MUESTREO DE SISTEMAS EN ESPACIO DE ESTADOS

Juan Salamanca PhD.

I. Introduccin
En esta seccin se ilustra el muestreo de sistemas lineales invariantes con entrada
generada mediante retenedor de orden cero. Para este caso modelamos el
sistema dinmico por medio espacio de estados. Consideraremos luego el caso
de sistemas con retardo de transporte. Finalmente se consideraran sistemas no
lineales y la posible forma como podramos muestrearlos. El objetivo en todos los
casos es llegar a obtener un modelo en espacios de estado discreto que nos sirva
para analizar el sistema desde un punto de vista discreto y disear y aplicar
controladores digitales.
II. Fundamentos tericos
Iniciamos con los modelos lineales invariantes en el tiempo.
Sea el modelo
( ) ( ) ( )
( ) ( ) ( )
( )
( )
( )
( )
0 0
; ; ;
-
= +
= +
=
e
e
e
e e e e
n
m
p
nxn nxm pxn pxm
X t A X t BU t
Y t C x t DU t
X t x dado
X t es el vector de estados
U t es el vector de control
Y t es el vector de salidas
A B C D


El modelo en espacios de estado se puede expresar grficamente como:











C


B
A
U(t)
Y(t)
+
-

La solucin a la ecuacin en espacio de estados esta dada por:
( ) ( ) ( ) ( )
0
0 0
( ) ( , ) ,
t
t
X t t t X t t BU d t t t = u + u
}

( )
0
( )
0
,
A t t nxn
t t e

u = e
Es la matriz de transicin de estado
Cuando ( ) 0 U t =
( ) ( )
0 0
( ) , X t t t X t = u
Cuando
0
0 t = tenemos
( ) ( ) ( ) , 0 0 X t t X = u
( )
( ) ( )
( )
, 0
, 0 0,
At
A t At
t e
t e e t

u =
u = = = u

Cuando
1
t t =
( ) ( )
( ) ( ) ( )
( )
1 1 0 0 1 0
0
0 0 0 0 0 0
( ) , ; cuando
( ) , ,
A
nxn
X t t t X t t t
X t t t X t t t e I
=u =
=u u = =

( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
1 1 1 1 0 0
1 1 0 0
,
( ) , si ,
( ) , ,
nxn
t t I
X t t t X t X t t t X t
X t t t t t X t
u =
= u = u
= u u

Por otro lado tenemos
( ) ( )
0 0
( ) , X t t t X t = u
Por comparacin suponiendo
0
( , ) t t u invertible
0 1 1 0
( , ) ( , ) ( , ) t t t t t t u = u u Esto se corrobora por que
( ) ( ) ( ) ( )
0 1 1 0 1 0 1
A t t A t t t t A t t A t t
e e e e
+
= =
Lo anterior se puede generalizar
( ) ( ) ( ) ( ) ( )
1 1 2 2 3 1
, , , , ... ,
n n n
t t t t t t t t t t

u =u u u u

( ) ( ) ( )
1
0 1 1
1
, , ,
n
i i
i
t t t t t t

+
=
(
u = u u
(

H

Cuando
( ) ( ) , 0 t t u =u

( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
0
0
0 ,
Recordando
, * convolucion
t
t
X t t X t BU t d t
t BU t d t t BU t
t
t
= u + u
u = u
}
}

Aplicando la transformada de Laplace
( ) o
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
0
0 ,
0 *
0
0
t
X s s X t BU d
X s s X t BU t
X s s X s BU s
X s s X BU s
t t t
(
= u + u
(

= u + u (

= u + u
= u + (

}

De la ecuacin
( ) ( ) ( ) ( )
( ) ( ) ( )
; 0 dado X t AX t BU t X
y t C X t DU t
-
= +
= +

Aplicando
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
1
0
0
0
X t AX t BU t A X t B U t
s X s X AX s BU s
sI A X s X BU s
X s sI A X BU s

= + = + ( ( ( (

= +
= +
= + (


Por comparacin
( ) ( ) ( ) ( )
( )
( ) ( )
1 1
1
2 2
1
1
1
...
2!
1
/ /
At
s sI A t sI A
A t
e sI A I At
sI A adj sI A
sI A

(
u = u =

(
= = + + +

=

Como ( ) ( ) ( ) Y t C X t DU t = + aplicando tenemos
( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
0
0
0
Y s C X s DU s C s X BU s DU s
Y s C s X C s BU s DU s
Y s C s X C s B D U s
= + = u + + (

