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INFORME #04:
Diagrama de bloque:
ω'0 ω'
φ P (ω '0)=−900 −tan−1 ( )
6
−tan −1 0
18 ( )
ω '0 ω'
φ T ( ω '0) =φP ( ω'0 ) ⟹−125 0=00 −900−tan −1 ( )
6 ( )
−tan−1 0
18
ω'0 '
−1 ω 0
0
∴−125 =−90 −tan 0 −1
( )
6
−tan ( )
18
ω '0 ω '0
0.7002=
[( ) ( ) ]
6
+
18
⟹ ω'0=2.9047
' '
1− [( ) ( )]
ω
6
0
∗
ω
18
0
'
1 ω 10 10
Por diseño se tiene : = 0 ⟹ a= ' = =3.4427
a 10 ω 0 2.9047
2.902 2.902
LP=20∗log10−20∗log2.90−10∗log
[( ) ]
62
+1 −10∗log
182 [( ) ]
+1
LP ( ω'0 ) =LP=9.7117
KP 0.3269
KI = = =0.0949
a 3.4427