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Problema
Caso 1
C2
Modelo
C1
C2
dT i
dt
dT m
dt
UdeC - DIE
Tm Ti
R1
1
1
C R
R
1 1
1 1
e :=
A :=
1
1
1
C R C R C R
2 2
2 1
2 1
1
To Tm
Tm Ti
R2
R1
C1
Ti
Tm
R1
0
1
R2 C2
To
R2
Variables de Estado
x1 = Ti
Valores Propios de A
x2 = Tm
C 2 R 2 2 C C R R 6 C R 2 C + C 2 R 2 + 2 C 2 R R + C 2 R 2
R
+
1
2 2
1 1
1 2 2 2
1 2 2 1
2 2 1
1
1
1
1 2
1 2
R
R
1 2 2
1
eigenvals( A)
1
2
2
2
2
2
2
2
2
C
+
C
R
+
2
R
+
C
1
2 2
1 1
1 2 2 2
1 2 2 1
2 2 1
1
1
1 1 2
1
2
2 C C R
R1
1 2 2
R1
s C1 R1 C2 R2 + s C1 R1 + s C1 R1 R2 + s C2 R2 R1 + R1 + 2 R2
( 0 1 ) ( s identity( 2 ) A)
e s C 1 R 1 + 1
R1
2
s C1 R1 C2 R2 + s C 1 R 1 + s C1 R1 R2 + s C 2 R 2 R 1 + R 1 + 2 R2
1 de 10
Caso 2
Estanque.
UdeC - DIE
Modelo
dh
dt
Variables de Estado
fm + fa kv g h
2
dcs
dt
fm cm fm cs fa cs
x1 = h
x2 = cs
fa
1 h
3 2
a
f m, c m
Modelo Linealizado
kv
1
g
2
a
0
1 1
2
4
ho
2 2
(g ho)
A :=
f
(
)
3
m ao 2
0
2
1
3
h
2 o
1 a2
2
ho
b :=
c
3 so a2
1 h 3
o
y = 2ax
CT
CT
: sensor de
concentracin
x
fs, cs
Valores Propios de A
kv
1
g 2
a
1
2
2
ho
2
( g ho)
eigenvals( A)
2
3 ( f + f ) a
m
ao
3
ho
( 1 0 ) ( s identity( 2 ) A)
b 2
( 0 1 ) ( s identity( 2 ) A)
2 s g h o
(g ho)
h o + kv g a
3
s h o + 3 a fm + 3 a fao
2 de 10
cso a
UdeC - DIE
Problema
Caso 1
Levitador Magntico.
Modelo
Variables de Estado
d
e = L i + R i
dt
x1 = i
x2 = y
R
dy
x3 =
=v
dt
L
i(t)
+
e(t)
-
i
d d x = m g + k
d
i l x + a + k ( l0 x) d x
dt
dt dt
1
Modelo
e
R
d
i = i
L L
dt
0 = g +
d
x =v
dt
2
ki
i
k
d
d
v = g +
+ l0 x v
m l1 x + a
m
m
dt
i0
Polinomio Caractersitco de A
identity( 3 ) A
+
para,
ki
i0
y(t)
+ l0 x0
m l1 x0 + a
m
l1
x(t)
d
Modelo Linealizado
R
0
L
0
0
A :=
Fm0
1 Fm0 1
k
2 m i
m ( l1 x0 + a)
m
0
Fm0 = ki
l1 x0 + a
se define,
Punto de Operacin
e0 R
0 =v
0=
i0
L
L
L
d =0
k=0
R
0
L
0
0
A :=
Fm0
1 Fm0 1
0
2 m i
m ( l1 x0 + a)
m
0
Polinomio Caractersitco de A
Fm0
1
expand
identity( 3 ) A
2
collect ,
R
m l1 m x0 + m a
0
+
L
m
3 de 10
Caso 2
Suspensin Activa.