= u + u +
= u + u + (



La matriz de transferencia se obtiene haciendo ( ) 0 0 x =
( ) ( ) ( )
( ) ( ) ( )
( ) ( )
1
1
* p m
y s C s D U s
y s C sI A B D U s
H s C sI A B D

( = u +

(
= +

= + e

En la mayora de los casos tenemos 0 D=
( ) ( )
1
* p m
H s C sI A B

= e

III. Entrada generada mediante ZOH
Supongamos que ahora el vector de entrada se genera mediante un retenedor de
orden cero.
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
0
_____
0
_____
0 0
0
0
1 1( 1 )
, , 1 1( 1 )
0
r m m m
j
t
m m m
J
t
U t U t U j T t j T t j T
X t t t X t t B U j T j T j T d
t t
t t t t

=
(
= = +
(

(
= u + u +
`
(
)
> >

}

Procedemos ahora a evaluar
( ) ( ) ( )
0
_____
0
, 1 1( 1 )
t
m m m
J
t
t B U j T j T j T d t t t t

=
(
u +
`
(
)

}

Sea
0 0 0 0
; 0 ;
m m
t mT t t T m = + A sA < e
Sea
0
; 0 ;
m m
t nT t t T n = + A sA < e
; n m >

( ) ( )
( ) ( )
( ) ( )
0
0
______
0
______
0
0
______
0
0
( , ) 1 1( 1 )
( , ) 1 1( 1 )
( , ) 1 1( 1 )
t
m m m
J
t
t
m m m
J
t
m m m
J
t B U j T j T j T d
t B U j T jT j T d
t B U jT jT j T d
t t t t
t t t t
t t t t

=
(
u +
`
(
)
(
= u +
(

(
u +
(

}

( ) ( )
( )
( )
( )
( )
0
0
______
0
0
1
1
0
( , ) 1 1( 1 )
( , ) ( , )
m
m m
t
m m m
J
m
i T t
m m
i T mT
i
t B U jT jT j T d
t Bd U iT t Bd U m T
t t t t
t t t t

+
=
(
u + =
(

(
u + u
(

} }

( ) ( )
( )
( )
( )
( )
0
______
0
0
1
1
0
( , ) 1 1( 1 )
( , ) ( , )
m
m m
t
m m m
J
n
i T t
m m
i T m T
i
t B U jT jT j T d
t Bd U iT t Bd U nT
t t t t
t t t t

+
=
(
u + =
(

(
u + u
(

} }

( ) ( )
( ) ( ) ( )( ) ( ) ( )
1 1 1

0 0
1 ; 1 1
. . .
n m n
m m m
i i i m
n m n m n m
U iT iT U iT


= = =
= e + =
= +


( ) ( )
( )
( )
( ) ( )
( )
( )
( ) ( )
( )
( )
( ) ( )
0
0
0
1
1
1
1 1
1
( , ) ,
( , ) ( , )
, ,
, ; si 2
m
m
m m
m m
m
m
n
t i T
r m
t iT
i m
t t
m m
n T m T
n
i T m T
m m
iT t
i m
t
m
n T
t BU d t Bd U iT
t Bd U nT t Bd U mT
t Bd U iT t Bd U mT
t Bd U nT n m
t t t t t
t t t t
t t t t
t t

+
=

+ +
= +
(
u = u +
(

( (
u u
( (

( (
= u + u
( (

(
+ u > +
(

} }
} }

} }
}

Para el caso de n =m+1 tenemos:
( ) ( )
0 0
_____
( , ) ( , ) ( 1 ) ( , )
m
m
t n T t
r m m
t t n T
t B U d t Bd U n T t Bd U nT t t t t t t t
( (
u = u + u
( (

} } }

En resumen se tiene
Para n m + 2
( ) ( )
( )
( ) ( )
( )
1
1
0 0
1
( , ) ( , ) ( , )
( , )
m
m m
m
n
i T t
m m
iT nT
i m
t
m
nT
X t t t X t t Bd U i T t Bd U nT
t Bd U nT
t t t t
t t

+
= +
( (
= u + u + u
( (

(
+ u
(

} }
}

Si n = m + 1 tendremos:
( ) ( ) ( )
0
______
0 0
( , ) ( , ) 1 ( , )
m
m
nT t
m m
t nT
X t t t X t t Bd U n T t Bd U nT t t t t
| |
( (
= u + u + u
|
( (

\ .
} }

Para realizar el muestreo del estado procedemos como se indica en el siguiente
grafico:

( )
m
U kT


Figura 2. Muestreo de sistemas en espacios de estado.

