Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
CURSO
ALUMNOS
2009
1.
s3
s2
s1
s0
-3
Sistema es inestable
>> roots([1 0 -3 2])
ans =
-2.0000
1.0000
1.0000
k * N ( s)
G(s) 5
4
s 2 s 24 s 3 48s 2 25s 50
ii)
s5
24
-25
(2 s 4 48s 2 50)
8s 3 96s
s
s
s3
s2
s1
s0
48
-50
0(8) 0(96)
24
-50
112.7
-50
Sistema es inestable
>> roots([1 2 24 48 -25 -50])
ans =
0.0000 + 5.0000i
0.0000 - 5.0000i
1.0000
-2.0000
-1.0000
2. Criterio de R-H: A partir de la ecuacin de caracterstica
(s) , determine si el sistema es estable usando el criterio de
R-H.
( s) s 3 2s 2 s 2
i)
s3
s
s1
s0
(2 s 2 2)
4s
s
0(4) 0
8
Sistema es estable
>> roots([1 2 1 2])
ans =
-2.0000
0.0000 + 1.0000i
0.0000 - 1.0000i
>> num=conv(2,[1 0 1])
num =
2
0
2
>> dem=conv([1 0],[1 0 1])
dem =
1
0
1
0
>> sys=tf(num,dem)
Transfer function:
2 s^2 + 2
--------s^3 + s
>> pzmap(sys)
>> num=1
num =
1
>> den=[1 2 1 2]
den =
1
2
1
2
>> sys=tf(num,den)
Transfer function:
1
------------------s^3 + 2 s^2 + s + 2
>> pzmap(sys)
>> grid
Pole-Zero Map
1.5 0.86
Imaginary Axis
0.5
0.76
-1
0.5
0.34
0.985
2
1.5
0.5
0.985
0.94
0.76
-1.5 0.86
-2.5
-2
0.64
-1.5
0.5
-1
0.34
-0.5
Real Axis
ii)
( s) s 4 12 s 2 36
s
s3
s2
s1
s0
12
36
0(4) 0(24)
( s 4 12s 2 36)
4s 3 24 s
s
0
(6s 2 36)
12s
s
0(12)
36
0.16
0.94
2.5
0
-0.5
0.64
36
Sistema es estable
>> roots([1
ans =
0 +
0 0 +
0 >> num=1
num =
1
0 13 0 36])
3.0000i
3.0000i
2.0000i
2.0000i
0.16
0
0.5
36
Pole-Zero Map
0.25
0.18
0.125
0.085
4
0.055
2.5
0.38
Imaginary Axis
2
1
1.5
1
0.65
0.5
0
-1
0.5
0.65
1
1.5
-2
0.38
2.5
-3
-4
-1
3
0.18
0.25
-0.8
0.125
-0.6
0.085
-0.4
0.055
0.025 3.5
-0.2
40
Real Axis
iii)
( s) s 5 2s 4 4 s 3 8s 2 5s 10
s5
s
s3
s2
s1
s0
0.025 3.5
10
0(8) 0(16) 0
4
10
-4
-10
(2s 4 8s 2 10)
8s 3 16 s
s
0.2
Sistema inestable
>> roots([1 2 4 8 5 10])
ans =
-2.0000
0.3436 + 1.4553i
0.3436 - 1.4553i
-0.3436 + 1.4553i
-0.3436 - 1.4553i
>> num=1
num =
1
>> den=[1 2 4 8 5 10]
den =
1
2
4
8
5 10
>> sys=tf(num,den)
Transfer function:
1
---------------------------------------------s^5 + 2 s^4 + 4 s^3 + 8 s^2 + 5 s + 10
>> pzmap(sys)
>> grid
1.5
Pole-Zero Map
0.7
0.82
0.56
0.42
0.28
0.14
0.91
Imaginary Axis
0.5 0.975
2
0
1.75
1.5
1.25
0.75
0.5
0.25
-0.5 0.975
-1
-1.5
-2
0.91
0.82
0.7
-1.5
0.56
0.42
-1
0.28
-0.5
Real Axis
0.14
0
0.5
iv)
s4
s3
s2
s1
s0
(s) s 4 s 3 s 2 s 2
1
Sistema es inestable
>> roots([1 1 1 1 2])
ans =
-0.9734 + 0.7873i
-0.9734 - 0.7873i
0.4734 + 1.0256i
0.4734 - 1.0256i
>> num=1
num =
1
>> den=[1 1 1 1 2]
den =
1
1
1
1
>> sys=tf(num,den)
Transfer function:
1
----------------------s^4 + s^3 + s^2 + s + 2
>> pzmap(sys)
>> grid
1.5
Pole-Zero Map
0.6
0.46
0.34
0.22
0.1
0.74
1.2
1
0.8
0.86
0.6
0.5
Imaginary Axis
1.4
0.4
0.96
0.2
0
0.2
