Beruflich Dokumente
Kultur Dokumente
Figure 1: Problema 3
controller
(1) (𝑡)
𝑥𝑚 = 𝐴𝑚 𝑥𝑚 (𝑡) + 𝐵𝑚 𝑢𝑚 (𝑡)
𝑦(𝑡) = 𝐶𝑚 𝑥𝑚 (𝑡) + 𝐷𝑚 𝑢𝑚 (𝑡)
Despejamos 𝑦(𝑡)
𝑦(𝑡) = 𝐶𝑚 𝑥𝑚 (𝑡) + 𝐷𝑚 𝐶𝑐 𝑥𝑐 (𝑡) + 𝐷𝑚 𝐷𝑐 [𝑦𝑑 (𝑡) − 𝑦(𝑡)]
𝑦(𝑡) = 𝐶𝑚 𝑥𝑚 (𝑡) + 𝐷𝑚 𝐶𝑐 𝑥𝑐 (𝑡) + 𝐷𝑚 𝐷𝑐 𝑦𝑑 (𝑡) − 𝐷𝑚 𝐷𝑐 𝑦(𝑡)
𝑦(𝑡) + 𝐷𝑚 𝐷𝑐 𝑦(𝑡) = 𝐶𝑚 𝑥𝑚 (𝑡) + 𝐷𝑚 𝐶𝑐 𝑥𝑐 (𝑡) + 𝐷𝑚 𝐷𝑐 𝑦𝑑 (𝑡)
𝑦(𝑡) = (1 + 𝐷𝑚 𝐷𝑐 )−1 [𝐶𝑚 𝑥𝑚 (𝑡) + 𝐷𝑚 𝐶𝑐 𝑥𝑐 (𝑡)] + (1 + 𝐷𝑚 𝐷𝑐 )−1 𝐷𝑚 𝐷𝑐 𝑦𝑑 (𝑡)
𝑦(𝑡) = (1 + 𝐷𝑚 𝐷𝑐 )−1 𝐶𝑚 𝑥𝑚 (𝑡) + (1 + 𝐷𝑚 𝐷𝑐 )−1 𝐷𝑚 𝐶𝑐 𝑥𝑐 (𝑡) + (1 + 𝐷𝑚 𝐷𝑐 )−1 𝐷𝑚 𝐷𝑐 𝑦𝑑 (𝑡)
Simplificando.
(1 ) −1 −1
𝐴 − + 𝐷 𝐷 𝐶𝑚 𝐵𝑚 𝐷𝑐 𝐵𝑚 𝐶𝑐 − (1 + 𝐷𝑚 𝐷𝑐 ) 𝐷𝑚 𝐶𝑐 𝐵𝑚 𝐷𝑐
𝑥 (1) (𝑡) = [ 𝑚 𝑚 𝑐
] 𝑥(𝑡)
−𝐵𝑐 (1 + 𝐷𝑚 𝐷𝑐 )−1 𝐶𝑚 𝐴𝑐 − 𝐵𝑐 (1 + 𝐷𝑚 𝐷𝑐 )−1 𝐷𝑚 𝐶𝑐
𝐵 𝐷 (1 − (1 + 𝐷𝑚 𝐷𝑐 )−1 𝐷𝑚 𝐷𝑐 )
+[ 𝑚 𝑐 ] 𝑦𝑑 (𝑡)
𝐵𝑐 (1 − (1 + 𝐷𝑚 𝐷𝑐 )−1 𝐷𝑚 𝐷𝑐 )
Aircraft
Retroalimentación
𝑥 (1) (𝑡) = 𝐴𝑥(𝑡) + 𝐵𝑦𝑑 (𝑡)
𝑦(𝑡) = 𝐶 𝑥(𝑡) + 𝐷𝑦𝑑 (𝑡)
Hallamos 𝑨𝟏 , 𝑩𝟏 , 𝑪𝟏 , 𝑫𝟏 .
𝐴 0 𝐵
𝒙𝟐 (𝟏) (𝒕) = [ 𝑎 ] 𝑥2 (𝑡) + [ 𝑎 ] 𝑢(𝑡)
𝐵𝐶𝑎 𝐴 𝐵𝐷𝑎
𝐴𝑎 0
𝑨𝟏 = [ ]
𝐵𝐶𝑎 𝐴
𝐵
𝑩𝟏 = [ 𝑎 ]
𝐵𝐷𝑎
𝑪𝟏 = [𝐷𝐶𝑎 𝐶]
𝑫𝟏 = [𝐷𝐷𝑎 ]