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IV. ACTIVIDADES
Para las funciones de transferencia mostradas
z 0.7
z ( z 0.5)( z 0.25)
a
G(z)=
FTP
>> z=0.7;p=[0 0.5 0.25];k=1;
>> Gz=zpk(z,p,k,1)
Gz =
(z-0.7)
-----------------z (z-0.5) (z-0.25)
Sample time: 1 seconds
Discrete-time zero/pole/gain model.
>> FTP=feedback(Gz,1)
FTP =
(z-0.7)
----------------------------------(z-0.6577) (z^2 - 0.09229z + 1.064)
Distribucin cero-polar de la FTP
System: FTP
Pole-Zero Map
Pole : 0.0461 + 1.03i
1.5
Damping: -0.0204
Overshoot (%): 107
Frequency (rad/s): 1.53
0.6/T
0.5/T
0.8/T
0.5
Imaginary Axis
0.9/T
0
1/T
1/T
0.9/T
-0.5
0.8/T
0.7/T
0.6/T
-1
-1.5
-1
-0.8
-0.6
-0.4
-0.2
0.4/T
0.1
0.3 /T
System: FTP 0.2
0.3
Pole : 0.658 0.4
0.5
Damping: 1 0.6
0.7
Overshoot (%):
0.8 0
0.9
Frequency (rad/s):
0.419
0.7/T
0.5/T
0.2/T
0.1/T
System: FTP
0.1:0.7
/T
Zero
System: FTP
Damping: 1
Pole : 0.0461 - 1.03i
0.2Overshoot
/T
(%): 0
Damping: -0.0204
Frequency
(rad/s): 0.357
/T
Overshoot (%):0.3
107
Frequency
0.4/T (rad/s): 1.53
0.2
0.4
0.6
0.8
Real Axis
0.7000
p=
0.0461 + 1.0306i
0.0461 - 1.0306i
0.6577 + 0.0000i
k=
1
>> [nFTP,dFTP]=zp2tf(z,p,k)
nFTP =
0
1.0000 -0.7000
dFTP =
1.0000 -0.7500
1.1250 -0.7000
>> h=dimpulse(nFTP,dFTP);
>> stem(0:length(h)-1,h)
25
x 10
X= 1851
Y= 9.35753951207508e+24
0.5
-0.5
-1
200
400
600
800
1000
1200
1400
1600
1800
2000
Css*=inf
Np*=inf
Cmax*=inf
Mp*=0
El sistema es inestable ya que tiene dos races fuera del circulo de radio unidad y por los
parmetros nos damos cuenta que la seal de salida no es estable y sigue aumentando su valor
por eso Css* es infinito.
Respuesta al escaln unitario y parmetros
>> u=dstep(nFTP,dFTP);
>> stem(0:length(u)-1,u)
24
x 10
6
4
2
0
-2
-4
-6
-8
0
200
400
600
800
1000
1200
1400
1600
1800
2000
Css*=inf
Np*=inf
Cmax*=inf
Mp*=0
Asumiendo un K variable en G(z), obtener el lugar de races del sistema, de manera grfica
y tabular
rlocus(Gz),zgrid
Root Locus
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
0.8/T
0.7/T
0.6/T
0.5/T
0.4/T
0.1
0.2 0.3/T
0.3
0.4
0.5
0.6
0.7
0.8
0.9
/T
/T
10.9
10.9/T
/T
0.8/T
0.2/T
0.1/T
0.1/T
0.7/T
-1
0.6/T
0.5/T
0.3/T
0.4/T
0.2/T
-1.5
-2
-2.5
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
Real Axis
Root Locus
2.5
2
1.5
System: Gz
Gain: 0.00312
Pole: 0.505
Damping: 1
Overshoot (%): 0
Frequency (rad/s): 0.684
Imaginary Axis
1
0.5
System: Gz
Gain: Inf
Pole: 0.7
Damping: 1
Overshoot (%): 0
Frequency (rad/s): 0.357
0
System: Gz
Gain: 0
Pole: 0
Damping: NaN
Overshoot (%): NaN
Frequency (rad/s): NaN
-0.5
-1
-1.5
System: Gz
Gain: 0.000164
Pole: 0.249
Damping: 1
Overshoot (%): 0
Frequency (rad/s): 1.39
-2
-2.5
-1
-0.8
-0.6
-0.4
-0.2
0
Real Axis
0.2
0.4
0.6
0.8
Inf
2.5
System: Gz
Gain: 0.905
Pole: 0.0477 + 0.983i
Damping: 0.0107
Overshoot (%): 96.7
Frequency (rad/s): 1.52
2
1.5
Imaginary Axis
1
0.5
0
System: Gz
Gain: 0.0102
Pole: 0.118 - 2.74e-09i
Damping: 1
Overshoot (%): 0
Frequency (rad/s): 2.14
-0.5
-1
-1.5
-2
-2.5
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
