Facultad de Ingeniera Qumica, Metalurgia y Ambiental

EJERCICIOS

Sistemas dinmicos de Primer Orden

1. Funcin Escaln

Dada la funcin siguiente:

() = (). () 1.1
Evaluamos las funciones:
1
1
() = ( ) (
) 1.2
+ 1
Descomponemos en fracciones parciales:
() =

= +
1.3
()( + 1) + 1

Entonces igualando ecuaciones:

1
( + 1) +
=
1.4
()( + 1)
()( + 1)

Por identidad se obtiene:

1 = ( + 1) + 1.5

1 = ( + ) + 1.6
Dnde:
=1
+ = 0 =
Entonces obtenemos:
() =

1
1

=
1.7
()( + 1) + 1

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 1

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

Aplicando Laplace inversa a la ecuacin 1.7 se obtiene:

1

() = 1 {()} = 1 { } 1 {
} 1.8

+ 1
Aplicando un artificio a la ecuacin 1.7:

() =

1
1
1
{ } . { } 1.9
1

() = 1 () 1.10
Dnde: = 0.1

t/
0
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.1
0.11
0.12
0.13
0.14
0.15
0.16
0.17
0.18
0.19
0.2
0.21
0.22
0.23
0.24

y(t)
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2
2.1
2.2
2.3
2.4

0
0.09516258
0.18126925
0.25918178
0.32967995
0.39346934
0.45118836
0.5034147
0.55067104
0.59343034
0.63212056
0.66712892
0.69880579
0.72746821
0.75340304
0.77686984
0.79810348
0.81731648
0.83470111
0.85043138
0.86466472
0.87754357
0.88919684
0.89974116
0.90928205

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 2

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

0.25
0.26
0.27
0.28
0.29
0.3
0.31
0.32
0.33
0.34
0.35
0.36
0.37
0.38
0.39
0.4
0.41
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
0.5
0.51
0.52
0.53
0.54
0.55
0.56
0.57
0.58
0.59
0.6
0.61
0.62
0.63

2.5
2.6
2.7
2.8
2.9
3
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
4
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
5
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
6
6.1
6.2
6.3

0.917915
0.92572642
0.93279449
0.93918994
0.94497678
0.95021293
0.9549508
0.9592378
0.96311683
0.96662673
0.96980262
0.97267628
0.97527647
0.97762923
0.97975809
0.98168436
0.98342732
0.98500442
0.98643144
0.98772266
0.988891
0.98994816
0.99090472
0.99177025
0.99255342
0.99326205
0.99390325
0.99448344
0.99500841
0.99548342
0.99591323
0.99630214
0.99665403
0.99697245
0.99726056
0.99752125
0.99775713
0.99797057
0.9981637

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 3

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

Podemos observar en la grfica:

Ttulo del grfico

1

0.53, 0.995008406

0, 1

0.9
0.8
0.7
0.6
Series1
0.5

S.P
t

0.4

0.3
0.2
0.1

0
0

0.1

0.2

0.3

0.4

0.5

0.53, 0
0.6

0.7

Donde en t= 0,53 segundos llegamos al set point deseado.

2. Funcin Rampa Unitaria

Dada la funcin siguiente:

() = (). () 2.1
Evaluamos las funciones:
1
1
() = ( 2 ) (
) 2.2

+ 1
Descomponemos en fracciones parciales:
() =

=
+ + 2.3
( 2 )( + 1) + 1 2

Entonces igualando ecuaciones:

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 4

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

1
2 ( + ) + ( + ) +
=
2.4
( 2 )( + 1)
( 2 )( + 1)
Por identidad se obtiene:
1 = 2 ( + ) + ( + ) + 2.5
Dnde:
= 2
+ = 0 =
=1
Entonces obtenemos:
() =

1
2
1
=
+ 2 2.6
2
( )( + 1) + 1

Aplicando Laplace inversa a la ecuacin 2.6 se obtiene:

2

1
() = 1 {()} = 1 {
} 1 { } + 1 { 2 } 2.7
+ 1

Donde se obtiene:

() = + . () 2.8

Evaluamos > , obtenemos:

1
t
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1.1
1.2

y(t)

y(t)

y(t)

y(t)

y(t)

y(t)

0
0.00483742
0.01873075
0.04081822
0.07032005
0.10653066
0.14881164
0.1965853
0.24932896
0.30656966
0.36787944
0.43287108
0.50119421

0
0.00245885
0.00967484
0.02141595
0.03746151
0.05760157
0.08163644
0.10937618
0.14064009
0.1752563
0.21306132
0.25389962
0.29762327

0
0.0016483
0.00652096
0.01451225
0.02551996
0.03944517
0.05619226
0.0756687
0.09778502
0.12245466
0.14959393
0.17912186
0.21096014

0
0.00099337
0.0039472
0.00882267
0.01558173
0.02418709
0.03460218
0.04679118
0.06071894
0.07635106
0.09365377
0.11259399
0.13313931

