Documentos de Académico
Documentos de Profesional
Documentos de Cultura
11
➢ x1 = −200 + RE x1 − 120 x2 − 100 x3
2350
➢ x2 = 100 x1 − 100 x2
104 *( x2 − r )
➢ x3 =
47
11RE
−200 + −120 −100
X1
1
2350 x 0
X2 = 100 −100 0 x2 + 0 r
X3
0 212.8 0 x3 −212.8
x1
y = [0 1 0] x2
x3
También sabemos:
X = Ax + Br
y = Cx + Dr
C = [0 1 0]
Además
FT = C ( sI − A)−1 B + D
Reemplazando los parámetros de la expresión canónica:
−1
11RE
−200 + −120 −100
s 0 0 2350
0
FT = [0 1 0] 0 s 0 − 100 −100 0 0 +0
0 0 s 0 212.8 0 −212.8
Nos piden Analizar para dos casos con RE= 20K y RE=40K
1.1. Analizando para RE=20K:
−5000
➢ x1 = x1 − 120 x2 − 100 x3
47
x2 = 100 x1 − 100 x2
➢
104 *( x2 − r )
➢ x3 =
47
Siendo:
−5000
47 −120 −100
0
A = 100 −100 0 B = 0
0 212.8 0 −212.8
C = [0 1 0]
Reemplazando en la FT obtenemos
−1
−5000
s 0 0 47 −120 −100
0
FT = [0 1 0] 0 s 0 − 100 −100 0 0 +0
0 0 s 0 0 −212.8
212.8
Resolviendo usando el software MATLAB:
−600
➢ x1 = x1 − 120 x2 − 100 x3
47
x2 = 100 x1 − 100 x2
➢
104 *( x2 − r )
➢ x3 =
47
Siendo:
−600
47 −120 −100
0
A = 100 −100 0 B = 0
0 212.8 0 −212.8
C = [0 1 0]
Reemplazando en la FT obtenemos
−1
−600
s 0 0 47 −120 −100
0
FT = [0 1 0] 0 s 0 − 100 −100 0 0 +0
0 0 s 0 0 −212.8
212.8
Se concluye que con Re=20kΩel sistema es controlable y observable, ya que tienen igual rango
completo del sistema igual a 3.
Polos
Gráfica
RE=40k
−12.766 −120 −100 0
𝐴 = [ 100 −100 0 ] 𝐵=[ 0 ]
0 212.766 0 −212.766
𝐶 = [1 0 0] 𝐷=0
Controlabilidad
𝐶𝑜 = [𝐵 𝐴. 𝐵 𝐴2 𝐵]
0 21276.6 −271616.116
𝐶𝑜 = [ 0 0 2127659.6 ] 𝑟𝑎𝑛𝑘 (𝐶𝑜) = 3
−212.766 0 0
Observabilidad
𝐶 0 1 0
𝑂𝑏 = [ 𝐶. 𝐴 ] 𝑂𝑏 = [ 100 −100 0 ] 𝑟𝑎𝑛𝑘 (𝑂𝑏 ) = 3
𝐶. 𝐴2 −11276.6 −2000 −10000
➢ Para 20K
−5000
−120 −100
𝐴 = [ 47 ]
100 −100 0
0 212.8 0
|𝒔𝑰 − 𝑨| = 𝒔𝟑 + 𝟐𝟎𝟔. 𝟑𝟖𝟑 ∗ 𝒔𝟐 + 𝟐𝟐𝟔𝟑𝟖. 𝟑 ∗ 𝒔 + 𝟐𝟏𝟐𝟖𝟎𝟎𝟎
𝑋̇ = 𝐴̅𝑥 + 𝐵̅𝑢
𝑦 = 𝐶̅ 𝑥 + 𝐷
̅𝑢
0 1 0 0
