JAIRO FRANCO CESAR SANTISTEBAN RUIZ

LABORATORIO
DE INGENIERIA DE
CONTROL DIGITAL

1223210243
UNIVERSIDAD NACIONAL DEL CALLAO

ANALISIS DE ESTABILIDAD DE
SISTEMAS DISCRETOS
PROBLEMA NUMERO 1

A)

( z0.3 ) ( z0.6 ) ( z 21 ) =0

a) ANALITICAMENTE RAICES DEL SISTEMA

( z0.3 ) ( z0.6 ) ( z 21 ) =0
2

z0.3=0 z0.6=0 z 1=0

z=0.3

z=0.6

z=1

z=1

MATLAB RAICES DEL SISTEMA

>> temp=conv([1 -0.3],[1 -0.6]);

>> temp2=conv([1 -1],[1 1]);
>> d=conv(temp,temp2);
>> n=[1];
>> g=tf(d,n)

g = s^4 - 0.9 s^3 - 0.82 s^2 + 0.9 s - 0.18

>> roots([1 -0.9 -0.82 0.9 -0.18])
CONOCER LAS RAICES

CON ESTE COMANDO DAMOS A

ans =
-1.0000
1.0000
0.6000
0.3000

rlocus(d,n)

GRAFICAMOS LAS RAICES DEL SISTEMA

( z0.3 ) ( z0.6 ) ( z 21 ) =0
z 40.9 z 30.82 z 2+ 0.9 z 0.18=0
Q ( z )= z 40.9 z 30.8 2 z2 +0.9 z0.18=0

1Q ( 1 ) >0

2(1 )n Q (1 )> 0

COMPROBANDO

3|a0|< an

Q (1 ) =( 1 ) 0.9 ( 1 ) 0.8 (1 ) +0.9 ( 1 )0.18>0

1-

23-

(1 )n Q (1 ) =1+ 0.90.820.90.18>0

Q (1 ) =0>0

(1 )n Q (1 ) =0>0

|a 0|< an=|0.18|<1

n=4
Jmax=n-2 Jmax=2
Fmax=2Jmax+1 Fmax=5

filas

1
2
3
4
5

1
2
Donde:

z0
-0.18
1
0.9676
0.738
-0.406

z1
0.9
-0.9
-0.738
-0.9676
0.006

z2
-0.82
-0.82
-0.967
-0.738
0.399

z3

z4

-0.9
0.9
0.738
0.976

1
-0.18

[ ]

b0 =

a0 a4
a 4 a0

b0 =

0.18
1
1
0.18

b0 =0.9676
b1=

[ ]
a 0 a3
a4 a1

b1= 0.18 0.9

1
0.9

b1=0.738

Y asi desarrollando cada matriz tanto para B y C tenemos los valores:

b2=0.9676
b3 =0.738
c 0=

[ ]
b0 b 3
b3 b 0

c 0=0.406
c 1=

[ ]
b0 b3
b3 b0

c 1=0.006
c 2=0.399

PROBLEMANUMERO 2

a)

z 31.1 z +0.3=0

z 31.1 z +0.3=0
z=1.1

z=0.3

z=0.8

>> roots([1 0 -1.1 0.3])

ans =

-1.1651
0.8687
0.2964

>> n=[1 0 -1.1 0.3];

>> d=[1];

>> zplane(ans)

B)

Q ( z )= z3 1.1 z +0.3=0

1Q ( 1 ) >0

2(1 )n Q (1 )> 0

3|a0|< an

Q (1 ) =0.2>0

(1 )n Q (1 ) =0.4 >0

|a 0|< an 0.3< 1

n=3
con esto calculamos el numero de filas que comformara la tabla de joury y
cuantos clculos haremos.
Jmax=n-2
Jmax=1

Fmax=2Jmax+1
Fmax=3

fila

1
2
3

z0
0.3
1
0.7

z1

z2

z3

-1.1
0
0.33

0
-1.1
-1.1

1
0.3

Los valores de la tabla se dieron con estas operaciones.

[ ]

b0 =

a0 a3
a3 a0

b0 = 0.3 1
1 0.3

b0 =0.7
b1 =

[ ]

b1 =

a0 a2
a3 a1

0.3
0
1 1.1

b1=0.33
b2=

[ ]
a0 a1
a3 a2

b2 =

0.3 1.1
1
0

b2=1.1

|b 0|> [ b2 ]

|0.7|> [ 1.1 ]

PROBLEMA NUMERO 3

A)

G P ( s )=

9
T =1 seg .
( S+1 ) ( S +3 )

HG ( z )=( 1Z ) Z

{(

9
S S+1 )( S+3 )

9
Z
( Z1
)
{ S ( S +1)( S+3 ) }
Z

HG ( z )=

Z1
Z 1
Z
Z1
Z
0.33 (
+(
(0.5 )
+0.16 (
( Z1
)
)
)
)
(
)
(
Z
Z
Z
Z
Ze
Ze )

HG ( z )=

3 T

HG ( z )=

Gw ( z )=

0.039 z +0.0345
z 1.645 z +0.67032
2

C (z)
kHG ( z )
=
R ( z ) 1+ kHG ( z )

0.039 z+ 0.0345
z 1.645 z+ 0.67032
Gw ( z )=
0.039 z +0.0345
1+ K 2
z 1.645 z +0.67032
K

Z 21.645 Z+ 0.670+0.039 K ( Z +0.884 )

0.039 K ( Z +0.884 )
Gw ( z ) =

Ecuacin caracterstica.
2

Q ( Z )=Z 1.645 Z +0.670+0.039 K ( Z +0.884 )

1Q ( 1 ) >0

2(1 )n Q (1 )> 0

1Q ( 1 )=0.025+ 0.0734 K >0

3|a0|< an COMPROBANDO

K >0.34

2(1 )n Q (1 )=0.0095 K + 2.6952> 0

|a 0|< an

|0.670+0.0344 K|<1

661,25> K

9.6< K <9.6

FUNCION DE TRANSFERENCIA EN MATLAB

> n=[9];
>> d=[1 4 3];
>> [nd,dd]=c2dm(n,d,0.1,'zoh');
>> printsys(nd,dd,'z')
num/den =
0.039459 z + 0.034534
-----------------------z^2 - 1.6457 z + 0.67032