© UdeC - DIE - 2017

Solución Tarea N°1

C1
Problema Estudiar el control de una fuente Cúk
iPV L1 iL1(t) + - iL2(t) L2
Parámetros vc1(t)
+ -
−3 −6 vPV Sw(t) vc2(t) R
L1 := 20⋅ 10 C 1 := 250 ⋅ 10 R := 12 C2
- +
−3 −6 isw(t) iD(t)
vPVmax := 36 iPVmax := 8 kPV := 5 L2 := 20⋅ 10 C 2 := 250 ⋅ 10 Fig. 1

Modelo Promedio.
Parte A vPV iL1 iL2 vC1o := 0 vC2o := 40 iL2o := 5 iL1o := 5 d o := 0.50
d
dt
iL1 =
L1
(
− vC1o⋅ 1 − d o ) d
dt
vC1 =
C1
⋅ (1 − d) −
C1
⋅d

vC1 vC2 iL2 vC2  iPVmax − iPV 

d
iL2 =
L2
⋅d −
L2
d
vC2 =
C2
−
R ⋅ C2
( )
vPV iPV := vPVmax + kPV ⋅ ln 
dt dt  iPVmax 

Punto de operación

Given
 iPVmax − iL1o 
0 = vPVmax + kPV⋅ ln
iPVmax
 − vC1o⋅ ( 1 − d o ) 0 = iL1o⋅ ( 1 − d o) − iL2o⋅ do este punto es mejor, pues la corriente en L1
  v
es la menor posible
C2o
0 = vC1o⋅ d o − vC2o 0 = iL2o −
R

(
Sol := Find vC1o , d o , iL1o , iL2o ) vC1o := Sol
1
d o := Sol
2
iL1o := Sol
3
iL2o := Sol
4
iPVo := iL1o vPVo := vPV iL1o( )
vC1o = 72.386 d o = 0.553 iL2o = 3.333 iL1o = 4.117 iPVo = 4.117 vPVo = 32.386
Modelo Promedio Lineal.

d
kPV ∆iL1 ∆vC1⋅ 1 − d o vC1o ( ) d
∆vC1 vC1o ∆vC2
∆iL1 = ⋅ − + ⋅ ∆d ∆iL2 = ⋅ do + ⋅ ∆d −
dt iPVo − iPVmax L1 L1 L1 dt L2 L2 L2

∆iL1 iL1o  ∆iL2 iL2o  ∆iL2 ∆vC2

d
∆vC1 =
C1
(
⋅ 1 − do − )
C1
⋅ ∆d −  ⋅ do + ⋅ ∆d
d
∆vC2 = −
R⋅ C 2
dt  C1 C1
 dt C2

( )
Tarea N°1 - Solución 1 de 22 Sistemas de Control - 543 244
  kPV −( 1 − d o ) 
0 
1
⋅ 0  vC1o  © UdeC - DIE - 2017
 iL1o − iPVmax L1 L1   
L1
   
 do −1   vC1o 
0 0
 L2 L2   
Al :=   b l :=  L2  cl := ( 0 0 0 1 ) d l := 0
 −1   i 
 C1 (
⋅ 1 − do )
1
⋅d 0 0 i
C1 o   − L1o − L2o 
   C1 C1 
 0
1
0
−1   
 C2 R ⋅ C2   0 


Parte B La variación de d para aumnentar en 5 V el voltaje de salida. vC21 := 45

−1 −1
vC21 − vC2o
( )
∆y = c⋅ −Al b l⋅ ∆u ( )
∆v = c⋅ −Al b l⋅ ∆d d 1 :=
c ⋅ ( −A ) − 1b 
+ do d 1 = 0.596
l l l

Parte C Simulación.

