8QLYHUVLGDGGH1DYDUUD

1DIDUURDNR8QLEHUWVLWDWHD

(VFXHOD6XSHULRUGH,QJHQLHURV 
,QJHQLDULHQ*RL0DLODNR(VNROD 



$6,*1$785$*$,$ &8562.85762$
,QJHQLHUtDGH&RQWURO, 
 
120%5(,=(1$ )(&+$'$7$



&8(67,21(6

/DILJXUDPXHVWUDODUHVSXHVWDIUHFXHQFLDOGHFLHUWDSODQWDGLDJUDPDGH
%RGHHQOD]RDELHUWR6HSUHWHQGHFRQWURODUODSODQWDFRQXQUHJXODGRU
SXUDPHQWHSURSRUFLRQDO6HSLGH

D'HWHUPLQDUXQDJDQDQFLDDGHFXDGDSDUDHVWHUHJXODGRU
E'LEXMDUGHIRUPDDSUR[LPDGDODUHVSXHVWDIUHFXHQFLDOGLDJUDPDGH%RGHHQ
OD]RFHUUDGRGHODSODQWDFRQODJDQDQFLDHOHJLGDGLEXMDUORVXSHUSXHVWRDOGH
ODSODQWDHQOD]RDELHUWR
F &DOFXODUGHIRUPDDSUR[LPDGDHODQFKRGHEDQGDGHOFRQWURODGRUHOHJLGR

Bode Diagram
20

-20

-40
Magnitude (dB)

-60

-80

-100

-120

-140

-45

-90
Phase (deg)

-135

-180

-225

-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)


5HVSXHVWD
• 8QDSODQWDFRQWURODGDGHEHWHQHUDGHFXDGRVPiUJHQHVGHIDVH\GH
JDQDQFLD(QHVWHFDVRVHYDDHOHJLUODJDQDQFLDGHIRUPDTXHHOPDUJHQGH
IDVHVHDGHXQRVJUDGRV\VHFRPSUREDUDTXHHOPDUJHQGHJDQDQFLDHV
UD]RQDEOHSWRV

• /DJDQDQFLDFRQODTXHODSODQWDWLHQHXQPDUJHQGHIDVHGHJUDGRVVH
REWLHQHYLHQGRODJDQDQFLDGHODSODQWDHQHOSXQWRGHFRUWHGHODFXUYDGHIDVHV
FRQ±JUDGRVG%/DJDQDQFLDGHOFRQWURODGRUHVHVWDPLVPDFRQVLJQR
FRQWUDULRHVGHFLUG%!. &RQHVWDJDQDQFLDHQHOFRQWURODGRUHO
PDUJHQGHJDQDQFLDHVGHXQRVG%(VWHYDORUHVUD]RQDEOHPD\RUGH
G%SWRV

• (OGLDJUDPDGH%RGHGHODSODQWDFRQHVDJDQDQFLDHQOD]RDELHUWRVHUiHO
PLVPRSHURFRQODFXUYDGHJDQDQFLDVGHVSOD]DGDG%KDFLDDUULED

• (OGLDJUDPDGH%RGHHQOD]RFHUUDGRVHUiVLPLODUDOGLDJUDPDGH%RGHDQWHULRU
GRQGHODVJDQDQFLDVVRQSHTXHxDVHQHVWHFDVR\FRPRHVKDELWXDOHQODDOWD
IUHFXHQFLD\SUiFWLFDPHQWHODXQLGDGSDUDEDMDVIUHFXHQFLDVSWRV

• (ODQFKRGHEDQGDHVDSUR[LPDGDPHQWHHOSXQWRGRQGHHOGLDJUDPDGH%RGHHQ
OD]RDELHUWRFRUWDDG%(QHVWHFDVRUDGV(OYDORUUHDOHVGHUDGV
SWRV
Bode Diagram
20

-20

-40
Magnitude (dB)

-60

-80

-100

-120

-140

-45

-90
Phase (deg)

-135

-180

-225

-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)