Tomamos
( )
0
1 ;
m m
t k T t kT = + = para este caso se tiene
1 ; ; 1 n k m k n m = + = = +
( )
( )
( )
( )
( )
_______
_______ _______
1
_______
( 1 )
_______ _______
1
0 0
( 1 ) ( 1 , ) ( 1 , ) ;
( 1 , ) ( )
( 1 , ) ( 1 ; ) ,
( 1
m
m
m m m
m m m
m
k T
m m m m m m
kT
A k T kT AT
m m m
k T T T
m m m m
kT
X k T k T k T X kT k T Bd U k T
k T k T e e T
k T Bd k T k T Bd T Bd
k
t t
t t t t t t
+
+
+
(
+ = u + + u +
(

u + = = = u
u + = u + + = u
u +
}
} } }
( )
( )
_______
1
0
, )
m m
m
k T T
m m
kT
T Bd T Bd t t t t
+
= u
} }

El modelo discreto se puede escribir como
( ) ( )
( ) ( ) ( )
( )
( )
( )
_______
0 0
( 1 )
;
m
m m
m
m D m D m
m D m D m
AT
D m
T T
A T
D m
D D
X k T A X k T B U k T
Y K T C X k T D U k T
A T e
B T Bd e Bd
C C D D
t
t t t

+ = +
= +
= u =
= u =
= =
} }

De forma anloga al caso continuo se puede obtener una matriz de transicin de
estado. Para ello hacemos ( ) 0
m
U K T =
El modelo discreto autnomo queda:
ZOH
T
m




( )
( )
( )
______
______
______ ______
______
2
( 1 )
( 1 )
( 1 ) ( 2 )
( 2 ) : 2
m D m
m D m
m D m
m D m
X k T A X kT
X kT A X k T
X k T A X k T
X kT A X k T k
+ =
=
=
= >

Procediendo de forma recursiva tenemos:
( )
( ) ( )
( ) ( ) ( )
( ) ( ) ( )
______
2
( ) ; si ;
;
sea , ; 0
, ;
m D m
k i
m D m
k j
D
m m
X kT A X k j T k j k j i j k i
X kT A X i T k i
k i k i A I
X kT k i X i T k i

= > = =
= >
+ = + = + =
= + >

( )
k
D
k A + = Es la matriz de transicin de estado discreto.
Retomando el modelo en espacio de estados con entrada diferente de cero
( )
( )
______ ______
______ ______ ______
______ ______ ______
2
______ ______ _____
( 1 ) ; ( 1 ) ; 1
( 1 ) ( 2 ) ( 2 ) ; 2
( 2 ) ( 2 ) ( 1 ) ; 2
( 2 ) ( 3 ) ( 3
m D m D m
m D m D m
m D m D D m D m
m D m D
X kT A X k T B U k T k
X k T A X k T B U k T k
X kT A X k T A B U k T B U k T k
X k T A X k T B U k
= >
= + >
= + + >
= +
( )
_
______ ______ ______ ______
3 2
) ; 3
( 3 ) ( 3 ) ( 2 ) ( 1 ) ; 3
m
m D m D D m D D m D m
T k
X kT A X k T A B U k T A B U k T B U k T k
>
= + + + >

En forma recursiva tenemos:
( ) ( ) ( ) ( )
( )
( ) ( ) ( )
( ) ( ) ( ) ( )
______ ______ ____________
______
______ _________________
1
1
( ) 1 ( ) 2 ( 1 )
... 0 ( 1 )
( ) ( 1 ) ; 1
0
, ,
m m D m D m
D m
j
m m D m
k i
m m D
X kT J X k j T j B U k j T j B U k j T
B U k T
X kT j X k j T j B U k j T k j
si i k j
X kT k i X iT k i B

=
= + + + + + +
+ + +
= + + + + > >
= >
= + + +

__________
( 1 ); 0
m
U i T k i + > >

Esta expresin es anloga al modelo de tiempo continuo.
Retomando el modelo en espacio de estados discreto podemos obtener la matriz
de transferencia discreta
( ) ( )
( ) ( ) ( )
( )
______
0
1
0 dado
m D m D m
m D m D m
X k T A X k T B U k T
Y kT C X kT B U kT
X X
| |
+ = +
|
\ .
= +
=

