Ecuaciones y formulas de Regulación Automática

Ángel David Borbon Orjuela

10 de noviembre de 2014
 Resumen

La Regulación automática es una rama de la ingeniería que se ocupa del control de un proceso
en un instante determinado y bajo ciertas condiciones de control.
El siguiente documento consta de los diferentes sistemas trabajados en la asignatura de Regu-
lación Automática. Se mostraran las ecuaciones de los sistemas electromecánicos, térmicos e
hidráulicos con base en el libro guía de la asignatura "Modelación y Análisis de Sistemas Diná-
micos por Charles M. Close"
1. SISTEMAS MECÁNICOS TRASLACIONALES
A continuación se enumeran las formulas matemáticas contenidas en el capitulo 2.

1.
p=fv

2.
dw
p=
dt
3. Z t1
w(t ) = w(t 0 ) + p(λ)d λ
t0

4.
d
(M v) = f
dt
5.
dv
M =f
dt
6.
1
wk = M v 2
2
7.
wp = M g h

8.
f = B ∆v

9.
f = K ∆x

10.
1
w p = K (∆X )2
2
11.
X dv
( f ext )i = M
i dt

12.
X dv
( f ext )i − M =0
i dt

13. X
fi = 0
i

14. X
(∆x)i = 0
i

15.
M ẍ + B ẋ + K x = f a (t )

1
16.
M 1 ẍ 1 + B ẋ + (k 1 + k 2 )x 1 − B ẋ 2 − k 2 x 2 = 0

−B ẋ 1 − k 2 x 1 + M 2 ẍ 2 + B ẋ 2 + k 2 x 2 = f a (t )

17.
M 1 ẍ 1 + B ẋ1 + (k 1 + k 2 )x 1 − B ẋ 2 − K 2 x 2 (t ) = 0

18.
f 2 = −B ẋ 1 − k 2 x 1 + M 2 ẍ 2 + B ẋ 2 + K 2 x 2 (t )

19.
M 1 ẍ + (B 1 + B 3 )ẋ + K 1 x − B 2 ż = 0

M 2 ẍ + K 2 x + M 2 z̈ + B 2 ż + K 2 z = f a (t )

20.
M 1 ẍ1 + (B 1 + B 2 + B 3 )ẋ1 + K 1 x 1 − B 2 ẋ2 = 0

21.
M ẍ + B ẋ + K x = F a (t ) + M g

22.
K x0 = M g

23.
x = x0 + z

24.
M z̈ + B ż + K z = f a (t )

25.
M 1 ẍ 1 + K 1 x 1 − B ẋ 2 − (K 2 + K 3 )x 2 = M 1 g + f a (t )

26.
K 1 x 10 − (K 2 + K 3 )x 20 = M 1 g

27.
(M 1 + M 2 )g
x 10 =
K1
(M 2 )g
x 20 =
K2 + K3

28.
M 1 v̇ 1 + B 1 v 1 + k 1 (x 1 − x 2 ) = f a (t )
M 2 v̇ 2 + B 2 v 2 + K 2 v 2 = K 1 (x 1 − x 2 )

29.
M 1 v̇ 1 + B 1 v 1 + K 1 (x 1 − x 2 ) = f a (t )

M 2 v̇ 2 + B 2 v̇ 2 + K 2 x 2 + M 2 g = K 1 (x 1 − x 2 )

2
 30.
M ẍ + B ẋ + (K 1 + K 2 )x = f a (t )

31.
K eq = K 1 + K 2

32.
M d¨ + B d˙ + K 1 [d (t ) − d 1 ] + K 2 [d (t ) − d 2 ] = f a (t )

33.
K 1 (d 0 − d 1 ) + K 2 (d 0 − d 2 ) = 0

34.
K 1 d1 + K 2 d2
d0 =
K1 + K2

35.
K eq = K 1 + K 2

36.
B eq = B 1 + B 2

37.
K1K2
K eq =
K1 + K2

38.
B1B2
B eq =
B1 + B2

2. FORMAS PARA SISTEMAS DE MODELOS STANDARD

A continuación se enumeran las formulas matemáticas contenidas en el capitulo 3.

1.
q̇ 1 = a 11 q 1 + a 12 q 2 + a 13 q 3 + b 11u 1 + b 12 u 2
q̇ 2 = a 21 q 1 + a 22 q 2 + a 23 q 3 + b 21u 1 + b 22 u 2
q̇ 3 = a 31 q 1 + a 32 q 2 + a 33 q 3 + b 31u 1 + b 32 u 2

2.
ẏ 1 = c 11 q 1 + c 12 q 2 + c 13 q 3 + d 11u 1 + d 12 u 2
ẏ 2 = c 21 q 1 + c 22 q 2 + c 23 q 3 + d 21u 1 + d 22 u 2

3.
ẋ 1 = v 1
1
v̇ 1 = [−(K 1 + K 2 )x 1 − B v 1 + K 2 x 2 + B v 2
M1
ẋ 2 = v 2

1
v̇ 2 = [K 2 x 1 + B v 1 − K 2 x 2 − B v 2 + f a (t )
M2

3
 4.
f k 2 = K 2 (x 2 − x 1 )
mT = M1 v 1 + M2 v 2

5.
1
v̇ 1 = (−K 1 x 1 + K 2 x r + B v R
M1

6.
ẋ 1 = v 1
1
v̇ 1 = (−K 1 x 1 + K 2 x R + B v R
M1
ẋ R = v R
1
vR = [K 1x 1 − K 2 (M 1 + M 2 )x R − B (M 1 + M 2 )v R + M 1 f a (t )
M1 M2