(t − tr1) (t − tr2)
tf := 0.300 n f := 2000 m := 0 .. n f tr1 := 0.030 tr2 := 0.080 + tr1 (
∆d ( t) := d 1 − do ⋅ ) tr2 − tr1
( ) ( )
⋅ Φ t − tr1 − d 1 − d o ⋅
tr2 − tr1
(
⋅ Φ t − tr2 )
−1
d ( t) := ∆d ( t) + d o t := 0 , tf ⋅ n f .. tf

 ∆x1 
   0 
 ∆x2  
D( t , ∆x) := Al⋅   + b l⋅ ∆d( t) Zc := rkfixed  , 0 , tf , n f , D
0
 ∆x3   0  
 ∆x   0  
 4   

Tarea N°1 - Solución 2 de 22 Sistemas de Control - 543 244

 d iL1 iL2 © UdeC - DIE - 2017
0.6 5.5 3.8

0.59 3.7
5
0.58 3.6 se grafica sumando el
punto de operación a
0.57 3.5 cada variable
4.5
0.56 3.4

0.55 4 3.3
0 0.1 0.2 0 0.1 0.2 0 0.1 0.2

vC1 vC2
76 46

75
44

74

42
73

72 40
0 0.1 0.2 0 0.1 0.2

 −85.174 + 175.011i 
−85.174 − 175.011i 
eigenvals( Al) = 
 −113.685 + 482.73i 
 −113.685 − 482.73i 
 
1 1
Parte D Simulación Sistema en L.C. con hc(s) = kc. kc_a := 0.8 kc := kc_a kst := ka :=
10 20
 −44.371 + 205.498i 
 0 
−44.371 − 205.498i 
eigenvals( Al − b l⋅ ka⋅ kc⋅ kst⋅ cl) = 
CI :=  
0
 −154.488 + 533.847i 
0 
 −154.488 − 533.847i 
  0 
 
( ) ( )
Tarea N°1 - Solución 3 de 22 Sistemas de Control - 543 244
 t − tr1 ( ) t − tr2 ( ) ∆d ( t) d1 do
(
∆vd( t) := vC21 − vC2o ⋅ kst ⋅ )
tr2 − tr1
( ) (
⋅ Φ t − tr1 − vC21 − vC2o ⋅ kst⋅
tr2 − tr1
)
⋅ Φ t − tr2 ( ) ∆w( t) :=
ka
w1 :=
ka
wo ©
:=UdeC - DIE - 2017
ka

 ∆x1 
 
 ∆x2 
D( t , ∆x) := ( Al − b l⋅ ka⋅ kc⋅ kst⋅ cl) ⋅   + b l⋅ kc⋅ ka⋅ ∆vd ( t) (
Za3 := rkfixed CI , 0 , tf , nf , D )
∆x
 3
 ∆x 
 4
  tf   do
∆w( m) := kc⋅  ∆vd  m⋅  − kst ⋅ Za3
m, 5
 ∆d ( m) := ka⋅ ∆w( m) (
d o = ka⋅ kc⋅ vdo − vo ⋅ kst ) vdo :=
ka⋅ kc
+ vC2o⋅ kst vdo = 17.815
  nf  

d iL1 iL2
0.57 4.6 3.5

4.5
0.565 3.45

4.4 se grafica sumando el

0.56 3.4 punto de operación a
4.3 cada variable
0.555 3.35
4.2

0.55 4.1 3.3

0 0.1 0.2 0 0.1 0.2 0 0.1 0.2

w vC1 vC2
11.4 74 42

11.3 73.5 41.5

11.2 73 41

11.1 72.5 40.5

11 72 40
0 0.1 0.2 0.3 0 0.1 0.2 0 0.1 0.2

Tarea N°1 - Solución 4 de 22 Sistemas de Control - 543 244

 vd © UdeC - DIE - 2017
18.4

18.3

18.2

18.1

18

17.9

17.8
0 0.1 0.2

Parte E El kc que deja las raíces en el eje imaginario.

Given

( ( ))
Re eigenvals Al − bl⋅ ka⋅ kc⋅ kst⋅ cl 1 = 0

( )
kcc := Find kc kcc = 2.568

2⋅ π
(
Ac := augment Al − b l⋅ ka⋅ kcc ⋅ kst⋅ cl ) Tosc :=
(
Im eigenvals Ac 1 ( ))
Tosc⋅ 1000 = 27.891 Periodo de la
oscilación en ms.

