Datos del sistema:

k (s +1)
Gc ( s )=
s

2
Gp ( s )= 2
s + 4 S+2

H ( 2 )=1
Funcion de transferencia:
Gc ( s ) Gp ( s )
Glc ( s )=
1+Gc ( s ) Gp ( s ) H ( s )

2 k ( s +1 )
s ( s 2+ 4 s+2 )
Glc ( s )=
2 k (s+1)
1+ 2
s ( s +4 s +2 )

2 k (s +1)
Glc ( s )=
s ( s + 4 s+2 ) +2 k (s +1)
2

2 k (s+1)
Glc ( s )=
s + 4 s2 +2 s +2 ks+ 2 k
3

2 k (s +1)
Glc ( s )= 3 2
s + 4 s + s(2+ 2 k)+2 k

s
3
1 2+2k

s
2
4 2k

s
1
4 ( 2+2 k )−2 k 0
4
s
0
b1 b2
 0
-8/6 k>0

Glc(s) es estable k>0

k
Glc ( s )= 3 2
s + 8 s + s+ k

s
3
1 1

s
2
8 k

s
1
8. k 0
8
0
s k 0

8−k
> ¿0
8
k>0
8> ¿k

0 8

k<¿ 8