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CAPTULO 2

2.7.
Transfer function:
12800 s^2 + 51200 s
----------------------------------------s^4 + 58 s^3 + 2352 s^2 + 30080 s + 51200

2.8.
Transfer function:
4 s^2 + 40 s + 100
-----------------s^2 + 12 s + 20

2.23-24.
a)
Transfer function:
13
-------------s^2 + 4 s + 13

b)
Transfer function:
130
------------------------s^3 + 14 s^2 + 53 s + 130

c)
Transfer function:
39
----------------------s^3 + 7 s^2 + 25 s + 39

d)
Transfer function:
340 s + 340
-------------------------s^3 + 20 s^2 + 134 s + 340

e)
Transfer function:
50 s + 200
----------------------------------s^4 + 10 s^3 + 54 s^2 + 160 s + 200

f)
Transfer function:
50 s^2 + 300 s + 250
-----------------------s^3 + 10 s^2 + 41 s + 50

g)
Transfer function:
65.28 s^2 + 522.2 s + 1632
-------------------------------------s^4 + 19 s^3 + 232 s^2 + 1096 s + 1632

h)
Transfer function:
-3.25 s^2 - 9.75 s + 13
----------------------s^3 + 7 s^2 + 19 s + 13

CAPTULO 3
3.1
a)
Transfer function:
s^2 + 12 s + 35
--------------s^2 + 4 s + 3

b)
Transfer function:
s^2 + 6 s + 25
----------------s^3 + 2 s^2 + 5 s

c)
Transfer function:
s + 3
------------------------s^4 + 5 s^3 + 9 s^2 + 5 s

d)
Transfer function:
s + 2
---------------------------s^4 + 10 s^3 + 26 s^2 + 80 s

3.2.
a)
Transfer function:
s + 2
-----s + 10

b)
Transfer function:
1
--------------------s^3 + 5 s^2 + 8 s + 4s + 10

c)
Transfer function:
s^2 + 11 s + 10
-------------------------------------s^4 + 106 s^3 + 612 s^2 + 1208 s + 800

d)
Transfer function:
s + 1
-----------s^3 + 10 s^2

e)
Transfer function:
s + 1
--------s^2 + 2 s

f)
Transfer function:
1
---------------------s^3 + 2 s^2 + 9 s + 18

g)
Transfer function:
10 s + 1
---------------------------------------2000 s^4 + 2600 s^3 + 645 s^2 + 46 s + 1

h)
Transfer function:
s - 1
--------s^3 + s^2

i)
Transfer function:
s
--------------s^2 + 12 s + 20

j)
Transfer function:
s^2 - s
--------------s^2 + 12 s + 20

3.4.
b)
Transfer function:
1
----------------s^3 + 2 s^2 + 2 s

3.8.
a)
%Soluo pelo Matlab
%LYAP Solve continuous-time Lyapunov equations.
%
%
X = LYAP(A,Q) solves the Lyapunov matrix %equation:
%
%
A*X + X*A' + Q = 0
>> A = [0 -7 -7;1 -1 -1;-7 -1 10 ]
A =
0
1
-7

-7
-1
-1

-7
-1
10

>> Q = [1 0 0; 0 1 0; 0 0 1]
Q =
1
0
0

0
1
0

0
0
1

>> X = LYAP(A,Q)
X =
4.3240
0.1075
-0.0361

0.1075
0.6091
-0.0015

-0.0361
-0.0015
-0.0500

3.10.
a)
Transfer function:
1
------------s^2 + 6 s + 5

b)
Transfer function:
s^2 + 8 s + 20
----------------------s^3 + 6 s^2 + 15 s + 14

c)

