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é
y (t) = αy1(t) + βy2(t) (2)
sendo α, β ∈ R.
s(t)
p(t) s(n∆)p(t-n∆)
u(n∆)
∆
∆
t t
n∆
p(t) s(n∆)p(t-n∆)
u(n∆)
∆
∆
t t
n∆
p(t) s(n∆)p(t-n∆)
s(n∆)
∆
∆
t t
n∆
Z ∞
y (t) = u (τ) h (t − τ) dτ
−∞ Z ∞
y (t) = u (t) ∗ h (t) , u (τ) h (t − τ) dτ (3)
Z −∞
∞
y(t) = h(t) ∗ u(t) , h (τ) u (t − τ) dτ (4)
−∞
Z ∞
y (t) = h (τ)U0e jω(t−τ)dτ (9)
−∞
Z ∞
y (t) = U0e jωt h (τ) e− jωτdτ (10)
−∞
Z ∞
H ( jω) = h (τ) e− jωτdτ (11)
−∞
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 13
y (t) = u (t) H ( jω) = U0e jωt |H ( jω)| e jφ(ω) (12)
DT
∆T 2π Y0
φ = 360 e H j = (16)
T T U0
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 17
Módulo e fase
Ganho dB
−20
−40 −1 0 1
10 10 10
Frequencia (rad/s)
0
Fase graus
−90
−180
−1 0 1
10 10 10
Frequencia (rad/s)
0.6
0.4
0.2
Eixo imaginario
0
−0.2
−0.4
−0.6
−0.8
−0.2 0 0.2 0.4 0.6 0.8 1
Eixo real
n m
di di
∑ ai dt i y (t) = ∑ bi dt i u (t) (21)
i=0 i=0
Usando p (·) , dtd (·)
n m
∑ i
a p i
y (t) = ∑ i u (t)
b p i
(22)
i=0 i=0
n m
⇒ y (t) ∑ ai pi = u (t) ∑ bi pi ⇒ (23)
i=0
| {z } i=0
| {z }
A(p) B(p)
Ex.: Circuito RC
ẏ + ay = bu (29)
u (t) = δ (t) (30)
y (0) = 0 (31)
Z t
y (t) = e−a(t−τ)bδ (τ) dτ (32)
−∞
−at
y (t) = h (t) = e b 1(t) (33)
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 25
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Z t
y (t) = e−at y0 + e−a(t−τ)b1 (τ) dτ (35)
−∞
−at b −at
y (t) = e y0 + 1 − e 1(t) (36)
a
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 27
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
−1
1−e y (∞) corresponde a 63% de y (∞) (37)
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 28
Transformada de Laplace
F (s) ⇐⇒ f (t)
1 e−at −e−bt
(s+a)(s+b) ⇐⇒ (b−a)
s+c (c−a)e−at −(c−b)e−bt
(s+a)(s+b) ⇐⇒ (b−a)
1 e−at sin(bt)
2 2
⇐⇒ b
q(s+a) +b
s+c [(c−a)2+b2]e−at sin(bt+φ) −1 b
(s+a)2+b2
⇐⇒ b , φ = tan c−a
d
L f (t) = sF (s) − f (0) (45)
dt
L [ f˙(t)] = sF(s) − f (0) (46)
L [ f¨(t)] = sL [ f˙(t)] − f˙(0) = s2F(s) − s f (0) − f˙(0) (47)
m m (i−1)
d d
L m f (t) = smF (s) − ∑ sm−i (i−1) f (t)t=0 (48)
dt i=1 dt
Z t
F (s)
L f (ξ) dξ = (49)
0 s
−at d 1 −3
L [t(te )] = − = 2(s + a) (50)
ds (s + a)2
d
L [t(t e )] = − (2(s + a)−3) = 3!(s + a)−4
2 −at
(51)
ds
t ne−at ⇐⇒ (s+a)
n!
n+1
t ne−at
⇐⇒ (s+a)1 n+1
n!
