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M1 M2 M3
MALLA 3
VR 2=VC
MALLA 1
V ( t ) =VR1+VL
VR 1=IR 1∗R 1=100∗IR 1
dIL dIL
VL=L =0.003
dt dt
dIL
V ( t ) =100∗IR 1+ 0.003
dt
MALLA 2
VL=VR 3+VR 2
VR 2=VC
dIL
VL=0.003
dt
VR 3=330∗IR 3
dIL
0.003 =330∗IR 3+VC
dt
Por análisis.
IR 1=IL+ IR 3
IR 3=IR 2+ IC
VR 2 VC
IR 2= =
R 2 220
dVc dVc
IC=C =0.000001
dt dt
VC dVc
IR 3= +0.000001
220 dt
Conociendo IR3 Despejo en la ecuación
dIL VC dVc
0.003 =330( + 0.000001 )+VC
dt 220 dt
dIL dVc
0.003 =1.5 VC +0.00033 +VC
dt dt
dIL dVc
0.003 =2.5 VC +0.00033
dt dt
dVc
2.5VC +0.00033
dIL dt
=
dt 0.003
dIL dVc
=833.33 VC+0.11
dt dt
Por análisis.
VC dVc
IR 1=IL+ +0.000001
220 dt
Conociendo IR1 Despejo en la ecuación
VC dVc dIL
V ( t ) =100∗(IL+ +0.000001 )+ 0.003
220 dt dt
dVc dIL
V ( t ) =100 IL+ 0.46 VC +0.0001 + 0.003
dt dt
dVc dVc
V ( t ) =100 IL+ 0.46 VC +0.0001 + 0.003(833.33 VC+0.11 )
dt dt
dVc dVc
V ( t ) =100 IL+ 0.46 VC +0.0001 +2.5 VC + 0.00033
dt dt
dVc
V ( t ) =100 IL+ 2.96VC +0.0004
dt
dVc
V ( t ) −100 IL−2.96 VC =0.0004
dt
V ( t )−100 IL−2.96VC dVc
=
0.0004 dt
dVc
2500 V ( t )−250000 IL−7400VC =
dt
Despejo para hallar la otra ecuación.
dIL dVc
=833.33 VC+0.11
dt dt
dIL
=833.33 VC +0.11(2500 V ( t )−250000 IL−7400VC )
dt
dIL
=833.33 VC +275 V ( t ) −275 VC−27500 IL−814 VC
dt
dIL
=833.33 VC +275 V ( t ) −275 VC−27500 IL−814 VC
dt
dIL
=−255.67 VC + 275V ( t )−27500 IL
dt
ECUACIONES.
dVc
=−7400 VC + 2500V ( t )−250000 IL
dt
dIL
=−255.67 VC + 275V ( t )−27500 IL
dt
VARIABLES DE ESTADO.
VC ( t )=X 1 ( t )
IL ( t ) =X 2 ( t )
dv c(t)
VC ( t )= = X 1(t )
dt
dv L(t )
IL ( t ) = =X 2(t)
dt
dVc
˙
[ ][
dt
dIL
˙
dt
=
−7400 −250000 Vc ( t ) 2500
−255.67 −27500
∗
IL (t )
+ ][ ][ ]
275
*[ V (t) ]
Ẋ 1 X
= −7400 −250000 * 1 + 2500 *[ u(t ) ]
[ ][
Ẋ 2 −255.67 −27500 X 2 275 ][ ] [ ]
Matriz de controlabilidad
La ecuación de matriz de controlabilidad es
Ẋ =Ax ( t ) + Bu(t)
−250000 X 1
[−255.67
Ax ( t )=
−7400
−27500][ ]
∗
X2
Bu ( t )= 2500 *[ u(t ) ]
[ ]
275
FORMULA CONTROLABILIDAD
C=[ B AB ]
dVc
=2500 V ( t )−7400 VC−250000 IL
dt
dIL
=275 V ( t ) −255.67VC −27500 IL
dt