Tomando la transformada Z del modelo tenemos
( ) ( )
( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
______
1 1
1
( 1 )
, 0 , ,
, , ,
, 0 ,
, 0 ,
, 0
m D m D m
m D m D m
m D m D m
m D m D m
D m D m
m D D D m
m D D D
X k T A X kT B U kT
Y kT C X kT D U kT
Z X z T Z X A X z T B U z T
Y z T C X z T D U z T
zI A X z T z X B U z T
X z T z I A z X z I A B U z T
Y z T C zI A z X C z

(
Z + = Z + Z ( (
(

Z = Z + Z ( ( (

= +
= +
= +
= +
= + ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
1
1 1
, ,
, 0 ,
D D m D m
m D D D D D D m
I A B U z T D U z T
Y z T C z I A z X C z I A B D U z T

+
(
= + +


Tomando condiciones iniciales iguales a cero obtenemos
( ) ( ) ( )
( ) ( ) ( )
1
, ,
, , ,
m D D D D m
m m m
Y z T C zI A B D U z T
Y z T H z T U z T

(
= +

=

( ) ( )
1
,
m D D D D
H z T C zI A B D

= + Es la matriz de transferencia discreta del

sistema.
( )
( )
,
/ /
D
m D D D
D
Adj zI A
H z T C B D
zI A

= +

Ejemplos
1. Consideremos el sistema de tiempo continuo dado por el modelo en
espacio de estados continuo
( ) ( ) ( ) ( )
( ) ( )
( ) ( ) ( )
0 0
; dado
, , ; , ,
x t ax t bu t x t x
y t c x t
a b c x t y t u t
= + =
=
e e

Obtengamos la matriz de transicin de estado continua, la matriz de transicin de
estados discreta, el modelo en espacio de estados discreto y la funcin de
transferencia discreta.
i) Matriz de transicin de estados continuos
( )
( )
at
t t e | u = =

ii) Matriz de transicin de estados discreta
Se obtiene a partir de
D
A
( )
m
aT
D m D
A T e a | = = =
( ) ( )
m
akT k
D
k k A e + = = = es la Matriz de transicin discreta
iii) Modelo en espacio de estados discreto
( ) ( )
( ) ( ) ( )
( )
( )
( )
_______
0 0
0
0
( 1 )
1 ; ; 0
m
m m
m
m
m
m m
m
m D m D m
m D m D m
aT
D D
T T
a T
D D m
T
a
T
aT aT a
D
aT
D D D D
X k T A X kT B U kT
Y kT C X kT D U kT
A a e
B b T bd e bd
e
b b e e d b e
a
b
b e C C D d
a
t
t
t
| t t t
t

+ = +
= +
= =
= = =
| |
= =
|
\ .
= = = =
} }
}

El modelo en espacios de estado discreto queda
( ) ( ) ( )
( ) ( )
_______
( 1 ) 1
m m
aT aT
m m m
m m
b
x k T e x kT e u kT
a
y kT C x kT

+ = +
=

iv) La funcin de transferencias de pulso queda
( )
1
, ; / /
m
m
m
aT
aT
m aT
c b e
H z T z e
a z e
| | | |
= >
| |

\ .
\ .

2. Servomotor DC
Consideremos el modelo del servomotor
c
D dado por su funcin de transferencia
( )
( ) ( )
( )
( )
/
1
c c
a c
s Y s K
V s s s U s
u t
t
= =
+

Obtengamos un modelo en espacio de estados continuo, su matriz de transicin
de estados continua, la matriz de transicin de estados discreta, in modelo de
espacio de estado discreto para entrada generada mediante ZOH y la
correspondiente funcin de transferencia discreta. Analicemos los ceros y los
polos en tiempo continuo y discreto.
i) Modelo en espacios de estado continuo
Tomando las variables de estado.
( ) ( ) ( ) ( ) ( ) ( )
1 2
; ;
a
x t t x t t u t V t u u = = =
De la funcin de transferencia tenemos:
( ) ( ) ( )
( ) ( ) ( )
0
2
0
1/
1
c
c
c
c
c c
K
s s s v s
K
s s s s v s
t u
t
u u
t t
+ =
+ =

