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DE CHIMBORAZO
GABRIELA SOLANO
JHOFRE OJEDA
ERIKA TADAY
KLEBER CHULDE
EDWIN ROMERO
CONTROL FRACTAR
1
G ( S )=
S+ 1
(t) 1
y (t ) L { G ( S ) } y (t )=1 et /1
Y ( S )=U ( S ) G(S)
t
y (t )= U ( ) d
0
t
1 d=[ ] t = [ t0 ] =t siu ( t )=1
0 0
t
d =
0
[ ] [ ]
2 t
s 0 2
t2 t2
= 0 = si u ( t )=t
2
Si u ( t )=1(t)
g ( t )=t
g(2)
g(1)
g()
t=0 u()
1 2 3 4
8
4.5
2
f ( t )g ( t )
Revisar:
L { g ( t )f ( t ) } = [ f ( t )g( )d ]est dt
0 0
[ f (t ) est dt ] g( )d
0 0
d d
t = ; [ t ] =
d d
dt
=1 dt=d
d
f ( ) es ( + ) dt
0
f ( )es es dt
0
es f ( )es dt
0
F(S)
es F( S) g ( ) d
0
F( S) es g ( ) d
0
G( S)
L { g ( t )f ( t ) } =g ( S ) f ( S)
Supongamosuna seal
t2
1* 2
1* 2 *3
t t t t
f (t ) 1(t )dtdtdtdt
0 0 0 0
t
t3
x1(t ) dt
0
1* 2 *3
t4
1* 2 * 3* 4
entonces( n 1) n! ( n) ( n 1)!
t
1
f (t )
( n 1) 0
t n1(t )dt
t t t t
f (t ) 1(t )dtdtdtdt
0 0 0 0
t
t3
x1(t ) dt
0
1* 2 *3
t4
1* 2 * 3* 4
entonces( n 1) n! ( n) ( n 1)!
t
1
f (t )
( n 1) 0
t n1(t )dt
t 1
f (t ) ...; g (t )
t
f (t ) * g (t ) f (t )g ( z ) dz
0
t 1
t
0 g ( z)dz f (t ) * g (t )
t 1
1
f (t ) * g (t )
f (t )
0
g ( z ) dz
Integral fractal de una funcin g(t) puede ser definida como una convolucin
t 1
entre g(t) y
Qu pasa si aplicamos transformada de Laplace a la convolucin citada?
t 1 t
1
L * g (t ) g ( z ) dz * e st dt
0 0
1
1
0 0
f ( t ) e st
dt g ( z ) dz
t t
dt d
1
1
e s ( )
dt e s e s dt
0 0
0
e s dt
t n1 1
n
( n 1)! s
(n) (n 1)!
t n1 1
n
( n) s
1 1
( ) s
1( )
1
s
1
1 ( )
0
e s d e s
s
t 1 1 ( )
L
* g (t )
( ) 0
e s g ( z )dz
s
1 ( ) s
( ) s 0
e g ( z )dz
1
g (s )
s
t
f (t ) * g (t ) f (t )g ( z )dz
0
1 t
(t ) 1
s
F ( s )
0 f ( z ) dG
t 1 1
( ) 1
( s 1 / T 1) ( s 1 / T 2)
G ( s ) Kp .
s 1 / T1 s 1 / T 2
G ( s ) Kc * g ( ) * g ( ) 1 b 1
+ + +
+ kc 1/ s 1/T 1 1/s 1/ T 2
+
- -
+ T 1 1/ T 2 1/
Y ( s) Y ( s)
G(s) *1
U ( s) U ( s)
Y ( s) W (s)
U ( s) W ( s)
W ( s ) Y ( s)
G(s) *
U ( s ) W ( s)
W ( s) 1
U ( s) S 1
T1
1
Y ( s ) SW ( s ) W ( s )
T1
u +
+ 1/s 1/T 1
+ y
T 1 1/
-
Transformara fractal
+ + +
+ kc 1/s 1/T 1 1/s
1/ T 2
+
- -
+ T 1 1/ T 2 1/
1
D X 2 Kc x2
T1
x2 1 1
D X 1 Kc x2 X1
T1 T1 T 2
X1 X 2 1 1
Y Kc x2 X 1
T 2 T1 T 1 T 2