Labo 1 IC01 - ASistemas

UNIVERSIDAD NACIONAL DE INGENIERA
INGENIERIA DE CONTROL
SISTEMAS LINEALES INVARIANTES EN EL TIEMPO

1. Funcin de Transferencia Equivalente:
10
G1 ( s) 2
s 2s 10
>> num1=[0 0 10]
num1 = 0 0
10
>> den1=[1 2 10]

den1 = 1 2
10
G2 ( s)
>> num2=[0 5]
num2 = 0
>> den2=[1 5]
den2 = 1
5
R(s)
5
s5
G1(s)
G2(s)
Transfer Fcn1
Transfer Fcn2
C(s)
>> [num,den]=series(num1,den1,num2,den2)
num = 0 0 0 50
den = 1 7 20 50
>> printsys(num,den)
num/den =
50
-------------------------------s^3 + 7 s^2 + 20 s + 50
G1(s)
C(s)
1
R(s)
Transfer Fcn1
G2(s)
1
Transfer Fcn2
>> [num,den]=parallel(num1,den1,num2,den2)
num = 0 5 20 100
den = 1 7 20 50
num/den =
5 s^2 + 20 s + 100
--------------------------------s^3 + 7 s^2 + 20 s + 50
_______________________________________________________________________
MSC.ING. FREEDY SOTELO V.
PAG.1
G1(s)
R(s)
C(s)
1
Transfer Fcn1
G2(s)
1
Transfer Fcn2
>> [num,den]=feedback(num1,den1,num2,den2)
num = 0 0 10 50
den = 1 7 20 100
num/den =
10 s + 50
---------------------------------s^3 + 7 s^2 + 20 s + 100
2. Funcin de Transferencia Espacio de Estado:
.
x1 0
1
0 x1 0

.
0
1 x 2 25 u
x2 0
. 5 25 5 x 120
3
x3

x1

y 1 0 0 x 2 0u
x
3
>> A=[0 1 0; 0 0 1; -5 -25 -5]
A=
0 1 0
0 0 1
-5 -25 -5
>> B=[0; 25; -120]
B=
0
25
-120
>> C=[1 0 0]
C= 1
>> D=[0]
D=
>> [num,den]=ss2tf(A,B,C,D)
num =
0 0.0000 25.0000 5.0000
den = 1.0000 5.0000 25.0000 5.0000
G( s)
25s 5
s 5s 2 25s 5
3
_______________________________________________________________________
PAG.2
>> [A,B,C,D]=tf2ss(num,den)
A = -5.0000 -25.0000 -5.0000
1.0000
0
0
0 1.0000
0
B= 1
0
0
C = 0.0000 25.0000 5.0000
D= 0
.
x1 5 25 5 x1 1

.
0
0 x 2 0 u
x2 1
. 0
1
0 x3 0
x3

x1

y 0 25 5 x 2 0u
x
3
3. Respuesta en el tiempo:
G(s)
2s 25
s 4s 25
2
>> num=[0 2 25]

>> den=[1 4 25]
>> step(num,den)
Step Response
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0.5
1.5
2.5
Time (sec)
_______________________________________________________________________
PAG.3
>> step(num,den,10)
Step Response
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
10
3.5
4.5
Time (sec)
>> [y,x,t]=step(num,den,5);
>> size(y)
ans = 126
>> size(x)
ans =
>> size(t)
ans =
1 126
>> max(t)
ans =
>> min(t)
ans =
>> plot(t,y)
1.4
1.2
0.8
0.6
0.4
0.2
0.5
1.5
2.5
_______________________________________________________________________
PAG.4
>> % Sistema 2 Input - 2 Output.

. 1 1 x 1 1 u
x1
1
1
. 6.5 0 x 1 0 u
2
2
x2
y1 1 0 x1 0 0 u1

y 2 0 1 x 2 0 0 u 2
>> A=[-1 -1; 6.5 0]

A = -1.0000 -1.0000
6.5000
0
>> B=[1 1; 1 0]
B= 1
1
1
0
>> C=[1 0; 0 1]
C= 1
0
0
1
>> D=[0 0; 0 0]
D= 0
0
0
0
>> step(A,B,C,D)
Step Response
From: In(1)
From: In(2)
0.4
To: Out(1)
0.2
Amplitude
-0.2
-0.4
2
To: Out(2)
1.5
0.5
10
12 0
10
12
Time (sec)
Salidas para u1=step y u2=0
Salidas para u1=0 y u2= step.
_______________________________________________________________________
PAG.5
>> step(A,B,C,D,1)
% Salidas para u1=step y u2=0.

Step Response
0.4
To: Out(1)
0.2
Amplitude
-0.2
-0.4
2
To: Out(2)
1.5
0.5
10
12
Time (sec)
>> step(A,B,C,D,2)
% Salidas para u1=0 y u2= step.