 
8QLYHUVLGDGGH1DYDUUD
1DIDUURDNR8QLEHUWVLWDWHD

(VFXHOD6XSHULRUGH,QJHQLHURV 
,QJHQLDULHQ*RL0DLODNR(VNROD 



$6,*1$785$*$,$ &8562.85762$
,QJHQLHUtDGH&RQWURO, 
 
120%5(,=(1$ )(&+$'$7$



&8(67,21(6
(VFRJHUUD]RQDGDPHQWHXQDJDQDQFLDDGHFXDGDSDUDFDGDSODQWDXWLOL]DQGR
ODLQIRUPDFLyQGHOOXJDUGHODVUDtFHV6LWXDUGHIRUPDDSUR[LPDGDODSRVLFLyQ
GHORVSRORVGHODSODQWDSDUDHVDJDQDQFLD5HVSRQGHUHQHVWDPLVPDKRMD
1RWDHQHOOXJDUGHODVUDtFHVXQLGDGHVXQFHQWtPHWUR

Planta A)
V+5
* (V ) =
(V + 1)(V + 3)(V + 6)
Root Locus
6

2
Imag Axis

-2

-4

-6
-10 -5 0 5
Real Axis

Planta B)
1
* (V ) = 
(V + 1)(V + 3)(V + 4)(V + 6)

Root Locus
6

-2

-4

-6
-10 -5 0
Real Axis

5HVSXHVWD
3ODQWD$
• (OFULWHULRJHQHUDOHVHOHJLUORVSRORVGHODSODQWDDOHMDGRVGHOHMHLPDJLQDULR\
FRQXQDPRUWLJXDPLHQWRUD]RQDEOHHVGHFLUHQWUH\XQR
• (VWDSODQWDWLHQHSRORV\XQFHUR6HJ~QDXPHQWDODJDQDQFLDODSRVLFLyQGHO
WHUFHUSRORHQOD]RFHUUDGRWLHQGHDDFHUFDUVHDODSRVLFLyQGHOFHURFRQORTXH
ODLQIOXHQFLDGHDPERVSUiFWLFDPHQWHVHFDQFHOD'HFXDOTXLHUIRUPDGDGRTXH
HOFHURHVWiPiVFHUFDTXHHOSRORHOVREUHLPSXOVRGHODSODQWDVHUiDOJRPD\RU
TXHVLQRVHFRQVLGHUDHOHIHFWRGHOSDUSRORFHUR
• /RVYDORUHVUD]RQDEOHVGHJDQDQFLDVRQSRUWDQWRDTXHOORVTXHSRQHQORVSRORV
HQOD]RFHUUDGRHQWUHODVSRVLFLRQHVTXHVHKDPDUFDGRHQODILJXUD
Root Locus
6

-2

-4

-6
-10 -8 -6 -4 -2 0 2
Real Axis
• SWRV

• /RVYDORUHVGHODJDQDFLDVRQVLORVSRORVHVWiQHQHOSXQWRGHGLVSHUVLyQ\
FRQORVSRORVFRPSOHMRVFRQMXJDGRVDJUDGRV(VGHFLUGHIRUPD
DSUR[LPDGD
1.33 < . < 20 SWRV
5HVSXHVWD
3ODQWD%
• (VWDSODQWDWLHQHSRORV6HJ~QDXPHQWDODJDQDQFLDORVSRORVOOHJDQDORV
SXQWRVGHGLVSHUVLyQ\WLHQGHQKDFLDODVDVtQWRWDV/RVSRORVVLWXDGRVDOD
L]TXLHUGDGHOSODQRFRPSOHMRWLHQHQSRFDLQIOXHQFLDHQODUHVSXHVWDWUDQVLWRULD
(QWRGRFDVRHOVLVWHPDVHUiDOJRPiVOHQWR\WHQGUiPHQRVVREUHLPSXOVRTXH
VLQRHVWXYLHUDQORVSRORV
• 3RUWDQWRHVQHFHVDULRTXHORVSRORVVLWXDGRVDODGHUHFKDHVWpQORPiV
DOHMDGRVTXHVHDSRVLEOHGHOHMHLPDJLQDULR(VWRVHFRQVLJXHHQHOSXQWRGH
GLVSHUVLyQ'HFXDOTXLHUIRUPDVLODJDQDQFLDHVDOJRPD\RUODFRPSRQHQWHUHDO
GHORVSRORVQRVHDFHUFDGHPDVLDGRDFHUR\HOWLHPSRGHHVWDEOHFLPLHQWR
SRVLEOHPHQWHGLVPLQX\DDOJR1RHVUD]RQDEOHXWLOL]DUDPRUWLJXDPLHQWRV
PD\RUHVGHSKLGHXQRVJUDGRV/RVSRORVVHVLW~DQSRUWDQWRFRPR
PDUFDODILJXUD
Root Locus
6

