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3. TRABAJO PREPARATORIO
H(s)= 84
num=[1];
den=[1 5 12 25 45 50 82 60 0];
G=tf(num,den);
H=84;
A=feedback(G,H)
Transfer function:
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SOLUCION:
𝑘 𝑘
𝐺(𝑠) = = 3
𝑠(𝑠 + 2)(𝑠 + 6) 𝑠 + 8𝑠 2 + 12𝑠
LUGAR DE RAICES
num=[1];
den=[1 8 12 0];
G=tf(num,den)
rlocus(G)
sgrid
b. Lugar de raíces sobre el eje real.
180(2𝑘+1)
- 𝐴𝑛𝑔𝑢𝑙𝑜𝑠 𝑎𝑠𝑖𝑛𝑡𝑜𝑡𝑎𝑠 = ± , 𝑘 = 0,1,2,3, ….
𝑛−𝑚
𝑛 = # 𝑑𝑒 𝑝𝑜𝑙𝑜𝑠
𝑚 = # 𝑑𝑒 𝑐𝑒𝑟𝑜𝑠
180(2𝑘 + 1)
𝐴𝑛𝑔𝑢𝑙𝑜𝑠 𝑎𝑠𝑖𝑛𝑡𝑜𝑡𝑎𝑠 = ± , 𝑘 = 0,1,2,3, ….
3
S3 2 6 0
d. Puntos de ruptura.
𝐾
+1=0
𝑆(𝑆 + 2)(𝑆 + 6)
𝑆(𝑆 + 2)(𝑆 + 6) + 𝐾 = 0
𝐾 = −𝑆(𝑆 + 2)(𝑆 + 6)
𝑑𝐾
= −3𝑆 2 − 12𝑆 − 5
𝑑𝑆
0 = −3𝑆 2 − 12𝑆 − 5
𝑆 = −0.472 , 𝑆 = −3.527
𝑆 = −0.472
e. Ángulos de partida y de llegada de las singularidades de bucle abierto (si existen).
6𝑆 2 + 𝑘 = 0 𝑆 2 = −5
6𝑆 2 + 30 = 0 𝑆 = ±√5 × √−1
6𝑆 2 = −30 𝑆 = ±𝑗√5
𝜔 = ±√5
g. K critico.
30 − 𝐾
=0
6
𝐾𝑐 = 30
4. TRABAJO PRACTICO
K k
G (s) 2
( s 2)( s 5) s 7 s 10
%Utilizando sisotool
num=[ 1];
den=[1 7 10];
G=tf(num,den)
H=1;
sisotool(G)
Ωn τ
K S1 S2 S2/S1 (rad/s) aprox. MP Ts Ess(%)
Z (%)
0.65+j0.759
4.8 -3.5 + j1.61 -3.5-j1.6 0.988 3.85 0.32 0 0.758 51.0
-0.019+j0.99
15 -3.5+j3.57 -3.5-j3.57 0.7 5 0.32 4.6 0.425 25.0
-0.77+j0.629
100 -3.5+j9.89 -3.5-j9.89 0.334 10.5 0.32 32.9 0.13 4.76
4.2 Utilizando el SISOTOOL, encontrar el LGR del sistema del literal 3.2 y
llenar la siguiente tabla.
num=[ 1];
den=[1 8 12 0];
G=tf(num,den)
H=1;
sisotool(G)
MP Ess
K S1 S2 S3/S1 Ξ ωn τ aprox. ts
(%) (%)
0.5 -6.02 -1.94 0.00713 - - - - 100
Ϛ k S1 S2 S3 Mp Ts
0.707 8.9 -0.8-i0.84 -0.8+i0.84 -6.33 4.27 5.19
0.50 14.6 -0.75-i1.3 -0.75+i1.3 -6.50 15.8 5.52
4.4 Agregar al sistema del literal 3.2 un polo en s=-6, como cambia el
LRG?
𝐾
𝐺(𝑠) =
𝑠(𝑠 + 2)(𝑠 + 6)(𝑠 + 6)
𝑘 𝑘
𝐺(𝑠) = = 4
𝑠(𝑠 + 2)(𝑠 + 6)(𝑠 + 6) 𝑠 + 14𝑠 3 + 60𝑠 2 + 72𝑠
num=[1];
den=[1 14 60 72 0];
G=tf(num,den)
H=1;
sisotool(G)
K k
G ( s) 3
s ( s 4 s 6) s 4 s 2 6 s
2
num=[1];
den=[1 4 6 0];
G=tf(num,den)
H=1
sisotool(G)
Llene la siguiente tabla
(%)
0.5 -0.0884 -1.96+1.35i 22.17+15.27i 2.17 0.689 5.98 2.70 100
3.2 -1.25 -1.38+0.82i 1.104+0.656i 1.71 1.049 12.2 4.15 100
7.5 -2.82 -0.592+1.52i 0.209+0.54i 1.82 2.650 51.8 10.6 100
8.5 -2.94 -0.529+1.62i 0.179+0.55i 1.88 3.220 59.8 12.9 100
Kc -2.95x10-6+2.24i -2.95x10-6-2.24i 1.75x10-6-1.33i 2.24 0.51*107 100 2.04*107 100
Ϛ k S1 S2 S3 Mp ts
0.65 4.32 -0.9-i1.08 -0.9+i1.08 -2.14 4.91 4.68
0.50 5.29 -0.7-i1.29 -0.7+i1.29 -2.48 12.3 4.27
5. INFORME
m=length(r);
n=round(m/2);
q=1;
k=0;
for p = 1:length(r)
if rem(p,2)==0
c_even(k)=r(p);
else
c_odd(q)=r(p);
k=k+1;
q=q+1;
end
end
a=zeros(m,n);
if m/2 ~= round(m/2)
c_even(n)=0;
end
a(1,:)=c_odd;
a(2,:)=c_even;
if a(2,1)==0
a(2,1)=0.01;
end
for i=3:m
for j=1:n-1
x=a(i-1,1);
if x==0
x=0.01;
end
a(i,j)=((a(i-1,1)*a(i-2,j+1))-(a(i-2,1)*a(i-1,j+1)))/x;
end
if a(i,:)==0
order=(m-i+1);
c=0;
d=1;
for j=1:n-1
a(i,j)=(order-c)*(a(i-1,d));
d=d+1;
c=c+2;
end
end
if a(i,1)==0
a(i,1)=0.01;
end
end
Right_poles=0;
for i=1:m-1
if sign(a(i,1))*sign(a(i+1,1))==-1
Right_poles=Right_poles+1;
end
end
fprintf('\n Routh-Hurwitz Table:\n')
a
fprintf('\n Number Of Right Poles =%2.0f\n',Right_poles)
end