SIN CONTROLADOR

CERRADO

LAZO

>> A=10;
>> tau1=1/60;
>> tau2=1/600;
>> num=[A];
>> den=[tau1*tau2 tau1+tau2
1+A];
>> step(num,den) %Graficar%

CONTROLADOR
>> A=10;
>> Kp=-0.0998;
%Ganancia
Proporcional%
>> Kd=-0.0018;
%Ganancia
Derivativa%
>> Tau1=1/60
Tau1 =
0.0167
>> Tau2=1/600
Tau2 =
0.0017
>> num=A*[Kd Kp];
>> den=[Tau1*Tau2 Tau1+Tau2+Kd*A
1+Kp*A];
>> step(num,den) %Graficar%

PD

CONTROLADOR PI
>> A=10;
>> Tau1=1/60;
>> Tau2=1/600;
>> Ki=0.1156; %Ganancia Integrativa%
>> Kp=-0.0825; %Ganancia Proporcional%
>> num=A*[Kp Ki]; %Controlador PI%
>> den=[Tau1*Tau2 Tau1+Tau2 1+Kp*A Ki*A]; %Ecuacin Caracterstica Del
controlador PI FTLC%
>> step(num,den) %Graficar%

CONTROLADOR PID
>> A=10;
>> tau1=1/60;
>> tau2=1/600;
>> Ki=127332;
%Ganancia integrativa%
>> Kp=19; %Ganancia Proporcional%
>> Kd=1.9878; %Ganancia Derivativa%
>> num=A*[Kd Kp Ki];
% Controlador PID%
>> den=[tau1*tau2 tau1+tau2+A*Kd 1+A*Kp A*Ki]; %Funcin de
transferencia en lazo cerrado con PID%
>> step(num,den) %Graficar%