INSTITUTO TECNOLGICO DE

SALTILLO

Ingeniera Mecatrnica
Materia. Control
Maestra. Ftima Olvido Palomo

Alma Guadalupe Cisneros Saucedo

REPORTE Y SIMULACIONES EN
MATLAB.

Numero de control: 13050160
Datos iniciales

tiempo datos
1 0 0
2 0.500000000000 0
000
3 0.999999999999 0
993
4 1 0
5 1.000000000000 1.01204444645001
01 e-28
6 1.500000000000 0.11286621093750
01 6
7 2.000000000000 0.39294621228444
01 2
8 2.500000000000 0.74257741152999
01 4
9 3.000000000000 1.07063381773131
01
10 3.500000000000 1.31082079820322
01
11 4.000000000000 1.43054369401797
01
12 4.500000000000 1.43051419640675
01
13 5.000000000000 1.33722861575762
01
14 5.500000000000 1.19152425982874
01
15 6.000000000000 1.03656050627746
01
16 6.500000000000 0.90795549956938
01 6
17 7.000000000000 0.82773833034593
01 6
18 7.500000000000 0.80258283436520
01 8
19 8.000000000000 0.82575850550391
01 5
20 8.500000000000 0.88155364802207
01 6
21 9.000000000000 0.95066570376343
01 3
22 9.500000000000 1.01517709905660
01
23 10.00000000000 1.06213037536409
00
24 10.50000000000 1.08523796700425
00
25 11.00000000000 1.08476886236549
00
26 11.50000000000 1.06603998516697
00
27 12.00000000000 1.03714775293191
00
28 12.50000000000 1.00659930401964
00
29 13.00000000000 0.98137873614627
00 9
30 13.50000000000 0.96577104151926
00 9
31 14.00000000000 0.96103090352339
00 7
32 14.50000000000 0.96578121552716
00 6
33 15.00000000000 0.97689357164353
00 0
34 15.50000000000 0.99055337310479
00 6
35 16.00000000000 1.00323797743275
00
36 16.50000000000 1.01241522866279
00
37 17.00000000000 1.01687289882809
00
38 17.50000000000 1.01668931811070
00
39 18.00000000000 1.01293092720835
00
40 18.50000000000 1.00720267775248
00
41 19.00000000000 1.00118122872657
00
42 19.50000000000 0.99623586851324
00 5
43 20.00000000000 0.99319987709161
00 3
44 20.50000000000 0.99230858013164
00 1
45 21.00000000000 0.99328064116348
00 4
46 21.50000000000 0.99549329635061
00 7
47 22.00000000000 0.99819278998258
00 8
48 22.50000000000 1.00068663728907
00
49 23.00000000000 1.00248008444125
00
50 23.50000000000 1.00333954821388
00
51 24.00000000000 1.00328544484750
00
52 24.50000000000 1.00253158111599
00
53 25 1.00139605810563
 1. m=1, b= 0.5,
k= 1
x

m F
b

1.- Sacar la Funcin de transferencia.

m ( x ) +b ( x ) +k ( x )=F Clculos matemticos para obtener los

polos de la funcin del sistema.
M S2 Y ( s )+ BSY ( s )+ KY ( s )=F ( s )
2.- Sacar los polos y grafica en los planos

b ( b ) 4 ( a ) ( c )
2
( Y ( s ) ) ( M S2 + BS+ K ) = F ( s)
1

Y ( s)
= 2
1
F ( s ) M S + BS+ K
(
( Y ( s ) ) ( s )=
m (S ) +
m
2 b ( S)
m m
+
k
) ( 2) ( a)

0.5 ( 0.5 ) 4 (1 )( 1 )
2

( 2 ) (1 )
Y ( s) 1
( () 1s ) 1

( )
= 2
F ( s ) M S + BS+ K
s 1 , s2=0.25
1 3.75
Y ( s )=
0.5 ( S ) 1 2
( S )2 + +
1 1
1 1
Y ( s )=
( 2
M S + BS+ K )( )
s
 Proceso en maltaba para encontrar los
polos de la funcin del sistema.

3.- Caso sub - amortiguado.

