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Tarea N° 06
Revisado por:
Nota:
𝑠 = −2 + 𝑗4 , 𝑠 = −2 − 𝑗4 , 𝑠 = −10
𝑲 = [0 0 1] ∗ [𝐵 𝐴𝐵 𝐴2 𝐵]−1 ∗ 𝜙(𝐴)
0 1 0 0 1
• 𝐴𝐵 = ( 0 0 1 ) ∗ (1) 𝐴𝐵 = ( 1 )
−1 −5 −6 1 −11
0 1 0 2 0 1
• 𝐴2 𝐵 = ( 0 0 1 ) ∗ (1) 𝐴2 𝐵 = (−11)
−1 −5 −6 1 60
Hallando 𝐶𝐴2 :
Matriz de Observabilidad:
Comprobando Observabilidad:
= [(2*-4*41)+(-9*-16*120)+(2*-16*29)]-[(2*-4*120)+
(-9*-16*41)+(2*-16*29)]
Es completamente observable.
Diseñar un observador de estado de orden completo para ubicar los polos de lazo cerrado:
0 𝐶 −1
𝑲 = [0] ∗ [ 𝐶𝐴 ] 𝜙(𝐴)
1 𝐶𝐴2
𝜙(𝐴) = 𝐴3 + 54𝐴2 + 868𝐴 + 4440
0 1 0 3 0 1 0 2 0 1 0 1 0 0
𝜙(𝐴) = [ 0 0 1 ] + 54 [ 0 0 1 ] + 868 [ 0 0 1 ] + 4440 [0 1 0]
−8 −3 −3 −8 −3 −3 −8 −3 −3 0 0 1
−8 −3 −3 0 0 54 0 868 0 4440 0 0
𝜙(𝐴) = [ 24 1 6 ] + [−432 −162 −162] + [ 0 0 868 ] + [ 0 4440 0 ]
−48 −6 −17 1296 54 324 −6944 −2604 −2604 0 0 4440
4432 865 51
𝜙(𝐴) = [ −408 4279 712 ]
−5696 −2544 2143
𝐶
Hallando [ 𝐶𝐴 ]:
𝐶𝐴2
ENTONCES:
0 𝐶 −1
𝑲 = [0] ∗ [ 𝐶𝐴 ] ∗ 𝜙(𝐴)
1 𝐶𝐴2
0 2 −9 2 −1 4432 865 51
𝑲 = [0] ∗ [−16 −4 −16] ∗ [ −408 4279 712 ]
1 120 29 41 −5696 −2544 2143
0 75/3002 427/12008 1/79 4432 865 51
𝑲 = [0] ∗ [ −2/19 −1/76 0 ] ∗ [ −408 4279 712 ]
1 2/1501 −569/6004 −1/79 −5696 −2544 2143
161 265/3002
𝑲 = [ −280/19 ]
−141 897/1501
3. Considere la planta:
Diseñar un OBSERVADOR para obtener una respuesta transitoria descrita por los
siguientes datos:
𝜉 = 0.4 𝑦 𝜔𝑛 = 75
o Hallando polos dominantes:
𝑠1,2 = −𝜉 ∗ 𝜔𝑛 ± 𝑗 ∗ 𝜔𝑛 ∗ √1 − 𝜉 2
𝑠1,2 = −0.4 ∗ 75 ± 𝑗 ∗ 75 ∗ √1 − 0.42
𝑠1,2 = −30 ± 𝑗(68.73863)
10 veces más lejos:
𝑠3 = −30 ∗ (10) = −300
Usando MATLAB:
Representación de la forma canónica OBSERVABLE:
1 𝑏0 ∗ 𝑠 3 + 𝑏1 ∗ 𝑠 2 + 𝑏2 ∗ 𝑠 + 𝑏3
=
𝑠 3 + 11𝑠 2 + 31𝑠 + 21 𝑠 3 + 𝑎1 ∗ 𝑠 2 + 𝑎2 ∗ 𝑠 + 𝑎3
𝑏0 = 0, 𝑏1 = 0, 𝑏2 = 0, 𝑏3 = 1
𝑎1 = 11, 𝑎2 = 31, 𝑎3 = 21
0 0 −𝑎3 𝑏3 − 𝑎3 ∗ 𝑏0 0 0 −21 1
𝑥̇ = (1 0 −𝑎2 ) 𝑥 + [𝑏2 − 𝑎2 ∗ 𝑏2 ] 𝑢 𝑥̇ = (1 0 −31) 𝑥 + (0) 𝑢
0 1 −𝑎1 𝑏1 − 𝑎1 ∗ 𝑏0 0 1 −11 0
𝑥1
𝑦 = [0 0 1 ] ∗ [ 𝑥2]
𝑥3
Comprobación de observabilidad:
𝐶
𝑀𝑜 = ( 𝐶𝐴 )
𝐶𝐴2
0 0 −21
𝐶𝐴 = (0 0 1) ∗ (1 0 −31) 𝐶𝐴 = (0 1 −11)
0 1 −11
0 0 −21 2
𝐶𝐴2 = (0 0 1) ∗ (1 0 −31) 𝐶𝐴2 = (1 −11 90)
0 1 −11
𝐶 0 0 1
𝑀𝑜 = ( 𝐶𝐴 ) 𝑀𝑜 = (0 1 −11) = −1 ≠ 0 Es completamente observable.
