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6
Kp
30 Kp
6
Kp
JW 3 6 W 2 + 5JW + 30 = 0
JW(W 2 5) 6( W 2 5) = 0
=
2
=
= 2.809
= . = 0.6(30) = 18
= . = 0.5(2.809) = 1.404
= . = 0.125(2.809) = 0.351
+ )
1
() = 18(1 +
+ 0.351 S)
1.404 S
() = ( +
R(s) +
_
6.322
(S + 1.423)2
S
(S + 1.423)2
S
1
( + 1)( + 5)
C(s)
()
6.322 S 2 + 18 S + 12.811
= 4
() S + 6 S 3 + 11.322 S 2 + 18 S + 12.811
SISTEMAS DE CONTROL
Pgina 1
AFINAMIENTO
() = 18(1 +
1
+ 0.702 S)
2.809 S
R(s) +
_
(S + 0.711)2
12.644
S
(S + 0.711)2
S
1
( + 1)( + 5)
C(s)
()
12.644 S 2 + 17.999 + 6.405
=
() S 4 + 6 S 3 + 17.644 S 2 + 17.999 + 6.405
SISTEMAS DE CONTROL
Pgina 2
+ + + +
44
14
40 + 10Kp
576 10Kp
14
40 + 10Kp
40 + 10Kp = 0 Kp = - 4
57610Kp
14
= 0 =
576
10
T=1.3943
1.3943
= 0.9
= 5.467
0.2295
0.2295
=
=
= 0.765
.
0.3
= .
+ )
1
() = 5.467(1 +
)
0.765 S
() = ( +
R(s) +
_
5.467S + 7.146
S
10
(S + 10)(S + 2)2
C(s)
()
54.678 S + 71.475
= 4
3
() S + 14 S + 44 S 2 + 94.678 S + 71.475
SISTEMAS DE CONTROL
Pgina 3
AFINAMIENTO
() = 5.467(1 +
1
)
1.53 S
R(s) +
_
5.467S + 3.573
S
10
(S + 10)(S + 2)2
C(s)
()
54.678 S + 35.737
= 4
() S + 14 S 3 + 44 S 2 + 94.678 S + 35.737
SISTEMAS DE CONTROL
Pgina 4
38
5
216 250Kp
38
+ + + + +
2 + 10Kp
2 + 10Kp
2 + 10Kp
2 + 10Kp = 0 Kp = - 5
216250 Kp
38
216
= 0 = 250
T=3.8582
3.8582
= 1.2
= 3.858
1.1998
= = 2 (1.1998) = 2.399
= . = 0.5(1.1998) = 0.599
+ )
1
() = 3.858(1 +
+ 0.599 S)
2.396 S
() = ( +
(S + 0.833)2
2.314 S 2 + 3.858 + 1.608
=
S
S
R(s) +
2.314
(S + 0.833)2
S
10
(S + 2)(S + 1)3
C(s)
()
23.149 S 2 + 38.588 + 16.081
= 5
() S + 5 S 4 + 9 S 3 + 30.149 S 2 + 40.588 + 16.081
SISTEMAS DE CONTROL
Pgina 5
AFINAMIENTO
() = 3.858(1 +
1
+ 1.199 S)
4.799 S
R(s) +
_
10
(S + 2)(S + 1)3
C(s)
()
46.298 S 2 + 38.588 S + 8.040
= 5
() S + 5 S 4 + 9 S 3 + 53.298 S 2 + 40.588 S + 8.040
SISTEMAS DE CONTROL
Pgina 6
100
1 + Kp
+ + +
1 + Kp
30
1 + Kp = 0 Kp = - 1
T=5.7770
5.7770
= 0.9
= 2.338
2.2230
2.2230
=
=
= 7.41
.
0.3
= .
= = 0
+ )
1
() = 2.338(1 +
)
7.41 S
() = ( +
2.338 S + 0.315
+ 0.134
=
S
S
R(s) +
_
2.338 S + 0.315
S
100
S2
1
+ 30 S + 1
C(s)
2.338 S + 0.315
()
=
3
() 100 S + 30 S 2 + 3.338 S + 0.315
SISTEMAS DE CONTROL
Pgina 7
AFINAMIENTO
() = 2.338(1 +
1
)
14.82 S
2.338 S + 0.157
+ 0.134
=
S
S
R(s) +
_
2.338 S + 0.157
S
100
S2
1
+ 30 S + 1
C(s)
()
2.338 S + 0.157
=
3
() 100 S + 30 S 2 + 3.338 S + 0.157
SISTEMAS DE CONTROL
Pgina 8
9 + Kp
+ + + + ( + )
5
5 + 3Kp = 0 Kp = - 3
5 + 3Kp
40 + 2Kp
5
40+ 2Kp
5
= 0 = 20
5 + 3Kp
T=1.9406
1.9406
= 1.2
= 10.391
0.2241
= = 2 (0.2241) = 0.448
= . = 0.5(0.2241) = 0.112
+ )
1
() = 10.391(1 +
+ 0.112 S)
0.448 S
() = ( +
R(s) +
1.164
(S + 4.462)2
S
S3
S+3
+ 5 S2 + 9 S + 5
C(s)
()
1.164 S 3 + 13.884 S 2 + 54.359 + 69.554
=
() S4 + 6.164 S 3 + 22.884 S 2 + 59.359 + 69.554
SISTEMAS DE CONTROL
Pgina 9
AFINAMIENTO
() = 10.391(1 +
1
+ 0.224 S)
0.896 S
R(s) +
2.328
(S + 2.231)2
S
S+3
S3 + 5 S2 + 9 S + 5
C(s)
()
2.328 S 3 + 17.377 S 2 + 42.766 + 34.777
= 4
() S + 7.328 S 3 + 26.377 S 2 + 47.766 + 34.777
SISTEMAS DE CONTROL
Pgina 10
SISTEMAS DE CONTROL
Pgina 11