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d2 y(t)
= Mg
dt2
e(t) = Ri(t) + L
i2 (t)
y(t)
di(t)
dt
(1)
(2)
en donde:
?
?
?
?
?
?
?
f2 [x(t); e(t)]
d
x1 (t) = x2 (t)
dt
d
x2 (t) = g
dt
d
x3 (t) =
dt
1 x23 (t)
M x1 (t)
R
1
x3 (t) + e(t)
L
L
(3)
(4)
(5)
d
d
y0 (t) = x1 (t) = 0
dt
dt
d
d d
x2 (t) =
y0 (t) = 0
dt
dt dt
1
(6)
Para conocer x3 (t) (variable de estado x3 (t) en el punto de equilibrio) sustituimos la ecuacion 6 en la ecuacin 1 y despejamos el valor del punto de equilibrio
de i(t), entonces:
1 i20 (t)
M y0 (t)
0=g
=)
i0 (t) =
p
p
M gy0 (t) = M gx1
p
M gx1
(7)
= y0 (t) = cte
d
x1 (t) = 0
x2 (t) =
dt
p
x3 (t) =
M gx1
(8)
(9)
(10)
x_ i (t)
= fi (x0 ; r0 ) +
n
X
@fi (x; r)
j=1
en donde i =
(xj
@xj
x0j ) +
p
X
@fi (x; r)
x0 ;r0
(rj
@rj
j=1
x0 ;r0
1; 2; :::; nj
(11)
Analizando las ecuaciones del libro Kuo 7a edicin, pagina 185 ecuaciones
4-127, 4-128, 4-129, 4-130, 4-131 la ecuacin 11 se puede escribir asi:
x_ i (t) =
n
X
@fi (x; r)
j=1
r0j )
x_ j +
@xj
p
X
@fi (x; r)
j=1
x0 ;r0
rj
@rj
x0 ;r0
(12)
(13)
dx1 (t)
dt
dx2 (t)
dt
dx3 (t)
dt
=
=
=
@f1 (t)
x1 (t) +
@x1 (t)
@f2 (t)
x1 (t) +
@x1 (t)
@f3 (t)
x1 (t) +
@x1 (t)
@f1 (t)
x2 (t) +
@x2 (t)
@f2 (t)
x2 (t) +
@x2 (t)
@f3 (t)
x2 (t) +
@x2 (t)
@f1 (t)
x3 (t) +
@x3 (t)
@f2 (t)
x3 (t) +
@x3 (t)
@f3 (t)
x3 (t) +
@x3 (t)
@f1 (t)
e(t)
@e(t)
@f2 (t)
e(t)
@e(t)
@f3 (t)
e(t)
@e(t)
Entonces:
dx1 (t)
dt
dx2 (t)
dt
dx3 (t)
dt
= x2 (t)
=
=
(14)
x23 (t)
x3 (t)
x1 (t) 2
x3 (t)
M x21 (t)
M x1 (t)
R
1
x3 (t) + e(t)
L
L
(15)
(16)
32
3 2
3
0
x1 (t)
q0
7
2 Mgx1 5 4 x2 (t) 5 + 4 0 5 e(t) (17)
1
R
x3 (t)
L
L
3
q0
7
2 Mgx1 5
R
L
1
L
= L
(sI
A)
(18)
6
y como sabemos que A = 4
3
q0
7
2 Mgx1 5 sustituimos en la ecuacin
1
0
g
x1
R
0 0
L
anterior y evaluamos usando el programa Scientic WordPlace, entonces:
20
31 1 3
2
3 2 0 1
0
s
0
0
q
6B
7C 7
g
4
5 6
2 Mgx1 5A 7
eAt = L 1 6
(19)
4 x1 0
4@ 0 s 0
5
R
0 0 s
0 0
L
eAt
6
6
6
6
6
=6
6
6
6
4
cosh t
g
x1
g
x1
q
sinh t xg
1
q
g
x1
q
sinh t xg
1
q
g
x1
cosh t
g
x1
2Lx1
1 g
1
M x1 L
1
Rg Ls3 x1 s2 x1 R+Lsg
2Lx1
1 g
1
M x1 L
s
Rg Ls3 x1 s2 x1 R+Lsg
3
7
7
7
7
7
7
7
7
7
5
1
L Rt
Simplicamos:
2
eAt
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
=6
6
6
6
6
6
6
6
6
6
6
6
6
6
4
1
2
q
t xg
q
t xg
1
2
+e
g
x1
q
t xg
q
t xg
q
t xg
1
2
q
t xg
x1
g
1
2
+e
q
t xg
q
t xg
8
>
>
>
>
>
<
>
>
>
>
>
:
8
>
>
>
