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( c s +2)
k
Y (s) s(s+ 1) k (c s+ 2)
= = 2
R (s ) (c s+2) s + ( c k k s +1 ) s+ 2 k k s
1+k s k
s (s+1)
Y (s ) 2k
para c=0 : = 2
R (s ) s + s+2 k k s
Y (s) 2k w n2
= 2 = 2 M p : Sobreelongaciont p=Tiempo pico
R (s) s +s +2 k s + 2 wn s +w n2
(
1 2
)
t p= w n=0.77397 rad / s
M p=e =0.64608 1 2 wn
2
2 k=wn k =0.299515
tiempo de subida :t r =
1
1 wn
2 (
tan 1 ( 1 2
))
=3.84806 s
4
tiempo de asentamiento ( 2 ) :t s= =8 s
wn
2k R (s) s( s+1)
G ( s )= E ( s )= =R (s) 2
s (s +1) 1+ G ( s ) s + s+ 2k
1 s (s +1)
e ss =lim s 2 =0
s0 s s +s +2 k
1 s ( s +1 ) 1
e ss =lim s 2 = =1.66937
s s +s +2 k 2k
2
s0
1 s ( s +1 )
e ss =lim s 3
2 =
s0 s s +s +2 k