Documentos de Académico
Documentos de Profesional
Documentos de Cultura
MODERNA
DE
CONTROL 2019
Néstor F Herrera C
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Donde,
z(t) E R' es la señal de la salida de interés del sistema, E es la matriz de la salida de
interés de orden r x n.
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𝐂
𝐂∗𝐀
𝐎 = 𝐂 ∗ 𝐀𝟐
⋮
[𝐂 ∗ 𝐀𝐧−𝟏 ]
Donde,
V es la matriz de Observabilidad.
n es el orden del sistema.
Más adelante, se tratará con mayor claridad la relación que guardan las
condiciones de controlabilidad y Observabilidad de un sistema, con las estrategias de
control que se aplicarán para la posible solución del problema del rechazo de
perturbaciones. Mientras tanto, es preciso señalar que cuando estas condiciones se
cumplen, la reubicación de polos es de manera libre; por ejemplo, cuando el sistema
es controlable los polos pueden ser reubicados libremente por medio de una retro de
estados.
Finalmente, es importante mencionar que la función de transferencia de un
sistema puede ser obtenida a partir de la representación en variables de estado, esto
es:
𝐘(𝐬)
= 𝐂 ∗ (𝐬 ∗ 𝐈 − 𝐀)−𝟏 ∗ 𝐁
𝐔(𝐬)
Donde,
U(s) es la entrada de control en términos de Laplace.
Y(s) es la señal de la salida medible del sistema en términos de Laplace.
Debido a que se desea rechazar la perturbación en la salida de interés, se busca, a
través de alguna ley de control que rechace la señal no deseada, hacer cero la función
de transferencia entre la salida de interés y la entrada de perturbación. Por lo tanto:
Z(s)
= E ∗ (s ∗ I − AT )−1 ∗ Q = 0
Q(s)
Donde,
AT es la nueva matriz de transición de estados para el sistema retroalimentado.
Q(s) es la entrada de perturbación en términos de Laplace.
Z(s) es la señal de la salida de interés del sistema en términos de Laplace.
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PROBLEMA 1
T1 T2
q1 q2
Tanque 1
C1 ḣ1 (t) = q 0 − q1
h1 (t) − h2 (t)
q1 =
R1
q 0 q1 q 0 h1 (t) − h2 (t)
ḣ1 (t) = − ⇒ ḣ1 (t) = −
C1 C1 C1 C1 R1
q 0 h1 (t) − h2 (t)
⇒ ḣ1 (t) = −
C1 C1 R1
q0 1 1
⇒ ḣ1 (t) = − h1 (t) + h (t)
C1 C1 R1 C1 R1 2
Tanque 2
C2 ḣ2 (t) = q1 − q 2
h2 (t)
q2 =
R2
h1 (t) − h2 (t) h2 (t) h1 (t) − h2 (t) h2 (t)
C2 ḣ2 (t) = − ⇒ ḣ2 (t) = −
R1 R2 C2 R1 C2 R 2
1 1 1
⇒ ḣ2 (t) = h1 (t) − ( + ) ∗ h2 (t)
C2 R1 C2 R1 C2 R 2
Ecuaciones de Estado
1 1
− 1
ḣ (t) C1 R1 C1 R1 h (t)
[ 1 ]= ∗ [ 1 ] + [C1 ] ∗ q 0
ḣ2 (t) 1 1 1 h2 (t)
−( + ) 0
[ C2 R1 C2 R1 C2 R 2 ]
1 h (t)
q 2 = [0 ]∗[ 1 ]
R2 h2 (t)
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PROBLEMA 2
x2 = ẏ − β0 ∗ u̇ − β1 ∗ u = [y
⏟− β0 ∗ u] − β1 ∗ u = ẋ 1 − β1 ∗ u
x1
°
x3 = ÿ − β0 ∗ ü − β1 ∗ u̇ − β2 ∗ u = ⏟(y − β0 ∗ u)° − β1 ∗ u − β2 ∗ u = ẋ 2 − β2 ∗ u
⏟ ẋ 1
[ x2 ]
ẋ 3 = −a3 ∗ x1 − a2 ∗ x2 − a1 ∗ x1 + β3 ∗ u
x2 = ẋ 1 − β1 ∗ u ⇒ ẋ 1 = x2 + β1 ∗ u
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⇒ ẋ 1 = x2 − 7 ∗ u
x3 = ẋ 2 − β2 ∗ u ⇒ ẋ 2 = x3 + β2 ∗ u
⇒ ẋ 2 = x3 + 19 ∗ u
ẋ 3 = −a3 ∗ x1 − a2 ∗ x2 − a1 ∗ x1 + β3 ∗ u
= −2 ∗ x1 − 5 ∗ x2 − 4 ∗ x1 − 43 ∗ u
ẋ 1 (t) 0 1 0 x1 (t) β1
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [x2 (t)] + [β2 ] ∗ u(t)
ẋ 3 (t) −a3 −a2 −a1 x3 (t) β3
ẋ 1 (t) 0 1 0 x1 (t) β1
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [x2 (t)] + [β2 ] ∗ u(t)
ẋ 3 (t) −2 −5 −4 x3 (t) β3
0 1 0 x1 (t) −7
=[ 0 0 1 ] ∗ [x 2 (t) ] + [ 19 ] ∗ u(t)
−2 −5 −4 x3 (t) −43
x1 (t)
y(t) = [1 0 0] ∗ [x2 (t)] + β0 ∗ u
x3 (t)
x1 (t)
= [1 0 0] ∗ [x2 (t)] + 2 ∗ u
x3 (t)
Para la Observabilidad se tiene:
ẋ 1 (t) 0 1 −a1 x1 (t) 0
[ẋ 2 (t)] = [1 0 −a2 ] ∗ [x2 (t)] + [0] ∗ u(t)
ẋ 3 (t) 0 0 −a3 x3 (t) 1
0 1 −2 x1 (t) 0
= [1 0 −5] ∗ [x2 (t)] + [0] ∗ u(t)
0 0 −4 x3 (t) 1
x1 (t)
y(t) = [β1 − a1 ∗ β0 β2 − a 2 ∗ β0 β3 − a3 ∗ β0 ] ∗ [x2 (t)] + β0 ∗ u
x3 (t)
x1 (t)
= [−7 + 2 19 + 5 −43 + 4] ∗ [x2 (t)] + 2 ∗ u
x3 (t)
x1 (t)
= [−5 24 −29] ∗ [x2 (t)] + 2 ∗ u
x3 (t)
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PROBLEMA 3
Y(s) 25 ∗ s + 5
(s) = = 3
U(s) s + 5 ∗ s2 + 25 ∗ s + 5
Y(s) ∗ (s3 + 5 ∗ s2 + 25 ∗ s + 5) = U(s) ∗ (25 ∗ s + 5)
Y(s) ∗ s 3 + 5 ∗ Y(s) ∗ s2 + 25 ∗ Y(s) ∗ s + 5 ∗ Y(s) = 25 ∗ U(s) ∗ s + 5 ∗ U(s)
⃛(𝐬) + 𝟓 ∗ 𝐘̈(𝐬) + 𝟐𝟓 ∗ 𝐘̇(𝐬) + 𝟓 ∗ 𝐘(𝐬) = 𝟐𝟓 ∗ 𝐔̇(𝐬) + 𝟓 ∗ 𝐔(𝐬)
𝐘
Como
b0 ∗ s n + b1 ∗ s n−1 + ⋯ + bn−1 ∗ s + bn a0 = 1 b0 = 0
G(s) =
a0 ∗ sm + a1 ∗ s m−1 + ⋯ + an−1 ∗ s + an a1 = 5 b1 = 0
b2 ∗ s + b3 a2 = 25 b2 = 25
=
a 0 ∗ s 3 + a1 ∗ s 2 + a 2 ∗ s + a 3 a 3 = 5 b3 = 5
Encontrar las betas
βn = bn − a1 ∗ βn−1 − a2 ∗ βn−2 − ⋯ − an−1 ∗ β1 − an ∗ β0
β 0 = b0 = 0
β1 = b1 − a1 ∗ β0 = 0 − 5 ∗ 0 = 0
β2 = b2 − a1 ∗ β1 − a2 ∗ β0 = 25 − 5 ∗ 0 − 25 ∗ 0 = 25
β3 = b3 − a1 ∗ β2 − a2 ∗ β1 − a3 ∗ β0 = 5 − 5 ∗ 25 − 25 ∗ 0 − 5 ∗ 0 = −120
Encontrar las variables de control
x1 = y − β0 ∗ u
°
x2 = ẏ − β0 ∗ u̇ − β1 ∗ u = [y
⏟− β0 ∗ u] − β1 ∗ u = ẋ 1 − β1 ∗ u
x1
°
(y − β0 ∗ u)° − β1 ∗ u − β2 ∗ u = ẋ 2 − β2 ∗ u
x3 = ÿ − β0 ∗ ü − β1 ∗ u̇ − β2 ∗ u = ⏟
⏟ ẋ 1
x2
ẋ 3 = −a3 ∗ x1 − a2 ∗ x2 − a1 ∗ x1 + β3 ∗ u
x2 = ẋ 1 − β1 ∗ u ⇒ ẋ 1 = x2 + β1 ∗ u
⇒ ẋ 1 = x2 + 0 ∗ u
⇒ ẋ 1 = x2
x3 = ẋ 2 − β2 ∗ u ⇒ ẋ 2 = x3 + β2 ∗ u
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⇒ ẋ 2 = x3 + 25 ∗ u
ẋ 3 = −a3 ∗ x1 − a2 ∗ x2 − a1 ∗ x1 + β3 ∗ u
= −2 ∗ x1 − 5 ∗ x2 − 4 ∗ x1 − 120 ∗ u
ẋ 1 (t) 0 1 0 x1 (t) β1
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [x2 (t)] + [β2 ] ∗ u(t)
ẋ 3 (t) −a3 −a2 −a1 x3 (t) β3
ẋ 1 (t) 0 1 0 x1 (t) 0
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [x2 (t)] + [ 25 ] ∗ u(t)
ẋ 3 (t) −5 −25 −5 x3 (t) −120
x1 (t)
y(t) = [1 0 0] ∗ [x2 (t)] + β0 ∗ u
x3 (t)
x1 (t)
= [1 0 0] ∗ [x2 (t)] + 0 ∗ u
x3 (t)
x1 (t)
= [1 0 0] ∗ [x2 (t)]
x3 (t)
Para la Observabilidad se tiene:
ẋ 1 (t) 0 1 −a1 x1 (t) 0
[ẋ 2 (t)] = [1 0 −a2 ] ∗ [x2 (t)] + [0] ∗ u(t)
ẋ 3 (t) 0 0 −a3 x3 (t) 1
ẋ 1 (t) 0 1 −5 x1 (t) 0
[ẋ 2 (t)] = [1 0 −25] ∗ [x2 (t)] + [0] ∗ u(t)
ẋ 3 (t) 0 0 −5 x3 (t) 1
x1 (t)
y(t) = [β1 − a1 ∗ β0 β2 − a 2 ∗ β0 β3 − a3 ∗ β0 ] ∗ [x2 (t)] + β0 ∗ u
x3 (t)
x1 (t)
= [0 − 25 ∗ 0 25 − 25 ∗ 0 −120 − 5 ∗ 0] ∗ [x2 (t)] + 0 ∗ u
x3 (t)
x1 (t)
y(t) = [0 25 −125] ∗ [x2 (t)]
x3 (t)
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PROBLEMA 4
x2 = ẏ − β0 ∗ u̇ − β1 ∗ u = [y
⏟− β0 ∗ u] − β1 ∗ u = ẋ 1 − β1 ∗ u
x1
°
x3 = ÿ − β0 ∗ ü − β1 ∗ u̇ − β2 ∗ u = ⏟(y − β0 ∗ u)° − β1 ∗ u − β2 ∗ u = ẋ 2 − β2 ∗ u
⏟ ẋ 1
[ x2 ]
ẋ 3 = −a3 ∗ x1 − a2 ∗ x2 − a1 ∗ x1 + β3 ∗ u
x2 = ẋ 1 − β1 ∗ u ⇒ ẋ 1 = x2 + β1 ∗ u
⇒ ẋ 1 = x2 + 0 ∗ u
⇒ ẋ 1 = x2
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x3 = ẋ 2 − β2 ∗ u ⇒ ẋ 2 = x3 + β2 ∗ u
⇒ ẋ 2 = x3 + 1 ∗ u
⇒ ẋ 2 = x3 + u
ẋ 3 = −a3 ∗ x1 − a2 ∗ x2 − a1 ∗ x1 + β3 ∗ u
= −120 ∗ x1 − 56 ∗ x2 − 14 ∗ x1 − 14 ∗ u
ẋ 1 (t) 0 1 0 x1 (t) β1
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [x2 (t)] + [β2 ] ∗ u(t)
ẋ 3 (t) −a3 −a2 −a1 x3 (t) β3
ẋ 1 (t) 0 1 0 x1 (t) 0
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [ x 2 (t) ] + [ 1 ] ∗ u(t)
ẋ 3 (t) −120 −56 −14 x3 (t) −14
x1 (t)
y(t) = [1 0 0] ∗ [x2 (t)] + β0 ∗ u
x3 (t)
x1 (t)
= [1 0 0] ∗ [x2 (t)] + 0 ∗ u
x3 (t)
x1 (t)
= [1 0 0] ∗ [x2 (t)]
x3 (t)
Para la Observabilidad se tiene:
ẋ 1 (t) 0 1 −a1 x1 (t) 0
[ẋ 2 (t)] = [1 0 −a2 ] ∗ [x2 (t)] + [0] ∗ u(t)
ẋ 3 (t) 0 0 −a3 x3 (t) 1
x1 (t)
y(t) = [β1 − a1 ∗ β0 β2 − a 2 ∗ β0 β3 − a3 ∗ β0 ] ∗ [x2 (t)] + β0 ∗ u
x3 (t)
x1 (t)
= [0 − 14 ∗ 0 1 − 56 ∗ 0 −14 − 120 ∗ 0] ∗ [x2 (t)] + 0 ∗ u
x3 (t)
x1 (t)
y(t) = [0 1 −14] ∗ [x2 (t)]
x3 (t)
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PROBLEMA 5
= C ∗ (s ∗ I − A)−1 ∗ B ∗ U(s)
Solución Homogénea [B]=0
𝐋−𝟏 {(𝐬 ∗ 𝐈 − 𝐀)−𝟏 } ∗ 𝐱(𝟎)
𝐱 𝐢 (𝐭) = ⏟
𝐒𝐎𝐋𝐔𝐂𝐈𝐎𝐍 𝐇𝐎𝐌𝐎𝐆𝐄𝐍𝐄𝐀
At−t0
x(t) = e ∗ x(0)
eAt−t0 = L−1 {(s ∗ I − A)−1 }
done Φ(t) = (s ∗ I − A)−1 matriz de transicion de estado
Ejemplo
Hallar la solución homogénea de la siguiente ecuación de estado
ẋ 1 (t) 1 0 0 x1 (t) 1
[ẋ 2 (t)] = [0 −2 0] ∗ [x2 (t)] + [0] ∗ u(t)
ẋ 3 (t) 0 0 1 x3 (t) 1
x1 (t)
y(t) = [1 −1 1] ∗ [x2 (t)]
x3 (t)
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Donde
t 0 = 1"; x(0) = [1 −1 2]T
et−t0 0 0 et−1 0 0
A∗t−t0 −2∗t−t0 At−1
e =[ 0 e 0 ]⇒e =[ 0 e−2∗t−1 0 ]
0 0 et−t0 0 0 et−1
t−1 1
e 0 0
x(t) = eAt−t0 ∗ x(0) = [ 0 e−2t−1 0 ] ∗ [−1]
0 0 et−1 2
et−1
= [−e−2∗t−1 ]
2et−1
Otra forma
1 0 0 1 0 0 −1
At−t0 −1 {(s −1 } −1
e =L ∗ I − A) =L {(s ∗ [0 1 0] − [0 −2 0]) }
0 0 1 0 0 1
s−1 0 0 −1
−1
=L {[ 0 s+2 0 ] }
0 0 s−1
𝑠−1 0 0 −1 1
[ 0 𝑠+2 0 ] = ∗ [cofact(s ∗ I − A)]T
det(s ∗ I − A)
0 0 𝑠−1
= (s − 1) ∗ (s + 2) ∗ (s − 1)
R11 R12 R13
cofact(s ∗ I − A) = (R 21 R 22 R 23 )
R 31 R 32 R 33
R ij = (−1)i+j ∗ [eliminar fila i y columna j]
∀i = 1; j = 1
s−1 0 0
R11 = (−1)1+1 ∗ [ 0 s+2 0 ]
0 0 s−1
s + 2 0
= (−1)2 ∗ [ ]
0 s−1
= (s + 2) ∗ (s − 1)
∀i = 1; j = 2
s−1 0 0
R12 = (−1)1+2 ∗ [ 0 s+2 0 ]
0 0 s−1
0 0
= (−1)3 ∗ [ ]
0 s−1
=0
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∀i = 1; j = 3
s−1 0 0
R13 = (−1)1+3 ∗ [ 0 s+2 0 ]
0 0 s−1
0 𝑠+2
= (−1)4 ∗ [ ]
0 0
=0
∀i = 2; j = 1
s−1 0 0
R 21 = (−1)2+1∗[ 0 s+2 0 ]
0 0 s−1
0 0
= (−1)3 ∗ [ ]
0 s−1
=0
∀i = 2; j = 2
s−1 0 0
R 22 = (−1)2+2 ∗ [ 0 s+2 0 ]
0 0 s−1
s − 1 0
= (−1)4 ∗ [ ]
0 s−1
= (s − 1) ∗ (s − 1)
∀i = 2; j = 3
s−1 0 0
R 22 = (−1)2+3 ∗ [ 0 s+2 0 ]
0 0 s−1
s − 1 0
= (−1)5 ∗ [ ]
0 0
=0
∀i = 3; j = 1
s−1 0 0
R 31 = (−1)3+1 ∗ [ 0 s+2 0 ]
0 0 s−1
0 0
= (−1)4 ∗ [ ]
s+2 0
=0
∀i = 3; j = 2
s−1 0 0
R 32 = (−1)3+2 ∗[ 0 s+2 0 ]
0 0 s−1
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s−1 0
= (−1)4 ∗ [ ]
0 0
=0
∀i = 3; j = 3
s−1 0 0
R 33 = (−1)3+3 ∗ [ 0 s+2 0 ]
0 0 s−1
s−1 0
= (−1)6 ∗ [ ]
0 s+2
= (s − 1) ∗ (s − 2)
(s + 2) ∗ (s − 1) 0 0
cofact(s ∗ I − A) = [ 0 (s − 1) ∗ (s − 1) 0 ]
0 0 (s − 1) ∗ (s − 2)
(s + 2) ∗ (s − 1) 0 0
[cofact(s ∗ I − A)]T = [ 0 (s − 1) ∗ (s − 1) 0 ]
0 0 (s − 1) ∗ (s − 2)
s−1 0 0 −1 1
(s + 2) ∗ (s − 1) 0 0
[ 0 s+2 0 ] = ∗[ 0 (s − 1) ∗ (s − 1) 0 ]
(s − 1) ∗ (s + 2) ∗ (s − 1)
0 0 s−1 0 0 (s − 1) ∗ (s − 2)
(𝒔 + 𝟐) ∗ (𝒔 − 𝟏)
𝟎 𝟎
(𝒔 − 𝟏) ∗ (𝒔 + 𝟐) ∗ (𝒔 − 𝟏)
(𝒔 − 𝟏) ∗ (𝒔 − 𝟏)
= 𝟎 𝟎
(𝒔 − 𝟏) ∗ (𝒔 + 𝟐) ∗ (𝒔 − 𝟏)
(𝒔 − 𝟏) ∗ (𝒔 − 𝟐)
𝟎 𝟎
[ (𝒔 − 𝟏) ∗ (𝒔 + 𝟐) ∗ (𝒔 − 𝟏)]
𝟏
𝟎 𝟎
(𝒔 − 𝟏)
𝟏
= 𝟎 𝟎
(𝒔 + 𝟐)
𝟏
𝟎 𝟎
[ (𝒔 − 𝟏)]
s−1 0 0 −1
eAt−t0 = L−1 {[ 0 s+2 0 ] }
0 0 s−1
1
0 0
(s − 1)
1
= L−1 0 0
(s + 2)
1
0 0
{[ (s − 1)]}
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1
L−1 { } 0 0
(s − 1)
1
= 0 L−1 { } 0
(s + 2)
1
0 0 L−1 { }
[ (s − 1) ]
et 0 0
= [0 e−2∗t 0]
0 0 et
Solución Completa [B]#0
L−1 {(s ∗ I − A)−1 } ∗ x(0) + L
x(t) = ⏟ ⏟−1 {(s ∗ I − A)−1 ∗ B ∗ u(t)}
SOLUCION HOMOGENEA SOLUCION REGIMEN TRANSITORIO
Si no le dan u(t), asuma u(t)=1
L−1 {(s ∗ I − A)−1 ∗ B ∗ u(t)}
⏟
SOLUCION REGIMEN TRANSITORIO
1
0 0
(s − 1)
1 1 1
−1 {(s −1 −1
L ∗ I − A) ∗ B ∗ u(t)} = L 0 0 ∗ [0] ∗
(s + 2) s
1
1
0 0
{[ (s − 1)] }
1
s ∗ (s − 1)
= L−1 0
1
{[s ∗ (s − 1)]}
1
L−1 { }
s ∗ (s − 1)
= 0
1
L−1 { }
[ s ∗ (s − 1) ]
1 r1 r2
L−1 { } = L−1 { } + L−1 { }
s ∗ (s − 1) s s−1
1
r1 = |s ∗ | = −1
s ∗ (s − 1) s=0
1
r2 = |(s − 1) ∗ | = −1
s ∗ (s − 1) s=−1
1
L−1 { } = −1 − e−t
s ∗ (s − 1)
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−1 − e−t
L−1 {(s ∗I− A)−1 ∗ B ∗ u(t)} = [ 0 ]
−1 − e −t
Solución completa
L−1 {(s ∗ I − A)−1 } ∗ x(0) + L
x(t) = ⏟ ⏟−1 {(s ∗ I − A)−1 ∗ B ∗ u(t)}
SOLUCION HOMOGENEA SOLUCION REGIMEN PERMANENTE
t−1 −t
e −1 − e
x(t) = [−e −2t−1 ]+[ ]
0
2et−1 −1 − e−t
et−1 − 1 − e−t
=[ −e−2t−1 ]
t−1 −t
2e − 1 − e
et−1 − 1 − e−t
=[ −e−2t−1 ]
t−1 −t
2e − 1 − e
Para encontrar la respuesta y(t)
x1 (t)
y(t) = [1 −1 1] ∗ [x2 (t)]
x3 (t)
et−1 − 1 − e−t
= [1 −1 1] ∗ [ −e−2t−1 ]
t−1 −t
2e − 1 − e
= e − 1 − e + e−2t−1 + 2et−1 − 1 − e−t
t−1 −t
PROBLEMA 6
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1
x(t) = L−1 {(s ∗ I − A)−1 } + L−1 {(s ∗ I − A)−1 ∗ B ∗ u(s)}; ∀u(s) =
s
Solución homogénea
1 0 −1 0
L−1 {(s ∗ I − A)−1 } ⇒ s ∗ I − A = s ∗ [ ]−[ ]
0 1 −1 −2
s+1 0
=[ ]
1 s+2
1
(s ∗ I − A)−1 = ∗ [cofact(s ∗ I − A)]T
det(s ∗ I − A)
s+1 0
det(s ∗ I − A) = det [ ]
1 s+2
= (s + 1)(s + 2)
R R12
cofact(s ∗ I − A) = ( 11 ) ; R ij = (−1)i+j ∗ [eliminar fila i columna j]
R 21 R 22
∀i = 1; j = 1
s+1 0
R11 = (−1)1+1 ∗ [ ]
1 s+2
2
= (−1) ∗ (s + 2)
= (s + 2)
∀i = 1; j = 2
s+1 0
R12 = (−1)1+2 ∗ [ ]
1 s+2
3
= (−1) ∗ (1)
= −1
∀i = 2; j = 1
s+1 0
R 21 = (−1)2+1 ∗ [ ]
1 s+2
= (−1)3 ∗ 0 = 0
∀i = 2; j = 2
s+1 0
R 22 = (−1)2+2 ∗ [ ]
1 s+2
= (−1)4 ∗ (s + 1)
=s+1
R11 R12
cofact(s ∗ I − A) =[ ]
R 21 R 22
s + 2 −1 T
[cofact(s ∗ I − A)]T = [ ]
0 s+1
s+2 0
=[ ]
−1 s + 1
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1 s+2 0
(s ∗ I − A)−1 = ∗[ ]
(s + 1)(s + 2) −1 s + 1
s+2
0
(s + 1)(s + 2)
=
−1 s+1
[(s + 1)(s + 2) (s + 1)(s + 2)]
1
0
(s + 1)
=
−1 1
[(s + 1)(s + 2) (s + 2)]
1
0
−1 {(s −1 } −1 (s + 1)
L ∗ I − A) =L
−1 1
{[(s + 1)(s + 2) (s + 2)]}
1
L−1 { } 0
(s + 1)
=
−1 1
L−1 { } L−1 { }
[ (s + 1)(s + 2) (s + 2) ]
1
L−1 { } = e−t
(s + 1)
1
L−1 { } = e−2t
(s + 2)
−1 r1 r2
L−1 { } = L−1 { } + L−1 { }
(s + 1)(s + 2) (s + 1) (s + 2)
−1
r1 = |(s + 1) ∗ | = −1
(s + 1)(s + 2) s=−1
−1
r2 = |(s + 2) ∗ | =1
(s + 1)(s + 2) s=−2
−1
L−1 { } = −e−t + e−2t
(s + 1)(s + 2)
−t
L−1 {(s ∗ I − A)−1 } = [ −te −2t 0 ]
−e + e e−2t
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1 1
0
(s + 1) 1 1 s ∗ (s + 1)
L−1 ∗[ ]∗ = L−1
−1 1 0 s −1
{[(s + 1)(s + 2) (s + 2)] } {[s ∗ (s + 1)(s + 2)]}
1 1
L−1 { }
−1 s ∗ (s + 1) s ∗ (s + 1)
L =
−1 −1
L−1 { }
{[s ∗ (s + 1)(s + 2)]} [ s ∗ (s + 1)(s + 2) ]
1 r1 r2
L−1 { } = L−1 { } + L−1 { }
s ∗ (s + 1) s (s + 1)
−1
r1 = |s ∗ | = −1
s(s + 1) s=0
−1
r2 = |(s + 1) ∗ | =1
s ∗ (s + 1) s=−1
1
L−1 { } = r1 + r2 e−t
s ∗ (s + 1)
= −1 + e−t
−1 r1 r2 r2
L−1 { } = L−1 { } + L−1 { } L−1 { }
s ∗ (s + 1) ∗ (s + 2) s (s + 1) (s + 2)
= r1 + r2 e−t + r3 e−2t
−1 1
r1 = |s ∗ | =−
s(s + 1) ∗ (s + 2) s=0 2
−1
r2 = |(s + 1) ∗ | =1
s ∗ (s + 1) ∗ (s + 2) s=−1
−1 1
r2 = |(s + 2) ∗ | =−
s ∗ (s + 2) ∗ (s + 1) s=−2 2
−1
L−1 { } = r1 + r2 e−t + r3 e−2t
s ∗ (s + 1) ∗ (s + 2)
1 1
= − + e−t − e−2t
2 2
1
L−1 { } −1 + e−t
s ∗ (s + 1)
=[ 1 1 ]
−1
−1 − + e−t − e−2t
L { } 2 2
[ s ∗ (s + 1)(s + 2) ]
x(t) = L−1 {(s ∗ I − A)−1 } ∗ x(0) + L−1 {(s ∗ I − A)−1 ∗ B ∗ u(s)}
−t −1 + e−t
x(t) = [ −te ]+[ 1 1 ]
−e + e−2t − + e−t − e−2t
2 2
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e−t − 1 + e−t
= [ −t 1 1 ]
−e + e−2t − + e−t − e−2t
2 2
−t
−1 + 2e
=[ 1 ]
− + e−2t
2
Respuesta y(t) del lazo de control
x (t)
y(t) = [1 −1] ∗ [ 1 ]
x2 (t)
−1 + 2e−t
= [1 −1] ∗ [ 1 ]
− + e−2t
2
1
= −1 + 2e−t + − e−2t
2
1
= − + e−2t
2
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1
ḣ1 (t) = ∗ q in (t) − k1 ∗ h1 (t)
A1
ḣ2 (t) = k 2 ∗ h1 (t) − k 3 ∗ h2 (t)
Las ecuaciones ḣ1 (t), ḣ2 (t) representa los estados del sistema de tanques en cascada.
Ambos modelos tienen un comportamiento idéntico, cuando las condiciones iníciales
son cero, en términos de la salida (h2(t)), cuando se aplica la misma señal en la entrada
(qin(t)), pero el modelo en variables de estado además nos permite conocer la
evolución del resto de las variables internas del sistema. Además, si se conoce la
condición inicial de los estados en un momento determinado (t=0), y la entrada del
sistema a partir de ese instante, entonces se predice la evolución del sistema para
cualquier instante de tiempo siguiente o posterior. Igualmente, en el modelo en
variables de estado, la primera derivada de los estados depende sólo de las entradas
del sistema y de los mismos estados. En forma matricial, la representación de estados
queda:
1
ḣ1 (t) −k1 0 h1 (t)
[ ]=[ ]∗[ ] + [A1 ] ∗ q in (t); q in (t) = u(t)
ḣ2 (t) k 2 −k 3 h2 (t)
0
h (t)
y(t) = [0 1] ∗ [ 1 ]
h2 (t)
G(s) = C ∗ (s ∗ I + A)−1 ∗ B
Para los efectos de control, en general, seleccionaremos una ley de control de la forma:
x1
u(t) = −Kx(t) + r(t) = −[ 1k ⋯ kn ∗ [ ⋮ ] + r(t)
]
xn
En la que K es la ganancia que realimenta a los estados y r(t) es la referencia que
queremos seguir. El objetivo de la realimentación de estados, es ubicar los polos del
sistema. De modo que se debe conocer la ubicación de los polos deseados, y el
seguimiento o rechazo de perturbación pueda ser manipulado.
Casos de Realimentación de Estado
Realimentación de estados para sistemas en forma canoníca controlable
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x1 (t)
(t)
y(t) = [bn bn−1 bn−1 ⋯ b1 ] ∗ [x2 ]
⋮
xn (t)
Los polos dominantes que se desean ubicar para determinar la ganancia k son:
Pdd = (s + p1 ) ∗ (s + p1 ) ∗ ⋯ ∗ (s + pn )
=∝0 ∗ s n +∝1 ∗ s n−1 +∝2 ∗ sn−2 + ⋯ +∝n−1 ∗ s +∝n
Al cerrar el lazo con la ley de control u(t) = −ki*xi(t) + r(t) resulta que:
ẋ i (t) = A ∗ xi (t) + B ∗ u(t)
= A ∗ xi (t) − B ∗ k ∗ xi (t) + B ∗ r(t)
= (A − B ∗ k) ∗ xi (t) + B ∗ r(t)
La matriz de comportamiento a lazo cerrado o realimentado será:
0 1 0 ⋯ 0
0 0 1 ⋯ 0
A−B∗k =[ ⋮ ⋮ ⋮ ⋮ ]
⋱
−an − k n −an−1 − k n−1 −an−2 − k n−2 ⋯ −a1 − k1
La ecuación característica del lazo cerrado es:
𝐬 𝐧 + (𝐚𝟏 + 𝐤 𝟏 ) ∗ 𝐬 𝐧−𝟏 + (𝐚𝟐 + 𝐤 𝟐 ) ∗ 𝐬 𝐧−𝟐 + ⋯ + (𝐚𝐧−𝟏 + 𝐤 𝐧−𝟏 ) ∗ 𝐬 + (𝐚𝐧 + 𝐤 𝐧 ) = 𝐏𝐝𝐝
Y las ganancias para ubicar los polos en los lugares deseados son:
a1 + k 1 =∝1
an−1 + k 2 =∝2
⋮
an + k n =∝n
Si la representación de estados está en forma canónica controlable, siempre es
posible lograr una realimentación de estados que ubique los polos en cualquier
posición del plano “s”.
Realimentación de estados, sistemas controlables
Si un sistema es controlable, siempre es posible llevar al sistema a la forma
canónica controlable o, mejor, siempre podremos convertir la ganancia de
realimentación de estados obtenida de la forma canónica controlable a una
ganancia de realimentación de estados cualquiera (siempre que el sistema sea
controlable). El resultado fundamental se resume en el siguiente teorema.
ẋ i (t) = A ∗ xi (t) + B ∗ u(t)
En el que todos los estados son medibles (i.e., están disponibles para la
realimentación) y el par [A, B] es controlable. Entonces, siempre es posible
encontrar una matriz T no singular, tal que:
A = T −1 ∗ A ∗ T; B = T −1 ∗ B, Estén en forma canónica controlable.