>
>
<
>
>
>
>
>
:
(L2 g
R
2
L
2
g
x1
q
it
g
x1
+Le
1
L Rt
q
it
+e
q
g
x1
g
x1
g
2L q
M x1
(L2 g R2 x1 ) xg
1 q
q
t xg
t xg
Lg
1
1
e
e
2
q
q
q
g
it
it
g
Rx1
x1
e
+
e
2
x1
+Rx1 e
e
(20)
g
2Lx1 q
M x1
R2 x1 ) xg
1 q
q
t xg
t xg
1
L Rt
1
L Rt
g
x1
g
x1
9
>
>
>
>
>
=
>
>
>
>
>
;
9
>
>
>
>
>
=
>
>
>
>
>
;
3
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
5
At
x(t) = e
x(0) +
Zt
eA(t
Bu( )d
(21)
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
=6
6
6
6
6
6
6
6
6
6
6
6
6
6
4
0
@
0
@
1
2
q
t xg
+e
1
2
q
t xg
g
x1
q
t xg
q
t xg
1
A
1
A
0
@
0
@
1
2
x1
g
q
t xg
q
t xg
1
2
q
t xg
+e
q
t xg
8
>
>
>
>
>
<
1
A
>
>
>
>
>
:
8
>
>
>
>
>
<
1
A
>
>
>
>
>
:
Rt
Para evaluar la respuesta forzada= eA(t
g
2Lx1 q
M x1
(L2 g R2 x1 ) xg
1
q
q
t xg
t xg
R
1
1
e
e
2
q
q
q
g
it
it
g
L
x1
e
+
e
2
x1
+Le
1
L Rt
g
x1
g
2L q
M x1
(L2 g R2 x1 ) xg
1
q
q
t xg
t xg
Lg
1
1
e
e
2
q
q
q
g
it
it
g
Rx1
x1
e
+
e
2
x1
+Rx1 e
e
1
L Rt
1
L Rt
g
x1
g
x1
g
x1
9
>
>
>
>
>
=
>
>
>
>
>
;
9
>
>
>
>
>
=
>
>
>
>
>
;
7
7
7
7
7
7
7
7
7
7
7
72
3
7
7 x1 (0)
74
7 x2 (0) 5
7
7 x3 (0)
7
7
7
7
7
7
7
7
7
7
7
5
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
t
Z 6
6
6
6
6
0 6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
4
2
0
@
0
@
(t
(t
+e
1
2
(t
1
2q
) xg
)
(t
g
x1
q
)
g
x1
g
x1
g
x1
1
A
1
A
0
@
0
@
1
2
(t
(t
(t
+e
x1
g
q
)
g
x1
1
2q
) xg
g
x1
(t
3
0
4 0 5 u( )d
g
x1
1
A
1
A
8
>
>
>
>
>
>
>
>
>
<
>
>
>
>
>
>
>
>
>
:
8
>
>
>
>
>
>
>
>
>
<
>
>
>
>
>
>
>
>
>
:
L
2
g
2Lx1 q
M x1
(L2 g R2 x1 ) xg
1
0
1
q
(t
) xg
1
e
R @
A
q
2
(t
) xg
0e
i(t
9
>
>
>
>
>
>
>
>
=
1 >
x1
@ e
A >
q
>
g
>
i(t
)
>
x1
>
+e
>
>
q
>
1
>
g
R(t
)
;
+Le L
x1
g
x1
g
2L q
M x1
(L2 g R2 x1 ) xg
1
1
0
q
(t
) xg
1
e
Lg @
A
q
2
(t
) xg
0e
i(t
9
>
>
>
>
>
>
>
>
=
1 >
x1
@ e
A >
q
>
g
>
i(t
)
>
x1
>
+e
>
>
q
>
1
>
g
R(t
)
;
+Rx1 e L
x1
Rx1
2
g
x1
1
L Rt
3
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
5
(22)
1
L
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
Rt 6
6
6
0 6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
4
0
@
0
@
(t
(t
+e
1
2
(t
1
2q
) xg
)
(t
g
x1
q
)
g
x1
g
x1
g
x1
1
A
1
A
0
@
0
@
1
2
(t
(t
(t
+e
g
x1
1
2q
) xg
g
x1
(t
x1
g
q
g
x1
1
A
1
A
8
>
>
>
>
>
>
>
>
>
<
>
>
>
>
>
>
>
>
>
:
8
>
>
>
>
>
>
>
>
>
<
>
>
>
>
>
>
>
>
>
:
(L2 g
R
2
L
2
0
@
g
2Lx1 q
M x1
R2 x1 ) xg
1
1
q
(t
) xg
(t
0e
i(t
g
x1
9
>
>
>
>
A
>
>
>
>
