a) >> k=2;

>> Ga=tf(k*[1 4],[1 5 0]);

>> Ha=tf([0 1],[1 1]);

>> Gha=series(Ga,Ha)

Gha =

2s+8

-----------------

s^3 + 6 s^2 + 5 s

Continuous-time transfer function.

>> pzmap(Gha)

Pole-Zero Map
1

0.8

0.6

System: Gha System: Gha

0.4
Pole : -5 Pole : -1
Imaginary Axis (seconds-1)

Damping: 1 Damping: 1
0.2 Overshoot (%): 0 Overshoot (%): 0
Frequency (rad/s): 5 Frequency (rad/s): 1
0
System: Gha System: Gha
-0.2 Zero : -4 Pole : 0
Damping: 1 Damping: -1
-0.4 Overshoot (%): 0 Overshoot (%): 0
Frequency (rad/s): 4 Frequency (rad/s): 0

-0.6

-0.8

-1
-5 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1)
>> [p,z]=pzmap(Gha)

p=

-5

-1

z=

-4

rlocus(Gha)

Root Locus
15

10
Imaginary Axis (seconds-1)

-5

-10

-15
-6 -5 -4 -3 -2 -1 0 1
-1
Real Axis (seconds )
 Root Locus
15
System: Gha
Gain: 114
Pole: -0.974 + 15i
10
Damping: 0.065
System: Gha System: Gha Overshoot (%): 81.5
Gain: 0 Gain: Inf Frequency (rad/s): 15
Pole: -5 5 Pole: -4
Imaginary Axis (seconds-1)

Damping: 1 Damping: 1
Overshoot (%): 0 Overshoot (%): 0
Frequency (rad/s): 5 Frequency (rad/s): 4
0
System: Gha
Gain: 0.161
Pole: -0.508
-5
Damping: 1
Overshoot (%): 0 System: Gha
Frequency (rad/s): 0.508
Gain: 114
Pole: -0.974 - 15i
-10
Damping: 0.065
Overshoot (%): 81.5
Frequency (rad/s): 15
-15
-6 -5 -4 -3 -2 -1 0 1
-1
Real Axis (seconds )

El sistema es estable.

Intersección: K=0.161

−α t −β t −δ t
Para 0<k<k1 A1 e + A2 e + A3 e

−α t −β t
K1<k<k2 A1 e + A2 e sin(δ +φ)

−α t βt
K2<k A1 e + A2 e sin (δ + φ)
 b) k=2;

Gb=tf(k*[5 6],[7 10 6 8]);

Hb=tf([0 1],[1 3]);

Ghb=series(Gb,Hb)

Ghb =

10 s + 12

-----------------------------------

7 s^4 + 31 s^3 + 36 s^2 + 26 s + 24

Continuous-time transfer function.

>> pzmap(GhB)

Pole-Zero Map
1

0.8 System: Ghb

Pole : -0.0145 + 0.904i
0.6 Damping: 0.016
Overshoot (%): 95.1
System: Ghb System: Ghb Frequency (rad/s): 0.904
0.4
Pole : -3 Pole : -1.4
Imaginary Axis (seconds-1)

Damping: 1 Damping: 1
0.2 (%): 0
Overshoot Overshoot (%): 0
Frequency (rad/s): 3 Frequency (rad/s): 1.4
0
System: Ghb
-0.2 Zero : -1.2
Damping: 1
-0.4 Overshoot (%): 0
Frequency (rad/s): 1.2 System: Ghb
Pole : -0.0145 - 0.904i
-0.6 Damping: 0.016
Overshoot (%): 95.1
-0.8 Frequency (rad/s): 0.904

-1
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1)
>> [p,z]=pzmap(Ghb)

p=

-3.0000 + 0.0000i

-1.3996 + 0.0000i

-0.0145 + 0.9035i

-0.0145 - 0.9035i

z=

-1.2000

Root Locus
8
System: Ghb
Gain: 563
6 Pole: 3.62 + 7.99i
System: Ghb Damping: -0.413
Gain: 0 Overshoot (%): 415
4 Pole: -0.0145 + 0.904i Frequency (rad/s): 8.78
Damping: 0.016
Imaginary Axis (seconds-1)