(
Im eigenvals Ac 1 ( )) Frecuencia de la
= 35.854
2⋅ π oscilación en Hz.

Simulación Sistema en L.C. con hc(s) = kcc . kc := kcc

 225.279i  0 
−  
eigenvals( Al − b l⋅ ka⋅ kc⋅ kst⋅ cl) =  
225.279i
CI :=  
0
 −198.859 + 646.674i 
 −198.859 − 646.674i  0 
  0 
 
(
t − tr1 ) (
t − tr2 )
( )
∆vd( t) := vC21 − vC2o ⋅ kst ⋅
tr2 − tr1
( ) ( )
⋅ Φ t − tr1 − vC21 − vC2o ⋅ kst⋅
tr2 − tr1
⋅ Φ t − tr2 ( )
∆vd( 0.2) = 0.5

Tarea N°1 - Solución 5 de 22 Sistemas de Control - 543 244

  ∆x1  © UdeC - DIE - 2017
 
 ∆x2 
D( t , ∆x) := ( Al − b l⋅ ka⋅ kc⋅ kst⋅ cl) ⋅   + b l⋅ kc⋅ ka⋅ ∆vd ( t) (
Za3 := rkfixed CI , 0 , tf , nf , D )
 ∆x3 
 ∆x 
 4
  tf   do
∆w( m) := kc⋅  ∆vd  m⋅  − kst ⋅ Za3
m, 5
 ∆d ( m) := ka⋅ ∆w( m) (
d o = ka⋅ kc⋅ vdo − vo ⋅ kst ) vdo :=
ka⋅ kc
+ vC2o⋅ kst vdo = 8.303
  nf  

d iL1 iL2
0.58 5 3.6

4.8
0.57 3.5
4.6 se grafica sumando el
punto de operación a
4.4 cada variable
0.56 3.4
4.2

0.55 4 3.3
0 0.1 0.2 0 0.1 0.2 0 0.1 0.2

w vC1 vC2
11.6 75 44

43
11.4 74

42

11.2 73
41

11 72 40
0 0.1 0.2 0.3 0 0.1 0.2 0 0.1 0.2

Tarea N°1 - Solución 6 de 22 Sistemas de Control - 543 244

 vd © UdeC - DIE - 2017
8.9

8.8

8.7

8.6

8.5

8.4

8.3
0 0.1 0.2

Parte F Simulación Sistema en L.C. con hc(s) = kc/s. kc := 100

( ( ) (
Ac := augment stack Al , −kc⋅ kst ⋅ cl , stack b l⋅ ka , 0 ))
(
b c := stack b l⋅ 0 , kc )
 −100.958 + 492.274i  0 
 −100.958 − 492.274i   
  0 
eigenvals( Ac) =  −46.687 + 136.977i 
CI :=  0 
 −46.687 − 136.977i  0 
   
 −102.427  0 
t − tr1 ( ) (
t − tr2 )
(
∆vd( t) := vC21 − vC2o ⋅ kst ⋅ )
tr2 − tr1
( ) ( )
⋅ Φ t − tr1 − vC21 − vC2o ⋅ kst⋅
tr2 − tr1
(
⋅ Φ t − tr2 )
 ∆x 
 1
 ∆x2 
 
D( t , ∆x) := Ac⋅  ∆x3  + b c⋅ ∆vd ( t) ( )
Za3 := rkfixed CI , 0 , tf , nf , D
 ∆x 
 4
 ∆x 
 5

Tarea N°1 - Solución 7 de 22 Sistemas de Control - 543 244

 ∆w( m) := Za3 ∆d ( m) := ka⋅ ∆w( m)
m, 4 © UdeC - DIE - 2017

d iL1 iL2
0.75 5.5 3.8

0.7 3.7
5
0.65 3.6 se grafica sumando el
punto de operación a
0.6 3.5 cada variable
4.5
0.55 3.4

