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FASE 3
GRUPO:
299006_20
PRESENTADO A:
JUAN CAMILO TEJADA
2
𝐺𝑝(𝑠) =
(𝑠 + 3,5)(2𝑠 + 5)
1
𝐺𝑝(𝑠) =
(𝑠 + 3,5)(𝑠 + 2,5)
1
𝐺𝑝(𝑠) =
𝑠2 + 6𝑠 + 8,75
g=tf([1],[1 6 8.75])
t=0:0.01:4;
step(g,t)
stepinfo(g)
g=
----------------
s^2 + 6 s + 8.75
ans =
RiseTime: 1.1592
SettlingTime: 2.0264
SettlingMin: 0.1030
SettlingMax: 0.1142
Overshoot: 0
Undershoot: 0
Peak: 0.1142
PeakTime: 3.2973
𝑇 0.92747
𝑘𝑝 = 1.2 = 1.2 = 9.81
𝐿 0.09453
𝑇𝑖 = 2𝐿 = 2(0.09453) = 0.189
Kp=9.81;
Ti=0.189;
Td=0.04726;
Ki=Kp/Ti; Kd=Kp*Td;
H=tf([Kd Kp Ki],[1 0]); % controlador
Gc=series(g,H)
Glc=feedback( H*g,1)
H=
0.4636 s^2 + 9.81 s + 51.9
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Gc =
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