Substituindo n por n − 1:
t n−1e−at 1
(n−1)! ⇐⇒ (s+a) n
Y (s)
⇒ Y (s) = H(s)U(s) ⇒ H(s) = (57)
U(s)
n m
di di
∑ ai dt i y (t) = ∑ bi dt i u (t) (58)
i=0 i=0
L [y(t)] = Y (s) e L [u(t)] = U(s) (59)
Considerando todas as condições iniciais nulas:
i i
d d
L ai i y (t) = ais Y (s) e L bi i u (t) = bisiU(s) (60)
i
dt dt
n m n m
∑ i
a s i
Y (s) = ∑ i
b s i
U (s) ⇒ Y (s) ∑ i
a s i
= U (s) ∑ i
b s i
Y (s) ∑m b
i=0 i s i
b 0 + b 1 s + · · · + b m s m
N (s)
H (s) = = n i
= n
=
U (s) ∑i=0 ais a0 + a1 s + · · · + an s D (s)
Se an 6= 0, então a função de transferência é dita ser de
ordem n. Geralmente an = 1, ou seja, o polinômio D (s)
é mônico.
Para m < n,
b m sm + · · · + b 0
H(s) = n (65)
s + · · · + a0
U(s) = 1 (66)
lim y(t) = lim sY (s) = lim sH(s)U(s) (67)
t→0 s→∞ s→∞
b m sm + · · · + b 0 bmsm+1 + · · · + sb0
= lim s n = lim (68)
s→∞ s + · · · + a0 s→∞ sn + · · · + a 0
que é finito, pois m + 1 ≤ n
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 47
Frações parciais - raízes distintas
P (s) P(s)
H (s) = = (69)
Q (s) (s + α1)(s + α2) · · · (s + αn)
P (s) A1 A2 An
H (s) = = + +···+ (70)
Q (s) s + α1 s + α2 s + αn
−α1t −α2t −αnt
h (t) = A1e + A2 e + · · · + An e (71)
Ak = (s + αk)H(s)|s=−αk =
A1 Ak An
=[(s + αk) s+α 1
+ · · · + (s +
✘✘ ✘α k )
✘✘✘
✘
s+α + ·
✘✘✘
· · + (s +
✘✘
α k ) s+α n
]| s=−αk
✘✘✘ k
= 0 · −αA+α
1
1
+ · · · + A k + · · · + 0 · An
−α +αn
k k
P (s) P(s)
H(s) = = (72)
Q (s) (s + a)m(s + b1)(s + b2) · · · (s + bn)
A1 A2 Am B1 Bn
= m+ m−1
+...+ + +...+
(s + a) (s + a) (s + a) (s + b1) (s + bn)
m n
Ak Bi
H (s) = ∑ +∑ (73)
i=1 s + bi
m−(k−1)
k=1 (s + a)
( )
m n
Ak
h (t) = e−at ∑ (m − k)! t m−k
+ ∑ i B e −bit
(74)
k=1 i=1
k = 1, 2, · · · , m (76)
A1 = [(s + a)mH(s)]|s=−a
d
A2 = [(s + a)mH(s)]|s=−a
ds
1 d2 m
A3 = 2
[(s + a) H(s)]|s=−a
2 ds
1 d3 m
A4 = 3
[(s + a) H(s)]|s=−a
6 ds
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 51
Demonstração
P (s) s + αk
Ak = lim (s + αk) = lim P (s)
s→−αk Q (s) s→−αk Q (s)
s + αk s + αk
Ak = lim P (s) lim = P (−αk) lim
s→−αk s→−αk Q (s) s→−αk Q (s)
s + αk 1
Ak = P (−αk) lim = P (−αk) lim ′
s→−αk Q (s) s→−αk Q (s)
P (s) P (−αk)
Ak = lim (s + αk) = ′
s→−αk Q (s) Q (−αk)
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 52
Exemplo
P (s) 2s2 − 4 2s2 − 4
= = 3 (77)
Q (s) (s + 1) (s − 2) (s − 3) s − 4s2 + s + 6
A1 A2 A3
= + +
s+1 s−2 s−3
P(s) −2 1
A1 = (s + 1) = =−
Q(s) s=−1 12
6
P(s) 4
