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NOMBRES:
-JAIME BUENAVENTURA
-ESTEBAN PEREZ
-RICARDO CASTILLO
NRC: 2299
Ejercicio 1
0.05
Planta: () = (Sistema trmico: Ganancia, tiempo muerto, retardo orden 1)
+0.1
Desarrollo:
0.05
() =
+ 0.1
Para T=0.6s.
= + ( )
() 0.05
=
() + 0.1
1
() + () = 0.05 ()
10
1
= + 0.05( 1)
10
= 0.1 ; = 0.05
= 0.1(0.6) = 0.9418
0.61
0 = 0.1 0.1 = 0.0099
0
0.61
1 = 0.1(0.61) 0.1 = 0.0192
0
Programacin Matlab
gs=tf(0.05,[1 0.1],'inputdelay',1)
gz=c2d(gs,0.6)
gs =
0.05
exp(-1*s) * -------
s + 0.1
gz =
0.009901 z + 0.01922
z^(-2) * --------------------
z - 0.9418
Si d=2
( + ) = . () + . ( ) + . ( )
1. Espacio de Estados
Programacin Matlab
wn=0.15;
si=0.8;
T=0.6;
[F,G,C,D]=c2dt(-0.1,0.05,1,T,1);
[n,d]=ord2(wn,si)
pc=roots(d);
pd=exp(pc*T);
Fa=[F [0;0;0];[C 1]];
Ga=[G;0];
k=acker(Fa,Ga,[pd;0;0]);
sysf=ss(Fa-Ga*k,[0;0;0;-1],[C 0],D,T)
step(sysf,'g')
n=
d=
sysf =
a=
x1 x2 x3 x4
x1 0.9418 0.01922 0.009901 0
x2 0 0 1 0
x3 -3.015 -0.05624 -0.08342 -0.2589
x4 1 0 0 1
b=
u1
x1 0
x2 0
x3 0
x4 -1
c=
x1 x2 x3 x4
y1 1 0 0 0
d=
u1
y1 0
Ganancia Kr
Programacin Matlab
gf=tf(sysf)
[nf,df]=tfdata(gf,'v')
kr=polyval(df,1)/polyval(nf,1)
step(kr*sysf,'r')
gf =
0.002563 z + 0.004975
------------------------------------------------------
z^4 - 1.858 z^3 + 0.8659 z^2 + 1.102e-16 z - 9.698e-17
nf =
0 0 0 0.0026 0.0050
df =
kr =
1.0000
Programacin Matlab
gs=tf(0.05,[1 0.1],'inputdelay',1);
gz=c2d(gs,0.6)
[F,G,C,D]=c2dt(-0.1,0.05,1,1,1)
si=0.8; wn=0.15; T=0.6;
[n,d]=ord2(wn,si);
pc=roots(d);
pd=exp(pc*T);
Fa=[F [0;0];[C 1]];
Ga=[G;0];
k=acker(Fa,Ga,[pd;0]);
sysf=ss(Fa-Ga*k,[0;0;-1],[C 0],D,T)
step(sysf,'g')
gz =
0.009901 z + 0.01922
z^(-2) * --------------------
z - 0.9418
F=
0.9048 0.0476
0 0
G=
0
1
C=
1 0
D=
0
sysf =
a=
x1 x2 x3
x1 0.9048 0.04758 0
x2 -1.042 -0.04649 -0.1584
x3 1 0 1
b=
u1
x1 0
x2 0
x3 -1
c=
x1 x2 x3
y1 1 0 0
d=
u1
y1 0
Ganancia Kr
Programacion Matlab
gf=tf(sysf)
[nf,df]=tfdata(gf,'v')
kr=polyval(df,1)/polyval(nf,1)
step(kr*sysf,'r')
gf =
0.007539
--------------------------------------
z^3 - 1.858 z^2 + 0.8659 z - 1.034e-17
nf =
0 0 0 0.0075
df =
kr =
1.0000