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Ecuaciones+de+estado 4 PDF
Ecuaciones+de+estado 4 PDF
Capitulo 4
Contenido
U(t)
Y(t)
Sistema
X(t)
= + ()
= +
Diagramas de simulacin
Variable de fase
+ 5 + 9
=
3 + 2 + 4 + 1
Trayectorias directas 3
Lazos individuales 3
5
9
1
5
9
+
+
+
+
3 3 3
3
3
3
=
=
2
4
1
3
2 4
1
1
+
+
+
+
+
+
3 3 3
3 3 3 3
C(s)
-1/3
5/3
3
1/s
1/s
R(s)
-2/3
-4/3
-1/3
1/s
+ 5 + 9
=
3 + 2 + 4 + 1
9
5
9
5
1
+
+
+
+
3 3 3
3
3
3
=
=
2
4
1
3
2 4
1
1
+
+
+
+
+
+
3 3 3
3 3 3 3
R(s)
-1/3
5/3
3
1/s
1/s
1/s
-2/3
1
5
3
+ +
3 3
=
2
4
1
1+ + +
3 3
3
-4/3
-1/3
C(s)
+
+
+
=
=
=
=
6
3
6
3
+
+
+
+
+
+
3 1
6
5 4 12
+
+ +
=
=
6 1
3
6 1
3
1+ + +
1+ + +
5 4 12
+ +
=
1 + 6 + 1 + 3
1
y1(s)
-5
12
1/s
1/s
R1(s)
-6
-1
-3
1/s
3 1
6
+
=
1 + 6 + 1 + 3
1/s
1/s
1/s
R1(s)
-6
-1
-6
-3
Y2(s)
5 4 12
+ +
=
1 + 6 + 1 + 3
1
y1(s)
-5
12
1/s
1/s
1/s
R1(s)
-6
-1
3 1
6
+
=
1 + 6 + 1 + 3
-6
-3
y2(s)
Ejemplo 4.2
5
+ 4 + 12
=
+ 6 + + 3
R(s)
=
=
y1(s)
4
1/s
1/s
X3
-6
= 3 6 +
0
1
= 0
0
3 1
-5
X2
-1
0
0
1 + 0
6
1
-3
12
1/s
X1
Ejemplo 4.3
Hallar EE de la FT 2
1
1/s
R1(s)
-6
1/s
1/s
x2
x3
x1
3
=
-1
=
-6
1
-3
= 3 6 +
0
1
= 0
0
3 1
3 + 6
=
=
+ 6 + + 3
0
0
1 + 0
6
1
Y2(s)
= 6 + + 3
= 6 1 3
=
=
= 3 6 +
Hallar EE
R(s)
1/s
-6
-5
y1(s)
1/s
x3
x2
-1
0
1
= 0
0
3 1
0
0
1 + 0
6
1
-3
1/s
3
12
x1
1
= 6 + + 3
12 4
=
6 1
5
3
-6
Y2(s)
72 + 4 12
=
=
+ 6 + + 3
59 10
=
=
+ 6 + + 3
36 + 4 12
=
=
+ 6 + + 3
29 10
=
=
+ 6 + + 3
72 4 12
+
=
1 + 6 + 1 + 3
59 10
+
=
1 + 6 + 1 + 3
36 4 12
+
=
1 + 6 + 1 + 3
31 10
+
=
1 + 6 + 1 + 3
72 4 12
+
=
1 + 6 + 1 + 3
R1(s)
R2(s)
-6
1/s
1/s
-6
1
3
59 10
+
=
1 + 6 + 1 + 3
36 4 12
+
=
1 + 6 + 1 + 3
Y1(s)
-12
1/s
10
Y2(s)
-1
-3
31 10
+
=
1 + 6 + 1 + 3
Ejemplo 4.4
Ecuaciones de desacoplamiento
Formas diagonales de EE
Diagonalizacin mediante Fracciones Parciales (races diferentes)
Ejemplo 4.4 : Dada la funcin de transferencia
3
3
=
=
+ 2 3 ( 1)( + 3)
3
=
( 1)( + 3)
!"
( 1) 3
=
( 1)( + 3)
( + 3) 3
=
( 1)( + 3)
=1
!
