K 2.75 C/B 0.

3
A 0.3 ERR0R1 -0.00027627
T 1
E 0.18805556 error2 0.181862655
w 0.98215839 yt 1.3
O 1.38161432 t 2.38

At 1 1.4

subamortiguado criticamenteamortiguado
y(t) t y(t) t 1.2
9.1593E-17 0
0.33660672 1 1
0.9420181 2
1.26796191 3
0.8
1.15222896 4
0.82197528 5
0.59756579 6 0.6

0.61781655 7
0.79051204 8 0.4
0.9355048 9
0.95035127 10 0.2
0.86447005 11
0.7752591 12
0
0.75213667 13 0 5
0.79210758 14
0.84475858 15
0.86576118 16
0.84893918 17
0.8190426 18
0.80308378 19
0.80892501 20
0.82525562 21
0.83627109 22
0.83519493 23
0.82664236 24
0.81951203 25
0.81882305 26
0.82308428 27
0.827478 28
0.82859518 29
0.82660667 30
0.8240101 31
0.82298618 32
0.8238267 33
0.82530299 34
0.82608428 35
0.82578963 36
0.82498214 37
0.82444147 38
0.82449836 39
0.82492189 40
0.82527252 41
0.82530437 42
0.82509295 43
0.82487657 44
0.82482262 45
0.82492153 46
0.82504958 47
0.82509949 48
0.8250575 49
0.8249846 50
0.82494636 51
0.82496121 52
0.82500114 53
0.82502768 54
0.82502468 55
0.82500371 56
0.82498647 57
0.824985 58
0.82499549 59
0.82500615 60
0.82500875 61
0.82500383 62
0.82499752 63
0.82499509 64
0.82499718 65
0.82500078 66
0.82500265 67
0.8250019 68
0.82499993 69
0.82499863 70
0.82499879 71
0.82499982 72
0.82500067 73
0.82500074 74
0.82500022 75
0.82499969 76
0.82499957 77
0.82499981 78
0.82500012 79
0.82500024 80
0.82500014 81
0.82499996 82
0.82499987 83
0.82499991 84
0.825 85
0.82500007 86
0.82500006 87
0.82500001 88
0.82499997 89
0.82499996 90
0.82499999 91
0.82500002 92
0.82500002 93
0.82500001 94
0.82499999 95
0.82499999 96
0.82499999 97
0.825 98
0.82500001 99
0.825 100
 t
1.4

1.2

0.8

0.6

0.4

0.2

0
0 5 10 15 20
funcion escalon

K11 0.5 K 1
K21 0.4 A 1
K12 -4 T 0.32816506
T01 0.4 E 0.16408253
T02 0.7 w 3.00594649
O 1.40596846
dt 1
subamortiguado
y(t) t
0.000 0
1.587 1
1.700
0.662 2
1.600
1.190 3
1.500
0.896 4 1.400
1.055 5 1.300
0.972 6 1.200
1.013 7 1.100
0.994 8 1.000
1.002 9 0.900
0.800
1.000 10
0.700
1.000 11
0.600
1.001 12 0.500
0.999 13 0.400
1.000 14 0.300
1.000 15 0.200
1.000 16 0.100
1.000 17 0.000
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
1.000 18
1.000 19
1.000 20
 ( K11 * K 21 /(1  K12 * K 21)) 1
h2  * ...Comparando con ecu.( A)
 ( 1 *  2) * s
2
( 1 *  2) * s  S
   1
 (1  K12 * K 21) (1  K12 * K 21) 
( 1 *  2)
2 
(1  K12 * K 21)
( 1 *  2)
2 
(1  K12 * K 21)
( 1 *  2)

(1  K12 * K 21) * 2

12 13 14 15 16 17 18 19 20
funcion impulso
K 1
A 1 1  2   2   0.7 K  1 A  1
Ƭ 2 
 func
ᶓ 0.7
w 0.35707142  1  2  0.25
θ 0.79539883   tan  1 
  
  0.2

dt 1 KA 0.15
subamortiguado y (t )  e t /  sen(t )
t y(t)
 1  2

0.1
0 0
1 0.17245216 0.05
2 0.22771946
3 0.21506157 0
0 2 4 6 8 10
4 0.17090215
5 0.11887629 -0.05
6 0.07210616
7 0.03618245
8 0.01197131
9 -0.0021598
10 -0.0087968
11 -0.0105434
12 -0.009554
13 -0.0073802
14 -0.005001
15 -0.0029388
16 -0.0013972
17 -0.0003856
18 0.00018462
19 0.00043529
20 0.00048311
 funcion impulso
0.25

