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Contenido
y(t)
KG(s
()
()
)
=
() 1 + ()()
H(s
)
Desde el punto de vista del diseo, un simple ajuste de la ganancia
en algunos sistemas mueve los polos en lazo cerrado a las
posiciones deseadas
Condicin de ngulo
Condicin de magnitud
Condicin de magnitud
=1
Condicin de ngulo
= 180 2 + 1 ;
= 0, 1, 2, 3,
Ejemplo
Condicin de magnitud
+1
=
( + 2 + )( + 2 )
=1
Condicin de ngulo
= 180 2 + 1 ; = 0, 1, 2, 3,
Para el ejemplo
+1
=
( + 2 + )( + 2 )
Pole-Zero Map
1.5
Condicin de magnitud
0.84
0.72
0.6
0.46
0.3
0.16
a2
Condicin de ngulo
PP
; = 0, 1, 2, 3,
A3
a1
A1
2.5
0
a3
-0.5 0.98
= 1 2 3 4
= 180 2 + 1
A2
0.5 0.98
Imaginary Axis
1
=
=1
2 3 4
1 0.92
1.5
0.5
A4
a4
-1 0.92
0.84
-1.5
-2.5
0.72
-2
-1.5
0.6
-1
Real Axis
0.46
0.3
-0.5
0.16
0
La ecuacin caracterstica
=
( + 1)
=0
=
=1
=2
= 0.5 + 0.5 1 4
= 1
= 0
= 0.5
= 0.5
= 0.5 0.5 3
= 0.5 + 0.5 3
= 0.5 0.5 7
= 0.5 + 0.5 7
0.56
0.42
0.3
0.2
0.1
1.2
X
1
1
0.84
0.8
0.6
0.5
0.95
0.4
0.2
Imaginary Axis
0
0.2
-0.5
0.4
0.95
0.6
0.8
-1
0.84
1
1.2
0.7
0.56
0.42
0.3
0.2
0.1
-1.5
-1.4
-1.2
-1
-0.8
-0.6
Real Axis
-0.4
-0.2
1.4
0
0.2
Condicin de ngulo
=
Pole-Zero Map
2.5
2.5
0.5
( + 1)
1.5
#$%
2
0.5
0.27
0.19
0.12
0.06
2
0.5
= 104.04 75.96 = 180
#$%
1
0.88
0.5
0.5
0
-0.5
0.5
0.88
-1
-1.5
= 180 2 + 1 ; = 0
1.5
0.68
1
Imaginary Axis
= 180
0.38
1
0.68
1.5
-2
2
0.5
-2.5
-1.4
0.38
-1.2
-1
0.27
-0.8
-0.6
Real Axis
0.19
-0.4
0.12
0.06
-0.2
2.50
0.2
Condicin de magnitud
Para el proceso
=1
=
( + 1)
=
=
( + 1) ()%*.+,-
0.5 + 2(0.5 + 2 + 1)
4.5 + 1
=
=1
4.61
= 4.61
( + 1)
Pole-Zero Map
2.5
2.5
0.5
0.38
0.27
0.19
0.12
0.06
2
2
1.5
=1
1.5
0.68
1
0.88
Imaginary Axis
0.5
0.5
0
-0.5
0.5
0.88
-1
()%*.+,-
-1.5
1
0.68
1.5
-2
2
0.5
-2.5
=1
4.61
-1.4
0.38
-1.2
-1
0.27
-0.8
-0.6
Real Axis
0.19
-0.4
0.12
0.06
-0.2
2.50
0.2
0.38
0.27
0.19
0.12
0.06
2
2
1.5
System: sys
Gain: 4.23
Pole: -0.5 + 2i
Damping: 0.243
Overshoot (%): 45.5
Frequency (rad/sec): 2.06
0.68
1
0.88
Imaginary Axis
0.5
1.5
1
0.5
0
-0.5
0.5
0.88
-1
-1.5
1
0.68
1.5
-2
2
0.5
-2.5
-1.4
0.38
