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Practica 2 Control Analogico
Practica 2 Control Analogico
Ingeniera electrnica
Tutor Laboratorio
Grupos
299005_24
Por:
Diego Diaz
Cdigo71718620
01/05/2015
CEAD
Medelln
PRACTICA No. 02
a. Su controlabilidad.
( )(
0 0 1 0 0 0
AB= 0
0
0
0 0
0 9.275
0 0
1
0
3.496
0 0
2.367 0.07898
0.241 0.7913
)
( )
2.367 0.0789
0.241 0.791
AB =
21.953 0.732
0.842 2.766
( ) )(
2
0 0 1 0 0 0
A 2 B= 0
0
0
0 0
0 9.275
0 0
1
0
3.496
0 0
2.367 0.07898
0.241 0.7913
)
( )
21.953 0.732
2 0.842 2.766
A B=
203.622 6.794
2.945 9.671
))(
3
0 0 1 0 0 0
A B= 0
3
0
0
( 0 0
0 9.275
0 0
1
0
3.496
0 0
2.367 0.07898
0.241 0.7913
)
( )
203.622 6.794
3 2.945 9.671
A B=
1888.6 63.017
10.297 33.811
( )
0 0 2.367 0.0789 21.953 0.732 203.622 6.794
0 0 0.241 0.791 0.842 2.766 2.945 9.671
M=
2.637 0.0789 21.953 0.732 203.622 6.794 1888.6 63.017
0.241 0.791 0.842 2.766 2.945 9.671 10.297 33.811
b. Su observabilidad.
0 0 1 0
((
CA= 1 0 0 0
0 1 0 0 )) ( 0
0
0
0 0
0 9.275
0 0
1
0
3.496
)
(
CA= 0 0 1 0
0 0 0 1 )
( ))
2
0 0 1 0
((
C A2 = 1 0 0 0
0 1 0 0 )) 0
0
0 0
0 9.275
1
0
0 0 0 3.496
(
C A2= 0 0 9.275
0 0 0
0
3.496 )
))
3
0 0 1 0
((
C A3 = 1 0 0 0
0 1 0 0 )) ( 0
0
0
0 0
0 9.275
0 0
1
0
3.496
(
C A3 = 0 0 86.025
0 0 0
0
12.222 )
Luego se ubican en la matriz de observabilidad
1 0 0 0
( )
0 1 0 0
0 0 1 0
O= 0 0 0 1
0 0 9.275 0
0 0 0 3.496
0 0 86.025 0
0 0 0 12.222
( )
1 0 0 0
det 0 1 0 0 =1
0 0 1 0
0 0 0 1
(
0 0 9.275 0
det 0
0
0
0 0
0 86.025
0 0
3.496 =0
0
3.496
)
El sistema no es observable
Conclusiones
Referencias Bibliogrficas
http://www.el.bqto.unexpo.edu.ve/etperez/control2/Cap4.pdf
http://www.virtual.unal.edu.co/cursos/ingenieria/2001619/lecciones/estado/node
9.html