UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

SISTEMAS LINEALES INVARIANTES EN EL TIEMPO

1. Funcin de Transferencia Equivalente:

10
G1 ( s)
s 2s 10
2

>> num1=[0 0 10]

num1 = 0 0 10
>> den1=[1 2 10]
den1 = 1 2 10
5
G2 ( s )
s5
>> num2=[0 5]
num2 = 0 5
>> den2=[1 5]
den2 = 1 5

G1(s) G2(s)
R(s) C(s)
1 1
Transfer Fcn1 Transfer Fcn2

>> [num,den]=series(num1,den1,num2,den2)
num = 0 0 0 50
den = 1 7 20 50
>> printsys(num,den)
num/den = 50
--------------------------------
s^3 + 7 s^2 + 20 s + 50

G1(s)
C(s)
1
Transfer Fcn1
R(s)

G2(s)
1
Transfer Fcn2

>> [num,den]=parallel(num1,den1,num2,den2)
num = 0 5 20 100
den = 1 7 20 50
>> printsys(num,den)
num/den = 5 s^2 + 20 s + 100
---------------------------------
s^3 + 7 s^2 + 20 s + 50

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

G1(s)
R(s) C(s)
1
Transfer Fcn1

G2(s)
1
Transfer Fcn2

>> [num,den]=feedback(num1,den1,num2,den2)
num = 0 0 10 50
den = 1 7 20 100
>> printsys(num,den)
num/den = 10 s + 50
----------------------------------
s^3 + 7 s^2 + 20 s + 100

2. Funcin de Transferencia Espacio de Estado:

.
x1 0 1 0 x1 0
.
x2 0 0 1 x 2 25 u
. 5 25 5 x 120
x3 3

x1

y 1 0 0 x 2 0u
x
3

>> A=[0 1 0; 0 0 1; -5 -25 -5]

A= 0 1 0
0 0 1
-5 -25 -5
>> B=[0; 25; -120]
B= 0
25
-120
>> C=[1 0 0]
C= 1 0 0
>> D=[0]
D= 0
>> [num,den]=ss2tf(A,B,C,D)
num = 0 0.0000 25.0000 5.0000
den = 1.0000 5.0000 25.0000 5.0000

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

25s 5
G( s)
s 5s 2 25s 5
3

>> [A,B,C,D]=tf2ss(num,den)
A = -5.0000 -25.0000 -5.0000
1.0000 0 0
0 1.0000 0
B= 1
0
0
C = 0.0000 25.0000 5.0000
D= 0
.
x1 5 25 5 x1 1
.
x2 1 0 0 x 2 0 u
. 0 0 x3 0
x3 1

x1

y 0 25 5 x 2 0u
x
3

3. Respuesta en el tiempo:

2s 25
G( s)
s 4s 25
2

>> num=[0 2 25]

>> den=[1 4 25]
>> step(num,den)
Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

>> step(num,den,10)
Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)

>> [y,x,t]=step(num,den,5);
>> size(y)
ans = 126 1
>> size(x)
ans = 0 0
>> size(t)
ans = 1 126
>> max(t)
ans = 5
>> min(t)
ans = 0
>> plot(t,y)

1.4

1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

>> % Sistema 2 Input - 2 Output.

. 1 1 x 1 1 u
x1 1 1
. 6.5 0 x 1 0 u
x2 2 2

y1 1 0 x1 0 0 u1

y 2 0 1 x 2 0 0 u 2

>> A=[-1 -1; 6.5 0]

A = -1.0000 -1.0000
6.5000 0
>> B=[1 1; 1 0]
B= 1 1
1 0
>> C=[1 0; 0 1]
C= 1 0
0 1
>> D=[0 0; 0 0]
D= 0 0
0 0

>> step(A,B,C,D)

Step Response
From: In(1) From: In(2)
0.4

0.2
To: Out(1)

-0.2
Amplitude

-0.4
2

1.5
To: Out(2)

0.5

0
0 2 4 6 8 10 12 0 2 4 6 8 10 12
Time (sec)
Salidas para u1=step y u2=0 Salidas para u1=0 y u2= step.

