Table of Contents

....................................................................................................................................... 1
RESPUESTA TRANSITORIA .............................................................................................. 1
RESPUESTA EN ESTADO ESTABLE ................................................................................. 4
Error de posiscin .............................................................................................................. 4
Error de velocidad .............................................................................................................. 5
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%
CONTROL AUTOMTICO
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RESPUESTA TRANSITORIA
s = tf('s')
g = 1/(s+1);
G1 = feedback(g,2)
G2 = 9*G1*(1/s)
T = feedback(G2,1)
step(T)
figure
impulse(T)
figure
t = 0:10;
u = t;
lsim(T,u,t)
subplot(1,3,1),step(T)
subplot(1,3,2),impulse(T)
subplot(1,3,3),lsim(T,u,t)
stepinfo(T)

s =
s
Continuous-time transfer function.

G1 =
1
----s + 3
Continuous-time transfer function.

G2 =
9

--------s^2 + 3 s
Continuous-time transfer function.

T =
9
------------s^2 + 3 s + 9
Continuous-time transfer function.

ans =
RiseTime:
SettlingTime:
SettlingMin:
SettlingMax:
Overshoot:
Undershoot:
Peak:
PeakTime:

0.5467
2.6921
0.9289
1.1629
16.2874
0
1.1629
1.2240

RESPUESTA EN ESTADO ESTABLE

Tipo del sistema
a = pole(G2)
% El tipo del sistema es UNO

a =
0
-3

Error de posiscin
[y,t] = step(T);
u = ones(size(T));
ep = u-y;
plot(t,ep),title('Error de posicion')
grid on
syms x
kp=limit(9/(x*(x+3)),x,0,'right')
Ep = 1/(a+kp)

kp =
Inf
Warning: System is rank deficient. Solution is not unique.
Ep =
[ 0, 0]

Error de velocidad
t=0:10;
u=t;
y=lsim(T,u,t)
Ev=u-y';
plot(t,Ev),title('Error de velocidad')
grid on
syms x
Kv = limit(x*9/(x*(x+3)),x,0)
Ev=1/Kv

y =
0
0.5808
1.6829
2.6648
3.6666
4.6668
5.6666
6.6667
7.6667
8.6667
9.6667

Kv =
3

Ev =
1/3

Published with MATLAB 7.14