1
2
l t cos 2t
l t cos 2t 2l t sin 2t
A 11
6
1
0
0
a11
X PZ a21
a31
1 ; B 6
2
a12
a13
a22
a23
a32
a33
; C 100
z1
z2
z3
x Ax Bu
y Cx
z P 1 APZ P 1 Bu
y CPZ
esta , definido
0
P 1 AP 1
0
B P 0
0
0
0
1
a11
a21
a31
1
11
;P B
6
a12
a
13
a22
a23
a32
a
33
0
0
1
2
a 11
0 a21
0
2
a 31
desde, ahora
2
P 6
2
a13
a23
a33
a12
a22
a32
entonces
0
AP P 1
0
11
0
0
1
tenemos
6
11
1
0
2
6
a12
a22
a32
a
13
a23
a
33
a12 6
a22 20
a32 12
a13 16
a23 54
a33 36
2
P 6
2
6
20
12
16
54
36
z1
z2
z 3
2
6
a12
a22
a32
a13
a
23
a
33
0
1
0
0
11
define
6 1 0
2
A 11 0 1 ; B 6
6 0 0
2
a11 a12 a13
31 a32 a33
; C 100
z1
z2
z
3
x Ax Bu
y Cx
z P 1 APZ P 1Bu
y CPZ
esta, definido
0 0 6
1
P AP 1 0 11 ; P B
0 1 6
1 a11 a12 a 13 1
B P 0 a21 a22 a23 0
0 a
a32 a 33 0
31
1
0
0
a 11
a21
a
31
2
6
2
desde, ahora
2 a12
P 6 a22
2 a
32
a13
a23
a33
entonces
0 0 6
AP P 1 0 11
0 1 6
tenemos
6 1 0 2 a12
11 0 1 6 a22
6 0 0 2 a
32
a12 6
a22 20
a32 12
a13 16
a23 54
a33 36
2 6 16
P 6 20 54
2 12 36
a 13
a23
a 33
2 a12
6 a22
2 a
32
a13
a
23
a33
0 0 6
1 0
11
0 1 6