7.
f k2 = K 2 xR
m T = (M 1 + M 2 )v 1 + M 2 v R
= (M 1 + M 2 )v 1 + M 2 v R ]

8.
xR = v 2 − v 1
1
v̇ 1 = [K 2 x R − B v 1 + B v 2
M1
1
v̇ 2 = [−K 2 x R − B v 1 + B v 2 ]
M2

9.
f k2 = K 2 xR
mT = M1 v 1 + M2 v 2

10.
1
v̇ 1 = (K 2 x R + B v R )
M1
ẋ R = v R
1
v̇ R = [−K 2 (M 1 + M 2 )x R − B (M 1 + M 2 )v R + M 1 f a (t )[]
M1 M2

11.
f k2 = K 2 xR
m T = (M 1 + M 2 )v 1 + M 2 v R

12.
ẋ 1 = v 1
1
v̇ 1 = [−(K 1 + K 2 )x 1 − B v 1 + K 2 x 2 + B v 2
M1
ẋ 2 = v 2
1
v̇ 2 = [K 2 x 1 + B v 1 − (K 2 + K 3 )x 2 − B v 2 + f a (t )]
M2

4
13.
M v̇ 1 + B 1 v 1 + K 1 (x 1 − x 2 ) = f a (t )
B 2 ẋ 2 + K 2 x 2 + K 1 (x 2 − x 1 ) = 0

14.
ẋ 1 = v 1
1
v1 = [−K 1 x 1 − B 1 v 1 + K 1 x 2 + f a (t )]
M
1
ẋ 2 = [K 1 x 1 − (K 1 + K 2 )x 2 ]
B2

15.
M v̇ 1 + B 1 v 1 + K 1 (x 1 − x 2 ) = f a (t )
K 2 x 2 + K 1 (x 2 − x 1 ) = 0

16.
K1
µ ¶
x2 = x1
K1 + K2

17.
ẋ 1 = v 1
K1K2
· µ ¶ ¸
1
v̇ 1 = − x 1 − B 1 v 1 + f a (t )
M K1 + K2

18.
ẋ 1 = v 1
1
v̇ 1 = [−(K 1 + K 2 )x 1 − B v 1 + B K̇ 2 x 2 ]
M1

19.
B 1
v̇ 1 − ẋ 2 = [−(K 1 + K 2 )x 1 − B v 1 + K 2 x 2 (t )]
M1 M1

20.
B
q = v1 − x 2 (t )
M1

21.
B
v1 = q + x 2 (t )
M1

22.
B
ẋ 1 = q +
x 2 (t )
M1
B2
· µ ¶ ¸
1
q̇ = −(K 1 + K 2 )x 1 − B q + k 2 − x 2 (t )
M1 M1

23.
ẋ 1 = v 1
1
v̇ 1 = [−K 1 x 1 − B 1V1 + K 1 x 2 + f a (t )]
M1
ẋ 2 = v 2
1
v̇ 2 = [−K 1 x 1 − (K 1 + K 2 )x 2 − B 2 v 2 + M 2 g ]
M2

5
24.
x k1 = x 1 − x 2
f B2 = B 2 v 2

25.
a n y n + ... + a 2 ÿ + a 1 ẏ + a 0 y = b m u m + ... + b 1 u̇ + b 0 u(t )

26.
M ẍ 1 + B 1 ẋ 1 + K 1 x 1 − K 1 x 2 = f a (t )

B 2 ẋ 2 + (K 1 + K 2 )x 2 − K 1 x 1 = 0

27.
...
M B 2 x 2 + (B 1 B 2 + K 1 M + M 2 M )ẍ 1 + (B 2 K 1 + B 1 K 1 + B 1 k 2 )ẋ 2 + K 1 K 2 x 2 = K 1 f a (t )

28.
...
M B 2 x 2 + (B 1 B 2 + K 1 M + K 2 M )ẍ 2 + (B 2 K 1 + B 1 B 1 + B 1 k 2 )ẋ 2 + K 1 K 2 x 2 = K 1 f a (t )

29.
ẏ 1 + 2y 1 + y 2 = 3u (t )
2 ẏ 1 + 5y 1 − 2 ẏ 2 + 2y 2 = 0

30.
(2p 2 + 4p + 1)y 2 = (6p + 15)u(t )

31.
q̇ 1 = a 11 q 1 + a 12 q 2 + ... + a 1n q n + b 11 u 1 + ... + b 1m u m
q̇ 2 = a 21 q 1 + a 22 q 2 + ... + a 2n q n + b 21 u 1 + ... + b 2m u m
.
.
.
q̇ n = a n1 q 1 + a n2 q 2 + ... + a nn q n + b n1 u 1 + ... + b nm u m

32.
ẏ 1 = c 11 q 1 + c 12 q 2 + ... + c 1n q n + d 11 u 1 + ... + d 1m u m
ẏ 2 = c 21 q 1 + c 22 q 2 + ... + c 2n q n + d 21 u 1 + ... + d 2m u m
.
.
.
ẏ p = c p 1 q 1 + c p 2 q 2 + ... + c p n q n + d p1 u 1 + ... + d p m u m

33.
q̇ = Aq + Bu
y = C q + Du

6
 34.
ẋ = v
1
v̇ = [−K x − B v + f a (t )]
M
35.
f k =Kx
v =v
1
aM = [−K x − B v + f a (t )]
M

36.
q̇ 1 = f 1 (q 1 , q 2 ..., q n , u 1 , ..., u m , t )
q̇ 2 = f 2 (q 1 , q 2 ..., q n , u 1 , ..., u m , t )
.
.
.
q̇ n = f n (q 1 , q 2 , ..., q n , u 1 , ..., u m , t )

37.
y 1 = g 1 (q 1 , q 2 , ..., q n , u 1 , u 2 ..., u m , t )
y 2 = g 2 (q 1 , q 2 , ..., q n , u 1 , u 2 ..., u m , t )
.
.
.
y p = g p (q 1 , q 2 , ..., q n , u 1 , u 2 ..., u m , t )

38.
q̇ = f (q, u, t )
y = g (q, u, t )

3. SISTEMAS MECÁNICOS ROTACIONALES

A continuación se enumeran las formulas matemáticas contenidas en el capitulo 4 .

