1.

Realizar el proceso de estabilidad de la siguiente función en lazo abierto

1
G ( s )=
s +5 s +32 s + 45 s +4 s + 22 s4 + 16 s 3+ 6 s 2+ 5 s+1 0
9 8 7 6 5

Método de JURY por Ogata

Primer paso discretizamos y ponemos en lazo cerrando (Mediante Matlab)

−12 8 −12 7 −1 1 6 −1 0 5 −10 4 −1 0 3 −1 1 2 −1 3
2.616 e Z +1.243 e Z +3.421 e Z +1.958 e Z +3.291 e Z +1.77 e Z + 2.799 e Z +9.204 e Z +
Z 9−8.343 Z 8 +31.04 Z 7−67.65 Z6 + 95.25 Z 5−89.91 Z 4 + 56.94 Z 3−23.34 Z 2+ 5.623 Z−0. 6065

Primera condición F (1)>0

9 8 7 6 5 4 3 2
F ( 1 )=(1) −8.343(1) +31.04(1) −67.65 (1) −95.25(1) −89.91(1) +56.94( 1) −23.34 (1) +5.623(1)−0.6065

F ( 1 )=1−8.343+31.04−67.65+95.25−89.91+56.94−23.34+5.623−0.6065

F ( 1 )=0.0035 Si cumple lacondicion F( 1)>0

Segunda condición (−1)n F (−1)> 0

n 9 8 7 6 5 4 3
(−1) F (−1 )=(−1) [(−1) ¿ ¿ 9−8.343 (−1 ) + 31.04 (−1 ) −67.65 (−1 ) +95.25 (−1 ) −89.91 (−1 ) +56.94 (−1 ) −23

(−1 )n F (−1 )=377.70 Sicumple la condicion(−1)n F (−1)> 0

Método de Routh

Transformación bilineal

TW
1+
2
z= con un tiempo de T =1
TW
1−
2

(1)W 2+W
1+
2 2 2+W
z= =z= =
(1)W 2−W 2−W
1−
2 2
 ( ) ( ) ( ) ( ) ( ) (
8 7 6 5 4
−12 2+W −12 2+W −11 2+W −10 2+ W −10 2+W −10
2.616 e +1.243 e +3.421 e +1.958 e +3.291 e + 1.77 e
2−W 2−W 2−W 2−W 2−W

( )
+2.799 e−11
2+W 2
2−W ( )
+ 9.204 e−13
2+ W
2−W
+1.754 e−15

( 2−W ) −8.343( 2−W ) +31.04 ( 2−W ) −67.65 ( 2−W ) +95.25( 2−W ) −89.91( 2−W ) + 56.94( 2−W
9 8 7 6 5 4
2+W 2+W 2+W 2+W 2+W 2+W 2+W

−23.34 ( ) +5.623 (
2−W )
2
2+ W 2+W
−0.6065
2−W

En lazo cerrado

1
G ( s )=1+ 9 8 7 4 63 2 5
s +5 s + 32 s + 45 s +4 s +22 s + 16 s + 6 s +5 s+10
9 8 7 6 5 4 3 2
s +5 s +32 s + 45 s +4 s + 22 s +16 s + 6 s + 5 s+ 11
G ( s )= 9 8 7 6 5 4 3 2
s +5 s +32 s + 45 s +4 s + 22 s + 16 s + 6 s + 5 s+10

s9 1 32 4 16 6 10

s8 5 45 22 6 5 0

7
s
6
s
5
s

s4

s3
2
s
1
s

s0