Transfer function:
10 s - 10
----------------s^3 + 4 s^2 + 4 s

d)
Transfer function:
1
----------------------s^3 + 7 s^2 + 12 s + 10

e)
Transfer function:
s + 2
----------------------s^3 + 7 s^2 + 16 s + 10

f)
Transfer function:
5
----------------------------s^4 + 16 s^3 + 93 s^2 + 180 s

g)
Transfer function:
s^2 - 4 s + 3
------------s^2 + 5 s

h)
Transfer function:
s^2 + 16 s + 73
----------------------s^3 + 9 s^2 + 49 s + 41

i)
Transfer function:
2 s^2 + 12 s + 180
-----------------s^3 + 4 s^2 + 13 s

j)
Transfer function:
s + 10
------------s^2 + 2 s - 8

k)
Transfer function:
s^2
------------------------------------s^4 + 27 s^3 + 250 s^2 + 900 s + 1000

l)
Transfer function:
s^2 - 2 s
-------------s^2 + 8 s + 15

3.11
a)
>> alpha = a(1)
alpha =
0.5000
>> f = tf([1 2],[1 (alpha + 2) (2*alpha + 1) alpha])
Transfer function:
s + 2
------------------------s^3 + 2.5 s^2 + 2 s + 0.5
>> rlocus(f)
>>

>> alpha = a(2)


alpha =
1.5000
>> f = tf([1 2],[1 (alpha + 2) (2*alpha + 1) alpha])
Transfer function:
s + 2
------------------------s^3 + 3.5 s^2 + 4 s + 1.5
>> rlocus(f)
>>

>> alpha = a(3)


alpha =
5
>> f = tf([1 2],[1 (alpha + 2) (2*alpha + 1) alpha])
Transfer function:
s + 2
---------------------s^3 + 7 s^2 + 11 s + 5
>> rlocus(f)
>>

b)
>> a = [0.5 3/2 5]
a =
0.5000

1.5000

5.0000

>> b = a(1)
b =
0.5000
>> f = tf([1 2],[(1) (b + 2) (2*b + 5) 5])
Transfer function:
s + 2
----------------------s^3 + 2.5 s^2 + 6 s + 5
>> rlocus(f)
>>

>> b = a(2)
b =
1.5000
>> f = tf([1 2],[(1) (b + 2) (2*b + 5) 5])
Transfer function:
s + 2
----------------------s^3 + 3.5 s^2 + 8 s + 5
>> rlocus(f)
>>

>> b = a(3)
b =
5
>> f = tf([1 2],[(1) (b + 2) (2*b + 5) 5])
Transfer function:
s + 2
---------------------s^3 + 7 s^2 + 15 s + 5
>> rlocus(f)
>>

c)
>> a = [1/2 3/2 5]
a =
0.5000

1.5000

5.0000

>> c = a(1)
c =
0.5000
>> f = tf([1 c],[1 8 20 16])
Transfer function:
s + 0.5
----------------------s^3 + 8 s^2 + 20 s + 16
>> rlocus(f)
>>

>> c = a(2)
c =
1.5000
>> f = tf([1 c],[1 8 20 16])
Transfer function:
s + 1.5
----------------------s^3 + 8 s^2 + 20 s + 16
>> rlocus(f)
>>

>> c = a(3)
c =
5
>> rlocus(f)
>>

d)
>> a = [1/2 3/2 5]
a =
0.5000

1.5000

5.0000

>> c = a(1)
c =
0.5000
>> f = tf([1 c],[1 8 29 52])
Transfer function:
s + 0.5
----------------------s^3 + 8 s^2 + 29 s + 52
>> rlocus(f)
>>

>> c = a(2)
c =
1.5000
>> f = tf([1 c],[1 8 29 52])
Transfer function:
s + 1.5
----------------------s^3 + 8 s^2 + 29 s + 52
>> rlocus(f)
>>

>> c = a(3)
c =
5
>> f = tf([1 c],[1 8 29 52])
Transfer function:
s + 5
----------------------s^3 + 8 s^2 + 29 s + 52
>> rlocus(f)
>>

3.12.
>> a = [1 4]
a =
1

>> b = a(1)
b =
1
>> f = tf([1],[1 10 (b + 32) (2*b + 32)])
Transfer function:
1
-----------------------s^3 + 10 s^2 + 33 s + 34
>> rlocus(f)
>>

>> b = a(2)
b =
4
>> f = tf([1],[1 10 (b + 32) (2*b + 32)])
Transfer function:
1
-----------------------s^3 + 10 s^2 + 36 s + 40
>> rlocus(f)

>>

3.13.
a)
Transfer function:
2048 s
-------------------------------------s^4 + 21 s^3 + 148 s^2 + 1152 s + 1024

c)

d)

