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G p ( s)
s
10
( s+1 ) ( s +2 )
10
G ( z )= ( 1z1 )
=( 1z 1 )
s
s(s+1)( s+2)
G ( z )= ( 1z )
5
10
5
z
10 z
5z
1
+
=( 1z ) (
+
)
10 t
5 t
s (s +1) (s+2)
z1 ze
ze
G ( z )=
z (22.429910.8731 z )10.8807
(z0.606531)(ez 1)
Gw ( z )=
K p=lim
z 1
1
1
=
=0.6665
1+ k p 1+ 0.500452
G p ( s )=
2n
51.412
=
s 2+2 n+ 2n s 2 +2 (1,06 )( 1,41 ) s +1,412
3
=2.0
n
4
=2.67
n
Gw ( z )=
ss= 0.6665
e
por lo cual:
e ss =
1
kv
k v=
1
=1.5
e ss
k v=
1
lim ( z1 ) D ( z ) G w (z )
T z1
1.5=
1
lim (z1)
T z1
[ k i T +2 k c ]
z+
k i T 2 k c
z ( 1.33333 Z2.75051 ) +1.3342
k i T +2 k c
1.5=
1
(4.01803+0.853586 k i )
0.1
k i=4.88296
0.488296+1.938968
]
0.4882961.938968
2(z1)
[ 0.4882961.938968 ] [z +
D (z)=
D(z)=
0.725336( z 1.6732)
z1
k v=
1
lim (z1) HG (z)
T z1
{ }
1
s (s +1)
1
1
1
1
1
HG ( z )=( 1z )
=( 1z ) Z 2 +
s
s s +1 s
HG ( z )=( 1z 1 )
0.0187308(z +0.935525)
0.2 z
z
z
+
=
2
0.2
z1
( z1)( z0.818731)
( z1 ) ze
k v=
0.0187308(z +0.935525)
1
lim (z1)
T z1
( z1)( z0.818731)
k v=
0.0187308(z +0.935525)
1
lim (z1)
=0.04
T z1
( z1)(z0.818731)
e p=
1
=0.5
1+ k p
k
s ( s+1)
2
0.01873+0.01752 z1
G ( z )=(1z 1 )k z1
1 2
( 1z ) (10.81871z1 )
(0.01873 z+0.01752)
( z1)(z0.81871)
G ( z )=k
1+0.5 Tw 1+ 0.1 w
=
10.5 Tw 10.1 w
1+ 0.1 w
+0.01752
10.1 w
G ( w )=k
1+ 0.1 w
1+ 0.1 w
(
1)(
0.81871)
10.1 w
10.1 w
0.01873
G ( w )=k
k v =2
G D ( w )=
1+ w
1w
)(
1+w
0.000332653 w 0.096332w +0.996585
k v =lim
k
=2
w 0 1w
w2 +0.996805 w
k=
2
=2
0.999779
den=[1 0.996805 0]
sys=tf(num,den)
margin(sys)
grid
Bode Diagram
Gm = 14.3 dB (at 3.22 rad/s) , Pm = 31.6 deg (at 1.25 rad/s)
Magnitude (dB)
100
50
0
-50
Phase (deg)
-100
270
225
180
135
90
-2
10
-1
10
10
10
10
10
10
Frequency (rad/s)
1
1+
1
1+
( 1+ ) sen 28=1
=0.361
20 log
1
=4.425
0.361
vertG ( jv)=
v 2
v
1+
300
10
( )
2 1+
( )
v 1+ v 2
1
=1.7
De donde
=0.9790 y =0.3534
1+w 1+0.9790 w
=
1+w 1+0.3534 w
)(
1+ 0.9790 w
1+0.3534 w
Bode Diagram
Gm = 14.4 dB (at 5.41 rad/s) , Pm = 48.9 deg (at 1.71 rad/s)
40
Magnitude (dB)
20
0
-20
-40
Phase (deg)
-60
270
225
180
135
90
-1
10
10
10
10
10
10
Frequency (rad/s)
z1
z +1
z1
(
z+ 1 ) 2.3798 z1.93869
G ( z )=
=
z0.558888
z1
1+0.35340 (10
)
z+ 1
1+0.9790 10
ln ( M p )
+ ( ln ( M ) )
2
t s=
ln ( 10 )
2
2+ ( ln ( 10 ) )
=0.591
4
wn
w n=
4
4
=
=13.54 rad / s
t s 0.5910.5
13.54
=2.15 hertz
2
|z|=e w T =0.449
n
=57.3 wn T 1 2=62.580
Por lo tanto, el polo est ubicado en
z=0.207 j 0.399
HG ( z )=( 1z 1 ) Z
G p ( s )=
{ }
G p (s)
s
36
1.89742
=10
s (s +3.6)
s(s+3.6)
1
HG ( z )=( 1z ) Z 10
HG ( z )=( 1z 1 ) Z
HG ( z )=
( z1 ) (ze0.36 )
0.576763 z + 0.511602 z
( z1 )2 ( z0.697676)
0.5768 z +0.5116
z 1.6977 Z +0.6977
2
] []
x ( k + 1 )= 1.6977 0.6977 x ( k )+ 1
1
0
0
y ( k )=[ 0.5768 0.5116 ]
[ B AB ]= 1 1.6977
0
K= [ 0 1 ] 1 1.6977
0
1
]
1
][
|z|=e w T =0.389
n
=57.3 wn T 1 2=74.020
Es decir que encontramos que los polos deseados estn en
z=0.107 0.374
[ ][]
L=( A) C
CA
0
1
( A )= A 0.214 Z +0.151325 I =
[ ][
C = 0.5768 0.5116
CA
1.4908 0.4024
1.6330 0.8956
1.2837 0.5464
][
][][
0 = 1.3591
1
0.9770
] [
U ( z )
=K [zI A +BK + LC ]1 L
Y (z)
[ zI A+ BK + LC ] = Z +3.6993
D (z)=
4.365
8.9731
Z +0.4998
1.26038 z15.1141
2
z +4.1991 z+ 41.0165
HG( z )
0.5768 z 3 +2.93364 z 2+ 25.8066 z +20.984
= 4
1+ D ( z ) HG( Z ) z +2.5014 z 3 +35.3124 z 274.777 z +20.8848
z1
( )Y (z )
Y ( )=lim
z1
lim
z1
HG(z )
=1
1+ D ( z ) HG(Z)
=k 0 1.00475
k 0 1.00475=1
k 0 =0.99527
3
Gw ( z )=
10
( s+1)(s +2)
10
G p ( s )=
= 2
10
s +3 s +12
1+
( s+ 1)( s+2)
Bode Diagram
Gm = 14.3 dB (at 3.22 rad/s) , Pm = 31.6 deg (at 1.25 rad/s)
100
Magnitude (dB)
50
0
-50
Phase (deg)
-100
270
225
180
135
90
-2
-1
10
10
10
10
10
10
10
Frequency (rad/s)
40
Magnitude (dB)
20
0
-20
-40
Phase (deg)
-60
270
225
180
135
90
10
-1
10
10
10
10
10
Frequency (rad/s)
Step Response
1.6
1.4
1.2
Amplitude
1
0.8
0.6
0.4
0.2
0
10
20
30
40
Time (seconds)
50
60
70