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PROBLEMA 13
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G(s) = C ∗ (s ∗ I − A)−1 ∗ B
1
(s ∗ I − A)−1 = ∗ [cofact(s ∗ I − A)]T
∆(s ∗ I − A)
1 0 −3 −0,25
s∗I−A= s∗[ ]−[ ]
0 1 8 0
s+3 0,25
=[ ]
−8 s
∆(s ∗ I − A) = s 2 + 3s + 2
R11 R12
cofact(s ∗ I − A) = [ ]
R 21 R 22
s + 3 0,25
R11 = (−1)1+1 ∗ [ ]=s
−8 s
s + 3 0,25
R12 = (−1)1+2 ∗ [ ]=8
−8 s
s + 3 0,25
R 21 = (−1)2+1 ∗ [ ] = −0,25
−8 s
s + 3 0,25
R 22 = (−1)2+2 ∗ [ ]=s+3
−8 s
s 8
cofact(P) = [−0,25 ]
s+3
s −0,25
[cofact(P)]T = [ ]
8 s+3
1
(s ∗ I − A)−1 = ∗ [cofact(s ∗ I − A)]T
∆(s ∗ I − A)
1 s −0,25
= 2 ∗[ ]
s +3∗s+2 8 s+3
s −0,25
2
s +3∗s+2 s +3∗s+2 2
=[ 8 ]
s+3
s2 + 3 ∗ s + 2 s2 + 3 ∗ s + 2
G(s) = C ∗ (s ∗ I − A)−1 ∗ B
s −0,25
2
s + 3 ∗ s + 2 s2 + 3 ∗ s + 2 0,5
G(s) = [0 0,5] ∗ [ 8 ]∗[ ]
s+3 0
2
s +3∗s+2 s +3∗s+22
4 0,5(s + 3) 0,5
=[ 2 ]∗[ ]
s +3∗s+2 s +3∗s+2 2 0
2 a =3
= { 1
s2 + 3 ∗ s + 2 a2 = 2
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4 1,5
= [2 2 ]
0 0,5
2 2
2 0,75
=[ ]
0 0,25
T = SFCC ∗ S −1
0 1 2 0,75
=[ ]∗[ ]
1 −3 0 0,25
0 0,25
=[ ]
2 0
Hallar a k FCC
|s ∗ I − AFCC + BFCC ∗ k FCC | = Pdd
Pdd = {−1,2; −3}
= (s + 1,2) ∗ (s + 3)
= (s + 1,2) ∗ (s + 3)
∝1 = 4,2
= s 2 + 4,2 ∗ s + 3,6 {
∝2 = 3,6
1 0 0 1 0
s ∗ I − AFCC ∗ BFCC ∗ k FCC = s ∗ [ ]−[ ] + [ ] ∗ [k1 k 2 ]
0 1 −2 −3 1
1 0 0 1 0 0
= s∗[ ]−[ ]+[ ]
0 1 −2 −3 k1 k 2
s −1
=[ ]
2 + k1 s + 3 + k2
s −1
|s ∗ I − AFCC + BFCC ∗ k FCC | = | |
2 + k1 s + 3 + k2
= s 2 + (3 + k 2 ) ∗ s + 2 + k1
s2 + (3 + k 2 ) ∗ s + 2 + k1 = Pdd
s2 + (3 + k 2 ) ∗ s + 2 + k1 = s2 + 4,2 ∗ s + 3,6
3 + k 2 = 4,2 ⇒ k 2 = 4,2 − 3 ⇒ k 2 = 1,2
={
2 + k1 = 3,6 ⇒ k1 = 3,6 − 2 ⇒ k1 = 1,6
k FCC = [k1 k2 ]
= [1,6 1,2]
K = k FCC ∗ T
0 0,25
= [1,6 1,2] ∗ [ ]
2 0
= [2,4 0,4]
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Problema 13
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s+3 0,25 0 a1 = 3
| −8 s 0| = s 3 + 3 ∗ s2 + 2 ∗ s {a2 = 2
0 −0,5 s a3 = 0
K = [k1 k2 k 3 ] ⇒ k1 =∝3 − a3 = 1 − 0 ⇒ k1 = 1
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0 0 0,5
= [0 0,25 0]
2 0 0
K = k ∗ P −1
0 0 0,5
= [1 1,5 0,5] ∗ [0 0,25 0 ]
2 0 0
= [1 0,375 0,5]
2do Criterio de solución
Solución a lazo cerrado para la ubicación de polos se tiene:
|s ∗ I − ALC | = Pdd
Pdd = (s + 0,5) ∗ (s + 1) ∗ (s + 2)
= (s2 + 1,5 ∗ s + 0,5) ∗ (s + 2)
∝1 = 3,5
3 2
= s + 3,5 ∗ s + 3,5 ∗ s + 1 {∝2 = 3,5
∝3 = 1,0
ALC = A − B ∗ K
−3 −0,25 0 0,5
=( 8 0 0) − ( 0 ) ∗ [k1 k 2 k 3 ]
0 0,5 0 0
−3 −0,25 0 0,5 ∗ k1 0,5 ∗ k 2 0,5 ∗ k 3
=( 8 0 0) − ( 0 0 0 )
0 0,5 0 0 0 0
−3 − 0,5 ∗ k1 −0,25 − 0,5 ∗ k 2 −0,5 ∗ k 3
=( 8 0 0 )
0 0,5 0
1 0 0 −3 − 0,5 ∗ k1 −0,25 − 0,5 ∗ k 2 −0,5 ∗ k 3
s ∗ I − ALC = s ∗ (0 1 0) − ( 8 0 0 )
0 0 1 0 0,5 0
s + 3 + 0,5 ∗ k1 0,25 + 0,5 ∗ k 2 0,5 ∗ k 3
= −8 s 0
0 0,5 s
s + 3 + 0,5 ∗ k1 0,25 + 0,5 ∗ k 2 0,5 ∗ k 3
|s ∗ I − ALC | = | −8 s 0 |
0 0,5 s
3 2
= s + (3 + 0,5 ∗ k1 ) ∗ s − (−8) ∗ (0,25 + 0,5 ∗ k 2 ) ∗ s + 2 ∗ k 3
= s3 + (3 + 0,5 ∗ k1 ) ∗ s2 + (2 + 4 ∗ k 2 ) ∗ s + 2 ∗ k 3
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3,5 − 3
3 + 0,5 ∗ k1 = 3,5 ⇒ k1 = ⇒ k1 = 1
0,5
3,5 − 2
|s ∗ I − ALC | = Pdd ⇒ 2 + 4 ∗ k 2 = 3,5 ⇒ k 2 = ⇒ k 2 = 0,375
4
1
{ 2 ∗ k 3 = 1 ⇒ k 2 = ⇒ k 2 = 0,5
2
K = [k1 k2 k 3 ] ⇒ K = [1 0,375 0,5]
Como el sistema está a lazo cerrado, la matriz inversa de transformación P se iguala
a la matriz identidad, es decir:
K = k ∗ P −1 ; P −1 = I ⇒ K = [1 0,375 0,5]
∆(s ∗ I − A) = s 3 + 3 ∗ s2 + 2 ∗ s
R11 R12 R13
cofact(s ∗ I − A) = [R 21 R 22 R 23 ]
R 31 R 32 R 33
s + 3 0,25 0
R11 = (−1)1+1 ∗ [ −8 s 0] = s2
0 −0,5 s
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s+3 0,25 0
R12 = (−1)1+2 ∗ [ −8 s 0] = 8 ∗ s
0 −0,5 s
s+3 0,25 0
R13 = (−1)1+3 ∗ [ −8 s 0] = 4
0 −0,5 s
s+3 0,25 0
2+1
R 21 = (−1) ∗ [ −8 s 0] = −0,25 ∗ s
0 −0,5 s
s+3 0,25 0
2+2
R 22 = (−1) ∗ [ −8 s 0] = s ∗ (s + 3)
0 −0,5 s
s+3 0,25 0
R 23 = (−1)2+3 ∗ [ −8 s 0] = 0,5 ∗ (s + 3)
0 −0,5 s
s+3 0,25 0
R 31 = (−1)3+1 ∗ [ −8 s 0] = 0
0 −0,5 s
s+3 0,25 0
3+2
R 32 = (−1) ∗ [ −8 s 0] = 0
0 −0,5 s
s+3 0,25 0
3+3
R 33 = (−1) ∗ [ −8 s 0] = s 2 + 3 ∗ s + 2
0 −0,5 s
s2 8∗s 4
cofact(P) = [−0,25 ∗ s s ∗ (s + 3) 0,5 ∗ (s + 3) ]
0 0 s2 + 3 ∗ s + 2
s2 −0,25 ∗ s 0
T
[cofact(P)] = [ 8 ∗ s (s
s ∗ + 3) 0 ]
(s 2
4 0,5 ∗ + 3) s + 3 ∗ s + 2
1
(s ∗ I − A)−1 = ∗ [cofact(s ∗ I − A)]T
∆(s ∗ I − A)
1 s2 −0,25 ∗ s 0
= 3 ∗[ 8∗s s ∗ (s + 3) 0 ]
s + 3 ∗ s2 + 2 ∗ s 2
4 0,5 ∗ (s + 3) s +3∗s+2
s2 −0,25 ∗ s 0
=[ 8∗s s ∗ (s + 3) 0 ]
2
4 0,5 ∗ (s + 3) s +3∗s+2
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s2 −0,25 ∗ s
0
s + 3 ∗ s + 2 ∗ s s + 3 ∗ s2 + 2 ∗ s
3 2 3
8∗s s ∗ (s + 3)
= 3 0
s + 3 ∗ s2 + 2 ∗ s s3 + 3 ∗ s2 + 2 ∗ s
4 0,5 ∗ (s + 3) s2 + 3 ∗ s + 2
[s 3 + 3 ∗ s 2 + 2 ∗ s s 3 + 3 ∗ s 2 + 2 ∗ s s3 + 3 ∗ s2 + 2 ∗ s]
s −0,25
0
s2 + 3 ∗ s + 2 s2 + 3 ∗ s + 2
8 s+3
= 2 2
0
s +3∗s+2 s +3∗s+2
4 0,5 ∗ (s + 3) s2 + 3 ∗ s + 2
[s 3 + 3 ∗ s 2 + 2 ∗ s s 3 + 3 ∗ s2 + 2 ∗ s s3 + 3 ∗ s 2 + 2 ∗ s]
G(s) = C ∗ (s ∗ I − A)−1 ∗ B
𝐬 −𝟎, 𝟐𝟓
𝟎
𝐬𝟐 + 𝟑 ∗ 𝐬 + 𝟐 𝐬𝟐 + 𝟑 ∗ 𝐬 + 𝟐
𝟖 𝐬+𝟑 𝟎, 𝟓
𝐆(𝐬) = [𝟎 𝟎 𝟎, 𝟓] ∗ 𝟎 ∗[ 𝟎 ]
𝐬𝟐 + 𝟑 ∗ 𝐬 + 𝟐 𝐬𝟐 + 𝟑 ∗ 𝐬 + 𝟐
𝟎
𝟒 𝟎, 𝟓 ∗ (𝐬 + 𝟑) 𝐬𝟐 + 𝟑 ∗ 𝐬 + 𝟐
[𝐬 + 𝟑 ∗ 𝐬 𝟐 + 𝟐 ∗ 𝐬
𝟑 𝐬 + 𝟑 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬
𝟑 𝐬 𝟑 + 𝟑 ∗ 𝐬 𝟐 + 𝟐 ∗ 𝐬]
0,5
4 0,25 ∗ (s + 3) 0,5 ∗ (s 2 + 3 ∗ s + 2)
=[ ]∗[ 0 ]
s3 + 3 ∗ s2 + 2 ∗ s s3 + 3 ∗ s2 + 2 ∗ s s3 + 3 ∗ s2 + 2 ∗ s 0
2 a1 = 3
= { a 2 =2
s3 + 3 ∗ s2 + 2 ∗ s a = 0
3
Representación de la forma canónica controlable (FCC)
ẋ 1 (t) 0 1 0 x1 (t) 0
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [x2 (t)] + [0] ∗ u(t)
ẋ 3 (t) −a3 −a2 −a1 x3 (t) 1
x1 (t)
y(t) = [1 0 0] ∗ [x2 (t)]
x3 (t)
ẋ 1 (t) 0 1 0 x1 (t) 0
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [x2 (t)] + [0] ∗ u(t)
ẋ 3 (t) 0 −2 −3 x3 (t) 1
0 1 0 0
AFCC = [ 0 0 1 ] ; BFCC = [0] ; CFCC = [2 0 0]
0 −2 −3 1
Hallar la controlabilidad canónica controlable
SFCC = [BFCC AFCC ∗ BFCC A2FCC ∗ BFCC ]
0 0 1 0 0 0 1 0 2 0
= [0 ( 0 0 1 ) ∗ (0 ) ( 0 0 1 ) ∗ (0)]
1 0 −2 −3 1 0 −2 −3 1
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0 1 0 0 0
(0 0 1) ∗ (0) = ( 1 )
0 −2 −3 1 −3
2
0 1 0 0 1 0 0 1 0
(0 0 1 ) = ( 0 0 1 ) ∗ ( 0 0 1)
0 −2 −3 0 −2 −3 0 −2 −3
0 0 1
= (0 −2 −3 )
0 6 7
0 0 1 0 1
(0 −2 −3 ) ∗ (0) = ( −3 )
0 6 7 1 7
0 0 1
SFCC = [0 1 −3 ]
1 −3 7
Hallar la controlabilidad para lazo abierto
−3 −0,25 0 0,5
A=[ 8 0 0] ; B = [ 0 ] ; C = [0 0 0,5]
0 0,5 0 0
S = [B A ∗ B A2 ∗ B]
0,5 −3 −0,25 0 0,5 −3 −0,25 0 2 0,5
=[ 0 ( 8 0 0) ∗ ( 0 ) ( 8 0 0 ) ∗ ( 0 )]
0 0 0,5 0 0 0 0,5 0 0
−3 −0,25 0 0,5 −1,5
( 8 0 0) ∗ ( 0 ) = ( 4 )
0 0,5 0 0 0
−3 −0,25 0 2 −3 −0,25 0 −3 −0,25 0
( 8 0 0) = ( 8 0 0) ∗ ( 8 0 0)
0 0,5 0 0 0,5 0 0 0,5 0
7 0,75 0
= (−24 −2 0)
4 0 0
7 0,75 0 0,5 3,5
(−24 −2 0) ∗ ( 0 ) = (−12 )
4 0 0 0 2
0,5 −1,5 3,5
S = [0 4 −12 ]
0 0 2
∆S = 4
1
S −1 = ∗ [cofac(S)]T
∆S
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MODERNA DE CONTROL
0 0 1 2 0,75 1
= [0 1 −3 ] ∗ [0 0,25 1,5]
1 −3 7 0 0 0,5
0 0 0,5
= [0 0,25 0 ]
2 0 0
Hallar a k FCC
|s ∗ I − AFCC + BFCC ∗ k FCC | = Pdd
Pdd = (s + 0,5) ∗ (s + 1) ∗ (s + 2)
= (s2 + 1,5 ∗ s + 0,5) ∗ (s + 2)
∝1 = 3,5
3 2
= s + 3,5 ∗ s + 3,5 ∗ s + 1 { 2 = 3,5
∝
∝3 = 1,0
𝟏 𝟎 𝟎 𝟎 𝟏 𝟎 𝟎
𝐬 ∗ 𝐈 − 𝐀𝐅𝐂𝐂 ∗ 𝐁𝐅𝐂𝐂 ∗ 𝐤 𝐅𝐂𝐂 = 𝐬 ∗ [𝟎 𝟏 𝟎] − [ 𝟎 𝟎 𝟏 ] + [𝟎] ∗ [𝐤 𝟏 𝐤𝟐 𝐤𝟑]
𝟎 𝟎 𝟏 𝟎 −𝟐 −𝟑 𝟏
s −1 0 0 0 0
= [0 s −1 ] + [ 0 0 0]
0 2 s+3 k1 k2 k3
s −1 0
= [0 s −1 ]
k1 2 + k2 s + 3 + k3
s −1 0
|s ∗ I − AFCC + BFCC ∗ k FCC | = | 0 s −1 |
k1 2 + k2 s + 3 + k3
a1 = 3 + k 3
= s3 + (3 + k 3 ) ∗ s2 + (2 + k2 ) ∗ s + k1 { a2 = 2 + k2
a 3 = k1
s3 + (3 + k 3 ) ∗ s 2 + (2 + k2 ) ∗ s + k1 = s3 + 3,5 ∗ s 2 + 3,5 ∗ s + 1
3 + k 3 = 3,5 ⇒ k 3 = 0,5
= {2 + k2 = 3,5 ⇒ k 2 = 1,5
k1 = 1
k FCC = [k1 k3 k3]
= [1 1,5 0,5]
K = k FCC ∗ T
0 0 0,5
= [1 1,5 0,5] ∗ [0 0,25 0]
2 0 0
= [1 0,375 0,5]
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Problema 14
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MODERNA DE CONTROL
1 0 0 0 1 0
s ∗ I − A = s ∗ [0 1 0] − [ −1 −1 −1 ]
0 0 1 0 0 −1
s −1 0
= [1 s + 1 1 ]
0 0 s+1
s −1 0 a1 = 2
|1 s+1 3 2
1 | = s + 2 ∗ s + 2 ∗ s + 1 {a 2 = 2
0 0 s+1 a3 = 1
K = [k1 k2 k 3 ] ⇒ k1 =∝3 − a3 = 4 − 1 ⇒ k1 = 3
⇒ k 2 =∝2 − a2 = 9 − 2 ⇒ k 2 = 7
⇒ k 3 =∝1 − a1 = 3,5 − 3 ⇒ k 2 = 4
K = [k1 k2 k 3 ] = [3 7 4 ]
K = k ∗ P −1
1
P −1 = ∗ [cofact(P)]T
∆P
P=S∗M
S = [B A ∗ B A2 ∗ B]
0 0 1 0 0 0 1 0 2 0
= [1 ( −1 −1 −1 ) ∗ (1) ( −1 −1 −1 ) ∗ (1)]
1 0 0 −1 1 0 0 −1 1
0 1 0 0 1
( −1 −1 −1 ) ∗ (1) = ( −2 )
0 0 −1 1 −1
2
0 1 0 0 1 0 0 1 0
( −1 −1 −1 ) = ( −1 −1 −1 ) ∗ ( −1 −1 −1 )
0 0 −1 0 0 −1 0 0 −1
−1 −1 −1
=( 1 0 2)
0 0 1
2
0 1 0 0 −1 −1 −1 0
( −1 −1 −1 ) ∗ (1) = ( 1 0 2) ∗ (1)
0 0 −1 1 0 0 1 1
−2
= ( 2)
1
0 1 −2
S = [1 −2 2]
1 −1 1
a 2 a1 1
M = [a1 1 0]
1 0 0
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2 2 1
= [2 1 0]
1 0 0
0 1 −2 2 2 1
P = [1 −2 2] ∗ [2 1 0]
1 −1 1 1 0 0
0 1 0
= [0 0 1]
1 1 1
∆P = 1
R11 R12 R13
cofact(P) = [R 21 R 22 R 23 ]
R 31 R 32 R 33
0 1 0
R11 = (−1)1+1 ∗ [0 0 1]
1 1 1
0 1
= ( 1) ∗ [ ]
1 1
= −1
0 1 0
R12 = (−1)1+2 ∗ [0 0 1]
1 1 1
0 1
= (−1) ∗ [ ]
1 1
=1
0 1 0
R13 = (−1)1+3 ∗ [0 0 1]
1 1 1
0 0
= (1) ∗ [ ]
1 1
=0
0 1 0
R 21 = (−1)2+1 ∗ [0 0 1]
1 1 1
1 0
= (−1) ∗ [ ]
1 1
= −1
0 1 0
R 22 = (−1)2+2 ∗ [0 0 1]
1 1 1
0 0
= (1) ∗ [ ]
1 1
=0
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0 1 0
R 23 = (−1)2+3 ∗ [0 0 1]
1 1 1
0 1
= (−1) ∗ [ ]
1 1
=1
0 1 0
R 31 = (−1)3+1 ∗ [0 0 1]
1 1 1
1 0
= (1) ∗ [ ]
0 1
=1
0 1 0
R 32 = (−1)3+2 ∗ [0 0 1]
1 1 1
0 0
= (−1) ∗ [ ]
0 1
=0
0 1 0
R 33 = (−1)3+3 ∗ [0 0 1]
1 1 1
0 1
= (1) ∗ [ ]
0 0
=0
−1 1 0
cofact(P) = [−1 0 1]
1 0 0
−1 −1 1
[cofact(P)]T = [ 1 0 0]
0 1 0
1 −1 −1 1
P −1 = ∗ [ 1 0 0]
1 0 1 0
−1 −1 1
=[ 1 0 0]
0 1 0
K = k ∗ P −1
−1 −1 1
= [3 7 4] ∗ [ 1 0 0]
0 1 0
= [4 1 3]
2do Criterio de solución
Solución a lazo cerrado para la ubicación de polos se tiene:
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MODERNA DE CONTROL
0 1 0 0
A = [ −1 −1 −1 ] ; B = [1] ; C = [1 0 1]; Pdd = {−1; −1; −4}
0 0 −1 1
Pdd = (s + 1) ∗ (s + 1) ∗ (s + 4)
= (s2 + 2 ∗ s + 1) ∗ (s + 4)
∝1 = 6
3 2
= s + 6 ∗ s + 9 ∗ s + 4 {∝2 = 9
∝3 = 4
|s ∗ I − ALC | = Pdd
ALC = A − B ∗ K
0 1 0 0
= ( −1 −1 −1 ) − (1) ∗ [k1 k 2 k 3 ]
0 0 −1 1
0 1 0 0 0 0
= ( −1 −1 −1 ) − (k1 k 2 k 3 )
0 0 −1 k1 k 2 k 3
0 1 0
= (−1 − k1 −1 − k 2 −1 − k 3 )
−k1 −k 2 −1 − k 3
1 0 0 0 1 0
s ∗ I − ALC = s ∗ (0 1 0) − ( −1 − k1 −1 − k 2 −1 − k 3 )
0 0 1 −k1 −k 2 −1 − k 3
s −1 0
= [1 + k 1 s + 1 + k2 1 + k3 ]
k1 k2 s + 1 + k3
s −1 0
|s ∗ I − ALC | = |1 + k1 s + 1 + k2 1 + k3 |
k1 k2 s + 1 + k3
s ∗ (s + 1 + k 2 ) ∗ (s + 1 + k 3 ) − (1 + k 3 ) ∗ k1
s ∗ [s2 + (2 + k 2 + k 3 ) ∗ s + 1 + k 2 + k 3 + k 2 ∗ k 3 ] − k1 − k1 ∗ k 3
s 3 + (2 + k 2 + k 3 ) ∗ s 2 + (1 + k 2 + k 3 + k 2 ∗ k 3 ) ∗ s − k 1 − k 1 ∗ k 3
−k1 ∗ (1 + k 3 )
−k1 − k1 ∗ k 3
−k 2 ∗ (1 + k 3 ) ∗ s
(−k 2 − k 2 ∗ k 3 ) ∗ s
(1 + k1 ) ∗ (s + 1 + k 3 )
(1 + k1 ) ∗ s + 1 + k1 + k 3 + k1 ∗ k 3
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|s ∗ I − ALC | = s 3 + (2 + k 2 + k 3 ) ∗ s 2 + (2 + k1 + k 3 ) ∗ s + 1 + k 3
(2 + k 2 + k 3 ) ∗ s 2 = 6 ∗ s 2 ⇒ 2 + k 3 + k 2 = 6 ⋯ I
(2 + k1 + k 3 ) ∗ s = 9 ∗ s ⇒ 2 + k1 + k 3 = 9 ⋯ II
1 + k 3 = 4 ⇒ k3 = 3 ⋯ III
Sustituyendo k3 de la ecuación III en las ecuaciones I y II
k2 = 6 ⇒ k2 = 6 − 2 − k3
⇒ k2 = 1
2 + k1 + k 3 = 9 ⇒ k1 = 9 − 2 − k 3
⇒ k1 = 4
K = [k1 k2 k 3 ] ⇒ K = [4 1 3]
Como el sistema está a lazo cerrado, la matriz inversa de transformación P se iguala
a la matriz identidad, es decir:
K = k ∗ P −1 ; P −1 = I ⇒ K = [4 1 3]
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s −1 0
= [1 s + 1 1 ]
0 0 s+1
∆(s ∗ I − A) = s ∗ (s + 1) ∗ (s + 1) + s + 1
a1 = 3
3 2
= s + 2 ∗ s + 2 ∗ s + 1 {a 2 = 2
a3 = 1
R11 R12 R13
cofact(s ∗ I − A) = [R 21 R 22 R 23 ]
R 31 R 32 R 33
s −1 0
(−1) 1+1
R11 = ∗ [1 s + 1 1 ]
0 0 s+1
s+1 1
= (1) ∗ [ ]
0 s+1
= (1) ∗ (s 2 + 2s + 1)
= s2 + 2s + 1
s −1 0
R12 = (−1)1+2 ∗ [1 s + 1 1 ]
0 0 s+1
1 1
= (−1) ∗ [ ]
0 s+1
= (−1) ∗ (s + 1)
= −(s + 1)
s −1 0
R13 = (−1)1+3 ∗ [1 s + 1 1 ]
0 0 s+1
1 s+1
= (1) ∗ [ ]
0 0
=0
s −1 0
R 21 = (−1)2+1 ∗ [1 s + 1 1 ]
0 0 s+1
−1 0
= (−1) ∗ [ ]
0 s+1
= (−1) ∗ [−(s + 1)]
=s+1
s −1 0
R 22 = (−1)2+2 ∗ [1 s + 1 1 ]
0 0 s+1
s 0
= (1) ∗ [ ]
0 s+1
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= (1) ∗ (s 2 + s)
= s2 + s
s −1 0
R 23 = (−1)2+3 ∗ [1 s + 1 1 ]
0 0 s+1
s −1
= (−1) ∗ [ ]
0 0
=0
s −1 0
R 31 = (−1)3+1 ∗ [1 s+1 1 ]
0 0 s+1
−1 0
= (1) ∗ [ ]
s+1 1
= −1
s −1 0
R 32 = (−1)3+2 ∗ [1 s + 1 1 ]
0 0 s+1
s 0
= (−1) ∗ [ ]
1 1
= (−1) ∗ (s)
= −s
s −1 0
R 33 = (−1)3+3 ∗ [1 s + 1 1 ]
0 0 s+1
s −1
= (1) ∗ [ ]
1 s+1
= (1) ∗ (s 2 + s + 1)
= s2 + s + 1
s 2 + 2s + 1 −(s + 1) 0
cofact(sI − A) = [ s + 1 2
s +s 0 ]
2
−1 −s s +s+1
2
s + 2s + 1 s + 1 −1
T
[cofact(sI − A)] = [ −(s + 1) 2
s +s −s ]
2
0 0 s +s+1
1
(s ∗ I − A)−1 = ∗ [cofact(s ∗ I − A)]T
∆(s ∗ I − A)
1 s2 + 2s + 1 s+1 −1
= 3 ∗ [ −(s + 1) s2 + s −s ]
s + 2 ∗ s2 + 2 ∗ s + 1 2
0 0 s +s+1
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MODERNA DE CONTROL
s 2 + 2s + 1 s+1 −1
s + 2 ∗ s + 2 ∗ s + 1 s + 2 ∗ s2 + 2 ∗ s + 1
3 2 3 s3 + 2 ∗ s2 + 2 ∗ s + 1
−(s + 1) s2 + s −s
=
s3 + 2 ∗ s2 + 2 ∗ s + 1 s3 + 2 ∗ s2 + 2 ∗ s + 1 3 2
s +2∗s +2∗s+1
s2 + s + 1
[ 0 0
s3 + 2 ∗ s2 + 2 ∗ s + 1 ]
G(s) = C ∗ (s ∗ I − A)−1 ∗ B
𝐬 𝟐 + 𝟐𝐬 + 𝟏 𝐬+𝟏 −𝟏
𝐬𝟑+ 𝟐 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟏 𝐬𝟑+ 𝟐 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟏 𝐬𝟑 +𝟐 ∗ 𝐬𝟐 +𝟐∗𝐬+𝟏
𝟎
−(𝐬 + 𝟏) 𝐬𝟐 + 𝐬 −𝐬
𝐆(𝐬) = [𝟏 𝟎 𝟏] ∗ 𝟑 ∗ [𝟏 ]
𝐬 + 𝟐 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟏 𝐬𝟑 + 𝟐 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟏 𝐬𝟑 + 𝟐 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟏 𝟏
𝐬𝟐 + 𝐬 + 𝟏
[ 𝟎 𝟎
𝐬𝟑 + 𝟐 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟏 ]
𝐬𝟐 + 𝟐𝐬 + 𝟏 𝐬+𝟏 𝐬𝟐 + 𝐬
0
=[ ] ∗ [ 1]
𝐬𝟑 + 𝟐 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟏 𝐬𝟑 + 𝟐 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟏 𝐬𝟑 + 𝟐 ∗ 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟏
1
s2 + 2 ∗ s + 1 a1 = 2
= 3 { 2=2
a
s + 2 ∗ s2 + 2 ∗ s + 1 a = 1
3
Representación de la forma canónica controlable (FCC)
ẋ 1 (t) 0 1 0 x1 (t) 0
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [x2 (t)] + [0] ∗ u(t)
ẋ 3 (t) −a3 −a2 −a1 x3 (t) 1
x1 (t)
y(t) = [1 0 0] ∗ [x2 (t)]
x3 (t)
ẋ 1 (t) 0 1 0 x1 (t) 0
[ẋ 2 (t)] = [ 0 0 1 ] ∗ [x2 (t)] + [0] ∗ u(t)
ẋ 3 (t) 0 −2 −3 x3 (t) 1
0 1 0 0
AFCC = [ 0 0 1] ; BFCC = [0] ; CFCC = [1 2 1]
−1 −2 −2 1
Hallar la controlabilidad canónica controlable
SFCC = [BFCC AFCC ∗ BFCC A2FCC ∗ BFCC ]
0 0 1 0 0 0 1 0 2 0
= [0 ( 0 0 1 ) ∗ (0 ) ( 0 0 1) ∗ (0)]
1 −1 −2 −2 1 −1 −2 −2 1
0 1 0 0 0
( 0 0 1) ∗ (0) = ( 1)
−1 −2 −2 1 −2
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0 1 0 2 0 1 0 0 1 0
( 0 0 1) = ( 0 0 1) ∗ ( 0 0 1)
−1 −2 −2 −1 −2 −2 −1 −2 −2
0 0 1
= ( −1 −2 −2 )
2 3 2
0 0 1 0 1
( −1 −2 −2 ) ∗ (0) = ( −2 )
2 3 2 1 2
0 0 1
SFCC = [0 1 −2 ]
1 −2 2
Hallar la controlabilidad para lazo abierto
0 1 0 0
A = [ −1 −1 −1 ] ; B = [1] ; C = [1 0 1]
0 0 −1 1
S = [B A ∗ B A ∗ B]
2
0 0 1 0 0 0 1 0 2 0
= [1 ( −1 −1 −1 ) ∗ (1) ( −1 −1 −1 ) ∗ (1)]
1 0 0 −1 1 0 0 −1 1
0 1 0 0 1
( −1 −1 −1 ) ∗ (1) = ( −2 )
0 0 −1 1 −1
2
0 1 0 0 1 0 0 1 0
( −1 −1 −1 ) = ( −1 −1 −1 ) ∗ ( −1 −1 −1 )
0 0 −1 0 0 −1 0 0 −1
−1 −1 −1
=( 1 0 2)
0 0 1
−1 −1 −1 0 −2
( 1 0 2 ) ∗ (1) = ( 2)
0 0 1 1 1
0 1 −2
S = [1 −2 2]
1 −1 1
∆S = −1
1
S −1 = ∗ [cofac(S)]T
∆S
R11 R12 R13
cofact(S) = [R 21 R 22 R 23 ]
R 31 R 32 R 33
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MODERNA DE CONTROL
0 1 −2
R11 = (−1)1+1 ∗ [1 −2 2]
1 −1 1
−2 2
= (1) ∗ [ ]
−1 1
=0
0 1 −2
1+2
R12 = (−1) ∗ [1 −2 2]
1 −1 1
1 2
= (−1) ∗ [ ]
1 1
=1
0 1 −2
1+3
R13 = (−1) ∗ [1 −2 2]
1 −1 1
1 −2
= (1) ∗ [ ]
1 −1
=1
0 1 −2
R 21 = (−1)2+1 ∗ [1 −2 2]
1 −1 1
1 −2
= (−1) ∗ [ ]
−1 1
=1
0 1 −2
R 22 = (−1)2+2 ∗ [1 −2 2]
1 −1 1
0 −2
= (1) ∗ [ ]
1 1
=2
0 1 −2
R 23 = (−1)2+3 ∗ [1 −2 2]
1 −1 1
0 1
= (−1) ∗ [ ]
1 −1
=1
0 1 −2
R 31 = (−1)3+1 ∗ [1 −2 2]
1 −1 1
1 −2
= (1) ∗ [ ]
−2 2
= −2
0 1 −2
3+2
R 32 = (−1) ∗ [1 −2 2]
1 −1 1
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0 −2
= (−1) ∗ [ ]
1 2
= −2
0 1 −2
R 33 = (−1)3+3 ∗ [1 −2 2]
1 −1 1
0 1
= (1) ∗ [ ]
1 −2
= −1
0 1 1
cofact(S) = [ 1 2 1]
−2 −2 −1
0 1 −2
T
[cofact(S)] = [1 2 −2]
1 1 −1
0 1 −2
S −1 = −1 ∗ [1 2 −2]
1 1 −1
0 −1 2
= [ −1 −2 2]
−1 −1 1
T = SFCC ∗ S −1
0 0 1 0 −1 2
= [0 1 −2 ] ∗ [ −1 −2 2]
1 −2 2 −1 −1 1
−1 −1 1
=[ 1 0 0]
0 1 0
Hallar a k FCC
0 1 0 0
AFCC = [ 0 0 1] ; BFCC = [0] ; CFCC = [1 2 1]
−1 −2 −2 1
|s ∗ I − AFCC + BFCC ∗ k FCC | = Pdd
Pdd = (s + 1) ∗ (s + 1) ∗ (s + 4)
= (s2 + 2 ∗ s + 1) ∗ (s + 4)
∝1 = 6
= s 3 + 6 ∗ s 2 + 9 ∗ s + 4 {∝2 = 9
∝3 = 4
𝟏 𝟎 𝟎 𝟎 𝟏 𝟎 0
𝐬 ∗ 𝐈 − 𝐀𝐅𝐂𝐂 ∗ 𝐁𝐅𝐂𝐂 ∗ 𝐤 𝐅𝐂𝐂 = 𝐬 ∗ [𝟎 𝟏 𝟎] − [ 𝟎 𝟎 𝟏 ] + [0] ∗ [𝐤 𝟏 𝐤𝟐 𝐤𝟑]
𝟎 𝟎 𝟏 −𝟏 −𝟐 −𝟐 1
s −1 0 0 0 0
= [0 s −1 ] + [ 0 0 0]
1 2 s+2 k1 k2 k3
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MODERNA DE CONTROL
s −1 0
=[ 0 s −1 ]
1 + k1 2 + k2 s + 2 + k3
|s ∗ I − AFCC + BFCC ∗ k FCC |
s −1 0
=| 0 s −1 |
1 + k1 2 + k2 s + 2 + k3
= s2 ∗ (s + 2 + k 3 ) + 1 + k1 + s ∗ (2 + k 2 )
= s3 + (2 + k 3 ) ∗ s 2 + (2 + k 2 ) ∗ s + 1 + k1
(2 + k 3 ) ∗ s2 = 6 ∗ s2 ⇒ k 3 = 6 − 2 ⇒ k 3 = 4
{ (2 + k 2 ) ∗ s = 9 ∗ s ⇒ k 2 = 9 − 2 ⇒ k 2 = 7
1 + k1 = 4 ⇒ k1 = 4 − 1 ⇒ k1 = 3
k FCC = [k1 k3 k3]
= [3 7 4]
K = k FCC ∗ T
−1 −1 1
= [3 7 4] ∗ [ 1 0 0]
0 1 0
= [4 1 3]
La ganancia K modifica la matriz de comportamiento de estado, como se verá a
continuación.
0 1 0 0
A − B ∗ K = [ −1 −1 −1 ] − [1] ∗ [4 1 3]
0 0 −1 1
0 1 0 0 0 0
= [ −1 −1 −1 ] − [ 4 1 3]
0 0 −1 4 1 3
0 1 0
= [ −4 −2 −5]
−3 −1 −5
El sistema realimentado se transforma en:
ẋ 1 (t) 0 1 0 x1 (t) 0 x1 (t)
ẋ (t)
[ 2 ] = [ −5 −2 −4] ∗ [ 2 ] + [1] ∗ u(t); y(t) = [1
x (t) 0 1 ∗ [ 2 (t)]
] x
ẋ 3 (t) −4 −1 −4 x3 (t) 1 x3 (t)
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MODERNA DE CONTROL
PROBLEMA 14
1er Método
Método Directo a Lazo Abierto
Ganancia Realimentación K
K = [k1 k 2 ] ∗ P −1
= [∝2 − a2 ∝1 − a1 ] ∗ P −1
Pd = s2 + 5 ∗ s + 9
∝ =5
= { 1
∝2 = 9
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MODERNA DE CONTROL
1 1 2 1
= [ ( ) ∗ ( )]
1 3 1 1
1 3
= [ ]
1 4
Matriz de transición de Estado
1 3 −2 1
P = [ ]∗[ ]
1 4 1 0
1 1
= [ ]
2 1
[cofac(P)]T
P −1 =
det(P)
R R12
cofac(P) = [ 11 ]
R 21 R 22
1 1
R11 = (−1)1+1 ∗ [ ]
2 1
= 1
1 1
R12 = (−1)1+2 ∗ [ ]
2 1
= −2
1 1
R 21 = (−1)2+1 ∗ [ ]
2 1
= −1
1 1
R 22 = (−1)1+2 ∗ [ ]
2 1
= 1
1 −2
cofact(P) = [ ]
−1 1
1 −1
[cofact(P)]T = [ ]
−2 1
det(P) = 1 − 2
= −1
1 −1
[ ]
P −1 = −2 1
−1
−1 1 −1 1
= [ ]∗[ ]
2 −1 2 −1
−1 1
K = [14 7] ∗ [ ]
2 −1
= [0 7]
2do Método
Método Realimentación de Estado a Lazo Cerrado
1 0 1 2 1
s∗I−A+B∗K = s∗[ ]−[ ] + [ ] ∗ [k1 k2]
0 1 3 1 1
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MODERNA DE CONTROL
s − 1 −2 k k2
= [ ]+[ 1 ]
−3 s − 1 k1 k 2
s − 1 + k1 −2 + k 2
= [ ]
−3 + k1 s − 1 + k 2
|s ∗ I − A + B ∗ K| = (s − 1 + k1 ) ∗ (s − 1 + k 2 ) − (−2 + k 2 ) ∗ (−3 + k1 )
= Pd
|s ∗ I − A + B ∗ K|
= s2 + (−2 − k1 − k 2 ) ∗ s + 1 − k1 − k 2 + k1 ∗ k 2 − 6 + 2k1 + 3k 2 − k1 ∗ k 2
= s2 + (−2 − k1 − k 2 ) ∗ s − 5 + k1 + 2k 2
s2 + (−2 − k1 − k 2 ) ∗ s − 5 + k1 + 2k 2 = s2 + 5 ∗ s + 9
−2 − k1 − k 2 = 5 ⇒ k1 + k 2 = 7
−5 + k1 + 2k 2 = 9 ⇒ k1 + 2k 2 = 14
k1 + 2k 2 = 14
k1 + k 2 + k 2 = 14
7 + k2 = 14
k2 = 7
k1 = 14 − 2k 2
k1 = 14 − 14
k1 = 0
[k1 k 2 ] = [0 14]
3er Método
Forma Canónica Controlable
K = [k1CC k 2CC ] ∗ T
= [∝2 − a2 ∝1 − a1 ] ∗ T
Pd = s2 + 5 ∗ s + 9
∝ =5
= { 1
∝2 = 9
T = Scc ∗ S −1
Donde
Scc = [Bcc Acc ∗ Bcc ]
S = [B A ∗ B]
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MODERNA DE CONTROL
[Cofac(S)]𝑇
S −1 =
det(𝑆)
GLA (s) = C ∗ (s ∗ I − A)−1 ∗ B
−1
[cofac(s ∗ I − A)]T
(s ∗ I − A) =
det(s ∗ I − A)
1 0 1 2
s∗I−A= s∗( )−( )
0 1 3 1
1 0 1 2
=s∗( )−( )
0 1 3 1
s − 1 −2
=( )
−3 s − 1
det(s ∗ I − A) = (s − 1) ∗ (s − 1) − 6
= s 2 − 2s − 5
Confectores de (s ∗ I − A)
s−1 −2
R11 = (−1)1+1 ∗ [ ]
−3 s−1
= s−1
s−1 −2
R12 = (−1)1+2 ∗ [ ]
−3 s−1
=3
s−1 −2
R 21 = (−1)2+1 ∗ [ ]
−3 s−1
= 2
R 22 = (−1)1+2 ∗ [s − 1 −2
]
−3 s−1
= s−1
s−1 3
s∗I−A = ( )
2 s−1
s−1 2
[s ∗ I − A]T = ( )
3 s−1
det(s ∗ I − A) = (s − 1) ∗ (s − 1) − 6
= s2 − 2 ∗ s − 5
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MODERNA DE CONTROL
s−1 2
( )
(s ∗ I − A)−1 = 3 s−1
s2 − 2 ∗ s − 5
s−1 2
2 2
= (s − 2 ∗ s − 5 s − 2 ∗ s − 5)
3 s−1
s2 − 2 ∗ s − 5 s2 − 2 ∗ s − 5
s−1 2
s2 2 1
G(s) = [1 1] ∗ [ − 2 ∗ s − 5 s − 2 ∗ s − 5] ∗ [ ]
3 s−1 1
s2 − 2 ∗ s − 5 s2 − 2 ∗ s − 5
s+2 s+1 1
=[ 2 ]∗[ ]
2
s −2∗s−5 s −2∗s−5 1
2∗s+3 a = −2
= { 1
s 2 − 2 ∗ s − 5 a2 = −5
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MODERNA DE CONTROL
R11 R12
cofac(S) = [ ]
R 21R 22
1 3
R11 = (−1)1+1 ∗ [ ]=4
1 4
1 3
R12 = (−1)1+2 ∗ [ ] = −1
1 4
1 3
R 21 = (−1)2+1 ∗ [ ] = −3
1 4
1 3
R 22 = (−1)2+2 ∗ [ ]=1
1 4
4 −1
cofact(S) = [ ]
−3 1
[cofact(S)]T = [ 4 −3]
−1 1
4 −3
S −1 = 1 ∗ [ ]
−1 1
4 −3
=[ ]
−1 1
T = SFCC ∗ S −1
0 1 4 −3
=[ ]∗[ ]
1 2 −1 1
−1 1
=[ ]
2 −1
Hallar a k FCC
|s ∗ I − AFCC + BFCC ∗ k FCC | = Pdd
∝ = 4,2
Pdd = s 2 + 5 ∗ s + 9 { 1
∝2 = 3,6
1 0 0 1 0
s ∗ I − AFCC ∗ BFCC ∗ k FCC = s ∗ [ ]−[ ] + [ ] ∗ [k1 k 2 ]
0 1 5 2 1
1 0 0 1 0 0
= s∗[ ]−[ ]+[ ]
0 1 5 2 k1 k 2
s −1
=[ ]
−5 + k1 s − 2 + k2
s −1
|s ∗ I − AFCC + BFCC ∗ k FCC | = | |
−5 + k1 s − 2 + k2
= s 2 + (−2 + k 2 ) ∗ s − 5 + k1
s2 + (−2 + k 2 ) ∗ s − 5 + k1 = Pdd
s2 + (−2 + k 2 ) ∗ s − 5 + k1 = s 2 + 5 ∗ s + 9
−2 + k 2 = 5 ⇒ k 2 = 5 + 2 ⇒ k 2 = 7
={
−5 + k1 = 9 ⇒ k1 = 9 + 5 ⇒ k1 = 14
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MODERNA DE CONTROL
k FCC = [k1 k2 ]
= [14 7]
K = k FCC ∗ T
−1 1
= [14 7] ∗ [ ]
2 −1
= [−14 + 7 ∗ 2 14 − 7]
= [0 7]
La ganancia K modifica la matriz de comportamiento de estado, como se verá a
continuación.