1
(( )
Y ( s )= 2
S +0.5 ( S ) +1 ) wd=wn=1 2

(
4.- Graficar
Y ( s )= 2
( S ) +2 wn ( S ) +wn )
wnla respuesta de salida
2
wd=wn= 10.25
al tiempo ante2 una entrada de escaln (1/s)
tp=

wn 1 2
wd=wn=.96 1
2
wn =1

tp= =3.2446
1
wn= 1
=tan 1 ( )
0.25
( 1 ) 10.25 2

4 4
wn=1 =75.96 76 ts 2 = =
wn 0.25

2 wn=0.5 Mp=e / 1
( 2
)
ts 2 =16 s
Clculos matemticos para obtener valores y
datos de la grafica de respuesta de salida en el
tiempo con entrada escaln

DIAGRAMA DE BLOQUES
 tiempo datos
1 0 0 28 9.80000000000 1.0154563604591
2 0.400000000000 0 002 4
000 29 10.2000000000 1.0111157348314
3 0.800000000000 0 000 9
000 30 10.6000000000 1.0074780588422
4 0.999999999999 0 000 5
993 31 11.0000000000 1.0045498475456
5 1 0 000 0
6 1.000000000000 5.04925909303998 32 11.4000000000 1.0022889990299
01 e-29 000 2
7 1.400000000000 0.03493248000000 33 11.8000000000 1.0006235800773
01 23 000 4
8 1.800000000000 0.12155918571365 34 12.2000000000 0.9994663724840
01 6 000 35
9 2.200000000000 0.23716362654740 35 12.6000000000 0.9987256248998
01 1 000 71
10 2.600000000000 0.36462047479723 36 13.0000000000 0.9983125569184
01 0 000 73
11 3.000000000000 0.49167396014935 37 13.4000000000 0.9981461946266
01 5 000 60
12 3.400000000000 0.61013521283919 38 13.8000000000 0.9981561006546
01 7 000 53
13 3.800000000000 0.71507784952163 39 14.2000000000 0.9982835140527
01 3 000 66
14 4.200000000000 0.80408506935270 40 14.6000000000 0.9984813495822
01 0 000 38
15 4.600000000000 0.87658059270351 41 15.0000000000 0.9987134324948
000 50
42 15.4000000000 0.9989532709662
 01 0
16 5.000000000000 0.93325962398736
01 6
17 5.400000000000 0.97562413391346
02 8
18 5.800000000000 1.00561850760534
02
19 6.200000000000 1.02535633458850
02
20 6.600000000000 1.03692618793481
02
21 7.000000000000 1.04226307266089
02
22 7.400000000000 1.04307231352462
02
23 7.800000000000 1.04079357926360
02
24 8.200000000000 1.03659416746761
02
25 8.600000000000 1.03138234327585
02
26 9.000000000000 1.02583324688799
02
27 9.400000000000 1.02042152929336
02

Valores para la grafica para la respuesta con

entrada de escaln

2.- Sacar los polos y grafica en los planos

( Y ( s ) ) ( M S2 + BS+ K ) = F ( s)

1
Y ( s ) 2. m=0.5,
=k= 12
1 b= 2,
F ( s ) M S + BS+ K

1.- Sacar la Funcin de transferencia.

Y ( s) 1 1
(
( Y ( s ) ) ( s )=
m
2 b ( S)
m (S ) +
m m
+
k
) b ( b ) 4 ( a ) ( c )
2

( 2) ( a)

( =
) M S + BS+ K s
mF( x( s) +b ( x
) +k2
( x )( )
) =F
1 0.5 ( 0.5 ) 4 (1 )( 1 )
2

M S2 Y ( s )+ BSY1 ( s )+ KY (1s )=F ( s )

Y ( s )=
(M S 2+ BS+ K s )( )
Y ( s )=
(( S )2 +
1
0.5 ( S ) 1
1
+
1
) ( 2 ) (1 )
 tiempo Datos
1 0 0
2 0.400000000000 0
000
3 0.800000000000 0
000
4 0.999999999999 0
993
5 1 0
6 1.000000000000 5.04925909303998
01 e-29
7 1.400000000000 0.03493248000000
01 23
8 1.800000000000 0.12155918571365
01 6
9 2.200000000000 0.23716362654740
01 1
10 2.600000000000 0.36462047479723
01 0
11 3.000000000000 0.49167396014935
01 5
12 3.400000000000 0.61013521283919
01 7
13 3.800000000000 0.71507784952163
01 3
14 4.200000000000 0.80408506935270
01 0
15 4.600000000000 0.87658059270351
01 0
16 5.000000000000 0.93325962398736
 01 6
17 5.400000000000 0.97562413391346
02 8
18 5.800000000000 1.00561850760534
02
19 6.200000000000 1.02535633458850
02
20 6.600000000000 1.03692618793481
02
21 7.000000000000 1.04226307266089
02
22 7.400000000000 1.04307231352462
02
23 7.800000000000 1.04079357926360
02
24 8.200000000000 1.03659416746761
02
25 8.600000000000 1.03138234327585
02
26 9.000000000000 1.02583324688799
02
27 9.400000000000 1.02042152929336
02
28 9.800000000000 1.01545636045914
02
29 10.20000000000 1.01111573483149
00
30 10.60000000000 1.00747805884225
00
31 11.00000000000 1.00454984754560
00
32 11.40000000000 1.00228899902992
00
33 11.80000000000 1.00062358007734
00
34 12.20000000000 0.99946637248403
00 5
35 12.60000000000 0.99872562489987
00 1
36 13.00000000000 0.99831255691847
00 3
37 13.40000000000 0.99814619462666
00 0
38 13.80000000000 0.99815610065465
00 3
39 14.20000000000 0.99828351405276
 00 6
40 14.60000000000 0.99848134958223
00 8
41 15.00000000000 0.99871343249485
00 0
42 15.40000000000 0.99895327096629
00 4
43 15.80000000000 0.99918259901368
00 8
44 16.20000000000 0.99938986100114
00 1
45 16.60000000000 0.99956875625367
00 0
46 17.00000000000 0.99971691928900
00 6
47 17.40000000000 0.99983477740000
00 8
48 17.80000000000 0.99992460194575
00 4
49 18.20000000000 0.99998975162874
00 6
50 18.60000000000 1.00003409402870
00
51 19.00000000000 1.00006158451414
00
52 19.40000000000 1.00007597822835
00
53 19.80000000000 1.00008065014221
00
54 20 1.00008026621157