-1.2
-1
0.27
-0.8
-0.6
Real Axis
0.19
-0.4
0.12
0.06
-0.2
2.50
0.2
Ejemplo
1
( + 7)
Ecuacin caracterstica: = 1 +
Polos de lazo abierto
=0
= 7
1
= + 7 + = 0
( + 7)
,
= 3.5 12.25
Funcin de
K
K
0.1
s = 6.98568
s = 0.014314
s = 6.8541
s = 0.1459
10
s = 5
s = 2
s = 3.5
s = 3.5 + j1.5
s = 3.5
s = 3.5 j1.5
12.25
14.5
25
112.25
s = 3.5 j10
K = 112.25
K = 0.1
Polo:
Pole-Zero Map
2
0.76
0.62
0.48
0.36
0.24
0.12
1.5
0.88
1
= 301 + 02
Imaginary Axis
0.5
-0.5
01
0.97
02
1.5
0.5
/01
0.97
-1
0.88
-1.5
0.76
-2
-2.5
0.62
-2
-1.5
0.48
-1
Real Axis
0.36
0.24
-0.5
0.12
0
0.1
( + 7)
Polos de LC
= 0.0143
= 6.9857
= 301 + 02
Step Response
Root Locus
2.5
0.94
0.88
0.8
0.68
0.5
0.25
2
0.975
1.5
0.8
Amplitude
Imaginary Axis
0.994
0.5
1
-0.5
0.6
0.4
0.994
-1
-1.5
0.2
0.975
-2
0.94
-2.5
-7
0.88
-6
-5
0.8
-4
-3
Real Axis
0.68
-2
0.5
0.25
-1
50
100
150
200
250
Time (sec)
300
350
400
450
Polos de LC = 6.8541
1
( + 7)
= 0.1459
Step Response
Root Locus
2
0.96
0.92
0.86
0.76
0.58
0.35
1
1.5
0.984
1
0.8
0.996
Amplitude
Imaginary Axis
0.5
1
0.6
0.4
-0.5
0.996
-1
0.2
0.984
-1.5
0.96
-2
-7
0.92
-6
-5
0.86
-4
-3
Real Axis
0.76
-2
0.58
0.35
-1
10
15
20
25
Time (sec)
30
35
40
45
Polos de LC = 5
10
( + 7)
= 2
Root Locus
Step Response
2.5
0.94
0.88
0.8
0.68
0.5
0.25
1
2
0.975
1.5
0.8
1
0.5
0
Amplitude
Imaginary Axis
0.994
-0.5
0.6
0.4
0.994
-1
-1.5
0.2
0.975
-2
0.94
-2.5
-7
0.88
-6
-5
0.8
-4
-3
Real Axis
0.68
-2
0.5
0.25
-1
0.5
1.5
2
Time (sec)
2.5
3.5
12.25
( + 7)
Polos de LC
Root Locus
Step Response
2.5
0.94
0.88
0.8
0.68
0.5
0.25
1
2
0.975
1.5
0.8
1
0.5
0
Amplitude
Imaginary Axis
0.994
-0.5
0.6
0.4
0.994
-1
-1.5
0.2
0.975
-2
0.94
-2.5
-7
0.88
-6
-5
0.8
-4
-3
Real Axis
0.68
-2
0.5
0.25
-1
0.5
1.5
Time (sec)
2.5
3.5
25
( + 7)
Root Locus
2.5
0.94
0.88
0.8
0.68
0.5
0.25
0.975
1.5
1
0.8
0.5
0
Amplitude
Imaginary Axis
0.994
0.6
-0.5
0.994
0.4
0.975
0.2
-1
-1.5
-2
0.94
-2.5
-7
0.88
-6
-5
0.8
-4
-3
Real Axis
0.68
-2
0.5
0.25
-1
0
0
0.2
0.4
0.6
0.8
1
Time (sec)
1.2
1.4
1.6
1.8
112.25
( + 7)
= 3.5 10
Step Response
Root Locus
2.5
0.94
0.88
0.8