3
=
4
!#
3
=
4
= +
+
1 +3
= +
+
1 +3
1 34 34
= +
+
1 +3
() 1 34 34
=
= +
+
() 1 + 3
1
s
1
1
R(s)
1
1
s 1
1
s+3
-3/4
3/4
C(s)
1
s+3
1/s
3/4
x3
-3
1/s
= 3 +
1
1
R(s)
1
= +
x1
1
-3/4
1/s
1
x2
3/4
1/s
x3
-3
=
C(s)
= +
3
3
+
4
4
0 0
1
1 0 + 1
0 3
1
3 3
= 1
4 4
0
= 0
0
Ejemplo 4.5
+
+
( + 1) ( + 4) ( + 10)
3 2
= ( + 1)
( + 1)( + 4)( + 10)
=
3 2
= ( + 4)
( + 1)( + 4)( + 10)
!#
!#%
3 2
= ( + 10)
( + 1)( + 4)( + 10)
3 2
=
( + 1)( + 4)( + 10)
1
=
27
23
=
9
!#"
1
s +1
1/27
1
1
R(s)
149
=
27 1
()
127
239 14927
=
=
+
+
() ( + 1) ( + 4) ( + 10)
1
s+4
-23/9 C(s)
1
s + 10
149/27
R(s)
1
s+4
1
s + 10
-23/9 C(s)
1/27
-1
1
149/27
-23/9
1/s
C(s)
R(s)
-4
1
x2
1/s
149/27
x3
-10
1/s
= 4 +
x1
1
1/27
-1
R(s)
1/s
-23/9
= 10 +
1
23
149
=
+
+
27
9
27
C(s)
-4
1
x2
1/s
x3
-10
0
1
+ 1
0
10
1
23 149
9
27
1 0
149/27 = 0
4
0
0
=
1
27
10 + 51 + 56
= ( + 4)
( + 4)( + 2)
=3
10
+ 51 + 56
= ( + 2)
( + 4)( + 2)
10
+ 51 + 56
&
( + 2)
=7
=
( + 4)( + 2)
&
!#%
!#
()
3
3
7
=
=
+
+
() ( + 4) ( + 2) ( + 2)
!#
= 3
()
3
3
7
=
=
+
+
() ( + 4) ( + 2) ( + 2)
1
s+4
3
1
R(s)
1
( s + 2) 2
-3
C(s)
1
1
s+2
Convertimos el DGF un DS
1
s+4
1
R(s)
1
( s + 2) 2
1/s
3
-3
7
C(s)
1/s
R(s)
1
1
s+2
-4
1/s
1
-3
-2
1
C(s)
-2
1/s
7
-2
Hallamos las EE
1
-4
1/s
R(s)
1/s
1/s
C(s)
-3
-2
1
1/s
4 0
0
0 3 1
=
0
0 2
%
0
0
0
-2
%
0
0
0
2
= 4 +
= 3 +
= 2 +
% = 2% +
= 3 3 + 7%
1
0
+
= 3 3 0
1
%
1
7
%
-4
C(s)
R(s)
7
1
1/s
x3
-2
4 0
= 0 2
0
0
-3
1/s
= 4 +
= 2 +
= 2 +
x2
-2
0
1
1 + 0
2
1
= 3
3 7
La funcin de transferencia
1 2
= 1
2
2 1
0
1
0 + 0
3
0
1
= 1 0 1 0
0
= 1 0 1
0
0
0
1
0
0
0
= 1 0 1
= (( )#
0
1
0 1
1
2
0
1
0 1
2
2 0
2
0
1 3
2 0
2
0
1 3
#
#
1
0
0
1
0
0
Operando y simplificando
= 1 0
+1
1
2
2
2
1
0
0
+3
4 + 2
=
( + 2)( + 3)
#
1
0
0
4 + 2
=
( + 2)( + 3)
=
+
+
+
( + 2) ( + 3)
( + 3)
( + 3)
4 + 2
= +2
+2 +3
!#
4
+2
= +3
+2 +3
1 &
=
1! &
+3
8 16 2 2
=
= 28
1
!#
4 + 2
+2 +3
27 36 3 2
= 68
1
!#
= 16
1 &
=
2! &
+3
4 + 2
+2 +3
!#
= 29
28
68
16
29
=
+
+
+
( + 2) ( + 3) ( + 3) ( + 3)
A partir de la FT obtenemos:
1/s
1
-2
1
1
R(s)
1
1
-28
68
C(s)
( s + 3) 3
16
( s + 3) 2
29
( s + 3)