3.- m=1, b= 0, K = 0.5

 tiempo datos
1 0 0
2 0.999999999999 0
993
3 1 0
4 1.000000000000 1.00595542633784
01 e-28
5 2.000000000000 0.47958333333334
01 7
6 3.000000000000 1.68826814236113
01
7 4.000000000000 3.04640492804183
01
8 5.000000000000 3.90269321632442
01
9 6.000000000000 3.84651556685496
01
10 7.000000000000 2.90484168082728
01
11 8.000000000000 1.52928083315422
01
12 9.000000000000 0.37949846779009
01 7
13 10.00000000000 0.00686632645595
00 148
14 11.00000000000 0.59005519569232
00 2
15 12.00000000000 1.84936529984869
00
16 13.00000000000 3.18087146017404
00
17 14.00000000000 3.94604645245558
00
18 15.00000000000 3.77796838882004
00
19 16.00000000000 2.75726958211536
00
20 17.00000000000 1.37345470439424
00
21 18.00000000000 0.29014512585899
00 2
22 19.00000000000 0.02683307921966
00 47
23 20.00000000000 0.70976341654534
00 0
24 21.00000000000 2.01140557029970
00
25 22.00000000000 3.30753585874223
00
26 23.00000000000 3.97659411237634
00
27 24.00000000000 3.69775327921551
00
28 25.00000000000 2.60476252569750
00
29 26.00000000000 1.22179293594940
00
30 27.00000000000 0.21205814403400
00 3
31 28.00000000000 0.05976516872410
00 93
32 29.00000000000 0.83791835761629
00 7
33 30.00000000000 2.17332345969400
00
34 31.00000000000 3.42556774148590
00
35 32.00000000000 3.99413912844051
00
36 33.00000000000 3.60640096837350
00
37 34.00000000000 2.44832450405595
00
38 35.00000000000 1.07529130164416
00
39 36.00000000000 0.14574755359027
00 3
40 37.00000000000 0.10544231356737
00 4
41 38.00000000000 0.97367508469567
00 1
42 39.00000000000 2.33405459021805
00
43 40.00000000000 3.53419371737953
00
44 41.00000000000 3.99856996725505
00
45 42.00000000000 3.50451524494796
00
46 43.00000000000 2.28898505729055
00
47 44.00000000000 0.93491136237970
00 1
48 45.00000000000 0.09164582111716
00 50
49 46.00000000000 0.16356051351757
00 0
50 47.00000000000 1.11613893823379
00
51 48.00000000000 2.49254269693076
00
52 49.00000000000 3.63270245406777
00
53 50 3.98986133785465
4.- m=0.5, b= 0.2, K = 0.5

