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Ejercicio1 - Ana Cortes
Ejercicio1 - Ana Cortes
G ( z )=
0.004528(z +0.1048)
( z0.1048)( z0.5187)
0.004528 z +0.000474
0.004528 z +0.000474
= 2
z 0.5187 z0.1048 z +0.054359 z 0.62356 z+ 0.054359
2
Y ( z ) b 0 +b1 z +b 2 z + +b n z
G ( z )=
=
U ( z ) a0 +a1 z1 +a 2 z2+ +a n zn
Y (z)
0.004528 z +0.000474
= 2
U (z) z 0.62356 z+ 0.054359
Y ( z ) ( z 20.62356 z +0.054359 )=U ( z)(0.004528 z +0.000474)
Y (z)
z 20.62356 z +0.054359
0.004528 z+ 0.000474
=U ( z )
2
z
z2
10.62356 z
Y ( z)( 1+0.054359 z )=U (z)(0.004528 z1+ 0.000474 z2)
y ( k )=Cx ( k )+ Du(k )
][
][ ][]
x 1 (k + 1)
x (k) 0
= 0 0.054359 1
+ U (k )
1
0.62356
x 2 (k + 1)
x2 ( k ) 1
Calculando la matriz C:
C1 =b1a1 b 0=0.004528(0.62356 )0=0.004528
C2 =b2a2 b 0=0.000474( 0.054359 )0=0.000474
D=b 0=0
[ ]
x1( k )
+0 u(k )
x2( k )