Real Axis
+ j <1 , + j <1
n
A n + B sin(n +) +
+ j <1 , + j <1
n
A n + B sin(n +) +
+ j >1 , + j >1 ; ;
n
A n + B sin(n +) +
<1; ,
Gz =
0.005 (z-0.7)
-----------------z (z-0.5) (z-0.25)
>> [n d]=tfdata(Gz,'vo')
n=
0
0.0050 -0.0035
d=
1.0000 -0.7500
0.1250
>> Gz=tf(n,d,1)
Gz =
0.005 z - 0.0035
-----------------------z^3 - 0.75 z^2 + 0.125 z
>> k=0.005;Gz=k*Gz;[R P K]=residue(n,d)
R=
-0.0080
0.0360
-0.0280
P=
0.5000
0.2500
0
K=
[]
>> FTP=feedback(Gz,1)
FTP =
2.5e-05 z - 1.75e-05
----------------------------------z^3 - 0.75 z^2 + 0.125 z - 1.75e-05
>> [nF dF]=tfdata(FTP,'vo');
>> dimpulse(nF,dF)
-5
Impulse Response
x 10
2.5
Amplitude
1.5
0.5
-0.5
10
Time (seconds)
0.05s 1
s 1.9 s 2 4.5s 0.5
3
G(s)=
Con T=0.75 seg
FTP
>> nGs=[0.05 1];dGs=[1 1.9 4.5 0.5];
>> Gs=tf(nGs,dGs)
Gs =
0.05 s + 1
--------------------------s^3 + 1.9 s^2 + 4.5 s + 0.5
>> Gz=c2d(Gs,0.75,'zoh')
Gz =
0.0531 z^2 + 0.1121 z + 0.01728
----------------------------------z^3 - 1.088 z^2 + 0.4197 z - 0.2405
>> FTP=feedback(Gz,1)
12
14
16
18
20
FTP =
0.0531 z^2 + 0.1121 z + 0.01728
----------------------------------z^3 - 1.035 z^2 + 0.5319 z - 0.2232
Distribucin cero-polar de la FTP
>> pzmap(FTP)
Pole-Zero Map
System: FTP
Pole : 0.155 + 0.533i
Damping: 0.416
Overshoot (%): 23.8
Frequency (rad/s): 1.89
0.8
0.6
Imaginary Axis
0.4
0.2
System: FTP
Zero : -1.94
Damping: -0.207
Overshoot (%): 194
Frequency (rad/s): 4.28
System: FTP
Zero : -0.167
Damping: 0.495
Overshoot (%): 16.7
Frequency (rad/s): 4.82
0
System: FTP
Pole : 0.726
Damping: 1
Overshoot (%): 0
Frequency (rad/s): 0.427
-0.2
-0.4
-0.6
-0.8
-1
-2
-1.5
-1
-0.5
System: FTP
Pole : 0.155 - 0.533i
Damping: 0.416
Overshoot (%): 23.8
Frequency (rad/s): 1.89
0.5
1
Real Axis
>> rlocus(Gz),zgrid
Root Locus
Imaginary Axis
0.5
/T
/T
0.4
0.6
/T
/T0.3
0.1
0.2
0.70.3
/T
0.4
/T
0.5
0.8/T0.2
0.6
0.7
/T 0.8
0.9
0.1/T
0.9
1/T
1/T
/T 0.1/T
0.9
0.8/T0.2/T
/T/T
0.70.3
/T
/T
0.4
0.6
/T
0.5
-1
-2
-3
-10
-8
-6
-4
-2
Real Axis
Root Locus
Imaginary Axis
-1
-2
-3
-10
-8
-6
-4
Real Axis
-2
Root Locus
2
System: Gz
Gain: Inf
Pole: -1.94
Damping: -0.207
Overshoot (%): 194
Frequency (rad/s): 4.28
Imaginary Axis
System: Gz
Gain: 0
Pole: 0.916
Damping: 1
Overshoot (%): 0
Frequency (rad/s): 0.116
0
System: Gz
Gain: Inf
Pole: -0.167
Damping: 0.495
Overshoot (%): 16.7
Frequency (rad/s): 4.82
-1
System: Gz
Gain: 0
Pole: 0.0858 - 0.505i
Damping: 0.43
Overshoot (%): 22.4
Frequency (rad/s): 2.07
-2
-3
-10
-8
-6
-4
Real Axis
-2
0.0100
0.0108
0.0125
0.0134
0.0143
0.0161
0.0169
0.0178
0.0187
0.0191
0.0194
0.0196
0.0196
0.0196
0.0272
0.0591
1.0525
Inf
>> r'
ans =
1.0e+02 *
0.0092 + 0.0000i
0.0082 + 0.0000i
0.0068 + 0.0000i
0.0061 + 0.0000i
0.0053 + 0.0000i
0.0046 + 0.0000i
0.0040 + 0.0000i
0.0034 + 0.0000i
0.0030 + 0.0000i
0.0023 + 0.0000i
0.0018 + 0.0000i
0.0015 + 0.0000i
0.0006 + 0.0000i
0.0002 + 0.0000i
-0.0004 + 0.0000i
-0.0006 + 0.0000i
-0.0008 + 0.0000i
-0.0010 + 0.0000i
-0.0011 + 0.0000i
-0.0012 + 0.0000i