3.14.
a)
Transfer function:
s^2 + 15 s + 50
G = --------------s^3 + 2 s^2

b)

F = (C*G)/(C*G + 1)
Transfer function:
26.6 s^5 + 452.2 s^4 + 2128 s^3 + 2660 s^2
F = -----------------------------------------------s^6 + 30.6 s^5 + 456.2 s^4 + 2128 s^3 + 2660 s^2

c)
Transfer function:
s^2 + 15 s + 50
G = --------------s^4 + 2 s^3

>> Instable for any value of


1
C = s
F = (C*G)/(C*G + 1)
Transfer function:
s^6 + 17 s^5 + 80 s^4 + 100 s^3
----------------------------------------------s^8 + 4 s^7 + 5 s^6 + 17 s^5 + 80 s^4 + 100 s^3

d)
s + 20
Co = -----s
Transfer function:
s^3 + 35 s^2 + 350 s + 1000
F = G*Co = --------------------------s^4 + 2 s^3

C = 67.3*Co
F = (C*G)/(C*G + 1)
Transfer function:
67.3 s^7 + 2490 s^6 + 28266 s^5 + 114410 s^4 + 134600 s^3
F = --------------------------------------------------------------s^8 + 71.3 s^7 + 2494 s^6 + 28266 s^5 + 114410 s^4 + 134600 s^3

d)
Transfer function:
s^2 + 15 s + 50
--------------s^3

CAPTULO 4
04.01.
a)
Transfer function:
5 s + 5
------------s^2 + 4 s + 5

b)
Transfer function:
s + 20
----------------4 s^2 + 16 s + 20

c)
Transfer function:
40
----------------------s^3 + 5 s^2 + 44 s + 40

d)
Transfer function:
400
------------------------s^3 + 14 s^2 + 80 s + 400

e)
f)
g)
h)

4.05
a)
Transfer function:
1
-------------------------s^3 + 21 s^2 + 120 s + 100

>> step(108*G)

b)
>> C = 108*tf([1 1],[1 0])
Transfer function:
108 s + 108
----------s
>> G
Transfer function:
1
-------------------------s^3 + 21 s^2 + 120 s + 100
>> C*G
Transfer function:
108 s + 108
-----------------------------s^4 + 21 s^3 + 120 s^2 + 100 s
>> sisotool(G*C)

d)
%Calculo do polinmio P(s)%
>> f = conv([1 4],[1 4])
f =
1

16

>> g = [1 16]
g =
1
16
>> f = conv(f , g)
f =
1

24

144

256

>> f = conv(f , g)
f =
1

40

528

2560

4096

56

1168

11008

45056

65536

72

2064

29696

221184

786432

>> f = conv(f , g)
f =
1
>> f = conv(f , g)
f =
1

1048576

%Vetor correspondente aos coeficientes de P(s)%


>> f = conv(f , g)
f =
1

88

3216

62720

696320

4325376

13631488

16777216

%Aps a soluo da Eqauo Diofantina, o controlador desejado encontrado foi o


%seguinte :
>>

C = tf([85609 1863156 11720388

16777216],[1 67 1689 19111 0])

Transfer function:
85609 s^3 + 1.863e006 s^2 + 1.172e007 s + 1.678e007
--------------------------------------------------s^4 + 67 s^3 + 1689 s^2 + 19111 s
% Funo de tranferncia da Planta
>> G = tf([1],[1 21 120 100])
Transfer function:
1
-------------------------s^3 + 21 s^2 + 120 s + 100

%Funo de malha fechada%


>> F = feedback(C*G,1)

Transfer function:
85609 s^3 + 1.863e006 s^2 + 1.172e007 s + 1.678e007
-----------------------------------------------------------------------------------------s^7 + 88 s^6 + 3216 s^5 + 62720 s^4 + 696320 s^3 + 4.325e006 s^2 + 1.363e007 s + 1.678e007

%Polos da funo de malha fechada%


>> pole(F)
ans =
-16.0221
-16.0221
-15.9916
-15.9916
-15.9727
-4.0000
-4.0000

+
+
-

0.0161i
0.0161i
0.0260i
0.0260i