UdeC - DIE
Modelo
d d
d
d
x1 = k1 x1 x2 l1 d x1 x2 M g + u
dt dt
dt
dt
x1(t)
d d
d
d
x2 = k1 x1 x2 l1 + d x1 x2 m g u k2 x2 l2 yr( t)
dt dt
dt
dt
Variables de Estado
1 = x1
2 = x2
d
x2(t)
k1
k2
3 =
d
x1 = v1
dt
4 =
d
x2 = v2
dt
yr(t)
0
0
1
0
k1
k1
d d
A :=
M
M M
M
k1 k1 k2 d d
m m m m m
Polinomio Caractersitco de A
4
identity( 4 ) A collect , +
M d + d m
M m
k2 M + k1 m + k1 M
M m
k2
d
2
+ k2
+ k1
M m
M m
4 de 10
Caso 3
Criterio de Routh-Hurwitz
n := 2
1 , 1 := 1
1 , 2 := a0
1 , 3 := 0
1 , 4 := 0
1 , 5 := 0
i := 3 .. n + 1 j := 1 .. n
2 , 1 := a1
2 , 2 := 0
2 , 3 := 0
2 , 4 := 0
2 , 5 := 0
i , j :=
submatrix( , 1 , n + 1 , 1 , n ) a1
a
0
n := 3
UdeC - DIE
i1 , 1
a0
1 , 1 := 1
1 , 2 := a1
1 , 3 := 0
1 , 4 := 0
1 , 5 := 0
i := 3 .. n + 1 j := 1 .. n
2 , 1 := a2
2 , 2 := a0
2 , 3 := 0
2 , 4 := 0
2 , 5 := 0
i , j :=
a2
submatrix( , 1 , n + 1 , 1 , n ) a2 a1 a0
a2
a0
n := 4
i 1 , 1 i2 , j+ 1 i 2 , 1 i1 , j+ 1
i 1 , 1 i2 , j+ 1 i 2 , 1 i1 , j+ 1
i1 , 1
a1 0
a0 0
0 0
0 0
1 , 1 := 1
1 , 2 := a2
1 , 3 := a0
1 , 4 := 0
1 , 5 := 0
i := 3 .. n + 1 j := 1 .. n
2 , 1 := a3
2 , 2 := a1
2 , 3 := 0
2 , 4 := 0
2 , 5 := 0
i , j :=
a3
a3 a2 a1
a3
submatrix( , 1 , n + 1 , 1 , n )
a 3 a2 a1 a a a
1
3 0
a3
a3
a3 a2 a1
a0
a2 a 0 0
i 1 , 1 i2 , j+ 1 i 2 , 1 i1 , j+ 1
i1 , 1
a1 0 0
a0 0 0
0 0 0
0 0 0
5 de 10
Ejemplos
DLC( s) := s + 3 s + 5
DLC( s) := s + 2 s + 4 s + 10
5
v := DLC( s) coeffs , s 3
1
polyroots( v) =
10
4
v := DLC( s) coeffs , s
2
1
2.224
polyroots( v) = 0.112 + 2.118i
0.112 2.118i
6 de 10
1.5 1.658i
1.5 + 1.658i
UdeC - DIE
Caso 4
UdeC - DIE
Variables de Estado
x1(t)
1 = x1
d
3 = x1 = v1
dt
2 = x2
DLC( s) := identity( 4) A
d
4 = x2 = v2
dt
n := 4
Routh-Hurwitz
1 , 1 := 1
1 , 2 := a
1 , 3 := a
2 , 1 := a
2 , 2 := a
2 , 3 := 0
0
0
1
0
0
1
0
0
k1
k1
d d
A :=
M
M M
M
k1 k1 k2 d d
m m m m m
k2
k1
M m
d
k2 M m
a := DLC( s) coeffs , k1
k2
k1
m + m + M
d + d
m M
1 , 4 := 0
1 , 5 := 0
i := 3 .. n + 1 j := 1 .. n
2 , 4 := 0
2 , 5 := 0
i , j :=
i 1 , 1 i2 , j+ 1 i 2 , 1 i1 , j+ 1
i1 , 1
d
x2(t)
k1
k2
yr(t)
M d + d m k1 M k2 M k1 m
m M
(
)
submatrix , 1 , n + 1 , 1 , 1 simplify
M2 d k + 2 M d k m + M2 d k + d m2 k 2 k M2 k 2 k 2 M m k 2 M2 k 2 M2 2 k M k m k 2 m2
2
1
1
1
1
2
1
1
2
2
1
1
m M ( M d + d m k1 M k2 M k1 m)
k2
M m
7 de 10
UdeC - DIE
C.I.
y( kT) y( kT T) y( kT 2 T) = 0
y( 0 ) = y0 = 1
y( kT + 2T) y( kT + T) y( KT) = 0
y( T) = yT = 1
x1( kT + T) = y( kT + T) = x2 ( kT)
x2( kT) = y( kT + T)
1 0
1 1
A=
b =
c = (1 0 )
1
x0 =
1
El PolinomioCcaracterstico es,
0 1 z2 z 1
1 1
detz identity( 2 )
1 2 1
5 +
2
0 1
2
eigenvals
1
1 1
1 1 2
2 2 5
1 2 1
5 +
2 1.618
2
=
1 0.618
1 1 2
2 2 5
8 de 10
UdeC - DIE
Problema
s=
s=
z+1
z = k e
z1
j T
z = k ( cos( T) + j sin( T) )
k exp( i T) + 1
s=
k exp( i T) 1
Z( k , ) := k exp( j T)
T := 2
:= 0 , 0.01 .. 2
k0 := 0.5
k ( cos( T) + j sin( T) ) + 1
k ( cos( T) + j sin( T) ) 1
S( k , ) :=
k1 := 1
k 1
2 k cos( T) + 1 + k
+ j
2 k sin( T)
2 k cos( T) + 1 + k
k2 := 1.2
Plano s
Plano z
10
1
5
5
1
10
10
15
9 de 10
Caso I
z + a 1 z + a0 = 0
(s + 1)
(s 1)
s+1
s=
+ a1
+ a0 = 0
s1
DLC( z) := z z 1
z+1
z1
UdeC - DIE
s+1
z=
s1
( 1 + a0 + a1 ) s + ( 2 2 a0 ) s a 1 + 1 + a 0
2
(s 1)
=0
1 + a0 + a 1 > 0
2 2 a0 > 0
a1 + 1 + a0 > 0
1 a0 < a1
a0 < 1
a 1 < 1 + a0
1
v := DLC( z) coeffs , z 1
1
10 de 10
0.618
1.618
polyroots( v) =