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LIMA SUR
Ingeniería electrónica y telecomunicaciones.
LABORATORIO N°2
CURSO: Control II.
PROFESOR: Prof. José A. Machuca Mines
INTEGRANTES:
Collado Apara, Luz
LozanoReyes, Guisela
LABORATORIO N°2
SISTEMA MECÁNICO
Código MATLAB:
M1=10;
M2=4;
B=15;
K=25;
%Simulacion
t=0:0.0001:4;
Ref=1;
Aac=Aa-Ba*Ka
Bac=Br
Cac=Ca-Da*Ka
Dac=0
[Y3,X3]=step(Aac,Bac*Ref,Cac,Dac,1,t);
U3=-Ka*X3';
figure
plot(t,Y3)
grid
figure
plot(t,X3)
legend('x1','x2','x3','x4','v')
grid
figure
plot(t,U3)
grid
Resultados:
A=
0 0 1.0000 0
0 0 0 1.0000
B=
0.2500
C=
1 0 0 0
-1 1 0 0
D=
Nus =
0 0 0 0.3750 0.6250
Des =
0 0 0.3750 -1.3438
r=
d=
-0.0244
Pla =
a4 =
6.6613e-15
W=
5.2500 1.0000 0 0
1.0000 0 0 0
T=
0.6250 0.3750 0 0
0 0.6250 0.3750 0
S=
Plc =
1 14 69 146 120
K1 =
Ac =
0 0 1.0000 0
0 0 0 1.0000
Bc =
0
Cc =
1 0 0 0
-1 1 0 0
Dc =
C=
1 0 0 0
D=
x0 =
M=
0 0 0.3750 -1.3438
r=
d=
-0.0244
Pla =
a4 =
6.6613e-15
W=
5.2500 1.0000 0 0
1.0000 0 0 0
T=
0.6250 0.3750 0 0
0 0.6250 0.3750 0
S=
Plc =
K2 =
k0 =
812.3034
Ac =
0 0 1.0000 0
0 0 0 1.0000
Bc =
203.0759
Cc =
1 0 0 0
Dc =
x0 =
0 0 1.0000 0 0
0 0 0 1.0000 0
-1.0000 0 0 0 0
Ba =
0.2500
Ca =
1 0 0 0 0
Da =
Br =
Ma =
0 0 0.3750 -1.3438 3.7734
0 0 0 -0.3750 1.3438
Pla =
a5 =
Wa =
5.2500 1.0000 0 0 0
1.0000 0 0 0 0
Ta =
-0.6250 -0.3750 0 0 0
Sa =
-2.0000 + 2.3950i -2.0000 - 2.3950i -6.0000 + 0.0000i -8.0000 + 0.0000i -9.0000 + 0.0000i
Plc =
1.0e+03 *
Ka =
1.0e+03 *
K3 =
1.0e+03 *
Ki =
6.7295e+03
Aac =
1.0e+03 *
0 0 0.0010 0 0
0 0 0 0.0010 0
-0.0010 0 0 0 0
Bac =
Cac =
1 0 0 0 0
Dac =