EJERCICIO # 1:

HALLAR LA ECUACION
DIFERENCIAL
X (s )
F T 1 ( s) =
R( s)

Y (s)
F T 2 ( s) =
R(s)

Ecuacion diferencial : F m2 + Fβ+ F k 1+ F k 2=r (t)……∴ 1

F m 1=F k 1 → F m1−F x 1=0 …∴ 2

reempazando :
2 2
∂ x(t) ∂ x (t) ∂ y (t )
m2 +β +k 1 [ x ( t )− y (t ) ]+ k 2 x (t )=r (t) m1 + k 1 [ x ( t )− y (t ) ]=0
∂t
2
∂t ∂t
2

Aplicando laplace :

∫ [ m2
∂2 x (t)
∂t
2
+β
∂ x (t)
∂t ❑
]
+ k 1 [ x ( t ) − y (t)] +k 2 x (t) =∫ r (t)

[ ]
2
∂ y (t )
∫ m1
∂t
2
+k 1 [ x ( t )− y (t) ] =0
❑
m2 S X ( t )+ βS X ( t ) + k 1 [ X ( t )−Y (t )] =R(s)………….1
2

m 1 S Y ( t ) +k 1 [ X ( t )−Y (t ) ] =0…………………………2
2

+ X (s ) [ m2 S + βS+k 1 ]−Y (s) [ k 1 ] =R(s)………………..1

2

−X (s) [ k 1 ]−Y (s ) [ m 1 S + k 1 ]=0 …………………………2

2

R (S ) −b
0 d ( R( S )∗d ) −( 0 ) R( S )∗d
X ( S )= = =
a −b ( a∗d )−( c∗b ) ( a∗d )−( c∗b )
−c d

X (S) d
=
R(S) ( a∗d )−c
2
x(S ) (m 1 S + K 1 )
=
R(S ) ( m2 S2 + βS+ K 1+ K 2)( m1 S2 + K 1 )−¿ ¿

a R(S )
−c 0 ( 0 )−( R (S )∗(−c ) ) R(S )∗c
Y ( S )= = =
a −b ( a∗d )− ( c∗b ) ( a∗d )−( c∗b )
−c d

Y (S ) k1
=
R(S ) ( m2 S + βS+ K 1+ K 2)( m1 S2 + K 1 )−¿ ¿
2

EJERCICIO # 2 :
HALLAR LA ECUACION DIFERENCIAL
 V 0 (s)
FT ( s )=
V i ( s)

soluccion :
LKV :V i (t )=V r (t ) +V l (t ) +V c(t )

L ∂ i(t ) 1
V i (t )=R∗i ( t ) + + ∫ i (t)∂ T …………1
∂t c

LKC :V 0(t )=V c (t )

1
c∫
V 0 (t )= i(t) ∂ T ……….2

aplicando laplace:
en la primera ecuacion:

∫ [ V i (t) ]=∫ [ R∗i ( t )+ L

∂ i(t) 1
+ ∫i ∂t
∂ t c (t) ]
1
∗1
c
V i (s)=R∗I (s) + LS I (S) + I
S (S)

[
V i (s)=I (s ) R+ LS+
1
SC ]
V I (S)
I (s )=
[ R+ LS+
1
SC ]

en la segunda ecuacion :
V 0 (t )=V c(t)
 [
∫ V 0(t) =∫ 1c ∫ i (t )∂T ]
1
∗1
c
V 0 (s)= I
s (s)

I (S )=V 0 (S)∗CS

igualando ecuacion 1 en ecuacion 2 I (S )=I (I )

V I(S )
V 0 (S)∗CS=
1
( R+ LS + )
SC

V 0(S ) 1
=
V I (S )
[
CS R+ LS +
1
SS ]

V 0(S ) 1
= 2
V I (S ) CRS + S LC+1

EJERCICIO # 3 :
HALLAR LA ECUACION
DIFERENCIAL

H 2 (s )
FT ( s )=
Q ¿ (s)
 Q2 (s )
FT ( s )=
Q¿ (s)

Volumen del liquido : V (t )= A∗h(t )

∂V (t ) A∗∂ h(t)
=
∂t ∂t

para el tanque numero 1: Aplicando la laplace

∂V 1(t)
Q ¿(t) −Q1(t )= Q¿(s) −Q1(s) =A 1∗S H 1
∂t

A 1∗∂ V 1(t ) Q¿(s)−Q1 (s)

Q¿(t) −Q1(t )= =H 1(s )…………1
∂t A1 S

1 1
Q1(t )= ∗h t Q1(s )= ∗h …………..2
R1 1 R 1 1(s )

Q¿(s)

1
R1

para el tanque numero 2:

∂ V 2(t ) Q1(s) −Q2(s)
Q1−Q2 (t )= =H 2 (s)………3
∂t A2 S
 A2∗∂V 2(t) 1
Q 1(t )−Q2 (t )= Q2(s )= ∗h ……..4
∂t R2 2 (s)

1
Q2(t )= ∗h t
R2 2

EJERCICIO # 4 :

C(s)
FT ( s )=
R(s)
Retroalimentacion
H1 H1
1−H 1∗G3 ( 1−H 1∗G3 )
=
H1 ( 1−H 1∗G3 ) + ( H 1)
1+
1−H 1∗G3 1−H 1∗G3

Serie Paralelo
( 1−H 1 ) ( 1−H 1 G3 ) ( 1−H 2) ( 1−H 1 G 3 ) H 1 G2 + ( 1−H 2 ) ( 1−H 1 G3 )
→ G 2+ →
H1 H1 H1