>
=
1
g
x1
@ e
A >
q
>
g
>
i(t
)
>
x1
>
+e
>
>
q
>
1
>
g
R(t
)
;
+Le L
x1
g
x1
g
2L q
M x1
(L2 g R2 x1 ) xg
1
0
1
q
(t
) xg
1
e
Lg @
A
q
2
(t
) xg
0e
i(t
9
>
>
>
>
>
>
>
>
=
1 >
x1
@ e
A >
q
>
g
>
i(t
)
>
x1
>
+e
>
>
q
>
1
>
g
R(t
)
;
+Rx1 e L
x1
Rx1
2
g
x1
1
L R(t
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
72
3
7
7 0
74
7 0 5d
7
7 L1
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
5
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
Respuesta forzada = 6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
4
2x1 q
(L2 g R2 x1 ) xg
8
>
>
>
>
>
>
>
<
R
2
L
2
>
>
>
>
>
>
>
:
g
x1
g
x1
ie
q
2
+ LR
Lg
2
Rx1
2
>
>
>
>
>
>
>
:
g
x1
g
x1
q ie
g
x1
it
g
x1
g
x1
g
x1 (1
2L q
(L2 g R2 x1 ) xg
8
>
>
>
>
>
>
>
<
g
M x1
g
x1
it
qe
e ie
q
g
x1
it
g
M x1
g
x1
g
x1
g
x1
q ie
it
g
x1
g
x1 (1
+Lx1
qe
R
Lt
L
R (1
R
Lt
R
Lt
9
>
>
>
>
>
>
=
! >
g
x1
>
>
>
>
>
>
>
;
9
>
>
>
>
>
>
=
! >
>
>
>
>
>
>
>
;
3
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
5
6
6
6
6
6
6
6
6
6
6
6
2
3 6
6
x1 (t)
6
4 x2 (t) 5 = 6
6
6
x3 (t)
6
6
6
6
6
6
6
6
6
6
6
6
4
8
>
>
>
>
>
>
>
<
>
>
>
>
>
>
>
:
8
>
>
>
>
>
>
>
<
>
>
>
>
>
>
>
:
2x1 q
R2 x1 ) xg
(L2 g
R
2
L
2
g
x1
g
x1
ie
q
2
+ LR
q ie
Rx1
2
g
x1
it
g
x1
g
x1
g
x1 (1
g
x1
g
x1
2L q
(L2 g R2 x1 ) xg
Lg
2
g
M x1
g
x1
it
qe
e ie
q
+Lx1
qe
it
e L t)
q
g
x1
g
M x1
g
x1
g
x1
g
x1
q ie
it
g
x1
g
x1 (1
L
R (1
9
>
>
>
>
>
>
=
! >
R
Lt
R
Lt
g
x1
>
>
>
>
>
>
>
;
9
>
>
>
>
>
>
=
! >
>
>
>
>
>
>
>
;
3
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
5
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
+6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
4
0
@
0
@
1
2
q
t xg
+e
q
t xg
g
x1
q
t xg
1
2
q
t xg
1
A
1
A
0
@
0
@
1
2
x1
g
q
t xg
q
t xg
1
2
q
t xg
+e
q
t xg
1
A
1
A
8
>
>
>
>
>
>
>
>
>
<
>
>
>
>
>
>
>
>
>
:
8
>
>
>
>
>
>
>
>
>
<
>
>
>
>
>
>
>
>
>
:
(L2 g
R
2
L
2
2Lx1 q
g
R2 x )
0 1 qxg1
t x
g
x1
q
t xg
0e
q
it
1
L Rt
9
>
>
>
>
A
>
>
>
>
>
=
1
g
1
x1
@ e q
it
+e q
+Le
g
M x1
g
x1
g
x1
2L q
(L2 g R2 x1 ) xg
0
q 1
t xg
e q1
Lg @
2
t xg
Rx1
2
g
x1
0e
q
it
@ e q
it
+e q
+Rx1 e
e
1
L Rt
1
L Rt
A >
>
>
>
>
>
>
>
>
;
g
M x1
9
>
>
>
>
A
>
>
>
>
>
=
1
g
1
x1
g
x1
g
x1
A >
>
>
>
>
>
>
>
>
;
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
72
3
7
7 x1 (0)
74
7 x2 (0) 5
7
7 x3 (0)
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
5