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Solucin:
La representacin de la funcin de transferencia de este sistema es:
Y (S)
6
6
= 3
=
2
U (S) S +6 S +11 S +6 (S+ 1)( S+2)(S+3)
Y (S)
U (S)
es
Y (S)
3
6
3
=
+
+
U (S) S+1 S+2 S+ 3
Entonces, una forma cannica diagonal del sistema es:
[ ] [ ][ ] [ ]
[ []
X 1
X 2
X 3
1 0
0 X1 1
0 2 0 X 2 + 1 u
0
0 3 X 3 1
X1
y= 3 6 3 X 2
X3
y=Cx
Donde
1 0
1
A= 1 2 0
0
0 3
[]
0
B= 0
1
C=[ 1 1 0 ]
Solucin:
G ( s )=C ( sI A )1 B
s+ 1 0
1
[ 1 1 0 ] 1 s +2 0
0
0
s+3
][]
0
0
1
( s+ 2)( s+3)
0
s+2
s +3
(s +3)
1
0
0
(s+1) 0
1
1
[1 1 0 ]
(s+1)(s+2)(s +3)
[]
s +3
s+ 3
=
(s +1)(s+ 2)( s+ 3) s 3 +6 s 2 +11 s +6
Usando MATLAB:
Editor Script:
Run:
[ ]
0100
A= 0 0 1 0
0001
1000
1 , 2 , 3 y 4
P AP=diag ( 1 , 2 , 3 , 4 )
Solucin:
1=1 , 2 =1, 3 = j , 4 = j
[ ][ ]
1 1 1 1
1 1 1 1
1 2 3 4
P= 2 2 2 2 = 11 j j
1 2 3 4
1 1 1 1
3 3 3 3
11 j j
1 2 3 4
[ ]
1 1 1 1
1 1 1 1 1
P =
4 1 j 1 j
1 j 1 j
1
[ ][ ] [ ]
1 1 1 1
1 1 1 1 1
P AP=
4 1 j 1 j
1 j 1 j
1
0100
0010
0001
1000
1 1 1 1
1 1 j j
1 1 1 1
1 1 j j
[ ]
1 0 0 0
0 1 0 0
0 0 j 0
0 0 0 j
1
A= 0
2 3
Calcule
e At
Solucin:
METODO 1:
At
e =
[ ( SI A ) ]=l
1
2
1
s +1 s+ 2
2
2
+
s+1 s+2
{[
1
1
s+1 s +2
1
2
+
s+1 s +2
2 t
2 t
2e e
e e
t
2 t
t
2t
2 e + 2e
e +2 e
s 1
2 s +3
METODO 2:
e t 0 1
e =P e P =P
P
0 e t
At
Dt
1=1 y 2=2
At
e =
][
2et e2 t
ete2 t
t
2 t
t
2t
2 e + 2e
e +2 e
METODO 3:
| |
1 t
1 1 e
t
1 2 e =0
I A e At
2
][
t
0
1
1 e
2
1
2t
1 2 0 e
1 1
1 1 et
1 2 e2 t =0
I A e At
]}
1
At
2 t
e + ( A+ 2 I ) e e
2 t
I=A e
e At =( A+2 I ) et e2t I e2 t A
] [ ] [
2
1 t 1 0 2t
0
1 2 t
e
e
e
2 1
0 1
2 3
2et e2 t
ete2 t
2 et + 2e2 t et +2 e2t
[ ] [ ][ ]
x1
2 1 0 x1
x2 = 0 2 1 x 2
0 0 2 x3
x3
Solucin:
1=2 , 2=2 , 3 =2
e At =
e2 t t e 2 t
0
0
e2 t
0
1 2 2t
t e
2
t e2 t
e 2t
x ( t )=e At x (0)
[ ][
x 1 (t)
e2 t t e 2 t