Step Response
0.3
To: Out(1)
0.2
0.1
0
Amplitude
-0.1
-0.2
2
To: Out(2)
1.5
0.5
10
12
Time (sec)
>> % Sistema de Segundo Orden
G( s)
2
s 2 2 .s 2
>> wn=5;
>> damping_ratio=0.4;
>> [num0,den]=ord2(wn,damping_ratio)
num0 = 1
den = 1 4 25
G(s)
1
s 4s 25
G(s)
25
s 4s 25
>> num=wn^2*num0
num = 25
2
_______________________________________________________________________
PAG.6
num/den =
25
--------------------s^2 + 4 s + 25
4. Respuesta al Impulso:
G (s)
1
s 0,2 s 1
2
>> num=[0 0 1];

>> den=[1 0.2 1];
>> impulse(num,den)
Impulse Response
1
0.8
0.6
Amplitude
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
10
20
30
40
50
60
Time (sec)
>> num=[0 1 0]
G ( s)
(s)
1
s 0,2 s 1
2
>> step(num,den)
Step Response
1
0.8
0.6
Amplitude
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
10
20
30
40
50
60
Time (sec)
_______________________________________________________________________
PAG.7
5. Respuesta al Impulso y a la Rampa:

>> A=[0 1; -1 -1];
>> B=[0; 1];
>> C=[1 0];
>> D=[0];
>> step(A,B,C,D)
Step Response
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
10
12
Time (sec)
>> [num,den]=ss2tf(A,B,C,D)
num =
0
0 1.0000
den = 1.0000 1.0000 1.0000
G ( s)
1
s s 1
2
>> step(num,den)
Step Response
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
10
12
Time (sec)
>> impulse(num,den)
Impulse Response
0.6
0.5
Amplitude
0.4
0.3
0.2
0.1
-0.1
10
12
Time (sec)
_______________________________________________________________________
PAG.8
>> % Respuesta al Impulso por I(t)=Du(t)

>> num=[0 1 0]
num = 0 1 0
s
1
s s 1
G (s)
>> step(num,den)
Step Response
0.6
0.5
0.4
Amplitude
0.3
0.2
0.1
-0.1
10
12
Time (sec)
>> % Respuesta a la Rampa Unitaria por R(t)=D-1u(t)

>> num=[0 0 0 1]
num = 0 0 0 1
>> den=[1 1 1 0]
den = 1 1 1 0
G (s)
1
1

s s 1 s
2
>> step(num,den)
Step Response
20
18
16
14
Amplitude
12
10
8
6
4
2
0
10
12
14
16
18
20
Time (sec)
_______________________________________________________________________
PAG.9
6. Respuesta a Funcin Arbitraria:

>> num=[0 0 1]
>> den=[1 1 1]
>> t=0:.1:10;
>> r=t;
>> y=lsim(num,den,r,t);
>> plot(t,r,'-',t,y,'o')
10
9
8
7
6
5
4
3
2
1
0
10
10
>> num=[0 0 1]
>> den=[1 1 1]
>> t=0:.1:10;
>> r=exp(-t);
>> y=lsim(num,den,r,t);
>> plot(t,r,'-',t,y,'o')
1.2
0.8
0.6
0.4
0.2
-0.2
_______________________________________________________________________
PAG.10
7. Fracciones Parciales y Respuesta al Escaln Unitario:

3s 3 25 s 2 72 s 80
G( s) 4
s 8s 3 40 s 2 96 s 80
>> num=[0 3 25 72 80]

>> den=[1 8 40 96 80]
>> step(num,den)
Step Response
1
0.9
0.8
0.7
Amplitude
0.6
0.5
0.4
0.3
0.2
0.1
0
0.5
1.5
2.5
Time (sec)
3s 3 25 s 2 72 s 80
Ge ( s ) 5
s 8s 4 40 s 3 96 s 2 80 s
>> nume=[0 0 3 25 72 80]

nume = 0 0 3
25
72
80
>> dene=[1 8 40 96 80 0]
dene = 1 8 40
96
80
Ge ( s )
B( s)
r (1)
r (2)
r ( n)
.....
k ( s)
A( s) s p(1) s p(2)
s p ( n)
>> % Residuos, Polos y Termino Directo

>> [r,p,k]=residue(nume,dene)
r=
-0.2813 - 0.1719i
-0.2813 + 0.1719i
-0.4375
-0.3750
1.0000
p=
-2.0000 + 4.0000i
-2.0000 - 4.0000i
-2.0000
-2.0000
0
k=
[]
_______________________________________________________________________
PAG.11
8. Lugar Geomtrico de las Races:

G( s)
1
s 3s 2 2s
3
>> num=[0 0 0 1]
>> den=[1 3 2 0]
>> rlocus(num,den)
Root Locus
4
Imaginary Axis
-1
-2
-3
-4
-6
-5
-4
-3
-2
-1
Real Axis
>> num=[0 0 0 1]
>> den=[1 3 2 0]
>> [R,K]=rlocus(num,den);
>> size(R)
ans = 16 3
>> size(K)
ans = 1 16
>> R
R = 1.0e+002 *
0
-0.0100
-0.0200
-0.0005
-0.0090
-0.0205
-0.0013
-0.0078
-0.0209
-0.0041
-0.0044
-0.0215
-0.0042 + 0.0000i -0.0042 - 0.0000i -0.0215
-0.0042 + 0.0001i -0.0042 - 0.0001i -0.0215
-0.0041 + 0.0020i -0.0041 - 0.0020i -0.0218
-0.0034 + 0.0056i -0.0034 - 0.0056i -0.0232
-0.0023 + 0.0088i -0.0023 - 0.0088i -0.0254
-0.0007 + 0.0126i -0.0007 - 0.0126i -0.0286
0.0015 + 0.0172i 0.0015 - 0.0172i -0.0329
0.0044 + 0.0228i 0.0044 - 0.0228i -0.0388
0.0083 + 0.0300i 0.0083 - 0.0300i -0.0465
0.0133 + 0.0392i 0.0133 - 0.0392i -0.0567
0.5567 + 0.9816i 0.5567 - 0.9816i -1.1435
Inf
Inf
Inf
_______________________________________________________________________
PAG.12
>> K
K = 1.0e+006 *
0 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0001 1.4561
0.0000
Inf
9. Lugar Geomtrico de las Races:

a( s) s 2 s
>> a=[1 1 0]
a= 1
0
b( s ) s 2 4s 16
>> b=[1 4 16]

b= 1
16
>> den=conv(a,b)
den = 1 5
20
16
b( s ) s 4 5s 3 20 s 2 16 s
>> roots(den)
ans = 0
-2.0000 + 3.4641i
-2.0000 - 3.4641i
-1.0000
>> num=[0 0 0 1 3]
num = 0 0
3
num(s) s 3
>> roots(num)
ans = -3
>> rlocus(num,den)
Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-10
-8
-6
-4
-2
Real Axis
_______________________________________________________________________
PAG.13
10. Respuesta en Frecuencia:

G(s)
25
s 4s 25
2
>> num=[0 0 25]

>> den=[1 4 25]
>> bode(num,den)
Bode Diagram
20
Magnitude (dB)
-20
-40
-60
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
10
10
Frequency (rad/sec)
G( s)
9s 2 1.8s 9
s 3 1.2s 2 9s
>> num=[0 9 1.8 9]

>> den=[1 1.2 9 0]
>> bode(num,den)
Bode Diagram
20
Magnitude (dB)
10
0
-10
-20
-30
90
Phase (deg)
45
0
-45
-90
-1
10
10
10
10
Frequency (rad/sec)
>> [mag,phase,w]=bode(num,den);
>> size(mag)
ans = 53 1
>> size(phase)
ans = 53 1
>> size(w)
ans = 53 1
>> plot(w,mag)
>> mag=20*log10(mag);
>> w=logspace(-2,1,53);
_______________________________________________________________________
PAG.14

Labo 1 IC01 - ASistemas

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Labo 1 IC01 - ASistemas

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UNIVERSIDAD NACIONAL DE INGENIERA

SISTEMAS LINEALES INVARIANTES EN EL TIEMPO

>> den1=[1 2 10]

UNIVERSIDAD NACIONAL DE INGENIERA

UNIVERSIDAD NACIONAL DE INGENIERA

>> num=[0 2 25]

UNIVERSIDAD NACIONAL DE INGENIERA

UNIVERSIDAD NACIONAL DE INGENIERA

>> % Sistema 2 Input - 2 Output.

>> A=[-1 -1; 6.5 0]

Salidas para u1=step y u2=0

Salidas para u1=0 y u2= step.

UNIVERSIDAD NACIONAL DE INGENIERA

% Salidas para u1=step y u2=0.

% Salidas para u1=0 y u2= step.

>> % Sistema de Segundo Orden

UNIVERSIDAD NACIONAL DE INGENIERA

>> num=[0 0 1];

UNIVERSIDAD NACIONAL DE INGENIERA

5. Respuesta al Impulso y a la Rampa:

UNIVERSIDAD NACIONAL DE INGENIERA

>> % Respuesta al Impulso por I(t)=Du(t)

>> % Respuesta a la Rampa Unitaria por R(t)=D-1u(t)

UNIVERSIDAD NACIONAL DE INGENIERA

6. Respuesta a Funcin Arbitraria:

UNIVERSIDAD NACIONAL DE INGENIERA

7. Fracciones Parciales y Respuesta al Escaln Unitario:

>> num=[0 3 25 72 80]

>> nume=[0 0 3 25 72 80]

>> % Residuos, Polos y Termino Directo

UNIVERSIDAD NACIONAL DE INGENIERA

8. Lugar Geomtrico de las Races:

UNIVERSIDAD NACIONAL DE INGENIERA

9. Lugar Geomtrico de las Races:

>> b=[1 4 16]

UNIVERSIDAD NACIONAL DE INGENIERA

10. Respuesta en Frecuencia:

>> num=[0 0 25]

>> num=[0 9 1.8 9]

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