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G C (s ) en el compensador digital
G C (z)
G P ( s )=
53,906
s +1,116 s+53,906
2
GP ( s )
Donde:
G P ( s )=
''
G( s)
en el espacio de estados.
C ( s)
53,91
= 2
R ( s ) s +1,12 s+53,91
'
'
x '1=x 2
y=c=x1
[][
'
][ ][ ]
x1 =
01
x1 + 0 r
'
x 2 53.911.12 x 2 53.91
[]
y=[ 1 0 ] x 1
x2
053.91
[ 53.9160.38
]
R= [ sI A ] BR
[ ][
0 53.91
D=[ sI A ]=s 1 0
01
53.9160.38
[ ][
][
0 53.91
s s53.91
D= s 0
=
0 s 53.9160.38 53.91 s+60 .38
adj D
D =
detD
1
s53.91
[ s53.91
s +60.38 ]
D =
T
adj D = s +60.38s+53.91
53.91 s
D =
[ s+60.38s+53.91
]
53.91 s
s ( s+60.38 )+ 53.91(s53.91)
R=
1
s+ 60.38s+53.91 0
53.91 s
53.91
s +60.38 s +53.91 s2906.28
R=
1
s +2906.28
53.91 s
s +114.29 s2906.28
][ ]
2906.28s
s +114.29 s2906.28
2
G C (z)
para
Reemplazamos:
s=
2 ( z1 )
T ( z+1)
en
G C (s )
tenemos,
2906.28
GC ( z )=
2 ( z1 )
T ( z +1 )
( 2 ( z 1 ) )2 114.292 ( z1 )
+
2906.28
2
T ( z+ 1 )
( T ( z +1 ) )
GC ( z )=
( z +1 )[2906.28 ( z +1 )200 ( z1 ) ]
40000 ( z 22 z1 ) +22858 ( z1 ) ( z +1)( z 2+ 2 z +1 )
GC ( z )=
( z1 )[2906.28 z+3106 ]
40000 z 80000 z40000+22858 z2 22858z 22 z1
GC ( z )=
GC ( z )=