𝜁 = cos 𝜃

𝑃𝑑1,2 = −𝜁𝑊𝑛 ± 𝑗𝑊𝑛 √1 − 𝜁 2

𝑃𝑑1,2 = −(0.456)(43.86) ± 𝑗(43.86) × √1 − (0.456)2

𝑃𝑑1,2 = −20 ± 𝑗 39.03

√1 − 𝜁 2 = 𝑠𝑒𝑛 𝜃
−𝜋𝜁
√1−𝜁 2
𝑀𝑝 = 𝑒
−𝜋𝜁
ln 𝑀𝑝 =
√1 − 𝜁 2
−𝜋
ln 𝑀𝑝 =
𝑡𝑎𝑛 𝜃
−𝜋
𝜁 = cos( tan−1 ( ))
ln 𝑀𝑝

𝜁 = 0.456

4
𝑡𝑠 =
𝑤𝑛 × 𝜁
4
𝑤𝑛 =
𝑡𝑠 × 𝜁
𝑤𝑛 = 43.86 𝑟𝑎𝑑/𝑠

Controlador PI 𝜃 𝜃𝜃 ∅
𝐺𝑐(𝑠) = 𝐾𝑝

𝑑1 = √802 + 39.032 = 89.01

𝑑2,3 = 39.03
∏ 𝑍𝑝𝑑
𝐾𝑙𝑎 × 𝐾𝑝 =1
∏ 𝑃𝑝𝑑
10 × 𝐾𝑝
=1
89.01 × 39.032
𝐾𝑝 = 13559.26
 𝑇𝑖 𝑠 + 1
𝐺𝑐(𝑠) = 𝐾𝑝 ( )
𝑇𝑖 𝑠
1
𝑠+𝑇
𝑖
𝐺𝑐(𝑠) = 𝐾𝑝 ( )
𝑠

∑ 𝜃𝑧 − ∑ 𝜃𝑝 = ±180(2𝐾 + 1)

𝜃5 − (26 + 90 + 90 + 117.13) = ±180(2𝐾 + 1)

𝜃5 − 323.13 = −180
𝜃5 = 143.13°

39.03
𝜃1 = tan = 26°
80
39.03
𝜃4 = tan = 117.13°
20

𝑑1 = √802 + 39.032 = 89.01

𝑑2,3 = 39.03

𝑑4 = √202 + 39.032 = 43.86

𝑑5 = √52.032 + 39.032 = 65.04

∏ 𝑍𝑝𝑑
𝐾𝑙𝑎 × 𝐾𝑝 =1
∏ 𝑃𝑝𝑑

10 × 𝐾𝑝 × 65.04
=1
89.01 × 39.032 × 43.86
𝐾𝑝 = 9142.89

𝑠 − 32.03
𝐺𝑐(𝑠) = 9142.9 ( )
𝑠(𝑠 + 100)(𝑠 + 20)2
Controlador PID 𝜃 𝜃
1
𝐺𝑐(𝑠) = 𝐾𝑝 (1 + + 𝑇𝑑 𝑠)
𝑇𝑖 𝑠

𝐿 = 0.0217
𝑇 = 0.145
0.145
𝐾𝑝 = 1.2 ( ) = 8.018
0.00217
𝑇𝑖 = 2𝐿 = 0.0434
𝑇𝑑 = 0.5𝐿 = 0.01085

𝑠 − 32.03
𝐺𝑐(𝑠) = 9142.9 ( )
𝑠(𝑠 + 100)(𝑠 + 20)2

Compensador en adelanto 𝜃 𝜃
1
𝑠+𝑇
𝐺𝑐(𝑠) = 𝐾𝑐 ( )
1
𝑠 + 𝛼𝑇

∑ 𝜃𝑧 − ∑ 𝜃𝑝 = ±180(2𝐾 + 1)

𝜃𝑍 − (𝜃𝑝 + 26 + 90 + 90) = ±180(2𝐾 + 1)

𝜃𝑍 − 𝜃𝑃 − 216 = −180
2∅ = 26°
∅ = 13°
𝜃𝑝 = 58.57 − 13 = 45.57°

𝜃𝑧 = 58.57 + 13 = 71.57°
 39.03
𝑑𝑝 = = 38.26
tan(45.57)
39.03
𝑑𝑝 = = 13
tan(71.57)

𝑑1 = √802 + 39.032 = 89.01

𝑑2,3 = 39.03

𝑑𝑝 ′ = √38.262 + 39.032 = 54.65

𝑑𝑧 ′ = √132 + 39.032 = 41.14

∏ 𝑍𝑝𝑑
𝐾𝑙𝑎 × 𝐾𝑝 =1
∏ 𝑃𝑝𝑑
10 × 𝐾𝑝 × 41.14
=1
89.01 × 39.032 × 54.65
𝐾𝑝 = 18012.84

𝑗𝑤
( + 1)
𝑍1
𝐻(𝑤) = 𝐾 ×
𝑗𝑤
𝑗𝑤 × ( + 1)
𝑃1
10
𝐺(𝑗𝑤) = 2
𝑗𝑤 𝑗𝑤
100(100 + 1) (20(20 + 1))

1
𝐺(𝑗𝑤) = 2
𝑗𝑤 𝑗𝑤
4000(100 + 1) (20 + 1)
Nyquist

10
𝐺(𝑠) =
(𝑠 + 100)(𝑠 + 20)2
10
𝐺(𝑠) =
𝑠3 + 140𝑠 2 + 4400𝑠 + 40000
10
𝐺(𝑗𝑤) =
(𝑗𝑤)3 + 140(𝑗𝑤)2 + 4400(𝑗𝑤) + 40000
10
𝐺(𝑗𝑤) =
−𝑗𝑤 3 − 140𝑤 2 + 4400𝑗𝑤 + 40000
10
𝐺(𝑗𝑤) =
−140𝑤 2 + 40000− 𝑗 (𝑤 3 + 4400𝑤)
10 −140𝑤 2 + 40000+ 𝑗 (𝑤 3 + 4400𝑤)
𝐺(𝑗𝑤) = ×
−140𝑤 2 + 40000− 𝑗 (𝑤 3 + 4400𝑤) −140𝑤 2 + 40000+ 𝑗 (𝑤 3 + 4400𝑤)
10(140𝑤 2 + 40000)
𝐺(𝑗𝑤) =
(−140𝑤 2 + 40000)2 − 𝑗 (𝑤 3 + 4400𝑤)2
𝑗 (𝑤 3 + 4400𝑤)
−
(−140𝑤 2 + 40000)2 − 𝑗 (𝑤 3 + 4400𝑤)2

W 0 ∞
−4
Re 2.5 × 10 0 0 2.5 × 10−4
Im 0 0 0

−140𝑤 2 + 40000
𝑤 = 16.90