G1 V P( s) +G2 V (s)=

Gc G1
G2
Hr s +
V
1+Gc G 1
1+Gc G1 (s)

G 1 V P ( s) =

Gc G1
G2
Hr s +
V G2 V (s )
1+Gc G1
1+G c G1 (s)

G 1 V P ( s) =

Gc G1
11Gc G1
Hr s +
V (s )
1+Gc G1
1+Gc G1

G 1 V P ( s) =

Gc G1
G G G
Hr s c 1 2 V (s)
1+Gc G1
1+Gc G1

V P (s )=

V P (s )=

Gc
G G
Hr s c 2 V (s)
1+Gc G1
1+G c G1

K [ K 2 /( s+1) ]
K
Hr s
V (s )
K 1
K 1
1+ K
1+ K
s+1
s+1

( )

( )

( Ks+1K )
2

V P (s )=

V P (s )=

K
Hr s
V (s )
s+1KK 1
s+1KK 1
s+1
s+1

K K2
(s+ 1) K
Hr s
V
s+1KK 1
s+ 1KK 1 (s )

Para un cambio escaln

V P (s )=

V (s) :

Hr s y

K K2
(s+ 1) K H
V

s+1KK 1 S s+1KK 1 S

K K2

1
V

( SHS K + KSH ) (s+1KK

) s+ 1KK S

V P (s )=

V P (s )= H K +

V P (s )=

V P (s )=

KH
S

K K 2 V /
( 1/ )

1KK 1
1KK 1
s+
s+
S

)(

K K2V /
(H K)
( K H / )
+

1KK 1
1KK 1
1KK 1
s+
s s+
s+
S

K H K K 2 V
(H K)
+

1KK 1
s+

) (
)

)(

1
) s+ 1KK
( )S

Hallando las reas tomando limites:

A1

( s+ 1KK
)

A 1=lim S
s0

A 2=

V P (s )=

V P (s )=

A2
=
s

1
1KK 1
s+
S

=
1KK 1
( 1KK 1 )
s+
S

=
S ( 1KK 1)

lim
s

1KK 1

K H K K 2 V
(H K)
+

1KK 1
s+

K H K K 2 V
(H K)
+
1KK 1
1KK 1
s+

)
)

1KK 1
t

K HK K 2 V
+
1KK 1

1KK 1
t

K HK K 2 V
+
1KK 1

V P (t )=H K e

V P (t )=H K e

(
(

[(

1KK 1
s+

((

1
1

S
1KK 1
s+

( / ( 1KK 1 ) ) ( /( 1KK 1 ) )

)(
)(

1KK 1
t

1KK 1
t

)
)

V ( t )

K HK K 2 V
1KK 1

K H K K 2 V (
V P (t )= H K +
e
1KK 1

KK 11
t

K H K K 2 V
1KK 1