0.96
0.4
-0.5
0.6
0.86
-1
-1.5
0.8
0.74
0.6
0.46
-1
-0.8
0.34
-0.6
0.22
-0.4
0.1
-0.2
1.2
1.4
0
0.2
0.4
0.6
Real Axis
i)
C ( s) 200k
H ( s ) 0.05
si
F (s)
k 1
C ( s )G ( s )
1 C ( s )G ( s ) H ( s )
G ( s)
1
( s 6283185)( s 12566371)( s 25132741)
10
s 43982297 s 5.52697842685 *1014 s 1.98440165336 * 10 21
F (s)
s3
s2
s1
s0
5.52697842685 *1014
43982297
1.98440165336 *10 21
5.07479652213 *1014
1.98440165336 *10 21
Sistema es estable
Para todos los valores de k
C ( s ) 200k
H ( s ) 0.05
F (s)
1
( s 6283185)( s 12566371)( s 25132741)
C ( s )G ( s )
1 C ( s )G ( s ) H ( s )
F ( s)
s3
s2
s1
s0
G ( s)
10
s 43982297 s 5.52697842685 *1014 s 1.98440165336 *10 21 10k
3
5.52697842685 *1014
43982297
1.98440165336 * 10 21 10k
43982297 * 5.52697842685 * 1014 (1.98440165336 *10 21 10k )
0
43982297
1.98440165336 *10 21 200k
k 2.23245190148 *10 21
>>
>>
>>
>>
C=200;
num2=1;
den2=conv([1 6283185],conv([1 12566371],[1 25132741]));
G=tf(num2,den2)
Transfer function:
1
--------------------------------------------s^3 + 4.398e007 s^2 + 5.527e014 s + 1.984e021
>> H=0.05;
>> sys=series(C,series(G,H))
Transfer function:
10
--------------------------------------------s^3 + 4.398e007 s^2 + 5.527e014 s + 1.984e021
>> rlocus(sys)
>> gris
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-2.0142e+005 +2.2981e+007i
ans =
2.1036e+021
Root Locus
x 10
0.84
0.72
0.58
0.44
0.3
0.14
3
0.92
Imaginary Axis
2
1
6e+007
0
-1
0.98
5e+007
4e+007
3e+007
2e+007
1e+007
0.98
-2
0.92
-3
-4
-6
0.72
0.84
-5
-4
0.58
-3
0.44
-2
Real Axis
0.3
-1
0.14
0
1
7
x 10
Root Locus
x 10
0.84
0.72
0.58
0.44
0.3
0.14
3
0.92
Imaginary Axis
2
1
0.98
6e+007
0
-1
5e+007
4e+007
3e+007
2e+007
1e+007
0.98
-2
0.92
-3
-4
-6
0.72
0.84
-5
-4
0.58
-3
0.44
-2
0.3
0.14
-1
1
7
Real Axis
x 10
21
Es estable el sistema si 0 k 2.232 *10
i)
C ( s) k
F (s)
C ( s )G ( s )
1 C ( s )G ( s ) H ( s )
F (s)
k ( s 2)( s 3)
(1 k ) s 2 (1 5k ) s 6k
( s 2)( s 3)
s2 s
H (s) 1
s2
s1
s0
1 k
6k
6k
6k 0
k 0
k [0,
>> C=1;
>> num2=conv([1 2],[1 3]);
>> den2=conv([1 0],[1 1]);
>> G=tf(num2,den2)
Transfer function:
s^2 + 5 s + 6
------------s^2 + s
>> H=1;
>> sys=series(C,series(G,H))
Transfer function:
s^2 + 5 s + 6
------------s^2 + s
>> rlocus(sys)
>> grid
Root Locus
1
0.8
0.95
0.9
0.82
0.7
0.52
0.3
0.978
0.6
Imaginary Axis
0.4 0.994
0.2
3.5
0
2.5
1.5
0.5
-0.2
-0.4 0.994
-0.6
-0.8
0.978
-1
-3.5
0.95
-3
0.9
-2.5
-2
0.82
-1.5
Real Axis
>> rlocfind(sys)
0.7
-1
0.52
-0.5
0.3
0
1
0.8
0.95
0.9
0.82
0.7
0.52
0.3
0.978
0.6
Imaginary Axis
0.4 0.994
0.2
3.5
0
2.5
1.5
0.5
-0.2
-0.4 0.994
-0.6
-0.8
0.978
-1
-3.5
0.95
-3
0.9
-2.5
-2
0.82
-1.5
0.7
-1
0.52
0.3
-0.5
Real Axis
ii)
G(s)
C ( s) k
C ( s )G ( s )
1 C ( s )G ( s ) H ( s )
k