A2 = (s − 2) =−
Q(s)
s=2 3
P(s) 14 7
A3 = (s − 3) = =
Q(s)
s=3 4 2
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 53
Outro método:
−1 P (s) P (−1) −t P (2) 2t P (3) 3t
L = ′ e + ′ e + ′ e (78)
Q (s) Q (−1) Q (2) Q (3)
2s2 − 9s + 19 A1 A2 B1
H (s) = 2
= 2
+ +
(s − 1) (s + 3) (s − 1) s − 1 s + 3
2
2
2s − 9s + 19
A1 = (s − 1) H(s)s=1 ⇒ A1 = =3
(s + 3)
s=1
( )
2
d 2
2s + 12s − 46
A2 = (s − 1) H(s) ⇒ A2 =
2 = −2
ds s=1 (s + 3)
s=1
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 56
2
d 2 d 2s − 9s + 19
(s − 1) H(s) =
ds ds s+3
(4s − 9)(s + 3) − (2s2 − 9s + 19)
=
(s + 3)2
4s2 + 3s − 27 − 2s2 + 9s − 19
=
(s + 3)2
2s2 + 12s − 46
=
(s + 3)2
( )
2s2 − 9s + 19
B1 = (s + 3)H(s)|s=−3 ⇒ B1 = lim 2
=4
s→−3 (s − 1)
t −3t
h (t) = e {3t − 2} + 4e 1(t)
1
u (t) = 1 (t) ⇐⇒ U (s) = (91)
s
y (t) = h (t) ∗ 1 (t) (92)
−1 K 1 −1 A1 A2
y (t) = L =L + (93)
s+as s+a s
K K
A1 = =−
s s=−a a
K K
A2 = =
s + a s=0 a
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 62
−1 K 1 1
y (t) = L − + (94)
a s+a s
K
y (t) = (1 − e−at ) 1(t) (95)
a
1
1
H(s) = = RC 1 (96)
RCs + 1 s + RC
u (t) = δ (t) ⇐⇒ U (s) = 1 (97)
( )
1
y (t) = L −1 RC
1
(98)
s + RC
1 −t
y (t) = h (t) = e RC (99)
RC
1
u (t) = 1 (t) ⇐⇒ U (s) = (100)
s
1
1
H(s) = = RC 1 (101)
RCs + 1 s + RC
( )
1
−1 RC 1
y (t) = L 1 s
(102)
s + RC
t
− RC
y (t) = 1 − e (103)
d
vi (t) = Ri (t) + L i (t) + vC (t) (108)
dt
d d2
vi (t) = RC vC (t) + LC 2 vC (t) + vC (t) (109)
dt dt
Vi (s) = RCsVC (s) + LCs2VC (s) +VC (s) (110)
Y (s) VC (s) 1
H (s) = = = (111)
U (s) Vi (s) LCs2 + RCs + 1
1
LC
H (s) = 1
(112)
s2 + RL s + LC
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 68
Sistema de segunda ordem ...
Z t
d 1
vi (t) = Ri (t) + L i (t) + i (τ) dτ (113)
dt C −∞
1 I (s)
Vi (s) = RI (s) + LsI (s) + (114)
C s
1
Y (s) I (s) Ls
H (s) = = = 2 R 1
(115)
U (s) Vi (s) s + L s + LC
α2ÿ (t) + α1ẏ (t) + α0y (t) = b1u̇ (t) + b0u (t) (116)
2
α2s + α1s + α0 Y (s) = (b1s + b0)U (s) (117)
b0
Y (s) b1 s + b0
b1 s + b1
= = (118)
2
U (s) α2s + α1s + α0 α2 s2 + αα1 s + αα0
2 2
s + bb01
H(s) = K 2 (119)
s + a1 s + ao
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 70
Raízes distintas
v" #
u 2
K t b0
u
A1 = − σ + ω2 (135)
ω b1
−1 b0
φ = tan ω/ −σ
b1
1
u (t) = 1 (t) ⇐⇒ U (s) =
( s)
−1 b1 s + b0 1
y (t) = L 2
(s + σ) + ω2 s
( )
′ ′
−1 b1 s + b0 −1 b0 1
y (t) = L 2
+L
(s + σ) + ω2 σ2 + ω2 s
v" #
u
′u
2 ′
′
K t b0 2 −1 b0