x 2 (t) =
0 e2 t
x 3 (t )
0
0
][
1 2 2t
t e x 1 (0)
2
x 2 (0)
t e2 t
x 3 (0)
e 2t
x 1 ( 0 ) , x 2 ( 0 ) y x 3 (0)
[][
][ ] [ ]
x1
6 1 0 x1 2
x2 = 11 0 1 x2 + 6 u
6 0 0 x3 2
x3
y=
[]
x1
[ 1 0 0] x2
x3
[ ] [ ][ ] [ ]
Z 1
0 0 6 Z 1 1
Z 2 = 1 0 11 Z 2 + 0 u
0 1 6 Z 3 0
Z 3
Solucin:
A=
] []
6 1 0
2
11 0 1 , B= 6 ,C=[ 1 0 0 ]
6 0 0
2
Z 1 , Z 2 y Z3
X= Pz
X =Pz=
][ ]
x = Ax+ Bu
y=Cx
z =P1 APz+ P1 Bu
y=CPz
0 0 6
P AP= 1 0 11
0 1 6
1
B= P
[][
[]
][ ] [ ] [ ]
2 P12 P13
P= 6 P22 P23
2 P32 P33
0 0 6
AP =P 1 0 11
0 1 6
1
P B= 0
0
1
][
6 1 0 2
11 0 1 6
6 0 0 2
][
][
P12 P13
2 P12 P13 0 0 6
=
P22 P23 6 P22 P23 1 0 11
P32 P33
2 P32 P33 0 1 6
][
P12=6 ,
P22=20 ,
P33=12
-6
P12 + P22 =
P13
-6
-11
-11
P13+ P33
= -36 -11
P22 -6 P23
6 P12 =P33
-6
2 6 16
P= 6 20 54
2 12 36
P33=36
[]
Z1
y=CPz=[ 2 6 16 ] Z 2
Z3
S +6 1 0
3
2
|SIA|= 11
S 1 =S +6 S +11 S +6
6
0
S
S 3 +a1 S 2+ a2 S+a3
a1=6 , a2=11 , a3 =6
M =[ B
AB
2 6 16
A 2 B ]= 6 20 54
2 12 36
9
3 0.5
M 1= 13.5 5 1.5
4
1.5 0.5
CM=
][
0 0 a 3 0 0 6
AM = 1 0 a 2 = 1 0 11
0 1 a 1 0 1 6
16
[]
1
M 1 B= 0
0
[ 1 0 0 ] 6 20 54 =[ 2 6 16 ]
2 12 36
][ ]
2 6 16 Z 1
x=Mz= 6 20 54 Z 2
2 12 36 Z 3
x = Ax+ Bu
y=Cx
z =M 1 AMz+ M 1 Bu
y=CMx
[ ] [ ][ ] [ ]
Z 1
0 0 6 Z 1 1
Z 2 = 1 0 11 Z 2 + 0 u
0 1 6 Z 3 0
Z 3
[]
Z1
y=[ 2 6 16 ] Z 2
Z3
Run:
[][
][ ] [ ]
x1 14 56 160 x 1 1
x2 = 1
0
0
x2 + 0 u
0
1
0
x3
x3 0
Y=
[]
x1
[ 10.4 47 160 ] x2 +0u
x3
[][
][ ] [ ]
x1
0
1 0 x1 0
x2 = 1 1 0 x 2 + 1 u
1
0 0 x3 0
x3
[]
x1
y=[ 0 0 1 ] x 2
x3
Solucin:
Usando MATLAB:
Editor Script:
Run:
Y (s)
1
= 3 2
U (s) s + s + s
B.11.12. Obtenga el sistema definido mediante
[ ] [ ][ ] [ ][ ]
[]
x1
2 1 0 x1 0 1
u
x2 = 0 2 0 x2 + 1 0 1
0 1 3 x3 0 1 u 2
x3
x1
y=[ 1 0 0 ] x 2
x3
Solucin:
Usando MATLAB:
Editor Script:
Run:
Y (s)
s3
= 3
U 1(s) s 7 s2 +16 s12
Y (s)
s2 5 s+ 6
= 3
U 2(s) s 7 s2 +16 s12