Dado el sistema:

0.5 k ( s +5 )
G ( s )= , T =0.8
s ( s 2+ 3 s+ 6 )
Hallar:
a) evaluar la estabilidad por Yury
0.5 k ( s+5 ) 0.5 k ( s +1.5+3 .5 )
G ( s )= 2
=
s ( ( s +1.5 ) +3.75 ) s ( ( s+ 1.5 )2+ 3.75 )

0.5 k s+1.5 1.936

G ( s )=
(
s ( s+ 1.5 ) +1.936
2 2
+1. 808 ⋅
( s+1.5 )2 +1.9362 )
0.5 k z z 2−z e−1.5 ⋅0.8 cos ( 1.936 ⋅0.8 ) z e−1.5 ⋅ 0.8 sin ( 1.936 ⋅0.8 )
G ( z) =
(
( z−1 ) z 2−2 z e−1.5⋅0.8 cos ( 1.936 ⋅0.8 ) +e−2 ⋅1.5 ⋅ 0.8
+1. 808 ⋅ 2(
z −2 z e
−1.5 ⋅0.8
cos ( 1.936 ⋅ 0.8 )+ e
−2⋅ 1.5 ⋅0.8 ))
2 2
0.5 kz z +0. 551 z 0.5 kz ( z +0. 551 z )
G ( z) = 2 ( = )
( z−1 ) z + 0.013 z +0.091 ( z−1 ) ( z 2−0. 013 z+0.091 )

0.5 k z 3 +0.2755 k z 2
G ( z) =
z 3−1.013 z 2+ 0.104 z −0.091

EC : D ( z ) =z3 ( 1+0.5 k ) + ( 0. 2755 k −1.031 ) z 2 +0.104 z−0.091=0

 |a n|<a0 →|1+ 0.5 k|←0.091 ∴ k ∈ R

filaz0 z1 z2 z3
1 1+0.5 k 0. 2755 k−1.031 −0 . 104 −0.09 1
2 −0.091 −0 .104 0. 2755 k−1.031 1+0.5 k
3 A B C
4 C B A
1+0.5 k −0.09 1
A=|−0.091 1 |
=0.5 k + 0.9917

B=|1+0.5 k |
−0.104 =0.1378 k 2−0.24 k−1.04
−0. 091 0. 2755 k−1.031

1+ 0.5 k 0.2755 k −0. 987

C=| |=−0.0134 k−0.1668
−0.091 −0. 077

 D ( 1 )=1+0.5 k +0. 2755 k −1.031+ 0.104−0.091> 0

0. 7755 k−0.018>0 → k >0.023

 D (−1 )=−( 1+0.5 k )+ 0.2755 k −1.031−0.104−0.091< 0

−2. 226−0.2245 k < 0 →0. 2245 k >−2.226
k >−9.9154
  Comprobando las condiciones de estabilidad:
| A|>|C|
Para k=0.023 :

1.011 z 3−1.025 z2 +0.104 z −0.091=0

z 1=1.0002∴ no es estable para k =0.023

z 2,3=0.0064 ± j0.3

Buscamos el límite inferior:

k D(z) z
0.025 1.012 z 3 −1.024 z2 +0.104 z −0.091 z 1=0.999 , z 2,3=0.0064 ± j 0.3
∴ k >0.0 2 5
b) tipo:

0.5 kz ( z 2 +0.551 z )
G ( z) = → Tipo1
( z−1 ) ( z 2−0.013 z +0.091 )
c) CEE*
k p=∞

k v =lim
z→1
( ( z−1
Tz
)
⋅G ( z ) )

( z−1 ) 0.5 kz ( z 2+ 0.551 z )

k v =lim
z→1 ( ⋅
0.8 z ( z −1 ) ( z 2−0.013 z +0.091 ) )
0.5 kz ( z 2 +0.551 z ) 0.5 k ( 1.551 )
k v =lim
( 2
z → 1 0.8 z ( z −0.013 z +0.091 )
=
)
0.8 ( 1.078 )

k v =0.899 k

k α =0

d) Señales de mando