0.5 4 3.3
0 0.1 0.2 0 0.1 0.2 0 0.1 0.2

w vC1 vC2
15 76 46

14
75
44
13
74
12
42
73
11

10 72 40
0 0.1 0.2 0.3 0 0.1 0.2 0 0.1 0.2

vd
8.9

8.8

8.7

8.6

8.5

8.4

8.3
0 0.1 0.2

Given
Tarea N°1 - Solución 8 de 22 Sistemas de Control - 543 244
 © UdeC - DIE - 2017
( ( ( (
Re eigenvals augment stack Al , −kc⋅ kst⋅ cl , stack bl⋅ ka , 0) ( ) ) ) 4) = 0
kcc := Find kc( ) kcc = 236.252

2⋅ π
( ( )
Ac := augment stack Al , −kcc ⋅ kst⋅ cl , stack b l⋅ ka , 0 ( )) Tosc :=
(
Im eigenvals Ac 4 ( ))
Tosc⋅ 1000 = 42.656 Periodo de la
oscilación en ms.

(
Im eigenvals Ac 4 ( )) Frecuencia de la
= 23.443
2⋅ π oscilación en Hz.

Simulación Sistema en L.C. con hc(s) = kc/s. kc := kcc

( ( )
Ac := augment stack Al , −kc⋅ kst ⋅ cl , stack b l⋅ ka , 0 ( ))
(
b c := stack b l⋅ 0 , kc )
 −86.302 + 504.547i  0 
 −86.302 − 504.547i  0 
   
eigenvals( Ac) =  −225.113  CI :=  0 
 147.299i  0 
   
 −147.299i  0 
t − tr1 ( ) t − tr2 ( )
(
∆vd( t) := vC21 − vC2o ⋅ kst ⋅ )
tr2 − tr1
( ) (
⋅ Φ t − tr1 − vC21 − vC2o ⋅ kst⋅
tr2 − tr1
⋅ Φ t − tr2 ) ( )
 ∆x 
 1
 ∆x2 
 
D( t , ∆x) := Ac⋅  ∆x3  + b c⋅ ∆vd ( t) ( )
Za3 := rkfixed CI , 0 , tf , nf , D
 ∆x 
 4
 ∆x 
 5
∆w( m) := Za3 ∆d ( m) := ka⋅ ∆w( m)
m, 4

Tarea N°1 - Solución 9 de 22 Sistemas de Control - 543 244

 d iL1 iL2 © UdeC - DIE - 2017
0.8 5.5 3.8

3.7
0.7 5
3.6 se grafica sumando el
punto de operación a
3.5 cada variable
0.6 4.5
3.4

0.5 4 3.3
0 0.1 0.2 0 0.1 0.2 0 0.1 0.2

w vC1 vC2
15 77 46

14 76
44
13 75

12 74
42
11 73

10 72 40
0 0.1 0.2 0.3 0 0.1 0.2 0 0.1 0.2

vd
8.9

8.8

8.7

8.6

8.5

8.4

8.3
0 0.1 0.2

−3 −1
Parte G Ecuaciones de Estado Discretas Equivalentes. Tm := 8⋅ 10 ( )
T := eigenvecs Al

( ( ) )
Tarea N°1 - Solución 10 de 22 Sistemas de Control - 543 244
  exp( eigenvals( Al) 1⋅ t) 0 0 0 
  © UdeC - DIE - 2017
 0 exp( eigenvals( Al) 2⋅ t) 0 0 
−1
Φ c( t) := T ⋅   ⋅T
0 0 exp( eigenvals( Al) 3⋅ t) 0
 
 0 0 0 exp( eigenvals( Al) 4⋅ t) 
 
tf
mf := k := 0 .. mf
Tm

 0.046 0.303 −0.049 −0.04


 0.303 −0.3 −0.018
0.03
( ( ))
Ad := Re Φc Tm Ad =   cd := cl
 3.915 1.423 −0.187 0.198 
 − 3
 3.19 −2.382 0.198 7.651 × 10 

