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2 2 () dy(t)
+ 2 + () = 2 ()
0
2 2 ()
= 2 [ 2 () ()] ()] (1,54)2 [ 2 () 2
dy(t)
2 = 2[Sy(s) ()] 25,63() 2
() = ()
2
2 = =
2 +4 2 + 2
2,8
() =
2 2,8 5,6
= 3
2 +4 + 4
5,6
(2,3716)[ 2 () 2] + 25,63 [() 2] + () =
3 + 4
5,6
2,3716 2 () 4,7432 + 25,63() 51,26 + () =
3 + 4
Sacando factor comn y(s)
5,6
()[2,3716 2 + 25,63 + 1] 4,7432 51,26 =
3 + 4
5,6
()[2,3716 2 + 25,63 + 1] 4,7432 = + 51,26
3 + 4
51,26 3 + 205,04 + 5,6
()[2,3716 2 + 25,63 + 1] 4,7432 =
3 + 4
5,6
()[2,3716 2 + 25,63 + 1] = + 4,7432
3 + 4
4,7432 4 + 51,26 3 + 18,9728 2 + 205,04 + 5,6
()[2,3716 2 + 25,63 + 1] =
3 + 4
4,7432 4 + 51,26 3 + 18,9728 2 + 205,04 + 5,6
() =
3 + 4 [2,3716 2 + 25,63 + 1]
Funcin de transferencia
T.I
Numerador 4,7432 51,26 18,9728 205,04 5,6
Denominador 1 0 1 0 4 0
Denominador 2 0 0 2,3716 25,63 1
Rampa
5,6
(2,3716)[ 2 () 2] + 25,63 [() 2] + () =
4 + 4 2
5,6
2,3716 2 () 4,7432 + 25,63() 51,26 + () =
4 + 4 2
Sacando factor comn y(s)
5,6
()[2,3716 2 + 25,63 + 1] 4,7432 51,26 =
4 + 4 2
5,6
()[2,3716 2 + 25,63 + 1] 4,7432 = + 51,26
4 + 4 2
51,26 4 + 205,04 2 + 5,6
()[2,3716 2 + 25,63 + 1] 4,7432 =
4 + 4 2
51,26 4 + 205,04 2 + 5,6
()[2,3716 2 + 25,63 + 1] = + 4,7432
4 + 4 2
4,7432 5 + 51,26 4 + 18,9728 3 + 205,04 2 + 5,6
()[2,3716 2 + 25,63 + 1] =
4 + 4 2
4,7432 5 + 51,26 4 + 18,9728 3 + 205,04 2 + 5,6
() =
4 + 4 2 [2,3716 2 + 25,63 + 1]
Funcin de transferencia
T.I
Numerador 4,7432 51,26 18,9728 205,04 0 5,6
Denominador 1 0 1 0 4 0 0
Denominador 2 0 0 0 2,3716 25,63 1
Impulso
() = 1 2 2
1= 2
2 +4 +4
2
(2,3716)[ 2 () 2] + 25,63 [() 2] + () =
2 + 4
2
2,3716 2 () 4,7432 + 25,63() 51,26 + () =
2 +4
Sacando factor comn y(s):
2
()[2,3716 2 + 25,63 + 1] 4,7432 51,26 =
2 +4
2
()[2,3716 2 + 25,63 + 1] 4,7432 = + 51,26
2 +4
51,26 2 + 205,04 + 2
()[2,3716 2 + 25,63 + 1] 4,7432 =
4 + 4
51,26 2 + 205,04 + 2
()[2,3716 2 + 25,63 + 1] = + 4,7432
4 + 4
4,7432 3 +51,262 +18,9728+207,04
()[2,3716 2 + 25,63 + 1] = 2 +4
Funcin de transferencia
T.I
Numerador 4,7432 51,26 18,9728 207,04
Denominador 1 0 1 0 4
Denominador 2 0 2,3716 25,63 1
-Con las respuestas del dominio del tiempo determinadas para cada una de las perturbaciones se
establece un rango de operacin para determinar la grfica del proceso y se compara con los
obtenidos por Matlab
-Escaln -Impulso
12000000
10000000
Amplitud
8000000
6000000
Escalon
4000000
2000000
0
0 100 200 300 400 500
Tiempo (seg)
Rampa
0
0 100 200 300 400 500 600
-1E+09
-2E+09
-3E+09
-4E+09
-5E+09
-6E+09
4.5
3.5
2.5
1.5
0.5
0
0 100 200 300 400 500 600
T y(t)
20 -16,9128788 () = 1,4 + 0,0007 + 0,0132 2 + 0,0022 2 15,3780 0,0392
40 -56,9895209 + 15,3780
60 -144,781738
80 -337,107599
100 -758,270988
120 -1680,76331
140 -3701,22052
160 -8126,40366
180 -17818,5806
200 -39046,4963
220 -85540,193
240 -187371,477
260 -410403,88
280 -898892,961
300 -1968789,41
320 -4312093,28
340 -9444434,08
360 -20685367,1
380 -45305434,3
400 -99228690,3
420 -217332248
440 -476004507
460 -1042552532
480 -2283414870
500 -5001170956