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

>> step(A,B,C,D,1) % Salidas para u1=step y u2=0.

Step Response
0.4

0.2

To: Out(1)
0

-0.2

Amplitude
-0.4
2

1.5
To: Out(2)

0.5

0
0 2 4 6 8 10 12
Time (sec)

>> step(A,B,C,D,2) % Salidas para u1=0 y u2= step.

Step Response
0.3

0.2
To: Out(1)

0.1

-0.1
Amplitude

-0.2
2

1.5
To: Out(2)

0.5

0
0 2 4 6 8 10 12
Time (sec)

>> % Sistema de Segundo Orden

2
G( s)
s 2 2.s 2

>> wn=5;
>> damping_ratio=0.4;
>> [num0,den]=ord2(wn,damping_ratio)
num0 = 1
den = 1 4 25

1
G( s)
s 4s 25
2

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

>> num=wn^2*num0
num = 25
25
G( s)
s 4s 25
2

>> printsys(num,den)
num/den = 25
---------------------
s^2 + 4 s + 25

4. Respuesta al Impulso:

1
G( s)
s 0,2s 1
2

>> num=[0 0 1];

>> den=[1 0.2 1];
>> impulse(num,den)
Impulse Response
1

0.8

0.6

0.4

0.2
Amplitude

-0.2

-0.4

-0.6

-0.8
0 10 20 30 40 50 60
Time (sec)

>> num=[0 1 0]
1 ( s)
G( s)
s 2 0,2s 1
>> step(num,den)
Step Response
1

0.8

0.6

0.4

0.2
Amplitude

-0.2

-0.4

-0.6

-0.8
0 10 20 30 40 50 60
Time (sec)

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

5. Respuesta al Impulso y a la Rampa:

>> A=[0 1; -1 -1];

>> B=[0; 1];
>> C=[1 0];
>> D=[0];
>> step(A,B,C,D)
Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 2 4 6 8 10 12
Time (sec)

>> [num,den]=ss2tf(A,B,C,D)
num = 0 0 1.0000
den = 1.0000 1.0000 1.0000
1
G( s)
s s 1
2

>> step(num,den)
Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 2 4 6 8 10 12
Time (sec)

>> impulse(num,den)
Impulse Response
0.6

0.5

0.4

0.3
Amplitude

0.2

0.1

-0.1
0 2 4 6 8 10 12
Time (sec)

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

>> % Respuesta al Impulso por I(t)=Du(t)

>> num=[0 1 0]
num = 0 1 0
1 s
G( s)
s s 1
2

>> step(num,den)
Step Response
0.6

0.5

0.4

0.3
Amplitude

0.2

0.1

-0.1
0 2 4 6 8 10 12
Time (sec)

>> % Respuesta a la Rampa Unitaria por R(t)=D-1u(t)

>> num=[0 0 0 1]
num = 0 0 0 1
>> den=[1 1 1 0]
den = 1 1 1 0

1 1
G( s)
s s 1 s
2

>> step(num,den)
Step Response
20

18

16

14

12
Amplitude

10

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

6. Respuesta a Funcin Arbitraria:

>> num=[0 0 1]
>> den=[1 1 1]
>> t=0:.1:10;
>> r=t;
>> y=lsim(num,den,r,t);
>> plot(t,r,'-',t,y,'o')

10

0
0 1 2 3 4 5 6 7 8 9 10

>> num=[0 0 1]
>> den=[1 1 1]
>> t=0:.1:10;
>> r=exp(-t);
>> y=lsim(num,den,r,t);
>> plot(t,r,'-',t,y,'o')
1.2

0.8

0.6

0.4

0.2

-0.2
0 1 2 3 4 5 6 7 8 9 10

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

7. Fracciones Parciales y Respuesta al Escaln Unitario:

3s 3 25s 2 72s 80
G( s)
s 4 8s 3 40s 2 96s 80

>> num=[0 3 25 72 80]

>> den=[1 8 40 96 80]
>> step(num,den)
Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