0 1 1
A−B∗K = [
⏟ ] − [ ] ∗ [0 7]
A
5 2 1
LC
0 1 0 7
=[ ]−[ ]
5 2 0 7
0 −6
=[ ]
5 −5
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MODERNA DE CONTROL
R 22 = (−1)1+2 ∗ [ s 6
]
−5 s+5
= s
s+5 5
s∗I−A = ( )
−6 s
s + 5 −6
[s ∗ I − A]T = ( )
5 s
s + 5 −6
( )
(s ∗ I − A)−1 = 5 s
s 2 + 5 ∗ s + 30
s+5 −6
2 2
= (s + 5 ∗ s + 30 s + 5 ∗ s + 30)
5 s
2 2
s + 5 ∗ s + 30 s + 5 ∗ s + 30
s+5 −6
2 2 1
G(s) = [1 1] ∗ [s + 5 ∗ s + 30 s + 5 ∗ s + 30] ∗ [ ]
5 s 1
2 2
s + 5 ∗ s + 30 s + 5 ∗ s + 30
s + 10 s−6 1
=[ 2 ]∗[ ]
2
s + 5 ∗ s + 30 s − 2 ∗ s − 5 1
2∗s+4 a =5
= { 1
s2 + 5 ∗ s + 30 a2 = 30
[
0 −6]
5 −5
[0 7]
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MODERNA DE CONTROL
r(t) + e(t) 1
ki
+ u(t) 1
[ ]
+ ẋ i (t) 1 xi (t)
[1 1] y(t)
s 1 s
- - +
[
0 −6]
5 −5
[0 7]
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MODERNA DE CONTROL
a1 = −2
= {a2 = −5
a3 = 0
s−1 −2 0
R11 = (−1)1+1 ∗ [ −3 s − 1 0]
1 1 s
= (1) ∗ [s − 1 0]
1 s
= (s − 1) ∗ s
= s2 − s
s−2 −2 0
R12 = (−1)1+2 ∗ [ −3 s − 1 0]
1 1 s
−3 0
= (−1) ∗ [ ]
1 s
= (−1) ∗ (−3 ∗ s)
= 3∗s
s−1 −2 0
R13 = (−1)1+3 ∗ [ −3 s − 1 0]
1 1 s
(1) ∗ [ −3 s −1
= ]
1 1
= −3 − (s − 1)
= −2 − s
s−1 −2 0
R 21 = (−1)2+1 ∗ [ −3 s − 1 0]
1 1 s
−2 0
= (−1) ∗ [ ]
1 s
= (−1) ∗ (−2 ∗ s)
= 2∗s
s−2 −2 0
R 22 = (−1)2+2 ∗ [ −3 s − 1 0]
1 1 s
s − 1 0
= (1) ∗ [ ]
1 s
= (s − 1) ∗ s
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MODERNA DE CONTROL
= s2 − s
s − 1 −2 0
R 23 = (−1)2+3 ∗ [ −3 s − 1 0]
1 1 s
s − 1 −2
= (−1) ∗ [ ]
1 1
= (−1) ∗ [(s − 1) ∗ 1 − (−2)]
= −s − 1
s − 1 −2 0
R 31 = (1)3+1 ∗ [ −3 s − 1 0]
1 1 s
1 0
= (1) ∗ [ ]
s−1 0
= 2 ∗ 0 − (s − 2) ∗ 0
= 0
s − 1 −2 0
R 32 = (−1)3+2 ∗ [ −3 s − 1 0]
1 1 s
s − 1 0
= (−1) ∗ [ ]
−3 0
= (−1) ∗ 0
= 0
s − 1 −2 0
R 33 = (1)3+3 ∗ [ −3 s − 1 0]
1 1 s
s − 1 −2
= (1) ∗ [ ]
−3 s − 1
= (s − 1) ∗ (s − 1) − (−3) ∗ (−2)
= s2 − 2 ∗ s − 5
s2 − s 3 ∗ s −s − 2
cofac(s ∗ I − Aa ) = [ 2 ∗ s s 2 − s −s − 1 ]
2
0 0 s −2∗s−5
2
cofac(s ∗ I s −s 2∗s 0
= [ 2 ]
− A a )T 3 ∗ s s − s 0
2
−s − 2 −s − 1 s − 2 ∗ s − 5
s2 − s 2∗s 0
[ 3∗s 2 ]
(s ∗ I − Aa )−1 = s −s 0
−s − 2 −s − 1 s 2 − 2 ∗ s − 5
s3 − 2 ∗ s2 − 5 ∗ s
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MODERNA DE CONTROL
s2 − s 2∗s
0
s3 − 2 ∗ s2 − 5 ∗ s s3 − 2 ∗ s2 − 5 ∗ s
3∗s s2 − s
= 0
s − 2 ∗ s2 − 5 ∗ s
3 s3 − 2 ∗ s2 − 5 ∗ s
−s − 2 −s − 1 s2 − 2 ∗ s − 5
[s 3 − 2 ∗ s 2 − 5 ∗ s s 3 − 2 ∗ s2 − 5 ∗ s s 3 − 2 ∗ s2 − 5 ∗ s]
1
s2 + 2 ∗ s s2 − s
C ∗ (s ∗ I − Aa )−1 ∗ B = [ 0] ∗ [ 1]
s3 − 2 ∗ s2 − 5 ∗ s s3 − 2 ∗ s2 − 5 ∗ s 0
s2 + 2 ∗ s s2 − s
= +
s3 − 2 ∗ s2 − 5 ∗ s s3 − 2 ∗ s2 − 5 ∗ s
s2 + 2 ∗ s − s
=
s3 − 2 ∗ s2 − 5 ∗ s
s2 + 2 ∗ s
G(s) =
s3 − 2 ∗ s2 − 5 ∗ s
Cálculo de la Controlabilidad
S = [B A ∗ B A2 ∗ B]
1 1 2 0 1 1 2 0 2 1
= [1 ( 3 1 0 ) ∗ (1 ) ( 3 1 0) ∗ (1)]
0 −1 −1 0 0 −1 −1 0 0
2
1 3 1 2 0 1
= [1 4 ( 3 1 0) ∗ (1)]
0 −2 −1 −1 0 0
2 1 2 0 1 2 0
1 2 0
( 3 1 0) = ( 3 1 0) ∗ ( 3 1 0)
−1 −1 0 −1 −1 0 −1 −1 0
7 4 0
= ( 6 7 0)
−4 −3 0
7 4 0 1 11
( 6 7 0) ∗ (1) = ( 13 )
−4 −3 0 0 −7
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MODERNA DE CONTROL
1 3 11
S = [1 4 13 ]
0 −2 −7
a1 = −2
|s ∗ I − Aa | = {a2 = −5
a3 = 0
a 2 a1 1
M = [ a1 1 0 ]
1 0 0
−5 −2 1
= [−2 1 0]
1 0 0
P = S∗M
1 3 11 −5 −2 1
= [1 4 13 ] ∗ [−2 1 0]
0 −2 −7 1 0 0
0 1 1
= [0 2 1]
−3 −2 0
det(P) = 3
[cofac(P)]T
P −1 =
det(P)
0 1 1
R11 = (−1)1+1 ∗ [ 0 2 1]
−3 −2 0
2 1
= (1) ∗ [ ]
−2 0
= 2
0 1 1
(−1) 1+2
R12 = ∗ [ 0 2 1]
−3 −2 0
0 1
= (−1) ∗ [ ]
−3 0
= −3
0 1 1
1+3
R13 = (−1) ∗[ 0 2 1]
−3 −2 0
0 2
= (1) ∗ [ ]
−3 −2
= 6
0 1 1
R 21 = (−1)2+1 ∗ [ 0 2 1]
−3 −2 0
1 1
= (−1) ∗ [ ]
−2 0
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= −2
0 1 1
R 22 = (−1)2+2 ∗ [ 0 2 1]
−3 −2 0
0 1
= (1) ∗ [ ]
−3 0
= 3
0 1 1
(−1) 2+3
R 23 = ∗[ 0 2 1]
−3 −2 0
0 1
= (−1) ∗ [ ]
3 −2
= 3
0 1 1
R 31 = (1)3+1 ∗ [ 0 2 1]
−3 −2 0
1 1
= (1) ∗ [ ]
2 0
= −2
0 1 1
R 32 = (−1)3+2 ∗ [ 0 2 1]
−3 −2 0
0 1
= (−1) ∗ [ ]
−3 1
= −3
0 1 1
(1) 3+3
R 33 = ∗[ 0 2 1]
−3 −2 0
0 1
= (1) ∗ [ ]
0 2
= 0
2 −3 6
cofac(P) = [−2 3 −3]
−1 1 0
2 −2 −1
cofac(P)T = [−3 3 1]
6 −3 0
2 −2 −1
[ −3 3 1]
(P)−1 =
6 −3 0
3
0,667 −0,667 −0,333
= [ −1 1 0 ]
2 −1 0
1er Criterio
Ganancia Realimentación K
K = [k1 k2 k i ] ∗ P −1
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= [∝3 − a3 ∝2 − a2 ∝1 − a1 ] ∗ P −1
Pd = (s2 + 5 ∗ s + 9) ∗ (s + 4)
= s 3 + 9 ∗ s2 + 29 ∗ s + 36
∝1 = 9
= { ∝2 = 29
∝3 = 36
0,667 −0,667 −0,333
K = [36 − (0) 29 − (−5) 9 − (−2)] ∗ [ −1 1 0 ]
2 −1 0
= [⏟
12 −1 −12
⏟]
K=[k1 k2 ] ki =k3
2do Método
Método Realimentación de Estado a Lazo Cerrado
1 0 0 1 2 0 1
s ∗ I − Aa + Ba ∗ K a = s ∗ [0 1 0 ] − [ 3 1 0 ] + [ 1] ∗ [k1 k 2 k 3 ]
0 0 1 −1 −1 0 0
1 0 0 1 2 0 1 k1 k 2 k 3
= s ∗ [0 1 0] − [ 3 1 0] + [ 1] ∗ [ k 1 k 2 k 3 ]
0 0 1 −1 −1 0 0 0 0 0
s − 1 + k1 −2 + k 2 k 3
= [ −3 + k1 s − 1 + k 2 k 3 ]
1 1 s
|s ∗ I − A + B ∗ K| 3 2
= s + 9 ∗ s + 29 ∗ s + 36
(s − 1 + k1 ) ∗ (s − 1 + k 2 ) ∗ s
s3 + (−2 + k1 + k 2 ) ∗ s 2 + (1 − k1 − k 2 + k1 ∗ k 2 ) ∗ s
(−2 + k 2 ) ∗ (k 3 )
−2 ∗ k 3 + k 2 ∗ k 3
(−3 + k1 ) ∗ (k 3 )
−3 ∗ k 3 + k1 ∗ k 3
−(s − 1 + k 2 ) ∗ (k 3 )
−k 3 ∗ s + k 3 − k 2 ∗ k 3
−(−2 + k 2 ) ∗ (−3 + k1 ) ∗ s
(−6 + 2 ∗ k1 + 3 ∗ k 2 − k1 k 2 ) ∗ s
−(s − 1 + k1 ) ∗ (k 3 )
−k 3 ∗ s + k 3 − k1 ∗ k 3
s3 + (−2 + k1 + k 2 ) ∗ s 2 + (−5 + k1 + 2 ∗ k 2 ) ∗ s − 3 ∗ k 3
−2 + k1 + k 2 = 9 ⇒ k1 + k 2 = 11
−5 + k1 + 2 ∗ k 2 − 2 ∗ k 3 = 29
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−3 ∗ k 3 = 36 ⇒ k 3 = −12
−5 + k1 + 2 ∗ k 2 − 2 ∗ (−12) = 29 ⇒ k1 + 2 ∗ k 2 = 10
⇒ k1 + 2 ∗ k 2 = 10
⇒⏟
k1 + k 2 + k 2 = 10
↓
⇒ 11 + k 2 = 10
⇒ k 2 = −1
k1 + k 2 = 11 ⇒ k1 = 11 − k 2
⇒ k1 = 11 − (−1)
⇒ k1 = 12
Donde
K = [k1 k2 k3]
= [12
⏟ −1 −12
⏟]
K=[k1 k2 ] ki =k3
3er Método
Forma Canónica Controlable
K = [k1CC k 2CC ] ∗ T
= [∝2 − a2 ∝1 − a1 ] ∗ T
Pd = s 3 + 9 ∗ s2 + 29 ∗ s + 36
∝1 = 9
= {∝2 = 29
∝1 = 36
T = Scc ∗ S −1
Ecuación Característica realimentada
|s ∗ I − ACC + BCC ∗ K CC | = Pd
Donde
Scc = [Bcc Acc ∗ Bcc ]
1 3 11
S = [1 4 13 ]
0 −2 −7
GLA (s) = C ∗ (s ∗ I − A)−1 ∗ B
s2 + 2 ∗ s
GLA (s) =
s3 − 2 ∗ s2 − 5 ∗ s
Forma Canónica Controlable
ẋ 1 0 1 0 x1 0
[ẋ 2 ] = [0 0 1 ] ∗ [x2 ] + [0] ∗ u(t)
ẋ 3 0 −a2 −a1 x3 1
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MODERNA DE CONTROL
x1
y(t) = [0 −1 0] ∗ [x ]
2
ẋ 1 0 1 0 x1 0
ẋ x
[ 2 ] = [0 0 1] ∗ [ 2 ] + [0] ∗ u(t)
ẋ 3 0 5 2 x3 1
0 1 0 0
AFCC = [0 0 1] ; BFCC = [0] ; CFCC = [0 −1 0]
0 5 2 1
Hallar la controlabilidad canónica controlable
SFCC = [BFCC AFCC ∗ BFCC ]
0 0 1 0 0 0 1 0 2 0
= [0 (0 0 1) ∗ (0) (0 0 1) ∗ (0)]
1 0 5 2 1 0 5 2 1
0 1 0 0 0
(0 0 1) ∗ (0) = (1)
0 5 2 1 2
2
0 1 0 0 1 0 0 1 0
(0 0 1) = (0 0 1) ∗ (0 0 1)
0 5 2 0 5 2 0 5 2
0 0 1
= (0 5 2)
0 10 9
0 0 1 0 1
(0 5 2) ∗ (0) = (2)
0 10 9 1 9
0 0 1
SFCC = [0 1 2]
1 2 9
1
S −1 = ∗ [cofac(S)]T
∆S
1 3 11
∆S = |1 4 13 | = −28 − 22 + 26 + 21 = −3
0 −2 −7
1 3 11
R11 = (−1)1+1 ∗ [1 4 13 ]
0 −2 −7
4 13
= (1) ∗ [ ]
−2 −7
= −2
1 3 11
(−1)1+2
R12 = ∗ [ 1 4 13 ]
0 −2 −7
= (−1) ∗ [1 13 ]
0 −7
= 7
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1 3 11
R13 = (−1)1+3 ∗ [1 4 13 ]
0 −2 −7
1 4
= (1) ∗ [ ]
0 −2
= −2
1 3 11
R 21 = (−1)2+1 ∗ [1 4 13 ]
0 −2 −7
3 11
= (−1) ∗ [ ]
−2 −7
= −1
1 3 11
(−1) 2+2
R 22 = ∗ [1 4 13 ]
0 −2 −7
1 11
= (1) ∗ [ ]
0 −7
= −7
1 3 11
R 23 = (−1)2+3 ∗ [1 4 13 ]
0 −2 −7
1 3
= (−1) ∗ [ ]
0 −2
= 2
1 3 11
R 31 = (1)3+1 ∗ [1 4 13 ]
0 −2 −7
3 11
= (1) ∗ [ ]
4 13
= −5
1 3 11
(−1) 3+2
R 32 = ∗ [1 4 13 ]
0 −2 −7
1 11
= (−1) ∗ [ ]
1 13
= −2
1 3 11
R 33 = (1)3+3 ∗ [1 4 13 ]
0 −2 −7
1 3
= (1) ∗ [ ]
1 4
= 1
−2 7 −2
cofac(S) = [−1 −7 2 ]
−5 −2 1
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−2 −1 −5
cofac(S)T = [ 7 −7 −2]
−2 2 1
−2 −1 −5
[ 7 −7 −2]
S −1 =
−2 2 1
−3
0,667 0,333 1,667
= [−2,333 2,333 0,667 ]
0,667 −0,667 −0,333
T = SFCC ∗ S −1
0 0 1 0,667 0,333 1,667
= [0 1 2] ∗ [−2,333 2,333 0,667 ]
1 2 9 0,667 −0,667 −0,333
0,667 −0,667 −0,333
= [ −1 1 0 ]
2 −1 0
Hallar a k FCC
|s ∗ I − AFCC + BFCC ∗ k FCC | = Pdd
∝1 = 9
3 2
Pdd = s + 9 ∗ s + 29 ∗ s + 36 {∝2 = 29
∝3 = 36
1 0 0 0 1 0 0
s ∗ I − AFCC ∗ BFCC ∗ k FCC = s ∗ (0 1 0) − (0 0 1) + (0) ∗ [k1 k 2 ]
0 0 1 0 5 2 1
1 0 0 0 1 0 0 0 0
= s ∗ (0 1 0) − (0 0 1) + [ 0 0 0 ]
0 0 1 0 5 2 k1 k 2 k 3
s −1 0
= [0 s −1 ]
k1 −5 + k 2 s − 2 + k3
s −1 0
|s ∗ I − AFCC + BFCC ∗ k FCC | = |0 s −1 |
k1 −5 + k 2 s − 2 + k 3
= s2 ∗ (s − 2 + k 3 ) + k1 + s ∗ (−5 + k 2 )
= s3 + (−2 + k 3 ) ∗ s2 + (−5 + k 2 ) ∗ s + k1
𝐬 𝟑 + (−𝟐 + 𝐤 𝟑 ) ∗ 𝐬 𝟐 + (−𝟓 + 𝐤 𝟐 ) ∗ 𝐬
= s3 + 9 ∗ s2 + 29 ∗ s + 36
+ 𝐤𝟏
(−2 + k 3 ) ∗ s2 = 9 ∗ s 2 ⇒ −2 + k 3 = 9 ∴ k 3 = 11
(−5 + k 2 ) ∗ s = 29 ∗ s ⇒ −5 + k 2 = 29 ∴ k 2 = 34
k1 = 36 ⇒ k1 = 36
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kC = [ ⏟
k1 k2 k
⏟3 ] ∗ T
K=[k1 k2 ] ki =k3
0,667 −0,667 −0,333
= [36 ]
34 11 ∗ [ −1 1 0 ]
2 −1 0
= [12 −1 −12]
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det(s ∗ I − A) = 𝑠 3 + 9 ∗ 𝑠 2 + 28 ∗ 𝑠 + 36
Cofactores de (s ∗ I − A)
s + 11 −3 −12
R11 = (−1)1+1 ∗ [ 9 s−2 −12]
1 1 s
s − 2 −12
= (1) ∗ [ ]
1 s
= s 2 − 2 ∗ s + 12
s + 11 −3 −12
R12 = (−1)1+2 ∗ [ 9 s−2 −12]
1 1 s
= (−1) ∗ [9 −12]
1 s
= −9 − 12 ∗ s
s + 11 −3 −12
R13 = (−1)1+3 ∗ [ 9 s−2 −12]
1 1 s
9 s−2
= (1) ∗ [ ]
1 1
= −s + 11
s + 11 −3 −12
R 21 = (−1)2+1 ∗ [ 9 s−2 −12]
1 1 s
−3 −12
= (−1) ∗ [ ]
1 s
= 3 ∗ s − 12
s + 11 −3 −12
R 22 = (−1)2+2 ∗ [ 9 s−2 −12]
1 1 s
s + 11 −12
= (1) ∗ [ ]
1 s
2
= s + 11 ∗ s + 12
s + 11 −3 −12
R 23 = (−1)2+3 ∗[ 9 s−2 −12]
1 1 s
s + 11 −12
= (−1) ∗ [ ]
1 s
= −𝑠 2 − 11 ∗ 𝑠 − 12
s + 11 −3 −12
R 31 = (1)3+1 ∗[ 9 s−2 −12]
1 1 s
−3 −12
= (1) ∗ [ ]
s − 2 −12
= 12 ∗ s + 12
s + 11 −3 −12
R 32 = (−1)3+2 ∗ [ 9 s−2 −12]
1 1 s
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s + 11 −12
= (−1) ∗ [ ]
9 −12
= 12 ∗ s − 97
s + 11 −3 −12
R 33 = (1)3+3 ∗[ 9 s−2 −12]
1 1 s
s + 11 −3
= (1) ∗ [ ]
9 s−2
= 𝑠2 + 9 ∗ 𝑠 + 5
s 2 − 2 ∗ s + 12 −9 − 12 ∗ s −s + 11
cofac(s ∗ I − ALC ) = [ 3 ∗ s − 12 2 2
s + 11 ∗ s + 12 −𝑠 − 11 ∗ 𝑠 − 12]
12 ∗ s + 12 12 ∗ s − 97 𝑠2 + 9 ∗ 𝑠 + 5
[cofac(s ∗ I s 2 − 2 ∗ s + 12 3 ∗ s − 12 12 ∗ s + 12
= [ −9 − 12 ∗ s 2
s + 11 ∗ s + 12 12 ∗ s − 97 ]
− ALC )]T
−s + 11 −𝑠 2
− 11 ∗ 𝑠 − 12 𝑠2 + 9 ∗ 𝑠 + 5
s 2 − 2 ∗ s + 12 3 ∗ s − 12 12 ∗ s + 12
[ 2
(s ∗ I − ALC )−1 = −9 − 12 ∗ s s + 11 ∗ s + 12 12 ∗ s − 97 ]
2 2
−s + 11 −𝑠 − 11 ∗ 𝑠 − 12 𝑠 + 9 ∗ 𝑠 + 5
𝑠 3 + 9 ∗ 𝑠 2 + 28 ∗ 𝑠 + 36
𝐬 𝟐 − 𝟐 ∗ 𝐬 + 𝟏𝟐 𝟑 ∗ 𝐬 − 𝟏𝟐 𝟏𝟐 ∗ 𝐬 + 𝟏𝟐
𝟑 𝟐
𝒔𝟑 + 𝟗 ∗ 𝒔 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔 𝒔 + 𝟗 ∗ 𝒔 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔
𝟐 𝒔𝟑 + 𝟗 ∗ 𝒔𝟐 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔
𝟏
−𝟗 − 𝟏𝟐 ∗ 𝐬 𝐬 𝟐 + 𝟏𝟏 ∗ 𝐬 + 𝟏𝟐 𝟏𝟐 ∗ 𝐬 − 𝟗𝟕
𝐆(𝐬) = [𝟏 𝟏 𝟎] ∗ 𝟑 ∗ [ 𝟏]
𝒔 + 𝟗 ∗ 𝒔𝟐 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔 𝒔𝟑 + 𝟗 ∗ 𝒔𝟐 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔 𝒔𝟑 + 𝟗 ∗ 𝒔𝟐 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔
𝟐 𝟎
−𝐬 + 𝟏𝟏 −𝒔𝟐 − 𝟏𝟏 ∗ 𝒔 − 𝟏𝟐 𝒔 +𝟗∗𝒔+𝟓
[𝒔 + 𝟗 ∗ 𝒔 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔 𝒔𝟑 + 𝟗 ∗ 𝒔𝟐 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔
𝟑 𝟐 𝒔 + 𝟗 ∗ 𝒔 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔]
𝟑 𝟐
𝐬𝟐 − 𝟏𝟒 ∗ 𝐬 + 𝟑 𝐬𝟐 + 𝟏𝟏 ∗ 𝐬 + 𝟏𝟐 𝟐𝟒 ∗ 𝐬 − 𝟖𝟓
1
=[ ] ∗ [ 1]
𝒔𝟑 + 𝟗 ∗ 𝒔𝟐 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔 𝒔𝟑 + 𝟗 ∗ 𝒔𝟐 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔 𝒔𝟑 + 𝟗 ∗ 𝒔𝟐 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔
0
𝟐 ∗ 𝐬𝟐 − 𝟑 ∗ 𝐬 + 𝟏𝟓
=
𝒔𝟑 + 𝟗 ∗ 𝒔𝟐 + 𝟐𝟖 ∗ 𝒔 + 𝟑𝟔
[
0 −6]
5 −5
[0 7]
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[
0 −6]
5 −5
[0 7]
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MODERNA DE CONTROL
Caso I
Asignación de Autovalores
Si el par (A,B) es controlable, entonces mediante la realimentación de estados u(t)
= r(t) – x(t), donde K es un vector fila real constante, los autovalores de A-BK pueden
ser asignados arbitrariamente, siempre que los autovalores complejos conjugados se
asignen en pares.
Caso II
La realimentación de los estados puede mover los polos, pero no tiene ningún efecto
sobre los ceros.
Caso III
La Controlabilidad de una planta es invariante con respecto a la realimentación de los
estados. Por lo tanto, si el par [A, B] es controlable, para cualquier vector K el par [(A-
BK), B] también es controlable.
Si la planta no es controlable, no podrá convertirse en controlable mediante la
realimentación de los estados.
Caso IV
La Observabilidad de un sistema de lazo cerrado puede ser destruida por la
realimentación de los estados. Esto es, la Observabilidad de un sistema no es
invariante con respecto a la realimentación de los estados.
Si con la realimentación muevo los polos de tal manera que cancele algún cero
entonces se pierde la Observabilidad.
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Método Directo
Se iguala el polinomio característico de la planta a lazo cerrado sI - A + BK con el
deseado y se despejan las componentes del vector K.
0 1 0 0
A = [−1 −1 −1] ; B = [1] ; C = [1 0 1]; Pdd = {−1, −1, −4}
0 0 −1 1
Pdd = (s + 1) ∗ (s + 1) ∗ (s + 4)
Pdd = (s2 + 2 ∗ s + 1) ∗ (s + 4)
∝1 = 6
Pdd = s 3 + 6 ∗ s 2 + 9 ∗ s + 4 {∝2 = 9
∝3 = 4
|s ∗ I − ALC | = Pdd
ALC = A − B ∗ K
0 1 0 0
ALC = [−1 −1 −1] − [1] ∗ [K1 K 2 K 3 ]
0 0 −1 1
0 1 0 0 0 0
= [−1 −1 −1] − [K1 K 2 K 3 ]
0 0 −1 K1 K 2 K 3
0 1 0
=[ −1 − K1 −1 − K 2 −1 − K 3 ]
−K1 −K 2 −1 − K 3
1 0 0 0 1 0
s ∗ I − ALC = s ∗ [0 1 0] − [−1 − K1 −1 − K 2 −1 − K 3 ]
0 0 1 −K1 −K 2 −1 − K 3
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s −1 0
s ∗ I − ALC = [1 + K 1 s + 1 + K2 1 + K3 ]
K1 K2 s + 1 + K3
|s ∗ I − ALC |
s ∗ (s + 1 + K 2 ) ∗ (s + 1 + K 3 )
s ∗ [s2 + (2 + K 2 + K 3 ) ∗ s + 1 + K 2 + K 3 + K 2 ∗ K 3 ]
s3 + (2 + K 2 + K 3 ) ∗ s 2 + (1 + K 2 + K 3 + K 2 ∗ K 3 ) ∗ s
−K1 ∗ (1 + K 3 )
−K1 − K1 ∗ K 3
−K 2 ∗ (1 + K 3 ) ∗ s
(−K 2 − K 2 ∗ K 3 ) ∗ s
(1 + K1 ) ∗ (s + 1 + K 3 )
(1 + K1 ) ∗ s + 1 + K1 + K 3 + K1 ∗ K 3
s3 + (2 + K 2 + K 3 ) ∗ s 2 + (2 + K1 + K 3 ) ∗ s + (1 + K 3 ) = s3 + 6 ∗ s2 + 9 ∗ s + 4
2 + K2 + K3 = 6
2 + K1 + K 3 = 9
1 + K3 = 4 ⇒ K3 = 4 − 1
⇒ K3 = 3
2 + K1 + K 3 = 9 ⇒ K1 = 9 − 2 − K 3
⇒ K1 = 9 − 2 − 3
⇒ K1 = 4
2 + K2 + K3 = 6 ⇒ K2 = 6 − 2 − K3
⇒ K2 = 6 − 2 − 3
⇒ K2 = 1
K = [K1 K 3 ] ∗ P −1; Como no está en forma canónica P −1 = I
K2
1 0 0
= [4 1 3]*[0 1 0]
0 0 1
= [4 1 3]
0 1 0 0
ALC = [−1 −1 −1] − [1] ∗ [K1 K2 K3]
0 0 −1 1
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0 1 0 0
= [−1 −1 −1] − [1] ∗ [4 1 3]
0 0 −1 1
0 1 0
= [−1 − 4 −1 − 1 −1 − 3]
−4 −1 −1 − 3
0 1 0
= [ −5 −2 −4]
−4 −1 −4
ẋ i (t) = (A − B ∗ K) ∗ xi (t) + B ∗ r(t)
y(t) = C ∗ xi (t)
ẋ 1 (t) 0 1 0 x1 (t) 0
[ẋ 2 (t)] = [ −5 −2 −4] ∗ [x2 (t)] + [1] ∗ r(t)
ẋ 3 (t) −4 −1 −4 x3 (t) 1
x1 (t)
y(t) = [1 0 1] ∗ [x2 (t)]
x3 (t)
G(s) = C ∗ (s ∗ I − ALC )−1 ∗ B
1 0 0 0 1 0
s ∗ I − ALC = s ∗ [0 1 0] − [ −5 −2 −4]
0 0 1 −4 −1 −4
s −1 0
= [5 s + 2 4 ]
4 1 s+4
|s ∗ I − ALC | = s ∗ (s + 2) ∗ (s + 4) − 16 − 4 ∗ s + 5 ∗ (s + 4)
= s3 + 6 ∗ s 2 + 8 ∗ s − 16 − 4 ∗ s + 5s + 20
= s3 + 6 ∗ s2 + 9 ∗ s + 4
1
(s ∗ I − ALC )−1 = ∗ [cofac(s ∗ I − ALC )]T
∆(s ∗ I − ALC )
R11 R12 R13
cofact(s ∗ I − ALC ) = [R 21 R 22 R 23 ]
R 31 R 32 R 33
s −1 0
1+1 s+2 4
R11 = (−1) ∗ [5 s + 2 4 ] = (1) ∗ [ ]
1 s+4
4 1 s+4
= s2 + 6 ∗ s + 4
s −1 0
5 4
R12 = (−1)1+2 ∗ [5 s+2 4 ] = (−1) ∗ [ ]
4 s+4
4 1 s+4
= −(5 ∗ s + 4)
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s −1 0
5 s+2
R13 = (−1)1+3 ∗ [5 s+2 4 ] = (1) ∗ [ ]
4 1
4 1 s+4
= −(4 ∗ s2 + 3)
s −1 0
−1 0
R 21 = (−1)2+1 ∗ [5 s + 2 4 ] = (−1) ∗ [ ]
1 s+4
4 1 s+4
=s+4
s −1 0
2+2 s 0
R 22 = (−1) ∗ [5 s + 2 4 ] = (1) ∗ [ ]
4 s+4
4 1 s+4
= s2 + 4 ∗ s
s −1 0
s −1
R 23 = (−1)2+3 ∗ [5 s + 2 4 ] = (−1) ∗ [ ]
4 1
4 1 s+4
= −s + 4
s −1 0
−1 0
R 31 = (−1)3+1 ∗ [5 s + 2 4 ] = (1) ∗ [ ]
s+2 4
4 1 s+4
= −4
s −1 0
s 0
R 32 = (−1)3+2 ∗ [5 s + 2 4 ] = (−1) ∗ [ ]
5 4
4 1 s+4
= −4 ∗ s
s −1 0
3+3 s −1
R 33 = (−1) ∗ [5 s + 2 4 ] = (1) ∗ [ ]
5 s+2
4 1 s+4
= s2 + 2 ∗ s + 5
s2 + 6 ∗ s + 4 −(5 ∗ s + 4) −(4 ∗ s2 + 3)
cofact(s ∗ I − ALC ) =[ s+4 s2 + 4 ∗ s −s + 4 ]
2
−4 −4 ∗ s s +2∗s+5
s2 + 6 ∗ s + 4 s+4 −4
2
[cofact(s ∗ I − ALC )]T = [ −(5 ∗ s + 4) s +4∗s −4 ∗ s ]
−(4 ∗ s 2 + 3) −s + 4 2
s +2∗s+5
𝐬𝟐 + 𝟔 ∗ 𝐬 + 𝟒 𝐬+𝟒 −𝟒
𝟏 𝟐
(s ∗ I − ALC )−1 = 𝟑 ∗ [ −(𝟓 ∗ 𝐬 + 𝟒) 𝐬 + 𝟒 ∗ 𝐬 −𝟒 ∗𝐬 ]
𝐬 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝟐 𝟐
−(𝟒 ∗ 𝐬 + 𝟑) −𝐬 + 𝟒 𝐬 +𝟐∗𝐬+𝟓
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𝐬𝟐 + 𝟔 ∗ 𝐬 + 𝟒 𝐬+𝟒 −𝟒
𝐬 + 𝟔 ∗ 𝐬 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 + 𝟔 ∗ 𝐬 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒
𝟑 𝟐 𝟑 𝟐 𝟑
−(𝟓 ∗ 𝐬 + 𝟒) 𝐬𝟐 + 𝟒 ∗ 𝐬 −𝟒 ∗ 𝐬
=
𝐬 + 𝟔 ∗ 𝐬 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 + 𝟔 ∗ 𝐬 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒
𝟑 𝟐 𝟑 𝟐 𝟑
−(𝟒 ∗ 𝐬 𝟐 + 𝟑) −𝐬 + 𝟒 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟓
[𝐬 𝟑 + 𝟔 ∗ 𝐬 𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 𝟑 + 𝟔 ∗ 𝐬 𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 𝟑 + 𝟔 ∗ 𝐬 𝟐 + 𝟗 ∗ 𝐬 + 𝟒]
𝐬𝟐 + 𝟔 ∗ 𝐬 + 𝟒 𝐬+𝟒 −𝟒
𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒
−(𝟓 ∗ 𝐬 + 𝟒) 𝐬𝟐 + 𝟒 ∗ 𝐬 −𝟒 ∗ 𝐬
G(s) = C ∗ ∗B
𝐬 + 𝟔 ∗ 𝐬 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 + 𝟔 ∗ 𝐬 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒
𝟑 𝟐 𝟑 𝟐 𝟑
−(𝟒 ∗ 𝐬 𝟐 + 𝟑) −𝐬 + 𝟒 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟓
[𝐬 𝟑 + 𝟔 ∗ 𝐬 𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 𝟑 + 𝟔 ∗ 𝐬 𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬 𝟑 + 𝟔 ∗ 𝐬 𝟐 + 𝟗 ∗ 𝐬 + 𝟒]
𝐬𝟐 + 𝟔 ∗ 𝐬 + 𝟒 𝐬+𝟒 −𝟒
𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬𝟑 + 𝟔 ∗ 𝐬 𝟐 + 𝟗 ∗ 𝐬 + 𝟒
−(𝟓 ∗ 𝐬 + 𝟒) 𝐬𝟐 + 𝟒 ∗ 𝐬 −𝟒 ∗ 𝐬
[1 0 1] ∗
𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬𝟑 + 𝟔 ∗ 𝐬 𝟐 + 𝟗 ∗ 𝐬 + 𝟒
−(𝟒 ∗ 𝐬𝟐 + 𝟑) −𝐬 + 𝟒 𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟓
[𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒 𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒]
s2 + 6 ∗ s + 4 (4 ∗ s2 + 3) s 2 + 6 ∗ s + 4 − (4 ∗ s2 + 3)
− =
s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4
−3 ∗ s 2 + 6 ∗ s + 1
=
s3 + 6 ∗ s2 + 9 ∗ s + 4
s+4 s−4 8
− =
s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4
s2 + 2 ∗ s + 5 4 s2 + 2 ∗ s + 1
− =
s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4
−3 ∗ s2 + 6 ∗ s + 1 8 s2 + 2 ∗ s + 1 0
[ ] ∗ [1 ]
s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4 1
8 s2 + 2 ∗ s + 1 s2 + 2 ∗ s + 9
⇒ + =
s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4 s3 + 6 ∗ s2 + 9 ∗ s + 4
𝐬𝟐 + 𝟐 ∗ 𝐬 + 𝟗
𝐆𝐋𝐂 (𝐬) =
𝐬𝟑 + 𝟔 ∗ 𝐬𝟐 + 𝟗 ∗ 𝐬 + 𝟒
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K
Circuito 2.
𝟏
K
𝐤𝐨
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PROBLEMA 15
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s −1 0 0
|[ ]+[ ]| = s2 + s + 0,5
0,16 s + 1 k1 k 2
s −1
| | = s2 + s + 0,5
0,16 + k1 s + 1 + k 2
(s + 1 + k 2 )s + 0,16 + k1 = s2 + s + 0,5
s 2 + (1 + k 2 )s + 0,16 + k1 = s2 + s + 0,5
(1 + k 2 )s = s ⇒ k2 = 0
0,16 + k1 = 0,5 ⇒ k1 = 0,34
K = [k1 k 2 ] = [0,34 0]
1
k0 = −
C(A − BK)−1 B
0 1 0
A − BK = [ ] − [ ] [0,34 0]
−0,16 −1 1
0 1 0 0
=[ ]−[ ]
−0,16 −1 0,34 0
0 1
=[ ]
−0,16 − 0,34 −1
0 1
=[ ] ⇒ det(A − BK) = 0,5
−0,5 −1
−1
[cofact(A − BK)]T
(A − BK) =
det(A − BK)
Cofactores de (A_BK)
R11 = (−1)1+1 ∗ [ 0 1
]
−0,5 −1
= −1
R12 = (−1)1+2 ∗ [ 0 1
]
−0,5 −1
= 0,5
R 21 = (−1)2+1 ∗ [ 0 1
]
−0,5 −1
= −1
0 1
R 22 = (−1)1+2 ∗ [ ]
−0,5 −1
= 0
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−1 −1
−1 [ ]
(A − BK) = 0,5 0
0,5
= −2 −2
[ ]
1 0
1
k0 = −
−2 −2
C[ ]B
1 0
1
= −
[1 0] [−2 −2] [0]
1 0 1
1
= −
[−1 −2] [0]
1
1
= −
−2
= 0,5
𝐱 𝐢 (𝐭)
+ u(t) + 𝐱̇ 𝐢 (𝐭)
𝟎 y(t)
r(t) 0,5 [ ] ∫ [𝟏 𝟎]
𝟏
- - )
𝟎 𝟏
[ ]
−𝟎, 𝟏𝟔 −𝟏
[𝟎, 𝟑𝟒 𝟎]
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s −1
R11 = (−1)1+1 ∗ [ ]
0,5 s + 1
= s+1
s −1
R12 = (−1)1+2 ∗ [ ]
0,5 s + 1
= −0,5
s −1
R 21 = (−1)2+1 ∗ [ ]
0,5 s + 1
= 1
s −1
R 22 = (−1)2+2 ∗ [ ]
0,5 s + 1
= s
= s + 1 −0,5
[ ]
1 s
s + 1 −0,5 T s+1 1
[Cofact ( )] = [ ]
1 s −0,5 s
s −1
det ( ) = s 2 + s + 0,5
0,5 s + 1
s+1 1
s −1 −1 = [ −0,5 s ]
( )
0,5 s + 1
s 2 + s + 0,5
s+1 1
s 2 + s + 0,5 s2 + s + 0,5
=
−0,5 s
[s + s + 0,5 s + s + 0,5]
2 2
s −1 −1 0
G(s) = [1 0] [( )] [ ]
0,5 s + 1 k0
s+1 1
s2 + s + 0,5 s2 + s + 0,5 0
= [1 0] [ ]
−0,5 s k0
[s + s + 0,5 s + s + 0,5]
2 2
s+1 1 0
= [ 2 ][ ]
2
s + s + 0,5 s + s + 0,5 0 k
k0
=
s 2 + s + 0,5
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k0
= lim 2
s→0 s + s + 0,5
k0
=
0,5
k0
= 1
0,5
k0 = 0,5
Comprobando el compensador se tiene:
k0 1
yss |k0 =0,5 = lim y(t) = lim s ∗
t→∝ s→0 s 2 + s + 0,5 s
0,5
=
0,5
= 1
1
r(t) k0 y(t)
s2 + s + 0,5
)
1
r(t) 0,5 y(t)
s2 + s + 0,5
)
¿Porque determinamos K0?
La respuesta es simple, si determinamos el error de la respuesta del regulador
realimentado sin precompensador obtenemos el siguiente resultado:
Y(s) = C[sI − (A − BK)]−1 Br(s)
1
=
s2
+ s + 0,5
Calculamos el error de la respuesta y se obtiene:
1
∀R(s) = ⇒ lim y(t) = lim
s→0
sY(s)
s t→∝
= lim
s→0
sG(s)R(s)
1
= lim sG(s)
s→0 s
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1
=
0,5
= 2
¿Qué significado nos da el resultado?
El error en el régimen permanente supera a la entrada escalón, logrando que la variable
sea inestable, por esta razón se debe de compensar para que la variable que se desea
controlar se logre estabilizar.
Diseño mediante realimentación de estados para referencia distinta de cero r(t)≠0.
Si la planta es tipo cero (no tiene integrador) el error de estado estacionario de la
salida normalmente es grande. Esto se debe a que las posiciones de los ceros no
cambian con la realimentación de los estados.
COMPENSACIÓN PARA ELIMINAR EL ERROR EN ESTADO ESTACIONARIO.
Los ceros permiten modificar el comportamiento de los polos en la respuesta del
sistema y eliminan ángulos producidos por los polos en el argumento GH a lazo
abierto, permitiendo a la planta entrar en regulación. Por otro lado no hay control
en la respuesta de salida y(t) y en el error estacionario.
ess ⇒ e(t) = r(t) − y(t)
Minimizando el diagrama.
𝟏
K
𝐍
Donde se tiene:
y(s) = C ∗ (s ∗ I − A + B ∗ K)−1 ∗ B ∴ lim y(s)
s→0
−1
lim y(s) = lim[C ∗ (s ∗ I − A + BK) ∗ B]
s→0 s→0
= C ∗ [−(A − BK)]−1 ∗ B
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0 −1 0
(−1) 1+1
R11 = ∗[ 5 2 4]
4 1 4
2 4
= (1) ∗ [ ]
1 4
= 4
0 −1 0
1+2
R12 = (−1) ∗[ 5 2 4]
4 1 4
= (−1) ∗ [5 4]
4 4
= −12
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0 −1 0
R13 = (−1)1+3 ∗ [5 2 4]
4 1 4
5 2
= (1) ∗ [ ]
4 1
= −3
0 −1 0
R 21 = (−1)2+1 ∗ [5 2 4]
4 1 4
−1 0
= (−1) ∗ [ ]
1 4
= 4
0 −1 0
(−1) 2+2
R 22 = ∗ [5 2 4]
4 1 4
0 0
= (1) ∗ [ ]
4 4
= 0
0 −1 0
2+3
R 23 = (−1) ∗ [5 2 4]
4 1 4
0 −1
= (−1) ∗ [ ]
4 1
= −4
0 −1 0
R 31 = (1)3+1 ∗ [5 2 4]
4 1 4
−1 0
= (1) ∗ [ ]
2 4
= −4
0 −1 0
R 32 = (−1)3+2 ∗ [ 5 2 4]
4 1 4
0 0
= (−1) ∗ [ ]
5 4
= 0
0 −1 0
3+3
R 33 = (1) ∗ [5 2 4]
4 1 4
0 −1
= (1) ∗ [ ]
5 2
= 5
4 −12 −3
[cofatc(A − BK)]T = [ 4 0 −4]
−4 0 5
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4 −12 −3
−1 [4 0 −4]
0 −1 0
( 5 2 4) = −4 0 5
4
4 1 4
3
−1 1 −3 −
0 −1 0 4
( 5 2 4) = 1 0 −1
4 1 4 5
[−1 0
4 ]
𝟏
𝐍 =−
3
1 −3 − 4 1
[1 1 0] ∗ 1 0 −1 ∗ [1]
5 0
[−1 0 4 ]
𝟏
𝐍 =−
1
1
[2 −3 − 2] ∗ [1]
0
𝟏
𝐍 =−
−1
𝐍 =𝟏
PROBLEMA 16
ẋ 1 (t) 0 1 x1 (t) 0
[ ] = [0 −25] [x (t)] + [ ] u(t)
ẋ 2 (t) 2 1
y(t) = y(t) = [1 0]xi (t)
Se pide diseñar un servosistema mediante realimentación de estado que permita el
seguimiento sin error de una señal de referencia tipo escalón, donde el sobreimpulso
máximo exigen que las raíces del sistema en lazo cerrado se ubiquen en s1 =-4,
s2=−1+j y s3 = −1− j.
Combinaciones posibles
ẋ i (t) A 0 xi (t) B 0
[ ] = [ ][ ] + [ ] u(t) + [ ] r(t)
ė (t) −C 0 e(t) 0 1
ė (t) 0 −C e(t) 0 1
[ ] = [0 A ] [x (t)] + [ ] u(t) + [0] r(t)
ẋ i (t) i B
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Pdd = (s + 1 + j)(s + 1 − j)
= s2 + 2s + 2
∝ =2
= { 1
∝2 = 2
K = [k1 k 2 ]P −1
k1 = ∝2 − a2
= 2−0
= 2
k2 = ∝1 − a1
= 2 − (25)
= −23
K = [2 −23]P −1
P = SM
S = [B AB]
0 0 1 0
= [ ( ) ( )]
1 0 −25 1
0 1
= [ ]
1 −25
a 1
M = [ 1 ]
1 0
25 1
= [ ]
1 0
0 1 25 1
P = [ ][ ]
1 −25 1 0
1 0
= [ ]
0 1
[cofact(P)]T
P −1 =
det(P)
det(P) = 1
R R12
cofact(P) = [ 11 ]
R 21 R12
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R11 = (−1)1+1 ∗ [1 0]
0 1
= 1
R12 = (−1)1+2 ∗ [1 0]
0 1
=0
R 21 = (−1)2+1 ∗ [1 0]
0 1
= 0
R 22 = (−1)2+2 ∗ [1 0]
0 1
= 1
10
Cofact (P) = [ ]
01
10
[Cofact (P)]T= [ ]
01
K = [2 −23]P −1
K = [2 −23] [1 0]
0 1
K = [2 −23]
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= s + 25 0
cofac(sI − A) [ ]
1 s
s + 25 1
[cofac(sI − A)]T = [ ]
0 s
1
s + 25
(sI − A)−1 = [s2 + 25s s 2 + 25s]
s
0
s 2 + 25s
GLA (s) = C[sI − A]−1 B
1
s + 25
= [1 0] [s2 + 25s s2 + 25s] [0]
s 1
0 2
s + 25s
s + 25 1 0
= [ ][ ]
s 2 + 25s s + 25s 1
2
1
=
s 2 + 25s
−1
ALC = A − BK
0 1 0
= ( ) − ( ) [2 −23]
0 −25 1
0 1 0 0
= ( )−[ ]
0 −25 2 −23
0 1
= [ ]
−2 −2
1 0 0 1
sI − ALC = s[ ]−[ ]
0 1 −2 −2
s −1
= [ ]
2 s+2
det(sI − ALC ) = s2 + 2s + 2
Determinar los Cofactores de (sI − ALC )
R11 = (−1)1+1 ∗ [ s −1
]
2 s+2
= s+2
R12 = (−1)1+2 ∗ [ s −1
]
2 s+2
= −2
R 21 = (−1)2+1 ∗ [ s −1 ]
2 s+2
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= 1
s −1
R 22 = (−1)2+2 ∗ [ ]
2 s+2
= s
s + 2 −2
cofac(sI − A) = [ ]
1 s
s+2 1
[cofac(sI − A)]T = [ ]
−2 s
s+2 1
[ ]
(sI − ALC )−1 = −2 s
s2 + 2s + 2
s+2 1
2
= [s + 2s + 2 s + 2s + 2]
2
−2 s
2
s2 + 2s + 2 s + 2s + 2
s+2 1
s2
GLC (s) = C [ + 2s + 2 s + 2s
2 + 2] B
−2 s
s 2 + 2s + 2 s 2 + 2s + 2
s+2 1
2
= [1 0] [s + 2s + 2 s + 2s
2 + 2] [0]
−2 s 1
2
s + 2s + 2 s + 2s + 2
2
s+2 1 0
= [ 2 ][ ]
s + 2s + 2 s + 2s + 2 1
2
1
= 2
s + 2s + 2
Hallar el error en estado estacionario ante una respuesta escalón
1 1
Y(s) = lim s [ ]∗
s→0 s2 + 2s + 2 s
1
=
2
= 0,5
Como la respuesta no sigue a la entrada en escalón se tiene que Hallar el valor del
Precompensador (N) para eliminar el error.
−1
Y(s) = C [sI − ⏟
(A − BK)] BNr(s)
ALC
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1
∀r(s) = ⇒ lim y(t) = lim
s→0
sY(s) = 1
s t→∝
−1
= lim s C[sI − (A − BK)] BNr(s) = 1
s→0
1
= lim s C[sI − (A − BK)]−1 BN = 1
s→0 s
−1
= C[−(A − BK)] BN = 1
1
N = −
CALC −1 B
0 1
ALC = [ ]
−2 −2
det(ALC ) = 2
−1 [cofac(ALC )]T
ALC =
det(ALC )
R11 = (−1)1+1 ∗ [ 0 1
]
−2 −2
= −2
R12 = (−1)1+2 ∗ [ 0 1
]
−2 −2
=2
R 21 = (−1)2+1 ∗ [ 0 1
]
−2 −2
= −1
0 1
R 22 = (−1)2+2 ∗ [ ]
−2 −2
= 0
Cofac(ALC ):
−2 2
cofac(ALC ) = [ ]
−1 0
−2 −1
[cofac(ALC )]T = [ ]
2 0
−2 −1
−1 [ ]
ALC = 2 0
2
1
−1 −
= [ 2]
1
0
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1
−
N = −1 − 1 0
[1
0] [ 2] [ ]
1 0 1
1
= −
0
[−1 − 1] [ ]
2 1
1
= − 1
−2
= 2
Valoramos si la respuesta sigue al escalón con el valor de N
s+2 1
GLC (s) = s2
N ∗ C [ + 2s + 2 s + 2s
2 + 2] B
−2 s
s 2 + 2s + 2 s2 + 2s + 2
s+2 1
2
= N ∗ [1 0] [s + 2s + 2 s + 2s
2 + 2] [0]
−2 s 1
2
s + 2s + 2 s + 2s + 2
2
s+2 1 0
= N∗[ 2 ][ ]
s + 2s + 2 s + 2s + 2 1
2
1
= N∗ 2
s + 2s + 2
1
= 2∗ 2
s + 2s + 2
2 1
Y(s) = lim s [ 2 ]∗
s→0 s + 2s + 2 s
= 1
Como se observa en el resultado, se logró eliminar el error y la respuesta sigue a la
entrada en escalón.
