1

G(S)=𝑠4 +1𝑠3 +3.5𝑠2 +5𝑠 +2.4

𝑠4 1 3.5 2.4
𝑠3 1 5 0
𝑠2 -1.5 2.4 0
𝑠1 9.9/1.5 0 0
𝑠0 2.4 0 0

𝑘𝑐
G(S)=
𝑠4 +1𝑠3 +3.5𝑠2 +5𝑠 +2.4+𝑘𝑐

𝑠4 1 3.5 2.4
𝑠3 1 5 0
𝑠2 -1.5 2.4+kc 0
𝑠1 −7.5 − 2.4 − 𝑘𝑐 0 0
−1.5
𝑠0 2.4 0 0

Rango de estabilidad kc
−9.9−𝑘𝑐
a) −1.5
≥0 => -9.9-kc≥0 -9.9≥kc

b)Valor de los polos

S1=-0.7475010825108307 + 0.3376849387795884 i

S2=-0.7475010825108307 - 0.3376849387795884 i

S3=0.2475010825108308 + 1.8724271778417239 i

S4=0.2475010825108308 - 1.8724271778417239 i

e)

1 1
1. G(S)=kc=limG(S)H(S)=lim = = 0.4166
𝑠4 +1𝑠3 +3.5𝑠2 +5𝑠 +2.4 2.4
𝑅 1
Ess=1+𝑘𝑐 = 1+0.4166 = 0.7058 => 70.58%

h)

𝑅 1 0.9
Ess=1+𝑘𝑐 ; 1+𝑘𝑐
= 0.1; 1 = 0.1 + 0.1𝑘𝑐; 0.9 = 0.1𝑘𝑐; 0.1
= 𝑘𝑐; 𝑘𝑐 = 9
 1
G(S)=𝑠3 +5𝑠2 +10

𝑠3 1 0
𝑠2 5 10
𝑠1 -2 0
𝑠0 10 0

𝑘𝑐
G(S)=𝑠3 +5𝑠2 +10+𝑘𝑐

𝑠3 1 0
𝑠2 5 10+kc
𝑠1 -2 0
𝑠0 10+kc 0

Rango de estabilidad kc

10+kc≥0 10≥kc

b) Valor de los polos

s1= 0.17472382218041876 + 1.3560322503230489 i

s2= 0.17472382218041876 - 1.3560322503230489 i

s3= -5.349447644360838

e)

1 1
1. G(S)=kc=limG(S)H(S)=lim = = 0.1
𝑠3 +5𝑠2 +10 10
𝑅 1
Ess= = = 0.9090 => 90.90%
1+𝑘𝑐 1+0.1

h)

𝑅 1 0.9
Ess=1+𝑘𝑐 ; 1+𝑘𝑐
= 0.1; 1 = 0.1 + 0.1𝑘𝑐; 0.9 = 0.1𝑘𝑐; 0.1
= 𝑘𝑐; 𝑘𝑐 = 9
 1
G(S)=𝑠4 +5𝑠3 −30𝑠 −96

𝑠4 1 0 -96
𝑠3 5 -30 0
𝑠2 6 -96 0
𝑠1 50 0 0
𝑠0 -96 0 0

𝑘𝑐
G(S)=
𝑠4 +5𝑠3 −30𝑠 −96+𝑘𝑐

𝑠4 1 0 -96+kc
𝑠3 5 -30 0
𝑠2 6 -96+kc 0
𝑠1 50 0 0
𝑠0 -96+kc 0 0

Rango de estabilidad kc

a) -96+kc≥0; -96≥kc

b) Valor de los polos

S1=2.8488030282039576

S2=-4.569399980115527

S3=-1.6397015240442154 + 2.1647559963757654 i

S4=-1.6397015240442154 - 2.1647559963757654 i

e)

1 1
1. G(S)=kc=limG(S)H(S)=lim 𝑠4 +5𝑠3 −30𝑠 =
−96 −96
= −0.0104

h)