-0.0012 + 0.0000i
-0.0013 + 0.0000i
-0.0013 + 0.0000i
-0.0014 + 0.0000i
-0.0014 + 0.0000i
-0.0014 + 0.0000i
-0.0014 + 0.0000i
-0.0015 + 0.0000i
-0.0015 + 0.0000i
-0.0015 + 0.0000i
-0.0015 + 0.0000i
-0.0015 + 0.0000i
0.0009 - 0.0051i
0.0012 - 0.0052i
0.0017 - 0.0054i
0.0020 - 0.0056i
0.0023 - 0.0058i
0.0025 - 0.0061i
0.0028 - 0.0064i
0.0029 - 0.0068i
0.0031 - 0.0072i
0.0032 - 0.0079i
0.0032 - 0.0086i
0.0032 - 0.0092i
0.0028 - 0.0115i
0.0021 - 0.0132i
0.0005 - 0.0161i
-0.0013 - 0.0183i
-0.0033 - 0.0203i
-0.0053 - 0.0218i
-0.0093 - 0.0241i
-0.0115 - 0.0250i
-0.0138 - 0.0256i
-0.0182 - 0.0263i
-0.0204 - 0.0263i
-0.0227 - 0.0261i
-0.0271 - 0.0252i
-0.0295 - 0.0244i
-0.0318 - 0.0233i
-0.0365 - 0.0202i
-0.0388 - 0.0179i
-0.0411 - 0.0150i
-0.0435 - 0.0110i
-0.0446 - 0.0079i
0.0009 + 0.0051i
0.0012 + 0.0052i
0.0017 + 0.0054i
0.0020 + 0.0056i
0.0023 + 0.0058i
0.0025 + 0.0061i
0.0028 + 0.0064i
0.0029 + 0.0068i
0.0031 + 0.0072i
0.0032 + 0.0079i
0.0032 + 0.0086i
0.0032 + 0.0092i
0.0028 + 0.0115i
0.0021 + 0.0132i
0.0005 + 0.0161i
-0.0013 + 0.0183i
-0.0033 + 0.0203i
-0.0053 + 0.0218i
-0.0093 + 0.0241i
-0.0115 + 0.0250i
-0.0138 + 0.0256i
-0.0182 + 0.0263i
-0.0204 + 0.0263i
-0.0227 + 0.0261i
-0.0271 + 0.0252i
-0.0295 + 0.0244i
-0.0318 + 0.0233i
-0.0365 + 0.0202i
-0.0388 + 0.0179i
-0.0411 + 0.0150i
-0.0435 + 0.0110i
-0.0446 + 0.0079i
-0.0015 + 0.0000i
-0.0015 + 0.0000i
-0.0015 + 0.0000i
-0.0015 + 0.0000i
-0.0015 + 0.0000i
-0.0016 + 0.0000i
-0.0017 + 0.0000i
-0.0017 + 0.0000i
-0.0452 - 0.0058i
-0.0458 - 0.0017i
-0.0459 - 0.0000i
-0.0443 + 0.0000i
-0.0277 + 0.0000i
-0.0221 + 0.0000i
-0.0196 + 0.0000i
-0.0194 + 0.0000i
>> abs(r)'
ans =
0.9163
0.8158
0.6849
0.6090
0.5329
0.4614
0.3989
0.3427
0.2975
0.2310
0.1845
0.1498
0.0621
0.0163
0.0365
0.0646
0.0837
0.0967
0.1133
0.1193
0.1242
0.1314
0.1342
0.1365
0.1404
0.1420
0.1435
0.1459
0.1470
0.1479
0.1488
0.1492
0.1494
0.1496
0.1496
0.1496
0.1544
0.1613
0.1670
0.1673
0.5123 0.5123
0.5321 0.5321
0.5666 0.5666
0.5925 0.5925
0.6244 0.6244
0.6612 0.6612
0.7005 0.7005
0.7429 0.7429
0.7833 0.7833
0.8564 0.8564
0.9205 0.9205
0.9776 0.9776
1.1779 1.1779
1.3360 1.3360
1.6122 1.6122
1.8393 1.8393
2.0539 2.0539
2.2460 2.2460
2.5849 2.5849
2.7506 2.7506
2.9065 2.9065
3.1949 3.1949
3.3295 3.3295
3.4588 3.4588
3.7036 3.7036
3.8248 3.8248
3.9422 3.9422
4.1670 4.1670
4.2749 4.2749
4.3801 4.3801
4.4829 4.4829
4.5334 4.5334
4.5584 4.5584
4.5833 4.5833
4.5856 4.5856
4.4252 4.7563
2.7665 10.4523
2.2144 27.9461
1.9571 555.7108
1.9443
Inf
-0.0452 + 0.0058i
-0.0458 + 0.0017i
-0.0459 + 0.0000i
-0.0476 + 0.0000i
-0.1045 + 0.0000i
-0.2795 + 0.0000i
-5.5571 + 0.0000i
Inf + 0.0000i
j<1 ,
>1 , j >1 ;
>1;
n
A n + B sin(n +)
n
A n + B sin (n +)
> 1 ; >1 ;
A n + A n + A n
>>0
>>
>>
n=
0
0.0531
0.1121
0.0173
d=
1.0000 -1.0879
0.4197 -0.2405
>> Gz=tf(n,d,1)
Gz =
0.0531 z^2 + 0.1121 z + 0.01728
----------------------------------z^3 - 1.088 z^2 + 0.4197 z - 0.2405
Sample time: 1 seconds
Discrete-time transfer function.