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Donde x(t) es el vector de estado de dimensión n, y r(t) e y(t) son la señal de referencia
y de salida escalares respectivamente. La señal de control escalar u(t) depende de la
realimentación de estado y de la realimentación integral mediante u = k i e(t) − kxi (t)
Donde
K = [k1 ⋯ kn]
Es un vector de ganancia constante, y kI es la ganancia escalar de la realimentación
integral.
K = [k
⏟1 k2 ⋯ kn k⏟I ]
KRealimentado kIntegrador
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PROBLEMA 17
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R12 = 1
s+1 −1
R 21 = (−1)2+1 ∗ [ ]
−1 s + 25
R 21 = (−1)3 ∗ (−1)
R 21 = 1
s+1 −1
R 22 = (−1)2+2 ∗ [ ]
−1 s + 25
R 22 = s + 1
s + 25 1
cofact(sI − ALA ) = [ ]
1 s+1
[cofact(sI − ALA )]T = [s + 25 1
]
1 s+1
s + 25 1
[ ]
(sI − ALA )−1 = 2 1 s+1
s + 26 ∗ s + 24
s + 25 1
2 2
= [s + 26 ∗ s + 24 s + 26 ∗ s + 24]
1 s+1
2 2
s + 26 ∗ s + 24 s + 26 ∗ s + 24
Y(s)
GLA (s) =
U(s)
GLA (s) = C ∗ (sI − ALA )−1 ∗ B
s + 25 1
2 2 0
= [1 0] ∗ [s + 26 ∗ s + 24 s + 26 ∗ s + 24] ∗ [ ]
1 s+1 1
2 2
s + 26 ∗ s + 24 s + 26 ∗ s + 24
s + 25 1 0
=[ 2 ]∗[ ]
2
s + 26 ∗ s + 24 s + 26 ∗ s + 24 1
1
= 2
s + 26 ∗ s + 24
1
GLA (s) =
s 2 + 26 ∗ s + 24
Evaluar el tipo de planta Régimen Transitorio con:
ė (t) 0 −C e(t) 0 1
[ ] = [0 A ] [x (t)] + [ ] u(t) + [0] r(t)
ẋ i (t) i B
Se define el nuevo comportamiento de regulación
ẋ a (t) = Aa ∗ xa (t) + Ba ∗ u(t) + r(t)
0 −C 0
Aa = [ ] Ba = [ ] Ca = [0 C]
0 A B
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0 −1 0 0
A a = [0 0 1 ] ; Ba = [0] ; Ca = [0 1 0]; K a = [k I k1 k 2 ]
0 0 −25 1
K = [k I k1 k 2 ]
En la posición en que se encuentra los ceros por ser un sistema aumentado, se debe
considerar la posición de la ganancia del integrador.
Hallamos el valor de la ganancia total por los tres métodos.
Método 1
Pdd = (s + 4) ∗ (s + 1 + j) ∗ (s + 1 − j)
Pdd = (s + 4) ∗ (s 2 + 2 ∗ s + 2)
Pdd = s 3 + 6 ∗ s 2 + 10 ∗ s + 8
K = [k I k1 k 2 ] ∗ P −1
P=S∗M
S = [Ba Aa Ba A2a Ba ]
0 0 −1 0 0 0 −1 0 2 0
S = [0 (0 0 1 ) (0) (0 0 1 ) (0 )]
1 0 0 −25 1 0 0 −25 1
0 −1 0 0 0
(0 0 1 ) ∗ (0) = ( 1 )
0 0 −25 1 −25
2
0 −1 0 0 −1 0 0 −1 0 0 0 −1
(0 0 1 ) = (0 0 1 ) ∗ (0 0 1 ) = (0 0 −25)
0 0 −25 0 0 −25 0 0 −25 0 0 625
0 0 −1 0 −1
(0 0 −25) ∗ (0) = (−25)
0 0 625 1 625
0 0 −1
S = [0 1 −25]
1 −25 625
an−1 an−2 1 a 2 a1 1 a 2 a1 1
M = [an−2 1 0] = [a1 1 0] = [a1 1 0]
0 0 0 0 0 0 0 0 0
[cofact(sI − Aa )] T
(sI − Aa )−1 =
det(sI − Aa )
1 0 0 0 −1 0
|sI − Aa | = |s ∗ [0 1 0] − [0 0 1 ]|
0 0 1 0 0 −25
1 0 0 0 −1 0
sI − Aa = s ∗ [0 1 0] − [0 0 1 ]
0 0 1 0 0 −25
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s 1 0
= [0 s −1 ]
0 0 s + 25
s 1 0
|sI − Aa | = |0 s −1 |
0 0 s + 25
= s 2 ∗ (s + 25)
a1 = 25
3 2 a =0
= s + 25 ∗ s { 2
a3 = 0
∝1 = 6
3 2
Pdd = s + 6 ∗ s + 10 ∗ s + 8 { 2 = 10
∝
∝3 = 8
K = [k I k1 k 2 ] ∗ P −1
K = [∝3 − a3 ∝2 − a2 ∝1 − a1 ]
= [8 − 0 10 − 0 6 − 25]
= [8 10 − 19]
a 2 a1 1
M = [ a1 1 0]
0 0 0
0 25 1
= [25 1 0]
1 0 0
0 0 −1 0 25 1
P = [0 1 −25] ∗ [25 1 0]
1 −25 625 1 0 0
−1 0 0
=[ 0 1 0]
0 0 1
∆P = −1
R11 R12 R11
cofac(P) = [R 21 R 22 R 23 ]
R 31 R 32 R 33
−1 0 0
R11 = (−1)1+1 ∗ [ 0 1 0]
0 0 1
R11 = (1) ∗ 1
R11 = 1
−1 0 0
R12 = (−1)1+2 ∗[ 0 1 0]
0 0 1
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0 0
R12 = (−1) ∗ [ ]
0 1
R12 = 0
−1 0 0
R13 = (−1)1+3 ∗ [ 0 1 0]
0 0 1
0 1
R13 = (1) ∗ [ ]
0 0
R13 = 0
−1 0 0
R 21 = (−1)2+1 ∗ [ 0 1 0]
0 0 1
0 0
R 21 = (−1)3 ∗ [ ]
0 1
R 21 = 0
−1 0 0
R 22 = (−1)2+2 ∗ [ 0 1 0]
0 0 1
−1 0
R 22 = (1) ∗ [ ]
0 1
R 22 = −1
−1 0 0
R 23 = (−1)2+3 ∗ [ 0 1 0]
0 0 1
−1 0
R 23 = (−1) ∗ [ ]
0 0
R 23 = 0
−1 0 0
R 31 = (−1)3+1 ∗ [ 0 1 0]
0 0 1
0 0
R 31 = (−1)4 ∗ [ ]
1 0
R 31 = 0
−1 0 0
(−1) 3+2
R 32 = ∗ [ 0 1 0]
0 0 1
−1 0
R 32 = (−1) ∗ [ ]
0 0
R 32 = 0
−1 0 0
R 33 = (−1)3+3 ∗ [ 0 1 0]
0 0 1
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−1 0
R 33 = (1) ∗ [ ]
0 1
R 33 = −1
1 0 0
cofact(P) = [0 −1 0 ]
0 0 −1
1 0 0
[cofact(P)]T = [0 −1 0 ]
0 0 −1
1 0 0
[0 −1 0 ]
P −1 = 0 0 −1
−1
−1 0 0
= [ 0 1 0]
0 0 1
−1 0 0
K = [8 10 − 19] ∗ [ 0 1 0]
0 0 1
K = [−8
⏟ 10
⏟ −19
⏟]
kI k1 k2
Método 2
0 −C 0
Aa = [ ] Ba = [ ] Ca = [0 C] K a = [k1 k 2 k I ]
0 A B
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|s ∗ I − AaLC | = s 2 ∗ (s + 25 + K I ) − K1 + K 2 ∗ s
= s 3 ∗ (25 + K 2 ) ∗ s 2 + K1 ∗ s − K I
s3 ∗ (25 + K 2 ) ∗ s 2 + K1 ∗ s − K I = s3 + 6 ∗ s 2 + 10 ∗ s + 8
25 + K 2 = 6 ⇒ K 2 = −19
K 2 = 10
−K I = 8 ⇒ K I = −8
K = [K I K1 K2]
−8
⏟ 10
⏟ −19
⏟
K=[ ]
kI k1 k2
Método 3 Realimentación
Función de Transferencia a Lazo Abierto
[cofact(sI − Aa )]T
(sI − Aa )−1
=
det(sI − Aa )
1 0 0 0 −1 0
|sI − Aa | = |s ∗ [0 1 0] − [0 0 1 ]|
0 0 1 0 0 −25
1 0 0 0 −1 0
sI − Aa = s ∗ [0 1 0] − [0 0 1 ]
0 0 1 0 0 −25
s 1 0
= [0 s −1 ]
0 0 s + 25
s 1 0
|sI − Aa | = |0 s −1 |
0 0 s + 25
= s 3 + 25 ∗ s2
R11 R12 R11
cofact(sI − Aa ) = [R 21 R 22 R 23 ]
R 31 R 32 R 33
s 1 0
R11 = (−1)1+1 ∗ [0 s −1 ]
0 0 s + 25
s −1
R11 = (1) ∗ [ ]
0 s + 25
R11 = s2 + 25 ∗ s
s 1 0
R12 = (−1)1+2 ∗ [0 s −1 ]
0 0 s + 25
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0 −1
R12 = (−1) ∗ [ ]
0 s + 25
R12 = 0
s 1 0
R13 = (−1)1+3 ∗ [0 s −1 ]
0 0 s + 25
0 s
R13 = (1) ∗ [ ]
0 0
R13 = 0
s 1 0
R 21 = (−1)2+1 ∗ [0 s −1 ]
0 0 s + 25
1 0
R 21 = (−1)3 ∗ [ ]
0 s + 25
R 21 = −s − 25
s 1 0
R 22 = (−1)2+2 ∗ [0 s −1 ]
0 0 s + 25
s 0
R 22 = (1) ∗ [ ]
0 s + 25
R 22 = s2 + 25 ∗ s
s 1 0
R 23 = (−1)2+3 ∗ [0 s −1 ]
0 0 s + 25
s 1
R 23 = (−1) ∗ [ ]
0 0
R 23 = 0
s 1 0
R 31 = (−1)3+1 ∗ [0 s −1 ]
0 0 s + 25
1 0
R 31 = (−1)4 ∗ [ ]
s −1
R 31 = −1
s 1 0
R 32 = (−1)3+2 ∗ [0 s −1 ]
0 0 s + 25
s 0
R 32 = (−1) ∗ [ ]
0 −1
R 32 = s
s 1 0
R 33 = (−1)3+3 ∗ [0 s −1 ]
0 0 s + 25
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s 1
R 33 = (1) ∗ [ ]
0 s
R 33 = s2
s 2 + 25 ∗ s 0 0
cofact(sI − Aa ) = [ −s − 25 s2 + 25 ∗ s 0 ]
−1 s s2
s 2 + 25 ∗ s −s − 25 −1
T
[cofact(sI − Aa )] = [ 0 s2 + 25 ∗ s s ]
0 0 s2
s 2 + 25 ∗ s −s − 25 −1
[ 2
0 s + 25 ∗ s s ]
(sI − Aa )−1 = 0 0 s2
s3 + 25 ∗ s 2
s2 + 25 ∗ s −s − 25 −1
s 3 + 25 ∗ s 2 s 3 + 25 ∗ s 2 s 3 + 25 ∗ s 2
s2 + 25 ∗ s s
= 0
s3 + 25 ∗ s 2 s + 25 ∗ s 2
3
s2 + s
[ 0 0
s 3 + 25 ∗ s 2 ]
Y(s)
Ga (s) =
U(s)
Ga (s) = Ca ∗ (sI − Aa )−1 ∗ Ba
s 2 + 25 ∗ s −s − 25 −1
s3 + 25 ∗ s2 s3 + 25 ∗ s2 s3 + 25 ∗ s2
0
s2 + 25 ∗ s s
= [0 1 0 ] ∗ 0 ∗ [0]
s3 + 25 ∗ s2 s3 + 25 ∗ s2 1
2
s +s
0 0
[ s3 + 25 ∗ s2 ]
s2 + 25 ∗ s s
0
= [0 ] [0]
s3 + 25 ∗ s2 s3 + 25 ∗ s2 1
s
Ga (s) =
s 3 + 25 ∗ s 2
0 1 0 0
AaCC = [0 0 1 ] ; BaCC = [0] ; CaCC = [1 0 0]
0 0 −25 1
|s ∗ I − AaCC + BaCC ∗ K aCC | = Pdd
K = K aCC ∗ T
T = SaCC ∗ Sa−1
SaCC = [BaCC AaCC ∗ BaCC A2aCC BaCC ]
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0 0 1 0 0 0 1 0 2 0
SaCC = [0 (0 0 1 ) ∗ (0) (0 0 1 ) ∗ (0)]
1 0 0 −25 1 0 0 −25 1
0 0 1 0 0 0 1 0 0 1 0 0
SaCC = [0 (0 0 1 ) ∗ (0) (0 0 1 ) ∗ (0 0 1 ) ∗ (0)]
1 0 0 −25 1 0 0 −25 0 0 −25 1
0 0 1 0 0 0 1 0 0 1 0 0
= [0 (0 0 1 ) ∗ (0 ) ( 0 0 1 ) ∗ ( 0 0 1 ) ∗ ( 0)]
1 0 0 −25 1 0 0 −25 0 0 −25 1
0 0 0 1 1 0
= [0 1 (0 0 −25) ∗ (0)]
1 −25 0 0 625 1
0 0 1
SaCC = [0 1 −25]
1 −25 625
0 0 −1
S = [0 1 −25]
1 −25 625
det(S) = 1
R11 R12 R11
cofac(S) = [ 21 R 22 R 23 ]
R
R 31 R 32 R 33
0 0 −1
1+1
R11 = (−1) ∗ [0 1 −25]
1 −25 625
R11 = (1) ∗ 0
R11 = 0
0 0 −1
(−1)1+2
R12 = ∗ [0 1 −25]
1 −25 625
0 −25
R12 = (−1) ∗ [ ]
1 625
R12 = −25
0 0 −1
R13 = (−1)1+3 ∗ [0 1 −25]
1 −25 625
0 1
R13 = (1) ∗ [ ]
1 −25
R13 = −1
0 0 −1
R 21 = (−1)2+1 ∗ [0 1 −25]
1 −25 625
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0 −1
R 21 = (−1)3 ∗ [ ]
−25 625
R 21 = 25
0 0 −1
R 22 = (−1)2+2 ∗ [0 1 −25]
1 −25 625
0 −1
R 22 = (1) ∗ [ ]
1 625
R 22 = 1
0 0 −1
R 23 = (−1)2+3 ∗ [0 1 −25]
1 −25 625
0 0
R 23 = (−1) ∗ [ ]
1 −25
R 23 = 0
0 0 −1
R 31 = (−1)3+1 ∗ [0 1 −25]
1 −25 625
0 −1
R 31 = (−1)4 ∗ [ ]
1 −25
R 31 = 1
0 0 −1
R 32 = (−1)3+2 ∗ [0 1 −25]
1 −25 625
0 −1
R 32 = (−1) ∗ [ ]
0 −25
R 32 = 0
0 0 −1
R 33 = (−1)3+3 ∗ [0 1 −25]
1 −25 625
0 0
R 33 = (1) ∗ [ ]
0 1
R 33 = 0
0 −25 −1
cofact(S) = [25 1 0]
1 0 0
0 25 1
[cofact(S)]T = [−25 1 0]
−1 0 0
0 25 1
[−25 1 0]
S −1 = −1 0 0
1
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0 25 1
= [−25 1 0]
−1 0 0
−1
T = SaCC ∗ Sa
0 0 1 0 25 1
= [0 1 −25] ∗ [−25 1 0]
1 −25 625 −1 0 0
−1 0 0
=[ 0 1 0]
0 0 1
1 0 0 0 1 0 0
|s ∗ (0 1 0) − (0 0 1 ) + (0) ∗ K aCC | = Pdd
0 0 1 0 0 −25 1
1 0 0 0 1 0 0
⇒ s ∗ (0 1 0) − (0 0 1 ) + (0) ∗ [k1 k 2 k 3 ]
0 0 1 0 0 −25 1
1 0 0 0 1 0 0 0 0 0
⇒ s ∗ (0 1 0) − (0 0 1 ) + (0 ) ∗ [ 0 0 0 ]
0 0 1 0 0 −25 1 k1 k 2 k 3
1 0 0 0 1 0 0 0 0
⇒ s ∗ (0 1 0) − (0 0 1 )+(0 0 0)
0 0 1 0 0 −25 k1 k 2 k 3
s −1 0
⇒(0 s −1 )
k1 k 2 s + 25 + k 3
s −1 0
|0 s −1 | = Pdd
k1 k 2 s + 25 + k 3
⇒ s2 ∗ (s + 25 + k 3 ) + k1 + k 2 ∗ s = Pdd
⇒ s3 + (25 + k 3 ) ∗ s 2 + k 2 ∗ s + k1 = s 3 + 6 ∗ s 2 + 10 ∗ s + 8
25 + k 3 = 6 ⇒ k 3 = −19
k 2 = 10
k1 = 8
K = K aCC ∗ T
K = [k I k1 k2]
K aCC = [k1 k2 k 3 ] ∗ T = [8 10 − 19] ∗ T
−1 0 0
K = [k I k1 k 2 ] = [8 10 −19] ∗ [ 0 1 0]
0 0 1
K = [−8 10 −19]
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[𝟏𝟎 −𝟏𝟗]
Para la Forma
A 0 B
Aa = [ ] Ba = [ ] Ca = [C 0] K a = [k1 k 2 k I ]
−C 0 0
0 1 0 0
Aa = [ 0 −25 0] ; Ba = [1] ; Ca = [1 0 0]; K a = [k1 k 2 k I ]
−1 0 0 0
K = [k1 k 2 k I ]
Método 1
Pdd = (s + 4) ∗ (s + 1 + j) ∗ (s + 1 − j)
Pdd = (s + 4) ∗ (s 2 + 2 ∗ s + 2)
Pdd = s 3 + 6 ∗ s 2 + 10 ∗ s + 8
K = [k1 k 2 k I ] = [k I k1 k 2 ] ∗ P −1
P=S∗M
S = [Ba Aa Ba A2a Ba ]
0 0 1 0 0 0 1 0 2 0
S = [1 ( 0 −25 0) (1) ( 0 −25 0 ) (1 )]
0 −1 0 0 0 −1 0 0 0
0 1 0 0 1
( 0 −25 0) (1) = (−25)
−1 0 0 0 0
2
0 1 0 0 1 0 0 1 0 0 −25 0
( 0 −25 0) = ( 0 −25 0) ∗ ( 0 −25 0 ) = ( 0 625 0)
−1 0 0 −1 0 0 −1 0 0 0 −1 0
0 −25 0 0 −25
(0 625 0) ∗ (1) = ( 625 )
0 −1 0 0 −1
0 1 −25
S = [1 −25 625 ]
0 0 −1
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an−1 an−2 1 a 2 a1 1
M = [an−2 1 0] = [a1 1 0]
0 0 0 1 0 0
[cofact(sI − Aa )]T
(sI − Aa )−1 =
det(sI − Aa )
1 0 0 0 1 0
|sI − Aa | = |s ∗ [0 1 0] − [ 0 −25 0]|
0 0 1 −1 0 0
1 0 0 0 1 0
sI − Aa = s ∗ [0 1 0] − [ 0 −25 0]
0 0 1 −1 0 0
s −1 0
= [0 s + 25 0]
1 0 s
s −1 0
|sI − Aa | = |0 s + 25 0|
1 0 s
2 (s
= s ∗ + 25)
a1 = 25
3 2 a =0
= s + 25 ∗ s { 2
a3 = 0
∝1 = 6
3 2
Pdd = s + 6 ∗ s + 10 ∗ s + 8 {∝2 = 10
∝3 = 8
K = [k I k1 k 2 ] ∗ P −1
K = [∝3 − a3 ∝2 − a2 ∝1 − a1 ]
= [8 − 0 10 − 0 6 − 25]
= [8 10 − 19]
a 2 a1 1
M = [ a1 1 0]
0 0 0
0 25 1
= [25 1 0]
1 0 0
0 1 −25 0 25 1
P = [1 −25 625 ] ∗ [25 1 0]
0 0 −1 1 0 0
0 1 0
=[ 0 0 1]
−1 0 0
∆P = −1
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1 0
R 31 = (−1)4 ∗ [ ]
0 1
R 31 = 1
0 1 0
R 32 = (−1)3+2 ∗ [ 0 0 1]
−1 0 0
0 0
R 32 = (−1) ∗ [ ]
0 1
R 32 = 0
0 1 0
R 33 = (−1)3+3 ∗ [ 0 0 1]
−1 0 0
0 1
R 33 = (1) ∗ [ ]
0 0
R 33 = 0
0 −1 0
cofact(P) = [0 0 −1]
1 0 0
0 0 1
[cofact(P)]T = [−1 0 0]
0 −1 0
0 0 1
[−1 0 0]
P = 0 −1 0
−1
−1
0 0 −1
= [1 0 0 ]
0 1 0
0 0 −1
K = [8 10 − 19] ∗ [1 0 0]
0 1 0
K = [10
⏟ −19
⏟ −8⏟]
k1 k2 kI
Método 2
A 0 B
Aa = [ ] Ba = [ ] Ca = [0 C] K a = [k1 k 2 k I ]
−C 0 0
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0 1 0 0 0 0
= [ 0 −25 0] − [K1 K 2 K I ]
−1 0 0 0 0 0
0 1 0
= [−K1 −25 − K 2 −K I ]
−1 0 0
1 0 0 0 1 0
s ∗ I − AaLC = s ∗ [0 1 0] − [−K1 −25 − K 2 −K I ]
0 0 1 −1 0 0
s −1 0
= [K1 s + 25 + K 2 K I ]
1 0 s
2
|s ∗ I − AaLC | = s ∗ (s + 25 + K 2 ) − K I + K1 ∗ s
= s 3 ∗ (25 + K 2 ) ∗ s 2 + K1 ∗ s − K I
s3 ∗ (25 + K 2 ) ∗ s 2 + K1 ∗ s − K I = s3 + 6 ∗ s 2 + 10 ∗ s + 8
25 + K 2 = 6 ⇒ K 2 = −19
K1 = 10
−K I = 8 ⇒ K I = −8
K = [K1 K2 KI]
10
⏟ −19
⏟ −8
⏟
K=[ ]
k1 k2 kI
Método 3 Realimentación
Función de Transferencia a Lazo Abierto
[cofact(sI − Aa )]T
(sI − Aa )−1 =
det(sI − Aa )
1 0 0 0 1 0
|sI − Aa | = |s ∗ [0 1 0] − [ 0 −25 0]|
0 0 1 −1 0 0
1 0 0 0 1 0
sI − Aa = s ∗ [0 1 0] − [ 0 −25 0]
0 0 1 −1 0 0
s −1 0
= [0 s + 25 0]
1 0 s
s −1 0
|sI − Aa | = |0 s + 25 0|
1 0 s
3 2
= s + 25 ∗ s
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−1 0
R 31 = (−1)4 ∗ [ ]
s + 25 0
R 31 = 0
s −1 0
R 32 = (−1)3+2 ∗ [0 s + 25 0]
1 0 s
s 0
R 32 = (−1) ∗ [ ]
0 0
R 32 = 0
s −1 0
R 33 = (−1)3+3 ∗ [0 s + 25 0]
1 0 s
s −1
R 33 = (1) ∗ [ ]
0 s + 25
R 33 = s2 + 25 ∗ s
s 2 + 25 ∗ s 0 −s − 25
cofact(sI − Aa ) = [ s s 2
−1 ]
2
0 0 s + 25 ∗ s
2
s + 25 ∗ s s 0
[cofact(sI − Aa )]T = [ 0 s2 0 ]
2
−s − 25 −1 s + 25 ∗ s
2
s + 25 ∗ s s 0
[ 0 s2 0 ]
2
(sI − Aa )−1 = −s − 25 3 −1 s2 + 25 ∗ s
s + 25 ∗ s
2
s + 25 ∗ s s
0
s 3 + 25 ∗ s 2 s 3 + 25 ∗ s 2
s2
= 0 0
s 3 + 25 ∗ s 2
−s − 25 −1 s 2 + 25 ∗ s
[s 3 + 25 ∗ s 2 s + 25 ∗ s 2
3 s 3 + 25 ∗ s 2 ]
Y(s)
Ga (s) =
U(s)
Ga (s) = Ca ∗ (sI − Aa )−1 ∗ Ba
s 2 + 25 ∗ s s
0
s3 + 25 ∗ s2 s3 + 25 ∗ s2
0
s2
= [1 0 0 ] ∗ 0 0 ∗ [1]
s3 + 25 ∗ s2 0
−s − 25 −1 s2 + 25 ∗ s
[s3 + 25 ∗ s2 s3 + 25 ∗ s2 s3 + 25 ∗ s2 ]
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MODERNA DE CONTROL
s2 + 25 ∗ s s
0
=[ 0] [1]
s3 + 25 ∗ s2 s3 + 25 ∗ s2 0
s
Ga (s) =
s 3 + 25 ∗ s 2
0 1 0 0
AaCC = [0 0 1 ] ; BaCC = [0] ; CaCC = [1 0 0]
0 0 −25 1
|s ∗ I − AaCC + BaCC ∗ K aCC | = Pdd
K = K aCC ∗ T
T = SaCC ∗ Sa−1
SaCC = [BaCC AaCC ∗ BaCC A2aCC BaCC ]
0 0 1 0 0 0 1 0 2 0
SaCC = [0 (0 0 1 ) ∗ (0) (0 0 1 ) ∗ (0)]
1 0 0 −25 1 0 0 −25 1
0 0 1 0 0 0 1 0 0 1 0 0
SaCC = [0 (0 0 1 ) ∗ (0) (0 0 1 ) ∗ (0 0 1 ) ∗ (0)]
1 0 0 −25 1 0 0 −25 0 0 −25 1
0 0 1 0 0 0 1 0 0 1 0 0
= [0 (0 0 1 ) ∗ (0) (0 0 1 ) ∗ (0 0 1 ) ∗ (0)]
1 0 0 −25 1 0 0 −25 0 0 −25 1
0 0 0 1 1 0
= [0 1 (0 0 −25) ∗ (0)]
1 −25 0 0 625 1
0 0 1
SaCC = [0 1 −25]
1 −25 625
0 1 −25
S = [1 −25 625 ]
0 0 −1
det(S) = 1
R11 R12 R11
cofac(S) = [R 21 R 22 R 23 ]
R 31 R 32 R 33
0 1 −25
R11 = (−1)1+1 ∗ [1 −25 625 ]
0 0 −1
R11 = (1) ∗ 25
R11 = 25
0 1 −25
R12 = (−1)1+2 ∗ [1 −25 625 ]
0 0 −1
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MODERNA DE CONTROL
1 625
R12 = (−1) ∗ [ ]
0 −1
R12 = 1
0 1 −25
(−1) 1+3
R13 = ∗ [1 −25 625 ]
0 0 −1
1 −25
R13 = (1) ∗ [ ]
0 0
R13 = 0
0 1 −25
R 21 = (−1)2+1 ∗ [1 −25 625 ]
0 0 −1
1 −25
R 21 = (−1)3 ∗ [ ]
0 −1
R 21 = 1
0 1 −25
R 22 = (−1)2+2 ∗ [1 −25 625 ]
0 0 −1
0 −25
R 22 = (1) ∗ [ ]
0 −1
R 22 = 0
0 1 −25
(−1) 2+3
R 23 = ∗ [1 −25 625 ]
0 0 −1
0 1
R 23 = (−1) ∗ [ ]
0 0
R 23 = 0
0 1 −25
R 31 = (−1)3+1 ∗ [1 −25 625 ]
0 0 −1
1 −25
R 31 = (−1)4 ∗ [ ]
−25 625
R 31 = 0
0 1 −25
R 32 = (−1)3+2 ∗ [1 −25 625 ]
0 0 −1
0 −25
R 32 = (−1) ∗ [ ]
1 625
R 32 = −25
0 1 −25
R 33 = (−1)3+3 ∗ [1 −25 625 ]
0 0 −1
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MODERNA DE CONTROL
0 1
R 33 = (1) ∗ [ ]
1 −25
R 33 = −1
25 1 0
cofact(S) = [ 1 0 0]
0 −25 −1
25 1 0
[cofact(S)]T = [ 1 0 −25]
0 0 −1
25 1 0
[ 1 0 −25]
S −1 = 0 0 −1
1
25 1 0
= [ 1 0 −25]
0 0 −1
T = SaCC ∗ Sa−1
0 0 1 25 1 0
= [0 1 −25] ∗ [ 1 0 −25]
1 −25 625 0 0 −1
0 0 −1
= [1 0 0]
0 1 0
1 0 0 0 1 0 0
|s ∗ (0 1 0) − (0 0 1 ) + (0) ∗ K aCC | = Pdd
0 0 1 0 0 −25 1
1 0 0 0 1 0 0
⇒ s ∗ (0 1 0) − (0 0 1 ) + (0) ∗ [k1 k 2 k 3 ]
0 0 1 0 0 −25 1
1 0 0 0 1 0 0 0 0 0
⇒ s ∗ (0 1 0) − (0 0 1 ) + (0 ) ∗ [ 0 0 0 ]
0 0 1 0 0 −25 1 k1 k 2 k 3
1 0 0 0 1 0 0 0 0
⇒ s ∗ (0 1 0) − (0 0 1 )+(0 0 0)
0 0 1 0 0 −25 k1 k 2 k 3
s −1 0
⇒(0 s −1 )
k1 k 2 s + 25 + k 3
s −1 0
|0 s −1 | = Pdd
k1 k 2 s + 25 + k 3
⇒ s2 ∗ (s + 25 + k 3 ) + k1 + k 2 ∗ s = Pdd
⇒ s3 + (25 + k 3 ) ∗ s 2 + k 2 ∗ s + k1 = s 3 + 6 ∗ s 2 + 10 ∗ s + 8
25 + k 3 = 6 ⇒ k 3 = −19
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MODERNA DE CONTROL
k 2 = 10
k1 = 8
K = K aCC ∗ T
K = [k1 k2 kI]
K aCC = [k1 k 3 ] ∗ T = [8 10
k2 − 19] ∗ T
0 0 −1
K = [8 10 −19] ∗ [1 0 0]
0 1 0
0 0 −1
K = [8 10 −19 ] ∗ [1 0 0]
0 1 0
k1 = 10
K = [10 −19 −8] {k 2 = −19
kI = − 8
PROBLEMA 18
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MODERNA DE CONTROL
s −1
R12 = (−1)1+2 ∗ ( )=0
0 s+2
s −1
R 21 = (−1)2+1 ∗ ( )=1
0 s+2
s −1
R 22 = (−1)2+2 ∗ ( )=s
0 s+2
s+2 0
cof(s ∗ I − A) = [ ]
1 s
[cof(s ∗ I − A)]T = [s + 2 1]
0 s
s+2 1
[ ]
(s ∗ I − A) = 2 0
−1 s
s +2∗s
s+2 1
2 2
(s ∗ I − A)−1 = [s + 2 ∗ s s +s2 ∗ s]
0
s2 + 2 ∗ s
s+2 1
2 2 0
GLA (s) = [1 0] ∗ [s + 2 ∗ s s +s2 ∗ s] ∗ [ ]
1
0 2
s +2∗s
s+2 1 0
=[ 2 ]∗[ ]
s +2∗s s +2∗s 2 1
1
GLA (s) = 2
s +2∗s
|s ∗ I − Ac + Bc ∗ K c | = Pdd
1 0 0 1 0
|s ∗ ( )−( ) + ( ) ∗ [k1 k 2 ]| = s 2 + 2 ∗ s + 2
0 1 0 −2 1
1 0 0 1 0 0
|s ∗ ( )−( )+( )| = s2 + 2 ∗ s + 2
0 1 0 −2 k 1 k2
s −1
|( )| = s2 + 2 ∗ s + 2
k1 s + 2 + k 2
s ∗ (s + 2 + k 2 ) + k1 = s 2 + 2 ∗ s + 2
s2 + (2 + k 2 ) ∗ s + k1 = s 2 + 2 ∗ s + 2
2 + k2 = 2
k2 = 0
k1 = 2
K c = [2 0]
K = Kc ∗ T
Como el sistema está en forma canónica controlable y acción realimentación T=I
K = Kc ∗ T
1 0
= [2 0] ∗ [ ]
0 1
K = [2 0]
Determinar la Función de Transferencia a Lazo Cerrado:
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MODERNA DE CONTROL
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MODERNA DE CONTROL
𝟏
K
𝐍
1
N=
C ∗ [−(A − BK)]−1 ∗ B
1
N=
0 1 −1 0
[1 0] ∗ [− ( )] ∗ [ ]
2 −2 1
1
N=−
1 −1 0
[1 0] ∗ (0 ) ∗[ ]
2 −2 1
0 1 T
−1 [cofat ( )]
0 1 2 −2
( ) =
2 −2 0 1
det ( )
2 −2
0 1
cofat ( ):
2 −2
0 1
R11 = (−1)1+1 ∗ ( ) = −2
2 −2
0 1
R12 = (−1)1+2 ∗ ( ) = −2
2 −2
0 1
R 21 = (−1)2+1 ∗ ( ) = −1
2 −2
0 1
R 22 = (−1)2+2 ∗ ( )=0
2 −2
−2 −2
cof(s ∗ I − A) = [ ]
−1 0
[cof(s ∗ I − A)]T = [−2 −1]
−2 0
−2 −1
[ ]
0 1 −1
( ) = −2 0
2 −2 −2
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1
= [1 2 ]
1 0
1
N=−
1
[1 0] ∗ [1 2] ∗ [0]
1 0 1
1
=−
0
[1 1] ∗ [ ]
2 1
1
=−
1
2
N = −2
1
yss = lim y(t) = N ∗ lim GLC (s) = N ∗ GLC (0) = (−2) ∗ (− ) = 1
t→∞ s→0 2
yss = 1
[𝟐 𝟎]
PROBLEMA 19
[𝐤 𝟏 𝐤𝟐]
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MODERNA DE CONTROL
K1 = 10
−K I = 8 ⇒ K I = −8
K = [K I K1 K2]
−8
⏟ 10
⏟ ⏟
4
K=[ ]
kI k1 k2
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MODERNA DE CONTROL
0 1
0 0
AaLC = [ 0 0] − [1] ∗ [K1 K 2 K I ]
−2
−1 0
0 0
0 10 0 0 0
=[ 0 0] − [K1 K 2 K I ]
−2
−1 00 0 0 0
0 1 0
= [−K1 −25 − K 2 −K I ]
−1 0 0
1 0 0 0 1 0
s ∗ I − AaLC = s ∗ [0 1 0] − [−K1 −2 − K 2 −K I ]
0 0 1 −1 0 0
s −1 0
= [K 1 s + 2 + K 2 K I ]
1 0 s
2
|s ∗ I − AaLC | = s ∗ (s + 2 + K 2 ) − K I + K1 ∗ s
= s 3 ∗ (2 + K 2 ) ∗ s2 + K1 ∗ s − K I
s3 ∗ (2 + K 2 ) ∗ s2 + K1 ∗ s − K I = s3 + 6 ∗ s2 + 10 ∗ s + 8
2 + K2 = 6 ⇒ K2 = 4
K1 = 10
−K I = 8 ⇒ K I = −8
K = [K1 K2 KI]
10
⏟ ⏟
4 −8
⏟
K=[ ]
k1 k2 kI
[𝟏𝟎 𝟒]
B. Regulado de la Planta:
2 3 0
A=[ ] ; B = [ ] ; C = [1 0]; Pdd = {s2 + 2 ∗ s + 2} 3er orden: (s + 4)
−1 4 1
No está en forma canónica controlable.
Determinar la Función de Transferencia a Lazo abierto:
GLA (s) = C ∗ (s ∗ I − A)−1 ∗ B
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MODERNA DE CONTROL
[cof(s ∗ I − A)]T
(s ∗ I − A)−1 =
dert(s ∗ I − A)
1 0 2 3
s∗I−A= s∗( )−( )
0 1 −1 4
s − 2 −3
=( )
1 s−4
det(s ∗ I − A) = (s − 2) ∗ (s − 4) + 3
a = −6
= s 2 − 6 ∗ s + 11 { 1
a2 = 11
R11 R12
Cofactores de (s ∗ I − A) = [ ]
R 21 R 22
s − 2 −3
R11 = (−1)1+1 ∗ ( )=s−4
1 s−4
s − 2 −3
R12 = (−1)1+2 ∗ ( ) = −1
1 s−4
s − 2 −3
R 21 = (−1)2+1 ∗ ( )=3
1 s−4
s − 2 −3
R 22 = (−1)2+2 ∗ ( )=s−2
1 s−4
s − 4 −1
cof(s ∗ I − A) = [ ]
3 s−2
[cof(s ∗ I − A)]T = [s − 4 3
]
−1 s − 2
s−4 3
[ ]
(s ∗ I − A)−1 = 2 −1 s − 2
s − 6 ∗ s + 11
s−4 3
2 2
(s ∗ I − A)−1 = [ s − 6 ∗ s + 11 s − 6 ∗ s + 11]
1 s−2
− 2
s − 6 ∗ s + 11 s2 − 6 ∗ s + 11
s−4 3
2 2 0
GLA (s) = [1 0] ∗ [ s − 6 ∗ s + 11 s − 6 ∗ s + 11] ∗ [ ]
1 s−2 1
− 2 2
s − 6 ∗ s + 11 s − 6 ∗ s + 11
s−4 3 0
=[ 2 ]∗[ ]
2
s − 6 ∗ s + 11 s − 6 ∗ s + 11 1
3
GLA (s) = 2
s − 6 ∗ s + 11
Determinar la Realimentación K
Método 1: Método Directo
a = −6
|s ∗ I − A| = s 2 − 6 ∗ s + 11 { 1
a2 = 11
∝ =2
Pdd = s 2 + 2 ∗ s + 2 { 1
∝2 = 2
−1
K = [k1 k 2 ] ∗ P ∴ P = S ∗ M
k1 =∝2 − a2 k 2 =∝1 − (−6)
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= 2 − 11 = 2+6
k1 = −9 k2 = 8
S = [B A ∗ B]
0 2 3 0
=[ ( ) ∗ ( )]
1 −1 4 1
0 3
=[ ]
1 4
a 1
M=[ 1 ]
1 0
−6 1
=[ ]
1 0
0 3 −6 1
P=[ ]∗[ ]
1 4 1 0
3 0
=[ ]
−2 1
det(P) = 3
Cofactores de P:
3 0
R11 = (−1)1+1 ∗ ( )=1
−2 1
3 0
R12 = (−1)1+2 ∗ ( )=2
−2 1
3 0
R 21 = (−1)2+1 ∗ ( )=0
−2 1
3 0
R 22 = (−1)2+2 ∗ ( )=3
−2 1
1 2
cof(P) = [ ]
0 3
[cof(P)]T = [1 0]
2 3
1 0
[ ]
−1
P = 2 3
3
1
0
P −1 = [3 ]
2
1
3
1
0
K = [−9 8] ∗ [3 ]
2
1
3
−9 + 16
=[ 8]
3
7
K =[ 8]
3
Método 2: Método Asignación de Polos
|s ∗ I − A + B ∗ K| = Pdd
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MODERNA DE CONTROL
1 0 2 3 0
|s ∗ ( )−( ) + ( ) ∗ [k1 k 2 ]| = s 2 + 2 ∗ s + 2
0 1 −1 4 1
1 0 2 3 0 0
|s ∗ ( )−( )+( )| = s2 + 2 ∗ s + 2
0 1 −1 4 k1 k 2
s−2 −3
|( )| = s2 + 2 ∗ s + 2
1 + k1 s − 4 + k 2
(s − 2) ∗ (s − 4 + k 2 ) + 8 − 2 ∗ k 2 + (3 + 3 ∗ k1 ) = s 2 + 2 ∗ s + 2
s2 + (−4 + k 2 − 2) ∗ s + (11 − 2 ∗ k 2 + 3 ∗ k1 ) = s2 + 2 ∗ s + 2
s2 + (−6 + k 2 ) ∗ s + (11 − 2 ∗ k 2 + 3 ∗ k1 ) = s2 + 2 ∗ s + 2
−6 + k 2 = 2
k2 = 8
11 − 2 ∗ k 2 + 3 ∗ k1 = 2
3 ∗ k1 = 2 − 11 + 2 ∗ k 2
3 ∗ k1 = −9 + 16
7
k1 =
3
7
K=[ 8]
3
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MODERNA DE CONTROL
4 −3
[ ]
−1
S = −1 0
−3
4
− 1
S −1 = [ 3 ]
1
0
3
Sc = [Bc Ac ∗ Bc ]
0 0 1 0
=[ ( ) ∗ ( )]
1 −11 6 1
0 1
=[ ]
1 6
4
− 1
0 1 3
T=[ ]∗[ ]
1 6 1
0
3
1
0
=[ 3 ]
−4 + 6 1
3
1
0
T = [3 ]
2 1
3
1 0 0 1 0
|s ∗ [ ]−( ) + ( ) ∗ [k1 k 2 ]| = Pdd
0 1 −11 6 1
1 0 0 1 0 0
|s ∗ [ ]−( )+( )| = s2 + 2 ∗ s + 2
0 1 −11 6 k1 k 2
s −1
|11 + k | = s2 + 2 ∗ s + 2
1 s − 6 + k2
s ∗ (s − 6 + k 2 ) + 11 + k1 = s 2 + 2 ∗ s + 2
s2 + (−6 + k 2 ) ∗ s + 11 + k1 = s2 + 2 ∗ s + 2
−6 + k 2 = 2
k2 = 8
11 + k1 = 2
k1 = −9
K = [k1 k2 ] ∗ T
1
0
= [−9 8] ∗ [3 ]
2 1
3
−9 + 16
=[ 8]
3
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MODERNA DE CONTROL
7
K=[ 8]
3
Hallar el error a lazo cerrado
GLC (s) = C ∗ (s ∗ I − ALC )−1 ∗ B
[cof(s ∗ I − ALC )]T
(s ∗ I − ALC )−1 =
dert(s ∗ I − ALC )
ALC = A − B ∗ K
0 1 0 7
ALC = ( )−( )∗[ 8]
−11 6 1 3
0 0
0 1
ALC = ( ) − (7 )
−11 6 8
3
0 1
ALC = ( 7 )
−11 − 6−8
3
0 1
=( 40 )
− −2
3
0 1
1 0 40
s ∗ I − ALC = s ∗ ( )−( )
0 1 − −2
3
s −1
s ∗ I − ALC = (40 )
s+2
3
40
det(s ∗ I − ALC ) = s ∗ (s + 2) +
3
2
= s + 2 ∗ s + 13,33
R R12
Cofactores de (s ∗ I − A) = [ 11 ]
R 21 R 22
s −1
R11 = (−1)1+1 ∗ ( ) =s+2
13,33 s + 2
s −1
R12 = (−1)1+2 ∗ ( ) = −13,33
13,33 s + 2
s −1
R 21 = (−1)2+1 ∗ ( )=1
13,33 s + 2
s −1
R 22 = (−1)2+2 ∗ ( )=s
13,33 s + 2
s + 2 −13,33
cof(s ∗ I − A) = [ ]
1 s
s+2 1
[cof(s ∗ I − A)]T = [ ]
−13,33 s
s+2 1
[ ]
−13,33 s
(s ∗ I − A)−1 = 2
s + 2 ∗ s + 13,33
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MODERNA DE CONTROL
s+2 1
s2 2
+ 2 ∗ s + 13,33 s + 2 ∗ s + 13,33
(s ∗ I − A)−1 =
13,33 s
− 2
[ s + 2 ∗ s + 13,33 s2 + 2 ∗ s + 13,33]
s+2 1
2 2
s + 2 ∗ s + 13,33 s + 2 ∗ s + 13,33 0
GLA (s) = [1 0] ∗ ∗[ ]
13,33 s 1
− 2 2
[ s + 2 ∗ s + 13,33 s + 2 ∗ s + 13,33]
s+2 1 0
=[ 2 2
]∗[ ]
s + 2 ∗ s + 13,33 s + 2 ∗ s + 13,33 1
1
GLA (s) = 2
s + 2 ∗ s + 13,33
𝟏
K
𝐍
1
N=
C ∗ [−(A − BK)]−1 ∗ B
1
N=
0 1 −1 0
[1 0] ∗ [− ( )] ∗ [ ]
−13,33 −2 1
1
N=−
0 1 −1 0
[1 0] ∗ ( ) ∗[ ]
−13,33 −2 1
0 1 T
−1 [cofat ( )]
0 1 −13,33 −2
( ) =
−13,33 −2 0 1
det ( )
−13,33 −2
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MODERNA DE CONTROL
0 1
cofat ( ):
−13,33 −2
0 1
R11 = (−1)1+1 ∗ ( ) = −2
−13,33 −2
0 1
R12 = (−1)1+2 ∗ ( ) = 13,33
−13,33 −2
0 1
R 21 = (−1)2+1 ∗ ( ) = −1
−13,33 −2
0 1
R 22 = (−1)2+2 ∗ ( )=0
−13,33 −2
−2 13,33
cof(s ∗ I − A) = [ ]
−1 0
−2 −1
[cof(s ∗ I − A)]T = [ ]
13,33 0
−2 −1
[ ]
0 1 −1 13,33 0
( ) =
−13,33 −2 13,33
2 1
0 1 −1 − −
( ) = [ 13,33 13,33]
−13,33 −2
1 0
1
N=−
2 1
0
[1 0] ∗ [− 13,33 − 13,33] ∗ [ ]
1
1 0
1
=−
2 1 0
[− ]∗[ ]
13,33 − 13,33 1
1
=−
1
− 13,33
N = 13,33
1
yss = lim y(t) = N ∗ lim GLC (s) = N ∗ GLC (0) = (13,33) ∗ ( )=1
t→∞ s→0 13,33
yss = 1
7
[ 8]
3
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MODERNA DE CONTROL
Control integral.