0.68
0.5
0.25
1.2
0.975
1.5
1
0.5
0
Amplitude
Imaginary Axis
0.994
-0.5
0.8
0.6
0.994
-1
0.4
-1.5
0.975
0.2
-2
0.94
-2.5
-7
0.88
-6
-5
0.8
-4
-3
Real Axis
0.68
-2
0.5
0.25
-1
0.2
0.4
0.6
0.8
1
Time (sec)
1.2
1.4
1.6
1.8
0.999
0.998
0.995
0.988
0.95
0.15 1
0.1
1
0.05
Imaginary Axis
Variando el valor de la
ganancia K, se tiene
acceso a diferentes
valores de polos de
lazo cerrado
0.999
7
0
-0.05
1
-0.1
-0.15 1
0.999
-0.2
-7
-6
0.999
-5
-4
0.998
-3
Real Axis
0.995
-2
0.988
-1
0.95
0
Reglas
Ubicar polos y ceros de lazo abierto en el plano complejo
Determinar que lugares del eje real pertenecen al LGR
Determinar las asntotas del LGR y el punto de cruce de estas
sobre el eje real
Determinar los ngulos de partida y llegada de los polos y ceros
Determinar puntos de ruptura o mltiples
Determinar si el LGR cruza el eje imaginario y en que punto
Graficar el LGR con los datos obtenidos en pasos anteriores
Ubicar polos de lazo cerrado en el LGR y determinar el valor de
K correspondiente
Ejemplo
( + 6 + 25)
1.
Polos:
$=3
=0
= 3 4
6 = 3 + 4
Polos $ = 3
Pole-Zero Map
0.52
4 0.66
0.4
0.28
0.18
0.09
4
3.5
3
2.5
0.82
= 3 4
=0
1.5
Imaginary Axis
0.94
1
0.5
0
0.5
-1
0.94
1.5
-2
6 = 3 + 4
0.82
2.5
-3
3
3.5
-4 0.66
-3.5
0.52
-3
-2.5
0.4
-2
0.28
-1.5
0.18
-1
Real Axis
0.09
-0.5
4
4.50
0.5
Condicin de ngulo
al PP1
0.52
0.4
0.28
0.18
0.09
0.66
4
3.5
1
2.5
0.82
1.5
= (1 2) 3
= 360 0 = 360
180 2 + 1
Imaginary Axis
= 180 2 + 1
0.94
771
0.5
0
3
0.5
-1
0.94
1.5
-2
0.82
2.5
-3
2
-4
-3.5
3.5
0.66
0.52
-3
-2.5
0.4
-2
0.28
-1.5
0.18
-1
Real Axis
0.09
-0.5
4
4.50
0.5
= 180 2 + 1
0.52
0.4
0.28
0.18
4.5
0.09
0.66
4
3.5
1
2.5
0.82
1.5
1
772
1
Imaginary Axis
= 1 2 3
= 360 180 = 540
= 180 2 + 1
0.94
0.5
3
0
0.5
-1
0.94
1.5
-2
0.82
2.5
-3
2
-4
-3.5
3.5
0.66
0.52
-3
-2.5
0.4
-2
0.28
-1.5
0.18
-1
Real Axis
0.09
-0.5
4
4.50
0.5
0.52
0.4
0.28
0.18
4.5
0.09
0.66
4
3.5
3
2.5
0.82
1.5
0.94
1
Imaginary Axis
Pole-Zero Map
0.5
0
0.5
-1
0.94
1.5
-2
0.82
2.5
-3
-4
-3.5
3
3.5
0.66
0.52
-3
-2.5
0.4
-2
0.28
-1.5
0.18
-1
Real Axis
0.09
-0.5
4
4.50
0.5
3.