>> k=0.005;Gz=k*Gz;[R P K]=residue(n,d)
R=
0.1742 + 0.0000i
-0.0606 - 0.0204i
-0.0606 + 0.0204i
P=
0.9163 + 0.0000i
0.0858 + 0.5051i
0.0858 - 0.5051i
K=
[]
>> FTP=feedback(Gz,1)
FTP =
0.0002655 z^2 + 0.0005607 z + 8.639e-05
--------------------------------------z^3 - 1.088 z^2 + 0.4203 z - 0.2404
Sample time: 1 seconds
Discrete-time transfer function.
>> [nF dF]=tfdata(FTP,'vo');
>> dimpulse(nF,dF)
-3
Impulse Response
x 10
1
0.9
0.8
0.7
Amplitude
0.6
0.5
0.4
0.3
0.2
0.1
0
10
20
30
40
Time (seconds)
0.075s 1
s 2.5s 2 4.5s 0.5
3
G(s)=
Con T=0.6 seg
FTP
>> nGS=[0.075 1];dGS=[1 2.5 4.5 0.5];
>> [nGz,dGz]=c2dm(nGS,dGS,0.6,'zoh')
nGz =
0
0.0316
0.0598
0.0066
dGz =
1.0000 -1.4570 0.7291 -0.2231
>> Gz=tf(nGz,dGz,0.6)
Gz =
0.0316 z^2 + 0.05984 z + 0.006595
----------------------------------z^3 - 1.457 z^2 + 0.7291 z - 0.2231
50
60
70
80
Pole-Zero Map
0.5/T
0.6/T
0.4 /T
0.8
0.1
0.3/T
0.2
0.3
0.4
0.2/T
0.5
0.6
0.7
0.1/T
0.8
0.9
0.7/T
0.6
0.8/T
Imaginary Axis
0.4
0.9/T
0.2
1/T
1/T
0
-0.2
0.9/T
0.1/T
-0.4
0.8/T
-0.6
0.7/T
-0.8
-1
-2
0.2/T
0.3/T
0.6/T
0.4/T
0.5/T
-1.5
-1
-0.5
Real Axis
0.5
Pole-Zero Map
System: FTP
Pole : 0.331 + 0.417i
Damping: 0.573
Overshoot (%): 11.1
Frequency (rad/s): 1.83
System: FTP
Pole : 0.763
Damping: 1
Overshoot (%): 0
Frequency (rad/s): 0.45
0.8
0.6
Imaginary Axis
0.4
0.2
System: FTP
Zero : -1.78
Damping: -0.18
Overshoot (%): 178
Frequency (rad/s): 5.32
0
System: FTP
Zero : -0.118
Damping: 0.563
Overshoot (%): 11.8
Frequency (rad/s): 6.34
System: FTP
Pole : 0.331 - 0.417i
Damping: 0.573
Overshoot (%): 11.1
Frequency (rad/s): 1.83
-0.2
-0.4
-0.6
-0.8
-1
-2
-1.5
-1
-0.5
0.5
Real Axis
k=
0.0316
>> [nFTP,dFTP]=zp2tf(z,p,k)
nFTP =
0
0.0316
0.0598
0.0066
dFTP =
1.0000 -1.4254
0.7890 -0.2165
>> h=dimpulse(nFTP,dFTP);
>> stem(0:length(h)-1,h)
0.14
X= 3
Y= 0.13116
0.12
0.1
0.08
0.06
0.04
0.02
0
10
15
Css*=0.001
Np*=3
Cmax*=0.13
Mp*=0.129
Respuesta al escaln unitario y parmetros
>> u=dstep(nFTP,dFTP);
>> stem(0:length(u)-1,u)
20
25
30
35
0.7
X= 20
Y= 0.66292
0.6
0.5
0.4
0.3
0.2
0.1
0
10
15
20
25
Css*=0.66
Np*=20
Cmax*=0.66
Mp*=0
Asumiendo un K variable en G(z), obtener el lugar de races del sistema, de manera grfica
y tabular
Root Locus
Imaginary Axis
0.5
/T
/T
0.4
0.6
/T
/T0.3
0.1
0.2
0.70.3
/T
0.4
/T
0.5
0.8 /T0.2
0.6
0.7
0.8
/T
0.9
/T
0.1
0.9
1/T
1 /T
/T 0.1/T
0.9
0.8/T0.2/T
/T/T
0.70.3
/T
/T
0.4
0.6
/T
0.5
-1
-2
-3
-10
-8
-6
-4
Real Axis
>> [r k]=rlocus(Gz);
>> k'
-2
ans =
1.0e+04 *
0
0.0001
0.0002
0.0002
0.0002
0.0002
0.0002
0.0002
0.0003
0.0003
0.0004
0.0005
0.0006
0.0008
0.0013
0.0018
0.0030
0.0042
0.0055
0.0068
0.0095
0.0110
0.0125
0.0155