𝐴̅ = [ 0 0 1 ] ̅
𝐵 = [ 0]
−2128000 −22638.3 −206.383 1
❖ CODIGO MATLAB
%RE=20K;
A=[0 1 0;0 0 1;-2128000 -22638.3 -206.383];
B=[0;0;1];
C=[0 1 0];
D=0;
[num,den]=ss2tf(A,B,C,D)
num = 1×4
0 0 1 0
den = 1×4
106 ×
t=0:0.01:1;
[y,x,t]=step(num,den,t);
plot(t,y)
grid
title("SISTEMA CANONICA CONTROLABLE")
➢ Para 40K
−600
−120 −100
𝐴 = [ 47 ]
100 −100 0
0 212.8 0
𝑋̇ = 𝐴̅𝑥 + 𝐵̅𝑢
𝑦 = 𝐶̅ 𝑥 + 𝐷
̅𝑢
0 1 0 0
𝐴̅ = [ 0 0 1 ] 𝐵̅ = [0]
−2128000 −13276.6 −112.766 1
❖ CODIGO MATLAB
%RE=40K;
A=[0 1 0;0 0 1;-2128000 -13275.6 -112.766];
B=[0;0;1];
C=[0 1 0];
D=0;
[num,den]=ss2tf(A,B,C,D)
num = 1×4
0 0 1 0
den = 1×4
106 ×
t=0:0.01:1;
[y,x,t]=step(num,den,t);
plot(t,y)
grid
title("SISTEMA CANONICA CONTROLABLE")
➢ Para 20K
−5000
−120 −100
𝐴 = [ 47 ]
100 −100 0
0 212.8 0
|𝒔𝑰 − 𝑨| = 𝒔𝟑 + 𝟐𝟎𝟔. 𝟑𝟖𝟑 ∗ 𝒔𝟐 + 𝟐𝟐𝟔𝟑𝟖. 𝟑 ∗ 𝒔 + 𝟐𝟏𝟐𝟖𝟎𝟎𝟎
𝑋̇ = 𝐴̅𝑥 + 𝐵̅𝑢
𝑦 = 𝐶̅ 𝑥 + 𝐷
̅𝑢
0 0 −2128000
𝐴̅ = [1 0 −22638.3 ] 𝐶̅ = [𝟎 𝟎 𝟏]
0 1 −206.383
❖ CODIGO MATLAB
%RE=20K;
A=[0 0 -2128000;1 0 -22638.3;0 1 -206.383];
B=[0;0;1];
C=[0 1 0];
D=0;
[num,den]=ss2tf(A,B,C,D)
num = 1×4
106 ×
0 0 -0.0226 -2.1280
den = 1×4
106 ×
t=0:0.01:1;
[y,x,t]=step(num,den,t);
plot(t,y)
grid
title("SISTEMA CANONICA OBSERVABLE")
➢ Para 40K
−600
−120 −100
𝐴 = [ 47 ]
100 −100 0
0 212.8 0
𝑋̇ = 𝐴̅𝑥 + 𝐵̅𝑢
𝑦 = 𝐶̅ 𝑥 + 𝐷
̅𝑢
0 0 −2128000
𝐴̅ = [1 0 −13276.6 ] 𝐶̅ = [𝟎 𝟎 𝟏]
0 1 −112.766
❖ CODIGO MATLAB
%RE=40K;
A=[0 1 -2128000;1 0 -13276.6;0 1 -112.766];
B=[0;0;1];
C=[0 1 0];
D=0;
[num,den]=ss2tf(A,B,C,D)
num = 1×4
106 ×
0 0 -0.0133 -2.1280
den = 1×4
106 ×
t=0:0.01:1;
[y,x,t]=step(num,den,t);
plot(t,y)
grid
title("SISTEMA CANONICA OBSERVABLE")
➢ Para 20K
−5000
−120 −100
𝐴 = [ 47 ]
100 −100 0
0 212.8 0
|𝑨 − 𝝀𝑰| = −𝝀𝟑 − 𝟐𝟎𝟔. 𝟑𝟖𝟑 ∗ 𝝀𝟐 − 𝟐𝟐𝟔𝟑𝟖. 𝟑 ∗ 𝝀 − 𝟐𝟏𝟐𝟖𝟎𝟎𝟎
𝑋̇ = 𝐴̅𝑥 + 𝐵̅𝑢
𝑦 = 𝐶̅ 𝑥 + 𝐷
̅𝑢
➢ Para 40K
−600
−120 −100
𝐴 = [ 47 ]
100 −100 0
0 212.8 0
𝑋̇ = 𝐴̅𝑥 + 𝐵̅𝑢
𝑦 = 𝐶̅ 𝑥 + 𝐷
̅𝑢