180(2 + 1)
;
=
$5
180(2 + 1)
=
= 60 2 + 1 ;
30
= 60;
= 180;
=0
=1
= 0, 1, 2,
= 0, 1
<== >?@=
:=
$5
3 + 4 3 4 0
30
6
= = 2
3
0.24
0.17
0.11
0.05
8
8
0.46
4 0.62
2 0.84
Imaginary Axis
:=
0.34
0
-2 0.84
-4 0.62
-6
0.46
-8
-10
8
0.24
0.34
-3
0.17
-2
0.11
0.05
100
-1
Real Axis
La ecuacin caracterstica
6 + 6 + 25 + = 0
El punto de ruptura o mltiple se determina a partir de :
A
=0
A
= 6 6 25
A
= 3 12 25 = 0
A
3 + 12 + 25 = 0
De la ecuacin
Obtenemos:
,
3 + 12 + 25 = 0
= 2 + 2.0816
= 2 2.0816
Pole-Zero Map
= 2 2.0816
0.23
0.15
0.07
4
3.5
a1
= 2 + 2.0816
Imaginary Ax is
2
1.5
0.92
= 0, 1, 2, 3,
= 1 2 3
180 2 + 1
0.32
2.5
= 180 2 + 1
( + 6 + 25)
0.44
a3
0.5
0
0.5
-1
0.92
1.5
-2
2
2.5
-3 0.74
a2
0.58
-3
3.5
0.44
-2.5
-2
0.32
-1.5
Real Axis
0.23
-1
0.15
-0.5
0.07
4
4.50
= 180 2 + 1
0.58
0.44
0.32
0.23
0.15
0.07
PP
+ 6 + 25
= 1 2 3
a1
3 0.74
4
3.5
2.5
2
1.5
= B 90 90 + #$%
B = 216.86 180
3
4
Imaginary Axis
0.92
; = 0
a31
0.5
0
0.5
-1
0.92
1.5
-2
2
2.5
B = 36.86
; = 0
-3 0.74
a2
3
3.5
-4
-3.5
0.58
-3
0.44
-2.5
-2
0.32
-1.5
Real Axis
0.23
-1
0.15
-0.5
0.07
4
4.50
De donde obtenemos
0=0
60 + = 0
0(25 0 ) = 0
0 = 5
= 60 = 150
0.34
0.24
0.17
0.11
0.05
8
8
0.46
4 0.62
2 0.84
Imaginary Axis
0
-2 0.84
-4 0.62
-6
0.46
-8
-10
8
0.24
0.34
-3
0.17
-2
0.11
0.05
100
-1
Real Axis
En matlab
Root Locus
10
0.38
0.28
0.2
0.12
0.06
8
8
0.52
4 0.68
Imaginary Axis
2 0.88
0
-2 0.88
-4 0.68
-6
0.52
-8
-10
-4
8
0.38
0.28
-3
0.2
-2
0.12
-1
0.06
100
Real Axis
Ejemplo
Ejemplo
1.