-28
-2
29
R(s)
C(s)
1
16
1
1
1
( s + 3)
1
( s + 3)
68
( s + 3)
1
1/s
= 2 +
-28
-2
R(s)
C(s)
1
%
1/s
-3
29
16
1/s
-3
1/s
68
-3
= 3 +
= 3 + %
% = 3% +
= 3 +
= 3 + %
% = 3% +
2 0
0
0 3 1
=
0
0 3
%
0
0
0
= 28
0
0
1
3
68
1
0
+
0
%
1
16
29
%
6 + 26 + 8
= ( + 2)
( + 2)( + 1 + +3)( + 1 +3)
!#
6 + 26 + 8
= ( + 1 + +3)
( + 2)( + 1 + +3)( + 1 +3)
6 + 26 + 8
= ( + 1 3+)
( + 2)( + 1 + +3)( + 1 +3)
20
= 2
10
!##,
!##,
=4++
=4+
2
4++
4+
+
+
Por lo tanto tenemos: =
( + 2) ( + 1 + +3) ( + 1 +3)
1/s
x1
-2
-2
R(s)
4+j
1/s
C(s)
x2
-1-3j
1
= 2 +
= 1 +3 +
= 1 + +3 +
4-j
1/s
x3
-1+3j
= 2 + 4 + j + (4 j)
= 2 + 4 + j + (4 j)
2
0
= 0 1 +3
0
0
0
1
+ 1
0
1 + +3
1
= 2 4 + +
4 +
2
8 + 14
=
+
( + 2) + 2 + 10
8 14
8 14
+
+
2
2
=
+
=
+
( + 2) 2 10 ( + 2) 1 + 2 + 10
+ +
8 14
+
2
=
+
( + 2) 1 + 2 + 10
R(s)
1/s
x1
-2
-2
C(s)
8
1/s
1/s
x2
x3
-2
-10
14
x1
-2
-2
8
R(s)
1
= 2 +
1/s
1/s
-2
2
0
= 0
0
0 10
= 10 2 +
C(s)
1/s
x3
=
x2
-10
0
1
1 + 0
2
1
14
8
Formas cannicas
.#
.
= 1. /. 1"
0
0
0
/.
1
0
0
/.#
0
1
0
/.#
0
0
0
0
+
1 .#
0
/ .
1
1 / 1"
+ 1"
.#
.
.#
.
0
1
0
0
0 /.
1. /. 1"
0 /.#
1.# /.# 1"
+
1 / 1"
0
0
/ .#
.
1 / 1"
0
1
/
+ 1"
= 0 0 0 1
.#
.
0
0
6
6
6.
() 1" . + 1 .# + + 1.# + 1.
= 1" +
+
+ +
=
+
4
+
4
+ 4.
2()
+ 4 + 4 ( + 4. )
.#
.
4
0
0
0
0
4
0
0
4.#
0
0
0
4.
1
1
+
.#
1
.
1
= 6
6
6.#
6.
+ 1"
.#
.
Controlabilidad
1/s
x2
-3/4
-8
1
1/s
x3
-4
3/4
C(s)
Observabilidad
R(s)
1/s
x2
-8
1/s
x3
-4
-3/4
C(s)
Matriz de controlabilidad
Dadas las EE
= +
= +
.#
Matriz de observabilidad
Dadas las EE
= +
= +
.#
Ejemplo 4.6
1
0
1
2
0
3 + 5
0
0
4
0
0
1
23 149
=
27
27
9
1 2
0 3
1 0
78 =
2 1 2 0 4
5
= 4
0 3 5 0 = 0
1 1 0 0 0
5
2 1 2
= 4
0 3
1 1 0
0 4
20 40
5 0 = 5 20
0 0
5 24
8
16
4
1 2
0 3
1 0
5
0
5
8 20 40
16 5 20
4 5 24
Ejemplo 4.7
2 1
= 3 0
4 0
0
1
1 + 1
0
1
Remplazando tenemos
0
79 = 4
8
0 1
0 0
4 0
= 0 0 1
79 =
.
0
6
+ +4
1
4
0
0
= 6
6
0
1
4
0
6
6%
6.
+ + 4 + + 4 + + + 4
%
.
0
0
0
4%
0
6.#
6.
0
0
0
0
4.
1
1
1
+
%
1
.
1
+ 1"
.#
.
ss
tf
zpk
ctrb
obsv
Controllability matrix
Observability matrix
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