 Tm 
⌠ 
 ( Φc( Tm − τ) ⋅ b l) 1 dτ

⌡0 
 
⌠ Tm 
 ( Φc( Tm − τ) ⋅ b l) dτ  32.878   0 

⌡
2 

b d := Re  bd = 
1.873 
xo :=  
0 0
 Tm   −54.579  0 
⌠   31.425  0 
 ( Φc( Tm − τ) ⋅ b l) 3 dτ
    
⌡0 
 T 
⌠ m 
 ( Φc( Tm − τ) ⋅ b l) dτ

⌡
4 
 0 

Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.A..

(
t − tr1 ) (
t − tr2 )
(
∆d ( t) := d 1 − do ⋅ )
tr2 − tr1
( ) (
⋅ Φ t − tr1 − d 1 − d o ⋅ )
tr2 − tr1
(
⋅ Φ t − tr2 )
 0 
tf
∆xo :=  
∆d ( t) 0
∆w( t) :=
ka
(
∆wd ( j ) := ∆w j ⋅ Tm) kf :=
Tm
k := 0 .. kf
0 
0 
 
Tarea N°1 - Solución 11 de 22 Sistemas de Control - 543 244
  k−1  © UdeC - DIE - 2017
∆xd( k) := if k = 0 , ∆xo , Ad ⋅ ∆xo +   A k−j −1⋅ b ⋅ k ⋅ ∆w ( j ) 
∑
k
   d d a d 
 j = 0 
∆w( t) := Re ∆wd  trunc 
t
∆d ( t) := ∆w( t) ⋅ ka
Tm   
   
 ∆x1 
   0 
 ∆x2 
CI :=  
0
D( t , ∆x) := Al⋅ 
∆x
 + b l⋅ ka⋅ ∆w( t) 0  ( )
Zp := rkfixed CI , 0 , tf , n f , D
 3 0 
 ∆x   
 4

w d
12 0.6
w1 d1
11.8 0.59

11.6 0.58

11.4 0.57

11.2 0.56
wo do
11 0.55
0 0.1 0.2 0.3 0 0.1 0.2 0.3

i i
5.5 3.8

3.7
5
3.6

3.5
4.5
3.4

4 3.3
0 0.1 0.2 0.3 0 0.1 0.2 0.3

Tarea N°1 - Solución 12 de 22 Sistemas de Control - 543 244

 v v © UdeC - DIE - 2017
76 46

75
44
74
42
73

72 40
0 0.1 0.2 0.3 0 0.1 0.2 0.3

 0.086 + 0.499i 
0.086 − 0.499i 
eigenvals( Ad ) = 
 −0.303 + 0.266i 
 −0.303 − 0.266i 
 

Parte H Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kc.

(
t − tr1 ) t − tr2 ( )
( )
∆vd( t) := vC21 − vC2o ⋅ kst ⋅
tr2 − tr1
( ) (
⋅ Φ t − tr1 − vC21 − vC2o ⋅ kst⋅ )
tr2 − tr1
⋅ Φ t − tr2 ( ) (
∆vdd( j ) := ∆vd j ⋅ Tm )
 0 
tf
∆xo :=  
0
kf := k := 0 .. kf kc := kc_a
Tm 0 
0 
 
∆xd( k) := if k = 0 , ∆xo , ( Ad − b d⋅ cd ⋅ ka⋅ kc⋅ kst) ⋅ ∆xo ... 
k

 k−1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆v ( j ) 

 ∑
  d d d a c st d c a dd 
 
 j = 0  

( ) ∆w( t) := Re ∆wd  trunc 

( )
t
∆wd ( k) := kc⋅ ∆vdd( k) − kst⋅ cd⋅ ∆xd( k) ∆d ( t) := ka⋅ ∆w( t) d o = ka⋅ kc⋅ vdo − vo ⋅ kst
Tm   
   