En el dominio del tiempo tenemos:
( ) ( ) ( )
0
1
c
c c
K
t t v t u u
t t
= +
El modelo en espacio de estado queda
( ) ( )
( ) ( ) ( )
( ) ( )
1 2
2 2
1
1
c
c c
x t x t
K
x t x t u t
y t x t
t t
=
= +
=


En forma vectorial matricial tenemos
( )
( )
( )
( )
( )
( ) | |
( )
( )
( ) ( ) ( )
( ) ( )
| |
1 1
2 2
1
2
0 0
0 1 0
0 1
1 0
0 1 0
1 0 0
0 1
c c c
c c c
x t x t
u t
/ K /
x t x t
x t
y t
x t
X t AX t bu t ; X(t ) X
y t CX t
A ; b ; C ; D d
/ K /
t t
t t
-
( (
( (
= + ( (
( (

( (

(
= (
(

= + =
=
( (
= = = = =
( (

En forma compacta tenemos
( ) ( ) ( )
( ) ( )
| |
0 0
; ( ) dado
0 1 0
; ; 1 0 ; 0
0 1/ /
c c c
X t AX t bu t X t X
y t CX t
A b c D d
K t t
-
= + =
=
( (
= = = = =
( (

( ) ( ) ( )
2 2*2 2*1
1*2
; ; ; ;
; 0
X t u t y t A b
C d
e e e e e
e = e

ii). Matriz de transicin de estados continua
( ) | |
1
1
0 1 1 0
0 1/ 0 1/ 0
At
c c
t e sI A
s s
sI A
s s t t

u = =
( ( (
= =
( ( (
+


( )
( )
( )
( )
( )
( )
1
1
1
;
0 1/
1
1
1
/ / 1/
0
1 1
1/
1
0
1/
c
c
c
c
c
s
sI A
s
s
Adj sI A
sI A
sI A s s
s
s s s
sI A
s
t
t
t
t
t

(
=
(
+

(
+

(
= =
(
+
(

(
(
+
(
( =
(
(
(
+



( ) ( )
( )
1
1 1
1 1
1/
1
0
1/
c
c
s s s
t sI A
s
t
t

(
(
+
( (
u = =

(
(
+



( )
( )
| |
1 1
1 1
1 1
1/
; 0
1
0
1/
c
c
s s s
t t
s
t
t


( (
(
( (
(
+

(
(
(
u = >
(
(
(
(
+
(
(


( )
( )
/
/
1 1
; 0
0
c
c
t
c
t
e
t t
e
t
t
t

( u = >
(

( )
( )
/
/
1 1
0
m c
m c
T
c
D m
T
e
A T
e
t
t
t

( = u =
(


( )
( ) ( )
( )( ) ( )
( )
/ /
2
/ /
/ / 2 /
2
2 / 2 /
2 /
2
2 /
1 1 1 1
*
0 0
1 1 1 1 1
0 0
1 1
0
m c m c
m c m c
m c m c m c
m c m c
m c
m c
k
D
T T
c c
D D D
T T
T T T
c c
D
T T
T
c
D
T
K A
e e
A A A
e e
e e e
A
e e
e
A
e
t t
t t
t t t
t t
t
t
t t
t t
t

+ =
( (

( ( = =
( (

( (
+
( ( = =
( (

(

( =
(



( ) ( )
( ) ( ) ( )
2 /
3 2
2
2 / /
/ / 2 / 3 /
3
3 / 3 /
1 1 1 1
0 0
1 1 1 1 1
0 0
m m c
m c m c
m c m c m c m c
m c m c
T T
c c
D D
T T
T T T T
c c
D
T T
e e
A A A
e e
e e e e
A
e e
t
t t
t t t t
t t
t t
t t




( (

( ( = =
( (

( ( (
+

( ( = =
( (


De forma sucesiva tenemos
( )
( )
/
/
1 1
0
m c
m c
kT
c
k
D
kT
e
k A
e
t
t
t

( + = =
(


( )
( ) ( )
0 0
/ /
0 / /
1 1 1 1 0
/
0 0
m m
m m
m c m c
m
m c c
T T
A T AT A
D
T T
T
c c
D
T T
c c
B e Bd e e Bd
e e
B d
k
e e
t t
t t
t t
t t
t t
t
t

= =
( (

(
( ( =
(
( (

} }
}

( )
( )
/
/
/
0 /
1
1 1
0
c
m c
m
c
m c
T
T c
T
c
D
T c T
c
k e
e
B d
k
e
e
t
t
t
t
t
t
t