+2 [ +1
C
+ 4]
Ceros: 5 = 0
Polos:
+ 4]
$=4
=0
= 2
6,! = 1 2
Pole-Zero Map
2.5
Ceros 5 = 0
0.62
0.48
0.36
0.25
0.16
0.08
2
2
0.78
Polos $ = 4
1
0.94
=0
= 2
Imaginary Axis
1.5
1.5
0.5
0.5
0
-0.5
0.5
0.94
-1
6 = 1 + 2
-1.5
1.5
0.78
! = 1 2
-2
2
0.62
-2.5
-2
0.48
-1.5
0.36
-1
Real Axis
0.25
0.16
-0.5
0.08
2.50
Pole-Zero Map
2.5
0.62
0.48
0.25
0.16
0.08
2
+ 4]
0.36
p3
0.78
1.5
1.5
= 180 2 + 1
Imaginary Axis
1
0.94
0.5
0.5
PP1
0
-0.5
p1
p2
0.5
0.94
-1
-1.5
1.5
0.78
-2
p4
0.62
-2.5
No pertenece al LGR
-2
0.48
-1.5
2
0.36
-1
Real Axis
0.25
0.16
-0.5
0.08
2.50
Pole-Zero Map
2.5
0.62
+ 4]
0.48
0.36
0.25
0.16
0.08
2
0.78
p3
1.5
1.5
1
= 180 2 + 1
= <1 <2 <3 <4
= 180 0 360 = 180
= 180 2 + 1
Imaginary Axis
0.94
0.5
0.5
PP2
0
-0.5
p1
p2
0.5
0.94
-1
-1.5
-2
2
0.62
-2.5
Pertenece al LGR
1.5
p4
0.78
-2
0.48
-1.5
0.36
-1
Real Axis
0.25
0.16
-0.5
0.08
2.50
Pole-Zero Map
2.5
0.62
+ 4]
0.48
0.36
0.25
0.16
0.08
2
0.78
p3
1.5
1.5
1
= 180 2 + 1
= <1 <2 <3 <4
= 180 180 360
= 360 360
Imaginary Axis
0.94
0.5
0.5
PP3
0
-0.5
p1
p2
0.5
0.94
-1
-1.5
180 2 + 1
1.5
p4
0.78
-2
2
0.62
-2.5
No pertenece al LGR
-2
0.48
-1.5
0.36
-1
Real Axis
0.25
0.16
-0.5
0.08
2.50
0.48
0.36
0.25
0.16
0.08
2
2
0.78
1.5
1.5
p3
1
0.94
Imaginary Axis
0.5
0.5
0
-0.5
0.5
p1
0.94p2
-1
-1.5
1.5
0.78
-2
p4
0.62
-2.5
-2
0.48
-1.5
0.36
-1
Real Axis
2
0.25
0.16
-0.5
0.08
2.50
3.
180(2 + 1)
=
;
$5
180(2 + 1)
9( =
= 45 2 + 1 ;
40
= 0, 1, 2, 3
= 0, 1, 2,
= 45;
=0
6 = 225;
=2
= 135;
=1
! = 315;
=3
<== >?@=
:=
$5
0.48
0.36
0.25
0.16
0.08
2
2
0.78
p3
1.5
1.5
1
:=
Imaginary Axis
0.94
0 2 1 + 2 1 2
40
4
= = 1
4
0.5
0.5
0
-0.5
p1
p2
0.5
0.94
-1
-1.5
1.5
p4
0.78
-2
2
0.62
-2.5
-2
0.48
-1.5
0.36
-1
Real Axis
0.25
0.16
-0.5
0.08
2.50
+ 4] +
! + 4 6 + 9 + 10 + = 0
La ecuacin caracterstica
El punto de ruptura se determina a partir de:
= ! 4 6 9 10
A
=0
A
A
= 4 6 12 18 10 = 0
A
A partir de la ecuacin
Obtenemos:
De donde:
A
= 4 6 12 18 10 = 0
A
4 6 + 12 + 18 + 10 = 0
= 1
= 1 + 1.2247
6 = 1 1.2247
= 180 2 + 1
2.5
0.62
= 0, 1, 2, 3,
0.48
0.36
0.25
0.16
0.08
2
p3
2
0.78
=0
1.5
= 1 + 1.2247
1.5
1
0.94
Imaginary Axis
= 1 + 1.2247
0
p2
+ 2 [ + 1 + 4]
-0.5
0.94
= <1 <2 <3 <4
-1
1
-1.5
%
= 90 + #$
p4
0.78
1.2247
-2
0.62
0.48
0.36
1.2247
-2.5
%
-2
-1.5
-1
#$
270 90
1
Real Axis
= 180 2 + 1
Pertenecen al lugar de races
0.5
a1
0.5
p1
0.5
1
1.5
2
0.25
0.16
-0.5
0.08
2.50
+2 [ +1
Pole-Zero Map
2.5
0.62