Overshoot (%): 95.1

2 Frequency (rad/s): 0.904

-2 System: Ghb
Gain: 0
Pole: -0.0145 - 0.904i
Damping: 0.016 System: Ghb
-4
Overshoot (%): 95.1 Gain: 563
Frequency (rad/s): 0.904Pole: 3.62 - 7.99i
-6 Damping: -0.413
Overshoot (%): 415
Frequency (rad/s): 8.78
-8
-10 -8 -6 -4 -2 0 2 4
-1
Real Axis (seconds )
 Root Locus
8

System: Ghb
4
Gain: 0.312
Pole: -3.05
Imaginary Axis (seconds-1)

2 Damping: 1
Overshoot (%): 0
Frequency (rad/s): 3.05
0
System: Ghb
Gain: Inf
-2 Pole: -1.2
Damping: 1
Overshoot (%): 0
-4
Frequency (rad/s): 1.2

-6

-8
-10 -8 -6 -4 -2 0 2 4
-1
Real Axis (seconds )

Sistema inestable.

c) >> k=12;

d1=[1 0 0];

d2=[1 5];

d3=[1 4];

d6=conv(d1,conv(d2,d3));

Gc=tf(k*[1 1],d6);

Hc=tf([0 1],[1 3]);

Ghc=series(Gc,Hc)

Ghc =

12 s + 12

------------------------------

s^5 + 12 s^4 + 47 s^3 + 60 s^2

 pzmap(Ghc)

Pole-Zero Map
1

0.8

0.6

System: Ghc System: Ghc System: Ghc

0.4
Pole : -4 Pole : -3 Zero : -1
Imaginary Axis (seconds-1)

Damping: 1 Damping: 1 Damping: 1

0.2
Overshoot (%): 0 Overshoot (%): 0 Overshoot (%): 0
Frequency (rad/s): 4 Frequency (rad/s): 3 Frequency (rad/s): 1
0
System: Ghc System: Ghc
-0.2 Pole : -5 Pole : 0
Damping: 1 Damping: -1
-0.4 Overshoot (%): 0 Overshoot (%): 0
Frequency (rad/s): 5 Frequency (rad/s): 0

-0.6

-0.8

-1
-5 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
-1
Real Axis (seconds )

>> [p,z]=pzmap(Ghc)

p=

-5.0000

-4.0000

-3.0000

z=

-1
 Root Locus
15

10
System: Ghc System: Ghc
Gain: 0.188 Gain: 0
Pole: -4.59 Pole: 0
Imaginary Axis (seconds-1)

5
Damping: 1 Damping: -1
Overshoot (%): 0 Overshoot (%): 0
Frequency (rad/s): 4.59 Frequency (rad/s): 0
0

-5

-10

-15
-20 -15 -10 -5 0 5 10 15
Real Axis (seconds -1)

Root Locus
15
System: Ghc System: Ghc
Gain: 1.72e+04 Gain: 1.71e+04
Pole: -17.9 + 15i Pole: 12.4 + 14.9i
10
Damping: 0.768 Damping: -0.639
Overshoot (%): 2.32 Overshoot (%): 1.36e+03
Frequency (rad/s): 23.4 Frequency (rad/s): 19.4
Imaginary Axis (seconds-1)

-5
System: Ghc System: Ghc
Gain: 1.72e+04 Gain: 1.71e+04
Pole: -17.9 - 15i Pole: 12.4 - 14.9i
-10
Damping: 0.768 Damping: -0.639
Overshoot (%): 2.32 Overshoot (%): 1.36e+03
Frequency (rad/s): 23.4 Frequency (rad/s): 19.4
-15
-20 -15 -10 -5 0 5 10 15
-1
Real Axis (seconds )

Sistema inestable