-2

-4

-6
-10 -8 -6 -4 -2 0 2
Real Axis
SWRV
• (OYDORUGHODJDQDQFLDHVDSUR[SDUDHOSXQWRGHGLVSHUVLyQ\DSUR[
SDUDORVSRORVVLWXDGRVDJUDGRV
9 < . < 40 SWRV

8QLYHUVLGDGGH1DYDUUD
1DIDUURDNR8QLEHUWVLWDWHD

(VFXHOD6XSHULRUGH,QJHQLHURV 
,QJHQLDULHQ*RL0DLODNR(VNROD 



$6,*1$785$*$,$ &8562.85762$
,QJHQLHUtDGH&RQWURO, 
 
120%5(,=(1$ )(&+$'$7$



&8(67,21(6
(QODILJXUDVHPXHVWUDODUHVSXHVWDWUDQVLWRULDGHGRVSODQWDVGLIHUHQWHV
FRQWURODGDVFRQXQ3,'HWHUPLQDUUD]RQDGDPHQWHTXHSDUiPHWURRSDUiPHWURV
GHO3,HVQHFHVDULRPRGLILFDUSDUDPHMRUDUODUHVSXHVWDWUDQVLWRULDGHFDGDXQD
GHODVSODQWDV
127$
• (QDOJXQRVFDVRVODUHVSXHVWDVHSXHGHPHMRUDUGHGLVWLQWDVIRUPDV
5D]RQDUODUHVSXHVWDTXHVHGp
• /DHFXDFLyQGHO3,XWLOL]DGRHV
 1  W

X (W ) = .  E\ (W ) − \ (W ) + ∫ H(W )GW 
7 0
VS

  L

H(W ) = \ VS
(W )− \ (W )
• La posición de referencia es 1.

3ODQWD$
.6

.4

.2

.8
.6

.4

.2

0
0 5 10 15 20 25 30 

3ODQWD%
3

2.5

1.5

0.5


0
0 5 10 15 20 25 30


5HVSXHVWD

3ODQWD$
• 'LVPLQXLUODJDQDQFLD.HOVLVWHPDHVPX\RVFLODWRULRSWRV
• 'LVPLQXLUODFRQVWDQWHGHWLHPSRGHLQWHJUDFLyQ7LHOVLVWHPDWDUGD
PXFKRHQOOHJDUDOUHJLPHQSHUPDQHQWHSWRV

3ODQWD%
• 'LVPLQXLUODFRQVWDQWHGHWLHPSRGHLQWHJUDFLyQHOVLVWHPDWDUGD
PXFKRHQOOHJDUDOUHJLPHQSHUPDQHQWHSWRV
• 'LVPLQXLUHOYDORUGHESDUDHYLWDUHOSULPHUVREUHLPSXOVRSWRV
 
