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TAREA N 06 :
BACKSTEPPING LINEARIZATION
FACULTAD
ESPECIALIDAD
CURSO
PROFESOR
ESTUDIANTE
ESCUELA DE POSGRADO
INGENIERIA DE CONTROL Y AUTOMATIZACION
CONTROL NO LINEAL
ANTONIO MORAN
ENVER ESPINAL SANTOS
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Pregunta 1.
=
= 3 ( )
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CONTROL NO LINEAL
TAREA 06: BACKSTEPPING
= = 3 ((3 + 3 )
+ ((2 1 + 1) (1 1 + 2) (2 1 + 1) (1 1 + 2 ))
+ 2 ((2 2 ) + (1 1 1 1 ) + 1 (1 1 )))
=+
= 2 (1 1 + 2)2 (2 1 + 1) ((2 1) (1 1 + 2) + 3) 2
(3 + (2 1 + 1) (1 1 + 2))
= 3 ((3 + 3 )
+ ((2 1 + 1) (1 1 + 2) (2 1 + 1) (1 1 + 2 ))
+ 2 ((2 2 ) + (1 1 1 1 ) + 1 (1 1 )))
Cdigo en Matlab:
k1=1;k2=1;k3=1;
ti = 0;
dt = 0.1;
tf = 20;
x1 = 1.1;
x2 = -1.1;
x3 = 0;
x1ast=2;
x2ast=-4;
%%%%%%%%%%%%%%(<0)
x3ast=0;
uast=0;
k = 1;
for tt = ti:dt:tf
xx1(k,1) = x1;
xx2(k,1) = x2;
xx3(k,1) = x3;
m = -2*(x1*x1+x2)^2-(2*x1+k1)*((2*x1)*(x1*x1+x2)+x3)k2*(x3+(2*x1+k1)*(x1*x1+x2));
p = -k3*((x3+x3ast)+((2*x1+k1)*(x1*x1+x2)(2*x1ast+k1)*(x1ast*x1ast+x2ast))+k2*((x2-x2ast)+(x1*x1x1ast*x1ast)+k1*(x1-x1ast)));
u = p+m;
uu(k,1) = u;
t(k,1) = tt;
x1p = x1*x1 + x2;
x2p = x3;
x3p = u;
x1 = x1 + x1p*dt;
x2 = x2 + x2p*dt;
x3 = x3 + x3p*dt;
k = k + 1;
end
t(k,1) = tt;
CONTROL NO LINEAL
TAREA 06: BACKSTEPPING
Resultados:
% Condiciones Iniciales y Convergencia
x1 = 1.1;
x1ast=2;
x2 = -1.1;
x2ast=-x1ast^2;
x3 = 0;
x3ast=0;
10
12
14
16
18
20
0
x2
-2
-4
0
10
12
14
16
18
20
1
x3
0
-1
10
12
14
16
18
20
1
u
0
-1
10
12
Tiempo (seg)
14
16
18
20
CONTROL NO LINEAL
TAREA 06: BACKSTEPPING
% Condiciones Iniciales y Convergencia
x1 = 1.5;
x1ast=1;
x2 = -1.5; x2ast=-x1ast^2;
x3 = 0;
x3ast=0;
10
12
14
16
18
20
0
x2
-5
-10
10
12
14
16
18
20
10
x3
0
-10
10
12
14
16
18
20
20
u
0
-20
10
12
Tiempo (seg)
14
16
18
20
CONTROL NO LINEAL
TAREA 06: BACKSTEPPING
% Condiciones Iniciales y Convergencia
x1 = -1.5;
x1ast=-1;
x2 = 1;
x2ast=-x1ast^2;
x3 = 0;
x3ast=0;
Estados vs Tiempo, x1*=-1
0
x1
-1
-2
10
12
14
16
18
20
5
x2
0
-5
10
12
14
16
18
20
5
x3
0
-5
10
12
14
16
18
20
50
u
0
-50
10
12
Tiempo (seg)
14
16
18
20
CONTROL NO LINEAL
TAREA 06: BACKSTEPPING
k1=1;
k2=k1;
k3=k1;
% Condiciones Iniciales y Convergencia
x1 = 4.5;
x1ast=4;
x2 = -17;
x2ast=-x1ast^2;
x3 = 0;
x3ast=0;
269
10
x 10
x1
5
0
0
0
2
271
x 10
10
12
14
16
18
x2
-5
-10
0
0
2
272
x 10
10
12
14
16
18
20
x3
-5
-10
20
0
2
273
x 10
10
12
14
16
18
20
u
-10
10
12
Tiempo (seg)
14
16
18
20
CONTROL NO LINEAL
TAREA 06: BACKSTEPPING
k1=10;
k2=k1;
k3=k1;
% Condiciones Iniciales y Convergencia
x1 = 4.5;
x1ast=4;
x2 = -17;
x2ast=-x1ast^2;
x3 = 0;
x3ast=0;
4
2
10
12
14
16
18
20
0
-20
x2
-40
0
10
12
14
16
18
20
500
x3
0
-500
1
0
2
4
x 10
10
12
14
16
18
0
-1
20
10
12
Tiempo (seg)
14
16
18
20
Conclusiones y Observaciones: