Primer punto

1
G ( s )=
s (s+1)(s +2)
1
G ( s )=
s +3 s 2+ 2 s
3

Asumir Ki, Kd= 0

KG (s )
FT ( s )=
1+ H ( s )∗G(s)
K p∗1
s +3 s 2 +2 s
3
FT ( s )=
1
1+ 3 2
s +3 s +2 s
Kp
FT ( s )= 3 2
s +3 s + 2 s+ K p

Utilizar Routh para K cr

3 2
Ec . eq=s +3 s +2 s+ K p

s3 1 2
s2 3 Kp
6−K p
s 0
3
0
s Kp
6−K p
>0
3
K p <6

K p >0

∴ 6> K p >0

w cr
2
3 s + K p=0
3¿
2
−3 w + 6=0
w=√ 2
 2
−3 w + K p=0
K cr =6

2π
T u=Pu= =4.4428
√2
Control P Control PI Control PID
K p =0.5 ( 6 )=3 K p =0.45 ( 6 )=2.7 K p =0.6 ( 6 )=3.6
τ i =0.5 ( 4.4428 ) =2.22 τ i =0 .5 ( 4.4428 )=2.22
τ d=0.125 ( 4.4428 )=0.55

Punto 2

1
G ( s )=
( s +1 )( s+3 )( s+1 )
1
G ( s )= 3 2
s +5 s +7 s+3
Cerrado del lazo

Kc
G ( s )= 3 2
s +5 s +7 s+3+ K c

S=jw

Kc
G ( s )=
jw 3 +5 jw 2 +7 jw +3+ K c

Imaginarios

j w 3+ 7 jw → w u (frecuencia maxima)
Pares

5 j w 2+3+ K c → K u (granciamaxima )

w u (frecuencia maxima)
3
j w + 7 jw=0

jw ( j w 2+ 7 )=0

w=√ 7=±2.64=wu

K u ( grancia maxima)
 2
5 j w +3+ K c =0

5 (−7 ) +3+ k c =0

K c =32

Control PID

Kp Ti Td
K p =¿0.6(32)=19.2 T i=0.5 ( 2.37 )=1.18 2. 37
T d= =0.3
8

Función del controlador

1
Gc ( s )=K p (1+ +T s)
Ti s d

1 9.2
Gc ( s )=19.2+ +0.3∗19.2 s
1.18 s
2
( ) 5.76 s +19.2 s +16.27
Gc s =
s
Error en estado estable

1
G ( s )=
( s +1 )( s+3 )( s+1 )
3
R ( s )=
s
1 1
K p =lim =
s →0 ( s +1 )( s+3 )( s+1 ) 3
R1
e ss =
1+ K p

3
e ss = =2.25
1+0.33