(
( =
(
(
(

}

( )
( )
( )
/
/
0 0
/ /
0
/ / /
/
1 1
0
1
1
m m
c
m c
m
c m c
m c m c m c
m c
T T
T
T
c c
c
D T
T T c
c
T T T
c m c c c c c c c c c c
D
T
c
k d k e d
e
B
k
e d e
k T k e k k e k e k
B
k e
t
t
t t
t t t
t
t t
t
t
t
t t t t t

(
(
( =
(
(
(

(

(
+ +
(
=
(

} }
}

( )
( )
| |
/
/
1
; 1 0 ; 0
1
m c
m c
T
c m c c
D D D D
T
c
k T k e
B C D d
k e
t
t
t

(
+
(
= = = =
(

iii) Matriz de transferencia discreta
( )
( )
( )
( )
( ) ( )
1
1
,
,
,
,
m
m D D D D
m
m D D D
Y z T
H z T C zI A B d
U z T
H z T C zI A B

= = +
=

( ) ( )
/ /
/ /
1 1 1 1
0
0
0 0
m c m c
m c m c
T T
c c
D
T T
e z e
z
zI A
z
e z e
t t
t t
t t


( (

(
( ( = =
(
( (


( )
( )
( )( )
1
/
; 1
/ /
m c
T D
D D
D
Adj zI A
zI A zI A z z e
zI A
t

= =

( )
( )( )
( )
/ /
1
/
1
1
1
0 1
m c m c
m c
T T
c
D
T
z e e
zI A
z z e
z
t t
t
t

=



( )
( )( )
( ) | |
( )
( )( )
( )
( )
/
/
1
/
/
/
/
/
/
1
1
1 1
( )
1
0
1
1
1
1
1
, 1 0
1
1
0
m c
m c
m c
m c
m c
m c
m c
m c
T
c
T
D
T
T
c
T
T
c m c c
m
T
c
T
e
z z z e
zI A
z e
e
K T K e
z
z z e
H z T
K e
z e
t
t
t
t
t
t
t
t
t
t
t

(
(
+

(
(
=
(
(

(
(


( )
( ) ( )
( )( )
( )
( ) ( )
( )( )
2
/ /
/
/ /
/
1 1
,
1 1
/ 1 1 / 1
,
1
m c m c
m c
m c m c
m c
T T
c m c c c c
m
T
T T
c c m c c c m c
m
T
K T K e K e
H z T
z z z e
K T e z K e T
H z T
z z e
t t
t
t t
t
t t
t t t t

+
= +

( + + +

=



( )
( )
( )
( )
1
2
1 2
/
/ / /
1 1 2 /
, ; / / 1
1 / 1
/ 1 ; ; 1 ;
/ 1
m c
m c m c m c
m c
D D
m
D D
T
T T T m c
D c c m c D D D T
m c
z b
H z T z
z a z a
e T
K T e b a e a e
T e
t
t t t
t
t
t t
t

I +
= >
+
+
I = + = = + =
+

Un programa en Matlab para obtener el modelo en espacio de estados y la
correspondiente funcin de transferencia es el siguiente:
clc
Kc =2.3;
Tc = 0.035;
Ac = [ 0 1;0 -1/Tc];
Bc = [0;Kc/Tc];
Cc = [ 1 0;0 1];
Dc = [0 0]';
Tm = 0.01;
[Ad,Bd,Cd,Dd] = c2dm(Ac,Bc,Cc,Dc,Tm,'zoh')
sys = ss(Ad,Bd,Cd,Dd,Tm);
tf(sys)
3. Modelo de segundo orden
( )
( )
( )
2
0
2 2
0 0
2
Y s w
G s
s w s w U s
= =
+ +

i) Modelo en espacio de estados en tiempo continuo
( ) ( ) ( )
( ) ( ) ( ) ( )
2 2 2
0 0 0
2 2 2
0 0 0
2
2
s w s w Y s w U s
s Y s w s Y s w Y s w U s

+ + =
= +

En el dominio del tiempo tenemos:
( ) ( ) ( ) ( )
2 2
0 0 0
2 y t w y t w y t w u t = +
Definimos
( ) ( )
( ) ( )
( ) ( )
( ) ( ) ( ) ( )
( ) ( )
( )
( )
( )
( )
( )
( ) | |
( )
( )
1
2
1 2
2 2
2 0 1 0 2 0
1
1 1
2 2
0 0 0 2 2
1
2
2
0 1 0
2
1 0
x t y t
x t y t
x t x t
x t w x t w x t w u t
y t x t
x t x t
u t
w w w x t x t
x t
y t
x t

