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Luis Snchez
Bounded-input-bounded-output(BIBO) stability:
Definicin. Un sistema de control es estable si ante cualquier entrada acotada, el
sistema posee una salida acotada.
Usando Matlab
Determinar la respuesta de un escalar unitario de una funcin de trasferencia con
polos en los distintos cuadrantes del plano complejo
t = [0:0.2:20]';
num = [1];
den = poly([-1 -2 -4]);
ye = step (num,den,t);
plot (t,ye);
title ('Respuesta a un escalon unitario');
xlabel ('tiempo(seg)');
grid on
H(s) = 1
>>numg=1;
% Define numerator of G(s).
>>deng=conv([1 0],[2 3 2 3 2]); % Define
denominator of G(s).
>>G=tf(numg,deng);
% Create G(s) object.
>>T=feedback(G,1)
% Calculate closed-loop
% T(s) object.
>>poles=pole(T)
% Find poles of T(s).
LTI systems
Stability Conditions
stable
Location of poles
all poles in LHP
marginally stable
unstable
>
No poles in right
s-plane
( s s1 )( s s2 )( s s3 ) 0 a0 s a1s a2 s a3 0
s( s s2 )( s s3 ) s1 ( s s2 )( s s3 ) 0
3
s( s ( s2 s3 )s s2 s3 ) s1 ( s ( s2 s3 )s s2 s3 ) 0
s3 ( s1 s2 s3 )s 2 ( s1s2 s1s3 s2 s3 )s s1s2 s3 0
2
a1
si 0
a0
i 1
3
a2
si s j 0
a0 i , j 1
i j
3
a3
si s j sk 0
a0
i , j , k 1
i j k
Rouths Tabulation
Consider the characteristic equation of a LTI system
n2
a0
a2
a4
a6
a1
a3
a5
a7
b1
b2
b3
b4
c2
c3
c4
s n 3 c1
s2
e1
f1
s0
g1
e2
1 a0
b1
a1 a1
a2
1 a0
b2
a1 a1
a4
1 a0
b3
a1 a1
a6
a3
a5
a7
1 a1
c1
b1 b1
1 a1
c2
b1 b1
1 a1
c3
b1 b1
a3
b2
a5
b3
a7
b4
Rouths Criterion
A necessary and sufficient condition for stability:
all the elements of the first column of the Routh
Tabulation are of the same sign.
The number of changes of signs in the elements of the
first column equals the number of roots in the right-half splane.
Example
s 2s 3s 4s 5 0
4
s4
s3
s1
First-order:
a0 s a1 0
a0 s a1s a2 0
2
Second-order:
a0 s a1s a2 s a3 0
3
s3
a0
a2
s2
a1
a3
s0
a0 a3 a1a2
a1
a3
4 16
12
s2
s1
s0
0( )
16
12 48
0
16
when 0
12 48
12
48
s 4 2s 3 7s 2 4s 10 0
Determine whether there are any roots on the imaginary axis or in the
RHP.
Indica:
Existe un polinomio divisor, que
divide exactamente al polinomio
caracterstico.
Este polinomio divisor es un
polinomio PAR y se obtienen de los
coeficientes del regln anterior al
regln con solo ceros.
E.C
( s 2)( s 2s 5)
2
e.g.
s1,2 1
e.g.
s1,2 1 j1
s3,4 1 j1
e.g. s1,2 1 j
s3,4 2 j
Example
s 5 3s 4 3s 3 9s 2 4s 12 0
Determine whether there are any roots on the imaginary axis or in the
RHP.
55
s
s
44
s
s
33
s
s
22
s
s
11
s
s
00
s
s
1
1
44
1
3 33 4
3
12
3 9 99 12
12
3
Introducing an auxiliary equation:
12
12
8 0 00
0
0118
A( s ) 3s 4 9 s 2 12 0
9/2
dA
12
(s)
Its derivative:
50
ds
12 s 3 18s 0
12
The sign in the first column changes once, so the system is unstable and there
is one root outside LHP.
A( s) 3s 9s 12 0
4
s 3s 4 ( s 1)( s 4) 0
4
s1, 2 1
j
j2
j2
s3,4 j 2
A positive real
root locates in
the RHP
Example
10
s ( s 1)( s 2)
Y ( s)
R( s )
10
s ( s 1)( s 2)
Y ( s)
Characteristic equation:
1 Gl oop ( s ) 0
20k
1
0
s( s 1)( s 2)
Characteristic equation
20k
1
0
s ( s 1)( s 2)
s 3s 2s 20k 0
3
s3
s2
20k
s0
3 2 20k
3
20k
0 6 - 20k 0 k 0.3
k 0
Exercise
Consider that a 3rd-order system has the characteristic equation
0.025s 3 0.325s 2 s k 0
s 3 13s 2 40 s 40k 0
40
13
40k
s
s
13 40 40k
13
40k
k 13
k 0
K=[1:1:2000];