UNIVERSIDAD NACIONAL DE COLOMBIA

Facultad de Ingenierı́a
Departamento de Mecánica y Mecatrónica

La función de transferencia de lazo directo

6
G(s) =
s+3

Nyquist Diagram
Root Locus of g
0.1 g
locus 1
open loop poles

0.05 0.5

Imaginary Axis
Imaginary Axis

0
0

-0.5
-0.05

-1
-0.1
-4 -3.8 -3.6 -3.4 -3.2 -3 0 0.5 1 1.5 2
Real Axis gain = [0, 0.166667] Real Axis

Bode Diagram

0
Magnitude [dB]

-5

-10

-15

-20

-25
1e-1 1e+0 1e+1 1e+2

0
g

-20
Phase [deg]

-40

-60

-80

1e-1 1e+0 1e+1 1e+2

Frequency [rad/s]
 6
G(s) =
s−3

Nyquist Diagram
Root Locus of g
0.1 g
locus 1
open loop poles

0.05 0.5

Imaginary Axis
Imaginary Axis

0
0

-0.5
-0.05

-1
-0.1
2 2.2 2.4 2.6 2.8 3 -2 -1.5 -1 -0.5 0
Real Axis gain = [0, 0.166667] Real Axis

Bode Diagram

0
Magnitude [dB]

-5

-10

-15

-20

-25
1e-1 1e+0 1e+1 1e+2

g
-100
Phase [deg]

-120

-140

-160

-180
1e-1 1e+0 1e+1 1e+2
Frequency [rad/s]
 La función de transferencia de lazo directo
12
G(s) =
s2 + 5s + 6

Nyquist Diagram
Root Locus of g
g
asymptotes
1.5
locus
open loop poles 1

0.5
0.5

Imaginary Axis
Imaginary Axis

0
0

-0.5 -0.5

-1
-1

-1.5

-3 -2.8 -2.6 -2.4 -2.2 -2 0 0.5 1 1.5 2

Real Axis gain = [0, 0.208333] Real Axis

Bode Diagram

0
Magnitude [dB]

-20

-40

-60
1e-1 1e+0 1e+1 1e+2

0
g

-50
Phase [deg]

-100

-150

1e-1 1e+0 1e+1 1e+2

Frequency [rad/s]
 La función de transferencia de lazo directo
12
G(s) =
s2 + 5s − 6

Nyquist Diagram
Root Locus of g
g
asymptotes
10 locus
open loop poles

0.5

Imaginary Axis
Imaginary Axis

0
0

-5
-0.5

-10

-6 -4 -2 0 -2 -1.5 -1 -0.5 0
Real Axis gain = [0, 10.2083] Real Axis

Bode Diagram

0
Magnitude [dB]

-20

-40

-60
1e-1 1e+0 1e+1 1e+2

g
-140
Phase [deg]

-150

-160

-170

1e-1 1e+0 1e+1 1e+2

Frequency [rad/s]
 La función de transferencia de lazo directo
100
G(s) =
s3 + 15s2+ 56s + 60

Nyquist Diagram
Root Locus of g
g
asymptotes
locus 1
open loop poles
10

0.5
5

Imaginary Axis
Imaginary Axis

0
0

-5 -0.5

-10
-1

-20 -15 -10 -5 0 0 0.5 1 1.5

Real Axis gain = [0, 34.875] Real Axis

Bode Diagram

0
Magnitude [dB]

-50

-100

1e-1 1e+0 1e+1 1e+2 1e+3

0
g
-50
Phase [deg]

-100

-150

-200

-250

1e-1 1e+0 1e+1 1e+2 1e+3

Frequency [rad/s]
 La función de transferencia de lazo directo
s − 10
G(s) =
s3 + 15s2 + 56s + 60

Nyquist Diagram
Root Locus of g1
g1
asymptotes
locus
60 open loop poles 0.1
zeros

40

0.05

20

Imaginary Axis
Imaginary Axis

0
0

-20
-0.05

-40

-0.1
-60

-10 -5 0 5 10 -0.15 -0.1 -0.05 0 0.05

Real Axis gain = [0, 4420.37] Real Axis

Bode Diagram

-20

-40
Magnitude [dB]

-60

-80

-100

-120
1e-1 1e+0 1e+1 1e+2 1e+3

g1

100
Phase [deg]

-100

1e-1 1e+0 1e+1 1e+2 1e+3

Frequency [rad/s]