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13 AlocacaoDePolos PDF
13 AlocacaoDePolos PDF
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 )
α1 = [a1 − q1 + b1 p0 − 1]
α2 = [a2 + q1 + b1 p1 + b2 p0 − a1 (q1 + 1)]
α3 = [b1 p2 + a1 q1 + b2 p1 − a2 (q1 + 1)]
α4 = [a2 q1 + b2 p2 ]
b1 0 0 −1 p0 α1 + 1 − a1
b2 b1 0 (1 − a1 ) p1 α2 + a1 − a2
0 b2 b1 (a1 − a2 ) p2
= (3)
α3 + a2
0 0 b2 a2 q1 α4
4
ts = = 2 → ωn = 4 (5)
ζωn
p
ωd = 4 1 − 0.52 = 3.46 (6)
2π 2π
ωs = = = 31.4 ≈ 9ωd (7)
T 0.2
p
s = −ζωn ± jωn 1 − ζ 2 = −2 ± j3.46 (8)
5
G(s) = (11)
s2 +s+5
b1 0 0 −1 p0 α1 + 1 − a1
b2 b1 0 (1 − a1 ) p1 α2 + a1 − a2
=
0 b2 b1 (a1 − a2 ) p2 α3 + a2
0 0 b2 a2 q1 α4
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
−1.5
−2
−6 −5 −4 −3 −2 −1 0 1
Real Axis
Root Locus
1
0.5π/T
0.6π/T 0.4π/T
0.2
0.3
0.6
0.8π/T 0.2π/T
0.4
0.5
0.4 0.6
0.7
0.9π/T 0.1π/T
0.8
0.2
0.9
Imaginary Axis
1π/T
0
1π/T
−0.2
0.9π/T 0.1π/T
−0.4
0.8π/T 0.2π/T
−0.6
0.6π/T 0.4π/T
0.5π/T
−1
−4 −3 −2 −1 0 1 2
Real Axis