0.0170
0.0185
0.0215
0.0229
0.0243
0.0272
0.0286
0.0300
0.0314
0.0321
0.0325
0.0329
0.0329
0.0329
0.0487
0.1106
1.9856
Inf
>> r'
ans =
1.0e+02 *
0.0093 + 0.0000i 0.0026 - 0.0041i 0.0026 + 0.0041i
0.0082 + 0.0000i 0.0031 - 0.0041i 0.0031 + 0.0041i
0.0064 + 0.0000i
0.0063 + 0.0000i
0.0061 + 0.0000i
0.0058 + 0.0000i
0.0053 + 0.0000i
0.0048 + 0.0000i
0.0044 + 0.0000i
0.0037 + 0.0000i
0.0033 + 0.0000i
0.0026 + 0.0000i
0.0022 + 0.0000i
0.0016 + 0.0000i
0.0009 + 0.0000i
0.0006 + 0.0000i
0.0001 + 0.0000i
-0.0002 + 0.0000i
-0.0003 + 0.0000i
-0.0005 + 0.0000i
-0.0006 + 0.0000i
-0.0007 + 0.0000i
-0.0007 + 0.0000i
-0.0008 + 0.0000i
-0.0008 + 0.0000i
-0.0009 + 0.0000i
-0.0009 + 0.0000i
-0.0009 + 0.0000i
-0.0009 + 0.0000i
-0.0010 + 0.0000i
-0.0010 + 0.0000i
-0.0010 + 0.0000i
-0.0010 + 0.0000i
-0.0010 + 0.0000i
-0.0010 + 0.0000i
-0.0010 + 0.0000i
-0.0010 + 0.0000i
-0.0010 + 0.0000i
-0.0011 + 0.0000i
-0.0011 + 0.0000i
-0.0012 + 0.0000i
-0.0012 + 0.0000i
0.0038 - 0.0043i
0.0039 - 0.0043i
0.0040 - 0.0044i
0.0041 - 0.0044i
0.0043 - 0.0046i
0.0045 - 0.0048i
0.0047 - 0.0050i
0.0049 - 0.0055i
0.0051 - 0.0059i
0.0052 - 0.0068i
0.0053 - 0.0075i
0.0052 - 0.0088i
0.0047 - 0.0110i
0.0041 - 0.0127i
0.0025 - 0.0157i
0.0008 - 0.0179i
-0.0012 - 0.0200i
-0.0032 - 0.0216i
-0.0073 - 0.0240i
-0.0097 - 0.0249i
-0.0120 - 0.0256i
-0.0167 - 0.0263i
-0.0191 - 0.0263i
-0.0215 - 0.0261i
-0.0262 - 0.0250i
-0.0284 - 0.0241i
-0.0307 - 0.0230i
-0.0352 - 0.0199i
-0.0374 - 0.0177i
-0.0396 - 0.0148i
-0.0419 - 0.0108i
-0.0430 - 0.0078i
-0.0436 - 0.0057i
-0.0441 - 0.0017i
-0.0442 - 0.0000i
-0.0426 + 0.0000i
-0.0251 + 0.0000i
-0.0201 + 0.0000i
-0.0179 + 0.0000i
-0.0178 + 0.0000i
>> abs(r)'
ans =
0.9313
0.8208
0.6413
0.6269
0.6124
0.5834
0.5276
0.4779
0.4360
0.3726
0.3277
0.4895
0.5160
0.5760
0.5820
0.5883
0.6016
0.6301
0.6595
0.6877
0.7380
0.7805
0.4895
0.5160
0.5760
0.5820
0.5883
0.6016
0.6301
0.6595
0.6877
0.7380
0.7805
0.0038 + 0.0043i
0.0039 + 0.0043i
0.0040 + 0.0044i
0.0041 + 0.0044i
0.0043 + 0.0046i
0.0045 + 0.0048i
0.0047 + 0.0050i
0.0049 + 0.0055i
0.0051 + 0.0059i
0.0052 + 0.0068i
0.0053 + 0.0075i
0.0052 + 0.0088i
0.0047 + 0.0110i
0.0041 + 0.0127i
0.0025 + 0.0157i
0.0008 + 0.0179i
-0.0012 + 0.0200i
-0.0032 + 0.0216i
-0.0073 + 0.0240i
-0.0097 + 0.0249i
-0.0120 + 0.0256i
-0.0167 + 0.0263i
-0.0191 + 0.0263i
-0.0215 + 0.0261i
-0.0262 + 0.0250i
-0.0284 + 0.0241i
-0.0307 + 0.0230i
-0.0352 + 0.0199i
-0.0374 + 0.0177i
-0.0396 + 0.0148i
-0.0419 + 0.0108i
-0.0430 + 0.0078i
-0.0436 + 0.0057i
-0.0441 + 0.0017i
-0.0442 + 0.0000i
-0.0459 + 0.0000i
-0.1133 + 0.0000i
-0.3138 + 0.0000i
-6.2418 + 0.0000i
