Considere el sistema de la …gura, en el que la = 0:6 y la !

n = 5 rad
seg . Se le
aplica una entrada escalon unitario R(s) = 1s .

a)Obtenga el tr , tp , Mp% , ts , c(1), c(tp), Npicos , ess

b)ess , si la entrada es rampa R(s) = s12
c)Indique la posicion de los polos.
d)Gra…que el plano "s"
e)Indique el tipo de comportamiento

a)Obtenga el tr , tp , Mp% , ts , c(1), c(tp), Npicos , ess

Obtengo la Funcion de Transferencia
E=R C
C = GE
! 2n
G= s(s+2 ! n )
!2n !2
n !2
n
C s(s+2 ! n ) s(s+2 ! n ) s(s+2 ! n )
R = !2
= 1 !2
= s(s+2 ! n ) !2
1+ s(s+2n ! ) n
1 + s(s+2 ! n ) s(s+2 ! n )
+ s(s+2n ! )
n n
!2
n
s(s+2 ! n ) ! 2n ! 2n
= s(s+2 ! n )+! 2
n
= s(s+2 ! n )+! 2n = s2 +2 ! n s+! 2n
s(s+2 ! n )
2
C !n
R = s2 +2 ! n s+! 2n =
C 25
R = s2 +6s+25

tiempo de levantamiento
tr = ! d
= cos p
2
!d = !n 1

= cos 1 = cos 1 (0:6)

= 53:16 = 0:9272rad
p p
2
!d = !n 1 =5 1 (0:6)2

1
!d = 4
0:9272
tr = 4
tr = 0:5535seg

tiempo pico
tp = ! d = 4
tp = 0:7853seg

Sobrepaso ! !
(0:6)
p p
1 2 1 (0:6)2
M p = 100e = 100e
M p = 9:478%

tiempo de asentamiento
4
ts = 4 = !4n = (0:6)(5)
ts = 1:33333seg

numero de picos p
1 2
Npicos = ttps = 4
Npicos = 1:6976 ! 1
Npicos = 1

valor …nal
c(1) = lim sC(s)
s!0
C 25
R = s2 +6s+25
3 4i
s2 + 6s + 25, roots:
3 + 4i
h i
25 1
c(1) = lim s s2 +6s+25 s
s!0 h i
25 25
c(1) = lim s2 +6s+25 = (0)+(0)+25 =1
s!0
c(1) = 1

magnitudes de los picos

c(tp) = (1 + e !n (tp ) )c(1)
c(tp) = (1 + e (0:6)(5)(0:7853) )1
c(tp) = 1 + e (0:6)(5)(0:7853)
c(tp) = 1:09478

Error en el estado estacionario

ess = lim sE(s)
s!0

E=R C
C = GE

2
 h i
1
E= (1+G) R

1
E= 25
1+ s(s+6)
R

1
ess = lim sE(s) = lim s 25
1+ s(s+6)
R
s!0 s!0
1
1 s(s+6) s(s+6)
25
1+ s(s+6)
= 1
1
25 = s(s+6)+25 = s2 +6s+25
1 + s(s+6)

h i h i h i
s(s+6) 1 s(s+6) (0)((0)+6)
ess = lim s s2 +6s+25 s = lim s2 +6s+25 = (0)+6(0)+25 =0
s!0 s!0
ess = 0

1
b) el error en
h estado iestacionario con una entrada rampa unitaria R = s2
ess = lim s s2s(s+6) 1
+6s+25 s2 = s!0
(s+6)
lim s2 +6s+25 ((0)+6)
= (0)+6(0)+25 6
= 25
s!0
ess = 0:24

c)localizacion de los polos ( ; ! d )

s1;2 = j! d p
s1;2 = ! n j! n 1 p 2
s1;2 = (0:6)(5) j(5) 1 (0:6)2
s1;2 = 3 j4
( ; ! d ) = ( 3; 4)

d)gra…co en el plano s

3
e)Indique el tipo de comportamiento
Comportamiento Subamortiguado