1.
p = τω

2.
d
(J ω) = τ
dt
3.
J = J0 + M a2

7
 4.
1 L 2 1
J= M L2 + M ( ) = M L2
12 2 3
5.
1 1 M (d 13 + d 23 )
J = M 1 d 12 + M 2 d 22 =
3 3 3(d 1 + d 2 )

6.
J ω̇ = τ

7.
1 2
ωk = Jω
2
8.
ωp = M g h

9.
τ = B ∆ω

10.
τ = K ∆θ

11.
1
ωp = K (∆θ)2
2
12.
d2
µ¶
x2 = x1
d1

13.
d2
µ¶
v2 = v1
d1

14.
d1
µ¶
f2 = f1
d2

15.
r 2 n2
= =N
r 1 n1

16.
r 1 θ1 = r 2 θ2

17.
θ1 r 2
= =N
θ2 r 1

18.
ω1 r 2
= =N
ω2 r 1

19.
f c r 1 − τ1 = 0

f c r 2 + τ2 = 0

8
20.
τ2 r2
= − = −N
τ1 r1

21.
(τext )i − J ω̇ = 0
X
i

22.
τi = 0
X
i

23. X
(∆θ)i = 0
i

24.
J ω̇ + B ω + K θ = τa (t )

θ̇ = ω

25.
1
ω̇ = [−K θ − B ω + τa (t )]
J
26.
J 1 ω˙1 + B 1 ω1 + K 1 θ 1 − K 2 (θ 2 − θ 1 ) = 0

J 2 ω˙2 + B 2 ω2 + K 2 (θ 2 − θ 1 ) − τa (t ) = 0

27.
θ̇ 1 = ω1

1
ω̇1 = [− (K 1 + K 2 ) θ 1 − B 1 ω1 + K 2 θ 2 ]
J1

θ̇ 2 = ω2

1
ω̇2 = [K 2 θ 1 − K 2 θ 2 − B 2 ω2 + τa (t )]
J2

28.
J 1 θ̈ 1 + B 1 θ̇ 1 + (K 1 + K 2 ) θ 1 − K 2 θ 2 = 0

−K 2 θ 1 + J 2 θ̈ 2 + B 2 θ̇ 2 + K 2 θ 2 = τa (t )

29.
J 1 J 2 θ i2v + (J 1 B 2 + J 2 B 1 ) θ i2i i + (J 1 K 2 + J 2 K 1 + J 2 K 2 + B 1 B 2 ) θ̈ 2
+ (B 1 K 2 + B 2 K 1 + B 2 K 2 ) θ̇ 2 + K 1 K 2 θ 2
= J 1 τ̈a + B 1 τ̇a + (K 1 + K 2 )τa (t )

9
30.
J 1 ω˙1 + B 1 ω1 − K 2 θ R = 0

J 2 ω˙2 + B 2 ω2 + K 2 θ R = τa (t )

31.
θ̇ R = ω2 − ω1

1
ω̇1 = (−B 1 ω1 + K 2 θ R )
J1

1
ω̇2 = [−K 2 θ R − B 2 ω2 + τa (t )]
J2

32.
K 1 θ A − τr = 0

K 2 (θ − θ A ) − K 1 θ A = 0

J ω̇ + B ω + K 2 (θ − t het a A ) − τa (t ) = 0

33.
K2
µ ¶
θA = θ
K1 + K2

34.
J ω̇ + B ω + K eq θ = τa (t )

K1K2
µ ¶
K eq =
K1 + K2

35.
θ̇ = ω

1£
ω̇ = −K eq θ − B ω + τa (t )
¤
J
36.
θR = θ A − θ2

37.
θ̇ R = ω A − ω2

38.
J 1 ω̇1 + B (ω1 − ω A ) − τa (t ) = 0

B (ω1 − ω A ) − K ( θ A − θ 2 ) = 0

J 2 ω̇2 − K ( θ A − t het a 2 ) + τL (t ) = 0

10
39.
J 1 ω̇1 + B (ω1 − ω A ) − τa (t ) = 0

B (ω1 − ω A ) = K θ R

J 2 ω̇2 − K θ R + τL (t ) = 0

40.
J 1 ω̇1 + K θ R − τa (t ) = 0

J 2 ω̇2 − K θ R + τL (t ) = 0

41.
K
ω A = ω1 − θR
B
42.
K
θ̇ R = − θ R + ω1 − ω2
B

1
ω̇1 = [−K θ R + τa (t )]
J1

1
ω̇2 = [−K θ R + τL (t )]
J2
43.
K K K
µ ¶
... 1 1 1 1
ω 2 + ω̈2 + K + ω̇2 = τa (t ) − τ̈ − K τ̇L − τL (t )
B J1 J2 J1 J2 J2 L B J2 J1 J2

44.
M v̇ 1 + B v 1 + K 1 (x 1 + x 2 ) = 0

45.
d1
¶ µ
x3 = x2
d2
46.
K 2 [x 4 (t ) − x 3 ] d 1 − K 1 (x 1 + x 2 ) d 2 = 0

47. ³ ´
d1
d2 K 2 x 4 (t ) − K 1 x 1
x2 = ³ ´2
K 1 + dd 12 K 2

48.
ẋ 1 = v 1

d2
· ¸
1
v̇ 1 = − B v 1 + α K 1 x 1 + α( K 1 x 4 (t )
M d1
49.
1
α=
d2 2
³ ´
K1
1+ K2 d1