𝑅 1 0.9
Ess=1+𝑘𝑐 ; 1+𝑘𝑐
= 0.1; 1 = 0.1 + 0.1𝑘𝑐; 0.9 = 0.1𝑘𝑐; 0.1
= 𝑘𝑐; 𝑘𝑐 = 9
 1
G(S)=𝑠4 +𝑠3 +3𝑠2 +3𝑠 +10

𝑠4 1 3 10
𝑠3 1 3 0
𝑠2  10 0
𝑠1 3-10/ ó 30.3 0 0
𝑠0 10 0 0
>3.33
𝑘𝑐
G(S)=
𝑠4 +𝑠3 +3𝑠2 +3𝑠 +10+𝑘𝑐

𝑠4 1 3 10
𝑠3 1 3 0
𝑠2  10+kc 0
𝑠1 3-10+kc/ ó 30.33 0 0
𝑠0 10+kc 0 0
>3.33

Rango de estabilidad kc

a) 10+kc≥0; kc≥-10

b) Valor de los polos

S1=0.6954019933330223 + 1.623575164279376 i

S2=0.6954019933330223 - 1.623575164279376 i

S3=-1.1954019933330224 + 1.332881669140701 i

S4=-1.1954019933330224 - 1.332881669140701 i

e)

1 1
1. G(S)=kc=limG(S)H(S)=lim 𝑠4 +𝑠3 +3𝑠2 +3𝑠 ;
+10 10
= 0.1
𝑅 1
Ess=1+𝑘𝑐 = 1+0.1
= 0.9090 => 90.90%

h)

𝑅 1 0.9
Ess=1+𝑘𝑐 ; 1+𝑘𝑐
= 0.1; 1 = 0.1 + 0.1𝑘𝑐; 0.9 = 0.1𝑘𝑐; 0.1
= 𝑘𝑐; 𝑘𝑐 = 9
 1
G(S)=𝑠4 +2𝑠3 +7𝑠2 +4𝑠 +10

𝑠4 1 7 10
𝑠3 2 4 0
𝑠2 5 10 0
𝑠1  0 0
𝑠0 10 0 0

𝑘𝑐
G(S)=
𝑠4 +2𝑠3 +7𝑠2 +4𝑠 +10+𝑘𝑐

𝑠4 1 7 10+kc
𝑠3 2 4 0
𝑠2 5 10+kc 0
𝑠1  0 0
𝑠0 10+kc 0 0

Rango de estabilidad kc

a) 10+kc≥0; kc≥-10

b)Valor de los polos

S1=-1.4975960793228722e-17 + 1.4142135623730951 i

S2=-1.4975960793228722e-17 - 1.4142135623730951 i

S3=-1 + 2 i

S4=-1 - 2 i

e)

1 1
1. G(S)=kc=limG(S)H(S)=lim 𝑠4 +2𝑠3 +7𝑠2 +4𝑠 =
+10 10
= 0.1
𝑅 1
Ess=1+𝑘𝑐 = 1+0.1
= 0.9090 => 90.90%

h)

𝑅 1 0.9
Ess=1+𝑘𝑐 ; 1+𝑘𝑐
= 0.1; 1 = 0.1 + 0.1𝑘𝑐; 0.9 = 0.1𝑘𝑐; 0.1
= 𝑘𝑐; 𝑘𝑐 = 9
 1
G(S)=𝑠4 +𝑠3 +5𝑠2 +5𝑠 +10

𝑠4 1 5 10
𝑠3 1 5 0
𝑠2  10 0
𝑠1 5-10/ 0 0
𝑠0 10 0 0

𝑘𝑐
G(S)=
𝑠4 +𝑠3 +5𝑠2 +5𝑠 +10+𝑘𝑐

𝑠4 1 5 10+kc
𝑠3 1 5 0
𝑠2  10+kc 0
𝑠1 5-(10+k)/ 0 0
𝑠0 10+kc 0 0

Rango de estabilidad kc

a) 10+kc≥0; kc≥-10

b)Valor de los polos

S1=-0.9051125183800819 + 1.3190663731779606 i

S2=-0.9051125183800819 - 1.3190663731779606 i

S3=0.4051125183800819 + 1.9347890651509605 i

S4=0.4051125183800819 - 1.9347890651509605 i

e)