Inf + 0.0000i
Root Locus
System: Gz
Gain: 7.06
Pole: 0.523 + 0.826i
Damping: 0.0223
Overshoot (%): 93.2
Frequency (rad/s): 1.68
2
System: Gz
Gain: 329
Pole: -4.41 + 5.19e-08i
Damping: -0.427
Overshoot (%): 441
Frequency (rad/s): 5.79
Imaginary Axis
-1
-2
-3
-10
-8
-6
-4
-2
Real Axis
n
B n sin (n +)
0 < k< 7 ;
<1 , j <1 ;
<1 , j >1 ;
A n + B sin(n +)
k>329 ;
<1;
> 1 ; >1 ;
A n + A n + A n
>>0
>>
>>
0.0316
0.0598
0.0066
1.0000 -1.4570
0.7291 -0.2231
>> Gz=tf(n,d,0.6)
Gz =
0.0316 z^2 + 0.05984 z + 0.006595
----------------------------------z^3 - 1.457 z^2 + 0.7291 z - 0.2231
Sample time: 0.6 seconds
Discrete-time transfer function.
>> k=5;Gz=k*Gz;[R P K]=residue(n,d)
R=
0.1453 + 0.0000i
-0.0569 - 0.0005i
-0.0569 + 0.0005i
P=
0.9313 + 0.0000i
0.2628 + 0.4129i
0.2628 - 0.4129i
K=
[]
>> FTP=feedback(Gz,1)
FTP =
0.158 z^2 + 0.2992 z + 0.03297
---------------------------------z^3 - 1.299 z^2 + 1.028 z - 0.1902
Sample time: 0.6 seconds
Discrete-time transfer function.
>> [nF dF]=tfdata(FTP,'vo');
>> dimpulse(nF,dF)
Impulse Response
0.6
0.5
0.4
0.3
Amplitude
0.2
0.1
0
-0.1
-0.2
-0.3
-0.4
10
15
20
25
Time (seconds)
10
s ( s 5) 2
G(s)=
H ( s)
1
s 10
30
35
40
45
50
HS =
1
-----s + 10
Continuous-time transfer function.
>> Gz=c2d(GS,1,'zoh')
Gz =
0.2438 z^2 + 0.1492 z + 0.001643
-------------------------------------z^3 - 1.013 z^2 + 0.01352 z - 4.54e-05
Sample time: 1 seconds
Discrete-time transfer function.
>> Hz=c2d(HS,1,'zoh')
Hz =
0.1
-----------z - 4.54e-05
Sample time: 1 seconds
Discrete-time transfer function.
>> FTP=feedback(Gz,Hz)
FTP =
0.2438 z^3 + 0.1492 z^2 + 0.001636 z - 7.457e-08
----------------------------------------------------z^4 - 1.014 z^3 + 0.03794 z^2 + 0.01487 z + 0.0001642
Sample time: 1 seconds
Discrete-time transfer function.
Distribucin cero-polar de la FTP
Pole-Zero Map
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
Real Axis
p=
0.9575
0.1606
-0.0930
-0.0115
k=
0.2438
>> [nFTP,dFTP]=zp2tf(z,p,k)
nFTP =
0
0.2438
0.1492
0.0016 -0.0000
dFTP =
1.0000 -1.0135
0.0379
0.0149
0.0002
>> h=dimpulse(nFTP,dFTP);
>> stem(0:length(h)-1,h)
0.4
X= 2
Y= 0.39627
0.35
0.3
0.25
0.2
0.15
0.1
0.05
0
Css*=0.002
Np*=2
Cmax*=0.4
50
100
150
200
250
300
Mp*=0.398
Respuesta al escaln unitario y parmetros
>> u=dstep(nFTP,dFTP);
>> stem(0:length(u)-1,u)
10
X= 110
Y= 9.9142
9
8
7
6
5
4
3
2
1
0
20
40
60
80
100
120
140
Css*=9.9
Np*=110
Cmax*=9.9
Mp*=0
Asumiendo un K variable en G(z), obtener el lugar de races del sistema, de manera grfica
y tabular
>> GHs=GS*HS
GHs =
10
-----------------------------s^4 + 20 s^3 + 125 s^2 + 250 s
Continuous-time transfer function.