0
0.0007109
0.00283013
0.00633771
0.01121396
0.01743946
0.02499507
0.03386193
0.04402143
0.05545525
0.0681453
0.08207377
0.09722309

0
0.0005535
0.00220585
0.0049449
0.00875865
0.01363522
0.01956287
0.02652997
0.03452506
0.04353676
0.05355385
0.06456522
0.07655987

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Pgina 5

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

1.3
1.4
1.5
1.6
1.7
1.8
1.9
2
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
3

0.57253179
0.64659696
0.72313016
0.80189652
0.88268352
0.96529889
1.04956862
1.13533528
1.22245643
1.31080316
1.40025884
1.49071795
1.582085
1.67427358
1.76720551
1.86081006
1.95502322
2.04978707

0.34409155
0.39317061
0.44473311
0.49865793
0.55482986
0.61313932
0.67348205
0.73575888
0.7998755
0.86574217
0.93327354
1.00238842
1.07300959
1.14506359
1.21848052
1.29319393
1.36914058
1.44626032

0.24503302
0.28126726
0.31959198
0.35993866
0.40224101
0.44643491
0.49245835
0.54025136
0.58975591
0.6409159
0.69367706
0.74798689
0.80379463
0.86105115
0.91970898
0.97972216
1.04104627
1.10363832

0.15525793
0.17891871
0.2040911
0.23074519
0.25885161
0.28838163
0.31930705
0.35160023
0.3852341
0.42018211
0.45641823
0.49391696
0.5326533
0.57260274
0.61374126
0.65604532
0.69949183
0.74405818

0.11357595
0.13111527
0.14982423
0.16968623
0.19068492
0.21280418
0.23602812
0.26034105
0.28572754
0.31217237
0.33966051
0.36817717
0.39770776
0.4282379
0.45975342
0.49224032
0.52568485
0.5600734

0.08952695
0.10345571
0.11833552
0.13415588
0.15090639
0.16857678
0.18715687
0.20663663
0.2270061
0.24825545
0.27037498
0.29335505
0.31718616
0.3418589
0.36736399
0.39369221
0.42083448
0.4487818

Cuando =

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 6

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

2

y(t)

1.5

1
tao=1

0.5

0
0

0.5

1.5

2.5

Cuando =

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Pgina 7

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

1.4

1.2

y(t)

0.8
tao=2

0.6

0.4

0.2

0
0

0.5

1.5

2.5

Cuando =

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 8

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

1.2

y(t)

0.8

0.6
tao=3
0.4

0.2

0
0

0.5

1.5

2.5

Cuando =

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 9

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

0.8
0.7
0.6

y(t)

0.5

0.4
tao=5
0.3
0.2
0.1
0
0

0.5

1.5

2.5

Cuando =

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Pgina 10

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

0.6

0.5

y(t)

0.4

0.3
tao=7
0.2

0.1

0
0

0.5

1.5

2.5

Cuando =

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 11

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

0.45

0.4
0.35

y(t)

0.3
0.25
0.2

tao=9

0.15
0.1
0.05
0
0

0.5

1.5

2.5

Evaluacin de :

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 12

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

1.5
tao=1

y(t)

tao=2
tao=3

tao=5
tao=7
tao=9

0.5

0
0

0.5

1.5

2.5

Sistemas Dinmicos de Segundo Orden

3. Funcin Escaln

Dada la funcin siguiente:

() = (). () 3.1
Evaluamos las funciones:
1
1
() = ( ) ( 2
) 3.2
+ + 1
Hallando las races de la funcin G(s):
Donde utilizamos la siguiente ecuacin:
1, 2 =

2 4
3.3
2

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Pgina 13

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

Entonces hallamos las races mediante la ecuacin 3.3:
1 =

2 4
+
2
2

1 =

2 4

2
2

Reemplazamos en la ecuacin 3.2:

1 1 2
3.4
( 1 )( 2 )

() =

Resolvemos la ecuacin compleja mediante la siguiente formula:

() =

1
( + )] 3.5
[1 +

Entonces reemplazamos ecuacin 3.4:

() =

() = 1 +

1
2 4

1 1 2
1
( 1 + 1 2 )]
[1 +
1 2
1 2 2
2 4
)
2

+
2 4 (

) 2
2
2

+ ((

2 4 (
+
) 2
2
2

2 4
)
2

)
)]

Simplificando la ecuacin:

2 4
)
2

( +
1

() = 1 + (
1) 2
2
2 4
[
(

() = 1 + 0.5 (1
[

2 4

+ ((
+ 1)
2 4

2 4
(
)
2
2

2 4
(
)
2
2

)
)]

((1 +

2 4

2 4
( +
)
2
2

)
)]

() = 1 0.5 ((1 +
[

2 4

2 4
( +
)
2
2

+ (1

2 4

2 4
(
)
2
2

)
)]