[𝐤 𝟏 𝐤𝟐]
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MODERNA DE CONTROL
= s2 − 6 ∗ s + 3
s 1 0
R12 = (−1)1+2 ∗ (0 s − 2 −3 )
0 1 s−4
0 −3
= (−1) ∗ ( )
0 s−4
=0
s 1 0
1+3
R13 = (−1) ∗ (0 s − 2 −3 )
0 1 s−4
0 s − 2
= (1) ∗ ( )
0 1
=0
s 1 0
R 21 = (−1)2+1 ∗ (0 s − 2 −3 )
0 1 s−4
1 0
= (−1) ∗ ( )
1 s−4
= −s − 4
s 1 0
R 22 = (−1)2+2 ∗ (0 s − 2 −3 )
0 1 s−4
s 0
= (1) ∗ ( )
0 s−4
= s2 − 4
s 1 0
(−1) 2+3
R 23 = ∗ (0 s − 2 −3 )
0 1 s−4
s 1
= (−1) ∗ ( )
0 1
= −s
s 1 0
R 31 = (−1)3+1 ∗ (0 s − 2 −3 )
0 1 s−4
1 0
= (1) ∗ ( )
s − 2 −3
= −3
s 1 0
3+2
R 32 = (−1) ∗ (0 s − 2 −3 )
0 1 s−4
s 0
= (−1) ∗ ( )
0 −3
= 3∗s
s 1 0
R 33 = (−1)3+3 ∗ (0 s − 2 −3 )
0 1 s−4
s 1
= (1) ∗ ( )
0 s−2
= s2 − 2 ∗ s
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MODERNA DE CONTROL
s2 − 6 ∗ s + 3 0 0
cof(s ∗ I − A) = [ −s − 4 2
s −4 −s ]
2
−3 3∗s s −2∗s
2
s − 6 ∗ s + 3 −s − 4 −3
[cof(s ∗ I − A)]T = [ 0 2
s −4 3∗s ]
2
0 −s s −2∗s
2
s − 6 ∗ s + 3 −s − 4 −3
[ 2
0 s −4 3∗s ]
2
(s ∗ I − A)−1 = 0 −s s −2∗s
s 3 − 6 ∗ s 2 + 11 ∗ s
s2 − 6 ∗ s + 3 −s − 4 −3
s 3 − 6 ∗ s2 + 11 ∗ s s 3 − 6 ∗ s2 + 11 ∗ s s3 − 6 ∗ s 2 + 11 ∗ s
s2 − 4 3∗s
(s ∗ I − A)−1 = 0
s 3 − 6 ∗ s2 + 11 ∗ s s3 − 6 ∗ s 2 + 11 ∗ s
−s s2 − 2 ∗ s
[ 0
s − 6 ∗ s2 + 11 ∗ s
3 s3 − 6 ∗ s 2 + 11 ∗ s]
s2 − 6 ∗ s + 3 −s − 4 −3
s 3 − 6 ∗ s 2 + 11 ∗ s s 3 − 6 ∗ s 2 + 11 ∗ s s 3 − 6 ∗ s 2 + 11 ∗ s
0
s2 − 4 3∗s
GLA (s) = [0 1 0] ∗ 0 ∗ [0]
s 3 − 6 ∗ s 2 + 11 ∗ s s 3 − 6 ∗ s 2 + 11 ∗ s 1
−s s2 − 2 ∗ s
[ 0
s 3 − 6 ∗ s 2 + 11 ∗ s s 3 − 6 ∗ s 2 + 11 ∗ s]
0
s2 − 4 3∗s
GLA (s) = [0 ] ∗ [0]
s3 − 6 ∗ s 2 + 11 ∗ s s3 − 6 ∗ s 2 + 11 ∗ s 1
3∗s
GLA (s) =
s3
− 6 ∗ s 2 + 11 ∗ s
Hallar la Realimentación K
Método 1: Método Directo
a1 = −6
3 2
|s ∗ I − A| = s − 6 ∗ s + 11 ∗ s { a2 = 11
a3 = 0
∝1 = 6
2 3 2
Pdd = (s + 2 ∗ s + 2) ∗ + 4) = s + 6 ∗ s + 10 ∗ s + 8 { ∝2 = 10
(s
∝3 = 8
−1
K = [k I k1 k 2 ] ∗ P ∴ P = S ∗ M
k I =∝3 − a3 k1 =∝2 − a2 k 2 =∝1 − a1
= 8−0 = 10 − 11 = 6 − (−6)
kI = 8 k1 = −1 k 2 = 12
−1
K = [8 − 1 12] ∗ P
S = [B A ∗ B A2 ∗ B]
0 0 −1 0 0 0 −1 0 2 0
= [0 (0 2 3) ∗ (0) (0 2 3 ) ∗ ( 0)]
1 0 −1 4 1 0 −1 4 1
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MODERNA DE CONTROL
0 −1 0 0 0
(0 2 3) ∗ (0) = (3)
0 −1 4 1 4
0 −1 0 2 0 −1 0 0 −1 0
(0 2 3) = (0 2 3) ∗ (0 2 3)
0 −1 4 0 −1 4 0 −1 4
0 −2 −3
= (0 1 18 )
0 −6 13
0 −2 −3 0 −3
(0 1 18 ) ∗ (0) = ( 18 )
0 −6 13 1 13
0 0 −3
S = [0 3 18 ]
1 4 13
a 2 a1 1
M = [ a1 1 0 ]
1 0 0
11 −6 1
= [−6 1 0]
1 0 0
0 0 −3 11 −6 1
P = [0 3 18 ] ∗ [−6 1 0]
1 4 13 1 0 0
−3 0 0
=[ 0 3 0]
0 −2 1
det(P) = −9
Cofactores de P:
−3 0 0
R11 = (−1)1+1 ∗( 0 3 0)
0 −2 1
3 0
= (1) ∗ ( )
−2 1
=3
−3 0 0
R12 = (−1)1+2 ∗ ( 0 3 0)
0 −2 1
0 0
= (−1) ∗ ( )
0 1
=0
−3 0 0
R13 = (−1)1+3 ∗ ( 0 3 0)
0 −2 1
0 3
= (1) ∗ ( )
0 −2
=0
168 nestorfidelherrera_c@hotmail.com
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MODERNA DE CONTROL
−3 0 0
R 21 = (−1)2+1 ∗ ( 0 3 0)
0 −2 1
0 0
= (−1) ∗ ( )
−2 1
=0
−3 0 0
(−1) 2+2
R 22 = ∗( 0 3 0)
0 −2 1
−3 0
= (1) ∗ ( )
0 1
= −3
−3 0 0
R 23 = (−1)2+3 ∗ ( 0 3 0)
0 −2 1
−3 0
= (−1) ∗ ( )
0 −2
= −6
−3 0 0
3+1
R 31 = (−1) ∗( 0 3 0)
0 −2 1
0 0
= (1) ∗ ( )
3 0
=0
−3 0 0
R 32 = (−1)3+2 ∗ ( 0 3 0)
0 −2 1
−3 0
= (−1) ∗ ( )
0 0
=0
−3 0 0
R 33 = (−1)3+3 ∗ ( 0 3 0)
0 −2 1
−3 0
= (1) ∗ ( )
0 3
= −9
3 0 0
cof(P) = [0 −3 −6]
0 0 −9
3 0 0
[cof(P)]T = [0 −3 0 ]
0 −6 −9
3 0 0
[0 −3 0 ]
P −1 = 0 −6 −9
−9
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MODERNA DE CONTROL
1
− 0 0
3
1
= 0 0
3
2
[ 0 1]
3
K = [8 − 1 12] ∗ P −1
1
− 0 0
3
1
= [8 −1 12] ∗ 0 0
3
2
[ 0 1]
3
8 23
K = [− 12]
3 3
170 nestorfidelherrera_c@hotmail.com
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MODERNA DE CONTROL
K = K c ∗ T ∴ T = Sc ∗ S −1
Función de transferencia a lazo abierto
3∗s
GLA (s) = 3
s − 6 ∗ s 2 + 11 ∗ s
Forma Canónica Controlable
0 1 0 0
A c = [0 0 1 ] ; B c = [ 0] ; Cc = [0 3 0]
0 −11 6 1
0 0 −3
S = [0 3 18 ]
1 4 13
∆S = 9
Cofactores de (S)
0 0 −3
R11 = (−1)1+1 ∗ (0 3 18 )
1 4 13
3 18
= (1) ∗ ( )
4 13
= −33
0 0 −3
R12 = (−1)1+2 ∗ (0 3 18 )
1 4 13
0 18
= (−1) ∗ ( )
1 13
= 18
0 0 −3
1+3
R13 = (−1) ∗ (0 3 18 )
1 4 13
0 3
= (1) ∗ ( )
1 4
= −3
0 0 −3
R 21 = (−1)2+1 ∗ (0 3 18 )
1 4 13
0 −3
= (−1) ∗ ( )
4 13
= −12
0 0 −3
R 22 = (−1)2+2 ∗ (0 3 18 )
1 4 13
0 −3
= (1) ∗ ( )
1 13
=3
0 0 −3
(−1) 2+3
R 23 = ∗ (0 3 18 )
1 4 13
0 0
= (−1) ∗ ( )
1 4
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MODERNA DE CONTROL
=0
0 0 −3
R 31 = (−1)3+1 ∗ (0 3 18 )
1 4 13
0 −3
= (1) ∗ ( )
3 18
=9
0 0 −3
3+2
R 32 = (−1) ∗ (0 3 18 )
1 4 13
0 −3
= (−1) ∗ ( )
0 18
=0
0 0 −3
R 33 = (−1)1+3 ∗ (0 3 18 )
1 4 13
0 0
= (1) ∗ ( )
0 3
=0
−33 18 −3
cof(S) = [−12 3 0]
9 0 0
−33 −12 9
[cof(S)]T = [ 18 3 0]
−3 0 0
−33 −12 9
[ 18 3 0]
S −1 = −3 0 0
9
−11 4
− 1
3 3
1
S −1 = 2 0
3
1
−
[ 3 0 0]
0 0 1 0 0 0 1 0 2 0
Sc = [0 (0 0 1 ) ∗ ( 0) ( 0 0 1) ∗ ( 0)]
1 0 −11 6 1 0 −11 6 1
0 1 0 0 0
(0 0 1) ∗ (0) = (1)
0 −11 6 1 6
2
0 1 0 0 1 0 0 1 0
(0 0 1) = (0 0 1 ) ∗ (0 0 1)
0 −11 6 0 −11 6 0 −11 6
0 0 1
= (0 −11 6 )
0 −66 25
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MODERNA DE CONTROL
0 0 1 0 1
(0 −11 6 ) ∗ (0) = ( 6 )
0 −66 25 1 25
0 0 1
Sc = [0 1 6]
1 6 25
−11 4
− 1
3 3
0 0 1 1
T = [0 1 6]∗ 2 0
1 6 25 3
1
−
[ 3 0 0]
−1
0 0
3
1
T= 0 0
3
2
[ 0 1]
3
−1
0 0
3
1
T= 0 0
3
2
[ 0 1]
3
1 0 0 0 1 0 0
|s ∗ [0 1 0] − (0 0 1 ) + ( 0) ∗ [k I k1 k 2 ]| = Pdd
0 0 1 0 −11 6 1
1 0 0 0 1 0 0 0 0
|s ∗ [0 1 0] − (0 0 1) + ( 0 0 0 )| = Pdd
0 0 1 0 −11 6 k I k1 k 2
s −1 0
|0 s −1 | = s 3 + 6 ∗ s2 + 10 ∗ s + 8
k I 11 + k1 s − 6 + k 2
s2 ∗ (s − 6 + k 2 ) + k I + (11 + k1 ) ∗ s = s 3 + 6 ∗ s2 + 10 ∗ s + 8
s3 + (−6 + k 2 ) ∗ s 2 + (11 + k1 ) ∗ s + k I = s3 + 6 ∗ s 2 + 10 ∗ s + 8
−6 + k 2 = 6
k 2 = 12
11 + k1 = 10
k1 = −1
kI = 8
K = [k I k1 k 2 ] ∗ T
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MODERNA DE CONTROL
−1
0 0
3
1
= [8 −1 12] ∗ 0 0
3
2
[ 0 1]
3
8 23
= [− 12]
3 3
8 23
K = [− 12]
3 3
Segunda Forma
A 0 B
Aa = [ ] Ba = [ ] Ca = [C 0] K = [k1 k 2 k I ]
−C 0 0
174 nestorfidelherrera_c@hotmail.com
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MODERNA DE CONTROL
s − 2 −3 0
R12 = (−1)1+2 ∗ ( 1 s−4 0)
1 0 s
1 0
= (−1) ∗ ( )
1 s
= −s
s − 2 −3 0
(−1) 1+3
R13 = ∗( 1 s−4 0)
1 0 s
1 s − 4
= (1) ∗ ( )
1 0
= −s + 4
s − 2 −3 0
R 21 = (−1)2+1 ∗ ( 1 s−4 0)
1 0 s
−3 0
= (−1) ∗ ( )
0 s
= 3∗s
s − 2 −3 0
2+2
R 22 = (−1) ∗( 1 s−4 0)
1 0 s
s − 2 0
= (1) ∗ ( )
1 s
= s2 − 2 ∗ s
s − 2 −3 0
(−1) 2+3
R 23 = ∗( 1 s−4 0)
1 0 s
s − 2 −3
= (−1) ∗ ( )
1 0
= −3
s − 2 −3 0
R 31 = (−1)3+1 ∗ ( 1 s−4 0)
1 0 s
−3 0
= (1) ∗ ( )
s−4 0
=0
s − 2 −3 0
3+2
R 32 = (−1) ∗( 1 s−4 0)
1 0 s
s − 2 0
= (−1) ∗ ( )
1 0
=0
s − 2 −3 0
R 33 = (−1)3+3 ∗ ( 1 s−4 0)
1 0 s
s − 2 −3
= (1) ∗ ( )
0 s−4
= s2 − 6 ∗ s + 11
nestorfidelherrera_c@hotmail.com
175
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MODERNA DE CONTROL
s2 − 4 ∗ s −s −s + 4
cof(s ∗ I − A) = [ 3 ∗ s 2 ]
s −2∗s −3
2
0 0 s − 6 ∗ s + 11
2
s −4∗s 3∗s 0
[cof(s ∗ I − A)]T = [ −s 2
s −2∗s 0 ]
2
−s + 4 −3 s − 6 ∗ s + 11
2
s −4∗s 3∗s 0
[ −s s2 − 2 ∗ s 0 ]
2
(s ∗ I − A)−1 = −s + 4 3 −3 2 s − 6 ∗ s + 11
s − 6 ∗ s + 11 ∗ s
2
s −4∗s 3∗s
0
s − 6 ∗ s + 11 ∗ s s − 6 ∗ s2 + 11 ∗ s
3 2 3
−s s2 − 2 ∗ s
(s ∗ I − A)−1 = 0
s 3 − 6 ∗ s2 + 11 ∗ s s 3 − 6 ∗ s2 + 11 ∗ s
−s + 4 −3 s2 − 6 ∗ s + 11
[s 3 − 6 ∗ s2 + 11 ∗ s s 3 − 6 ∗ s2 + 11 ∗ s s3 − 6 ∗ s 2 + 11 ∗ s]
s2 − 4 ∗ s 3∗s
0
s3 − 6 ∗ s2 + 11 ∗ s s3 − 6 ∗ s2 + 11 ∗ s
0
−s s2 − 2 ∗ s
GLA (s) = [1 0 0] ∗ 0 ∗ [1]
s3 − 6 ∗ s2 + 11 ∗ s s3 − 6 ∗ s2 + 11 ∗ s 0
−s + 4 −3 s2 − 6 ∗ s + 11
[s3 − 6 ∗ s2 + 11 ∗ s s3 − 6 ∗ s2 + 11 ∗ s s3 − 6 ∗ s2 + 11 ∗ s]
0
s2 − 4 ∗ s 3∗s
GLA (s) = [ 0] ∗ [ 1]
s3 − 6 ∗ s 2 + 11 ∗ s s3 − 6 ∗ s 2 + 11 ∗ s 0
3∗s
GLA (s) =
s3 − 6 ∗ s 2 + 11 ∗ s
Hallar la Realimentación K
Método 1: Método Directo
a1 = −6
3 2
|s ∗ I − A| = s − 6 ∗ s + 11 ∗ s { a2 = 11
a3 = 0
∝1 = 6
Pdd = (s2 3 2
+ 2 ∗ s + 2) ∗ (s + 4) = s + 6 ∗ s + 10 ∗ s + 8 { ∝2 = 10
∝3 = 8
−1
K = [k1 k 2 k I ] = [k1 k 2 k 3 ] ∗ P ∴ P = S ∗ M
k1 =∝3 − a3 k 2 =∝2 − a2 k 3 =∝1 − a1
= 8−0 = 10 − 11 = 6 − (−6)
k1 = 8 k 2 = −1 k 3 = 12
K = [8 − 1 12] ∗ P −1
S = [B A ∗ B A2 ∗ B]
0 2 3 0 0 2 3 0 2 0
= [0 (−1 4 0) ∗ (1) (−1 4 0) ∗ (1)]
1 −1 0 0 0 −1 0 0 0
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MODERNA DE CONTROL
2 3 0 0 3
(−1 4 0) ∗ (1) = (4)
−1 0 0 0 0
2 3 0 2 2 3 0 2 3 0
(−1 4 0) = (−1 4 0) ∗ (−1 4 0)
−1 0 0 −1 0 0 −1 0 0
1 18 0
= (−6 13 0)
−2 −3 0
1 18 0 0 18
(−6 13 0) ∗ (1) = ( 13 )
−2 −3 0 0 −3
0 3 18
S = [1 4 13 ] ; ∆S = 9
0 0 −3
a 2 a1 1
M = [ a1 1 0 ]
1 0 0
11 −6 1
= [−6 1 0]
1 0 0
0 3 18 11 −6 1
P = [1 4 13 ] ∗ [−6 1 0]
0 0 −3 1 0 0
0 3 0
P = [ 0 −2 1]
−3 0 0
det(P) = −9
Cofactores de P:
0 3 0
R11 = (−1)1+1 ∗( 0 −2 1)
−3 0 0
−2 1
= (1) ∗ ( )
0 0
=0
0 3 0
R12 = (−1)1+2 ∗ ( 0 −2 1)
−3 0 0
0 1
= (−1) ∗ ( )
−3 0
= −3
0 3 0
R13 = (−1)1+3 ∗ ( 0 −2 1)
−3 0 0
0 −2
= (1) ∗ ( )
−3 0
= −6
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MODERNA DE CONTROL
0 3 0
R 21 = (−1)2+1 ∗ ( 0 −2 1)
−3 0 0
3 0
= (−1) ∗ ( )
0 0
=0
0 3 0
(−1) 2+2
R 22 = ∗ ( 0 −2 1)
−3 0 0
0 0
= (1) ∗ ( )
−3 0
=0
0 3 0
R 23 = (−1)2+3 ∗ ( 0 −2 1)
−3 0 0
0 3
= (−1) ∗ ( )
−3 0
= −9
0 3 0
3+1
R 31 = (−1) ∗ ( 0 −2 1)
−3 0 0
3 0
= (1) ∗ ( )
−2 1
=3
0 3 0
R 32 = (−1)3+2 ∗ ( 0 −2 1)
−3 0 0
0 0
= (−1) ∗ ( )
0 1
=0
0 3 0
R 33 = (−1)3+3 ∗ ( 0 −2 1)
−3 0 0
0 3
= (1) ∗ ( )
0 −2
=0
0 −3 −6
cof(P) = [0 0 −9]
3 0 0
0 0 3
[cof(P)]T = [−3 0 0]
−6 −9 0
0 0 3
[−3 0 0]
P −1 = −6 −9 0
−9
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MODERNA DE CONTROL
1
0 0 −
3
1
= 0 0
3
2
[3 1 0 ]
K = [k1 k 2 k I ] = [8 − 1 12] ∗ P −1
1
0 0 −
3
1
= [8 − 1 12] ∗ 0 0
3
2
[3 1 0 ]
23 8
K=[ 12 − ]
3 3
nestorfidelherrera_c@hotmail.com
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MODERNA DE CONTROL
K = K c ∗ T ∴ T = Sc ∗ S −1
Función de transferencia a lazo abierto
3∗s
GLA (s) = 3
s − 6 ∗ s 2 + 11 ∗ s
Forma Canónica Controlable
0 1 0 0
A c = [0 0 1 ] ; B c = [ 0] ; Cc = [0 3 0]
0 −11 6 1
0 3 18
S = [1 4 13 ]
0 0 −3
∆S = 9
Cofactores de (S)
0 3 18
R11 = (−1)1+1 ∗ (1 4 13 )
0 0 −3
4 13
= (1) ∗ ( )
0 −3
= −12
0 3 18
R12 = (−1)1+2 ∗ (1 4 13 )
0 0 −3
1 13
= (−1) ∗ ( )
0 −3
=3
0 3 18
1+3
R13 = (−1) ∗ (1 4 13 )
0 0 −3
1 4
= (1) ∗ ( )
0 0
=0
0 3 18
R 21 = (−1)2+1 ∗ (1 4 13 )
0 0 −3
3 18
= (−1) ∗ ( )
0 −3
=9
0 3 18
R 22 = (−1)2+2 ∗ (1 4 13 )
0 0 −3
0 18
= (1) ∗ ( )
0 −3
=0
0 3 18
(−1) 2+3
R 23 = ∗ (1 4 13 )
0 0 −3
0 3
= (−1) ∗ ( )
0 0
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MODERNA DE CONTROL
=0
0 3 18
R 31 = (−1)3+1 ∗ (1 4 13 )
0 0 −3
3 18
= (1) ∗ ( )
4 13
= −33
0 3 18
3+2
R 32 = (−1) ∗ (1 4 13 )
0 0 −3
0 18
= (−1) ∗ ( )
1 13
= 18
0 3 18
R 33 = (−1)3+3 ∗ (1 4 13 )
0 0 −3
0 3
= (1) ∗ ( )
1 4
= −3
−12 3 0
cof(S) = [ 9 0 0]
−33 18 −3
−12 9 −33
T
[cof(S)] = [ 3 0 18 ]
0 0 −3
−12 9 −33
[ 3 0 18 ]
S −1 = 0 0 −3
9
−4 −11
1
3 3
1
S −1 = 0 2
3
1
[ 0 0 −
3]
0 0 1 0 0 0 1 0 2 0
Sc = [0 (0 0 1) ∗ ( 0) ( 0 0 1) ∗ ( 0)]
1 0 −11 6 1 0 −11 6 1
0 1 0 0 0
(0 0 1) ∗ (0) = (1)
0 −11 6 1 6
2
0 1 0 0 1 0 0 1 0
(0 0 1) = (0 0 1 ) ∗ (0 0 1)
0 −11 6 0 −11 6 0 −11 6
0 0 1
= (0 −11 6 )
0 −66 25
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MODERNA DE CONTROL
0 0 1 0 1
(0 −11 6 ) ∗ (0) = ( 6 )
0 −66 25 1 25
0 0 1
Sc = [0 1 6]
1 6 25
−4 −11
1
3 3
0 0 1 1
T = [0 1 6]∗ 0 2
1 6 25 3
1
[ 0 0 −
3]
1
0 0 −
3
1
T= 0 0
3
2
[3 1 0 ]
1
0 0 −
3
1
T= 0 0
3
2
[3 1 0 ]
1 0 0 0 1 0 0
|s ∗ [0 1 0] − (0 0 1 ) + ( 0) ∗ [k1 k 2 k 3 ]| = Pdd
0 0 1 0 −11 6 1
1 0 0 0 1 0 0 0 0
|s ∗ [0 1 0] − (0 0 1) + ( 0 0 0 )| = Pdd
0 0 1 0 −11 6 k1 k 2 k 3
s −1 0
| 0 s −1 | = s 3 + 6 ∗ s2 + 10 ∗ s + 8
k1 11 + k 2 s − 6 + k 3
s2 ∗ (s − 6 + k 3 ) + k1 + (11 + k 2 ) ∗ s = s3 + 6 ∗ s 2 + 10 ∗ s + 8
s3 + (−6 + k 3 ) ∗ s 2 + (11 + k 2 ) ∗ s + k1 = s 3 + 6 ∗ s2 + 10 ∗ s + 8
−6 + k 3 = 6
k 3 = 12
11 + k 2 = 10
k 2 = −1
k1 = 8
K = [k1 k 2 k I ] = [k1 k 2 k 3 ] ∗ T
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MODERNA DE CONTROL
1
0 0 −
3
1
= [8 −1 12] ∗ 0 0
3
2
[3 1 0 ]
23 8
=[ 12 − ]
3 3
23 8
K=[ 12 − ]
3 3
𝟐𝟑
[ 𝟏𝟐]
𝟑
C. a Regulado de la Planta:
3 4 0
A=[ ] ; B = [ ] ; C = [1 0]; Pdd = {s2 + 2 ∗ s + 2} 3er orden: (s + 4)
2 −1 1
No está en forma canónica controlable.
Determinar la Función de Transferencia a Lazo abierto:
GLA (s) = C ∗ (s ∗ I − A)−1 ∗ B
[cof(s ∗ I − A)]T
(s ∗ I − A)−1 =
dert(s ∗ I − A)
1 0 3 4
s∗I−A= s∗( )−( )
0 1 2 −1
s − 3 −4
=( )
−2 s + 1
det(s ∗ I − A) = (s − 3) ∗ (s + 1) − 8
a = −2
= s 2 − 2 ∗ s − 11 { 1
a2 = −11
R11 R12
Cofactores de (s ∗ I − A) = [ ]
R 21 R 22
s − 3 −4
R11 = (−1)1+1 ∗ ( )=s+1
−2 s + 1
s − 3 −4
R12 = (−1)1+2 ∗ ( )=2
−2 s + 1
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MODERNA DE CONTROL
s − 3 −4
R 21 = (−1)2+1 ∗ ( )=4
−2 s + 1
s − 3 −4
R 22 = (−1)2+2 ∗ ( )=s−3
−2 s + 1
s+1 2
cof(s ∗ I − A) = [ ]
4 s−3
[cof(s ∗ I − A)]T = [s + 1 4
]
2 s−3
s+1 4
[ ]
(s ∗ I − A)−1 = 2 2 s−3
s − 2 ∗ s − 11
s+1 4
2 2
(s ∗ I − A)−1 = [s − 2 ∗ s − 11 s − 2 ∗ s − 11]
2 s−3
s 2 − 2 ∗ s − 11 s 2 − 2 ∗ s − 11
s+1 4
2 2 0
GLA (s) = [1 0] ∗ [s − 2 ∗ s − 11 s − 2 ∗ s − 11] ∗ [ ]
2 s−3 1
2 2
s − 2 ∗ s − 11 s − 2 ∗ s − 11
s+1 4 0
=[ 2 ]∗[ ]
s − 2 ∗ s − 11 s 2 − 2 ∗ s − 11 1
4
GLA (s) = 2
s − 2 ∗ s − 11
Determinar la Realimentación K
Método 1: Método Directo
a = −2
|s ∗ I − A| = s 2 − 2 ∗ s − 11 { 1
a2 = −11
∝ =2
Pdd = s 2 + 2 ∗ s + 2 { 1
∝2 = 2
K = [k1 k 2 ] ∗ P −1 ∴ P = S ∗ M
k1 =∝2 − a2 k 2 =∝1 − a1
k1 = 2 − (−11) k 2 = 2 − (−2)
= 13 =4
k1 = 13 k2 = 4
S = [B A ∗ B]
0 3 4 0
=[ ( ) ∗ ( )]
1 2 −1 1
0 4
=[ ]
1 −1
a 1
M=[ 1 ]
1 0
−2 1
=[ ]
1 0
0 4 −2 1
P=[ ]∗[ ]
1 −1 1 0
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MODERNA DE CONTROL
4 0
=[ ]
−3 1
det(P) = 4
Cofactores de P:
4 0
R11 = (−1)1+1 ∗ ( )=1
−3 1
4 0
R12 = (−1)1+2 ∗ ( )=3
−3 1
2+1 4 0
R 21 = (−1) ∗( )=0
−3 1
4 0
R 22 = (−1)2+2 ∗ ( )=4
−3 1
1 3
cof(P) = [ ]
0 4
[cof(P)]T = [1 0]
3 4
1 0
[ ]
P −1 = 3 4
4
1
0
−1
P =[ 4 ]
3
1
4
1
0
K = [13 4] ∗ [4 ]
3
1
4
13 + 12
=[ 4]
4
25
K =[ 4]
4
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MODERNA DE CONTROL
−11 + 4 ∗ k1 − 3 ∗ k 2 = 2
−4 ∗ k1 = 2 + 11 + 3 ∗ k 2
3 ∗ k1 = 13 + 12
25
k1 =
3
25
K=[ 4]
3
Método 3: Método Forma Canónica Controlable
|s ∗ I − Ac + Bc ∗ K c | = Pdd
K = K c ∗ T ∴ T = Sc ∗ S −1
Función de transferencia a lazo abierto
4
GLA (s) = 2
s − 2 ∗ s − 11
Forma Canónica Controlable
0 1 0
Ac = [ ] ; Bc = [ ] ; Cc = [4 0]
11 2 1
0 4
S=[ ]
1 −1
∆S = −4
Cofactores de (S)
0 4
R11 = (−1)1+1 ∗ ( ) = −1
1 −1
0 4
R12 = (−1)1+2 ∗ ( ) = −1
1 −1
0 4
R 21 = (−1)2+1 ∗ ( ) = −4
1 −1
0 4
R 22 = (−1)2+2 ∗ ( )=0
1 −1
−1 −1
cof(S) = [ ]
−4 0
[cof(S)]T = [−1 −4]
−1 0
−1 −4
[ ]
S −1 = −1 0
−4
1
1
S −1 = [4 ]
1
0
4
Sc = [Bc Ac ∗ Bc ]
0 0 1 0
=[ ( ) ∗ ( )]
1 11 2 1
0 1
=[ ]
1 2
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MODERNA DE CONTROL
1
1
0 1
T=[ ] ∗ [4 ]
1 2 1
0
4
1
0
=[ 4 ]
3
1
4
1
0
T = [4 ]
3
1
4
1 0 0 1 0
|s ∗ [ ]−( ) + ( ) ∗ [k1 k 2 ]| = Pdd
0 1 11 2 1
1 0 0 1 0 0
|s ∗ [ ]−( )+( )| = s2 + 2 ∗ s + 2
0 1 11 2 k1 k 2
s −1
|−11 + k | = s2 + 2 ∗ s + 2
1 s − 2 + k2
s ∗ (s − 2 + k 2 ) − 11 + k1 = s 2 + 2 ∗ s + 2
s2 + (−2 + k 2 ) ∗ s − 11 + k1 = s2 + 2 ∗ s + 2
−2 + k 2 = 2
k2 = 4
−11 + k1 = 2
k1 = 13
K = [k1 k2 ] ∗ T
1
0
[
= 13 4 ∗ [ ] 4 ]
3
1
4
13 + 12
=[ 4]
4
25
K=[ 4]
4
Hallar el error a lazo cerrado
GLC (s) = C ∗ (s ∗ I − ALC )−1 ∗ B
−1
[cof(s ∗ I − ALC )]T
(s ∗ I − ALC ) =
dert(s ∗ I − ALC )
ALC = A − B ∗ K
0 1 0 25
ALC = ( )−( )∗[ 4]
11 2 1 4
0 0
0 1
ALC = ( ) − (25 )
11 2 4
4
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MODERNA DE CONTROL
0 1
ALC = ( 25 )
11 − 2−4
4
0 1
= (19 )
−2
4
0 1
1 0 19
s ∗ I − ALC= s∗( )−( )
0 1 −2
4
s −1
s ∗ I − ALC = ( )
−4,75 s + 2
det(s ∗ I − ALC ) = s ∗ (s + 2) − 4,75
= s 2 + 2 ∗ s − 4,75
R R12
Cofactores de (s ∗ I − A) = [ 11 ]
R 21 R 22
s −1
R11 = (−1)1+1 ∗ ( )=s+2
−4,75 s + 2
s −1
R12 = (−1)1+2 ∗ ( ) = 4,75
−4,75 s + 2
s −1
R 21 = (−1)2+1 ∗ ( )=1
−4,75 s + 2
s −1
R 22 = (−1)2+2 ∗ ( )=s
−4,75 s + 2
s + 2 4,75
cof(s ∗ I − A) = [ ]
1 s
s+2 1
[cof(s ∗ I − A)]T = [ ]
4,75 s
s+2 1
[ ]
4,75 s
(s ∗ I − A)−1 = 2
s + 2 ∗ s − 4,75
s+2 1
2 2
s + 2 ∗ s − 4,75 s + 2 ∗ s − 4,75
(s ∗ I − A)−1 =
4,75 s
[s 2 + 2 ∗ s − 4,75 s2 + 2 ∗ s − 4,75]
s+2 1
s 2 + 2 ∗ s − 4,75 s2 + 2 ∗ s − 4,75 0
GLA (s) = [1 0] ∗ ∗[ ]
4,75 s 1
[s + 2 ∗ s − 4,75 s + 2 ∗ s − 4,75]
2 2
s+2 1 0
=[ 2 2
]∗[ ]
s + 2 ∗ s − 4,75 s + 2 ∗ s − 4,75 1
1
GLA (s) = 2
s + 2 ∗ s − 4,75
Evaluar el error para una entrada en escalón unitaria
1
yss = lim y(t) = lim GLC (s) = GLC (0) = = −0,2105
t→∞ s→0 −4,75
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MODERNA DE CONTROL
yss ≠ 1
Como la respuesta del error ante una entrada en escalón es diferente a uno, se tiene
que hallar un precompensador (N)
𝟏
K
𝐍
1
N=
C ∗ [−(A − BK)]−1 ∗ B
1
N=
0 1 −1 0
[1 0] ∗ [− ( )] ∗ [ ]
−13,33 −2 1
1
N=−
0 1 −1 0
[1 0] ∗ ( ) ∗[ ]
4,75 −2 1
0 1 T
[cofat ( )]
0 1 −1 4,75 −2
( ) =
4,75 −2 0 1
det ( )
4,75 −2
0 1
cofat ( ):
4,75 −2
0 1
R11 = (−1)1+1 ∗ ( ) = −2
4,75 −2
0 1
R12 = (−1)1+2 ∗ ( ) = −4,75
4,75 −2
0 1
R 21 = (−1)2+1 ∗ ( ) = −1
4,75 −2
0 1
R 22 = (−1)2+2 ∗ ( )=0
4,75 −2
−2 −4,75
cof(s ∗ I − A) = [ ]
−1 0
−2 −1
[cof(s ∗ I − A)]T = [ ]
−4,75 0
−2 −1
[ ]
0 1 −1 −4,75 0
( ) =
−13,33 −2 −4,75
2 1
0 1 −1 − −
( ) = [ −4,75 −4,75]
−13,33 −2
1 0
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MODERNA DE CONTROL
1
N=−
2 1
[1 0] ∗ [4,75 4,75] ∗ [0]
1
1 0
1
=−
2 1 0
[ ]∗[ ]
4,75 4,75 1
1
=−
1
4,75
N = −4,75
1
yss = lim y(t) = N ∗ lim GLC (s) = N ∗ GLC (0) = (−4,75) ∗ ( )=1
t→∞ s→0 −4,75
yss = 1
25
[ 4]
4
[
𝟑 𝟒]
𝟐 −𝟏
[𝐤 𝟏 𝐤𝟐]
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MODERNA DE CONTROL
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MODERNA DE CONTROL
= −s − 1
s 1 0
R 22 = (−1)2+2 ∗ (0 s − 3 −4 )
0 −2 s + 1
s 0
= (1) ∗ ( )
0 s+1
= s2 + 1
s 1 0
2+3
R 23 = (−1) ∗ (0 s − 3 −4 )
0 −2 s + 1
s 1
= (−1) ∗ ( )
0 −2
= 2∗s
s 1 0
(−1) 3+1
R 31 = ∗ (0 s − 3 −4 )
0 −2 s + 1
1 0
= (1) ∗ ( )
s − 3 −4
= −4
s 1 0
R 32 = (−1)3+2 ∗ (0 s − 3 −4 )
0 −2 s + 1
s 0
= (−1) ∗ ( )
0 −4
= 4∗s
s 1 0
R 33 = (−1)3+3 ∗ (0 s − 3 −4 )
0 −2 s + 1
s 1
= (1) ∗ ( )
0 s−3
= s2 − 3 ∗ s
s 2 − 2 ∗ s − 11 0 0
cof(s ∗ I − A) = [ −s − 1 s2 + 1 2∗s ]
−4 4 ∗ s s2 − 3 ∗ s
s 2 − 6 ∗ s + 3 −s − 1 −4
T
[cof(s ∗ I − A)] = [ 0 s2 + 1 4∗s ]
0 4∗s s2 − 3 ∗ s
s2 − 6 ∗ s + 3 −s − 1 −4
[ 2
0 s +1 4∗s ]
2
(s ∗ I − A)−1 = 0 4∗s s −3∗s
s 3 − 2 ∗ s 2 − 11 ∗ s
s2 − 6 ∗ s + 3 −s − 1 −4
s − 2 ∗ s − 11 ∗ s s − 2 ∗ s2 − 11 ∗ s
3 2 3 s3 − 2 ∗ s 2 − 11 ∗ s
s2 + 1 4∗s
(s ∗ I − A)−1 = 0
s 3 − 2 ∗ s2 − 11 ∗ s s − 2 ∗ s 2 − 11 ∗ s
3
4∗s s2 − 3 ∗ s
[ 0
s 3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s 2 − 11 ∗ s]
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MODERNA DE CONTROL
s2 − 6 ∗ s + 3 −s − 1 −4
s3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s2 − 11 ∗ s
0
s2 + 1 4∗s
GLA (s) = [0 1 0] ∗ 0 ∗ [0]
s3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s2 − 11 ∗ s 1
4∗s s2 − 3 ∗ s
[
0
s3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s2 − 11 ∗ s]
0
s2 + 1 4∗s
GLA (s) = [0 ] ∗ [0]
s3 − 2 ∗ s 2 − 11 ∗ s s3 − 2 ∗ s 2 − 11 ∗ s 1
4∗s
GLA (s) =
s3
− 2 ∗ s 2 − 11 ∗ s
Hallar la Realimentación K
Método 1: Método Directo
a1 = −2
3 2
|s ∗ I − A| = s − 2 ∗ s − 11 ∗ s {a2 = −11
a3 = 0
∝1 = 6
Pdd = (s2 3 2
+ 2 ∗ s + 2) ∗ (s + 4) = s + 6 ∗ s + 10 ∗ s + 8 { ∝2 = 10
∝3 = 8
−1
K = [k I k1 k 2 ] ∗ P ∴ P = S ∗ M
k I =∝3 − a3 k1 =∝2 − a2 k 2 =∝1 − a1
= 8−0 = 10 − (−11) = 6 − (−2)
kI = 8 k1 = 21 k2 = 8
K = [8 21 8] ∗ P −1
S = [B A ∗ B A2 ∗ B]
0 0 −1 0 0 0 −1 0 2 0
= [0 (0 3 4 ) ∗ ( 0) ( 0 3 4 ) ∗ ( 0 )]
1 0 2 −1 1 0 2 −1 1
0 −1 0 0 0
(0 3 4 ) ∗ (0) = ( 4 )
0 2 −1 1 −1
2
0 −1 0 0 −1 0 0 −1 0
(0 3 4 ) = (0 3 4 ) ∗ (0 3 4)
0 2 −1 0 2 −1 0 2 −1
0 −3 −4
= (0 17 8 )
0 4 9
0 −3 −4 0 −4
(0 17 8 ) ∗ (0) = ( 8 )
0 4 9 1 9
0 0 −4
S = [0 4 8 ] ; ∆S = 16
1 −1 9
a 2 a1 1
M = [ a1 1 0 ]
1 0 0
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MODERNA DE CONTROL
−11 −2 1
= [ −2 1 0]
1 0 0
0 0 −4 −11 −2 1
P = [0 4 8 ] ∗ [ −2 1 0]
1 −1 9 1 0 0
−4 0 0
=[ 0 4 0]
0 −3 1
det(P) = −16
Cofactores de P:
−4 0 0
R11 = (−1)1+1 ∗( 0 4 0)
0 −3 1
4 0
= (1) ∗ ( )
−3 1
=4
−4 0 0
R12 = (−1)1+2 ∗ ( 0 4 0)
0 −3 1
0 0
= (−1) ∗ ( )
0 1
=0
−4 0 0
R13 = (−1)1+3 ∗ ( 0 4 0)
0 −3 1
0 4
= (1) ∗ ( )
0 −3
=0
−4 0 0
(−1) 2+1
R 21 = ∗( 0 4 0)
0 −3 1
0 0
= (−1) ∗ ( )
−3 1
=0
−4 0 0
R 22 = (−1)2+2 ∗ ( 0 4 0)
0 −3 1
−4 0
= (1) ∗ ( )
0 1
= −4
−4 0 0
2+3
R 23 = (−1) ∗( 0 4 0)
0 −3 1
−4 0
= (−1) ∗ ( )
0 −3
= −12
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MODERNA DE CONTROL
−4 0 0
R 31 = (−1)3+1 ∗ ( 0 4 0)
0 −3 1
0 0
= (1) ∗ ( )
4 0
=0
−4 0 0
(−1) 3+2
R 32 = ∗( 0 4 0)
0 −3 1
−4 0
= (−1) ∗ ( )
0 0
=0
−4 0 0
R 33 = (−1)3+3 ∗ ( 0 4 0)
0 −3 1
−4 0
= (1) ∗ ( )
0 4
= −16
4 0 0
cof(P) = [0 −4 −12]
0 0 −16
4 0 0
T
[cof(P)] = [0 −4 0 ]
0 −12 −16
4 0 0
[0 −4 0 ]
P −1 = 0 −12 −16
−16
1
− 0 0
4
1
= 0 0
4
3
[ 0 1]
4
K = [8 21 8] ∗ P −1
1
− 0 0
4
1
= [8 21 8] ∗ 0 0
4
3
[ 0 1]
4
45
K = [−2 8]
4
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MODERNA DE CONTROL
1 0 0 0 −1 0 0
|s ∗ (0 1 0) − (0 3 4 ) + (0) ∗ [k I k1 k 2 ]| = s3 + 6 ∗ s 2 + 10 ∗ s + 8
0 0 1 0 2 −1 1
1 0 0 0 −1 0 0 0 0
|s ∗ (0 1 0) − (0 3 4 ) + ( 0 0 0 )| = s3 + 6 ∗ s2 + 10 ∗ s + 8
0 0 1 0 2 −1 k I k1 k 2
s 1 0
|( 0 s−3 −4 )| = s3 + 6 ∗ s 2 + 10 ∗ s + 8
k I −2 + k1 s + 1 + k 2
s ∗ (s − 3) ∗ (s + 1 + k 2 ) − 4 ∗ k I + 4 ∗ s ∗ (−2 + k1 ) = s3 + 6 ∗ s2 + 10 ∗ s + 8
s3 + (−2 + k 2 ) ∗ s 2 + (−11 − 3 ∗ k 2 + 4 ∗ k1 ) ∗ s − 4 ∗ k I = s3 + 6 ∗ s 2 + 10 ∗ s + 8
−2 + k 2 = 6
k2 = 8
−11 − 3 ∗ k 2 + 4 ∗ k1 = 10
4 ∗ k1 = 10 + 11 + 3 ∗ k 2
45
k1 =
4
−4 ∗ k I = 8
k I = −2
K = [k I k1 k 2 ]
45
K = [−2 8]
4
Método 3: Método Forma Canónica Controlable
|s ∗ I − Ac + Bc ∗ K c | = Pdd
K = K c ∗ T ∴ T = Sc ∗ S −1
Función de transferencia a lazo abierto
4∗s
GLA (s) = 3
s − 2 ∗ s 2 − 11 ∗ s
Forma Canónica Controlable
0 1 0 0
Ac = [0 0 1] ; Bc = [0] ; Cc = [0 4 0]
0 11 2 1
0 0 −4
S = [0 4 8]
1 −1 9
∆S = 16
Cofactores de (S)
0 0 −4
R11 = (−1)1+1 ∗ (0 4 8)
1 −1 9
4 8
= (1) ∗ ( )
−1 9
= 44
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MODERNA DE CONTROL
0 0 −4
R12 = (−1)1+2 ∗ (0 4 8)
1 −1 9
0 8
= (−1) ∗ ( )
1 9
=8
0 0 −4
(−1) 1+3
R13 = ∗ (0 4 8)
1 −1 9
0 4
= (1) ∗ ( )
1 −1
= −4
0 0 −4
R 21 = (−1)2+1 ∗ (0 4 8)
1 −1 9
0 −4
= (−1) ∗ ( )
−1 9
=4
0 0 −4
2+2
R 22 = (−1) ∗ (0 4 8)
1 −1 9
0 −4
= (1) ∗ ( )
1 9
=4
0 0 −4
R 23 = (−1)2+3 ∗ (0 4 8)
1 −1 9
0 0
= (−1) ∗ ( )
1 −1
=0
0 0 −4
R 31 = (−1)3+1 ∗ (0 4 8)
1 −1 9
0 −4
= (1) ∗ ( )
4 8
= 16
0 0 −3
3+2
R 32 = (−1) ∗ (0 3 18 )
1 4 13
0 −3
= (−1) ∗ ( )
0 18
=0
0 0 −4
R 33 = (−1)1+3 ∗ (0 4 8)
1 −1 9
0 0
= (1) ∗ ( )
0 4
=0
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MODERNA DE CONTROL
44 8 −4
cof(S) = [ 4 4 0]
16 0 0
44 4 16
[cof(S)]T = [ 8 4 0 ]
−4 0 0
44 4 16
[ 8 4 0]
S −1 = −4 0 0
16
44 4
1
16 16
8 4
S −1 = 0
16 16
4
[ 16 0 0]
−
11 1
1
4 4
1 1
S −1 = 0
2 4
1
−
[ 4 0 0]
0 0 1 0 0 0 1 0 2 0
Sc = [0 (0 0 1) ∗ (0) (0 0 1) ∗ (0)]
1 0 11 2 1 0 11 2 1
0 1 0 0 0
(0 0 1) ∗ (0) = (1)
0 11 2 1 2
2
0 1 0 0 1 0 0 1 0
(0 0 1) = (0 0 1) ∗ (0 0 1)
0 11 2 0 11 2 0 11 2
0 0 1
= (0 11 2 )
0 22 15
0 0 1 0 1
(0 11 2 ) ∗ (0) = ( 2 )
0 22 15 1 15
0 0 1
Sc = [0 1 2 ]
1 2 15
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MODERNA DE CONTROL
11 1
1
4 4
0 0 1 1 1
T = [0 1 2]∗ 0
1 2 15 2 4
1
−
[ 4 0 0]
−1
0 0
4
1
T= 0 0
4
3
[ 0 1]
4
−𝟏
𝟎 𝟎
𝟒
𝟏
𝐓= 𝟎 𝟎
𝟒
𝟑
[ 𝟎 𝟒 𝟏]
1 0 0 0 1 0 0
|s ∗ [0 1 0] − (0 0 1) + (0) ∗ [k I k1 k 2 ]| = Pdd
0 0 1 0 11 2 1
1 0 0 0 1 0 0 0 0
|s ∗ [0 1 0] − (0 0 1) + ( 0 0 0 )| = Pdd
0 0 1 0 11 2 k I k1 k 2
s −1 0
|0 s −1 | = s 3 + 6 ∗ s 2 + 10 ∗ s + 8
k I −11 + k1 s − 2 + k 2
s2 ∗ (s − 2 + k 2 ) + k I + (−11 + k1 ) ∗ s = s 3 + 6 ∗ s2 + 10 ∗ s + 8
s3 + (−2 + k 2 ) ∗ s 2 + (−11 + k1 ) ∗ s + k I = s3 + 6 ∗ s 2 + 10 ∗ s + 8