 ∆x1 
   0 
 ∆x2  do
CI :=  
0
D( t , ∆x) := Al⋅ 
∆x
 + b l⋅ ∆d( t)
0  ( )
Zp := rkfixed CI , 0 , tf , n f , D vdo :=
ka⋅ kc
+ vC2o⋅ kst vdo = 17.815
 3
0 
 ∆x   
 4
Tarea N°1 - Solución 13 de 22 Sistemas de Control - 543 244
 w d © UdeC - DIE - 2017
11.4 0.57

11.3 0.565

11.2 0.56

11.1 0.555
wo do
11 0.55
0 0.1 0.2 0.3 0 0.1 0.2 0.3

i i
4.6 3.5

4.5 3.45
4.4
3.4
4.3
3.35
4.2

4.1 3.3
0 0.1 0.2 0.3 0 0.1 0.2 0.3

v v
74 42

73.5 41.5

73 41

72.5 40.5

72 40
0 0.1 0.2 0.3 0 0.1 0.2 0.3

 0.071 + 0.764i 
0.071 − 0.764i 
eigenvals( Ad − bd ⋅ cd⋅ ka⋅ kc⋅ kst) =  ( )
eigenvals Ad − b d ⋅ cd ⋅ ka⋅ kc⋅ kst 2 = 0.767
 −0.351 + 0.341i 
 −0.351 − 0.341i 
 

Tarea N°1 - Solución ( ) 14 de 22 ( ) Sistemas de Control - 543 244

 Given (
eigenvals Ad − b d ⋅ cd ⋅ ka⋅ kc⋅ kst 1 = 1 ) kcc := Find kc ( ) kcc = 1.875
© UdeC - DIE - 2017

Parte I Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kc, incluyendo retardo.

( (
Adr := augment stack Ad , cd⋅ 0 , stack b d , 0 ) ( )) (
b dr := stack bd ⋅ 0 , 1 ) (
cdr := augment cd , 0 )

t − tr1 ( ) t − tr2 ( )
(
∆vd( t) := vC21 − vC2o ⋅ kst ⋅ )
tr2 − tr1
( ) (
⋅ Φ t − tr1 − vC21 − vC2o ⋅ kst⋅
tr2 − tr1
⋅ Φ t − tr2 ) ( ) (
∆vdd( j ) := ∆vd j ⋅ Tm )
tf T
kf := k := 0 .. kf ∆xo := ( 0 0 0 0 0 )
Tm

∆xd( k) := if k = 0 , ∆xo , Adr − b dr⋅ cdr⋅ ka⋅ kc⋅ kst ⋅ ∆xo ...
( ) 
k

 k−1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆v ( j )

 ∑  dr dr dr a c st dr c a dd 



 j = 0  

( ) ∆w( t) := Re ∆wd  trunc 

t
∆wd ( k) := kc⋅ ∆vdd( k − 1 ) − kst ⋅ cdr⋅ ∆xd ( k − 1 ) ∆d ( t) := ka⋅ ∆w( t)
Tm   
   
 ∆x1 
   0 
 ∆x2 
CI :=  
0
D( t , ∆x) := Al⋅   + b l⋅ ∆d( t)
0  ( )
Zp := rkfixed CI , 0 , tf , n f , D
 ∆x3 
 ∆x  0 
 
 4

Tarea N°1 - Solución 15 de 22 Sistemas de Control - 543 244

 w d © UdeC - DIE - 2017
11.4 0.57

11.3 0.565

11.2 0.56

11.1 0.555
wo do
11 0.55
0 0.1 0.2 0.3 0 0.1 0.2 0.3

i i
4.6 3.5

4.5 3.45
4.4
3.4
4.3
3.35
4.2

4.1 3.3
0 0.1 0.2 0.3 0 0.1 0.2 0.3

v v
74 42

73.5 41.5

73 41

72.5 40.5

72 40
0 0.1 0.2 0.3 0 0.1 0.2 0.3

 0.359 + 0.755i 
 
 0.359 − 0.755i 
eigenvals( Adr − bdr⋅ cdr⋅ ka⋅ kc⋅ kst) =  −0.603  ( )
eigenvals Adr − b dr⋅ cdr⋅ ka⋅ kc⋅ kst 1 = 0.836
 −0.274 + 0.401i 
 