1 1
1. G(S)=kc=limG(S)H(S)=lim 𝑠4 +𝑠3 +5𝑠2 +5𝑠 =
+10 10
= 0.1
𝑅 1
Ess= = = 0.9090 => 90.90%
1+𝑘𝑐 1+0.1

h)

𝑅 1 0.9
Ess=1+𝑘𝑐 ; 1+𝑘𝑐
= 0.1; 1 = 0.1 + 0.1𝑘𝑐; 0.9 = 0.1𝑘𝑐; 0.1
= 𝑘𝑐; 𝑘𝑐 = 9
 1
G(S)=𝑠5 +𝑠4 +7𝑠3 +𝑠2 +12𝑠 +20

𝑠5 1 7 12
𝑠4 1 1 20
𝑠3 6/7 -8 0
𝑠2 10.33 20 0
𝑠1 -9.65 0 0
𝑠0 20 0 0

𝑘𝑐
G(S)=𝑠5 +𝑠4 +7𝑠3 +𝑠2 +12𝑠 +20+𝑘𝑐

𝑠5 1 7 12
𝑠4 1 1 20+kc
𝑠3 6/7 -8 0
𝑠2 10.33 20+kc 0
𝑠1 -9.65 0 0
𝑠0 20+kc 0 0

Rango de estabilidad kc

a) 20+kc≥0; kc≥-20

b)Valor de los polos

S1=0.8019236716760612 + 1.4687425169473478 i

S2=0.8019236716760612 - 1.4687425169473478 i

S3=-0.7720559022421271 + 2.478601826930311 i

S4=-0.7720559022421271 - 2.478601826930311 i

S5=-1.0597355388678684

e)

1 1
1. G(S)=kc=limG(S)H(S)=lim 𝑠5 +𝑠4 +7𝑠3 +𝑠2 +12𝑠 =
+20 20
= 0.05
𝑅 1
Ess=1+𝑘𝑐 = 1+0.05
= 0.9523 => 95.23%

h)
𝑅 1 1
Ess=1+𝑘𝑐 ; 1+𝑘𝑐
= 0.1; 0.1 = 1 + 𝑘𝑐; 9 = 𝑘𝑐;
 1
G(S)=𝑠4 +8𝑠3 −17𝑠2 +16𝑠 +30

𝑠4 1 17 30
𝑠3 8 16 0
𝑠2 15 30 0
𝑠1  0 0
𝑠0 30 0 0

𝑘𝑐
G(S)=
𝑠4 +8𝑠3 −17𝑠2 +16𝑠 +30+𝑘𝑐

𝑠4 1 17 30+kc
𝑠3 8 16 0
𝑠2 15 30+kc 0
𝑠1  0 0
𝑠0 30+kc 0 0

Rango de estabilidad kc

a) 30+kc≥0; kc≥-30

b)Valor de los polos

S1=1.3516297444703451 + 1.3314756825520282 i

S2=1.3516297444703451 - 1.3314756825520282 i

S3=-0.8454136372257439

S4=-9.857845851714945

e)

1 1
1. G(S)=kc=limG(S)H(S)=lim 𝑠4 +8𝑠3 −17𝑠2 +16𝑠 =
+30 30
= 0.033
𝑅 1
Ess=1+𝑘𝑐 = 1+0.03
= 0.9680 => 96.80%

h)

𝑅 1 0.9
Ess=1+𝑘𝑐 ; 1+𝑘𝑐
= 0.1; 1/0.1 = 𝑘𝑐; 0.9 = 0.1𝑘𝑝; 0.1
= 𝑘𝑝; 𝑘𝑝 = 9
 Conclusiones

El problema más importante de los sistemas de control lineal tiene que ver con la estabilidad.
Un sistema de control es estable si todos los polos en lazo cerrado se encuentran en el
semiplano izquierdo del plano. El criterio de Routh–Hürwitz sirve para analizar la
estabilidad de los sistemas dinámicos, este se aplica a los polinomios con una cantidad
finita de términos, con el desarrollo de la práctica podemos apreciar el cómo cambian las de
acuerdo al controlador y la ganancia que seleccionamos.