Académique Documents
Professionnel Documents
Culture Documents
LAZOS DE CONTROL
Consideremos:
P(s)
C(s) =
L(s)
B o (s)
G o (s) =
A o (s)
f(s, x o )
Y(s) = G o (s)U(s) + Do (s) + G o (s)D (s) +
i A o (s)
U(s) = C(s)R(s) - C(s)Y(s) - C(s)Dm (s)
f(s, xo )
= C(s)( R(s) - Dm (s) - G o (s)U(s) - Do (s) - G o (s)D (s) - )
i A o (s)
C(s) f(s, xo )
U(s) = ( R(s) - Dm (s) - Do (s) - G o (s)D (s) - )
1 + G (s)C(s) i A o (s)
o
Luego:
1 f(s, x o )
Y(s) = [ G(s)C(s)(R(s) - Dm (s)) + Do (s) + G o (s)D (s) + ]
1 + G (s)C(s) i A o (s)
o
G (s) G (s)C(s)
+ o D (s) − o D (s)
1 + G (s)C(s) i 1 + G (s)C(s) m
o o
G (s)C(s) C(s)
− o D (s) − D (s)
1 + G (s)C(s) i 1 + G (s)C(s) m
o o
1 A (s) L(s)
S o (s) = = o
1 + G (s)C(s) A (s)L(s) + B (s)P(s)
o o o
So (s) + To (s) = 1
T (s)
S (s) = So (s) G o (s) = o
io C(s)
T (s)
Suo (s) = So (s) C(s) = o
G o (s)
A o (s)L(s) + B o (s)P(s) = 0