=
=
=
= +
=
( (
( (
= +
( (
( (

( (

(
=
(
(


Aqu se tiene
| |
2 2
0 0 0
0 1 0
; ; 1 0
2
A B C
w w w
( (
= = =
( (




ii) Matriz de transicin de estados en tiempo discreto
( ) | |
{ }
1
1
m
m
AT
D m
t T
A T e s I A

=
= u = =

( )
( )
( )
1 0
2 2 2 2
0 0 0 0 0
0
2 2 2 2
0 0 0 0
1
2
0
2 2 2 2
0 0 0 0
1
1
2
1 1 0
2 2 2 2
0 0 0 0 0
2 1 1
1
2 2
2 1
2 2
2 2
2
2 2
s w s
sI A sI A
s w s w w s w w s
s w
s w s w s w s w
sI A
w s
s w s w s w s w
sI A
w s
s w s w w s w s w

+ ( (
= =
( (
+ + +

( +
(
+ + + +
(
(
=
(
(
(
+ + + +

=
(
+
(
+ + + +

2
1 0
2 2 2
0 0 0
2
1 1 0
2 2 2 2
0 0 0 0
1
2
2 2
w
w s w s w
w s
s w s w s w s w

(
( (
(
( (
+ +

(
(
(
( ( (
( ( (
+ + + +



( )
( ) ( )
( ) ( )
( )
( )
( )
( )
( )
( ) ( ) ( )
( )
( )
( )
( )
( ) ( )
1 11 12
1
21 22
11 1/ 2 1/ 2
2 2
0
12 21 1/ 2
2
2
22 0 1/ 2
2
2
1
donde
2 1
1 1
1
;
1
1
; ; 1
1
1
tan
t t
d d
t t
d d
d
t
d d d
t t
sI A
t t
t e sen w t e sen w t
w
t e sen w t t e sen w t
w
t e sen w t w w w
o o
o o
o

| o

(
=
(
(

=

= =

= = =

| |

| =
|
\ .


( )
( )
( )
( ) ( )
( ) ( )
11 12
21 22
11
12
11 1/ 2
2
12
; donde
1
2
1
1
m
m
D D
k
D D
D D
T
D m d m d m
T
D m d m
d
A A
A k A
A A
A T e sen w T sen w T
A T e sen w T
w
o
o
|

(
= + =
(
(

= = (

= =
( )
( )
( )
( )
( )
( )
21
22
0
21 1/ 2
2
22 1/ 2
2
1
1
1
m
m
T
D m d m
T
D m d m
w
A T e sen w T
A T e sen w T
o
o

= =

= =

iii) . Modelo discreto en espacios de estado

( )
( ) ( )
( ) ( )
( )
( )
( )
( )
11 12
1
2
0 0
0 21 22
2
12
0 12 0 2
1 0
2
0
0 22
22
0
0
m m
m
m
m
T T
m m
D m
m m
T
m T
m
D
T
m
m
T T
B T Bd d
w T T
T d
w T
B d w
w T
T d
t t
t t t
t t
t t
t
t
t
t t
(
(
= u =
(
(

(

(

(
(
= = (
(

(

(

} }
}
}
}

( )
( )
( ) ( )
( )
( ) ( )
( )
( )
6
12
0 0 0
12
2 2 2 2
0
1 1
1
cos
m m m
m
m
m
T T T
T v
m d m d
d d
T
T
d m d m m
d d d
T d e sen w T d e sen w v dv
w w
e
sen w T w T T d
w w w
t o
o
t t t t
o
t t
o o

= = = (

(
+ + =
(
+ +

} } }
}

( ) ( ) ( )
( )
( )
( )
( ) ( )
( ) ( )
22
2 2
0
0 0
1/ 2
0 2
1/ 2 2 2
2
2 2 2 2
1
cos
1
1
1 cos
cos
1
cos cos
m
m
m
m
m
T
T
d m d m m
d
T
v
d
T
d m d d m
d
T
d
d d m d m
d d d
e
sen w T w T T d
w w w
e sen w v dv
e sen w T w w T
w
w sen sen
e w sen w T w T
w w w
o
o
o
o
o
t t
|

|
o

| o |
| o
o o o

(
+ + =
(

=

+ (

+

| |
(
` |

+ + +
\ . )
=
}
}
( )
( ) ( )
( ) ( )
0
1/ 2 2
2
0 0
0
2 2 2 2 2 2
0 0
1
cos cos
1
cos cos
m
m
T
d
d m d m
d
T
d d
d m d m
d d d
e w w
sen w T w T
w w w
w e w sen w sen
sen w T w T
w w w w w
o
o
o
|
o

| o o |
|
o o o

+ + (

+

(

`
(
+ + +
)

