Escuela Superior Politécnica de Chimborazo

Facultad de Informática y Electrónica

Escuela de Ingeniería Electrónica en Control y Redes Industriales
Nombre: Alex R. Orozco G. Curso: 5to “A”
Código: 889 Fecha: 10/10/2018

1. R(s) = IMPULSO UNITARIO

τ =3 ; t=3,5,7,12,21
C (s ) 1
=
R (s ) τs+1

R ( s )=1
1
C ( s) = ∗R ( s )
3 s+1
1
C ( s) =
3 s+1

−t
1
c (t)= e 3
3

τ =5 ; t=3,5,7,12,21
C (s ) 1
=
R ( s ) τs+1
R ( s )=1
1
C ( s) = ∗R ( s )
5 s+1
1
C ( s) =
5 s+1

−t
1
c (t)= e 5
5
 τ =7 ; t=3,5,7,12,21
C (s ) 1
=
R ( s ) 7 s+1
R ( s )=1
1
C ( s) = ∗R ( s )
7 s+1
1
C ( s) =
7 s+1

−t
1
c (t)= e 7
7

τ =12; t=3,5,7,12,21
C (s ) 1
=
R ( s ) 12 s+1
R ( s )=1
1
C ( s) = ∗R ( s )
12 s +1
1
C ( s) =
12 s +1

−t
1 12
c (t)= e
12

2. R(s) = ESCALON UNITARIO

C (s ) 1
=
R ( s ) τs+1
τ =3 ; t=3,5,7,12,21

1
R ( s )=
s
 1
C ( s) = ∗R ( s )
3 s+1
1
∗1
3 s +1
C ( s) =
s
1 A B
C ( s) = = +
( 3 s+1 ) s s 3 s +1
1 A ( 3 s+1 )+ Bs
=
( 3 s+1 ) s ( 3 s+1 ) s
1= A ( 3 s+1 ) + Bs
s=0 s=−1/3
1= A ( 1 ) 1=B (−1/ 3 )
A=1 B=−3

1 3
C ( s) = −
s 3 s +1
−t
3
c ( t ) =1−e

τ =5 ; t=3,5,7,12,21

1
R ( s )=
s
1
C ( s) = ∗R ( s )
5 s+1
1
∗1
5 s +1
C ( s) =
s
1 A B
C ( s) = = +
( 5 s+1 ) s s 5 s+ 1
1 A ( 5 s+1 ) + Bs
=
( 5 s+1 ) s ( 5 s+1 ) s
1= A ( 5 s+1 ) + Bs
s=0 s=−1/5
1= A ( 1 ) 1=B (−1/5 )
A=1 B=−5
 1 5
C ( s) = −
s 5 s+ 1
−t
5
c ( t ) =1−e

τ =5 ; t=3,5,7,12,21

1
C ( s) = ∗R ( s )
5 s+1
1
∗1
5 s +1
C ( s) =
s
1 A B
C ( s) = = +
( 5 s+1 ) s s 5 s+ 1
1 A ( 5 s+1 ) + Bs
=
( 5 s+1 ) s ( 5 s+1 ) s
1= A ( 5 s+1 ) + Bs
s=0 s=−1/5
1= A ( 1 ) 1=B (−1/5 )
A=1 B=−5
1 5
C ( s) = −
s 5 s+ 1
−t
5
c ( t ) =1−e

τ =7 ; t=3,5,7,12,21

1
R ( s )=
s
1
C ( s) = ∗R ( s )
7 s+1
1
∗1
7 s +1
C ( s) =
s
1 A B
C ( s) = = +
( 7 s+1 ) s s 7 s +1
1 A ( 7 s +1 )+ Bs
=
( 7 s+ 1 ) s ( 7 s+1 ) s
1= A ( 7 s+1 ) + Bs
s=0 s=−1/ 7
1= A ( 1 ) 1=B (−1/7 )
A=1 B=−7
1 7
C ( s) = −
s 7 s +1
−t
7
c ( t ) =1−e
τ =12; t=3,5,7,12,21