𝐶𝐴2 1 −11 90
0 𝐶 −1
𝑲 = [0] ∗ [ 𝐶𝐴 ] 𝜙(𝐴)
1 𝐶𝐴2
𝜙(𝐴) = 𝐴3 + 360𝐴2 + 23 624.9𝐴 + 1 687 499.775
𝑠3 = −91.817
Hallando ecuación característica deseada:
10 𝑏0 ∗ 𝑠 3 + 𝑏1 ∗ 𝑠 2 + 𝑏2 ∗ 𝑠 + 𝑏3
=
𝑠 3 + 7𝑠 2 + 14𝑠 + 8 𝑠 3 + 𝑎1 ∗ 𝑠 2 + 𝑎2 ∗ 𝑠 + 𝑎3
𝑏0 = 0, 𝑏1 = 0, 𝑏2 = 0, 𝑏3 = 10
𝑎1 = 7, 𝑎2 = 14, 𝑎3 = 8
0 1 0 0 0 1 0 0
𝑥̇ = ( 0 0 1 ) 𝑥 + (0) 𝑢 𝑥̇ = ( 0 0 1 ) 𝑥 + (0) 𝑢
−𝑎3 −𝑎2 −𝑎1 1 −8 −14 −7 1
𝑥1 𝑥1
𝑦 = [𝑏3 − 𝑎3 ∗ 𝑏0 𝑏2 − 𝑎2 ∗ 𝑏0 𝑥
𝑏1 − 𝑎1 ∗ 𝑏0 ] ∗ [ 2 ] 𝑦 = [10 𝑥
0 0] ∗ [ 2 ]
𝑥3 𝑥3
Comprobación de Controlabilidad:
𝑀𝑐 = (𝐵 𝐵𝐴 𝐵𝐴2 )
0 0 1 0 0
𝐵𝐴 = (0) ∗ ( 0 0 1) 𝐵𝐴 = ( 1 )
1 −8 −14 −7 −7
0 0 1 0 2 1
𝐵𝐴2 = (0) ∗ ( 0 0 1) 𝐵𝐴2 = (−7)
1 −8 −14 −7 35
0 0 1
𝑀𝑐 = (0 1 −7) = −1 ≠ 0 Es completamente controlable.
1 −7 35
Usando el método de ACKERMANN:
𝑲 = [0 0 1] ∗ [𝐵 𝐴𝐵 𝐴2 𝐵]−1 ∗ 𝜙(𝐴)
𝜙(𝐴) = 𝐴3 + 110.1805𝐴2 + 1 927.453𝐴 + 22 161.599
0 1 0 3 0 1 0 2 0 1 0
𝜙(𝐴) = ( 0 0 1 ) + 110.1805 ( 0 0 1 ) + 1 927.453 ( 0 0 1)
−8 −14 −7 −8 −14 −7 −8 −14 −7
1 0 0
+ 22 161.599 (0 1 0)
0 0 1
22 153.599 1 913.453 103.1805
𝜙(𝐴) = ( −825.444 20 709.072 1 191.1895 )
−9 529.516 −17 502.097 12 370.7455
5. Diseñar un CONTROLADOR:
0 1 0 0
𝑥̇ = ( 0 1 3 ) 𝑥 + (0) 𝑢 𝑦 = [0 1 1]𝑥
−3 −4 −5 1
𝑠1,2 = −2 ± 𝑗3 𝑠3 = −10
Comprobando controlabilidad:
𝑀𝑐 = (𝐵 𝐵𝐴 𝐵𝐴2 )
0 0 1 0 0
𝐵𝐴 = (0) ∗ ( 0 1 3 ) 𝐵𝐴 = ( 3 )
1 −3 −4 −5 −5
0 0 1 0 2 3
2
𝐵𝐴 = (0) ∗ ( 0 1 3) 𝐵𝐴2 = (−12)
1 −3 −4 −5 13
0 0 3
𝑀𝑐 = (0 3 −12) = −9 ≠ 0 Es completamente controlable.
