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𝑘= = = 26.423
∆𝐸 40 − 0
152 ∗ 525
𝜏 = 1057,02 ∗ 0,632 = 668.03 + 0,0975 = 668.3975 → > 79.8
1000
𝑡𝑜 = 525 ∗ 4 = 2100𝑚𝑠 = 2,1𝑠
26,423𝑒 −2.1𝑠
79.8𝑠 + 1
Diseñarle controlador PI, su tiempo de muestreo es 525/1000=0.525
1.2943
𝐾𝑖 = = 0.185
6.993
CONTROLADOR PID
𝑇𝑑 = 0.5(2.1) = 1.05
1.7257
𝐾𝑖 = = 0.4108
4.2
𝐾𝑑 = 1.7257 ∗ 1.05 = 1.8119