11
50.
f r = K 2 [x 4 (t ) − x 3 ] + K 1 (x 1 + x 2 )

51.
M L 2 θ̈ + B θ̇ + M g L sin θ = τa (t )

52.
θ̇ = ω

1 £
ω̇ = −M g L sin θ − B ω + τa (t )
¤
ML 2

53.
J ω̇ + B ω + K θ − r 2 f c = 0

r 1 f c = τa (t )

54.
θ̇ = ω

1
ω̇ = [−K θ − B ω + N τa (t )]
J
55.
J 1 ω̇1 + B 1 ω1 + K 1 θ 1 + r 1 f c = τa1 (t )

J 2 ω̇2 + B 2 ω2 + K 2 θ 2 − r 2 f c = τa2 (t )

56.
θ1 = N θ2

ω1 = N ω2

57.
(J 2 +N 2 J 1 )ω̇2 + (B 2 + N 2 B 1 )ω2 + (K 2 + N 2 K 1 )θ 2 − N τa1 (t ) − τa2 (t ) = 0

58.
J 2eq = J 2 + N 2 J 1

B 2eq = B 2 + N 2 B 1

K 2eq = K 2 + N 2 K 1

59.
J 2eq ω̇2 + B 2eq ω2 + K 2eq θ 2 − τa1 (t ) − τa2 (t ) = 0

12
60.
θ̇ 2 = ω2

1 £
ω̇2 = −K 2eq θ 2 − B 2eq ω2 + N τa1 (t ) + τa2 (t )
¤
J 2eq

61.
J ω̇ + B 1 ω + K (θ − θ A ) − τa (t ) = 0

R f c − K (θ − θ A ) = 0

M v̇ + B 2 v − f c = 0

62.
Rθ A = x

63.
θ̇ = ω

K
· ¸
1
ω̇ = −K θ − B 1 ω + x + τa (t )
J R

ẋ = v

1 K K
· ¸
v̇ = θ − 2 x − B2 v
M R R

64.
f 2 = K 2 (x − Rθ)

65.
J ω̇ + B ω + K 1 θ − RK 2 (x − Rθ) = 0

M v̇ + K 2 (x − Rθ) = f a (t ) + M g

66.
θ̇ = ω

1£ ¡
ω̇ = − K1 + K2R 2 θ − B ω + K2Rx
¢ ¤
J

ẋ = v

1 £ ¤
v̇ = K 2 Rθ − K 2 x + f a (t ) + M g
M

13
 67.
K 1 θ 0 = RK 2 (x 0 − Rθ 0 )

K 2 (x 0 − Rθ 0 ) = M g

68.
RMg
θ0 =
K1

M g R2M g
x0 = +
K2 K1

69.
θ = θ0 + ∅

x = x0 + z

70.
∅= ω

1£ ¡
ω̇ = − K1 + K2R 2 ∅ − B ω + K2Rz
¢ ¤
J

ż = v

1 £ ¤
v̇ = K 2 R ∅ − K 2 z + f a (t )
M
71.
f 2 = K 2 ( x 0 − Rθ 0 ) + K 2 (z − R ∅)

4. SISTEMAS ELÉCTRICOS
A continuación se enumeran las formulas matemáticas contenidas en el capitulo 6.

1.
dq
i˙ =
dt
2. Z t
q (t ) = q (t 0 ) + i (λ) d λ
t0

3.
p = ei

4.
e = Ri

5.
1
i˙ = e
R

14
 6.
q = Ce

7.
de
i˙ = C
dt
8.
1
Z t
e (t ) = e (t 0 ) + i (λ) d λ
C t0

9.
di
e =L
dt
10.
1
Z t
i (t ) = i (t 0 ) + e (λ) d λ
L t0

11. X
ej =0
j

12. X
ij =0
j

13.
e L + e R + eC − e i (t ) = 0

14.
e = Ri

1
Z t
eC = eC (0) + i (λ) d λ
C 0

15.
di
eL = L
dt
16.
di 1
Z t
L + Ri + i (λ) d λ = e i (t ) − eC (0)i C + i R + i L − i i (t ) = 0 (1)
dt C 0

17.
1
iR = eo
R
18.
i C = C ė o

1
Z t
i L = i L (0) + e o (λ) d λ
L 0

19.
1 1
Z t
C ė o + eo + e o (λ) d λ = i i (t ) − i L (0)
R L 0

15
20.
e A − e i (t ) e A − eo
+C 1 ė A + =0
R1 R2

eo − e A 1
Z t eo
+ i L (0) + e o (λ) d λ +C ė o + =0
R2 L 0 2 R3
21. µ ¶
1 1 1 1
C 1 ė A + + e A − eo = e i (t )
R1 R2 R2 R1
µ ¶
1 1 1 1
− ė A +C 2 ë o + + ė o + e o = 0
R2 R2 R3 L
22.
...
16 e o + 19ë o + 10ė o + 8e o + ė i

23.
iC + i R2 + i 2 = 0

24.
iC + i R2 + i R3 + i R1 + i L = 0

25.
1
i R1 = [e o + e 2 (t ) − e 1 (t )]
R1

1
i R2 = eo
R2

1
i R3 = [e o + e 2 (t )]
R3

i C = C ė o

1
Z t
i L = i L (0) + (e o + e 2 − e 1 )d λ
L 0

26. µ ¶
1 1 1 1
C ë o + + + ė o + e o
R1 R2 R3 L
µ ¶
1 1 1 1
= ė 1 − + ė 2 + [e 1 (t ) − e 2 (t )]
R1 R1 R3 L
27.
1 1 3
C (ė A − ė o ) + (e A − e o ) + e A + [e A − e i (t )] = 0
3 4 4

