Table of Contents

TALLER 2 ........................................................................................................................
Ejercicio 1 ........................................................................................................................
Ejercicio 2 ........................................................................................................................
Ejercicio 3 ........................................................................................................................

TALLER 2
%NOMBRES:
%
Jefferson Revelo
%
Miguel Morales
%
%FECHA: 17/03/2014
%
%GR2

Ejercicio 1
%a
T=tf([1 2 2],[1 6 4 7 2])
step(T) %Obtener la respuesta a una paso
%b
stepinfo(T) %Valores parametros repta paso
%c
P=pole(T)
zpk(T) % Polos L.C.

T =
s^2 + 2 s + 2
----------------------------s^4 + 6 s^3 + 4 s^2 + 7 s + 2
Continuous-time transfer function.

ans =
RiseTime:
SettlingTime:
SettlingMin:
SettlingMax:
Overshoot:
Undershoot:
Peak:
PeakTime:

2.3092
27.2823
0.7274
1.0834
8.3413
0
1.0834
9.2580

P =

1
1
2
6

-5.4917
-0.0955 + 1.0671i
-0.0955 - 1.0671i
-0.3173

ans =
(s^2 + 2s + 2)
------------------------------------------(s+5.492) (s+0.3173) (s^2 + 0.191s + 1.148)
Continuous-time zero/pole/gain model.

Ejercicio 2
%a
g1=tf([5],[1 3 2 0])
g2=tf([1 3],[1])
G=feedback(g1,g2)
Gt=feedback(G,1)
zpk(Gt) %Tipo 0 (No existe ningun polo en el origen)Ev=0 y Ea=0
%b
syms x

Kp=limit(x*(1/x)*(5/(x^3+3*x^2+7*x+20)),x,0,'right')
%c
Kp1=limit(x*(50/x)*(5/(x^3+3*x^2+7*x+20)),x,0,'right');
Ep1=1/(1+Kp1)
y1=step(Gt);
e1=50-y1;
Kv2=limit(x*(50/x^2)*(5/(x^3+3*x^2+7*x+20)),x,0,'right');
Ev2=1/(Kv2)
y2=step(Gt);
e2=50/(x)-y2;
Ka3=limit(x*(50/x^3)*(5/(x^3+3*x^2+7*x+20)),x,0,'right');
Ea3=1/(Ka3)
y3=step(Gt);
e3=50/(x^2)-y3;
plot(e1)
title('Error de Posicion para Kp1')
figure
t=0:10;
r=t;
lsim(Gt,r,t)
title('Error de Velocidad para Kv2')
figure
p=t.^2;
lsim(Gt,p,t)
title('Error de Aceleracion para Ka3')

g1 =
5
----------------s^3 + 3 s^2 + 2 s
Continuous-time transfer function.

g2 =
s + 3
Continuous-time transfer function.

G =
5
---------------------s^3 + 3 s^2 + 7 s + 15
Continuous-time transfer function.

Gt =
5
---------------------s^3 + 3 s^2 + 7 s + 20
Continuous-time transfer function.

ans =
5
---------------------------------(s+2.936) (s^2 + 0.06402s + 6.812)
Continuous-time zero/pole/gain model.

Kp =
1/4

Ep1 =
2/27

Ev2 =
0

Ea3 =
0

Ejercicio 3

%a Para obtener la Funcion de Transferencia reemplazamos los datos de ts y tp en l

%
respectiva de la Funcion prototipo "Tipo 2"
T3=tf([((pi^2/9)+9/49)],[1 6/7 (pi^2/9)+9/49])
%b
figure
impulse(T3), title('Respuesta al Impulso')

T3 =
1.28
--------------------s^2 + 0.8571 s + 1.28
Continuous-time transfer function.

Published with MATLAB 7.14