 −0.274 − 0.401i 
Tarea N°1 - Solución
( ) 16 de 22
( ) Sistemas de Control - 543 244
 Given ( )
eigenvals Adr − b dr⋅ cdr⋅ ka⋅ kc⋅ kst 1 = 1 kcc := Find kc( ) kcc = 1.497
© UdeC - DIE - 2017

Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kcc , incluyendo retardo.

2 ⋅ π ⋅ Tm Tosc
kc := kcc Tosc := Tosc⋅ 1000 = 44.759 = 5.595
( ( (
Im ln eigenvals Adr − bdr⋅ cdr⋅ ka⋅ kcc ⋅ kst 1 ) )) Tm

∆xd( k) := if k = 0 , ∆xo , Adr − b dr⋅ cdr⋅ ka⋅ kc⋅ kst ⋅ ∆xo ...
( ) 
k

 k−1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆v ( j )

  ∑
 dr dr dr a c st dr c a dd 



 j = 0  

( ) ∆w( t) := Re ∆wd  trunc 

t
∆wd ( k) := kc⋅ ∆vdd( k − 1 ) − kst ⋅ cdr⋅ ∆xd ( k − 1 )  ∆d ( t) := ka⋅ ∆w( t)
   Tm   
 ∆x1 
   0 
 ∆x2 
CI :=  
0
D( t , ∆x) := Al⋅   + b l⋅ ∆d( t) 0  ( )
Zp := rkfixed CI , 0 , tf , n f , D
 ∆x3  0 
 ∆x   
 4

w d
11.5 0.58

11.4
0.57
11.3

11.2
0.56
11.1
wo do
11 0.55
0 0.1 0.2 0.3 0 0.1 0.2 0.3

Tarea N°1 - Solución 17 de 22 Sistemas de Control - 543 244

 i i © UdeC - DIE - 2017
4.8 3.6

4.6
3.5
4.4
3.4
4.2

4 3.3
0 0.1 0.2 0.3 0 0.1 0.2 0.3

v v
75 43

74 42

73 41

72 40
0 0.1 0.2 0.3 0 0.1 0.2 0.3

Parte J Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kc/(z-1), incluyendo retardo.

( ( )
Adr := augment stack Ad , cd⋅ 0 , stack b d , 0 ( )) (
b dr := stack bd ⋅ 0 , 1 ) cdr := augment cd , 0 ( ) Modelo con retardo kc := kc_a

(
t − tr1 ) t − tr2 ( )
(
∆vd( t) := vC21 − vC2o ⋅ kst ⋅)tr2 − tr1
(
⋅ Φ t − tr1 − vC21 − vC2o ⋅ kst⋅ ) (
tr2 − tr1
⋅ Φ t − tr2 ) ( ) ( )
∆vdd( j ) := ∆vd j ⋅ Tm

( ( )
AdI := augment stack Adr , cdr⋅ 0 , stack b dr , 1 ( )) (
b dI := stack bdr⋅ 0 , 1 ) cdI := augment cdr , 0 ( ) Modelo con integrador

tf T
kf := k := 0 .. kf ∆xo := ( 0 0 0 0 0 0 )
Tm

Tarea N°1 - Solución 18 de 22 Sistemas de Control - 543 244

 ∆xd( k) := if k = 0 , ∆xo , AdI − b dI⋅ cdI⋅ ka⋅ kc⋅ kst ⋅ ∆xo ...
( ) 
k
 © UdeC - DIE - 2017
 k−1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆v ( j )

  ∑  dI dI dI a c st dI c a dd 



 j = 0  
∆d d ( k)
∆d ( t) := Re ∆d d  trunc 
t ∆d ( t)
∆d d ( k) := ∆xd( k) ∆wd ( k) :=  ∆w( t) :=
ka
5
   Tm    ka
 ∆x1 
   0 
 ∆x2 
CI :=  
0
D( t , ∆x) := Al⋅   + b l⋅ ∆d( t) 0  (
Zp := rkfixed CI , 0 , tf , n f , D)
 ∆x3  0 
 ∆x   
 4

w d
12.5 0.62

0.6 d1
12 w1
0.58
11.5
0.56
do
wo
11 0.54
0 0.1 0.2 0.3 0 0.1 0.2 0.3

i i
6 4

5.5 3.8

5 3.6

4.5 3.4

4 3.2
0 0.1 0.2 0.3 0 0.1 0.2 0.3

Tarea N°1 - Solución 19 de 22 Sistemas de Control - 543 244

 v v © UdeC - DIE - 2017
77 48

76 46
75
44
74
42
73

72 40
0 0.1 0.2 0.3 0 0.1 0.2 0.3

 0.867 + 0.481i 
 0.867 − 0.481i 
 
 −0.172 + 0.574i 
eigenvals( AdI − bdI⋅ cdI⋅ ka⋅ kc⋅ kst) = ( )
eigenvals AdI − b dI⋅ cdI⋅ ka⋅ kc⋅ kst 1 = 0.992
 −0.172 − 0.574i 
 −0.412 + 0.334i 
 
 −0.412 − 0.334i 

Given ( )
eigenvals AdI − b dI⋅ cdI⋅ ka⋅ kc⋅ kst 1 = 1 kcc := Find kc ( ) kcc = 0.828

Parte K Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kcc /(z-1), incluyendo retardo.

 0.872 + 0.489i 
 0.872 − 0.489i 
 
 −0.176 + 0.575i 
eigenvals( AdI − bdI⋅ cdI⋅ ka⋅ kcc ⋅ kst ) = ( )
eigenvals AdI − b dI⋅ cdI⋅ ka⋅ kcc ⋅ kst 1 = 1
 −0.176 − 0.575i 
 −0.414 + 0.337i 
  2 ⋅ π ⋅ Tm
 −0.414 − 0.337i  Tosc :=
( ( ( ) ))
Im ln eigenvals AdI − bdI⋅ cdI⋅ ka⋅ kcc ⋅ kst 1
Tosc
Tosc⋅ 1000 = 98.44 = 12.305
kc := kcc Tm

Tarea N°1 - Solución 20 de 22 Sistemas de Control - 543 244

 ∆xd( k) := if k = 0 , ∆xo , AdI − b dI⋅ cdI⋅ ka⋅ kc⋅ kst ⋅ ∆xo ...
( ) 
k
 © UdeC - DIE - 2017
 k−1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆v ( j )

  ∑  dI dI dI a c st dI c a dd 



 j = 0  
∆d d ( k)
∆d ( t) := Re ∆d d  trunc 
t ∆d ( t)
∆d d ( k) := ∆xd( k) ∆wd ( k) :=  ∆w( t) :=
ka
5
   Tm    ka
 ∆x1 
   0 
 ∆x2 
CI :=  
0
D( t , ∆x) := Al⋅   + b l⋅ ∆d( t) 0  ( )
Zp := rkfixed CI , 0 , tf , n f , D
 ∆x3  0 
 ∆x   
 4

w d
12.5 0.62

0.6 d1
12 w1
0.58
11.5
0.56
do
wo
11 0.54
0 0.1 0.2 0.3 0 0.1 0.2 0.3

i i
6 4

5.5 3.8

5 3.6

4.5 3.4

4 3.2
0 0.1 0.2 0.3 0 0.1 0.2 0.3

Tarea N°1 - Solución 21 de 22 Sistemas de Control - 543 244

 v v © UdeC - DIE - 2017
77 48

76 46
75
44
74
42
73

72 40
0 0.1 0.2 0.3 0 0.1 0.2 0.3

Tarea N°1 - Solución 22 de 22 Sistemas de Control - 543 244