1 1
C (ė o − ė A ) + (e o − e A ) + e o = 0
3 2
28.
e = (R 1 + R 2 ) i

29.
R eq = R 1 + R 2

16
30.
R1
µ ¶
e1 = e
R1 + R2

R2
µ ¶
e2 = e
R1 + R2

31.
e 1 R1
=
e 2 R2

32. µ ¶
1 1
i= + e
R1 R2

33.
R1 R2
µ ¶
R eq =
R1 + R2

34.
R2
µ ¶
i1 = i
R1 + R2

R1
µ ¶
i2 = i
R1 + R2

35.
1
ėC = iC
C

d iL 1
= eL
dt L
36.
d iL 1
= eC
dt L
37.
1
iC + eC + i L − i i (t ) = 0
R
38.
1
i C = −i L − eC + i i (t )
R
39. · ¸
1 1
ėC = −i L − eC + i i (t )
C R

40.
e o = eC

41.
1 1
iC1 = [e i (t ) − e A ] − (e A − e B )
R1 R2

42.
1 1
iC2 = (e A − e B ) − i L − e B
R2 R3

17
43.
d iL 1
= eB
dt L
· µ ¶ ¸
1 1 1 1 1
ė A = − + e A + e B + e i (t )
C1 R1 R2 R2 R1
· µ ¶ ¸
1 1 1 1
ė B = −i L + e A − + eB
C2 R2 R2 R3

44.
1
i1 = [e i (t ) − e A ]
R1

45.
2e o + i L − i C = 0

[e o + e c − e i (t )] + 2 (e o + e c ) + i C = 0

46.
1
eo = [−i L − 3e c + e i (t )]
5

1
ic = [3i L − 6e c + 2e i (t )]
5
47.
1
eL = eo − eD = [−2i L − 3e c + e i (t )]
5
48.
1
ėC = [3i L − 6eC + 2e i (t )]
10

d iL 2
= [−2i L − 3eC + e i (t )]
dt 5

1
eo = [−i L − 3e c + e i (t )]
5
49.
e A + e B − e i (t ) = 0

50.
1
ė A = ic
C1 1

51.
1 1
C 2 (ė A − ė i ) + [e A − e i (t )] + e A + i c1 = 0
R2 R1

52. µ ¶· µ ¶ ¸
1 1 1 1
ė A = − + e A +C 2 ė 1 + e i (t )
C 1 +C 2 R1 R2 R2

18
 53.
d C2
· µ ¶ ¸
= eA − e i (t )
dt C 1 +C 2

µ ¶· µ ¶ ¸
1 1 1 1
− + e A + e i (t )
C 1 +C 2 R1 R2 R2
54.
C2
µ ¶
x = eA − e i (t )
C 1 +C 2
55.
C2
µ ¶
eA = x + e i (t )
C 1 +C 2
56.
C2
µ ¶½ µ ¶ · µ ¶µ ¶¸ ¾
1 1 1 1 1 1
ẋ = − + x+ − + e i (t )
C 1 +C 2 R1 R2 R2 R 1 R 2 C 1 +C 2
57.
e o = eC 1 − eC 2

58.
1 1 £ ¤
iC 1 + iC 2 + eC 1 + eC 1 − e i (t ) = 0
R2 R1
59.
1 1 1 1 1
iC 2 = l e f t ( − − eC − eC + e i (t )
R3 R1 R2 1 R3 2 R1

5. SOLUCIÓN ANALÍTICA DE MODELOS LINEALIZADOS

A continuación se enumeran las formulas matemáticas contenidas en el capitulo 6.

1.
a n y n + ... + a 2 ÿ + a 1 ẏ + a 0 y = b m
m
+ ... + b 1 u̇ + b 0 u(t )

2.
F (t ) = b m u m + ... + b 1 u̇ + b 0 u(t )

3.
a n y n + ... + a 2 ÿ + a 1 ẏ + a 0 y = F (T )

4.
n
an y H + ... + a 2 ÿ H + a 1 ẏ H + a 0 y H = F (t )

5.
a n r n + ... + a 2 r 2 + a 1 r + a 0 = 0

6.
y H (t ) = K 1 ²r 1t + K 2 ²r 2t + ... + K n ²r nt

7.
y H (t ) = ²(K 3 cos βT + K 4 sin βt )

19
 8.
y H (t ) = K ²∞t cos(βt + ∅)

9.
y(t ) = y H (t ) + y P (T )

10.
a n y Pn + ... + a 2 ÿ p + a 1 ẏ P + a 0 y P = F (t )

11.
1
ẏ + y = F (t )
τ
12.
−t
y H (t ) = K ² τ

13.
−t
y(t ) = y ss + K ² τ

14.
−t
y(t ) = y ss + [y(0) − y ss ]² τ

15.
B
τ=
K
16.
B
τ=
K
17.
J
τ=
B1 + B2

18.
AB 1 −t
ω1 = (1 − ² τ )
B1 + B2

19.
−t
y(t ) = y ss + [y(0+) − y ss ]² τ

20.
1 1
C (ė 0 − ė i ) + [e 0 − e i (t )] + e 0 = 0
R1 R2

21. µ ¶
1 1 1
C ė 0 + + e 0 = C ė i + e i (t )
R1 R2 R1

22.
R 1 R 2C
τ=
R1 + R2

R2
(e o )ss = A
R1 + R2

23.
R2 A −t
e 0 (t ) = +K² τ P ar at > 0
R1 + R2

20
 24.
K = e 0 (0+) − (e 0 )ss

25.
e i (t ) − eC (t ) − e 0 (t ) = 0

26.
e 0 (0+) = e i (0+) − eC (0+) = A

27.
2 1 1
ė 0 + e 0 = ė i + e i (t )
3 2 6C
28.
−t
ė 0 (t ) = K ² 2C

29.

