ANEXOS

Singular Values
30

20

10
Singular Values (dB)

-10

-20

-30

-40
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

norm(A,inf)

ans =

20.0010

>> norm(A,2)

ans =

14.1492
 Singular Values
0

-5

-10
Singular Values (dB)

-15

-20

-25

-30

-35

-40
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

>> norm(B,inf)

ans =

>> norm(B,2)

ans =

Inf
RESPUESTA PASO DEL SISTEMA:

12 Step Response
x 10
18

16

14

12

10
Amplitude

-2
0 5 10 15 20 25 30 35
Time (sec)
TRAYECTORIA DE ESPACIOS DE ESTADOS:

13 Step Response
x 10
2

To: Out(1)
0

-1 14
x 10
4

3
To: Out(2)
Amplitude

0 14
x 10
3

2
To: Out(3)

0
0 5 10 15 20 25 30 35
Time (sec)

100

80

60

40

20

-20

-40

-60

-80

-100
-10 -8 -6 -4 -2 0 2 4 6 8 10

function [Gk,T,K]=kalmdec(G)
G=ss(G); A=G.a; B=G.b; C=G.c; [Ac,Bc,Cc,Tc,Kc]=ctrbf(A,B,C);
nc=rank(ctrb(A,B),eps*100); n=length(A); ic=n-nc+1:n;
[Ao1,Bo1,Co1,To1,Ko1]=obsvf(Ac(ic,ic),Bc(ic),Cc(ic));
if nc<n, inc=1:n-nc;
[Ao2,Bo2,Co2,To2,Ko2]=obsvf(Ac(inc,inc),Bc(inc),Cc(inc));
end
[m1,n1]=size(To1); [m2,n2]=size(To2); To=blkdiag(To2,To1);
T=To*Tc; e0=eps*100; n1=rank(obsv(Ac(ic,ic),Cc(ic)),e0);
n2=rank(obsv(Ac(inc,inc),Cc(inc)),e0);
K=[zeros(1,n-nc-n2),ones(1,n2), 2*ones(1,nc-n1), 3*ones(1,n1)];
Ak=T*A*inv(T); Bk=T*B; Ck=C*inv(T); Gk=ss(Ak,Bk,Ck,G.d);
 Retrato de Fase
5

1
X2

-1

-2

-3

-4

-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
X1

Como dio la función de lyapunov para valores mayores a 1 o -1 el sistema se comporta inestable