−2 + k 2 = 6
k2 = 8
−11 + k1 = 10
k1 = 21
kI = 8
K = [k I k1 k 2 ] ∗ T
−1
0 0
4
1
= [8 21 8] ∗ 0 0
4
3
[ 0 1]
4
45
= [−2 8]
4
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MODERNA DE CONTROL
45
K = [−2 8]
4
[
𝟑 𝟒]
𝟐 −𝟏
𝟒𝟓
[ 𝟖]
𝟒
Segunda Forma
A 0 B
Aa = [ ] Ba = [ ] Ca = [C 0] K = [k1 k 2 k I ]
−C 0 0
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s−3 0
= (−1) ∗ ( )
−2 0
=0
s − 3 −4 0
(−1) 3+3
R 33 = ∗ ( −2 s + 1 0)
1 0 s
s − 3 −4
= (1) ∗ ( )
−2 s + 1
= s2 − 2 ∗ s − 11
s2 + s 2∗s −s − 1
cof(s ∗ I − A) = [ 4 ∗ s s 2 − 3 ∗ s −4 ]
2
0 0 s − 2 ∗ s − 11
2
s +s 4∗s 0
[cof(s ∗ I − A)]T = [ 2 ∗ s s2 − 3 ∗ s 0 ]
2
−s − 1 −4 s − 2 ∗ s − 11
2
s +s 4∗s 0
[ 2∗s s2 − 3 ∗ s 0 ]
2
(s ∗ I − A)−1 = −s − 1 3 −4 2 s − 2 ∗ s − 11
s − 2 ∗ s − 11 ∗ s
2
s +s 4∗s
0
s − 2 ∗ s − 11 ∗ s s − 2 ∗ s2 − 11 ∗ s
3 2 3
2∗s s2 − 3 ∗ s
(s ∗ I − A)−1 = 0
s 3 − 2 ∗ s2 − 11 ∗ s s 3 − 2 ∗ s2 − 11 ∗ s
−s − 1 −4 s2 − 2 ∗ s − 11
[s 3 − 2 ∗ s2 − 11 ∗ s s 3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s 2 − 11 ∗ s]
s2 + s 4∗s
0
s3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s2 − 11 ∗ s
0
2∗s s2 − 3 ∗ s
GLA (s) = [1 0 0] ∗ 0 ∗ [1]
s3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s2 − 11 ∗ s 0
−s − 1 −4 s2 − 2 ∗ s − 11
[s3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s2 − 11 ∗ s s3 − 2 ∗ s2 − 11 ∗ s]
0
s2 + s 4∗s
GLA (s) = [ 0] ∗ [1]
s3 − 2 ∗ s 2 − 11 ∗ s s3 − 2 ∗ s 2 − 11 ∗ s 0
4∗s
GLA (s) =
s 3 − 2 ∗ s 2 − 11 ∗ s
Hallar la Realimentación K
Método 1: Método Directo
a1 = −2
|s ∗ I − A| = s 3 − 2 ∗ s 2 − 11 ∗ s {a2 = −11
a3 = 0
∝1 = 6
Pdd = (s2 + 2 ∗ s + 2) ∗ (s + 4) = s3 + 6 ∗ s2 + 10 ∗ s + 8 { ∝2 = 10
∝3 = 8
−1
K = [k1 k 2 k I ] = [k1 k 2 k 3 ] ∗ P ∴ P = S ∗ M
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Cofactores de P:
0 4 0
R11 = (−1)1+1 ∗ ( 0 −3 1)
−4 0 0
−3 1
= (1) ∗ ( )
0 0
=0
0 4 0
1+2
R12 = (−1) ∗( 0 −3 1)
−4 0 0
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0 1
= (−1) ∗ ( )
−4 0
= −4
0 4 0
(−1) 1+3
R13 = ∗ ( 0 −3 1)
−4 0 0
0 −3
= (1) ∗ ( )
−4 0
= −12
0 4 0
R 21 = (−1)2+1 ∗ ( 0 −3 1)
−4 0 0
4 0
= (−1) ∗ ( )
0 0
=0
0 4 0
2+2
R 22 = (−1) ∗ ( 0 −3 1)
−4 0 0
0 0
= (1) ∗ ( )
−4 0
=0
0 4 0
R 23 = (−1)2+3 ∗ ( 0 −3 1)
−4 0 0
0 4
= (−1) ∗ ( )
−4 0
= −16
0 4 0
R 31 = (−1)3+1 ∗ ( 0 −3 1)
−4 0 0
4 0
= (1) ∗ ( )
−3 1
=4
0 4 0
3+2
R 32 = (−1) ∗ ( 0 −3 1)
−4 0 0
0 0
= (−1) ∗ ( )
0 1
=0
0 4 0
R 33 = (−1)3+3 ∗ ( 0 −3 1)
−4 0 0
0 4
= (1) ∗ ( )
0 −3
=0
0 −4 −12
cof(P) = [0 0 −16]
4 0 0
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0 0 4
[cof(P)]T = [ −4 0 0]
−12 −16 0
0 0 4
[ −4 0 0]
P −1 = −12 −16 0
−16
1
0 0 −
4
1
= 0 0
4
3
[4 1 0 ]
K = [k1 k 2 k I ] = [8 21 8] ∗ P −1
1
0 0 −
4
1
= [8 21 8] ∗ 0 0
4
3
[4 1 0 ]
45
K=[ 8 − 2]
4
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8
kI = −
4
k I = −2
K = [k1 k 2 k I ]
45
K=[ 8 − 2]
4
Método 3: Método Forma Canónica Controlable
|s ∗ I − Ac + Bc ∗ K c | = Pdd
K = K c ∗ T ∴ T = Sc ∗ S −1
Función de transferencia a lazo abierto
4∗s
GLA (s) = 3
s − 2 ∗ s 2 − 11 ∗ s
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0 4 8
R 22 = (−1)2+2 ∗ (1 −1 9)
0 0 −4
0 8
= (1) ∗ ( )
0 −4
=0
0 4 8
(−1) 2+3
R 23 = ∗ (1 −1 9)
0 0 −4
0 4
= (−1) ∗ ( )
0 0
=0
0 4 8
R 31 = (−1)3+1 ∗ (1 −1 9)
0 0 −4
4 8
= (1) ∗ ( )
−1 9
= 44
0 4 8
3+2
R 32 = (−1) ∗ (1 −1 9)
0 0 −4
0 8
= (−1) ∗ ( )
1 9
=8
0 4 8
R 33 = (−1)3+3 ∗ (1 −1 9)
0 0 −4
0 4
= (1) ∗ ( )
1 −1
= −4
4 4 0
cof(S) = [16 0 0 ]
44 8 −4
4 16 44
[cof(S)]T = [4 0 8]
0 0 −4
4 16 44
[4 0 8]
S −1 = 0 0 −4
16
1 11
1
4 4
1 1
S −1 = 0
4 2
1
[ 0 0 −
4]
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0 0 1 0 0 0 1 0 2 0
Sc = [0 (0 0 1) ∗ (0) (0 0 1) ∗ (0)]
1 0 11 2 1 0 11 2 1
0 1 0 0 0
(0 0 1) ∗ (0) = (1)
0 11 2 1 2
2
0 1 0 0 1 0 0 1 0
(0 0 1) = (0 0 1) ∗ (0 0 1)
0 11 2 0 11 2 0 11 2
0 0 1
= (0 11 2 )
0 22 15
0 0 1 0 1
(0 11 2 ) ∗ (0) = ( 2 )
0 22 15 1 15
0 0 1
Sc = [0 1 2 ]
1 2 15
1 11
1
4 4
0 0 1 1 1
T = [0 1 2 ] ∗ 0
1 2 15 4 2
1
[0 0 − 4]
1
0 0 −
4
1
T= 0 0
4
3
[4 1 0 ]
1 0 0 0 1 0 0
|s ∗ [0 1 0] − (0 0 1) + (0) ∗ [k1 k 2 k 3 ]| = Pdd
0 0 1 0 11 2 1
1 0 0 0 1 0 0 0 0
|s ∗ [0 1 0] − (0 0 1) + ( 0 0 0 )| = Pdd
0 0 1 0 11 2 k1 k 2 k 3
s −1 0
|0 s −1 | = s 3 + 6 ∗ s2 + 10 ∗ s + 8
k1 −11 + k 2 s − 2 + k 3
s2 ∗ (s − 2 + k 3 ) + k1 + (−11 + k 2 ) ∗ s = s3 + 6 ∗ s2 + 10 ∗ s + 8
s3 + (−2 + k 3 ) ∗ s 2 + (−11 + k 2 ) ∗ s + k1 = s3 + 6 ∗ s 2 + 10 ∗ s + 8
−2 + k 3 = 6
k3 = 8
−11 + k 2 = 10
k 2 = 21
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k1 = 8
K = [k1 k 2 k I ] = [k1 k 2 k 3 ] ∗ T
1
0 0 −
4
1
= [8 21 8] ∗ 0 0
4
3
[4 1 0 ]
45
=[ 8 −2]
4
23
K=[ 12 −2]
3
[
𝟑 𝟒]
𝟐 −𝟏
𝟒𝟓
[ 𝟖]
𝟒
D. Regulado de la Planta:
0 1 0
A=[ ] ; B = [ ] ; C = [1 2]; Pdd = {s2 + 2 ∗ s + 2} 3er orden: (s + 4)
2 −3 1
E. Regulado de la Planta:
1 4 2
A=[ ] ; B = [ ] ; C = [1 2]; Pdd = {s2 + 2 ∗ s + 2} 3er orden: (s + 4)
6 −1 3
No está en forma canónica controlable.
Determinar la Función de Transferencia a Lazo abierto:
GLA (s) = C ∗ (s ∗ I − A)−1 ∗ B
[cof(s ∗ I − A)]T
(s ∗ I − A)−1 =
dert(s ∗ I − A)
1 0 1 4
s∗I−A= s∗( )−( )
0 1 6 −1
s − 1 −4
=( )
−6 s + 1
det(s ∗ I − A) = (s − 1) ∗ (s + 1) − 24
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a1 = 0
= s 2 − 25 {
a2 = −25
R R12
Cofactores de (s ∗ I − A) = [ 11 ]
R 21 R 22
s − 1 −4
R11 = (−1)1+1 ∗ ( )=s+1
−6 s + 1
s − 1 −4
R12 = (−1)1+2 ∗ ( )=6
−6 s + 1
s − 1 −4
R 21 = (−1)2+1 ∗ ( )=4
−6 s + 1
s − 1 −4
R 22 = (−1)2+2 ∗ ( )=s−1
−6 s + 1
s+1 6
cof(s ∗ I − A) = [ ]
4 s−1
[cof(s ∗ I − A)]T = [s + 1 4
]
6 s−1
s+1 4
[ ]
−1
(s ∗ I − A) = 6 s − 1
s 2 − 25
s+1 4
2 2
(s ∗ I − A)−1 = [s − 25 s − 25]
6 s−1
2
s − 25 s − 25 2
s+1 4
2 2 2
GLA (s) = [1 2] ∗ [s − 25 s − 25] ∗ [ ]
6 s−1 3
2
s − 25 s − 25 2
s+1 12 4 s−1 2
=[ 2 + 2 + 2 ]∗[ ]
s − 25 s − 25 s − 25 s − 25 2 3
s + 13 s−3 2
=[ 2 ]∗[ ]
s − 25 s 2 − 25 3
(s
2 ∗ + 13) 3 ∗ − 3) (s
= + 2
s 2 − 25 s − 25
2 ∗ (s + 13) 3 ∗ (s − 3)
= + 2
s 2 − 25 s − 25
2 ∗ + 13) + 3 ∗ (s − 3)
(s
=
s2 − 25
2 ∗ s + 26 + 3 ∗ s − 9
=
s 2 − 25
5 ∗ s + 17
= 2
s − 25
5 ∗ s + 17
GLA (s) = 2
s − 25
Determinar la Realimentación K
Método 1: Método Directo
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a1 = 0
|s ∗ I − A| = s 2 − 25 {
a2 = −25
∝ =2
Pdd = s 2 + 2 ∗ s + 2 { 1
∝2 = 2
K = [k1 k 2 ] ∗ P −1 ∴ P = S ∗ M
k1 =∝2 − a2 k 2 =∝1 − a1
k1 = 2 − (−25) k2 = 2 − 0
= 27 =2
k1 = 27 k2 = 2
S = [B A ∗ B]
2 1 4 2
=[ ( ) ∗ ( )]
3 6 −1 3
2 14
=[ ]
3 9
a 1
M=[ 1 ]
1 0
0 1
=[ ]
1 0
2 14 0 1
P=[ ]∗[ ]
3 9 1 0
14 2
=[ ]
9 3
det(P) = 24
Cofactores de P:
14 2
R11 = (−1)1+1 ∗ ( )=3
9 3
14 2
R12 = (−1)1+2 ∗ ( ) = −9
9 3
14 2
R 21 = (−1)2+1 ∗ ( ) = −2
9 3
14 2
R 22 = (−1)2+2 ∗ ( ) = 14
9 3
3 −9
cof(P) = [ ]
−2 14
[cof(P)]T = [ 3 −2]
−9 14
3 −2
[ ]
P −1 = −9 14
24
1 1
−
P −1 = [ 8 12]
3 7
−
8 12
1 1
−
K = [27 2] ∗ [ 8 12]
3 7
−
8 12
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MODERNA DE CONTROL
27 − 6 −27 + 14
=[ ]
8 12
21 13
K =[ − ]
8 12
Método 2: Método Asignación de Polos
|s ∗ I − A + B ∗ K| = Pdd
1 0 1 4 2
|s ∗ ( )−( ) + ( ) ∗ [k1 k 2 ]| = s 2 + 2 ∗ s + 2
0 1 6 −1 3
1 0 1 4 2 ∗ k1 2 ∗ k 2
|s ∗ ( )−( )+( )| = s 2 + 2 ∗ s + 2
0 1 6 −1 3 ∗ k1 3 ∗ k 2
s − 1 + 2 ∗ k1 −4 + 2 ∗ k 2
|( )| = s2 + 2 ∗ s + 2
−6 + 3 ∗ k1 s + 1 + 3 ∗ k 2
(s − 1 + 2 ∗ k1 ) ∗ (s + 1 + 3 ∗ k 2 ) + (4 − 2 ∗ k 2 ) ∗ (−6 + 3 ∗ k1 ) = s2 + 2 ∗ s + 2
(s − 1 + 2 ∗ k1 ) ∗ (s + 1 + 3 ∗ k 2 )
s2 + (2 ∗ k1 + 3 ∗ k 2 ) ∗ s + (−1 + 2 ∗ k1 − 3 ∗ k 2 + 6 ∗ k1 ∗ k 2 )
(4 − 2 ∗ k 2 ) ∗ (−6 + 3 ∗ k1 )
−24 + 12 ∗ k1 + 12 ∗ k 2 − 6 ∗ k1 ∗ k 2
s2 + (2 ∗ k1 + 3 ∗ k 2 ) ∗ s − 1 + 2 ∗ k1 − 3 ∗ k 2 + 6 ∗ k1 ∗ k 2
− 24 + 12 ∗ k1 + 12 ∗ k 2 − 6 ∗ k1 ∗ k 2
s2 + (2 ∗ k1 + 3 ∗ k 2 ) ∗ s − 25 + 14 ∗ k1 + 9 ∗ k 2
2 ∗ k1 + 3 ∗ k 2 = 2 ∗ (14) 28 ∗ k1 + 42 ∗ k 2 = 28
{ ⇒{
14 ∗ k1 + 9 ∗ k 2 = 27 ∗ (−2) −28 ∗ k1 − 18 ∗ k 2 = −54
24 ∗ k 2 = −26
26
k2 = −
24
13
k2 = − … I
12
Sustituir I en
2 ∗ k1 + 3 ∗ k 2 = 2
13
2 ∗ k1 = 2 − 3 ∗ (− )
12
24 + 39
2 ∗ k1 =
12
63
k1 =
24
21
k1 =
8
21 13
K=[ − ]
8 12
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1 1
−
T=[ 8 12]
3 7
−
8 12
1 0 0 1 0
|s ∗ [ ]−( ) + ( ) ∗ [k1 k 2 ]| = Pdd
0 1 25 0 1
1 0 0 1 0 0
|s ∗ [ ]−( )+( )| = s2 + 2 ∗ s + 2
0 1 25 0 k1 k 2
s −1
|−25 + k | = s2 + 2 ∗ s + 2
1 s + k2
s ∗ (s + k 2 ) − 25 + k1 = s2 + 2 ∗ s + 2
s2 + k 2 ∗ s − 25 + k1 = s2 + 2 ∗ s + 2
k2 = 2
−25 + k1 = 2
k1 = 2 + 25
k1 = 27
K = [k1 k2 ] ∗ T
1 1
−
= [27 2] ∗ [ 8 12]
3 7
−
8 12
27 − 6 −27 + 14
=[ ]
8 12
21 13
K=[ − ]
8 12
Hallar el error a lazo cerrado
GLC (s) = C ∗ (s ∗ I − ALC )−1 ∗ B
−1
[cof(s ∗ I − ALC )]T
(s ∗ I − ALC ) =
dert(s ∗ I − ALC )
ALC = A − B ∗ K
1 4 2 21 13
ALC = ( )−( )∗[ − ]
6 −1 3 8 12
21 13
2∗ 2 ∗ (− )
1 4 8 12 ]
ALC = ( )−[
6 −1 21 13
3∗ 3 ∗ (− )
8 12
21 13
−
1 4
=( )−[4 6]
6 −1 63 13
−
8 4
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21 13
1− 4+
ALC = ( 4 6 )
63 13
6− −1 +
8 4
17 37
−
=( 4 6)
15 9
−
8 4
1 0 −4,25 6,167
s ∗ I − ALC = s ∗ ( )−( )
0 1 −1,875 2,25
s + 4,25 −6,167
=( )
1,875 s − 2,25
det(s ∗ I − ALC ) = (s + 4,25) ∗ (s − 2,25) + 11,563
= s2 + 2 ∗ s + 2
R R12
Cofactores de (s ∗ I − A) = [ 11 ]
R 21 R 22
s + 4,25 −6,167
R11 = (−1)1+1 ∗ ( ) = s − 2,25
1,875 s − 2,25
s + 4,25 −6,167
R12 = (−1)1+2 ∗ ( ) = −1,875
1,875 s − 2,25
s + 4,25 −6,167
R 21 = (−1)2+1 ∗ ( ) = 6,167
1,875 s − 2,25
s + 4,25 −6,167
R 22 = (−1)2+2 ∗ ( ) = s + 4,25
1,875 s − 2,25
s − 2,25 −1,875
cof(s ∗ I − ALC ) = [ ]
6,167 s + 4,25
s − 2,25 6,167
[cof(s ∗ I − ALC )]T = [ ]
−1,875 s + 4,25
s − 2,25 6,167
[ ]
−1,875 s + 4,25
(s ∗ I − ALC )−1 =
s2 + 2 ∗ s + 2
s − 2,25 6,167
2 2
= [s + 2 ∗ s + 2 s + 2 ∗ s + 2]
−1,875 s + 4,25
2
s +2∗s+2 s +2∗s+2 2
s − 2,25 6,167
2 2 2
GLC (s) = [1 2] ∗ [s + 2 ∗ s + 2 s + 2 ∗ s + 2] ∗ [ ]
−1,875 s + 4,25 3
2
s +2∗s+2 s +2∗s+2 2
s − 2,25 −3,75 6,167 s + 8,5 2
=[ 2 + 2 + ]∗[ ]
s +2∗s+2 s +2∗s+2 s +2∗s+2 s +2∗s+2 2 2 3
s−6 s + 14,667 2
=[ 2 ]∗[ ]
s +2∗s+2 s +2∗s+2 2 3
2 ∗ s − 12 3 ∗ s + 44
= 2 +
s + 2 ∗ s + 2 s2 + 2 ∗ s + 2
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5 ∗ s + 32
=
s2
+2∗s+2
5 ∗ s + 32
GLC (s) = 2
s +2∗s+2
Evaluar el error para una entrada en escalón unitaria
32
yss = lim y(t) = lim GLC (s) = GLC (0) = = 16
t→∞ s→0 2
yss ≠ 1
Como la respuesta del error ante una entrada en escalón es diferente a uno, se tiene
que hallar un precompensador (N)
𝟏
K
𝐍
1
N=
C ∗ [−(A − BK)]−1 ∗ B
1
N=
17 37 −1
− 4
[1 6 )] ∗ [2]
2] ∗ [− (
15 9 3
− 8 4
1
N=−
−4,25 6,167 −1 2
[1 2] ∗ ( ) ∗[ ]
−1,875 2,25 3
−4,25 6,167 T
[cofat ( )]
−4,25 6,167 −1 −1,875 2,25
( ) =
−1,875 2,25 −4,25 6,167
det ( )
−1,875 2,25
−4,25 6,167
det ( ) = −9,5625 + 11,5631
−1,875 2,25
=2
−4,25 6,167
cofat ( ):
−1,875 2,25
−4,25 6,167
R11 = (−1)1+1 ∗ ( ) = 2,25
−1,875 2,25
−4,25 6,167
R12 = (−1)1+2 ∗ ( ) = 1,875
−1,875 2,25
−4,25 6,167
R 21 = (−1)2+1 ∗ ( ) = −6,167
−1,875 2,25
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−4,25 6,167
R 22 = (−1)2+2 ∗ ( ) = −4,25
−1,875 2,25
2,25 1,875
cof(s ∗ I − A) = [ ]
−6,167 −4,25
2,25 −6,167
[cof(s ∗ I − A)]T = [ ]
1,875 −4,25
2,25 −6,167
[ ]
−4,25 6,167 −1 1,875 −4,25
( ) =
−1,875 2,25 2
1,125 −3,0835
=[ ]
0,9375 −2,125
1
N=−
1,125 −3,0835 2
[1 2] ∗ [ ]∗[ ]
0,9375 −2,125 3
1
=−
[3 −7,3335] ∗ [2]
3
1
=−
6 − 22
N = 0,0625
32
yss = lim y(t) = N ∗ lim GLC (s) = N ∗ GLC (0) = 0,0625 ∗ =1
t→∞ s→0 2
yss = 1
21 13
[ − ]
8 12
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MODERNA DE CONTROL
PROBLEMA 20
[
𝟏 𝟒]
𝟔 −𝟏
[𝐤 𝟏 𝐤𝟐]
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s 1 2
R11 = (−1)1+1 ∗ (0 s − 1 −4 )
0 −6 s + 1
s − 1 −4
= (1) ∗ ( )
−6 s + 1
= s2 − 25
s 1 2
1+2
R12 = (−1) ∗ (0 s − 1 −4 )
0 −6 s + 1
0 −4
= (−1) ∗ ( )
0 s+1
=0
s 1 2
(−1) 1+3
R13 = ∗ (0 s − 1 −4 )
0 −6 s + 1
0 s − 1
= (1) ∗ ( )
0 −6
=0
s 1 2
R 21 = (−1)2+1 ∗ (0 s − 1 −4 )
0 −6 s + 1
1 2
= (−1) ∗ ( )
−6 s + 1
= −s − 13
s 1 2
R 22 = (−1)2+2 ∗ (0 s − 1 −4 )
0 −6 s + 1
s 2
= (1) ∗ ( )
0 s+1
= s2 + s
s 1 0
2+3
R 23 = (−1) ∗ (0 s − 1 −4 )
0 −6 s + 1
s 1
= (−1) ∗ ( )
0 −6
= 6∗s
s 1 2
R 31 = (−1)3+1 ∗ (0 s − 1 −4 )
0 −6 s + 1
1 2
= (1) ∗ ( )
s − 1 −4
= −2 ∗ s − 2
s 1 2
R 32 = (−1)3+2 ∗ (0 s − 1 −4 )
0 −6 s + 1
s 2
= (−1) ∗ ( )
0 −4
= 4∗s
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s 1 2
R 33 = (−1)3+3 ∗ (0 s − 1 −4 )
0 −6 s + 1
s 1
= (1) ∗ ( )
0 s−1
= s2 − s
s 2 − 25 0 0
cof(s ∗ I − A) = [ −s − 1 s2 + s 6 ∗ s ]
−4 4 ∗ s s2 − s
s 2 − 25 −s − 13 −2 ∗ 2 − 2
T
[cof(s ∗ I − A)] = [ 0 s2 + s 4∗s ]
0 6∗s s2 − s
s2 − 25 −s − 13 −2 ∗ s − 2
[ 0 s2 + s 4∗s ]
(s ∗ I − A)−1 = 0 6∗s s2 − s
s3 − 25 ∗ s
2
s − 25 −s − 13 −2 ∗ s − 2
s − 25 ∗ s s − 25 ∗ s s 3 − 25 ∗ s
3 3
s2 + s 4∗s
(s ∗ I − A)−1 = 0 3 3
s − 25 ∗ s s − 25 ∗ s
6∗s s2 − s
[ 0
s3 − 25 ∗ s s 3 − 25 ∗ s]
2
s − 25 −s − 13 −2 ∗ s − 2
s 3 − 25 ∗ s s3 − 25 ∗ s s3 − 25 ∗ s
0
s2 + s 4∗s
GLA (s) = [0 1 2] ∗ 0 ∗ [2 ]
s3 − 25 ∗ s s3 − 25 ∗ s 3
6∗s s2 − s
[ 0
s3 − 25 ∗ s s3 − 25 ∗ s]
0
s2 + 13 ∗ s 2 ∗ s2 + 2 ∗ s
GLA (s) = [0 ] ∗ [2 ]
s3 − 25 ∗ s s 3 − 25 ∗ s 3
2 ∗ s2 + 26 ∗ s 6 ∗ s2 + 6 ∗ s
= 3 + 3
s − 25 ∗ s s − 25 ∗ s
2
8 ∗ s + 32 ∗ s
GLA (s) = 3
s − 25 ∗ s
Hallar la Realimentación K
Método 1: Método Directo
a1 = 0
3
|s ∗ I − A| = s − 25 ∗ s {a2 = −25
a3 = 0
∝1 = 6
Pdd = (s2 3 2
+ 2 ∗ s + 2) ∗ (s + 4) = s + 6 ∗ s + 10 ∗ s + 8 { ∝2 = 10
∝3 = 8
−1
K = [k I k1 k 2 ] ∗ P ∴ P = S ∗ M
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Cofactores de P:
−32 −8 0
R11 = (−1)1+1 ∗ ( 0 14 2)
0 9 3
14 2
= (1) ∗ ( )
9 3
= 24
−32 −8 0
R12 = (−1)1+2 ∗ ( 0 14 2)
0 9 3
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0 2
= (−1) ∗ ( )
0 3
=0
−32 −8 0
(−1) 1+3
R13 = ∗( 0 14 2)
0 9 3
0 14
= (1) ∗ ( )
0 9
=0
−32 −8 0
R 21 = (−1)2+1 ∗ ( 0 14 2)
0 9 3
−8 0
= (−1) ∗ ( )
9 3
= 24
−32 −8 0
2+2
R 22 = (−1) ∗( 0 14 2)
0 9 3
−32 0
= (1) ∗ ( )
0 3
= −96
−32 −8 0
R 23 = (−1)2+3 ∗ ( 0 14 2)
0 9 3
−32 −8
= (−1) ∗ ( )
0 9
= 288
−32 −8 0
R 31 = (−1)3+1 ∗ ( 0 14 2)
0 9 3
−8 0
= (1) ∗ ( )
14 2
= −16
−32 −8 0
3+2
R 32 = (−1) ∗( 0 14 2)
0 9 3
−32 0
= (−1) ∗ ( )
0 2
= 64
−32 −8 0
R 33 = (−1)3+3 ∗ ( 0 14 2)
0 9 3
−32 −8
= (1) ∗ ( )
0 14
= −448
24 0 0
cof(P) = [ 24 −96 288 ]
−16 64 −488
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MODERNA DE CONTROL
24 24 −16
[cof(P)]T = [ 0 −96 64 ]
0 288 −488
24 24 −16
[ 0 −96 64 ]
P −1 = 0 288 −488
−768
−0,03125 −0,03125 0,02083
=[ 0 0,125 −0,0833]
0 −0,375 0,5833
−1
K = [8 35 6] ∗ P
−0,03125 −0,03125 0,02083
= [8 35 6] ∗ [ 0 0,125 −0,0833]
0 −0,375 0,5833
= [−0,25 1,875 0,75]
K = [−0,25 1,875 0,75]
s ∗ (s − 1 + 2 ∗ k1 ) ∗ (s + 1 + 3 ∗ k 2 ) + (−4+2 ∗ k 2 ) ∗ (3 ∗ k I ) + 4 ∗ k I
∗ (−6 + 3 ∗ k1 ) − 6 ∗ k I ∗ (s − 1 + 2 ∗ k1 ) − (−4+2 ∗ k 2 )
∗ (−6 + 3 ∗ k1 ) ∗ s − (2 ∗ k I ) ∗ (s + 1 + 3 ∗ k 2 )
s ∗ (s − 1 + 2 ∗ k1 ) ∗ (s + 1 + 3 ∗ k 2 )
s ∗ [s2 + (−1 + 2 ∗ k1 + 1 + 3 ∗ k 2 ) ∗ s + (−1 − 3 ∗ k 2 + 2 ∗ k1 + 6 ∗ k1 ∗ k 2 )]
s3 + (2 ∗ k1 + 3 ∗ k 2 ) ∗ s 2 + (−1 − 3 ∗ k 2 + 2 ∗ k1 + 6 ∗ k1 ∗ k 2 ) ∗ s
(−4+2 ∗ k 2 ) ∗ (3 ∗ k I )
−12 ∗ k I + 6 ∗ k 2 ∗ k I
(−6 + 3 ∗ k1 ) ∗ (4 ∗ k I )
−24 ∗ k I + 12 ∗ k1 ∗ k I
−6 ∗ k I ∗ (s − 1 + 2 ∗ k1 )
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MODERNA DE CONTROL
−6 ∗ k I ∗ s + 6 ∗ k I − 12 ∗ k1 ∗ k I
−(−4 + 2 ∗ k 2 ) ∗ (−6 + 3 ∗ k1 ) ∗ s
(−24 + 12 ∗ k1 + 12 ∗ k 2 − 6 ∗ k1 ∗ k 2 ) ∗ s
−(2 ∗ k I ) ∗ (s + 1 + 3 ∗ k 2 )
−2 ∗ k I ∗ s − 2 ∗ k I − 6 ∗ k I ∗ k 2
Nos queda:
s3 + (2 ∗ k1 + 3 ∗ k 2 ) ∗ s 2 + (−25 + 9 ∗ k 2 + 14 ∗ k1 − 8 ∗ k I ) ∗ s − 32 ∗ k I
−32 ∗ k I = 8
8
kI = −
32
k I = −0,25
2 ∗ k1 + 3 ∗ k 2 = 6…I
9 ∗ k 2 + 14 ∗ k1 = 10 + 25 + 8 ∗ k I
9 ∗ k 2 + 14 ∗ k1 = 10 + 25 − 8 ∗ 0,25
9 ∗ k 2 + 14 ∗ k1 = 33…II
De I se tiene:
6 − 3 ∗ k2
k1 =
2
Se sustituye en II
9 ∗ k 2 + 14 ∗ k1 = 33
6 − 3 ∗ k2
⇒ 9 ∗ k 2 + 14 ∗ = 33
2
⇒ 9 ∗ k 2 + 7 ∗ (6 − 3 ∗ k 2 ) = 33
⇒ 9 ∗ k 2 + 42 − 21 ∗ k 2 = 33
⇒ −12 ∗ k 2 = 33 − 42
⇒ −12 ∗ k 2 = −9
9
⇒ k2 =
12
⇒ k 2 = 0,75
6 − 3 ∗ k2
k1 =
2
k1 = 1,875
K = [k I k1 k 2 ] ∗ T; ∀T = I
K = [−0,25 1,875 0,75]
Método 3: Método Forma Canónica Controlable
|s ∗ I − Ac + Bc ∗ K c | = Pdd
K = K c ∗ T ∴ T = Sc ∗ S −1
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MODERNA DE CONTROL
0 −8 −32
R 31 = (−1)3+1 ∗ (2 14 50 )
3 9 75
−8 −32
= (1) ∗ ( )
14 50
= 48
0 −8 −32
(−1) 3+2
R 32 = ∗ (2 14 50 )
3 9 75
0 −32
= (−1) ∗ ( )
2 50
= −64
0 −8 −32
R 33 = (−1)1+3 ∗ (2 14 50 )
3 9 75
0 −8
= (1) ∗ ( )
2 14
= 16
600 0 −24
cof(S) = [312 96 −24]
48 −64 16
600 312 48
[cof(S)]T = [ 0 96 −64]
−24 −24 16
600 312 48
[ 0 96 −64]
S −1 = −24 −24 16
768
0,78125 0,40625 0,0625
S −1 = [ 0 0,125 −0,0833]
−0,03125 −0,03125 0,02083
0 0 1 0 0 0 1 0 2 0
Sc = [0 (0 0 1) ∗ (0) (0 0 1) ∗ (0)]
1 0 25 0 1 0 25 0 1
0 1 0 0 0
(0 0 1) ∗ (0) = (1)
0 25 0 1 0
2
0 1 0 0 1 0 0 1 0
(0 0 1) = (0 0 1) ∗ (0 0 1)
0 25 0 0 25 0 0 25 0
0 0 1
= (0 25 0 )
0 0 25
0 0 1 0 1
(0 25 0 ) ∗ (0) = ( 0 )
0 0 25 1 25
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MODERNA DE CONTROL
0 0 1
Sc = [0 1 0 ]
1 0 25
0 0 1 0,78125 0,40625 0,0625
T = [0 1 0 ] ∗ [ 0 0,125 −0,0833]
1 0 25 −0,03125 −0,03125 0,02083
−0,03125 −0,03125 0,02083
T=[ 0 0,125 −0,0833]
0 −0,375 0,58325
1 0 0 0 1 0 0
|s ∗ [0 1 0] − (0 0 1) + (0) ∗ [k I k1 k 2 ]| = Pdd
0 0 1 0 25 0 1
1 0 0 0 1 0 0 0 0
|s ∗ [0 1 0] − (0 0 1) + ( 0 0 0 )| = Pdd
0 0 1 0 25 0 k I k1 k 2
s −1 0
|0 s −1 | = s 3 + 6 ∗ s2 + 10 ∗ s + 8
k I −25 + k1 s + k 2
s2 ∗ (s + k 2 ) + k I + (−25 + k1 ) ∗ s = s 3 + 6 ∗ s2 + 10 ∗ s + 8
s3 + k 2 ∗ s 2 + (−25 + k1 ) ∗ s + k I = s3 + 6 ∗ s 2 + 10 ∗ s + 8
k2 = 6
−25 + k1 = 10
k1 = 35
kI = 8
K = [k I k1 k 2 ] ∗ T
−0,03125 −0,03125 0,02083
= [8 35 6] ∗ [ 0 0,125 −0,0833]
0 −0,375 0,58325
K = [−0,25 1,875 0,75]
[
𝟏 𝟒]
𝟔 −𝟏
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MODERNA DE CONTROL
Segunda Forma
A 0 B
Aa = [ ] Ba = [ ] Ca = [C 0] K = [k1 k 2 k I ]
−C 0 0
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= −s − 13
s − 1 −4 0
R 21 = (−1)2+1 ∗ ( −6 s + 1 0)
1 2 s
−4 0
= (−1) ∗ ( )
2 s
= 4∗s
s − 1 −4 0
2+2
R 22 = (−1) ∗ ( −6 s + 1 0)
1 2 s
s − 1 0
= (1) ∗ ( )
1 s
= s2 − s
s − 1 −4 0
R 23 = (−1)2+3 ∗ ( −6 s + 1 0)
1 2 s
s − 1 −4
= (−1) ∗ ( )
1 2
= −s − 2
s − 1 −4 0
R 31 = (−1)3+1 ∗ ( −6 s + 1 0)
1 2 s
−4 0
= (1) ∗ ( )
s+1 0
=0
s − 1 −4 0
(−1) 3+2
R 32 = ∗ ( −6 s + 1 0)
1 2 s
s − 1 0
= (−1) ∗ ( )
−6 0
=0
s − 1 −4 0
R 33 = (−1)3+3 ∗ ( −6 s + 1 0)
1 2 s
s − 1 −4
= (1) ∗ ( )
−6 s + 1
= s2 − 25
s 2 + s 6 ∗ s −s − 13
cof(s ∗ I − A) = [ 4 ∗ s s 2 − s −s − 2 ]
0 0 s 2 − 25
s2 + s 4∗s 0
T
[cof(s ∗ I − A)] = [ 6 ∗ s 2
s −s 0 ]
2
−s − 13 −s − 2 s − 25
2
s +s 4∗s 0
[ 6∗s 2
s −s 0 ]
2
(s ∗ I − A)−1 = −s − 13 −s − 2 s − 25
3
s − 25 ∗ s
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MODERNA DE CONTROL
s2 + s 4∗s
3 3
0
s − 25 ∗ s s − 25 ∗ s
6∗s s2 − s
(s ∗ I − A)−1 = 0
s 3 − 25 ∗ s s3 − 25 ∗ s
−s − 13 −s − 2 s 2 − 25
[s 3 − 25 ∗ s s3 − 25 ∗ s s 3 − 25 ∗ s]
s2 + s 4∗s
3 3
0
s − 25 ∗ s s − 25 ∗ s
2
6∗s s2 − s
GLA (s) [
= 1 2 0 ∗ ] 0 ∗ [3 ]
s 3 − 25 ∗ s s3 − 25 ∗ s 0
−s − 13 −s − 2 s 2 − 25
[s 3 − 25 ∗ s s3 − 25 ∗ s s3 − 25 ∗ s]
2
s2 + 13 ∗ s 2 ∗ s2 + 2 ∗ s
GLA (s) = [ 0 ] ∗ [ 3]
s3 − 25 ∗ s s 3 − 25 ∗ s 0
2
8 ∗ s + 32 ∗ s
GLA (s) = 3
s − 25 ∗ s
Hallar la Realimentación K
Método 1: Método Directo
a1 = 0
3
|s ∗ I − A| = s − 25 ∗ s {a2 = −25
a3 = 0
∝1 = 6
2 3 2
Pdd = (s + 2 ∗ s + 2) ∗ (s + 4) = s + 6 ∗ s + 10 ∗ s + 8 { ∝2 = 10
∝3 = 8
−1
K = [k1 k 2 k I ] = [k1 k 2 k 3 ] ∗ P ∴ P = S ∗ M
k1 =∝3 − a3 k 2 =∝2 − a2 k 3 =∝1 − a1
= 8−0 = 10 − (−25) =6−0
k1 = 8 k 2 = 35 k3 = 6
K = [8 35 6] ∗ P −1
S = [B A ∗ B A2 ∗ B]
2 1 4 0 2 1 4 0 2 2
= [3 ( 6 −1 0) ∗ (3) ( 6 −1 0 ) ∗ (3 )]
0 −1 −2 0 0 −1 −2 0 0
1 4 0 2 14
( 6 −1 0) ∗ (3) = ( 9 )
−1 −2 0 0 −8
2
1 4 0 1 4 0 1 4 0
( 6 −1 0) = ( 6 −1 0) ∗ ( 6 −1 0)
−1 −2 0 −1 −2 0 −1 −2 0
25 0 0
=( 0 25 0)
−13 −2 0
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MODERNA DE CONTROL
25 0 0 2 50
( 0 25 0) ∗ (3) = ( 75 )
−13 −2 0 0 −32
2 14 50
S = [3 9 75 ]
0 −8 −32
∆S = 768
a 2 a1 1
M = [ a1 1 0 ]
1 0 0
−25 0 1
=[ 0 1 0]
1 0 0
2 14 50 −25 0 1
P = [3 9 75 ] ∗ [ 0 1 0]
0 −8 −32 1 0 0
0 14 2
P=[ 0 9 3]
−32 −8 0
det(P) = −768
Cofactores de P:
0 14 2
R11 = (−1)1+1 ∗ ( 0 9 3)
−32 −8 0
9 3
= (1) ∗ ( )
−8 0
= 24
0 14 2
(−1) 1+2
R12 = ∗( 0 9 3)
−32 −8 0
0 3
= (−1) ∗ ( )
−32 0
= −96
0 14 2
R13 = (−1)1+3 ∗ ( 0 9 3)
−32 −8 0
0 9
= (1) ∗ ( )
−32 −8
= 288
0 14 2
2+1
R 21 = (−1) ∗( 0 9 3)
−32 −8 0
14 2
= (−1) ∗ ( )
−8 0
= −16
0 14 2
R 22 = (−1)2+2 ∗ ( 0 9 3)
−32 −8 0
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MODERNA DE CONTROL
0 2
= (1) ∗ ( )
−32 0
= 64
0 14 2
(−1) 2+3
R 23 = ∗( 0 9 3)
−32 −8 0
0 14
= (−1) ∗ ( )
−32 −8
= −448
0 14 2
R 31 = (−1)3+1 ∗ ( 0 9 3)
−32 −8 0
14 2
= (1) ∗ ( )
9 3
= 24
0 14 2
3+2
R 32 = (−1) ∗( 0 9 3)
−32 −8 0
0 2
= (−1) ∗ ( )
0 3
=0
0 14 2
R 33 = (−1)3+3 ∗ ( 0 9 3)
−32 −8 0
0 14
= (1) ∗ ( )
0 9
=0
24 −96 288
cof(P) = [−16 64 −448]
24 0 0
24 −16 24
[cof(P)]T = [−96 64 0]
288 −448 0
0 0 4
[ −4 0 0]
P −1 = −12 −16 0
−768
1 1 1
− −
32 48 32
1 1
= − 0
8 12
3 7
−
[ 8 0 ]
12
K = [k1 k 2 k I ] = [8 35 6] ∗ P −1
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MODERNA DE CONTROL
1 1 1
− −
32 48 32
1 1
= [8 35 6] ∗ − 0
8 12
3 7
−
[ 8 0 ]
12
K = [1,875 0,75 − 0,25]
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MODERNA DE CONTROL
9k 2 + 14k1 = 10 + 25 + 8k I
9k 2 + 14k1 = 10 + 25 + 8(−0,25)
9k 2 + 14k1 = 33
Para un sistema de ecuación
9k + 14k1 = 33 ∗ (−2) −28k1 − 18k 2 = −66
{ 2 ⇒{
2k1 + 3k 2 = 6 ∗ (14) 28k1 + 42k 2 = 84
24k 2 = 18
k 2 = 0,75
2k1 + 3k 2 = 6
2k1 = 6 − 3k 2
2k1 = 6 − 3k 2
6 − 3 ∗ 0,75
k1 =
2
k1 = 1,875
K = [k1 k 2 k I ] ∗ T
Pero T=I
K = [1,875 0,75 − 0,25]
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MODERNA DE CONTROL
2 14 50
R12 = (−1)1+2 ∗ (3 9 75 )
0 −8 −32
3 75
= (−1) ∗ ( )
0 −32
= 96
2 14 50
1+3
R13 = (−1) ∗ (3 9 75 )
0 −8 −32
3 9
= (1) ∗ ( )
0 −8
= −24
2 14 50
(−1) 2+1
R 21 = ∗ (3 9 75 )
0 −8 −32
14 50
= (−1) ∗ ( )
−8 −32
= 48
2 14 50
R 22 = (−1)2+2 ∗ (3 9 75 )
0 −8 −32
2 50
= (1) ∗ ( )
0 −32
= −64
2 14 50
R 23 = (−1)2+3 ∗ (3 9 75 )
0 −8 −32
2 14
= (−1) ∗ ( )
0 −8
= 16
2 14 50
3+1
R 31 = (−1) ∗ (3 9 75 )
0 −8 −32
14 50
= (1) ∗ ( )
9 75
= 600
2 14 50
(−1) 3+2
R 32 = ∗ (3 9 75 )
0 −8 −32
2 50
= (−1) ∗ ( )
3 75
=0
2 14 50
R 33 = (−1)3+3 ∗ (3 9 75 )
0 −8 −32
2 14
= (1) ∗ ( )
3 9
= −24
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312 96 −24
cof(S) = [ 48 −64 16 ]
600 0 −24
312 48 600
[cof(S)]T = [ 96 −64 0 ]
−24 16 −24
312 48 600
[ 96 −64 0 ]
S −1 = −24 16 −24
768
13 1 25
32 16 32
1 1
S −1 = − 0
8 12
1 1 1
−
[ 32 48 −
32]
0 0 1 0 0 0 1 0 2 0
Sc = [0 (0 0 1) ∗ (0) (0 0 1) ∗ (0)]
1 0 25 0 1 0 25 0 1
0 1 0 0 0
(0 0 1) ∗ (0) = (1)
0 25 0 1 0
2
0 1 0 0 1 0 0 1 0
(0 0 1) = (0 0 1) ∗ (0 0 1)
0 25 0 0 25 0 0 25 0
0 0 1
= (0 25 0 )
0 0 25
0 0 1 0 1
(0 25 0 ) ∗ (0) = ( 0 )
0 0 25 1 25
0 0 1
Sc = [0 1 0 ]
1 0 25
13 1 25
32 16 32
0 0 1 1 1
T = [0 1 0 ] ∗ − 0
1 0 25 8 12
1 1 1
[− 32 48 − 32]
1 1 1
− −
32 48 32
1 1
T= − 0
8 12
3 7
[ −8 12
0 ]
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MODERNA DE CONTROL
1 0 0 0 1 0 0
|s ∗ [0 1 0] − (0 0 1) + (0) ∗ [k1 k 2 k 3 ]| = Pdd
0 0 1 0 25 0 1
1 0 0 0 1 0 0 0 0
|s ∗ [0 1 0] − (0 0 1) + ( 0 0 0 )| = Pdd
0 0 1 0 25 0 k1 k 2 k 3
s −1 0
|0 s −1 | = s 3 + 6s2 + 10s + 8
k1 −25 + k 2 s + k 3
s2 (s + k 3 ) + k1 + (−25 + k 2 )s = s3 + 6s2 + 10s + 8
s3 + k 3 s2 + (−25 + k 2 )s + k1 = s3 + 6s2 + 10s + 8
k3 = 6
−25 + k 2 = 10
k 2 = 35
k1 = 8
K = [8 35 6] = [k1 k 2 k 3 ] ∗ T; k I = k 3
1 1 1
− −
32 48 32
1 1
= [8 35 6] ∗ − 0
8 12
3 7
−
[ 8 0 ]
12
= [1,875 0,75 −0,25]
K = [1,875 0,75 −0,25]
[
𝟏 𝟒]
𝟔 −𝟏
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PROBLEMA 21
PROBLEMA 22
4 −1 3
A=[ ] ; B = [ ] ; C = [1 0]; Pdd = {s2 + 2 ∗ s + 2} 3er orden: (s + 4)
−1 3 −1
se pide:
0.5
a) La solución completa para x0 = [ ]
2
b) Determinar la estabilidad de la planta por los 3 métodos.