0 par a t ≤ t 1


(
U (t − t 1 ) = 0 par a t ≤ t 1
1 par a f (t )U (t − t 1 ) = f 1 (t ) = AU (t ) − AU (t − t 1 )


f (t ) par a t > t 1

32.
31.
30.
1
ẏ + y = u(t )
τ
33. ( −t
Aτ(1 − ² τ ) par a 0 ≤ t ≤ t1
y(t ) = −t −t
Aτ(² τ − 1)² τ par a t > t1

34.
−t
y(t ) ' At 1 ² τ par at > t 1

35.
d −t
[At 1 yu(t )] = At 1 ² τ
dt
36.
d
δ(t ) = U (t )
dt
37.
δ(T ) = 0 P ar a t 6= 0

Z ²
δ(t )d t = 1 P ar a ² > 0
−²

38. Z b
f (t )δ(t )d t = f (0) P ar a a > 0, b > 0
−a

39. Z c
f (t )δ(t − t a )d t = f (t a ) P ar a b < t < c
b

40.
d
Aδ(t − t 0 ) = [AU (t − t a )]
dt

21
41.
d
h(t ) = yU (t )
dt
42.
1 −βt
yU (t ) = (1 − ² ) P ar at > 0
B M
43.
1 −βt
h(t ) = ² M ) P ar at > 0
M
44.
ÿ + a 1 ẏ + a 0 y = F (t )

45.
y H (t ) = K 1 ²r 1 t + K 2 ²r2 t

46.
y H (t ) = K 1 ²r 1 t + K 2 t ²r1 t

47.
y H (t ) = K ²∞T cos(βt + ∅)

48.
a 1 v̇ 1 + a 0 v̇ 2 + bv 2 = f 1 (t )

−cv 1 + d 1 v̇ 2 + d 0 v 2 = f 2 (t )

49.
ÿ + 2ζn ẏ + ω2n y = F (t )

50.
r 2 + 2ζωn r + ω2n = 0

51. q
y H (t ) = K ²ζωn t cos(ωn 1 − ζ2 t + ∅)

52.
Θ = cos−1 ζ

53.
ÿ + 2ζωn ẏ = ω2n u(t )

54.
2
ζ= p
2 MK
55.
B
ζ= p
JK

56. r
R C
ζ=
2 L

22
57. s
1 L
ζ=
2R C

58.
B g 1
θ̈ + θ̇ + sin θ = τ A (T )
M L2 L M L2
59.
B g 1
θ̈ + 2
θ̇ + θ = τa (t )
ML L M L2
60.
B g 1
¨+
∅ 2
˙ − ∅=
∅ τa (t )
ML L M L2
61.
r 3 + a2 r 2 + a1 r + a0 = 0

62.
q̇ = Aq + Bu

y = C q + Du

63.
q̇ = Aq
y =Cq

64.
q(t ) = ² At q(0)

65.
1 2 2 1 3 3
² At = 1 + At + A t + A t + ...
2! 3!
66.
² A t = α0 I + α1 A + α2 A 2 + ... + αn−1 A n−1

67.
|sI − A| = 0

68.
²st = α0 + α1 s + α2 s 2 + ... + αn−1 s n−1

69.
²s1t = α0 + α1 s 1 + α2 s 12 + ... + αn−1 s 1n−1

²s2t = α0 + α1 s 2 + α2 s 22 + ... + αn−1 s 2n−1

²snt = α0 + α1 s n + α2 s n2 + ... + αn−1 s nn−1

70. µ ¶
s −1
|sI − A| =
6 s +1

23
71.
² At = α0 I + α1 A

72.
α0 = 3²−2t − 2²−3t

α1 = ²−2t − ²−3t

73.
2²−2t − 2²−3t ²−2t − ²−3t
µ ¶
At
² =
−6²−2t + 6²−3t −2²−2t + 3²−3t

74.
α0 − α1 α1
µ ¶
At
² =
−α1 α0 − 3α1

75.
q(t ) = ∅(t )q(0)

76. µ ¶
0 1
q̇ = q
−6 −5

µ ¶
2 −1
y= q
0 1

77.
y 1 = [12q 1 (0) + 4q 2 (0)]²−2t − [10q 1 (0) + 5q 2 (0)]²−3t

78.
y 2 = [6q 1 (0) + 2q 2 (0)]²−2t − [6q 1 (0) + 3q 2 (0)]²−3t

79.
q(t ) = ∅(T )q(0)

80.
∅(0) = 1

81.
q(t ) = ∅(t − t 0 )q(t 0 )

82.
∅(t 2 − t 1 )∅(t 1 − t 0 ) = ∅(t 2 − t 0 )

83.
∅−1 (t ) = ∅(−t )

84.
∅(1)∅(1) = ∅(2)

85. Z t
at
q(t ) = ² q(0) + ²a(t −λ) bu(λ)d δ
0

24
86.
q̇ = Aq + Bu
y = C q + Du

87. Z t
q(t ) = ∅(t )q(0) + ∅(t − λ)Bu(λ)d λ)
o

6. TRANSFORMADA DE LAPLACE

A continuación se enumeran las formulas matemáticas contenidas en el capitulo 7.