tiempo datos
1 0 0
2 0.999999999999 0
993
3 1 0
4 1.000000000000 5.04333077460916
01 e-29
5 2.560119196080 0.54977692586577
38 3
6 4.081703362978 1.76343762495203
29
7 5.806719616112 3.04265158321348
98
8 7.656673029441 3.43685495444837
 78
9 9.403127335170 2.77921151048143
96
10 11.13244238549 1.72539452733811
39
11 13.13244238549 0.97022474076303
39 3
12 15.13244238549 1.21075072667385
39
13 16.93863351505 1.97886689666167
37
14 18.93863351505 2.67606003125968
37
15 20.93863351505 2.68297501215973
37
16 22.87955854233 2.13902617737502
33
17 24.87955854233 1.56965471987250
33
18 26.87955854233 1.46249250392723
33
19 28.87955854233 1.82290728792586
33
20 30.87955854233 2.26548272347700
33
21 32.87955854233 2.40632675293524
33
22 34.87955854233 2.18283727108549
33
23 36.87955854233 1.84752234827185
33
24 38.87955854233 1.70024255107664
33
25 40.87955854233 1.82962092664896
33
26 42.87955854233 2.07753608732425
33
27 44.87955854233 2.21577150377624
33
28 46.87955854233 2.14900915340105
33
29 48.87955854233 1.97015000148954
33
30 50.87955854233 1.84867008902812
33
31 52.87955854233 1.87542033999124
33
32 54.87955854233 2.00117017794609
33
33 56.87955854233 2.10309907362326
33
34 58.87955854233 2.10055871980340
33
35 60.87955854233 2.01464622997582
33
36 62.87955854233 1.93213149884680
33
37 64.87955854233 1.92118800802147
33
38 66.87955854233 1.97793652684263
33
39 68.87955854233 2.04276919901935
33
40 70.87955854233 2.06016773967426
33
41 72.87955854233 2.02424487412282
33
42 74.87955854233 1.97463580248326
33
43 76.87955854233 1.95518496348232
33
44 78.87955854233 1.97662915880014
33
45 80.87955854233 2.01366128570812
33
46 82.87955854233 2.03257654209889
33
47 84.87955854233 2.02089703586065
33
48 86.87955854233 1.99391797310868
33
49 88.87955854233 1.97691074166621
33
50 90.87955854233 1.98224229039797
33
51 92.87955854233 2.00140946108020
33
52 94.87955854233 2.01591943080600
33
53 96.87955854233 2.01452163778972
33
54 98.87955854233 2.00127140812564
33
55 100 1.99360075188344

5.- m=1, b= 1, K = 1

tiempo datos
1 0 0
2 0.500000000000 0
000
3 0.999999999999 0
993
4 1 0
5 1.000000000000 1.01384403539003
01 e-28
6 1.500000000000 0.10440104166667
01 2
7 2.000000000000 0.34029081149631
01 8
8 2.500000000000 0.61048143722091
01 6
9 3.000000000000 0.84941567511314
01 3
10 3.500000000000 1.02335319612889
01
11 4.000000000000 1.12435299795165
01
12 4.500000000000 1.16165242372578
01
13 5.000000000000 1.15312824230246
01
14 5.500000000000 1.11845280620512
01
15 6.000000000000 1.07459702893741
01
16 6.500000000000 1.03362329502084
01
17 7.000000000000 1.00229256789435
01
18 7.500000000000 0.98284757979331
01 9
19 8.000000000000 0.97435845167048
01 4
20 8.500000000000 0.97415016978607
01 4
21 9.000000000000 0.97900466098716
01 7
22 9.500000000000 0.98599453429536
01 3
23 10.00000000000 0.99293276663397
00 3
24 10.50000000000 0.99850279763701
00 8
25 11.00000000000 1.00216971364644
00
26 11.50000000000 1.00397576750436
00
27 12.00000000000 1.00430514356284
 00
28 12.50000000000 1.00367539455120
00
29 13.00000000000 1.00258524247779
00
30 13.50000000000 1.00142589258491
00
31 14.00000000000 1.00044795861853
00
32 14.50000000000 0.99976849136259
00 3
33 15.00000000000 0.99940097701336
00 4
34 15.50000000000 0.99929348743901
00 1
35 16.00000000000 0.99936442395520
00 0
36 16.50000000000 0.99952991426215
00 8
37 17.00000000000 0.99972086779122
00 5
38 17.50000000000 0.99989047221804
00 4
39 18.00000000000 1.00001444773803
00
40 18.50000000000 1.00008685966118
00
41 19.00000000000 1.00011404380431
00
42 19.50000000000 1.00010855769826
00
43 20.00000000000 1.00008431295221
00
44 20.50000000000 1.00005336194400
00
45 21.00000000000 1.00002430707077
00
46 21.50000000000 1.00000200065291
00
47 22.00000000000 0.99998808549049
00 6
48 22.50000000000 0.99998194115081
00 9
49 23.00000000000 0.99998169401324
00 5
50 23.50000000000 0.99998507136691
 00 2
51 24.00000000000 0.99998999635058
00 2
52 24.50000000000 0.99999491106886
00 2
53 25 0.99999887257831
8