Entonces factorizando trminos semejantes:

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 14

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

)
2

() = 1 0.5 (
[

((1 +

2 4

2 4
(
)
2

+ (1

2 4

2 4
(
)
2

)
)]

Evaluamos > , obtenemos:

t
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9

y(t)
-1.83262
-1.43806
-1.09846
-0.80616
-0.55458
-0.33804
-0.15166
0.008758
0.14683
0.26567
0.367956
0.455995
0.531771
0.596991
0.653127
0.701444
0.74303
0.778824
0.809632
0.836149
0.858972
0.878616
0.895524
0.910077
0.922602
0.933383
0.942662
0.950649
0.957523
0.96344

y(t)
-3.16117
-2.40688
-1.78932
-1.2837
-0.86974
-0.53081
-0.25332
-0.02613
0.159874
0.312163
0.436846
0.538929
0.622507
0.690935
0.746959
0.792827
0.830381
0.861128
0.886301
0.906911
0.923785
0.937601
0.948912
0.958173
0.965755
0.971962
0.977045
0.981206
0.984613
0.987402

y(t)
-5.33899
-3.93681
-2.84479
-1.99433
-1.33198
-0.81615
-0.41442
-0.10155
0.142111
0.331876
0.479664
0.594762
0.6844
0.754211
0.808579
0.850921
0.883897
0.909579
0.92958
0.945157
0.957288
0.966736
0.974094
0.979824
0.984287
0.987763
0.99047
0.992578
0.99422
0.995498

y(t)
-8.94122
-6.36464
-4.45586
-3.0418
-1.99424
-1.21819
-0.64327
-0.21737
0.098153
0.331895
0.505056
0.633336
0.728369
0.798771
0.850926
0.889563
0.918186
0.939391
0.9551
0.966737
0.975358
0.981745
0.986476
0.989981
0.992578
0.994502
0.995927
0.996982
0.997765
0.998344

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 15

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

3
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
4
4.1
4.2
4.3
4.4
4.5
4.6

0.968532
0.972916
0.976688
0.979935
0.98273
0.985136
0.987206
0.988988
0.990522
0.991842
0.992979
0.993957
0.994798
0.995523
0.996147
0.996683
0.997145

0.989685
0.991555
0.993086
0.994339
0.995365
0.996206
0.996893
0.997456
0.997918
0.998295
0.998604
0.998857
0.999064
0.999234
0.999373
0.999486
0.99958

0.996494
0.99727
0.997874
0.998344
0.99871
0.998996
0.999218
0.999391
0.999526
0.99963
0.999712
0.999776
0.999825
0.999864
0.999894
0.999918
0.999936

0.998773
0.999091
0.999327
0.999501
0.99963
0.999726
0.999797
0.99985
0.999889
0.999918
0.999939
0.999955
0.999966
0.999975
0.999982
0.999986
0.99999

Cuando =
1.2
1

0.8
0.6
0.4
0.2
0

y(t)

-0.2 0

-0.4

5
tao=3

-0.6
-0.8
-1
-1.2
-1.4
-1.6
-1.8

-2

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 16

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

y(t)

Cuando =

1.2
1
0.8
0.6
0.4
0.2
0
-0.2 0
-0.4
-0.6
-0.8
-1
-1.2
-1.4
-1.6
-1.8
-2
-2.2
-2.4
-2.6
-2.8
-3
-3.2
-3.4

tao=4

Cuando =

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 17

y(t)

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

1.2
1
0.8
0.6
0.4
0.2
0
-0.2 0
-0.4
-0.6
-0.8
-1
-1.2
-1.4
-1.6
-1.8
-2
-2.2
-2.4
-2.6
-2.8
-3
-3.2
-3.4
-3.6
-3.8
-4
-4.2
-4.4
-4.6
-4.8
-5
-5.2
-5.4
-5.6
-5.8

tao=5

Cuando =

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 18

y(t)

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

1.2
1
0.8
0.6
0.4
0.2
0
-0.2
-0.4 0
-0.6
-0.8
-1
-1.2
-1.4
-1.6
-1.8
-2
-2.2
-2.4
-2.6
-2.8
-3
-3.2
-3.4
-3.6
-3.8
-4
-4.2
-4.4
-4.6
-4.8
-5
-5.2
-5.4
-5.6
-5.8
-6
-6.2
-6.4
-6.6
-6.8
-7
-7.2
-7.4
-7.6
-7.8
-8
-8.2
-8.4
-8.6
-8.8
-9
-9.2
-9.4
-9.6

tao=6

Evaluacion de :

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Pgina 19

Facultad de Ingeniera Qumica, Metalurgia y Ambiental

1.2

-0.8

-2.8

y(t)

tao=3
tao=4

-4.8

tao=5

tao=6
-6.8

-8.8

-10.8

Edgar Jamanca Antonio - Control & IInstrumentacin de Procesos

Pgina 20