F (s) 3
2
s 3s 18s k
F (s)
s3
s2
s1
s0
18
3
54 k
3
k
0
1
s ( s 3s 18)
2
H (s) 1
54 k
0
3
54 k 0
54 k k 0
k 54 k 0
k 0
k 0
k [0,54]
>> C=1;
>> num2=1;
>> den2=conv([1 0],[1 3 18]);
>> G=tf(num2,den2)
Transfer function:
1
-----------------s^3 + 3 s^2 + 18 s
>> H=1;
>> sys=series(C,series(G,H))
Transfer function:
1
-----------------s^3 + 3 s^2 + 18 s
>> rlocus(sys)
>>grid
Root Locus
10
8
6
0.68
0.8
0.56
0.42
0.28
0.14
0.91
Imaginary Axis
4
2
0.975
12
0
-2
10
0.975
-4
-6
-8
0.91
0.8
-10
-12
0.68
-10
0.56
-8
-6
0.42
0.28
-4
Real Axis
0.14
-2
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-0.0379 - 4.2547i
ans =
52.9436
Root Locus
10
8
6
0.68
0.8
0.56
0.42
0.28
0.14
0.91
4
Imaginary Axis
0.975
12
0
-2
10
0.975
-4
-6
-8
0.91
0.8
-10
-12
0.68
-10
0.56
-8
0.42
-6
0.28
-4
0.14
-2
Real Axis
k
s
iii)
C ( s )G ( s )
F (s)
1 C ( s )G ( s ) H ( s )
C (s)
F ( s)
s3
s2
s1
s0
k ( s 1)
s 4s 2 ks k
3
2
k
2
G ( s)
s 1
s ( s 4)
H (s) 1
k
0
2
k 0
k 0 k 0
k [0,
>> num1=1;
>> den1=[1 0];
>> C=tf(num1,den1)
Transfer function:
1
s
>> num2=[1 1];
>> den2=conv([1 0],[1 4]);
>> G=tf(num2,den2)
Transfer function:
s + 1
--------s^2 + 4 s
>> H=1;
>> sys=series(C,series(G,H))
Transfer function:
s + 1
----------s^3 + 4 s^2
>> rlocus(sys)
>>grid
Root Locus
0.64
0.5
4
0.38
0.28
0.17
3 0.8
2.5
2
1.5
0.94
Imaginary Axis
0.08 3.5
0.5
0
0.5
-1
0.94
1.5
-2
2
2.5
-3 0.8
-4
-4
3
0.64
-3.5
0.5
-3
-2.5
0.38
-2
-1.5
Real Axis
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-1.0095 - 0.0373i
ans =
79.3650
0.28
-1
0.17
-0.5
0.08 3.5
40
Root Locus
0.64
0.5
4
0.38
0.28
0.17
3 0.8
2.5
2
1.5
Imaginary Axis
0.94
0.5
0
0.5
-1
0.94
1.5
-2
2
2.5
-3 0.8
-4
-4
3
0.64
-3.5
0.5
-3
0.38
-2.5
-2
-1.5
Real Axis
k
1
G ( s)
s
s2
i)
C ( s )G ( s )
F (s)
1 C ( s )G ( s ) H ( s )
C (s)
F ( s)
s3
s2
s1
s0
0.08 3.5
H ( s)
1
s4
k ( s 4)
s 6 s 2 8s k
3
6
48 k
6
k
0
48 k
0
6
48 k 0
48 k k 0
k 48 k 0
>> num1=1;
>> den1=[1 0];
>> C=tf(num1,den1)
k 0
k 0
k [0,48]
0.28
-1
0.17
-0.5
0.08 3.5
40
Transfer function:
1
s
>> num2=1;
>> den2=[1 2];
>> G=tf(num2,den2)
Transfer function:
1
----s + 2
>> num3=1;
>> den3=[1 4];
>> H=tf(num3,den3)
Transfer function:
1
----s + 4
>> sys=series(C,series(G,H))
Transfer function:
1
----------------s^3 + 6 s^2 + 8 s
>> rlocus(sys)
>>grid
Root Locus
0.76
0.86
0.64
0.5
0.34
0.16
Im aginary Ax is
6
4
0.94
0.985
12
0
10
-2
0.985
-4
0.94
-6
0.86
-8
-12
0.76
-10
0.64
-8
-6
0.5
0.34
-4
0.16
-2
Real Axis
>> rlocfind(sys)
Select a point in the graphics window
selected_point =
-0.0379 + 2.7578i
ans =
45.0615
Root Locus
0.76
0.86
0.64
0.5
0.34
0.16
Imaginary Axis
4 0.94
2 0.985
12
0
10
-2 0.985
-4 0.94
-6
0.86
-8
-12
0.76
-10
0.64
-8
-6
0.5
0.34
-4
Real Axis
0.16
-2