0.48
0.25
0.16
0.08
2
p3
+ 4]
0.36
0.78
1.5
1.5
0.94
Imaginary Axis
= 129.34 50.65 B
90 = 180 + 360
0.5
0.5
0
-0.5
p1
p2
0.5
0.94
-1
B = 90 + 360
= 90 ; = 0
-1.5
1.5
p4
0.78
-2
2
0.62
-2.5
-2
0.48
-1.5
0.36
-1
Real Axis
0.25
0.16
-0.5
0.08
2.50
0.48
0.36
0.25
0.16
0.08
2
p3
0.78
1.5
1.5
1
0.94
Imaginary Axis
0.5
0.5
0
-0.5
p1
p2
0.5
0.94
-1
-1.5
1.5
0.78
p4
-2
0.62
-2.5
-2
0.48
-1.5
0.36
-1
Real Axis
2
0.25
0.16
-0.5
0.08
2.50
100 406 = 0
0! 90 + = 0
De donde obtenemos
0=
104 = 1.5811
0=0
= 90 0! = 16.25
0.48
0.36
0.25
0.16
0.08
2
p3
0.78
1.5
1.5
1
0.94
Imaginary Axis
0.5
0.5
0
-0.5
p1
p2
0.5
0.94
-1
-1.5
1.5
0.78
p4
-2
0.62
-2.5
-2
0.48
-1.5
0.36
-1
Real Axis
2
0.25
0.16
-0.5
0.08
2.50
En matlab
Root Locus
4
0.76
0.64
0.5
0.34
0.16
3 0.86
2
n=[1];
d=[1 4 9 10 0];
rlocus(n,d);
grid
Imaginary Axis
0.94
0.985
4
-1
-2
0.985
0.94
-3 0.86
0.76
-4
-5
0.64
-4
-3
0.5
-2
0.34
0.16
-1
Real Axis
Ejemplo
1.
( + 1)
+ 9
=
Ceros: 5 = 1
= 1
((, )
( G (,H
Polos:
$=3
=0
= 0
6 = 9
Pole-Zero Map
1.5
0.984
0.968
0.94
0.88
0.76
0.5
0.76
0.5
Ceros 5 = 1
1 0.994
= 1
Polos $ = 3
=0
= 0
6 = 9
Imaginary Axis
0.5 0.999
-0.5 0.999
-1 0.994
0.984
-1.5
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
-2
-1
( + 1)
=
+9
0.984
0.968
0.94
0.88
0.76
0.5
1 0.994
= 180 + 360
Imaginary Axis
1.5
p3
z1
8
PP1
p1
p2
-0.5 0.999
-1 0.994
0.984
No pertenece al LGR
-1.5
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
= 180 + 360
= I1 <1 <2 <3
= 0 180 180 0
= 360 180 + 360
0.984
0.968
0.94
0.88
0.76
0.5
PP2
p3
Imaginary Axis
( + 1)
1 0.994
=
+9
Condicin de ngulo al PP2
0.5 0.999
z1
p1
p2
-0.5 0.999
-1 0.994
0.984
-1.5
No pertenece al LGR
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
( + 1)
=
+9
0.968
0.94
0.88
0.76
0.5
1 0.994
= 180 + 360
= I1 <1 <2 <3
= 180 180 180 0
= 180 = 180 + 360
Imaginary Axis
0.984
PP3
p3
8
z1
-0.5 0.999
p1
p2
-1 0.994
0.984
-1.5
Pertenece al LGR
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
Pole-Zero Map
1.5
0.984
0.968
0.94
0.88
0.76
0.5
1 0.994
= 180 + 360
= I1 <1 <2 <3
= 180 180 180 180
= 360 180 + 360
Imaginary Axis
0.5 0.999
PP4 p3
8
z1
-0.5 0.999
p1
p2
-1 0.994
0.984
-1.5
No pertenece al LGR
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
0.968
0.94
0.88
0.76
0.5
1 0.994
0.5 0.999
Imaginary Axis
p3
-0.5 0.999
z1
p1
p2
-1 0.994
0.984
-1.5
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
3.