valor

1. Z ∞
F (s) = f (t ) ∈ −st d t
0

2. Z ∞
L [U (t )] = ∈ −st d t
0

t →∞
∈ −st ?
t =0
=
−s
3.
1
L [U (t )] =
S
4.
1
L [1] =
S
5.
1
L ∈ −at =
£ ¤
S+a
6. Z ∞
L(t ) = t ∈ −st d t
0

7.
b b
b
Z Z
ud v = uv? − vd u
a a a

8.
t ∈ −st ∞ 1 ∞
Z
L [t ] = ? − ∈ −st d t
(−s) 0 (−s) 0

9.
lı́m t ∈ −st = 0
t →∞

10. ∞
1
Z
L [t ] = 0 − 0 + ∈ −st d t
s 0

11.
1
L [t ] =
s2

25
12. Z L Z ∞
F (s) = ∈ −st d t + 0 ∈ −st d t
0 L

1 L
= ∈ −st ? +0
(−s) 0

1
= (1 − ∈ −sL )
s
13. Z ∞
δ(t ) ∈ −st d t = ∈ −st ? =1
0 t = 0+

L [δ(t )] = 1

14. Z ∞
L [sin ωt ] = sin ωt ∈ −st d t
0

∈ −st ∞
= (−ssi nωt − ω cos ωt ?
(−s) + ω22 0

ω
=
s 2 + ω2
15.
s
L [cos ωt ] =
s 2 + ω2
16. Z ∞
L [(t )] = (t )∈ −st d t
0

Z ∞
=a (t )∈ −st d t
0

= aF (s)

17. Z ∞£
f (t ) + g (t ) ∈ −st d t
£ ¤ ¤
L (t ) + g (t ) =
0

Z ∞
= i nt 0∞ f (t ) ∈ −st
dt + (t )∈ −st d t
0

= F (s) +G(s)

18.
£ ¤
L (t ) + bg (t ) = aF (s) + bG(s)

26
19. Z ∞
L (t ) ∈ −at = f (t ) ∈ −at ∈ −st d t
£ ¤
0

Z ∞
= f (t ) ∈ −(s+a)t d t
0

= F (s + a)

20.
d
L [(t )] = − F (s)
ds
21.
d d
·Z ∞ ¸
−st
F (s) = f (t ) ∈ dt
ds ds 0

Z ∞
=− t f (t ) ∈ −st d t
0

= L [(t )]

22.
n!
L t n = n+1
£ ¤
s
23. Z ∞ µd f ¶
∈ −st d t
£ ¤
L f =
0 dt
24. Z ∞
f (t ) ∈ −st d t
£ ¤ £ ¤
L f = 0 − f (0) + s
0

25.
£ ¤ ³ ω ´ sω
= sF (s) − f (0)L f = s −0 = 2
s 2 + ω2 s + ω2
26.
f (t ) = [cos ωt ]U (t )

½
0 par a t ≤ 0
=
cos ωt par a t > 0

27.
F (s) =
s
s 2 +ω2

28.
s2
µ ¶
£ ¤
L f = s −0
s 2 + ω2

s2
=
s 2 + ω2
29. ½
0 par a t ≤ 0
f˙ =
δ (t ) − ω sin ωt par a t > 0

27
30.
L ġ = sG (s) − g (0)L f¨ = sL f˙(t ) − f˙(0)
£ ¤ £ ¤ £ ¤

= s sF (s) − f (0) − f˙(0) = s 2 F (s) − s f (0) − f˙(0)

£ ¤

31.
f˙ = [ω cos ωt ]U (t )

f¨ = ω δ (t ) − ω2 sin ωt U (t )
£ ¤

32.

dn f
· ¸ ·Z t ¸ ·µ −st ¶ Z t ¸ Z ∞ µ −st ¶
n n−1 (n−1) ∈ t →∞ ∈
L = s F (s)−s f (0)−· · · − f (0)L f (λ) d λ = f (λ) d λ ? − f (t ) d t
dtn 0 −s 0 t =0 0 −s

1
Z ∞
= [0 − 0] + f (t ) ∈ −st d t
s 0

1
= F (s)
s
33.
g (0) f (s)
G (s) = +
s s
34.
N (s) bm s m + · · · + b0
F (s) = = n
D(s) s + a n−1 s n−1 + · · · + a 0

35.
D (s) = (s − s 1 )(s − s 2 ) · · · (s − s n )

36.
A1 A2 An
F (s) = + +··· +
s − s1 s − s2 s − sn

37.
n
X
µ
1
¶
F (s) = Ai
i =1 s − si

38.
f (t ) = A 1 ∈ s1 t + A 2 ∈ s2 t + · · · + A n ∈ sn t

n
A i ∈ si t
X
=
i =1

39.
A 1 = (s − s 1 ) F (s)?
s = s1

40.
A i = (s − s 1 ) F (s)? i = 1, 2, ?n
s = s1

28
41.
A 11 A 12 A3 An
F (s) = 2
+ + +··· +
(s − s 1 ) s − s1 s − s3 s − sn

42.
f (t ) = A 11 t ∈ s1 t + A 12 ∈ s1 t + A 3 ∈ s3 t + · · · + A n ∈ sn t

43.
(s − s 1 )2 (s − s 1 )2
(s − s 1 )2 F (s) = A 11 + A 12 (s − s 1 ) + A 3 + · · · + An
(s − s 3 ) (s − s n )

44.
A 11 = (s − s 1 )2 F (s)?
s = s1

45.
d £
(s − s 1 )2 F (s) = A 12 + (s − s 1 )G(s)
¤
ds
46.
d £
½ ¾
(s − s 1 )2 F (s) ?
¤
A 12 =
ds s = s1

47.
A 11 A 12 A 13 A4 An
F (s) = 3
+ 2
+ + +··· +
(s − s 1 ) (s − s 1 ) s − s1 s − s4 s − sn

48.
A 11 = (s − s 1 )3 F (s)?
s = s1

d £
½ ¾
3
¤
A 12 = (s − s 1 ) F (s) ?
ds s = s1

1 d2 £
½ ¾
3
¤
A 13 = (s − s 1 ) F (s) ?
2! d s 2 s = s1

49. µ ¶
1
f (t ) = A 11 t 2 + A 12 t + A 13 ∈ s1 t + A 4 ∈ s4 t + · · · + A n ∈ sn t
2!