0.2

0.15

0.1

0.05

0
0 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30

-0.05
funcion senoidal
K 1   2   0.7 K  1 A  1   (1   2 2 ) 2  (2 ) 2
A 1
Ƭ 2 2 1   2
tan  2   2 2 y  (t ) 
KA


(1   2 2 ) sen (t )  2 cos
ᶓ 0.7    2 2  1
ω 0.35707142
θ -1.1151016 1  2 KA
y (t )  y   e t /  [ sen(rt   2 )]
Ω 1.2397 r r 1  2


r 0.35707142

dt 1
subamortiguado
t ya(t) y(t)
0 -0.8064854 -1.6129708
1 -0.6683305 -1.103448
2 -0.547604 -0.7216787
3 -0.4595357 -0.4733247
4 -0.4152354 -0.3470006
5 -0.4202917 -0.3233417
6 -0.4740668 -0.3799307
7 -0.5697769 -0.4936161
8 -0.6953479 -0.6415258
9 -0.8349391 -0.8016885
10 -0.9709408 -0.9537613
11 -1.0861963 -1.0800229
12 -1.166166 -1.1665452
13 -1.2007616 -1.204328
14 -1.1856188 -1.1901399
15 -1.122648 -1.1268469
16 -1.0197929 -1.0230924
17 -0.8900288 -0.8923006
18 -0.7497257 -0.7510871
19 -0.6165829 -0.6172524
20 -0.5073964 -0.5076045
21 -0.4359404 -0.4358827
22 -0.411229 -0.4110494
23 -0.4363796 -0.4361712
24 -0.5082195 -0.5080334
   2 2 ) 2  (2 ) 2


A

(1   2 2 ) sen(t )  2 cos(t ) 
KA
e t /  [ sen(rt   2 )]
r 1  2


funcion senoidal
0
0 5 10 15 20 25 30
-0.2

-0.4

-0.6

-0.8

-1

-1.2

-1.4

-1.6

-1.8
funcion senoidal
K 1   2   0.7 K  1 A  1   (1   2 2 ) 2  (2 ) 2
A 1
Ƭ 2 2 1   2
tan  2   2 2 y  (t ) 
KA


(1   2 2 ) sen (t )  2 cos
ᶓ 0.7    2 2  1
ω 0.35707142
θ -1.1151016 1  2 KA
y (t )  y   e t /  [ sen(rt   2 )]
Ω 1.2397 r r 1  2


r 0.35707142

dt 1
t ya(t) y(t)
0 -0.8064854 -1.6129708
1 -0.617461 -1.0525785
2 -0.3505433 -0.5246179
3 -0.0394041 -0.0531931
4 0.2767059 0.34494073
5 0.55790918 0.65485926
6 0.76873164 0.86286777
7 0.88257778 0.95873859
8 0.88508581 0.93890793
9 0.77593932 0.80918997
10 0.56890727 0.58608678
11 0.29010697 0.29628037
12 -0.0252906 -0.0256699
13 -0.3374978 -0.3410642
14 -0.6071293 -0.6116503
15 -0.8001707 -0.8043696
16 -0.8922698 -0.8955693
17 -0.8718081 -0.8740799
18 -0.7413669 -0.7427283
19 -0.5174015 -0.518071
20 -0.2281653 -0.2283734
21 0.08985417 0.08991191
22 0.39653844 0.396718
23 0.65319896 0.6534074
24 0.82745774 0.82764381
25 0.89733186 0.89747405
26 0.85400661 0.85410197
27 0.70294752 0.70300284
28 0.46321087 0.46323655
29 0.16503967 0.16504612
30 -0.1539515 -0.1539557
31 -0.4535214 -0.4535302
32 -0.6958792 -0.6958887
33 -0.8504511 -0.8504593
34 -0.8977377 -0.8977438
35 -0.8317737 -0.8317777
36 -0.6608806 -0.6608828
37 -0.4066167 -0.4066176
38 -0.1010577 -0.1010578
39 0.21724989 0.21725015
40 0.50815114 0.50815156
   2 2 ) 2  (2 ) 2


A

(1   2 2 ) sen(t )  2 cos(t ) 
KA
e t /  [ sen(rt   2 )]
r 1  2
 funcion senoidal
1.5

0.5

0
0 5 10 15 20 25 30 35 40 45
-0.5

-1

-1.5

-2