1. Dada la funcin de transferencia de lazo abierto.

Disee un compensador de retraso tal que el

margen de fase sea de al menos 70, el margen de ganancia no sea menor que 10 dB y la
constante de error de velocidad KV sea de 20 seg-1. 1.5 ptos
()

( )

-100
-50
0
50
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-1
10
0
10
1
10
2
10
3
-270
-225
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
T
dB
j G
dB j G
seg rad
K Kc
Kc
Ts
Ts Kc
s s s
s Kv
s Gc s sG Kv
n
m
s
s
1
177 . 0
) 77 . 1 ( 10
1
49 . 5
1
log 74 . 0
1
log * 20 8 . 14
1
log * 20 ) (
8 . 14 ) (
/ 77 . 1
110 70 180
200
100
1000
20
1
) 1 (
*
) 100 20 (
1000
lim
) ( ) ( lim
1
2
0
0
=
= =
=
|
|
.
|

\
|
=
|
|
.
|

\
|
=
|
|
.
|

\
|
=
=
=
= + =
= =
=
+
+
+ +
=
=

e
e
|
|
|
|
e
e
e
|
|
|
|
|



) 32 . 0 (
) 177 . 0 (
42 . 36 ) (
43 . 36
49 . 5
200
32 . 0
56 . 0 * 49 . 5
1 1
56 . 0
1
2
+
+
=
= = =
= = =
= =
s
s
s Gc
K
Kc
T
T
|
|
e
e