c) La Controlabilidad y Observabilidad de la planta.
d) Determinar la precompensación del lazo de control.
e) El rechazo contra perturbaciones.
PROBLEMA 23
−1 3 3
A=[ ] ; B = [ ] ; C = [2 1]; Pdd = {s2 + 2 ∗ s + 2} 3er orden: (s + 4)
2 −5 −1
Se pide:
0.5
a) La solución completa para x0 = [ ]
2
b) Determinar la estabilidad de la planta por los 3 métodos.
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PROBLEMA 24
4 −1 3
A=[ ] ; B = [ ] ; C = [1 2]; Pdd = {s2 + 2 ∗ s + 2} 3er orden: (s + 4)
2 −5 −1
se pide:
0.5
a) La solución completa para x0 = [ ]
−1
b) Determinar la estabilidad de la planta por los 3 métodos.
c) La Controlabilidad y Observabilidad de la planta.
d) Determinar la precompensación del lazo de control.
e) El rechazo contra perturbaciones.
PROBLEMA 25
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PROBLEMA 26
PROBLEMA 27
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- y = Cx
ෝ(𝒕)
𝒙 Observador de
Control
estado
Estimador de Estado
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e(t) +
L
+ -
x̂̇(t) 𝐱̂(𝐭) ŷ(t)
+ C
∫
+
A
Observador de Estado
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El observador
x̂̇(t) = Ax̂(t) + Bu(t) + L[y(t) − ŷ(t)]
Pero
ŷ(t) = Cx̂(t); y(t) = Cx(t)
Entonces
x̂̇(t) = Ax̂(t) + Bu(t) + L[y(t) − Cx̂(t) ]
x̂̇(t) = (A − LC)x̂(t) + Bu(t) + Ly(t)
PROBLEMA 28
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Problema
0 12,8 0
ẋ (t) = [ ] x(t) + [ ] u(t)
2 0 1
y(t) = [0 1]x(t)
Se pide diseñar un observador de orden completo para que los polos característicos
del observador sean: 𝜇1,2 = −2,4 ± 𝑗3,4
Con el polo del Observador se tiene los siguientes parámetros característicos:
wd
wd = 3,4 -3,4 wn = √σ2 + wd 2 = 4,16 rad
-3 3,4
θ = tan−1 ( ) = 60,86°
wn 2,4
-2
ζ = cos θ = 0,5766
-1 4
Tss = = 1,667
θ 0,5769 ∗ 4,16
−σ σ σπ 2,4∗π
−
w
Mp = e d = e 3,4 = 0,1088
-3 -2 -1
σ = 2,4
−wd
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ζπ
−
√1−ζ2
1
Mp = e ⇒ζ=
2
√[ π ] + 1
Ln(Mp )
1
ζ= = 0,5766
2
√[ π
] +1
Ln(0,1088)
σ 0,7872
σ = ζwn ⇒ wn = = = 1,3642
ζ 0,5766
wd = wn √1 − ζ2 = 1,3642√1 − 0,57662 = 1,1145
Polo dominante para el regulador es: 𝜇1,2 = −0,7872 ± j1,1145
Pd = (s + 0,7872 + j1,1145)(s + 0,7872 − j1,1145)
= s2 + 1,5744s + 1,86
C
O=[ ]
CA
0 1
= [( 0 12,8 ]
0 1) ( )
2 0
0 1
=[ ]
2 0
det(O) = −2 ≠ 0; el sistema es observable
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2 0
=[ ]
0 1
det(MO) = 2
2 0 T
−1 [cofac ( )]
2 0 0 1
( ) =
0 1 2 0
det ( )
0 1
2 0
cofac ( ):
0 1
2 0
R11 = (−1)1+1 [ ]
0 1
= (1)(1)
=1
2 0
R12 = (−1)1+2 [ ]
0 1
= (−1)(0)
=0
2 0
R 21 = (−1)1+2 [ ]
0 1
= (−1)(0)
=0
2 0
R 22 = (−1)2+2 [ ]
0 1
= (1)(2)
=2
1 0
cofac(MO) = [ ]
0 2
[cofac(MO)]T = [1 0]
0 2
1 0
[ ]
(MO)−1 = 0 2
2
1
= [2 0]
0 1
1
Q = [2 0]
0 1
∝2 − a2
L = Q ∗ [∝ − a ]
1 1
∝1 = 4,8 a1 = 0
Pd = s2 + 4,8s + 17,32 { ; {
∝2 = 17,32 a2 = −25,6
17,32 + 25,6
L= Q∗[ ]
4,8 − 0
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1
42,92
L = [2 0 ] ∗ [ ]
4,8
0 1
1
42,92
L = [2 0 ] ∗ [ ]
4,8
0 1
21,46
L=[ ]
4,8
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= (−1)(2)
= −2
0 1
R 21 = (−1)1+2 [ ]
2 0
= (−1)(1)
= −1
0 1
R 22 = (−1)2+2 [ ]
2 0
= (1)(0)
=0
0 −2
cofac(O) = [ ]
−1 0
[cofac(O)]T = [ 0 −1]
−2 0
0 −1
[ ]
−1
O = −2 0
−2
1
=[ 0
2]
1 0
L = φ(A)O−1 [ 0 ⋯ 1]T
φ(s) = s 2 + 4,8s + 17,32;
= A2 + 4,8A + 17,32I
0 12,8 2 0 12,8 1 0
=( ) + 4,8 ( ) + 17,32 ( )
2 0 2 0 0 1
2
0 12,8 0 12,8 0 12,8
( ) =( )( )
2 0 2 0 2 0
25,6 0
=( )
0 25,6
25,6 0 0 12,8 17,32 0
φ(A) = ( ) + 4,8 ( )+( )
0 25,6 2 0 0 17,32
25,6 0 0 61,44 17,32 0
=( )+( )+( )
0 25,6 9,6 0 0 17,32
42,92 61,44
=( )
9,6 42,92
L = φ(s)O−1 [ 0 ⋯ 1]T ; ∆𝑠 = 𝐴
1
42,92 61,44 0 0
=( )[ 2 ][ ]
9,6 42,92 1
1 0
61,44 21,46 0
=[ ][ ]
42,92 4,8 1
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21,46
L=[ ]
4,8
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0 12,8
[ ]
2 0
[ 2,145 1,5743]
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e(t) +
L
+ -
x̂̇(t) 𝐱̂(𝐭) ŷ(t)
+ C
∫
+
A
Donde se puede observar que los estados realimentados no se toman directamente del
sistema sino del modelo dado por el observador. El modelo de este sistema sería:
ẋ (t) = Ax(t) + Bu(t)
y(t) = Cx(t)
Pero u(t) = −Kx̂(t)
e(t) = x(t) − x̂(t) ⇒ x̂(t) = x(t) − e(t)
ẋ (t) = Ax(t) − BKx̂(t)
= Ax(t) − BK[x(t) − e(t)]
= Ax(t) − BKx(t) + BKe(t)
ẋ (t) = (A − BK)x(t) + BKe(t)
ė (t) = (A − LC)x̂(t)
ẋ (t) A − BK BK x̂(t)
[ ]=[ ][ ]
ė (t) 0 A − LC e(t)
La determinante de las ecuaciones de estado anterior se tiene:
P(s) = |A − BK| ∗ |A − LC| = 0
= det(A − BK) ∗ det(A − LC) = 0
Este último resultado indica que, al tener una realimentación y un observador de
estados combinados en un sistema de control, se pueden hallar las matrices K de la
realimentación y L del observador de forma independiente.
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PROBLEMA 28
wd
wd = 2,5 2,5 wn = √σ2 + wd 2 = 3,08 rad
3 2,5
wn θ = tan−1 ( ) = 60,27°
1,8
2
ζ = cos θ = 0,584
1 4
θ Tss = = 2,22 seg.
0,584 ∗ 3,08
−σ σ σπ 1,8∗π
−
-3 -2 -1 Mp = e wd =e 2,5 = 0,10414
σ = 1,8
−wd
Tss |∀Observador = 2,22 seg. más rápida que el regulador, el regulador debe ser de 2 a 5
veces más lento que el observador, es decir la parte real del polo dominante debe estar
más cercano al origen:
Tss para el regulador > Tss del observador para garantizar el polo cercano al origen.
Tss |∀Regulacion = 2,22 ∗ (2 a 5) = 2,22 ∗ 3 = 6,66 seg.
4 4 4
Tss |∀Regulacion = ⇒σ= = = 0,7872 ⇒ σ = 0,6006
σ Tss |∀Regulacion 6,66
Si mantenemos el sobreimpulso constante (Mp), permite conocer su amortiguamiento
(ζ):
ζπ
−
√1−ζ2
1
Mp = e ⇒ζ=
2
√[ π ] + 1
Ln(Mp )
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1
ζ= = 0,5766
2
√[ π
] +1
Ln(0,1088)
σ 0,6006
σ = ζwn ⇒ wn = = = 1,0416
ζ 0,5766
wd = wn √1 − ζ2 = 1,0416√1 − 0,57662 = 0,8510
Polo dominante para el regulador es: 𝜇1,2 = −0,7872 ± j0,8510
PdRegulador = (s + 0,6006 + j0,8510)(s + 0,6006 − j0,8510)
PdRegulador = s 2 + 1,2012s + 1,0849
Cálculo de la ganancia K
K=[0 ⋯ 1]S −1 φ(A)
S = [B AB]
0 1 12,8 0
=[ ( ) ( )]
1 2 −1 1
0 12,8
=[ ]
1 −1
∆S = −12,8 ≠ 0 el sistema es controlable
−1
[cofac(S)]T
S =
det(S)
cofac(S):
0 12,8
R11 = (−1)1+1 [ ]
1 −1
= (1)(1)
= −1
0 12,8
R12 = (−1)1+2 [ ]
1 −1
= (−1)(1)
= −1
0 12,8
R 21 = (−1)1+2 [ ]
1 −1
= (−1)(12,8)
= −12,8
0 12,8
R 22 = (−1)2+2 [ ]
1 −1
= (1)(1)
=0
−1 −1
cofac(S) = [ ]
−12,8 0
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Q = (MO)−1
S = [B AB]
0 1 12,8 0
= [( ) ( ) ( )]
1 2 −1 1
0 12,8
=[ ]
1 −1
|sI − A| = 0
1 0 1 12,8
sI − A = s ( )−( )
0 1 2 −1
s − 1 −12,8
=( )
−2 s+1
s − 1 −12,8 a1 = 0
|( )| = s2 − 1 − 25,6 {
−2 s+1 a2 = −26,6
a1 1
M=[ ]
1 0
1 1
=[ ]
1 0
0 1 1 0
MO = [ ][ ]
1 0 1 12,8
1 12,8
=[ ]
1 0
det(MO) = −12,8 ≠ 0 es observable
2 12,8 T
−1 [cofac ( )]
2 12,8 1 0
( ) =
1 0 2 12,8
det ( )
1 0
2 12,8
cofac ( ):
1 0
1 12,8
R11 = (−1)1+1 [ ]
1 0
= (1)(1)
=0
1 12,8
R12 = (−1)1+2 [ ]
1 0
= (−1)(1)
= −1
1 12,8
R 21 = (−1)1+2 [ ]
1 0
= (−1)(12,8)
= −12,8
1 12,8
R 22 = (−1)2+2 [ ]
1 0
= (1)(1)
=1
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0 −1
cofac(MO) = [ ]
−12,8 1
[cofac(MO)]T = [ 0 −12,8]
−1 1
0 −1,2,8
[ ]
(MO)−1 = −1 1
−12,8
0 1
=[ 1 1 ]
−
12,8 12,8
0 1
Q=[ 1 1 ]
−
12,8 12,8
∝2 − a2
L = Q ∗ [∝ − a ]
1 1
∝ = 3,6 a1 = 0
Pd = s2 + 3,6s + 9,49 { 1 ; {
∝2 = 9,49 a2 = −26,6
9,49 + 26,6
L= Q∗[ ]
3,6 − 0
0 1
L=[ 1 1 ] ∗ [36,09]
− 3,6
12,8 12,8
3,6
L=[ ]
2,53
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32,49
L2 =
12,8
L2 = 2,53
L 3,6
L = [ 1] = [ ]
L2 2,54
det(O) = 12,8
[cofac(O)]T
O−1 =
det(O)
cofac(O):
1 0
R11 = (−1)1+1 [ ]
1 12,8
= (1)(12,8)
= 12,8
1 0
R12 = (−1)1+2 [ ]
1 12,8
= (−1)(1)
= −1
1 0
R 21 = (−1)1+2 [ ]
1 12,8
= (−1)(0)
=0
1 0
R 22 = (−1)2+2 [ ]
1 12,8
= (1)(1)
=1
12,8 −1
cofac(O) = [ ]
0 1
[cofac(O)]T = [12,8 0]
−1 1
12,8 0
[ ]
O−1 = −1 1
12,8
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1 0
=[ 1 1 ]
−
12,8 12,8
L = φ(A)O−1 [ 0 ⋯ 1]T
φ(s) = s 2 + 3,6s + 9,49
= A2 + 3,6A + 9,49I
1 12,8 2 1 12,8 9,49 0
=( ) + 3,6 ( ) + 9,49 ( )
2 −1 2 −1 0 9,49
1 12,8 2 1 12,8 1 12,8
( ) =( )( )
2 −1 2 −1 2 −1
26,6 0
=( )
0 26,6
26,6 0 1 12,8 9,49 0
φ(A) = ( ) + 3,6 ( )+( )
0 26,6 2 −1 0 9,49
26,6 0 3,6 46,08 9,49 0
=( )+( )+( )
0 26,6 7,2 −3,6 0 9,49
34,69 46,08
=( )
7,2 27,49
L = φ(s)O−1 [ 0 ⋯ 1]T ; ∆s = A
1 0
34,69 46,08 1 1 ] [0]
=( )[
7,2 27,49 − 1
12,8 12,8
31,09 3,6 0
=[ ][ ]
4,66 2,53 1
3,6
L=[ ]
2,53
PROBLEMA 29
wd
wn = √σ2 + wd 2 = 3,08 rad
2,5
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θ = tan−1 ( ) = 60,27°
1,8 265
ζ = cos θ = 0,584
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2,5
3
2
wn
wd = 1,8 1
θ
−σ σ
-3 -2 -1
σ = 2,5
−wd
Tss |∀Observador = 2,22 seg. más rápida que el regulador, el regulador debe ser de 2 a 5
veces más lento que el observador, es decir la parte real del polo dominante debe estar
más cercano al origen:
Tss para el regulador > Tss del observador para garantizar el polo cercano al origen.
Tss |∀Regulacion = 2,22 ∗ (2 a 5) = 2,22 ∗ 3 = 6,66 seg.
4 4 4
Tss |∀Regulacion = ⇒σ= = = 0,7872 ⇒ σ = 0,6006
σ Tss |∀Regulacion 6,66
Si mantenemos el sobreimpulso constante (Mp), permite conocer su amortiguamiento
(ζ):
ζπ
−
√1−ζ2
1
Mp = e ⇒ζ=
2
√[ π ] + 1
Ln(Mp )
1
ζ= = 0,5766
2
√[ π
] +1
Ln(0,1088)
σ 0,6006
σ = ζwn ⇒ wn = = = 1,0416
ζ 0,5766
wd = wn √1 − ζ2 = 1,0416√1 − 0,57662 = 0,8510
Polo dominante para el regulador es: 𝜇1,2 = −0,7872 ± j0,8510
PdRegulador = (s + 0,6006 + j0,8510)(s + 0,6006 − j0,8510)
PdRegulador = s 2 + 1,2012s + 1,0849
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𝐱̂ 𝐢 (𝐭)
Regulación de la Planta
ẋ i (t) = A ∗ xi (t) + B ∗ u(t)
y(t) = C ∗ xi (t) + D ∗ u(t); D = 0
El Observador
x̂̇i (t) = A ∗ x̂i (t) + B ∗ u(t) + L ∗ [y(t) − ŷ(t)]
ŷ(t) = C ∗ x̂i (t)
x̂̇i (t) = A ∗ x̂i (t) + B ∗ u(t) + L ∗ y(t) − L ∗ ŷ(t)
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-K
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9 −8 −60 20 100 0
φ(A) = [ ]+[ ]+[ ]
0 25 0 −100 0 100
9 − 60 + 100 −8 + 20
=[ ]
0 25 − 100 + 100
49 12
=[ ]
0 25
49 12 1 0 0
L=[ ]∗[ ]∗[ ]
0 25 3 1 1
49 + 36 12 0
=[ ]∗[ ]
75 1 1
85 12 0
=[ ]∗[ ]
75 25 1
12
=[ ]
25
Método 3 Criterio de Transformación (Método Dual)
𝛼2 − 𝑎2
L = Q ∗ [𝛼 − 𝑎 ]
1 1
Q = (W ∗ N∗ )−1
Observabilidad: N = [C∗ A∗ ∗ C ∗ ]
an−1 an−2 ⋯ a1 1
a ⋯ a1 1
Matirz Caracteristica: W = [ n−2 ]
a1 1 0
1 0 0
Como la matriz de comportamiento de estado es n=2, entonces, a2−1 = a1
a 1
W=[ 1 ]
1 0
Ecuación Característica: |s ∗ I − A| = 0
1 0 −3 1 s + 3 −1
s∗I−A= s∗[ ]−[ ]=[ ]
0 1 0 −5 0 s+5
s + 3 −1
|s ∗ I − A| = | |
0 s+5
= (s + 3) ∗ (s + 5)
a =8
= s 2 + 8 ∗ s + 15 ⇒ { 1
a2 = 15
α = 20
Pdd = s2 + 20s + 100 ⇒ { 1
α2 = 100
a 1 8 1
W=[ 1 ]=[ ]
1 0 1 0
N = [C ∗ A∗ ∗ C∗ ]
−3 0 1 −3
A∗ ∗ C∗ = [ ]∗[ ]=[ ]
1 −5 0 1
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1 −3 1 0
N=[ ] ⇒ N∗ = [ ]
0 1 −3 1
8 1 1 0
W ∗ N∗ = [ ]∗[ ]
1 0 −3 1
5 1
W ∗ N∗ = [ ]
1 0
∗ )−1
[cofact(W ∗ N∗ )]T
(W ∗ N =
∆(W ∗ N∗ )
R R12
cofact(W ∗ N∗ ) = [ 11 ]
R 21 R 22
5 1
R11 = (−1)1+1 ∗ [ ]=0
1 0
5 1
R12 = (−1)1+2 ∗ [ ] = −1
1 0
5 1
R 21 = (−1)2+1 ∗ [ ] = −1
1 0
5 1
R 22 = (−1)2+2 ∗ [ ]=5
1 0
0 −1
cofact(W ∗ N∗ ) = [ ]
−1 5
T
[cofact(W ∗ N∗ )]T = [ 0 −1]
−1 5
0 −1
=[ ]
−1 5
0 −1
[ ]
∗ −1
(W ∗ N ) = −1 5
5 1
∆[ ]
1 0
0 −1
[ ]
= −1 5
−1
0 1
=[ ]
1 −5
0 1 100 − 15
L=[ ][ ]
1 −5 20 − 8
0 1 85
=[ ][ ]
1 −5 12
12
=[ ]
25
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PROBLEMA 29
−3 1 0
A=[ ] ; B = [ ] ; C = [1 0]; Pdd = {−10,10}
0 5 1
Método 1 Asignación de polos
|s ∗ I − AO | = Pdd ; AO = A − L ∗ C
|s ∗ I − (A − L ∗ C)| = Pdd ⇒ |s ∗ I − A + L ∗ C| = Pdd
1 0 −3 1 L
s∗I−A+L∗C= s∗[ ]−[ ] + [ 1 ] ∗ [1 0]
0 1 0 5 L2
s 0 −3 1 L 0
=[ ]−[ ]+[ 1 ]
0 s 0 5 L 2 0
s + 3 + L1 −1
=[ ]
L2 s−5
s + 3 + L1 −1
|s ∗ I − (A − L ∗ C)| = | |
L2 s−5
= (s + 3 + L1 ) ∗ (s − 5) + L2
= s 2 − 5 ∗ 𝑠 + (3 + L1 ) ∗ 𝑠 − 5 ∗ (3 + L1 ) + L2
= s 2 + (−2 + L1 ) ∗ 𝑠 − 15 − 5 ∗ L1 + L2
|s ∗ I − (A − L ∗ C)| = Pdd
s2 + (−2 + L1 ) ∗ 𝑠 − 15 − 5 ∗ L1 + L2 = s 2 + 20𝑠 + 100
Igualar término a término
s2 = s2
(−2 + L1 ) ∗ s = 20𝑠 ⇒ −2 + L1 = 20 ⇒ L1 = 20 + 2 ⇒ L1 = 22
−15 − 5 ∗ L1 + L2 = 100 ⇒ L2 = 100 + (15 + 5 ∗ L1 )
⇒ L2 = 100 + (15 + 5 ∗ 22)
⇒ L2 = 225
L 22
L = [ 1] ⇒ L = [ ]
L2 225
Método 2 Criterio de Ackermann
−3 1
A=[ ] ; C = [1 0]
0 5
0
L = φ(A) ∗ O−1 ∗ [ ]
1
−3 1
C ∗ A = [1 0] ∗ [ ]
0 5
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= [−3 1]
C 1 0
O=[ ]=[ ]
C∗A −3 1
1
O−1 = [cofact(O)]T
∆O
R R12
cofact(O) = [ 11 ]
R 21 R 22
1 0
R11 = (−1)1+1 ∗ [ ]=1
−3 1
1 0
R12 = (−1)1+2 ∗ [ ]=3
−3 1
1 0
R 21 = (−1)2+1 ∗ [ ]=0
−3 1
1 0
R 22 = (−1)2+2 ∗ [ ]=1
−3 1
1 3
cofact(O) = [ ]
0 1
T
[cofact(O)]T = [1 3]
0 1
1 0
=[ ]
3 1
1 1 0
O−1 = [ ]
1 0 3 1
∆[ ]
−3 1
1 1 0
= [ ]
1 3 1
1 0
=[ ]
3 1
φ(s) = s 2 + 20𝑠 + 100 ∴ s = A
φ(A) = A2 + 20 ∗ A + 100 ∗ I
−3 1 2 −3 1 1 0
φ(A) = [ ] + 20 ∗ [ ] + 100 ∗ [ ]
0 5 0 5 0 1
−3 1 2 −3 1 −3 1 9 2
[ ] =[ ]∗[ ]=[ ]
0 5 0 5 0 5 0 25
9 2 −60 20 100 0
φ(A) = [ ]+[ ]+[ ]
0 25 0 100 0 100
9 − 60 + 100 2 + 20
=[ ]
0 25 + 100 + 100
49 22
=[ ]
0 225
49 22 1 0 0
L=[ ]∗[ ]∗[ ]
0 225 3 1 1
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49 + 66 22 0
=[ ]∗[ ]
675 225 1
115 22 0
=[ ]∗[ ]
675 225 1
22
=[ ]
225
Método 3 Criterio de Transformación (Método Dual)
𝛼2 − 𝑎2
L = Q ∗ [𝛼 − 𝑎 ]
1 1
Q = (W ∗ N∗ )−1
Observabilidad: N = [C∗ A∗ ∗ C ∗ ]
an−1 an−2 ⋯ a1 1
a ⋯ a1 1
Matirz Caracteristica: W = [ n−2 ]
a1 1 0
1 0 0
Como la matriz de comportamiento de estado es n=2, entonces, a2−1 = a1
a 1
W=[ 1 ]
1 0
Ecuación Característica: |s ∗ I − A| = 0
1 0 −3 1 𝑠 + 3 −1
s∗I−A= s∗[ ]−[ ]=[ ]
0 1 0 5 0 𝑠−5
𝑠 + 3 −1
|s ∗ I − A| = | |
0 𝑠−5
= (𝑠 + 3) ∗ (𝑠 − 5)
a = −2
= s 2 − 2 ∗ s − 15 ⇒ { 1
a2 = −15
α = 20
Pdd = s2 + 20𝑠 + 100 ⇒ { 1
α2 = 100
a 1 −2 1
W=[ 1 ]=[ ]
1 0 1 0
N = [C ∗ A∗ ∗ C∗ ]
−3 0 1 −3
A∗ ∗ C∗ = [ ]∗[ ]= [ ]
1 5 0 1
1 −3 1 0
N=[ ] ⇒ N∗ = [ ]
0 1 −3 1
−2 1 1 0
W ∗ N∗ = [ ]∗[ ]
1 0 −3 1
−5 1
W ∗ N∗ = [ ]
1 0
[cofact(W ∗ N∗ )]T
(W ∗ N ∗ )−1 =
∆(W ∗ N∗ )
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R11 R12
cofact(W ∗ N∗ ) = [ ]
R 21 R 22
−5 1
R11 = (−1)1+1 ∗ [ ]=0
1 0
−5 1
R12 = (−1)1+2 ∗ [ ] = −1
1 0
−5 1
R 21 = (−1)2+1 ∗ [ ] = −1
1 0
−5 1
R 22 = (−1)2+2 ∗ [ ] = −5
1 0
0 −1
cofact(W ∗ N∗ ) = [ ]
−1 −5
T
[cofact(W ∗ N∗ )]T = [ 0 −1]
−1 −5
0 −1
=[ ]
−1 −5
0 −1
[ ]
−1 −5
MNB Z(W ∗ N∗ )−1 = −5 1
∆[ ]
1 0
0 −1
[ ]
= −1 −5
−1
0 1
=[ ]
1 5
0 1 100 + 15
L=[ ][ ]
1 5 20 + 2
0 1 115
=[ ][ ]
1 5 22
22
=[ ]
225
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PROBLEMA 30
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∀i = 1; j = 2
s −1
R12 = (−1)1+2 ∗ [ ]
k1 s + k2
= (−1)3 ∗ (k1 )
= −k1
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∀i = 2; j = 1
s −1
R 21 = (−1)2+1 ∗ [ ]
k1 s + k2
= (−1)3 ∗ (−1)
=1
∀i = 2; j = 2
s −1
R 22 = (−1)2+2 ∗ [ ]
k1 s + k2
= (−1)4 ∗ (s)
=s
s + k 2 −k1
cofact(s ∗ I − A) =[ ]
1 s
s + k2 1
[cofact(s ∗ I − A)]T = [ ]
−k1 s
s −1
∆(s ∗ I − A) = ∆[ ]
k1 s + k 2
= s ∗ (s + k 2 ) − (−k1 )
= s 2 + k 2 ∗ s + k1
1 s + k2 1
(s ∗ I − A)−1 = ∗[ ]
s2 + k 2 ∗ s + k1 −k1 s
s + k2 1
s 2 + k 2 ∗ s + k1 s 2 + k 2 ∗ s + k1
=
−k1 s
[s 2 + k 2 ∗ s + k 1 s 2 + k 2 ∗ s + k 1 ]
Y(s) = C ∗ (s ∗ I − A)−1 ∗ B ∗ U(s)
s 1
2 2
s + k 2 ∗ s + k1 s + k 2 ∗ s + k1 0
= [1 0] ∗ ∗[ ]
−k1 s + k2 1
2 2
[s + k 2 ∗ s + k1 s + k 2 ∗ s + k1 ]
s 1 0
=[ 2 2
]∗[ ]
s + k 2 ∗ s + k1 s + k 2 ∗ s + k1 1
Y(s) 1
= 2
U(s) s + k 2 ∗ s + k1
Función de Transferencia de la Planta o Regulador
1
GP (s) = 2
s + k 2 ∗ s + k1
Error en Estado Estable
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1
ess = lim
s→0 s 2 + k 2 ∗ s + k1
1
ess =
k1
Como el polo deseado para la planta o regulador tiene una parte compleja se tiene:
s = −σ ± j ∗ wd ⋯ I
−b √b 2 − 4 ∗ a ∗ c
s 2 + k 2 ∗ s + k1 ⇒ s = ±j∗ ;a = 1
2∗a 2∗a
2
−k 2 √k 2 − 4 ∗ a ∗ k1
⇒s= ±j∗ ⋯ II
2 2
Igualando s de la ecuación I y II
−k 2
= −4 ⇒ −k 2 = −4 ∗ 2
2
⇒ −k 2 ∗ (−1) = −8 ∗ (−1)
⇒ k2 = 8
√4 ∗ c − b 2
j∗ = j ∗ wd
2
√4 ∗ k1 − k 2 2 =
4
2
√4 ∗ k1 − 82 =4∗2
√4 ∗ k1 − 64 =8
2
(√4 ∗ k1 − 64) = 82
4 ∗ k1 − 64 = 64
64 + 64
k1
= 4
k1 = 32
1
GP (s) = 2
s + k 2 ∗ s + k1
1
=
s2 + 8 ∗ s + 32
Realimentado por k
ẋ 1 (t) 0 −1 x (t)
[ ]=[ ]∗[ 1 ]
ẋ 2 (t) −k1 −k 2 x2 (t)
0 −1 x (t)
=[ ]∗[ 1 ]
−32 −8 x2 (t)
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x1 (t)
y(t) = [1 0] ∗ [ ]
x2 (t)
Lazo abierto
ẋ 1 (t) 0 1 x (t)
[ ]=[ ]∗[ 1 ]
ẋ 2 (t) −a2 −a1 x2 (t)
0 1 x (t)
=[ ]∗[ 1 ]
0 0 x2 (t)
x (t)
y(t) = [1 0] ∗ [ 1 ]
x2 (t)
-8
-32
Se diseña el Estimador de Estado para polos más rápidos que el regulador, es decir,
más negativos que estén lejos del origen:
POd = s2 + 20 ∗ s + 100
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Y(s)
= C ∗ (s ∗ I − A + L ∗ C)−1 ∗ B
U(s)
−1
Y(s) 1 0 0 1 L
= [1 0] ∗ [s ∗ [ ]−[ ] + [ 1 ] ∗ [1 0]] ∗B
U(s) 0 1 0 0 L 2
1 0 0 1 20 s −1 20 0
s∗[ ]−[ ]+[ ] ∗ [1 0] = [ ]+[ ]
0 1 0 0 100 0 s 100 0
s + 20 −1
=[ ]
100 s
= s2 + 20 ∗ s + 100
PROBLEMA 31
3 1 0
A=[ ] ; B = [ ] ; C = [1 0]; Pdd = {−10,10}
0 5 1
PROBLEMA 32
3 −1 0
A=[ ] ; B = [ ] ; C = [1 0]; Pdd = {−10,10}
0 5 1
PROBLEMA 33
R1 = 2Ω
i(t) L
R1
L = 10mh
𝐕𝐢 (𝐭) i(t) C
VC(t)
C = 100uf
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di(t)
VL (t) = L ∗ ⇒ VL (t) = L ∗ i′ (t)
dt
Vi (t) = R1 ∗ i(t) + VL (t) + VC (t)
VL (t) = Vi (t) − R1 ∗ i(t) − VC (t)
L ∗ i′ (t) = Vi (t) − R1 ∗ i(t) − VC (t)
Vi (t) R1 VC
i′ (t) = − ∗ iL (t) − (t)
L L L
Las ecuaciones de estado
1 1
̇VC (t) 0
[ ′ ]=[ C ] ∗ [VC (t)] + [2] ∗ e(t)
iL (t) 1 R1 iL (t) 1
− −
L L L
Vi (t) = R1 ∗ i(t) + VL (t) + VC (t)
R1 ∗ i(t) = Vi (t) − VL (t) − VC (t)
Falta calcular i(t)
PROBLEMA 34
2Ω 100uf 1
q(t) = i(t)
4
𝐕𝐢 (𝐭) 6Ω 10mh R1 = 2Ω
R 2 = 6Ω
C 𝐢𝐋 (𝐭) L = 10mh
R1
𝐢𝐪 (𝐭) 𝐢𝐑 (𝐭) C = 100uf
𝐕𝐢 (𝐭) R2 L
I(t)
Malla I
e(t) = R1 i(t) + VC (t) + VR 2 ; VR 2 = iR (t) ∗ 6Ω
1 dVC (t) dVC (t)
VC (t) = ∫ i(t) ∗ dt ⇒ i(t) = C ∗ ; = V̇C (t)
C dt dt
1
i(t) = C ∗ V̇c (t) ⇒ i(t) = ∗ V̇ (t)
4 c
i(t) = iR (t) + iL (t) ⇒ iR (t) = i(t) − iL (t)
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1
iR (t) = ∗ V̇ (t) − iL (t)
4 C
VL (t) = VR 2
L ∗ iL (t) = R 2 ∗ iR (t)
1 6 1
10 ∗ iL ′ (t) = R 2 ∗ [ ∗ V̇c (t) − iL (t)] ⇒ iL ′ (t) = ∗ [ ∗ V̇C (t) − iL (t)]
4 10 4
e(t) = R1 i(t) + VC (t) + 6Ω ∗ iR (t)
= 2 ∗ i(t) + VC (t) + 6Ω ∗ iR (t)
1 1
= 2 ∗ ∗ V̇C (t) + VC (t) + 6Ω ∗ [ ∗ V̇C (t) − iL (t)]
4 4
1 1
= ∗ V̇C (t) + VC (t) + 6Ω ∗ ∗ V̇C (t) − 6Ω ∗ iL (t)
2 4
1 3
= ∗ V̇C (t) + VC (t) + ∗ V̇C (t) − 6 ∗ iL (t)
2 2
1 3
= ∗ V̇C (t) + ∗ V̇C (t) + VC (t) − 6 ∗ iL (t)
2 2
e(t) = 2 ∗ V̇C (t) + VC (t) − 6 ∗ iL (t)
2 ∗ V̇C (t) = e(t) − VC (t) + 6 ∗ iL (t)
e(t) VC (t) 6 ∗ iL (t)
V̇C (t) = − +
2 2 2
e(t) VC (t)
V̇C (t) = − + 3 ∗ iL (t)
2 2
6 1
iL ′ (t) = ∗ [ ∗ V̇C (t) − iL (t)]
10 4
6 1 6
= ∗ ∗ V̇C (t) − ∗ i (t)
10 4 10 L
3 3
= ∗ V̇C (t) − ∗ iL (t)
20 5
3 e(t) VC (t) 3
= ∗[ − + 3 ∗ iL (t)] − ∗ iL (t)
20 2 2 5
3 e(t) 3 VC (t) 3 3
= ∗ − ∗ + ∗ 3 ∗ iL (t) − ∗ iL (t)
20 2 20 2 20 5
3 e(t) 3 VC (t) 9 3
= ∗ − ∗ + ∗ iL (t) − ∗ iL (t)
20 2 20 2 20 5
3 e(t) 3 VC (t) 9 − 12
= ∗ − ∗ + ∗ iL (t)
20 2 20 2 20
3 3 3
iL ′ (t) = ∗ e(t) − ∗ VC (t) − ∗ i (t)
40 40 20 L
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La ecuación de salida
1
i(t) = ∗ V̇C (t)
4
1 e(t) VC (t)
= ∗[ − + 3 ∗ iL (t)]
4 2 2
e(t) VC (t) 3
= − + ∗ iL (t)
8 8 4
Las ecuaciones de estados localizadas:
1 1
V̇ (t) − 3 VC (t)
[ C′ ] = [ 32 2
3 ] ∗ [ i (t) ] + [ 3 ] ∗ e(t)
iL (t) − − 20 L
40 40
1 3 V (t) 1
i(t) = [− ] ∗ [ C ] + ∗ e(t)
8 4 iL (t) 8
PROBLEMA 35
PROBLEMA 36
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|s ∗ I − A + B ∗ K| ⇒ s ∗ I − A + B ∗ K = s ∗ [1 0] − [1 3] + [1] ∗ K
0 1 3 1 0
1 0 1 3 1
=s∗[ ]−[ ] + [ ] ∗ [k1 k2 ]
0 1 3 1 0
s 0 1 3 k k2
=[ ]−[ ]+[ 1 ]
0 s 3 1 0 0
s − 1 + k1 −3 + k 2
=[ ]
−3 s−1
s − 1 + k1 −3 + k 2
| | = (s − 1 + k1 ) ∗ (s − 1) − (−3) ∗ (−3 + k 2 )
−3 s−1
= s2 + (−2 + k1 ) ∗ s + 1 − k1 − 9 + 3 ∗ k 2
= s2 + (−2 + k1 ) ∗ s − 8 − k1 + 3 ∗ k 2
(−2 + k1 ) ∗ s = 2 ∗ s ⇒ k1 = 2 + 2 ⇒ k1 = 4
−8 − k1 + 3 ∗ k 2 = 5 ⇒ 3 ∗ k 2 = 5 + 8 + k1
5 + 8 + k1
⇒ k2 =
3
5+8+4
⇒ k2 =
3
17
⇒ k2 =
3
17
K = [k1 k 2 ] ⇒ K = [4 ]
3
La matriz de comportamiento de estado no está en forma canoníca, por lo tanto se
debe resolver:
K = [k1 k 2 ] ∗ T −1 ; T = S ∗ M
S = [B A ∗ B]
1 1 3 1
=[ ( ) ∗ ( )]
0 3 1 0
1 1
=[ ]
0 3
∆S = 3 ⇒ ∆S ≠ 0 ∴ El sistema es controlable
Como el sistema es controlable se debe utilizar el teorema de similitud hasta que la
determinante de S (matriz singular) sea igual a cero (sistema no controlable)
|s ∗ I − A| = |s ∗ (1 0) − (1 3)|
0 1 3 1
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s 0 1 3
= |( )−( )|
0 s 3 1
s − 1 −3
=| |
−3 s − 1
= (s − 1) ∗ (s − 1) − (−3) ∗ (−3)
= s2 − 2 ∗ s + 1 − 9
𝑎1 = −2
= s2 − 2 ∗ s − 8 ⇒ {
𝑎2 = −8
La matriz característica: an-1= a2-1= a1
an−1 an−2 ⋯ a1 1
an−2 ⋯ a1 1 0
[M]nxn = ⋮ ⋮ ⋮ ⋮ ⋮
a1 1 0 0 0
[ 1 0 0 0 0]
El grado del polinomio característico define el rango de la matriz característica,
donde el polinomio característico es de orden 2, por lo tanto el rango de la matriz
característica es de orden 2 (2x2)
a 1
[M]2x2 = [ 1 ]
1 0
[M]2x2 = [−2 1]
1 0
1 1 −2 1
T= S∗M⇒ T=[ ]∗[ ]
0 3 1 0
−1 1
⇒T=[ ]
3 0
∆T = −3
1
T −1 = ∗ [cofact(T)]T
∆T
R R12
cofact(T) = [ 11 ]
R 21 R 22
−1 1
R11 = (−1)1+1 ∗ [ ]=0
3 0
−1 1
R12 = (−1)1+2 ∗ [ ] = −3
3 0
−1 1
R 21 = (−1)2+1 ∗ [ ] = −1
3 0
−1 1
R 22 = (−1)2+2 ∗ [ ] = −1
3 0
[cofact(T)] = [ 0 −3]
−1 −1
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[cofact(T)]T = [ 0 −1
]
−3 −1
1 0 −1
T −1 = ∗[ ]
−3 −3 −1
1
0 −
=[ −3]
3 1
− −
−3 −3
1
0
T −1 =[ 3]
1
1
3
1
17 0
K = [k1 k 2 ] ∗ T −1 ⇒ K = [4 ]∗[ 3]
3 1
1
3
17 4 17
⇒K=[ + ]
3 3 9
17 12 + 17
⇒K=[ ]
3 9
17 29
⇒K=[ ]
3 9
Criterio de Ackermann
K = [0 1] ∗ S −1 ∗ φ(s) ∴ s = A
1
S −1 = ∗ [cofact(S)]T
∆S
R R12
cofact(S) = [ 11 ]
R 21 R 22
1 1
R11 = (−1)1+1 ∗ [ ]=3
0 3
1 1
R12 = (−1)1+2 ∗ [ ]=0
0 3
1 1
R 21 = (−1)2+1 ∗ [ ] = −1
0 3
1 1
R 22 = (−1)2+2 ∗ [ ]=1
0 3
[cofact(S)] = [ 3 0]
−1 1
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[cofact(S)]T = [3 −1]
0 1
1 3 −1
S −1 = ∗[ ]
3 0 1
1
1 −
=[ 3]
1
0
3
1
1 −
S −1 =[ 3]
1
0
3
Pdd (s) = s 2 + 2 ∗ s + 5
φ(s) = Pdd (s) ∴ s = A ⇒ φ(A) = Pdd (A)
⇒ φ(A) = A2 + 2 ∗ A + 5 ∗ I
1 3 1 3
A2 = ( )∗( )
3 1 3 1
10 6
=( )
6 10
10 6 1 3 1 0
φ(A) = ( )+2∗( )+5∗( )
6 10 3 1 0 1
10 6 2 6 5 0
=( )+( )+( )
6 10 6 2 0 5
10 + 2 + 5 6 + 6 + 0
=( )
6 + 6 + 0 10 + 2 + 5
17 12
=( )
12 17
K = [0 1] ∗ S −1 ∗ φ(s)
1
1 −
= [0 1] ∗ [ 3] ∗ [17 12]
1 12 17
0
3
1 17 12
= [0 ]∗[ ]
3 12 17
17
= [4 ]
3
K = [k1 k 2 ] ∗ T −1
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1
17 0
= [4 ]∗[ 3]
3 1
1
3
17 4 17
=[ + ]
3 3 9
17 12 + 17
=[ ]
3 9
17 29
=[ ]
3 9
Cálculo de la Ganancia del Observador (L)
La matriz de comportamiento de estado no está en forma canónica observable, por lo
que se debe determinar el teorema de similitud.
