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22 de julho de 2014
B(z 1 ) b1 z 1 + b2 z 2
G(z 1 ) = = (1)
A(z 1 ) 1 + a1 z 1 + a2 z 2
p0 + p1 z 1 + p2 z 2
C(z 1 ) = (2)
(1 z 1 )(1 q1 z 1 )
1 = [a1 q1 + b1 p0 1]
2 = [a2 + q1 + b1 p1 + b2 p0 a1 (q1 + 1)]
3 = [b1 p2 + a1 q1 + b2 p1 a2 (q1 + 1)]
4 = [a2 q1 + b2 p2 ]
b1 0 0 1 p0 1 + 1 a1
b2 b1 0 (1 a1 ) p1 2 + a1 a2
0 b2 b1 (a1 a2 ) p2
= (3)
3 + a2
0 0 b2 a2 q1 4
4
ts = = 2 n = 4 (5)
n
p
d = 4 1 0.52 = 3.46 (6)
2 2
s = = = 31.4 9d (7)
T 0.2
p
s = n jn 1 2 = 2 j3.46 (8)
5
G(s) = (11)
s2 +s+5
b1 0 0 1 p0 1 + 1 a1
b2 b1 0 (1 a1 ) p1 2 + a1 a2
=
0 b2 b1 (a1 a2 ) p2 3 + a2
0 0 b2 a2 q1 4
0.09212 0 0 1 p0 0.7600 + 1 + 1.64
= 0.1678 1.64 0.8187
0.08615 0.09212 0 (1 + 1.64) p1
0 0.08615 0.09212 (1.64 0.8187) p2 0.1185 + 0.8187
0 0 0.08615 0.8187 q1 0.0093
p0 12.7451
p1 16.5571
p2 = 6.8165
q1 0.7059
p0 12.7451
p1 16.5571
p2 = 6.8165
q1 0.7059
p0 + p1 z 1 + p2 z 2 12.7451 16.5571z 1 + 6.8165z 2
C(z 1 ) = 1 1
=
(1 z )(1 q1 z ) (1 z 1 )(1 + 0.7059z 1 )
pole(feedback(C*gz,1))
ans =
0.5303 + 0.4303i
0.5303 - 0.4303i
-0.2013
-0.0988
Step Response
1.8
1.6
1.4
1.2
System: untitled2
Settling time (seconds): 2.11
Amplitude
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25
Time (seconds)
Root Locus
2
1.5
0.5
Imaginary Axis
0.5
1.5
2
6 5 4 3 2 1 0 1
Real Axis
Root Locus
1
0.5/T
0.6/T 0.4/T
0.2
0.3
0.6
0.8/T 0.2/T
0.4
0.5
0.4 0.6
0.7
0.9/T 0.1/T
0.8
0.2
0.9
Imaginary Axis
1/T
0
1/T
0.2
0.9/T 0.1/T
0.4
0.8/T 0.2/T
0.6
0.6/T 0.4/T
0.5/T
1
4 3 2 1 0 1 2
Real Axis