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analyses of the step response, ramp response, and impulse response of the second-order
systems are presented. Section 5–4 discusses the transient-response analysis of higher-
order systems. Section 5–5 gives an introduction to the MATLAB approach to the solution
of transient-response problems. Section 5–6 gives an example of a transient-response
problem solved with MATLAB. Section 5–7 presents Routh’s stability criterion. Section
5–8 discusses effects of integral and derivative control actions on system performance.
Finally, Section 5–9 treats steady-state errors in unity-feedback control systems.

5–2 FIRST-ORDER SYSTEMS


Capı́tulo 5: Problema B.5.1
Consider the first-order system shown in Figure 5–1(a). Physically, this system may
represent an RC circuit, thermal system, or the like.A simplified block diagram is shown
in Figure 5–1(b). The input-output relationship is given by
C(s) 1
Matemáticas
R(s)
= y Café
Ts + 1
(5–1)
https://problemasdemateyfisica.wordpress.com
In the following, we shall analyze the system responses to such inputs as the unit-step,
unit-ramp, and unit-impulse functions. The initial conditions are assumed to be zero.
Note that all systems having the same transfer function will exhibit the same output
in response to the same input. For any given physical system, the mathematical response
can be given a physical interpretation.
Un termómetro requiere de un minuto para alcanzar el 98 % del valor final de
Unit-Step Response of First-Order Systems. Since the Laplace transform of
la respuesta a una function
the unit-step entrada escalón.
is 1/s, substituting R(s)=1/s into Equation (5–1), we obtain
1 1
C(s) =
Ts + 1 s
1. Suponiendo queinto
Expanding C(s) el partial
termómetro es un sistema de primer orden, encuentre
fractions gives
la constante de tiempo.
1 T 1 1
C(s) =
- = - (5–2)
s Ts + 1 s s + (1兾T)
2. Si el termómetro se coloca en un baño, cuya temperatura cambia en forma
lineal a una
Taking velocidad
the inverse Laplace 10◦ / min,
detransform ¿qué error
of Equation muestra
(5–2), we obtain el termómetro?
c(t) = 1 - e-t兾T, for t  0 (5–3)
Equation (5–3) states that initially the output c(t) is zero and finally it becomes unity.
One important characteristic of such an exponential response curve c(t) is that at t=T
the value of c(t) is 0.632, or the response c(t) has reached 63.2% of its total change. This
may be easily seen by substituting t=T in c(t).
SOLUCI That is,
ÓN
c(T) = 1 - e-1 = 0.632

R(s) E(s) 1 C(s) R(s) 1 C(s)


+ Ts + 1
– Ts
Figure 5–1
(a) Block diagram of
a first-order system;
(b) simplified block
diagram. (a) (b)

Section 5–2 / First-Order Systems 161


Figura 1: Sistema de primer orden.

1. Recordemos que para un sistema de primer orden (Figura 1), la respuesta ante una
entrada escalón unitario es:

c(t) = 1 − e−t/T , t ≥ 0 (1)

1
donde T es la constante de tiempo. De acuerdo a los datos del problema, cuando
t = 1 min se tiene c = 0.98. Sustituyendo estos datos en la ecuación (1) y despejando
el valor de T , tenemos que la constante de tiempo es:

0.98 = 1 − e−1/T
−1/T
e = 0.02
1
− = ln(0.02)
T
T = 0.2556 min

2. Consideremos la entrada rampa r(t) = 10t, cuya transformada de Laplace es R(s) =


10
, entonces la salida del sistema de la Figura 1 es:
s2
1 K KT K KT
C(s) = 2
= + 2− , K = 10. (2)
Ts + 1 s s + 1/T s s

Aplicando la transformada de Laplace inversa a la ecuación anterior, tenemos que la


salida del sistema es:
c(t) = KT e−t/T + K(t − T ) (3)
Por otro lado, la ecuación de error está dada por ê = r(t) − c(t), y sustituyendo las
funciones y valores correspondientes:

ê = 10T 1 − e−t/T

(4)

Finalmente, el error que muestra el termómetro en estado estacionario es:

lı́m ê = lı́m 10T 1 − e−t/T = 10T = 10(0.2556) = 2.556◦



(5)
t→∞ t→∞

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