A1 = ′ −σ + ω e φ = tan ω/ ′ − σ
ω b1 b1
(136)
−σt b0
y (t) = A1e sin (ωt + φ) + 2
σ + ω2
s+c
H (s) = 2
(137)
(s + a) + b2
h (t) = A1e−at sin (bt + φ) (138)
rh i
2
(c − a) + b2
A1 = (139)
b
−1 b
φ = tan (140)
c−a
semiplano semiplano
esquerdo direito
Re(s)
Exemplo:
K1
H1 (s) = (146)
s + a1
K2
H2 (s) = (147)
s + a2
K1 K2 (K1 + K2) s + K1a2 + K2a1
H (s) = + = (148)
s + a1 s + a2 (s + a1) (s + a2)
Y1 (s)
H1 (s) = (149)
U1 (s)
Y2 (s)
H2 (s) = (150)
U2 (s)
U(s) = U1 (s) e U2 (s) = Y1 (s) (151)
Y (s) = Y2 (s) = H2 (s)U2 (s) = H2 (s)Y1 (s) = H2 (s) H1 (s)U (s)
(152)
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 84
Y (s) = H2 (s) H1 (s)U (s) (153)
Y (s)
H (s) = = H2 (s) H1 (s) (154)
U (s)
Exemplo:
K1
H1 (s) = (155)
s + a1
K2
H2l (s) = (156)
s + a2
K1 K2 K1K2
H (s) = = (157)
s + a1 s + a2 (s + a1) (s + a2)
Y1 (s)
H1 (s) = (158)
U1 (s)
Y2 (s)
H2 (s) = (159)
U2 (s)
U1 (s) = Yr (s) −Y2 (s) (160)
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 87
U2 (s) = Y1 (s) e Y (s) = Y2 (s) (161)
K1
H1 (s) = (165)
s + a1
K2
H2 (s) = (166)
s + a2
K1 K2
s+a1 s+a2 K1K2
H (s) = K1 K2 = (167)
1 + s+a (s + a1) (s + a2) + K1K2
1 s+a2
Y (s) = H1(s)U1(s)
Y (s) = H1(s) [YR(s) − H2(s).Y (s)]
[1 + H1(s)H2(s)]Y (s) = H1(s)YR(s)
Y (s) H1(s)
H(s) = YR(s) = 1+H1(s)H2(s)
Y (s) = H1(s)U1(s)
Y (s) = H1(s) [YR(s) + H2(s)Y (s)]
[1 − H1(s)H2(s)]Y (s) = H1(s)YR(s)
Y (s) H1(s)
H(s) = YR(s) = 1−H1(s)H2(s)
Y (s) G1(s)G2(s) G6(s)
= G5(s) +
R(s) 1 − G1(s)G3(s) + G1(s)G2(s)G4(s) G2(s)
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 99
Y (s) G1(s)G2(s)G5(s) + G1(s)G6(s)
=
R(s) 1 − G1(s)G3(s) + G1(s)G2(s)G4(s)
• Determinar as funções f e g
dvo (t)
vi (t) = RC + vo (t) (174)
dt
x (t) = y (t) = vo (t) e u(t) = vi (t) (175)
ẋ = Ax + Bu (176)
y = Cx + Du (177)
1 1
A=− , B= , C=1eD=0 (178)
RC RC
∞ k k 2 k
a t (at) (at)
eat , ∑ = 1 + at + +···+ +··· (179)
k=0 k! 2! k!
2 k
at 1 a a 2! a k!
L {e } = + 2 + 3 + · · · + k+1 + · · · (180)
s s 2! s k! s
at 1 −1
L {e } = = (s − a) (181)
(s − a)
∞
k k
At A t
e ,∑ (182)
k=0 k!
2 2 k k
At A t A t
e , I + At + +···+ +··· (183)
2! k!
Ak = AA · · · A (184)
A0 , I (185)
2 2 k−1 k−1
d At At A t
e = A I + At + +···+ +··· (186)
dt 2! (k − 1)!
k k−1
d At 2 A t
e = A+A t +···+ +··· (187)
dt (k − 1)!
eA(t+s) = eAt eAs (188)
At −1
e = e−At (189)
( )
∞
At Akt k
L e =L ∑ k! (194)
k=0
2 2 k k
At At At
L e = L I + At + +···+ +··· (195)
2! k!
At I A A2 2! Ak k!