3s 3 25s 2 72s 80
Ge ( s)
s 5 8s 4 40s 3 96s 2 80s

>> nume=[0 0 3 25 72 80]

nume = 0 0 3 25 72 80
>> dene=[1 8 40 96 80 0]
dene = 1 8 40 96 80 0

B( s ) r (1) r (2) r ( n)
Ge ( s) ..... k ( s)
A( s) s p(1) s p(2) s p ( n)

>> % Residuos, Polos y Termino Directo

>> [r,p,k]=residue(nume,dene)
r= -0.2813 - 0.1719i
-0.2813 + 0.1719i
-0.4375
-0.3750
1.0000
p= -2.0000 + 4.0000i
-2.0000 - 4.0000i
-2.0000
-2.0000
0
k= []

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

8. Lugar Geomtrico de las Races:

1
G( s)
s 3s 2 2s
3

>> num=[0 0 0 1]
>> den=[1 3 2 0]
>> rlocus(num,den)
Root Locus
4

1
Imaginary Axis

-1

-2

-3

-4
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis

>> num=[0 0 0 1]
>> den=[1 3 2 0]
>> [R,K]=rlocus(num,den);
>> size(R)
ans = 16 3
>> size(K)
ans = 1 16
>> R
R = 1.0e+002 *

0 -0.0100 -0.0200
-0.0005 -0.0090 -0.0205
-0.0013 -0.0078 -0.0209
-0.0041 -0.0044 -0.0215
-0.0042 + 0.0000i -0.0042 - 0.0000i -0.0215
-0.0042 + 0.0001i -0.0042 - 0.0001i -0.0215
-0.0041 + 0.0020i -0.0041 - 0.0020i -0.0218
-0.0034 + 0.0056i -0.0034 - 0.0056i -0.0232
-0.0023 + 0.0088i -0.0023 - 0.0088i -0.0254
-0.0007 + 0.0126i -0.0007 - 0.0126i -0.0286
0.0015 + 0.0172i 0.0015 - 0.0172i -0.0329
0.0044 + 0.0228i 0.0044 - 0.0228i -0.0388
0.0083 + 0.0300i 0.0083 - 0.0300i -0.0465
0.0133 + 0.0392i 0.0133 - 0.0392i -0.0567
0.5567 + 0.9816i 0.5567 - 0.9816i -1.1435
Inf Inf Inf

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

>> K
K = 1.0e+006 *
0 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0001 1.4561 Inf

9. Lugar Geomtrico de las Races:

a( s ) s 2 s
>> a=[1 1 0]
a= 1 1 0
b(s) s 2 4s 16
>> b=[1 4 16]
b= 1 4 16
>> den=conv(a,b)
den = 1 5 20 16 0
b(s) s 4 5s 3 20s 2 16s
>> roots(den)
ans = 0
-2.0000 + 3.4641i
-2.0000 - 3.4641i
-1.0000
>> num=[0 0 0 1 3]
num = 0 0 0 1 3
num(s) s 3
>> roots(num)
ans = -3
>> rlocus(num,den)
Root Locus
10

2
Imaginary Axis

-2

-4

-6

-8

-10
-10 -8 -6 -4 -2 0 2 4
Real Axis

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UNIVERSIDAD NACIONAL DE INGENIERIA INGENIERA DE CONTROL

10. Respuesta en Frecuencia:

25
G( s)
s 4s 25
2

>> num=[0 0 25]

>> den=[1 4 25]
>> bode(num,den)
Bode Diagram
20

Magnitude (dB) 0

-20

-40

-60
0

-45
Phase (deg)

-90

-135

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

9s 2 1.8s 9
G( s)
s 3 1.2s 2 9s
>> num=[0 9 1.8 9]
>> den=[1 1.2 9 0]
>> bode(num,den)
Bode Diagram
20

10
Magnitude (dB)

-10

-20

-30
90

45
Phase (deg)

-45

-90
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

>> [mag,phase,w]=bode(num,den);
>> size(mag)
ans = 53 1
>> size(phase)
ans = 53 1
>> size(w)
ans = 53 1
>> plot(w,mag)
>> mag=20*log10(mag);
>> w=logspace(-2,1,53);

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