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  • Num (1) Den (1 1 1 4) G TF (Num, Den) Nyquist (G) Pole (G)

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    Alex Herrera
    6 views6 pages
    This document discusses several transfer functions and their pole locations. It also discusses the Nyquist stability criterion and position error constants including: 1) Three transfer functions are defined with poles located at -1.74 + 0i, 0.3715 ± 1.4687i, 2i and -2i, 0.2623 ± 1.1451i, -0.7246 + 0i. 2) It introduces the second Nyquist stability criterion. 3) Equations are shown for calculating position error constant ep, gain constant kv, and error constant ev, finding ep=0, kv=0.45, and ev=220%.

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    Original Title

    Taller_2

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    This document discusses several transfer functions and their pole locations. It also discusses the Nyquist stability criterion and position error constants including: 1) Three transfer functions are defined with poles located at -1.74 + 0i, 0.3715 ± 1.4687i, 2i and -2i, 0.2623 ± 1.1451i, -0.7246 + 0i. 2) It introduces the second Nyquist stability criterion. 3) Equations are shown for calculating position error constant ep, gain constant kv, and error constant ev, finding ep=0, kv=0.45, and ev=220%.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as docx, pdf, or txt
    6 views6 pages

    Num (1) Den (1 1 1 4) G TF (Num, Den) Nyquist (G) Pole (G)

    Uploaded by

    Alex Herrera
    This document discusses several transfer functions and their pole locations. It also discusses the Nyquist stability criterion and position error constants including: 1) Three transfer functions are defined with poles located at -1.74 + 0i, 0.3715 ± 1.4687i, 2i and -2i, 0.2623 ± 1.1451i, -0.7246 + 0i. 2) It introduces the second Nyquist stability criterion. 3) Equations are shown for calculating position error constant ep, gain constant kv, and error constant ev, finding ep=0, kv=0.45, and ev=220%.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
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    of 6

    a.

    num=[1];
    den=[1 1 1 4];
    G=tf(num,den);
    nyquist(G)
    pole(G)
    Polos en

    -1.7430 + 0i

    0.3715 + 1.4687i

    0.3715 - 1.4687i
    b.

    clear all
    clc
    num=[1 2];
    den=[1 0 4];
    G=tf(num,den)
    nyquist(G)

    Polos en 2j y en -2j
    c.
    num=[1 2];
    den=[1 0.2 1 1];
    G=tf(num,den);
    nyquist(G)
    pole(G)

    Polos en

    0.2623 + 1.1451i

    0.2623 - 1.1451i

    -0.7246 + 0.0000i
    2.

    Segundo criterio de Nyquist


    3.

    Constante de error de posición

    1 1
    𝑒𝑝 = = =0
    1 + 𝐺𝑙(0) 1 + 0 + 5
    0
    5
    𝑘𝑝 = =∞
    0
    𝑒𝑝 = (0)%

    𝑘𝑣 = lim 𝑆 ∗ 𝐺 𝑙(𝑠)
    𝑠−0

    𝑆+5
    𝑘𝑣 = 𝑆 ∗
    𝑆(𝑆 + 1)(𝑆 + 10)
    𝑆+5
    𝑘𝑣 = lim 𝑆∗
    𝑠−0 𝑆(𝑆 + 1)(𝑆 + 10)
    𝑆+5
    𝑘𝑣 = lim
    𝑠−0 (𝑆 + 1)(𝑆 + 10)
    5 5
    𝑘𝑣 = = = 0.45
    1 + 10 11
    1
    𝑒𝑣 = lim | | ∗ 100%
    𝑠−0 𝑠 + 𝑠𝐺𝑙(𝑆)
    11
    𝑒𝑣 = = 2.2 = 220%
    5
    ANALISIS DE GRAFICO

    𝑘𝑣 = 𝑠𝐺𝐿(𝑆)
    1
    𝑒𝑣 = lim ∗ 100%
    𝑠−0 𝑠 + 𝑠𝐺𝑙(𝑠)

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