8QLYHUVLGDGGH1DYDUUD
1DIDUURDNR8QLEHUWVLWDWHD

(VFXHOD6XSHULRUGH,QJHQLHURV 
,QJHQLDULHQ*RL0DLODNR(VNROD 



$6,*1$785$*$,$ &8562.85762$
,QJHQLHUtDGH&RQWURO, 
 
120%5(,=(1$ )(&+$'$7$


352%/(0$
8Q3//3KDVH/RFNHG/RRSHVXQFLUFXLWR
HOHFWUyQLFRXWLOL]DGRSDUDVLQFURQL]DUOD
IUHFXHQFLD\ODIDVHGHORVUHORMHVGHGRV
VLVWHPDVTXHGHVHDQLQWHUFDPELDULQIRUPDFLyQ
(VQHFHVDULRXWLOL]DUORHQVLVWHPDVGLJLWDOHVTXH
HQYtHQODRQGDPRGXODGD6XXWLOL]DFLyQSRU
WDQWRHVDPSOtVLPDWHOpIRQRVPyYLOHVDFFHVR
HQEDQGDDQFKDHWF
7pFQLFDPHQWHHVXQVLVWHPDQROLQHDODXQTXH
EDMRGHWHUPLQDGDVKLSyWHVLVVHSXHGH
FRQVLGHUDUTXHHVXQVLVWHPDOLQHDOFRPRHOTXH
PXHVWUDHOGLDJUDPDGHEORTXHV
• (QSULPHUOXJDUVHHVWLPDODGLIHUHQFLDHQWUHHOiQJXORGHODUHIHUHQFLD
• (QHOFiOFXORGHHVDGLIHUHQFLDVHLQWURGXFHWpUPLQRVGHDOWDV
IUHFXHQFLDVTXHVHILOWUDQFRQXQILOWURSDVDEDMD
• /DVDOLGDGHOILOWURSDVDEDMDVHXWLOL]DFRPRHQWUDGDGHOFRQWURODGRUTXH
VHSLGHGLVHxDU
• /DVDOLGDGHHVWHFRQWURODGRUHVODHQWUDGDGHXQRVFLODGRUFRQWURODGR
SRUYROWDMHHVGHFLUXQRVFLODGRUTXHJHQHUDXQDVHxDOGHIUHFXHQFLD
SURSRUFLRQDODOYROWDMHTXHVHDSOLFDVREUHpO$TXtVHKDVXSXHVWRXQD
JDQDQFLDXQLWDULD
• (OiQJXORGHODVLQXVRLGHHVGLUHFWDPHQWHODLQWHJUDOGHODIUHFXHQFLD

6HSLGHGLVHxDUXQFRPSHQVDGRUTXHFXPSODODVVLJXLHQWHVSURSLHGDGHV
(UURUQXORDQWHXQDHQWUDGDUDPSDHVWRHVHTXLYDOHQWHDSRU
HMHPSORVLQFURQL]DUORVUHORMHVGHXQWHOpIRQRPyYLOHQXQFRFKH\OD
HVWDFLyQEDVH
6REUHLPSXOVRPHQRUGHO
$QFKRGHEDQGDGHXQRVUDGV1RWDORVYDORUHVKDELWXDOHVVRQ
HQWUH\+]SHURVHKDSXHVWRHVWHSDUDIDFLOLWDUORVFiOFXORV

900 1 1
Controlador
Theta ref s2 +42s+900 Voltaje 1 Omega s Theta

Filtro Pasa Baja VCO

(Oscilador controlado
por voltaje)


127$DXQTXHHOGLDJUDPDGH%RGHTXHVHGDSXHGHVHU~WLOQRHVHVWULFWDPHQWH
QHFHVDULRSDUDODUHVROXFLyQGHHVWHUREOHPD
5HVSXHVWD
• 'DGRTXHVHH[LJHTXHHOVLVWHPDWHQJDHUURUQXORDQWHXQDHQWUDGDUDPSDHO
VLVWHPDFRQWURODGRGHEHVHUGHWLSR,,'DGRTXHHOVLVWHPDVLQFRQWURODUHVGH
WLSR,HOILOWURSDVDEDMD\HO9&2HOUHJXODGRUGHEHDSRUWDURWURSRORHQHO
RULJHQSWRV