50.
B s +C
F (s) =
(s + a − j ω)(s + a + j ω)

51.
K1 K2
F (s) = +
s +a − jω s +a + jω

52.
K 1 = (s + a − j ω) F (s)?
s = −a + j ω

K 2 = (s + a + j ω) F (s)?
s = −a − j ω

53.
K ∈ −j∅ K ∈ −j∅
F (s) = +
s +a − jω s +a + jω

29
54.
f (t ) = 2K ∈ −at cos(ωt + ∅) P ar a t > 0

55.
B s +C
F (s) =
(s + a)2 + ω2
56.
C − aB
µ ¶
F (t ) = B ∈ −at cos ωt + ∈ −at sin ωt
ω

57. p
f (t ) = 2 5∈ −t cos (2t − 0,4636) P ar a t > 0´è

58.
∗
K
A 11 A 12 K1 1
F (s) = 2
+ + +
s s s +1− j2 s +1+ j2

59. p
f (t ) = −t + 2 + 2 2∈ −t cos (2t − 2,356) P ar a t > 0

60.
f (t ) = −t + 2 − 2∈ −t cos 2t +2∈ −t sin 2t P ar a t > 0

61.
F (s) = A + F´è (s)

62.
f (t ) = Aδ (t ) + L −1 F´è (s)
£ ¤

63. · ¸
1 4 4 4
s +1+ E o (s) − E A (s) = 1 +
4 s s s
· ¸
4 4 14
− E o (s) + 1 + E A (s) =
s s s

64.
A1 A2 A3
E o (s) = + +
s s +4− j4 s +4+ j4

65. ½
0 P ar a t ≤ 0
h (t ) =
t ∈ −2t P ar a t > 0

66.
s 2 X 1 (s) − sx 1 (0) − x 1 (0) + [s X 1 (s) − x 1 (0)] + X 1 (s) − X 2 (s) = F a (s)
£ ¤

[s X 2 (s) − x 2 (0)] + 2X 2 (s) − X 1 (s) = 0

67.
s +2
· ¸
X 1 (s) = 3 F a (s)
s + 3s 2 + 3s + 1

30
68.
s +2 A0 A 11 A 12 A 13
X 1 (s) = 3
= + 3
+ 2
+
s(s + 1) s (s + 1) (s + 1) s +1

s +2
A0 = ? =2
(s + 1)3 s =0

s +2
A 11 = ? = −1
s s = −1

d s +2
· ¸
A 12 = = −2
ds s s = −1

1 d2 s + 2
· ¸
A 13 = = −2
2 d s2 s s = −1

69. µ ¶
1 2
x 1 (t ) = 2 − t + 2t + 2 ∈ −t par a t > 0
2

70. µ ¶
1 2
ẋ 1 = t + t ∈ −t par a t > 0
2
µ ¶
1 2
ẍ 1 = − t + 1 ∈ −t par a t > 0
2

71.
x 1 (0+) = 0

ẋ 1 (0+) = 0

ẍ 1 (0+) = 1

72.
s X 1 (s) − x 1 (0) = V1 (s)

sV 1 (s) − v 1 (0) = −X 1 (s) −V 1 (s) + X 2 (s) + F a (s)

s X 2 (s) − x 2 (0) = X 1 (s) − 2X 2 (s)

73.
s 3 X 1 (s) − s 2 x 1 (0) − s ẋ 1 (0) − ẍ 1 (0) + 3 s 2 X 1 (s) − sx 1 (0) − ẋ 1 (0)
£ ¤ £ ¤

+3 [s X 1 (s) − x 1 (0)] + X 1 (s) = sF a (s) − f a (0) + 2 f a (s)

31
74. Z ∞
f (t − a) ∈ −st d t
£ ¤
L f (t − a)U (t − a) =
a

Z ∞
−sa
=∈ f (t − a) ∈ −s(t −a) d t
a

Z ∞
−sa
=∈ f (λ) ∈ −sλ d λ
0

= ∈ −sa F (s)

75.
f (t ) = AtU (t ) − A (t − L)U (t − L) − ALU (t − L)

76.
A
L [AtU (t )] =
s2
77.
A¡ ¢ AL −sL
F (s) = 2
1 − ∈ −sL − ∈
s s
78.
F (s) = F 1 (s) + F 2 (s) ∈ −sa

79.
f (t ) = f 1 (t ) + f 2 (t − a)U (t − a)

80.
f (0+) = lı́m sF (s)
s→∞

81.
f (∞) = lı́m sF (s)
s→0

82.
s 2 + 2s + 4
F (s) =
s 3 + 3s 2 + 2s
83.
s(s 2 + 2s + 4)
f (0+) = lı́m
s→∞ s 3 + 3s 2 + 2s

s 3 + 2s 2 + 4s
= lı́m
s→∞ s 3 + 3s 2 + 2s

84.
s 2 + 2s + 4
F (s) =
s (s + 1) (s + 2)
85.
s 3 + 2s 2 + 6s + 8
F (s) =
s 3 + 4s

32