Zeros

s+20 s+20 Polos

s*(s+5)*(s+10) s^3 + 15s^2 + 50s

F(s) = (s+20)/(s^3+15s^2+50s)

D = s^3+15s^2+50s +ks + 20k

Paso 1

D = 1 + K(s+20)/( s^3+15s^2+50s) = 0

Paso 2

D = 1 + K(s+20)/(s (s+5)(s+10)) = 0

Paso 3

s (s+5) (s+10) +k(s + 20) = 0

Marcar Polos y Ceros

Paso 4
Trazar el Lugar Geométrico de Raices en el Eje Real

Paso 5
Ramas = Np = 3
Al Impropio = Np - Nz = 3 - 1 = 2

Paso 6
Simetria

Paso 7

s =(Spolos de F(s) - Szeros de F(s))/(n - m)

 2.5

θ = (2q +1)*180/(n - m) q = 0, 1, … (n - m -1)

θ 90
270

Paso 8
Ruth Hurwitz

s^3 1 50+k
s^2 15 20k
s^1 [(750+15k)-20k]/15 0
s^0 15K

750-5k = 0
K 150

D = s^3 + 15s^2 + 200s + 3000= 0 1 15

-1 -15
s1 -15 0j 0 0
s2 0 14.1421356 j 0
s3 0 -14.1421356 j 0

Paso 9
Punto de Quiebre

Polo Doble

D = s^3+15s^2+50s +ks + 20k = 0 (s+D)(s+D)(s+a) =0

s^3+ (2D+a)s^2+ (2aD + D^2)s + aD^2 = 0

aD^2 = 20K K = aD^2/20 [1]

(50+K) = (2aD+ D^2) [2]
15 = 2D + a a = 15 - 2D [3]

(50 + aD^2/20) = (2aD + D^2) [1 en 2] [4]

(50 + (15-2D)D^2/20) = (2(15-2D)D + D^2) [3] en [4]

(50+ ((15D^2)/20 -2D^3/20) = 30D - 4D^2 + D^2

2D^3/20 +(1-4-15/20)D^2 + 30D -50 = 0

D^3 D^2 D^1 D^0

0.1 -3.75 30 -50

a K
D1 -27.1166800695016 69.2333601 2545.4141188776 D Negativo
D2 8.10962120717388 -1.21924241 -4.0092321563162 K Negativo
D3 2.2736987233245 10.4526026 2.7018440463925 Ok

Comprobando
s^3 s^2 s^1
K 2.70184404639246 1 15 52.701844

Paso 10
Angulo de Quiebre +90°
-90°

Paso 11
Punto de Control Proporcional

s1 -12.211247851537
s2 -1.39437607423149 6.24512383 j
s3 -1.39437607423149 -6.24512383 j
Paso 12
Valor de K Para el Punto de Control

K 25
D = s^3+15s^2+50s +ks + 20k
D = s^3+15s^2+50s +75s + 1500
D = s^3+15s^2 +125s + 1500
 -20
-10
-5
0

Lugar Geométrico de Raices

20

15

10

0
-30 -25 -20 -15 -10 -5 0 5 10

-5

-10

-15

-20
 -15

-20

2530
150
2380

200 3000 1 15
1 0 200
200
0
200 3000
-200 -3000
0 0
s^0 s1 s2 s3
54.0368809 -10.4526026 -2.27369872 -2.27369872
5 10
 Punto de Corte Eje
Real . Polos Ceros LGR En Eje Real Sigma
Imaginario

