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Ki
Kp
Gc(s)=kp(1+ 0.2 s
0.2 s+1
s+5
Gc(s)=Kp( 0.2 s
=Kp( s
Gc(s)=Gc(s).Gp(s)
Kp(s +5)
G(s)= s (s +2)(s+ 4)
Ceros:
Z: s=-5
Polos:
P: s=0;-2;-4
Tan= 5x
; tan3= 4x
3
Tan(180-2)= x2 ; tan(180-1)= x
3
x5 = Tan(a+b+c) ..(1)
.(3)
3
Tanb=tan(180-2)= x2
Tanc=tan(180-3)=
3
x4
Tan(b+c)= x 26 x1
3
Tana=tan(180-1)= x
9 x 36 x3
Tan(a+b+c)= x 36 x 219 x +54
Reemplazando en (1):
3
9 x 236 x3
x5 = x 36 x 219 x +54
6 x 63 x 234 x+ 147 =0
4,221+ j 3
k p ( 0,1172) =1
K P =8,533
ki
KP
0,2
= 42,665
GO ( S )=
42,665
S
8,533 ( S+5 )
S (S +2)(S +4 )
T(S)= 1+G( S)
8,533 s+ 42,665
=1
Kp | 4.221 j 3 |
(1.221 j3)( 0.779 j3)(3.221 j3)
Kp(0.1172)=1
Kp=8.533
=1
Kp
Ki=
0.2
8.533( s 5)
s( s 2)( s 4)
G ( s)
1 G(s)