9(
9(
180(2 + 1)
;
=
$5
180(2 + 1)
=
= 90 2 + 1 ;
2
= 90;
=0
= 270;
=1
= 0, 1
= 0, 1
0.968
0.94
0.88
0.76
0.5
1 0.994
0 + 0 + 9 (1)
:=
31
8
= = 4
2
0.5 0.999
Imaginary Axis
<== >?@=
:=
$5
p3
8
z1
-0.5 0.999
p1
p2
-1 0.994
0.984
-1.5
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
=0
A partir de la ecuacin
A
3 + 18 + 1 1 6 + 9
=
A
( + 1)
Obtenemos:
=0
3 + 18 + 1 1 6 + 9 = 0
2 6 + 12 + 18 = + 6 + 9 = 0
De donde:
=0
= 3
6 = 3
0.968
0.94
0.88
0.76
0.5
1 0.994
=0
0.5 0.999
= 3
6 = 3
Imaginary Axis
p3
8
z1
-0.5 0.999
p1
p2
-1 0.994
0.984
-1.5
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
0.968
0.94
0.88
0.76
0.5
= 180 + 360
1 0.994
( + 1)
+ 9
0.5 0.999
Imaginary Axis
z1
= 2B = 180 + 360
-0.5 0.999
B = 90 180l
-1 0.994
B = 90
PP
p3
0.984
-1.5
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
p1
p2
0.5
-1
= 180 + 360
( + 1)
+9
= 180 B B B
= 180 3B = 180 + 360
0.94
0.88
0.76
0.5
1 0.994
0.5 0.999
Imaginary Axis
0.968
PP
p3
8
z1
-0.5 0.999
p1
p2
B = 120
B =0
B = 120
-1 0.994
0.984
-1.5
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
= 0 + 360
B = 60 120
B = 60
B = 180
0.88
0.76
0.5
0.5 0.999
Imaginary Axis
= 180 B B B =
= 180 3B = 0 + 360
0.94
1 0.994
( + 1)
+9
= I1 <1 <2 <3
0.968
PP
p3
8
z1
-0.5 0.999
p1
p2
-1 0.994
0.984
-1.5
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
0.984
=0
B = 90
= 3
B =0
B = 120
Pole-Zero Map
1.5
Y ngulo de llegada:
0.968
0.94
0.88
0.76
0.5
1 0.994
0.5 0.999
Imaginary Axis
PP
p3
8
z1
-0.5 0.999
p1
p2
= 3
B = 60
B = 180
-1 0.994
0.984
-1.5
-9
-8
0.968
-7
-6
0.94
-5
-4
Real Axis
0.88
-3
0.76
-2
0.5
-1
0( 0 ) = 0
90 = 0
90 + 0( 0 ) = 0
De donde obtenemos
0 =0
=0
0=
Origen
0=
/9
Sin solucin
0.56
0.42
0.3
0.2
0.09
6 0.84
4
0.95
2
Imaginary Axis
PP
p3
8
z1
-2
p1
p2
0.95
-4
-6 0.84
0.7
-8
-9
-8
0.56
-7
-6
0.42
-5
-4
Real Axis
0.3
-3
0.2
-2
0.09
-1
En matlab
Root Locus
8
0.7
0.56
0.42
0.3
0.2
0.09
6 0.84
4
0.95
2
n=[1 1]
d=[1 9 0 0]
rlocus(n,d)
grid
Imaginary Axis
-2
0.95
-4
-6 0.84
0.7
-8
-9
-8
0.56
-7
-6
0.42
-5
-4
Real Axis
0.3
-3
0.2
-2
0.09
-1
Ejemplo
1.