1 −5 13
Hallando ecuación característica deseada:
𝑲 = [0 0 1] ∗ [𝐵 𝐴𝐵 𝐴2 𝐵]−1 ∗ 𝜙(𝐴)
𝜙(𝐴) = 𝐴3 + 14𝐴2 + 53𝐴 + 130
0 1 0 3 0 1 0 2 0 1 0 1 0 0
𝜙(𝐴) = ( 0 1 3 ) + 13 ( 0 1 3 ) + 53 ( 0 1 3 ) + 130 (0 1 0)
−3 −4 −5 −3 −4 −5 −3 −4 −5 0 0 1
121 55 27
𝜙(𝐴) = (−81 68 30)
−3 −67 8
0 0 3 −1 121 55 27
𝑲 = [0 0 1] ∗ (0 3 −12) ∗ (−81 68 30)
1 −5 13 −3 −67 8
𝑲 = [121/3 55/3 9]
6. . . .
7. Considere el sistema definido por:
−1 1
𝑥̇ = [ ] 𝑦 = [1 0]
1 −2
Definimos matrices:
𝐴11 = [−1] 𝐴12 = [1]
𝐴21 = [1] 𝐴12 = [−2]
𝐵1 = [1] 𝐵2 = [0]
Por lo tanto:
𝐾𝑜 = (3)
10. El sistema de dos tanques:
𝐼(𝑠) (𝑠 + 1)(4)(1)
=
𝑄(𝑠) (𝑠 + 5)(𝑠 + 2)(𝑠 + 3)
𝐼(𝑠) 5𝑠 + 5
= 3
𝑄(𝑠) 𝑠 + 10𝑠 2 + 31𝑠 + 30
𝑏0 ∗ 𝑠 + 𝑏1 ∗ 𝑠 2 + 𝑏2 ∗ 𝑠 + 𝑏3
3
5𝑠 + 5
3 2
= 3
𝑠 + 𝑎1 ∗ 𝑠 + 𝑎2 ∗ 𝑠 + 𝑎3 𝑠 + 10𝑠 2 + 31𝑠 + 30
𝑏0 = 0, 𝑏1 = 0, 𝑏2 = 5, 𝑏3 = 5
𝑎1 = 10, 𝑎2 = 31, 𝑎3 = 30
Determinando OBSERVABILIDAD:
𝐶
𝑀𝑜 = ( 𝐶𝐴 )
𝐶𝐴2
0 0 −30
𝐶𝐴 = (0 )
0 1 ∗ (1 0 −31) 𝐶𝐴 = (0 1 −10)
0 1 −10
0 0 −30 2
2
𝐶𝐴 = (0 0 1) ∗ (1 0 −31) 𝐶𝐴2 = (1 −10 69)
0 1 −10
0 0 1
𝑀𝑜 = (0 1 −10) = −1 ≠ 0 Es completamente observable.
1 −10 69
𝑠1,2 = −4 ± 𝑗4 𝑠3 = −20
𝑲 = [0 0 1] ∗ [𝐵 𝐴𝐵 𝐴2 𝐵]−1 ∗ 𝜙(𝐴)
𝜙(𝐴) = 𝐴3 + 28𝐴2 + 192𝐴 + 640
0 1 0 3 0 1 0 2 0 1 0
𝜙(𝐴) = ( 0 0 1 ) + 28 ( 0 0 1 ) + 192 ( 0 0 1 )+
−30 −31 −10 −30 −31 −10 −30 −31 −10
1 0 0
640 (0 1 0)
0 0 1
610 161 18
𝜙(𝐴) = (−540 52 −19)
570 49 242
𝑲 = [0 0 1] ∗ [𝐵 𝐴𝐵 𝐴2 𝐵]−1 ∗ 𝜙(𝐴)
0 0 1 −1 610 161 18
𝑲 = [0 0 1] ∗ (0 1 −10) ∗ (−540 52 −19)
1 −10 69 570 49 242