Sea
0 0
; cos
d
w
sen
w w
o
| | = = =

( )
( )
{ ( ) ( )
| ( ) ( ) }
6
22 1/ 2
0 2
0
2 2
0 0 0
1
cos cos cos
1
cos cos cos
m
m
T
T
m d m d m
T
d
d m d m
e
T d sen w T sen w T
w
w e sen
sen sen w T w T sen
w w w
o
t t | | |

| o
| | | |

= + + (

}
( ) ( ) }
( )
( ) ( )
( ) ( )
2
0
6
2
1/ 2
2
0
2
6
cos cos
1
cos cos cos
1
cos cos
m
d m d m
T
d m d m
d m d m
sen w T w T sen
w
e
sen w T sen w T
w
p
sen sen w T sen w T
| |
| | |
| | |

+ (

( )
( )
( )
( )
( )
6
22 1/ 2
0 2
0
6
22
0
1
1
m
m
m
m
T
T
m d m
T
T
d m
m
d
e
T d sen w T
w
p
e sen w T
T d
w
t t
t t

=
}
}


Con lo anterior tenemos

( )
( )
0 1
1
2
2 0
0
1
m
m
T d
d m
D
D
T D
d m
w
e sen w T
w b
B
b w
e sen w T
w
o
o
|

(
+ +
(
(
(
= =
(
(

(



El modelo en espacio de estados discreto queda
( ) ( )
( ) ( )
| |
______
( 1 )
1 0 ; 0
m D m D m
m D m
D D
X k T A X kT B U kT
Y kT C X kT
C C D
+ = +
=
= = =


iv) Funcin de transferencia de pulsos
La funcin de transferencia de pulsos queda


( )
( )
( )
( )
( )( )
( )
( )
1
11 12
21 22
1
22 12
21 11
11 22 12 21
2
11 22 11 12 12 21
1
22 12
,
,
1
,
m
D D D
m
D D
D
D D
D D
D
D D D
D D D D D
D D D D D D D
D D
D D
D D
Y z T
C zI A B
U z T
z a a
zI A
a z a
z a a
zI A
a z a zI A
zI A z a z a a a
zI A z a a z a a a a
z a a
C zI A
zI A zI A
Y z T

=

(
=
(

(
=
(


=
= + +
(

=
(


( )
( )
( ) ( )
( )
( )
( )
( )
( )
1
1 22 12 2
1 12 2 22 1
2
11 22 11 22 12 21
,
,
, ;
,
m
m D D D
m
D D D D
m
D
D D D D D
m
D D D D D D
G z T C zI A B
U z T
b z a a b
G z T
zI A
b z a b a b
G z T
z a a z a a a a

= =
+
=

+
=
+ +

11 22
2
11 22 12 21
2 cos( )
m
m
T
D D d m
T
D D D D
a a e w T
a a a a e
o
o

+ =
=

La ecuacin caracterstica discreta queda
2 2
2 cos ( ) 0
m m
T T
d m
z e w T z e
o o
+ =
Que genera los polos
( ) ( )
11 22
2
11 22 12 21
cos ( ) ( )
cos ( )
;
2 cos ( ) ;
m m
m
m d m m d m m d m
m
m
T T
d m d m
T
d m d m
T j w T T j w T T j w T
T
D D d m
T
D D D D
z e w T j e sen w T
z e w T j sen w T
z e e e z e
a a e w T
a a a a e
o o
o
o o o
o
o

=
(
= +
(

= = =
+ =
=

Con respecto a los ceros tenemos
( )
( )
12 2
22
1
2 2 2 2
0
1/ 2
2
0
/ ( )
1
( )
1
1 ( )
m
m
m
D D
D
D
T
d d m
T
d m
T
d m
d
a b
z a
b
w w e sen w T
z e sen w T
w
e sen w T
w
o
o
o
|

=
=
| |

+
|
\ .