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Solucin:
() () =
( + + )
()() =
()(() + + )
= 180 + ()()
= 50 = 180 +
= 130
90 1 ( )
()((4 2 )2 + 2 ) 4 2
130 = 90 1 ( )
4 2
40 = 1 ( )
4 2
tan(40) =
4 2
Resolviendo la ecuacin:
(40)2 + 4 tan(40) = 0
= 1.491 /
| ()()| = 1
| |=1
()(() + + )
Reemplazamos w=1.491
= |()(()2 + + 4)| = 3.458
Queda por determinar el margen de ganancia, que ocurrir cuando la fase de -180.
() () =
()(() + + )
=
(90) ((4 2 )2 + 2 1 ( ))
4 2
= 90 1 ( )
()((4 2 )2 + 2 ) 4 2
90 1 ( ) = 180
4 2
1 ( ) = 90
4 2
tan(90) =
4 2
= 20 log(0.8645) = 1.2634
( ) = 0
0 0 0 1 0 1 0
det( ) = [0 0] [ 0 0 1 ] = [0 1 ]
0 0 1 5 6 1 5 6
1 0
det [0 1 ] = (( 6) 5 1) + 1 1 = 0
1 5 +6
3 + 6 2 + 5 + 1 = 0
= 5.05, 0.30, 0.64
= [ 2 ]
0 1 0 0 1
=[ 0 0 1 ] [1] = [ 1 ]
1 5 6 1 11
0 1 0 0 1 0 0 1
2 = [ 0 0 1 ] [ 0 0 1 ] [ 1] = [11]
1 5 6 1 5 6 1 60
Matriz controlabilidad
0 1 1
= [1 1 11]
1 11 60
det( ) = 83 0
Por lo tanto el sistema es controlable.
0 1 0 0 1 0
2 = [1 0 0] [ 0 0 1 ][ 0 0 1 ] = [0 0 1]
1 5 6 1 5 6
1 0 0
= 0 1 0]
[
0 0 1
det( ) = 1 0
=
0 1 0 0
= [ 0 0 1 ] [1] [1 2 3 ]
1 5 6 1
0 1 0 0 0 0
=[ 0 0 1 ] [1 2 3 ]
1 5 6 1 2 3
0 1 0
= [ 1 2 1 3 ]
1 1 5 2 6 3
0 0 0 1 0 1 0
[
= 0 ]
0 [ 1 2 1 3 ] = [ 1 + 2 1 + 3 ]
0 0 1 1 5 2 6 3 1 + 1 5 + 2 + 6 + 3
1 0
= [ 1 + 2 1 + 3 ]
1 + 1 5 + 2 + 6 + 3
3 + (6 + 2 + 3 ) 2 + (72 53 + 1 + 5) + (71 3 + 1) = 0
Para situar todos los polos en lazo cerrado como se requiere el polinomio caracterstico
deseado es:
( + 2 + 4)( + 2 4)( + 10) = 3 + 14 2 + 60 + 200
6 + 2 + 3 = 14
72 53 + 1 + 5 = 60
71 3 + 1 = 200
1 = 28.78 2 = 5.52 3 = 2.48
= [28.78 5.52 2.48]
3.-un sistema regulador tiene una planta
() 10
=
() ( + 1)( + 2)( + 3)
Aplicar realimentacin de estado si se desea tener polos en lazo cerrado en = 2 23, s=-
10. Determine la matriz de ganancias de realimentacin del estado k.
+ 6 1 0
det [ 11 1] = ( + 6)( 2 ) + (11 + 6) = 0
6 0
3 + 6 2 + 11 + 6 = 0
= 3, 1, 2,
La matriz controlabilidad es:
= [ 2 ]
6 1 0 10 60
= [11 0 1] [ 0 ] = [110]
6 0 0 0 60
0 1 0 0 1 0 10 250
2 = [ 0 0 1 ][ 0 0 1 ] [ 0 ] = [600]
1 5 6 1 5 6 0 360
Matriz controlabilidad1
10 60 250
= [ 0 110 600 ]
0 60 360
det( ) = 36000 0
6 1 0 6 1 0
2 = [1 0 0] [11 0 1] [11 0 1] = [25 6 1]
6 0 0 6 0 0
1 0 0
= [6 1 0]
25 6 1
det( ) = 1 0
=
6 1 0 10
= [11 0 1] [ 0 ] [1 2 3 ]
6 0 0 0
6 1 0 1 2 3
= [11 0 1] [ 0 0 0]
6 0 0 0 0 0
6 1 1 2 3
= [ 11 0 1 ]
6 0 0
0 0 6 1 1 2 3 + 6 + 1 1 + 2 3
= [0 0] [ 11 0 1 ]=[ 11 1]
0 0 6 0 0 6 0
+ 6 + 1 1 + 2 3
= [ 11 1]
6 0
det( ) = 0 Es la ecuacin caracterstica del sistema con realimentacin de estados.
3 + (6 + 1 ) 2 + (11 112 ) + (6 62 ) = 0
Para situar todos los polos en lazo cerrado como se requiere el polinomio caracterstico
deseado es:
6 + 1 = 14
11 112 = 56
6 62 = 160
1 = 8 2 = 4.09 3 = 25.67
= [8 4.09 25.67]
det( ) = 10 0
1 2 2 1 2 2
2 = [1 0 0] [ 0 1 1 ] [ 0 1 1 ] = [0 5 0]
1 0 1 1 0 1
1 1 0
= [1 3 1]
0 5 0
det( ) = 5 0