>> GHz=c2d(GHs,1,'zoh')
GHz =
Root Locus
1.5
0.5
/T
/T
0.6
0.4
/T
0.1
/T
0.7/T 0.30.2
0.3
0.4
0.8/T
0.2/T
0.5
0.6
0.7
0.80.1/T
0.9/T
0.9
1/T
1/T
Imaginary Axis
0.5
0.9/T
-0.5
0.8/T
0.2/T
0.7/T 0.3/T
/T
/T
0.6
0.4
0.5
/T
-1
-1.5
-5
0.1/T
-4
-3
-2
-1
Real Axis
Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-5
-4
-3
-2
-1
Real Axis
>> [r k]=rlocus(GHz);
>> k'
ans =
1.0e+04 *
0
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0002
0.0008
0.0008
0.0008
0.0008
0.0016
0.0016
0.0017
0.0018
0.0019
0.0023
0.0038
0.0047
0.0055
0.0072
0.0090
0.0107
0.0124
0.0141
0.0158
0.0176
0.0197
0.0207
0.0218
0.0229
0.0239
0.0250
0.0255
0.0258
0.0261
0.0261
0.0261
0.0813
1.4299
Inf
>> r'
ans =
1.0e+02 *
0.0100 + 0.0000i
0.0100 + 0.0000i
0.0100 + 0.0000i
0.0100 + 0.0000i
0.0100 + 0.0000i
0.0100 + 0.0000i
0.0100 + 0.0000i
0.0100 + 0.0000i
0.0099 + 0.0000i
0.0099 + 0.0000i
0.0099 + 0.0000i
0.0098 + 0.0000i
0.0093 + 0.0000i
0.0051 + 0.0000i
0.0044 + 0.0000i
0.0043 + 0.0000i
0.0043 + 0.0002i
0.0035 + 0.0044i
0.0035 + 0.0045i
0.0034 + 0.0047i
0.0033 + 0.0049i
0.0032 + 0.0053i
0.0028 + 0.0061i
0.0001 + 0.0000i
0.0001 + 0.0000i
0.0001 + 0.0000i
0.0001 + 0.0000i
0.0001 + 0.0000i
0.0001 + 0.0000i
0.0001 + 0.0000i
0.0001 + 0.0000i
0.0002 + 0.0000i
0.0002 + 0.0000i
0.0002 + 0.0000i
0.0003 + 0.0000i
0.0006 + 0.0000i
0.0035 + 0.0000i
0.0041 + 0.0000i
0.0043 + 0.0000i
0.0043 - 0.0002i
0.0035 - 0.0044i
0.0035 - 0.0045i
0.0034 - 0.0047i
0.0033 - 0.0049i
0.0032 - 0.0053i
0.0028 - 0.0061i
0.0001 + 0.0000i
0.0001 + 0.0000i
0.0001 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 - 0.0000i
0.0000 - 0.0000i
0.0000 - 0.0000i
-0.0000 - 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0000 + 0.0000i
-0.0001 + 0.0000i
-0.0002 + 0.0000i
-0.0002 + 0.0000i
-0.0002 + 0.0000i
-0.0002 + 0.0000i
-0.0002 + 0.0000i
-0.0002 + 0.0000i
-0.0002 + 0.0000i
-0.0002 + 0.0000i
-0.0002 + 0.0000i
-0.0002 + 0.0000i
0.0013 + 0.0084i
0.0004 + 0.0093i
-0.0005 + 0.0101i
-0.0023 + 0.0113i
-0.0041 + 0.0122i
-0.0059 + 0.0127i
-0.0076 + 0.0130i
-0.0094 + 0.0130i
-0.0112 + 0.0128i
-0.0130 + 0.0123i
-0.0151 + 0.0113i
-0.0162 + 0.0106i
-0.0173 + 0.0098i
-0.0184 + 0.0087i
-0.0195 + 0.0073i
-0.0206 + 0.0053i
-0.0212 + 0.0038i
-0.0214 + 0.0028i
-0.0217 + 0.0008i
-0.0217 + 0.0000i
-0.0209 + 0.0000i
-0.0099 + 0.0000i
-0.0088 + 0.0000i
-0.0087 + 0.0000i
>> abs(r)'
ans =
1.0000
1.0000
0.9998
0.9993
0.9978
0.9977
0.9977
0.9967
0.9884
0.9884
0.9884
0.9846
0.9264
0.5096
0.4436
0.4284
0.4286
0.5640
0.5714
0.5787
0.5929
0.6204
0.6720
0.8472
0.9343
1.0139
1.1567
0.0067
0.0074
0.0082
0.0100
0.0127
0.0127
0.0127
0.0142
0.0221
0.0221
0.0221
0.0251
0.0616
0.3519
0.4134
0.4284
0.4286
0.5640
0.5714
0.5787
0.5929
0.6204
0.6720
0.8472
0.9343
1.0139
1.1567
0.0067
0.0061
0.0053
0.0038
0.0010
0.0009
0.0009
0.0010
0.0015
0.0015
0.0014
0.0008
0.0005
0.0004
0.0004
0.0004
0.0004
0.0004
0.0004
0.0004
0.0004
0.0004
0.0004
0.0004
0.0004
0.0004
0.0004
0.0000
0.0000
0.0001
0.0001
0.0009
0.0009
0.0009
0.0010
0.0015
0.0015
0.0016
0.0033
0.0106
0.0167
0.0167
0.0167
0.0167
0.0183