Método 1 Asignación de polos
|s ∗ I − AO | = Pdd ; AO = A − L ∗ C
|s ∗ I − (A − L ∗ C)| = Pdd ⇒ |s ∗ I − A + L ∗ C| = Pdd
1 0 1 3 L
s∗I−A+L∗C= s∗[ ]−[ ] + [ 1 ] ∗ [1 0]
0 1 3 1 L2
s 0 1 3 L 0
=[ ]−[ ]+[ 1 ]
0 s 3 1 L2 0
s − 1 + L1 −3
=[ ]
−3 + L2 s−1
s − 1 + L1 −3
|s ∗ I − (A − L ∗ C)| = | |
−3 + L2 s−1
= (s − 1 + L1 ) ∗ (s − 1) − (−3) ∗ (−3 + L2 )
= s 2 + (−2 + L1 ) ∗ 𝑠 + (1 − L1 ) + (−9 + 3 ∗ L2 )
= s 2 + (−2 + L1 ) ∗ 𝑠 − 8 − L1 + 3 ∗ L2
|s ∗ I − (A − L ∗ C)| = Pdd
s2 + (−2 + L1 ) ∗ 𝑠 − 8 − L1 − 3 ∗ L2 = s2 + 2 ∗ 𝑠 + 5
Igualar término a término
s2 = s2
(−2 + L1 ) ∗ s = 2𝑠 ⇒ −2 + L1 = 2
⇒ L1 = 2 + 2
⇒ L1 = 4
−8 − L1 + 3 ∗ L2 = 5 ⇒ 3 ∗ L2 = 5 + 8 + L1
⇒ 3 ∗ L2 = 5 + 8 + 4
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MODERNA DE CONTROL
17
⇒ L2 =
3
4
L1 17
L=[ ]⇒L=[ ]
L2
3
C a 1
Q = (M ∗ V)−1 ∴ V = [ ];M = [ 1 ]
C∗A 1 0
1 0
V=[ ]
1 3
−2 1
M=[ ]
1 0
−2 1 1 0
M∗V= [ ]∗[ ]
1 0 1 3
−1 3
=[ ]
1 0
1
(M ∗ V)−1 = ∗ [cofact(M ∗ V)]T
∆(M ∗ V)
R R12
cofact(M ∗ V) = [ 11 ]
R 21 R 22
−1 3
R11 = (−1)1+1 ∗ [ ]=0
1 0
−1 3
R12 = (−1)1+2 ∗ [ ] = −1
1 0
−1 3
R 21 = (−1)2+1 ∗ [ ] = −3
1 0
−1 3
R 22 = (−1)2+2 ∗ [ ] = −1
1 0
[cofact(M ∗ V)] = [ 0 −1]
−3 −1
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MODERNA DE CONTROL
1
−1
Q=[ 3 ]
1
− 0
3
1
Q−1 = ∗ [cofact(Q)]T
∆Q
1
∆Q = −
3
R11 R12
cofact(Q) = [ ]
R 21 R 22
1
−1
R11 = (−1)1+1 ∗ [ 31 ]=0
−3 0
1
−1 1
R12 = (−1)1+2 ∗ [ 31 ]=3
−3 0
1
−1
3
R 21 = (−1)2+1 ∗ [ 1 ]=1
−3 0
1
−1 1
3
R 22 = (−1)2+2 ∗ [ 1 ]=
3
−3 0
1
0
[cofact(Q)] = [ 3]
1
1
3
0 1
[cofact(Q)]T = [1 1 ]
3 3
1 0 1
−1
Q = ∗ [1 1]
1
−3 3 3
0 1
= −3 ∗ [1 1]
3 3
0 −3
=[ ]
−1 −1
4
L = Q−1 ∗ [17]
3
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MODERNA DE CONTROL
4
0 −3
=[ ] ∗ [17]
−1 −1
3
Método 2 Criterio de Ackermann
1 3
A=[ ] ; C = [1 0]
3 1
0
L = φ(A) ∗ O−1 ∗ [ ]
1
1
O−1 = [cofact(O)]T
∆O
1 3
C ∗ A = [1 0] ∗ [ ]
3 1
= [1 3]
C 1 0
O=[ ]=[ ]
C∗A 1 3
R R12
cofact(O) = [ 11 ]
R 21 R 22
1 0
R11 = (−1)1+1 ∗ [ ]=3
1 3
1 0
R12 = (−1)1+2 ∗ [ ] = −1
1 3
1 0
R 21 = (−1)2+1 ∗ [ ]=0
1 3
1 0
R 22 = (−1)2+2 ∗ [ ]=1
1 3
3 −1
cofact(O) = [ ]
0 1
T
[cofact(O)]T = [3 −1]
0 1
3 0
=[ ]
−1 1
1 3 0
O−1 = [ ]
1 0 −1 1
∆[ ]
1 3
1 3 0
= ∗[ ]
3 −1 1
1 0
= [ 1 1]
−
3 3
φ(s) = s 2 + 2𝑠 + 5 ∴ s = A
φ(A) = A2 + 2 ∗ A + 5 ∗ I
1 32 1 3 1 0
φ(A) = [ ] +2∗[ ]+5∗[ ]
3 1 3 1 0 1
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MODERNA DE CONTROL
1 32 1 3 1 3 9 2
[ ] =[ ]∗[ ]=[ ]
3 1 3 1 3 1 0 25
10 6 2 6 5 0
=( )+( )+( )
6 10 6 2 0 5
10 + 2 + 5 6 + 6 + 0
=( )
6 + 6 + 0 10 + 2 + 5
17 12
=( )
12 17
0
L = φ(A) ∗ O−1 ∗ [ ]
1
1 0
L 17 12 0
L = [ 1] ⇒ L = [ ] ∗ [ 1 1] ∗ [ ]
L2 12 17 − 1
3 3
17 − 4 4
⇒L=[ 17 17] ∗ [0]
12 − 1
3 3
13 4
0
⇒ L = [26 − 17 17] ∗ [ ]
1
3 3
13 4
⇒L=[ 17] ∗ [0]
3 1
3
4
⇒ L = [17]
3
Q = (W ∗ N∗ )−1
Observabilidad: N = [C∗ A∗ ∗ C ∗ ]
an−1 an−2 ⋯ a1 1
an−2 ⋯ a1 1
Matirz Caracteristica: W = [ ]
a1 1 0
1 0 0
Como la matriz de comportamiento de estado es n=2, entonces, a2−1 = a1
a 1
W=[ 1 ]
1 0
Ecuación Característica: |s ∗ I − A| = 0
1 0 1 3 s − 1 −3
s∗I−A= s∗[ ]−[ ]=[ ]
0 1 3 1 −3 s − 1
|s ∗ I − A| = |s − 1 −3 |
−3 s − 1
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MODERNA DE CONTROL
= (s − 1) ∗ (s − 1) − 9
a = −2
= s2 − 2 ∗ s − 8 ⇒ { 1
a2 = −8
α =2
Pdd = s 2 + 2 ∗ 𝑠 + 5 ⇒ { 1
α2 = 5
a 1 −2 1
W=[ 1 ]=[ ]
1 0 1 0
N = [C ∗ A∗ ∗ C∗ ]
1 3 1 1
A∗ ∗ C∗ = [ ]∗[ ]= [ ]
3 1 0 3
1 1 1 0
N=[ ] ⇒ N∗ = [ ]
0 3 1 3
−2 1 1 0
W ∗ N∗ = [ ]∗[ ]
1 0 1 3
−1 3
W ∗ N∗ = [ ]
1 0
[cofact(W ∗ N∗ )]T
(W ∗ N ∗ )−1 =
∆(W ∗ N∗ )
R R12
cofact(W ∗ N∗ ) = [ 11 ]
R 21 R 22
−1 3
R11 = (−1)1+1 ∗ [ ]=0
1 0
−1 3
R12 = (−1)1+2 ∗ [ ] = −1
1 0
−1 3
R 21 = (−1)2+1 ∗ [ ] = −3
1 0
−1 3
R 22 = (−1)2+2 ∗ [ ] = −1
1 0
0 −1
cofact(W ∗ N∗ ) = [ ]
−3 −1
T
[cofact(W ∗ N∗ )]T = [ 0 −1]
−3 −1
0 −3
=[ ]
−1 −1
0 −3
[ ]
∗ −1
(W ∗ N ) = −1 −1
−1 3
∆[ ]
1 0
0 −3
[ ]
= −1 −1
−3
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MODERNA DE CONTROL
0 1
= [1 1 ]
3 3
L 𝛼2 − 𝑎 2
L = [ 1 ] ⇒ L = Q ∗ [𝛼 − 𝑎 ]
L2 1 1
Q = (W ∗ N∗ )−1
0 1
L1 5 − (−8)
L = [ ] ⇒ L = [1 1] ∗ [ ]
L2 2 − (−2)
3 3
0 1
L1 13
L = [ ] ⇒ L = [1 1] ∗ [ ]
L2 4
3 3
0 ∗ 13 + 1 ∗ 4
⇒ L = [1 1 ]
∗ 13 + ∗ 4
3 3
4
17
⇒L=[ ]
3
PROBLEMA 37
PROBLEMA 38
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MODERNA DE CONTROL
s − 1 −3
=[ ]
−3 s − 1
|s ∗ I − A| = (s − 1) ∗ (s − 1) − (−3) ∗ (−3)
= s2 − 2 ∗ s + 1 − 9
= s2 − 2 ∗ s − 8
R11 R12
cofact(s ∗ I − A) = [ ]
R 21 R 22
s − 1 −3
R11 = (−1)1+1 ∗ [ ]=s−1
−3 s − 1
s − 1 −3
R12 = (−1)1+2 ∗ [ ] = −(−3) = 3
−3 s − 1
s − 1 −3
R 21 = (−1)2+1 ∗ [ ] = −(−3) = 3
−3 s − 1
s − 1 −3
R 22 = (−1)2+2 ∗ [ ]=s−1
−3 s − 1
s−1 3
cofact(s ∗ I − A) = [ ]
3 s−1
3 T
[cofact(s ∗ I − A)]T = [s − 1 ]
3 s−1
s−1 3
=[ ]
3 s−1
1
(s ∗ I − A)−1 = ∗ [cofact(s ∗ I − A)]T
∆(s ∗ I − A)
1 s−1 3
(s ∗ I − A)−1 = 2 ∗[ ]
s −2∗s−8 3 s − 1
−b ± √b 2 − 4ac
s=
2a
−(−2) ± √(−2)2 − 4a(−8)
=
2a
2 ± √4 + 32 2 ± √36
= =
2 2
2+6
2±6 =4
= ⇒{ 2 }
2 2−6
= −2
2
s−1 3
2 s 2 − 2 ∗ s − 8]
(s ∗ I − A)−1 = [s − 2 ∗ s − 8
3 s−1
2
s −2∗s−8 2
s −2∗s−8
−1 {(s
G=L ∗ I − A)−1 }
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MODERNA DE CONTROL
s−1 3
s2 2
= L−1 {[ − 2 ∗ s − 8 s − 2 ∗ s − 8]}
3 s−1
2
s −2∗s−8 s −2∗s−8 2
s−1 3
L−1 { 2 } L−1 { 2 }
=[ s − 2 ∗ s − 8 s − 2 ∗ s − 8 ]
−1
3 −1
s−1
L { 2 } L { 2 }
s −2∗s−8 s −2∗s−8
s−1 s−1
=
s2 − 2 ∗ s − 8 (s − 4) ∗ (s + 2)
a0 a1
= +
s−4 s+2
s−1 4−1 3 1
a0 = |(s − 4) ∗ | = = =
(s − 4) ∗ (s + 2) s=4 4 + 2 6 2
s−1 −2 − 1 −3 1
a1 = |(s + 2) ∗ | = = =
(s + 2) ∗ (s − 4) s=−2 −2 − 4 −6 2
1 1
s−1 2
L−1
{ 2 −1
}=L { }+L { 2 }
−1
s −2∗s−8 s−4 s+2
1 4∗t 1 −2∗t
= ∗e + ∗e
2 2
3 3
=
s2 − 2 ∗ s − 8 (s − 4) ∗ (s + 2)
a0 a1
= +
s−4 s+2
3 3 3 1
a0 = |(s − 4) ∗ | = = =
(s − 4) ∗ (s + 2) s=4 4 + 2 6 2
3 3 3 1
a1 = |(s + 2) ∗ | = = =−
(s + 2) ∗ (s − 4) s=−2 −2 − 4 −6 2
1 1
3 −2
L−1
{ 2 −1
}=L { 2 −1
}+L { }
s −2∗s−8 s−4 s+2
1 4∗t 1 −2∗t
= ∗e − ∗e
2 2
s−1 3
L−1 { 2 } L−1 { }
G=[ s −2∗s−8 s2 − 2 ∗ s − 8 ]
3 s−1
L−1 { 2 } L−1 { 2 }
s −2∗s−8 s −2∗s−8
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MODERNA DE CONTROL
H = (∫ Gdt) ∗ B
0
1 4∗t 1 −2∗t
0,5 1 4∗t 1 −2∗t
∗e + ∗e ∗e − ∗e
H = {∫ [2 2 2 2 ] dt} ∗ B
1 4∗t 1 −2∗t 1 4∗t 1 −2∗t
0 ∗e − ∗e ∗e + ∗e
2 2 2 2
0,5 0,5
1 1 1 1
∫ ( ∗ e4∗t + ∗ e−2∗t ) ∗ dt ∫ ( ∗ e4∗t − ∗ e−2∗t ) ∗ dt
2 2 2 2
0 0
H= 0,5 0,5
1 1 1 1
∫ ( ∗ e4∗t − ∗ e−2∗t ) ∗ dt ∫ ( ∗ e4∗t + ∗ e−2∗t ) ∗ dt
2 2 2 2
[0 0 ]
0,5 0,5 0,5
1 1 1 1
∫ ( ∗ e4∗t + ∗ e−2∗t ) ∗ dt = ∫ ∗ e4∗t ∗ dt + ∫ ∗ e−2∗t ∗ dt
2 2 2 2
0 0 0
0,5 0,5
1 1
= ∗ ∫ e4∗t ∗ dt + ∗ ∫ e−2∗t ∗ dt
2 2
0 0
0,5
1 1 4∗t 1 1 −2∗t 0,5
= ∗ [ ∗ e ] + ∗ [− ∗ e ]
2 4 0 2 2 0
1 1
= ∗ (e4∗0,5 − e0 ) − ∗ (e−2∗0,5 − e0 )
8 8
= 0,798 − 0,079
= 0,718
0,5 0,5 0,5
1 1 1 1
∫ ( ∗ e4∗t − ∗ e−2∗t ) ∗ dt = ∫ ∗ e4∗t ∗ dt − ∫ ∗ e−2∗t ∗ dt
2 2 2 2
0 0 0
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MODERNA DE CONTROL
0,5 0,5
1 1
= ∗ ∫ e4∗t ∗ dt − ∗ ∫ e−2∗t ∗ dt
2 2
0 0
0,5
1 1 4∗t 1 1 −2∗t 0,5
= ∗ [ ∗ e ] − ∗ [− ∗ e ]
2 4 0 2 2 0
1 1
= ∗ (e4∗0,5 − e0 ) + ∗ (e−2∗0,5 − e0 )
8 8
= 0,798 + 0,079
= 0,877
0,718 0,877
H=[ ]
0,877 0,718
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MODERNA DE CONTROL
CONTORL AUTOMATIZACION
MODERNA DE CONTROL
MODELADO DE ECUACIONES DE ESTADO
Néstor F. Herrera C
14/03/2019
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MODERNA DE CONTROL
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MODERNA DE CONTROL
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MODERNA DE CONTROL
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MODERNA DE CONTROL
+ x(k) + y(t)
u(t) x(k + 1) −1
H z I C
+ +
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MODERNA DE CONTROL
Y(z) b0 + b1 z −1 + ⋯ + bn
= n
U(z) z + a1 z −1 + a2 z −2 + ⋯ + an
Y(z) b0 z n + b1 z n−1 + ⋯ + bn−1 z + bn
= n
U(z) z + a1 z n−1 + a2 z n−2 + ⋯ + an−1 z + an
x(k + 1) = Gx(k) + Hu(k)
y(k) = Cx(k)
Representar en forma canónica controlable (FCC)
x1 (k + 1) x1 (k) 0
0 1 0 ⋯ 0
x2 (k + 1) x (k)
[ ]=[ 0 0 1 ⋯ 0 ][ 2 ] + [ ⋮ ] u(k)
⋮ ⋮ 0
−an −an−1 −an ⋯ −a1
xn (k + 1) xn (k + 1) 1
x1 (k)
x (k)
y(k) = [bn − an b0 bn−1 − an−1 b0 ⋯ b1 − a1 b0 ] [ 2 ]
⋮
xn (k + 1)
Otra Forma Canónica Controlable
x1 (k + 1) −a1 −a2 ⋯ −an−1 −an x1 (k) 1
x2 (k + 1) 1 0 ⋯ 0 0 x (k)
[ ]= 0 1 ⋯ ⋮ ⋮ [ 2 ] + [ ⋮ ] u(k)
⋮ ⋮ 0
⋮ ⋮ ⋯ 0 0
xn (k + 1) [ 0 0 0] xn (k + 1) 0
0 1
x1 (k)
x (k)
y(k)[b1 − a1 b0 b2 − a2 b0 ⋯ bn−1 − an−1 b0 bn − an b0 ] [ 2 ]
⋮
xn (k + 1)
PROBLEMA 39
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MODERNA DE CONTROL
PROBLEMA 40
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MODERNA DE CONTROL
k−1 ri
=∑
i=1 z + pi
x1 (k + 1) p1 1 0 0 x1 (k) 1
x (k + 1) 0 p2 0 0 x (k)
[ 2 ]=[ ][ 2 ] + [ ⋮ ] u(k)
⋮ ⋮ ⋮ ⋯ ⋮ ⋮ 1
(k
xn + 1) 0 0 0 pn xn (k + 1) 1
x1 (k)
y(k)[r1 r2 ⋯ ri ] [ x2 (k) ]
⋮
xn (k + 1)
PROBLEMA 41
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MODERNA DE CONTROL
5 8 x1 (k)
y(k) [− ][ ]
13 13 x2 (k)
Teorema de Similitud
1. Si un sistema es observable se debe evaluar la matriz singular O, si la determinante
de esta matriz es igual a cero el sistema es no observable, si la determinante de esta
matriz es diferente de cero el sistema es observable.
2. Si un sistema es controlable, se debe evaluar la matriz singular S, si la determinante
de esta matriz es igual a cero el sistema es controlable, si la determinante de esta
matriz es diferente de cero el sistema es controlable.
3. Si la matriz de comportamiento de estado está en su forma canicas, entonces, la
matriz de transcendencia es igual a la matriz identidad (P=I) para la
controlabilidad y O=I para la Observabilidad.
4. Si la matriz de comportamiento de estado no está en forma canónica, entonces, la
matriz de transcendencia para la controlabilidad P=SM y para la Observabilidad
Q = (MO)−1
Cuando los sistemas sean observables y controlables utilizaremos el criterio de
similitud, como se observa en las siguientes ecuaciones.
Con la ecuación característica se determina el polinomio característico y la matriz
característica M
|zI − G| = z n + a1 z n−1 + a2 z n−2 + ⋯ + an−1 z + an
an−1 an−2 ⋯ a1 1
an−2 ⋯ 1 0
M= ⋮ ⋮ ⋮ ⋮
a1 1 0 0
[ 1 ⋯ 0 0 ]
Para controlabilidad se tiene:
= 0; el sitema no es controlable
S = [H GH ⋯ G2 H] ⇒ det(S) {≠ 0; el sistema es controlable
Matriz de transcendencia para la controlabilidad
P = SM
Por similitud se tiene:
G = P −1 GP; H = P −1 G; C = PC; D = D = 0
Matriz de Observabilidad
C
CA = 0; el sitema no es Observable
O=[ ] ⇒ det(O) {
⋮ ≠ 0; el sistema es Observable
n
CA
Matriz de transcendencia para la Observabilidad
Q = MO−1
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MODERNA DE CONTROL
k−1
y(k) = CGk x(0) + C ∑ G k−j−1 Hu(j) + Du(k)
j=0
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MODERNA DE CONTROL
k−1
x(k) = Gk + ∑ G k−j−1 Hu(j) = Z −1 [(zI − G)−1 z]x(0) + Z −1 [(zI − G)−1 HU(z)]
j=0
x(k) = φ(k)x(0)
PROBLEMA 42
Halle la matriz de transición de estado del siguiente sistema en tiempo discreto y los
1
valores de x(k), y(k) para valor inicial x0 = [ ] para ∀k = {0,1,2 … , n}
−1
x (k + 1) 0 1 x1 (k) 1
[ 1 ]=[ ] + [ ] u(k)
x2 (k + 1) −0,21 −1 x2 (k) 1
y(k) = [1 0]x(k)
[cofac(zI − G)]T
(zI − G)−1 =
det(zI − G)
1 0 0 1
zI − G = z ( )−( )
0 1 −0,21 −1
z 0 0 1
=( )−( )
0 z −0,21 −1
z −1
zI − G = ( )
0,21 z + 1
det(zI − G) = z 2 + z + 0,21
= (z + 0,7)(z + 0,3)
Cofactores de zI-G:
cofac(zI − G)
z −1
R11 = (−1)1+1 ∗ [ ]=z+1
0,21 z + 1
z −1
R12 = (−1)1+2 ∗ [ ] = −0,21
0,21 z + 1
z −1
R 21 = (−1)2+1 ∗ [ ]=1
0,21 z + 1
z −1
R 22 = (−1)2+2 ∗ [ ]=z
0,21 z + 1
z + 1 −0,21
cofact(zI − G) = [ ]
1 z
T
[cofact(zI − G)]T = [z + 1 −0,21]
1 z
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MODERNA DE CONTROL
z+1 1
=[ ]
−0,21 z
z+1 1
[ ]
−0,21 z
(zI − G)−1 =
z −1
∆[ ]
0,21 z + 1
z+1 1
(z + 0,7)(z + 0,3) (z + 0,7)(z + 0,3)
(zI − G)−1 =
0,21 z
−
[ (z + 0,7)(z + 0,3) (z + 0,7)(z + 0,3)]
φ(k) = Z −1 [(zI − G)−1 z]
z+1 1
φ(k) (z + 0,7)(z + 0,3) (z + 0,7)(z + 0,3)
= Z −1
z 0,21 z
−
[ (z + 0,7)(z + 0,3) (z + 0,7)(z + 0,3)]
z+1 1
Z −1 { } Z −1 { }
(z + 0,7)(z + 0,3) (z + 0,7)(z + 0,3)
=
−0,21 z
Z −1 { } Z −1 { }
[ (z + 0,7)(z + 0,3) (z + 0,7)(z + 0,3) ]
z+1 r1 r2
Z −1 { } = Z −1 { } + Z −1 { }
(z + 0,7)(z + 0,3) z + 0,7 z + 0,3
z+1
r1 = |(z + 0,7) |
(z + 0,7)(z + 0,3) z=−0,7
−0,7 + 1
r1 =
−0,7 + 0,3
0,3 3
r1 = =−
−0,4 4
3
r1 = −
4
z+1
r2 = |(z + 0,3) |
(z + 0,7)(z + 0,3) z=−0,3
−0,3 + 1
r2 =
−0,3 + 0,7
0,7 7
r2 = =
0,3 3
7
r2 =
3
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MODERNA DE CONTROL
3 7
z+1 −4z z
Z −1
{ −1
}=Z { }+Z { 3
−1
}
(z + 0,7)(z + 0,3) z + 0,7 z + 0,3
z+1 3 7
Z −1 { } = − (−0,7)k + (−0,3)k
(z + 0,7)(z + 0,3) 4 3
1 r1 r2
Z −1 { } = Z −1 { } + Z −1 { }
(z + 0,7)(z + 0,3) z + 0,7 z + 0,3
1
r1 = |(z + 0,7) |
(z + 0,7)(z + 0,3) z=−0,7
1
r1 =
−0,7 + 0,3
1 10 5
r1 = =− =−
−0,4 4 2
5
r1 = −
2
1
r2 = |(z + 0,3) |
(z + 0,7)(z + 0,3) z=−0,3
1
r2 =
−0,3 + 0,7
1 10
r2 = =
0,3 3
10
r2 =
3
5 10
1 −2z z
Z −1 { } = Z −1 { } + Z −1 { 3 }
(z + 0,7)(z + 0,3) z + 0,7 z + 0,3
1 5 10
Z −1 { } = − (−0,7)k + (−0,3)k
(z + 0,7)(z + 0,3) 2 3
−0,21 r1 r2
Z −1 { } = Z −1 { } + Z −1 { }
(z + 0,7)(z + 0,3) z + 0,7 z + 0,3
−0,21
r1 = |(z + 0,7) |
(z + 0,7)(z + 0,3) z=−0,7
−0,21
r1 =
−0,7 + 0,3
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−0,21 2,1
r1 = =
−0,4 4
2,1
r1 =
4
1
r2 = |(z + 0,3) |
(z + 0,7)(z + 0,3) z=−0,3
−0,21
r2 =
−0,3 + 0,7
−0,21 −2,1
r2 = =
0,3 3
r2 = −0,7
2,1
−0,21 z −0,7z
Z −1 { } = Z −1 { 4 } + Z −1 { }
(z + 0,7)(z + 0,3) z + 0,7 z + 0,3
−0,21 2,1
Z −1 { }= (−0,7)k − 0,7(−0,3)k
(z + 0,7)(z + 0,3) 4
z r1 r2
Z −1 { } = Z −1 { } + Z −1 { }
(z + 0,7)(z + 0,3) z + 0,7 z + 0,3
z
r1 = |(z + 0,7) |
(z + 0,7)(z + 0,3) z=−0,7
−0,7
r1 =
−0,7 + 0,3
−0,7 7
r1 = =
−0,4 4
7
r1 =
4
z
r2 = |(z + 0,3) |
(z + 0,7)(z + 0,3) z=−0,3
−0,3
r2 =
−0,3 + 0,7
−0,3
r2 = = −1
0,3
r2 = −1
7
z z −z
Z −1
{ }= 4 +
(z + 0,7)(z + 0,3) z + 0,7 z + 0,3
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z 7
Z −1 { } = (−0,7)k − (−0,3)k
(z + 0,7)(z + 0,3) 4
3 7 5 10
− (−0,7)k + (−0,3)k − (−0,7)k + (−0,3)k
φ(k) = [ 4 3 2 3 ]
2,1 7
(−0,7)k − 0,7(−0,3)k k
(−0,7) − (−0,3) k
4 4
La matriz de transición de estado se obtiene:
Ahora calculamos x(k) para una entrada en escalón unitaria
X(z) = (zI − G)−1 [zx(0) + HU(z)]
1 1 z
zx(0) + HU(z) = z [ ] + [ ] ( )
−1 1 z−1
z
z
= [ ] + [z − 1
z ]
−z
z−1
z
z+
=[ z−1 ]
z
−z +
z−1
2
z −z+z
= z−1
2
−z + z + z
[ z−1 ]
z2
zx(0) + HU(z) = [ z2− 1 ]
−z + 2z
z−1
z+1 1
(z + 0,7)(z + 0,3) (z + 0,7)(z + 0,3)
(zI − G)−1 =
0,21 z
−
[ (z + 0,7)(z + 0,3) (z + 0,7)(z + 0,3)]
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z+1 z2 1 −z 2 + 2z
∗ + ∗
(z + 0,7)(z + 0,3) z − 1 (z + 0,7)(z + 0,3) z−1
= 2
−0,21 z z −z 2 + 2z
∗ + ∗
[(z + 0,7)(z + 0,3) z − 1 (z + 0,7)(z + 0,3) z−1 ]
(z + 1)z 2 −z 2 + 2z
(z + 0,7)(z + 0,3)(z − 1)
=
−0,21 ∗ z 2 −z 3 + 2z 2
[(z + 0,7)(z + 0,3)(z − 1)]
z 3 + 2z
(z + 0,7)(z + 0,3)(z − 1)
=
−z 3 + 1,79z 2
[(z + 0,7)(z + 0,3)(z − 1)]
(z 2 + 2)z
(z + 0,7)(z + 0,3)(z − 1) R
X(z) = = [ 11 ]
3
−z + 1,79z 2 R 21
[(z + 0,7)(z + 0,3)(z − 1)]
(z 2 + 2)z
(z + 0,7)(z + 0,3)(z − 1)
x(k) = Z −1
−z 3 + 1,79z 2
{[(z + 0,7)(z + 0,3)(z − 1)]}
(z 2 + 2)z
Z −1 { }
(z + 0,7)(z + 0,3)(z − 1)
x(k) =
−1
−z 3 + 1,79z 2
Z { }
[ (z + 0,7)(z + 0,3)(z − 1) ]
(z 2 + 2)z r1 r2 r3
R11 = = + +
(z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z − 1
R11 (z 2 + 2) r1 r2 r3
= = + +
z (z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z − 1
(z 2 + 2)
r1 = |(z + 0,7) |
(z + 0,7)(z + 0,3)(z − 1)
z=−0,7
z2 + 2
=| |
(z + 0,3)(z − 1)
z=−0,7
(−0,7)2 + 2
=
(−0,7 + 0,3)(−0,7 − 1)
r1 = 3,6617
(z 2 + 2)
r2 = |(z + 0,3) |
(z + 0,7)(z + 0,3)(z − 1)
z=−0,3
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(z 2 + 2)
=| |
(z + 0,7)(z − 1)
z=−0,3
(−0,3)2 + 2
=
(−0,3 + 0,7)(−0,3 − 1)
r2 = −4,0192
(z 2 + 2)
r3 = |(z − 1) |
(z + 0,7)(z + 0,3)(z − 1)
z=1
(z 2 + 2)
=| |
(z + 0,7)(z + 0,3)
z=1
[(1)2 + 2]
=
(1 + 0,7)(1 + 0,3)
r3 = 1,3574
R11 (z 2 + 2) r1 r2 r3
= = + +
z (z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z − 1
(z 2 + 2)z r1 z r2 z r3 z
R11 = = + +
(z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z − 1
(z 2 + 2)z r1 z r2 z r3 z
R11 = Z −1 { } = z −1 { } + z −1 { }+{ }
(z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z−1
z z z
R11 = r1 Z −1 { } + r2 Z −1 { } + r3 Z −1 { }
z + 0,7 z + 0,3 z−1
z z z
R11 = 3,6617Z −1 { } − 4,0192Z −1 { } + 1,3574Z −1 { }
z + 0,7 z + 0,3 z−1
R11 = 3,6617(−0,7)k − 4,0192(−0,3)k + 1,3574(1)k
−z 3 + 1,79z 2 r1 r2 r3
R 21 = = + +
(z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z − 1
R 21 −z 2 + 1,79z r1 r2 r3
= = + +
z (z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z − 1
−z 2 + 1,79z
r1 = |(z + 0,7) |
(z + 0,7)(z + 0,3)(z − 1)
z=−0,7
−z 2 + 1,79z
=| |
(z + 0,3)(z − 1)
z=−0,7
−(−0,7)2 + 1,79(−0,7)
=
(−0,7 + 0,3)(−0,7 − 1)
r1 = −1,743
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−z 2 + 1,79z
r2 = |(z + 0,3) |
(z + 0,7)(z + 0,3)(z − 1)
z=−0,3
−z 2 + 1,79z
=| |
(z + 0,7)(z − 1)
z=−0,3
−(−0,3)2 + 1,79(−0,3)
=
(−0,3 + 0,7)(−0,3 − 1)
r2 = 1,2057
−z 2 + 1,79z
r3 = |(z − 1) |
(z + 0,7)(z + 0,3)(z − 1)
z=1
−z 2 + 1,79z
=| |
(z + 0,7)(z + 0,3)
z=1
−(1)2 + 1,79(1)
=
(1 + 0,7)(1 + 0,3)
r3 = 0,3574
R 21 −z 2 + 1,79z r1 r2 r3
= = + +
z (z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z − 1
−z 2 + 1,79z r1 z r2 z r3 z
R 21 = = + +
(z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z − 1
−1
−z 2 + 1,79z r1 z r2 z r3 z
R 21 =Z { } = z −1 { } + z −1 { }+{ }
(z + 0,7)(z + 0,3)(z − 1) z + 0,7 z + 0,3 z−1
z z z
R 21 = r1 Z −1 { } + r2 Z −1 { } + r3 Z −1 { }
z + 0,7 z + 0,3 z−1
z z z
R 21 = −1,743Z −1 { } + 1,2057Z −1 { } + 0,3574Z −1 { }
z + 0,7 z + 0,3 z−1
R 21 = −1,743(−0,7)k + 1,2057(−0,3)k + 0,3574(1)k
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