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2.5 0 5.23
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2.5 0 13.56
2.5 0 13.57
2.5 0 13.58
2.5 0 13.59
2.5 0 13.6
2.5 0 13.61
2.5 0 13.62
2.5 0 13.63
2.5 0 13.64
2.5 0 13.65
2.5 0 13.66
2.5 0 13.67
2.5 0 13.68
2.5 0 13.69
2.5 0 13.7
2.5 0 13.71
2.5 0 13.72
2.5 0 13.73
2.5 0 13.74
2.5 0 13.75
2.5 0 13.76
2.5 0 13.77
2.5 0 13.78
2.5 0 13.79
2.5 0 13.8
2.5 0 13.81
2.5 0 13.82
2.5 0 13.83
2.5 0 13.84
2.5 0 13.85
2.5 0 13.86
2.5 0 13.87
2.5 0 13.88
2.5 0 13.89
2.5 0 13.9
2.5 0 13.91
2.5 0 13.92
2.5 0 13.93
2.5 0 13.94
2.5 0 13.95
2.5 0 13.96
2.5 0 13.97
2.5 0 13.98
2.5 0 13.99
2.5 0 14
2.5 0 14.01
2.5 0 14.02
2.5 0 14.03
2.5 0 14.04
2.5 0 14.05
2.5 0 14.06
2.5 0 14.07
2.5 0 14.08
2.5 0 14.09
2.5 0 14.1
2.5 0 14.11
2.5 0 14.12
2.5 0 14.13
2.5 0 14.14
2.5 0 14.15
2.5 0 14.16
2.5 0 14.17
2.5 0 14.18
2.5 0 14.19
2.5 0 14.2
2.5 0 14.21
2.5 0 14.22
2.5 0 14.23
2.5 0 14.24
2.5 0 14.25
2.5 0 14.26
2.5 0 14.27
2.5 0 14.28
2.5 0 14.29
2.5 0 14.3
2.5 0 14.31
2.5 0 14.32
2.5 0 14.33
2.5 0 14.34
2.5 0 14.35
2.5 0 14.36
2.5 0 14.37
2.5 0 14.38
2.5 0 14.39
2.5 0 14.4
2.5 0 14.41
2.5 0 14.42
2.5 0 14.43
2.5 0 14.44
2.5 0 14.45
2.5 0 14.46
2.5 0 14.47
2.5 0 14.48
2.5 0 14.49
2.5 0 14.5
2.5 0 14.51
2.5 0 14.52
2.5 0 14.53
2.5 0 14.54
2.5 0 14.55
2.5 0 14.56
2.5 0 14.57
2.5 0 14.58
2.5 0 14.59
2.5 0 14.6
2.5 0 14.61
2.5 0 14.62
2.5 0 14.63
2.5 0 14.64
2.5 0 14.65
2.5 0 14.66
2.5 0 14.67
2.5 0 14.68
2.5 0 14.69
2.5 0 14.7
2.5 0 14.71
2.5 0 14.72
2.5 0 14.73
2.5 0 14.74
2.5 0 14.75
2.5 0 14.76
2.5 0 14.77
2.5 0 14.78
2.5 0 14.79
2.5 0 14.8
2.5 0 14.81
2.5 0 14.82
2.5 0 14.83
2.5 0 14.84
2.5 0 14.85
2.5 0 14.86
2.5 0 14.87
2.5 0 14.88
2.5 0 14.89
2.5 0 14.9
2.5 0 14.91
2.5 0 14.92
2.5 0 14.93
2.5 0 14.94
2.5 0 14.95
2.5 0 14.96
2.5 0 14.97
2.5 0 14.98
 2.5 0 14.99
2.5 0 15
2.51 0
2.52 0
2.53 0
2.54 0
2.55 0
2.56 0
2.57 0
2.58 0
2.59 0
2.6 0
2.61 0
2.62 0
2.63 0
2.64 0
2.65 0
2.66 0
2.67 0
2.68 0
2.69 0
2.7 0
2.71 0
2.72 0
2.73 0
2.74 0
2.75 0
2.76 0
2.77 0
2.78 0
2.79 0
2.8 0
2.81 0
2.82 0
2.83 0
2.84 0
2.85 0
2.86 0
2.87 0
2.88 0
2.89 0
2.9 0
2.91 0
2.92 0
2.93 0
2.94 0
2.95 0
2.96 0
2.97 0
2.98 0
2.99 0
3 0
3.01 0
3.02 0
3.03 0
3.04 0
3.05 0
3.06 0
3.07 0
3.08 0
3.09 0
3.1 0
3.11 0
3.12 0
3.13 0
3.14 0
3.15 0
3.16 0
3.17 0
3.18 0
3.19 0
3.2 0
3.21 0
3.22 0
3.23 0
3.24 0
3.25 0
3.26 0
3.27 0
3.28 0
3.29 0
3.3 0
3.31 0
3.32 0
3.33 0
3.34 0
3.35 0
3.36 0
3.37 0
3.38 0
3.39 0
3.4 0
3.41 0
3.42 0
3.43 0
3.44 0
3.45 0
3.46 0
3.47 0
3.48 0
3.49 0
3.5 0
3.51 0
3.52 0
3.53 0
3.54 0
3.55 0
3.56 0
3.57 0
3.58 0
3.59 0
3.6 0
3.61 0
3.62 0
3.63 0
3.64 0
3.65 0
3.66 0
3.67 0
3.68 0
3.69 0
3.7 0
3.71 0
3.72 0
3.73 0
3.74 0
3.75 0
3.76 0
3.77 0
3.78 0
3.79 0
3.8 0
3.81 0
3.82 0
3.83 0
3.84 0
3.85 0
3.86 0
3.87 0
3.88 0
3.89 0
3.9 0
3.91 0
3.92 0
3.93 0
3.94 0
3.95 0
3.96 0
3.97 0
3.98 0
3.99 0
4 0
4.01 0
4.02 0
4.03 0
4.04 0
4.05 0
4.06 0
4.07 0
4.08 0
4.09 0
4.1 0
4.11 0
4.12 0
4.13 0
4.14 0
4.15 0
4.16 0
4.17 0
4.18 0
4.19 0
4.2 0
4.21 0
4.22 0
4.23 0
4.24 0
4.25 0
4.26 0
4.27 0
4.28 0
4.29 0
4.3 0
4.31 0
4.32 0
4.33 0
4.34 0
4.35 0
4.36 0
4.37 0
4.38 0
4.39 0
4.4 0
4.41 0
4.42 0
4.43 0
4.44 0
4.45 0
4.46 0
4.47 0
4.48 0
4.49 0
4.5 0
4.51 0
4.52 0
4.53 0
4.54 0
4.55 0
4.56 0
4.57 0
4.58 0
4.59 0
4.6 0
4.61 0
4.62 0
4.63 0
4.64 0
4.65 0
4.66 0
4.67 0
4.68 0
4.69 0
4.7 0
4.71 0
4.72 0
4.73 0
4.74 0
4.75 0
4.76 0
4.77 0
4.78 0
4.79 0
4.8 0
4.81 0
4.82 0
4.83 0
4.84 0
4.85 0
4.86 0
4.87 0
4.88 0
4.89 0
4.9 0
4.91 0
4.92 0
4.93 0
4.94 0
4.95 0
4.96 0
4.97 0
4.98 0
4.99 0
5 0
Punto Corte Puntos de
Eje Real Control
0
-6.24512383
6.24512383