1
R ( s )=
s
1
C ( s) = ∗R ( s )
12 s +1
1
∗1
12 s+1
C ( s) =
s
1 A B
C ( s) = = +
( 12 s +1 ) s s 12 s+1
1 A ( 12 s +1 ) +Bs
=
( 12 s+1 ) s ( 12 s+ 1 ) s
1= A ( 12 s +1 ) +Bs
s=0 s=−1/ 12
1= A ( 1 ) 1=B (−1/12 )
A=1 B=−12
1 7
C ( s) = −
s 12 s+1
−t
c ( t ) =1−e 12

3. R(s) = RAMPA
1
R ( s )= τ =3 ; t=3,5,7,12,21
s2
1
C ( s) = ∗R ( s )
3 s+1
1
∗1
3 s +1
C ( s) =
s2
 1 A B C
C ( s) = = + 2+
( 3 s+1 ) s 3 s+1 s s
2

1 A s 2+ B ( 3 s +1 )+ C ( 3 s +1 ) s
=
( 3 s+1 ) s2 ( 3 s+ 1 ) s2
1= A s2 + B ( 3 s+ 1 )+C (3 s2 + s)
s2 :0= A+ 3C
s1 :0=3 B+C
s0 :1=B

B=1
C=−3
A=9

9 1 −3
C ( s) = + +
3 s+1 s2 s
−t
3
c ( t ) =3 e +t−3

E ( s )=R ( s ) −C ( s )
e (t )=r ( t )−c ( t )
−t
e (t )=t−3 e 3 −t +3
−t
e (t )=3 (1−e 3 )

1
R ( s )= τ =5 ; t =3,5,7,12,21
s2
1
C ( s) = ∗R ( s )
5 s+1
1
∗1
5 s +1
C ( s) =
s2
1 A B C
C ( s) = = + 2+
( 5 s+1 ) s 5 s+1 s s
2

1 A s 2+ B ( 5 s +1 )+ C ( 5 s+ 1 ) s
=
( 3 s+1 ) s2 ( 7 s +1 ) s2
1= A s2 + B ( 5 s+ 1 )+C (5 s2 +s )
s2 :0= A+ 5C
s1 :0=5 B+C
s0 :1=B
B=1
C=−5
A=25

25 1 −5
C ( s) = + 2+
5 s+1 s s
−t
c ( t ) =5 e 3 +t−5

E ( s )=R ( s ) −C ( s )
e (t )=r ( t )−c ( t )
−t
3
e (t )=t−5 e −t+ 5
−t
e (t )=5 (1−e 5 )

1
R ( s )= τ =7 ; t=3,5,7,12,21
s2
1
C ( s) = ∗R ( s )
7 s+1
1
∗1
7 s +1
C ( s) =
s2
1 A B C
C ( s) = = + 2+
( 7 s+1 ) s 2
7 s+1 s s
2
1 A s + B ( 7 s +1 ) +C ( 7 s +1 ) s
=
( 3 s+1 ) s2 ( 7 s +1 ) s 2
1= A s2 + B ( 7 s+ 1 )+ C(7 s2 + s)
s2 :0= A+ 7 C
s1 :0=7 B+C
s0 :1=B

B=1
C=−7
A=49

49 1 −7
C ( s) = + 2+
7 s+1 s s
−t
c ( t ) =7 e 3 +t−7
E ( s )=R ( s ) −C ( s )
e (t )=r ( t )−c ( t )
−t
e (t )=t−7 e 7 −t +7
−t
e (t )=7 (1−e 7 )

1
R ( s )= τ =12; t=3,5,7,12,21
s2
1
C ( s) = ∗R ( s )
12 s +1
1
∗1
12 s+1
C ( s) =
s2
1 A B C
C ( s) = = + 2+
( 12 s +1 ) s 12 s+ 1 s s
2

1 A s 2+ B ( 12 s+1 )+C ( 12 s+1 ) s

=
( 3 s+1 ) s2 ( 12 s+1 ) s 2
1= A s2 + B ( 12 s+1 ) +C (12 s 2+ s)
s2 :0= A+ 12C
s1 :0=12 B +C
s0 :1=B

B=1
C=−12
A=144

144 1 −12
C ( s) = + 2+
12 s +1 s s
−t
c ( t ) =12e 12 + t−12

E ( s )=R ( s ) −C ( s )
e (t )=r ( t )−c ( t )
−t
7
e (t )=t−12 e −t+12
−t
12
e (t )=12(1−e )