L e = + 2+ 3
+···+ k+1
+··· (196)
s s 2! s k! s
At −1
L e = (sI − A) (197)
u(t) = 0 (201)
L {ẋ} = L {Ax} , x (0) = x0 (202)
sX (s) − x0 = AX (s) (203)
−1
X (s) = (sI − A) x0 (204)
n o
−1 −1 −1
L {X (s)} = L (sI − A) x0 (205)
n o
−1 −1
x (t) = L (sI − A) x0 (206)
x (t) = eAt x0 (207)
x (t) = Φ (t) x0 (208)
Φ (t) , eAt (209)
n Ant
Φ (t) , e (212)
Z t
x (t) = eAt x0 + eA(t−τ)bu (τ) dτ (219)
0
Z t
x (t) = eAt x (t0) + eA(t−τ)bu (τ) dτ (220)
t0
Z t
y (t) = ceAt x (t0) + c eA(t−τ)bu (τ) dτ + du (t) (221)
t0
h i
−1
Y (s) = c (sI − A) b + d U (s) (233)
nh io
−1 −1
y (t) = L c (sI − A) b + d (234)
n o
h (t) = cL −1 (sI − A)−1 b + d L −1 {1} (235)
h (t) = ceAt b + dδ (t) (236)
dvo (t)
vi (t) = RC + vo (t) (237)
dt
ẋ = Ax + bu (238)
y = cx + du (239)
1 1
A=− , b= , c=1ed=0 (240)
RC RC
−1
−1 1 1
H (s) = c (sI − A) b + d = s + (241)
RC RC
dvo (t)
vi (t) = RC + vo (t) (242)
dt
ẋ = Ax + bu (243)
y = cx + du (244)
1 1
A=− , b= , c=1ed=0 (245)
RC RC
At 1 t 1
− RC
h (t) = ce b + dδ (t) = e (246)
RC
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 122
Composição de sistemas
ẋ = Ax + bu, y = cx + du
u = u1 = u2 , y = y 1 + y 2
d
dt x2(t) = A2x2(t) + b2u(t)
d
dt x1(t) =
A1 0 x1
+
b1
u(t)
d
dt x2(t) 0 A2 x2 b2
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 125
x1
y(t) = y1(t) + y2(t) = c1 c2 + (d1 + d2)u(t)
x2
A1 0
A= (247)
0 A2
b1
b= (248)
b2
c = c1 c2 (249)
d = d1 + d2 (250)
= = =
u = u1 , u2 = y1 e y = y2
d
dt x1(t) = A1x1(t) + b1u(t)
y1(t) = c1x1(t) + d1u(t)
d
dt x2(t) = A2x2(t) + b2 [c1x1(t) + d1u(t)]
d
dt x2(t) = b2c1x1(t) + A2x2(t) + b2d1u(t)
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 127
y(t) = y2(t) = c2x2(t) + d2 [c1x1(t) + d1u(t)]
d
dt x1(t) =
A1 0 x1(t)
+
b1
u(t)
d
dt x2(t) b2 c 1 A2 x2(t) b2 d1
x1(t)
y(t) = y1(t) + y2(t) = d2c1 c2 + d1d2u(t)
x2(t)
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 128
A1 0
A= (251)
b2c1 A2
b1
b= (252)
b2 d 1
c = d2 c 1 c 2 (253)
d = d2 d1 (254)
1 1
⇒ ẋ1 = A1 − b1 c 1 x 1 + b1 y r
1 + d1 1 + d1
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 131
1
A = A1 − b1 c 1 (255)
1 + d1
1
b= b1 (256)
1 + d1
1
c= c1 (257)
1 + d1
d1
d= (258)
1 + d1
d ny(t) d n−1y(t)
n
+ an−1 n−1
+ ... + a0y(t) = b0u(t) (259)
dt dt
ẋ = Ax + bu, y = cx + du (260)
y (t)
x1 d y (t)
dt
x2 .
.
x= . = (261)
. d n−2
dt n−2 y (t)
xn d n−1
dt n−1
y (t)
0 1 ··· 0 0
.. .. ..
..
