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G ( s )=
70
s+ 70
Sisotool (G(s))
Como este es un sistema de primer orden no tiene sobre pico y tampoco tiene
un tiempo de sobre pico.
sF E ( s )U (s)
()
e ss=lim
s0
F E (s)=
1
1+G(s )H ( s)K
H(s) = 1 ; K = 1.
F E (s)=
1
70
1+
11
s+70
F E (s)=
=>
1
s+140
s+70
=>
F E (s)=
s +70
s +140
=>
s +70
s +140
()
e ss =lim
s0
s0
e ss =
70
140
=>
e ss =
1
2
=> (
e ss =0.5
s +70
s +140 s
()
e ss =lim
2
=>
s0
s0
e ss =
70
0
=> (
e ss=
s +70
2
s +140 s
()
e ss =lim
3
=>
s0
e ss =
70
0
=> (
e ss=
F( s )=
F( s )=
G (s)
1+G (s)H (s)
70
s+140
F = tf ([70], [1 140])
pole ( F )
ans = -140
plot(-140,0, 'x')
b)
G(s )=
70
s (s +70)
=>
70
s+70
F( s )=
70
1+
s +70
=>
70
s +70
F( s )=
s +140
s +70
G(s) = tf ( [70], [1 70 0] )
G(s )=
70
s + 70 s
2
sisotool ( G(s) )
sF E ( s )U (s)
()
e ss=lim
s0
F E (s)=
F E (s)=
=>
1
1+G(s )H ( s)K
1
70
1+ 2
11
s +70 s
F E (s)=
=>
H(s) = 1
F E (s)=
K = 1.
1
s +70 s+70
2
s +70 s
2
s 2+70 s
s 2 +70 s +70
ss +70 s
1
s2 +70 s +70
s
()
e ss =lim
=>
s2 +70 s
s 2+70 s+70
()
e ss =lim
s0
s 0
e ss =
0
70
=>
e ss=0
=>
s 2 +70 s
s 3+70 s2 +70 s
()
e ss =lim
s0
s 0
e ss =
0
0
=>
2 s+ 70
3 s +140 s +70
()
e ss =lim
2
=>
s0
s0
e ss =
70
70
=>
e ss=1
ss +70 s
1
s2 +70 s +70
s3
()
e ss =lim
=>
s 2+70 s
s 4 +70 s 3+ 70 s 2
()
e ss =lim
s 0
s 0
e ss =
0
0
s +70 s
4
3
2
s +70 s + 70 s
()'
lim
=>
=>
s0
s0
e ss =
70
0
2 s +70
2
4 s +210 s +140 s
()
e ss =lim
3
=> (
e ss=
F( s )=
G(s)
1+G(s)H (s)
F( s ) =
70
s +70 s+70
=>
F = tf ([70], [1 70 70])
pole ( F )
ans =
- 68.9853
70
s +70 s
F( s )=
70
1+ 2
s + 70 s
70
s +70 s
F ( s )= 2
s +70 s+ 70
2
s +70 s
2
=>
- 1.0147
plot ( -68.9853 , 0 ,'x' , -1.0147 , 0 , 'x' )
C)
G(s )=
70
s ( s+70 )
2
G(s) = tf ( [70], [1 70 0 0] )
G(s )=
70
s + 70 s 2
3
sisotool ( G(s) )
sF E ( s )U (s)
()
e ss=lim
s0
F E (s)=
F E (s)=
1
1+G(s )H ( s)K
1
70
1+ 3
11
s +70 s2
3
=>
F E (s)=
H(s) = 1
F E (s)=
=>
K = 1.
1
s +70 s2 +70
3
2
s +70 s
3
s +70 s
3
s +70 s 2+ 70
=>
s +70 s
3
s +70 s2 +70
()
ess =lim
s 0
e ss =
0
70
=>
e ss=0
ss +70 s
1
s3 +70 s 2 +70
s2
()
e ss =lim
=>
s 3+ 70 s 2
s 4 +70 s 3+ 70 s
()
e ss =lim
s0
s0
e ss =
0
0
=>
3 s 2+ 140 s
4 s3 +210 s 2 +70
()
e ss =lim
=>
s 0
e ss =
0
70
=>
s0
e ss=0
=>
s3 +70 s 2
s 5+70 s 4+ 70 s 2
()
e ss =lim
s 0
e ss =
0
0
s +70 s
5
4
2
s +70 s + 70 s
()'
lim
=>
3 s +140 s
4
3
5 s + 280 s +140 s
()
e ss =lim
=>
s0
e ss =
s0
0
0
=>
6 s+140
3
20 s +840 s +140
()
e ss =lim
3
=>
s 0
s 0
e ss =
140
140
=> (
e ss =1
F( s )=
F( s )=
G (s)
1+G (s)H (s)
70
s +70 s2
F( s )=
70
1+ 3
s +70 s 2
=>
70
2
s +70 s +70
3
F = tf ([70], [1 70 0 70])
70
s +70 s2
F( s ) = 3
s +70 s 2+70
s3 +70 s2
3
=>
pole ( F )
ans =
-70.0143 + j 0.0000
0.0071 + j 0.9999
0.0071 - j 0.9999
4
s + 4 s+ 4
2
F=
4
s + 4 s+ 4
2
3. Dado el sistema
G(s )=
5
s +20
SOLUCION:
Se realimenta el sistema con realimentacin unitaria negativa y un valor de
K=1.
K=1 ,
H = 1,
series ( K, G )
G(s )=
5
s +20
feedback ( G, H )
F(s) =
5
s+25
pole (F)
ans = -25
plot ( -30, 0, 'x' )
G = tf ( [5], [1 20] ).
K=2 ,
H = 1,
series ( K, G )
G(s )=
10
s +20
feedback ( G, H )
F(s) =
10
s+30
G = tf ( [5], [1 20] ).
pole ( F )
ans = -30
plot ( -30, 0, 'x' )
rlocus ( F(s) )
K = 5.5 ,
H = 1,
series ( K, G )
G(s )=
27.5
s +20
feedback ( G, H )
F(s) =
27.5
s+ 47.5
pole ( F )
G = tf ( [5], [1 20] ).
ans = -47.5
plot ( -47.5, 0, 'x' )
rlocus ( F(s) )
K = 15 ,
H = 1,
series ( K, G )
G(s )=
75
s +20
feedback ( G, H )
F(s) =
75
s+ 95
pole ( F )
G = tf ( [5], [1 20] ).
ans = - 95
plot ( - 95, 0, 'x' )
rlocus ( F(s) )