C(s ) H 1 G1 G2 + ( 1−H 1) ( 1−H 1 G3 )

=
R(S ) 1−H 1 G3 + H 1

EJERCICIO # 5 :

C(s)
FT ( s )=
R(s)
 S+ 1
V (S) S+3 S+1
= =
( )
U(S ) S +1 2 S +3
1+2 2
S +3

Y (S )
=
( 2 S +3 )( S )
S+1 1

1+ (
2 S+3 )( S )
R(S ) S+ 1 1

C(S) S+ 1
=
R(S) S ( 2 S+3 )+ ( S+1 )

C(S) S+ 1
=
R(S) 2
2 S + 4 S+1

EJERCICIO # 6 :
Aplicando superposicion:

C1 (S)
=F T (S )
R(S )

porque T (S )=0

C2 (S)
=F T 2(S )
T (S )

C(S )=R(S)∗F T 1(S) +T (S)∗F T 2 (S) →C 1(S )+ C2 (S)

EJERCICIO # 7 :
Volumen del liquido : V (t )= A∗h(t )

∂V (t ) A∗∂ h(t)
=
∂t ∂t

para el tanque numero 1: Aplicando la laplace

∂V 1(t)
Q ¿(t) −Q1(t )= Q¿(s) −Q1(s) =A 1∗S H 1
∂t

A 1∗∂ V 1(t ) Q¿(s)−Q1 (s)

Q¿(t) −Q1(t )= =H 1(s )…………1
∂t A1 S

1 1
Q1(t )= ∗h t Q1(s )= ∗h …………..2
R1 1 R 1 1(s )
para el tanque numero 2:
∂ V 2(t ) Q1(s) −Q2(s)
Q1−Q2 (t )= =H 2 (s)………3
∂t A2 S

A2∗∂V 2(t) 1
Q1(t )−Q2 (t )= Q2(s )= ∗h ……..4
∂t R2 2 (s)

1
Q2(t )= ∗h t
R2 2

EJERCICIO # 8:
Solución :
Trayectoria: P1=G 1 G 2 G3 → A1 =1−( L1 )
P2=G 1 G 4 → A 2=1−( L1 )
Lazo del sistema:
L1=H 1∗(−1 )=−H 1 L2=G1∗G 2∗G 3∗1∗H 1 (−1 )=−H 1∗G1∗G2∗G3
L3=G1∗G4∗1∗H 1 (−1 ) =−H 1∗G1∗G 4

Ecuacion caracteristico del sistema:

A=1−( L1 + L2+ L3 )+ 0=1−L1−L2−L3

C(S ) P1 A 1∗P2 A 2 C(S) G1 G 2 G 3 ( 1−L1) + G 1 G4 (1−L1)

F T= = =
R(S) A R(S) 1−L1−L2−L3

C(S) G1 G2 G3 ( 1−L1) + G1 G 4 (1−L1)

=
R(S) 1+ H 1 + ( H 1 G1 G2 G3 ) + ¿ ¿

EJERCICIO # 9:
Solución :
Trayectoria: P1=G1 G 2 G3 → A1 =1−( L4 + L5 + L6 )
P2=G1 G4 → A 2=1−( L1 + L2+ L3 )
Lazo del sistema:
L1=H 1∗G 1 → L2 =G2 ¿ H 2 → L3=G3 ¿ H 3
L4 =H 4∗(−G¿¿ 4)→ L5=H 5∗(−G¿¿ 5)→ L6=H 6∗(−G¿ ¿ 6)¿ ¿ ¿

Ecuacion caracteristico del sistema:

A=1−( L1 + L2+ L3+ L 4 + L5+ L6 )

C(S ) P1 A 1∗P2 A 2 C(S) P1 A1∗P2 A2

F T= = =
R(S) A R(S) 1−( L1 + L2 + L3+ L4 + L5 + L6 ) + L1 L4 + L1 L5

C(S) P1 ( 1−( L 4 + L5+ L6 ) ) + P2 ( 1−( L1 + L2 + L3 ) )

=
R(S) 1−( L1 + L2 + L3+ L4 + L5 + L6 ) + L1 L4 + L1 L5

EJERCICIO # 10:
Solución :
Trayectoria: P1=G1 G2 G3 G4 → A1 =1−0
P2=G 1 G2 G4 G 7 → A 1=1−0

Lazo del sistema:

L1=G3∗G7∗G 6−H 2=−H 2∗G3∗G7∗G6 L2=G1∗G 2∗G 3∗G4∗G5−H 1 =−H 1∗G1∗G2∗G 3
L3=G8∗G4∗G5−H 3=−H 3∗G8∗G 4∗G 5

Ecuacion caracteristico del sistema:

A=1−( L1 + L2+ L3 )+ 0

C(S) P1 A 1∗P2 A 2
A=1−[ (−H 2∗G3∗G7∗G6 ) + (−H 1∗G 1∗G2∗G3 ) +(−H 3∗G8∗G 4∗G5) ] =
R(S) 1−( L1 + L2 + L3 )

C(S) [ G1 G2 G3 G 4 (1−0)]∗[ G1 G2 G 4 G 7 (1−0)]

=
R(S) (−H 2∗G3∗G7∗G 6 ) + (−H 1∗G1∗G 2∗G3 ) +¿ ¿

EJERCICIO # 11:
HALLAR LA ECUACION DIFERENCIAL
C 1(S )
F T 1 ( s) =
R 2(S )
 C 2(S )
F T 2 ( s) =
R 1(S )