ẋ = x+ u(t) (262)
0 0 ··· 1 0
−a0 −a1 · · · −an−1 b0
y(t) = 1 · · · 0 x (t) (263)
e x (0) = x0
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 134
Sistema de terceira ordem
ẋ1(t) = x2(t)
ẋ2 (t) = x3 (t) (266)
ẋ3 (t) = −a0x1(t) − a1x2(t) − a2x3(t) + u(t)
0 1 0 0
ẋ = 0 0 1 x + 0 u(t) (267)
−a0 −a1 −a2 1
y(t) = 1 0 0 x (t) (268)
1
H (s) = 3 (269)
s + a 2 s2 + a 1 s + a 0
Y (s) b1 s + b0 1
= 3 2 1
= (b 1 s + b 0 )
} s3 + a 2 s2 + a 1 s1 + a 0
U(s) s + a2s + a1s + a0 | Y{z (s) | {z }
Z(s) Z(s)
U(s)
Z(s) 1
= 3 2 1
⇒
U(s) s + a2s + a1s + a0
3 2 1
⇒ s + a2s + a1s + a0 Z(s) = U(s) ⇒
... ...
z + a2z̈ + a1ż + a0z = u ⇒ z = −a2z̈ − a1ż − a0z + u
x0 = z; x1 = ż = ẋ0; x2 = z̈ = ẋ1; ẋ2 = −a2x2 − a1x1 − a0x0 + u
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 142
Y (s)
Z(s) = b1s + b0 =⇒ Y (s) = (b1s + b0) Z(s)
ẋ = Ax + Bu (274)
y = Cx + Du (275)
y = Cx + Du =⇒ y = CT−1z + Du (281)
−1
y = CT
| {z } z + Du (282)
Cz
ẋ = Ax + Bu −1
=⇒ H (s) = C (sI − A) B + D (283)
y = Cx + Du
−1 adj (sI − A)
(sI − A) = (284)
det (sI − A)
ż = Azx + Bzu −1
=⇒ Hz (s) = Cz (sI − Az) Bz + D
y = Czx + Du
(285)
−1 adj (sI − Az)
(sI − Az) = (286)
det (sI − Az)
−1
det (sI − Az) = det sTT− Az (287)
−1 −1
det (sI − Az) = det sTT − TAT (288)
−1 −1
det (sI − Az) = det sTT − TAT (289)
det (sI − Az) = T det (sI − A) T−1 = det (sI − A) (290)
−1
Hz (s) = Cz (sI − Az) Bz + D (291)
−1 −1
−1 −1
Hz (s) = CT sTT − TAT TB + D (292)
−1
−1 −1
Hz (s) = CT T (sI − A) T TB + D (293)
Hz (s) = CT−1T (sI − A)−1 T−1TB + D (294)
Hz (s) = C (sI − A)−1 B + D = H (s) (295)
−1
H (s) = c (sI − A) b (300)
1
−1
s −C 0
H (s) = 1 0 1 R 1 (301)
L s + L L
1
s 0 0 C s −C1
s.I − A = − =
0 s − L1 − RL 1
L s + RL
1
det(sI − A) = s2 + RL s + LC
Saulo O. D. Luiz , AMNLima/Controle Analógico/UFCG/DEE - 152
1
s + RL C
ad j(sI − A) =
− L1 s
1
1
s + RL C 0
H(s) = 1 0
det(sI−A) − L1 s 1
L
1
1
0
H(s) = det(sI−A) s + RL C 1
L
1
H(s) = det(sI−A)
LC
1
LC
H (s) = 1
(302)
s2 + RL s + LC
vC1 vb
x= = (306)
vC2 va − vc
va = vi = u (307)
y = vo = vi − vC2 (308)
ẋ = Ax + bu (309)
y = cx + du
va − vb = u − vC1 (310)
vb − vc = vC1 − (u − vC2 ) (311)
vc − va = −vC2 (312)
u − vC1 vC1 − (u − vC2 ) dvC1
− −C1 =0 (313)
R1 R2 dt
(u − vC2 ) − vC1 dvC2
−C2 =0 (314)
R2 dt
dvC1 1 1 1 1 1
C1 =− + vC1 − vC2 + + u (315)
dt R1 R2 R2 R1 R2
dvC2 vC1 vC2 u
C2 =− − + (316)
dt R2 R2 R2
1 1 1
− + − R21C1 1 1
+ 1
ẋ = C1 R1 R2 x+ C1 R1 R2 u (317)
− R21C2 − R21C2 1
R2C2
| {z } | {z }
A b
y = 0 −1 x + u (318)
| {z }
c
−1
H (s) = c (sI − A) b+d (319)
R1C2+R2C2
s + R1R2C1C2 s + R1R21C1C2
2
H (s) = (320)
s2 + R1C1R+R 1C2+R2C2
1R2C1C2
s + 1
R1R2C1C2