• /DFRQGLFLyQGHVREUHLPSXOVRHQHOGRPLQLRGHODIUHFXHQFLDVHFRQYLHUWHHQ
PDUJHQGHIDVH
 
− ζ π
−
π
 1−ζ 2  tan ϕ
0S =H  
=H 
• $SOLFDQGRHVWDIRUPXODUHVXOWDTXHHODPRUWLJXDPLHQWRHVDSUR[LPDGDPHQWH
\SRUWDQWRHOPDUJHQGHIDVHGHXQRVJUDGRV(VGHFLUHVQHFHVDULR
HQFRQWUDUXQFRQWURODGRUTXHDSRUWHXQDQFKRGHEDQGDGHUDGVFX\R
PDUJHQGHIDVHVHDGHJUDGRVSWRV

• 'DGRTXHKD\FRQGLFLRQHVGHUpJLPHQSHUPDQHQWHSRORHQHORULJHQ\GH
UpJLPHQWUDQVLWRULRPDUJHQGHIDVH\DQFKRGHEDQGDVHYDDSUREDUXQ
FRPSHQVDGRUGHDGHODQWRUHWUDVR

• 6HYDDDMXVWDUSULPHURHOFRPSHQVDGRUGH$GHODQWR\VHVLWXDUDHOSRORGHO
FRPSHQVDGRUGHUHWUDVRXQDGpFDGDSRUGHEDMRSDUDHYLWDUVXLQIOXHQFLDHQHO
UpJLPHQWUDQVLWRULR

(OFRPSHQVDGRUHOHJLGRWLHQHFRPRIXQFLyQGHWUDQVIHUHQFLD
1 + 7V 1 + 7L V
*F = * DGHODQWR * UHWUDVR = . SWR
1 + α7V 7L V
• /DIDVHGHODSODQWDHQOD]RDELHUWRSDUDUDGVHVGH±JUDGRV(O
FRPSHQVDGRUGHEHDSRUWDUDOPHQRVJUDGRV(QHVWHFDVRVHDxDGLUiQ
JUDGRVGHELGRDOHIHFWRGHODSDUWHGHUHWDVR
1−α
sin Φ P = 
1+α
3RUWDQWR
1−α
⇒ α = 0.218
0.643 =
1+α
(VWHDYDQFHVHGHEHDSRUWDUMXVWRDUDGV(OPi[LPRDYDQFHVHFRQVLJXHHQOD
IUHFXHQFLDTXHHVPHGLDJHRPpWULFDHQWUHHOSROR\HOFHURSRUWDQWR
1
7= = 0.107
20 α
α7 = 0.107α = 0.0233 SWRV
El cero del compensador de retraso se puede colocar con una constante de tiempo 10 veces
mayor que el cero del compensador de adelanto, por tanto,

7 = 107 = 1.07 SWRV

L


'HEHDMXVWDUVHODJDQDQFLDSDUDTXHODIUHFXHQFLDGHFUXFHGHJDQDQFLDVHDGH
UDGV3RUWDQWR

1 + 7V 1 + 7 V 900 1
. L
= 1 ⇒ . = 10.3 SWR
1 + α7V 7 V V + 42 V + 900 V =20
2
L V M
• /DHFXDFLyQGHOFRQWURODGRUVHUiSRUWDQWR

1 + 0.107 V 1 + 1.07 V 1 + 0.107 V 1 + 1.07 V
*F = 10.3 = 9.62
1 + 0.0233 V 1.07 V 1 + 0.0233 V V

• Aunque no se pedía, se muestra el diagrama de Bode del PLL en lazo abierto, y con el
controlador en lazo abierto y en lazo cerrado.

Bode Diagram
40

Planta controlada en lazo cerrado

30
Planta controlada en lazo abierto
Planta sin controlar en lazo abierto
20

10

) 0
B
d(
e -10
d
ut
i
n -20
g
a
M
-30

-40

-50

-60

-45

-90

)
g
e
d( -135
e
s
a
h
P
-180

Planta controlada en lazo cerrado

-225
Planta controlada en lazo abierto
Planta sin controlar en lazo abierto

-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)