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Conversion de PIDs PDF
Conversion de PIDs PDF
Conversion de PIDs PDF
Ip Dp s Ip Dps
C paralelo = Pp + + = Pp + +
s γ ps + 1 s θ p Dps + 1
I Ds I Di s
Cideal = Pi 1 + i + i = Pi 1 + i +
s γ is + 1 s θ i Di s + 1
I 1 + Ds s I s 1 + Ds s
C serie = Ps 1 + s = Ps 1 +
s γ ss + 1 s θ s Dss + 1
b s 2 + b s + b0
C genérico = 2 2 1
a2 s + a1s
Conversión
Paralelo a Ideal Ideal a Paralelo
f ( PIDγ ) f ( PIDθ ) f ( PIDγ ) f ( PIDθ )
Pi Pp Pp Pp Pi Pi
Ip Ip
Ii Ip Ii Pi Ii Pi
Pp Pp
Dp Dp
Di Dp Di Pi Di Pi
Pp Pp
γi γp θ p Dp γp γi θ i Di
γ p Pp γi θi
θi θ p Pp θp
Dp Di Pi Pi
donde
Pp + I pγ p ± Pp2 − 2 I pγ p Pp + I p2γ p2 − 4 I p D p Pp + I pθ p D p ± Pp2 − 2 I pθ p Dp Pp + I p2θ p2D p2 − 4 I p D p
ρp = =
2 2
2a1
γ 2β 2
2β 2
2β 2
4 β + Td 4 β + Td 4 β + Td
2β 2 K ( 4 β + Td ) 2 β 2 (8τβ + 2Td τ + 4Td β + Td2 − 4 β 2 )
2
4β 2
θ
(T d
2
+ 4Td β − 4β 2 )( 4τβ + Tdτ − 2β 2 ) (T d
2
+ 4Td β − 4 β 2 )( 4τβ + Tdτ − 2 β 2 ) ( 4 β + Td ) Td
4 Td2 + 6Td β + 12 β 2 2
K (Td + 6Td β + 12 β 2 )
2
(Td + 2 β ) (Td2 + 7Td β + 16 β 2 ) Td + 6 β
(T
d
3
+ 6Td2 β + 12 β 2Td − 8β 3 ) (Td + 4 β )
3
(T d
3
+ 6Td2 β + 12 β 2Td − 8 β 3 ) (Td + 4 β )
3
Td
4 (T + 6Td β + 12β ) (T + 2 β ) (T + 7Td β + 16 β )
D
K (T + 6Td β + 12 β 2 3
)
2 2 2 2 2
d d d d
2
4β 3 4β 3 4β 3
Td2 + 6Td β + 12 β 2 Td2 + 6Td β + 12β 2 Td2 + 6Td β + 12β 2
4 β 3K (Td2 + 6Td β + 12 β 2 ) 16β 3 (Td + 2β ) (Td2 + 7Td β + 16 β 2 )
2
8β 3
θ
(T3
+ 6Td2 β + 12 β 2Td − 8β 3 ) (Td + 4 β )
3
(T
d
3
+ 6Td2 β + 12 β 2Td − 8β 3 ) (Td + 4 β )
3
Td (Td2 + 6Td β + 12β 2
d
P
4τξ − β 4τξ − β (
τ ξ + ξ 2 −1 )
4β K 4β K 2β K
1 2 1
I
2β K 4τξ − β (
τ ξ + ξ 2 −1 )
β 2 − 4βτξ + 4τ 2 β 2 − 4βτξ + 4τ 2 τ
D
8β K 2 ( 4τξ − β ) ξ + ξ2 −1
γ β β β
2 2 2
θ
4β 2K β ( 4 βτξ + 4τ 2 ) (
β ξ + ξ 2 −1 )
β 2 − 4βτξ + 4τ 2 β − 4βτξ + 4τ
2 2
2τ
P
2τξ − b 2τξ − b (
τ ξ + ξ 2 −1 )
βK βK βK
1 1 1
I
βK 2τξ − b (
τ ξ + ξ 2 −1 )
τ 2 − 2bτξ + b2 τ 2 − 2bτξ + b2 τ
D
βK 2τξ − b ξ + ξ 2 −1
γ b b b
θ
bβ K 2bτξ − b2 (
b ξ + ξ 2 −1 )
τ − 2bτξ + b2
2
τ 2 − 2bτξ + b2 τ
P
( 2 β + b ) 2τξ − β 2 ( 2 β + b ) 2τξ − β 2 (
τ ξ + ξ 2 −1 )
K (2β + b) K (2β + b)
2 2
K ( 2β + b)
1 2β + b 1
I
K ( 2 β + b) 4τξβ + 2bτξ − β 2 (
τ ξ + ξ 2 −1 )
( 2β + b) τ 2 − 2 ( 2 β + b ) 2 β 2τξ + β 4 ( 2 β + b ) τ 2 − 2 ( 2 β + b ) 2 β 2τξ + β 4 τ
2 2
( 2β + b ) ( 2τξ ( 2 β + b ) − β 2 )
D
K ( 2β + b) ξ + ξ2 −1
3
γ β2 β2 β2
2β + b 2β + b 2β + b
θ
β 2K ( 2β + b)
2
β 2 (( 2 β + b ) 2τξ − β 2 ) (
β 2 ξ + ξ2 −1 )
(2β + b) τ − 2 ( 2 β + b ) 2 β τξ + β (2β + b) τ − 2 ( 2 β + b ) 2 β τξ + β ( 2 β + b )τ
2 2 2 4 2 2 2 4