0.0183
0.0184
0.0185
0.0186
0.0189
0.0195
0.0197
0.0198
0.0200
1.5
1
System: GHz
Gain: 55.1
Pole: -0.0524 + 1.01i
Damping: -0.00851
Overshoot (%): 103
Frequency (rad/s): 1.62
Imaginary Axis
0.5
-0.5
-1
-1.5
-5
-4
-3
-2
-1
Real Axis
System: GHz
Gain: 55.1
Pole: -0.0524 + 1.01i
Damping: -0.00851
Overshoot (%): 103
Frequency (rad/s): 1.62
Root Locus
1.5
Imaginary Axis
0.5
0
System: GHz
Gain: 261
Pole: -2.17 + 3.07e-08i
Damping: -0.24
Overshoot (%): 217
Frequency (rad/s): 3.24
-0.5
System: GHz
Gain: 8.42
Pole: 0.428
Damping: 1
Overshoot (%): 0
Frequency (rad/s): 0.848
-1
-1.5
-5
-4
-3
-2
-1
Real Axis
n
n
A n + A +B sin( n+) >>0
0 < k< 55 ;
8.42< k< 55 ;
A n + A n+ A n + A n >>0
55<k<261 ;
A n + A n+ A n + A n >>
0.8259
0.7374
0.0152
0.0000
1.0000 -1.0135
0.0136 -0.0000
0.0000
>> GHz=tf(n,d,1)
GHz =
0.8259 z^3 + 0.7374 z^2 + 0.01516 z + 6.476e-06
------------------------------------------------------z^4 - 1.014 z^3 + 0.01357 z^2 - 4.601e-05 z + 2.061e-09
Sample time: 1 seconds
Discrete-time transfer function.
>> k=40;Gz=k*Gz;[R P K]=residue(n,d)
R=
1.6000
-0.6141
-0.0214
-0.1600
P=
1.0000
0.0067
0.0067
0.0000
K=
[]
>> FTP=feedback(Gz,Hz)
FTP =
0.8259 z^4 + 0.7374 z^3 + 0.01513 z^2 + 5.788e-06 z - 2.94e-10
------------------------------------------------------------------z^5 - 1.014 z^4 + 0.0962 z^3 + 0.07369 z^2 + 0.001516 z + 6.476e-07
Sample time: 1 seconds
Discrete-time transfer function.
>> [nF dF]=tfdata(FTP,'vo');
>> dimpulse(nF,dF)
Impulse Response
1.6
1.4
1.2
Amplitude
1
0.8
0.6
0.4
0.2
0
10
15
20
25
30
35
Time (seconds)
V. CONCLUSIONES
VI. CUESTIONARIO/EJERCICIOS
1. Escriba un programa en MatLab, que reciba G(z) como parmetro de entrada y muestre la
respuesta al impulso y la respuesta al escaln en una sola grfica.
2. Por qu se utilizan las seales impulso y escaln para medir el comportamiento temporal?
Explique la diferencia entre los resultados obtenidos
Se utilizan para medir la estabilidad y la capacidad de seguir estas respuestas. La diferencia
es que la primera nos ayuda a modelar el sistema a travs de C[n], y la segunda nos ayuda a
evalular la estabilidad a travs de los parmetros css*,Mp*,np*,ns*.
3. Cmo es el comportamiento temporal en funcin a las races de la ecuacin caracterstica
del sistema?Cul es la zona de estabilidad en el plano Z?
El comportamiento temporal de 1+GH=0 nos ayudara a ver los valores de K para los cuales es
estable el sistema, la estabilidad se ve si las races de 1+GH para ciertos valores de K son
menores o iguales a 1, y si hubieran races complejas conjugadas, hallamos los mdulos y
vemos si estos son menores que uno.
4. En torno a que FT se construye el Lugar de Races?Qu significado tiene el grfico?
Cules son las condiciones de construccin de dicho grfico?
Se construye a partir de GH(z) es decir el lazo abierto, si no hubiera H simplemente se halla
en torno a G(z), el grafico nos ayuda a ver para que valores es estable el sistema, que
comportamiento tienen sus races en los distintos valores de K, esto mediante la ubicacin de
las races (ZEROS y POLOS).