Professional Documents
Culture Documents
Practica2 EquipoÆ
Practica2 EquipoÆ
Practica2 EquipoÆ
1. Introdución
En esta práctica se pretende analizar el comportamiento de la respuesta transitoria
de los sistemas de control de segundo orden trabajados en la clase ante diferentes con-
diciones de operación y señales de entrada. En cada uno de estos se pretende contrastar
los resultados prácticos con los resultados teóricos y evidenciar si estos son congruentes
o si por el contrario, existen diferencias. Para esto se utilizará el software matlab, que
a través de sus múltiples herramientas, permite realizar una comprobación rápida y
robusta de los resultados y al mismo tiempo analizar el comportamiento del sistema.
d2 d
a2 2
y(t) + a1 y(t) + a0 y(t) = b0 x(t)
dt dt
(1)
donde, y(t), x(t) son la salida y entrada del sistema, respectivamente. El dominio s se
tiene:
b0
G(s) =
a2 s2 + a1 s + a0
(2)
Asumiendo condiciones iniciales a cero. Sin pérdida de generalidad, se considerará la
forma:
1
2. Desarrollo
2.1. Realice la simulación de la respuesta de segundo orden
para las funciones prebias de la sección anterior.
%−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−Equipo AE
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%%−−−−−−−−−−−−−−−−−−−−−−−−−−−− P r a c t i c a 2
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%%−−−−−−−−−−−−−−−−−−−−−−−−−−Impulso u n i t a r i o
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 0 . 5 ' )
nexttile
plot ( i m p u l s e ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 2 ' )
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
2
%cuando e = 1
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 0 . 5 ' )
nexttile
plot ( i m p u l s e ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 2 ' )
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 0 . 5 ' )
nexttile
plot ( i m p u l s e ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 0 ' )
3
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 2 ' )
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 1 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 0.5 ' )
nexttile
plot ( i m p u l s e ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 1 ')
nexttile
plot ( i m p u l s e ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 2 ')
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 1 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
4
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 0 . 5 ' )
nexttile
plot ( i m p u l s e ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 2 ' )
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 1
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 0.5 ' )
nexttile
plot ( i m p u l s e ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 1 ')
nexttile
plot ( i m p u l s e ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 2 ')
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 2 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
5
%cuando e = 0 . 5
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 0.5 ' )
nexttile
plot ( i m p u l s e ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 1 ')
nexttile
plot ( i m p u l s e ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 2 ')
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 2 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 0 . 5 ' )
nexttile
6
plot ( i m p u l s e ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 2 ' )
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 2
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 0.5 ' )
nexttile
plot ( i m p u l s e ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 1 ')
nexttile
plot ( i m p u l s e ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 2 ')
%%
%%−−−−−−−−−−−−−−−−−−−−−−−−−−E s c a l o n u n i t a r i o
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
7
%cuando e = 1
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 2 ')
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 0 . 5 ' )
nexttile
plot ( s t e p ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 1 ' )
nexttile
plot ( s t e p ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 0 ' )
8
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 2 ' )
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 2 ')
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 1 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
9
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 2 ')
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 1 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 0 . 5 ' )
nexttile
plot ( s t e p ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 1 ' )
nexttile
plot ( s t e p ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 2 ' )
%%
10
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 1
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 2 ')
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 2 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
11
plot ( s t e p ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 0 . 5 ' )
nexttile
plot ( s t e p ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 1 ' )
nexttile
plot ( s t e p ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 2 ' )
%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 2 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 0 . 5 ' )
nexttile
plot ( s t e p ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 1 ' )
nexttile
plot ( s t e p ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 2 ' )
%%
12
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 2
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 2 ')
13
2.2. Graficas de comportamiento por cada estado
2.2.1. Impulso Unitario
14
Figura 3: Impulso unitario cuando K=1, Wn=2.
15
Figura 5: Impulso unitario cuando K=2, Wn=1.
16
Figura 7: Impulso unitario cuando K=0.5, Wn=0.5.
17
Figura 9: Impulso unitario cuando K=0.5, Wn=2.
18
2.2.2. Escalon Unitario
19
Figura 12: Escalon unitario cuando K=1, Wn=2.
20
Figura 14: Escalon unitario cuando K=2, Wn=1.
21
Figura 16: Escalon unitario cuando K=0.5, Wn=0.5.
22
Figura 18: Escalon unitario cuando K=0.5, Wn=2.
23
3. Cuestionario
3.1. Para K = 1, ¿Cómo es el comportamiento de la respues-
ta en cada uno de los casos de los incisos i)-iii) y sus
respectivos sub-incisos?
En respuesta al impulso, será el valor en el cual oscile nuestra función para finalmen-
te acercarse a dicho valor en tiempos elevados. Cuando nuestro parámetro e sea igual
a cero y la gráfica se comporte como una onda Sinusoide, el eje de simetrı́a horizontal
estará dado por el valor de 1 en el eje ordenado.
Bibliografı́a
[1] MATLAB, User’s.The mathworks. MATLAB.
[1]
24