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Ing Control - Respuesta en El Tiempo - Prob2 PDF
Ing Control - Respuesta en El Tiempo - Prob2 PDF
obtenga
a)! n , , tr , tp , ts , Npicos , Mp% , c(1), c(tp). Ante una entrada escalon
unitario R(s) = 1s
b)ess (suponiendo una entrada escalon unitario R(s) = 1s )
c)ess (suponiendo una entrada escalon unitario R(s) = 2s )
d)ess (suponiendo una entrada rampa unitaria R(s) = s12 )
e)Indique la posicion de los polos.
f)Gra…que el plano "s"
g)Indique el tipo de comportamiento
! 2n = 67
K! 2n = 4
2 ! n = 16
p
! n = 67 = 8:16 rad
seg
16
= 2(8:16) = 0:97
K = !42 = 674
= 0:059
n
1
4 4 4
ts = = !n = (0:97)(8:16) = 0:5053seg
Numero de picosp(trunca)
1 2
Npicos = ttps = 4
Npicos = 0:5053
1:5788 = 0:3191 ! 0
Sobrepaso maximo! !
(0:97)
p p
1 2 1 (0:97)2
M p = 100e = 100e
4
M p = 3:59x10 % = 0:000359%
valor …nal
c(1) = lim sC(s)
s!0
1
R(s) = s
h i
4
C= s2 +16s+67 R
h i
4 1
c(1) = lim s s2 +16s+67 s
s!0 h i
4 4 4
c(1) = lim s2 +16s+67 = (0)+(0)+67 = 67
s!0
c(1) = 0:0597
4
G= s2 +16s+63
h i
1
ess = lim s 1+G R
s!0
1
ess = lim s 4
1+ s2 +16s+63
R
s!0
1
1 1
4
1+ s2 +16s+63
= 1 4 = s2 +16s+63
1
1 + s2 +16s+63
4
s2 +16s+63
+ s2 +16s+63
1 1 2
s +16s+63
= s2 +16s+63
1
4
= 1
s2 +16s+63+4
=
s2 +16s+67
+ s2 +16s+63
s2 +16s+63 h2
i s2 +16s+63
2
c)ess (suponiendo
h 2 una ientrada escalon unitario R(s) = 2s )
ess = lim s ss2 +16s+63
+16s+67 s
2
s!0 h i
2
ess = lim ss2 +16s+63
+16s+67 1
2
s!0
ess = 63 2
67 ( 1 )
ess = 1:8805 = 94:02%
1
d)ess (suponiendo
h 2 unaientrada rampa
h 2 unitaria
i R(s) = s2 )
s +16s+63 1 s +16s+63 1
ess = lim s s2 +16s+67 s2 = lim s2 +16s+67 s
s!0 h i s!0
2
ess = lim ss2 +16s+63
+16s+67 s
1
s!0
63 1
ess = 67 0 =1