( + 4)
+ 3 ( + 5)( + 2 + 2)
Ceros: 5 = 1
= 4
Polos:
$=5
=0
= 3
6 = 5
! = 1 + j
+ = 1 j
Pole-Zero Map
0.968
Ceros 5 = 1
0.8
= 4
Polos $ = 5
=0
= 3
6 = 5
! = 1 + j
+ = 1 j
0.88
0.8
0.62
0.35
0.986
0.6
0.4 0.997
Imaginary Axis
0.935
0.2
0
-0.2
-0.4 0.997
-0.6
-0.8
0.986
-1
0.968
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
0.35
0.6
= 180 + 360
Imaginary Axis
0.2
0
-0.2
p3
z1
p3
z1
PP1
p2
p1
-0.4 0.997
-0.6
-0.8
0.986
p4
-1
No pertenece al LGR
0.968
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
Pole-Zero Map
( + 4)
1
=
0.8
+ 3 ( + 5)( + 2 + 2)
0.968
0.935
0.88
0.8
0.62
0.35
p5
0.986
0.6
Condicin de ngulo al PP2
= 180 + 360
= I1 <1 <2 <3
<4 <5
= 0 180 0 0
360 = 180
= 180 + 360
Imaginary Axis
0.4 0.997
Pertenece al LGR
0.2
0
-0.2
PP2
p3
5
p3
z1
z1
1
p2
p1
-0.4 0.997
-0.6
-0.8
0.986
p4
-1
0.968
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
=
( + 4)
+ 3 ( + 5)( + 2 + 2)0.8
0.968
0.935
0.88
0.8
0.62
0.35
p5
0.986
0.6
= 180 + 360
= I1 <1 <2 <3
<4 <5
= 0 180 180 0
360 = 0
180 + 360
Imaginary Axis
No pertenece al LGR
0.2
0
-0.2
PP3
p3
5
p3
z1
z1
3
p2
p1
-0.4 0.997
-0.6
-0.8
0.986
p4
-1
0.968
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
( + 4)
1
=
0.986
0.8
+ 3 ( + 5)( + 2 + 2)
0.968
0.935
0.88
0.8
0.62
0.35
p5
0.6
Condicin de ngulo al PP4
= 180 + 360
= I1 <1 <2 <3
<4 <5
= 180 180 180
0 360 = 180
= 180 + 360
Imaginary Axis
0.4 0.997
0.2
0
-0.2
p3
PP4
z1
p3
z1
p2
p1
-0.4 0.997
-0.6
-0.8
0.986
p4
-1
0.968
Pertenece al LGR
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
0.35
0.6
= 180 + 360
= I1 <1 <2 <3
<4 <5
= 180 180 180
180 360 = 0
180 + 360
Imaginary Axis
0.2
PP5
0
-0.2
p3
z1
p3
z1
p2
p1
-0.4 0.997
-0.6
-0.8
0.986
p4
-1
0.968
No pertenece al LGR
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
0.935
0.88
0.8
1
0.8
0.62
0.35
p5
0.986
0.6
0.4 0.997
Imaginary Axis
0.2
PP5
0
-0.2
p3
z1
p3
z1
p2
p1
-0.4 0.997
-0.6
-0.8
0.986
p4
-1
0.968
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
3.
9( =
M*,6N*O
1%P
180 + 360
= 45 + 90;
51
= 45;
=0
= 135;
=1
= 0, 1, 2,
= 0, 1,
6 = 225;
=2
<== >?@=
:=
$5
0.935
0.88
1
0.8
0.8
0.62
0.35
p5
0.986
0.6
< = 10
I = 4
10 (4)
:=
51
6
= = 1.5
4
0.4 0.997
Imaginary Axis
< = 0 + 3 + 5
+ 1 + + 1
0.2
0
-0.2
p3
z1
p3
z1
p2
p1
-0.4 0.997
-0.6
-0.8
0.986
p4
-1
0.968
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
0.935
0.88
1
0.8
: = 1.5
0.8
0.62
0.35
p5
0.986
0.6
Imaginary Axis
0.4 0.997
0.2
0
-0.2
p3
z1
p3
z1
p2
p1
-0.4 0.997
-0.6
-0.8
0.986
p4
-1
0.968
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
A
=0
A
A
A
De donde:
4 + + 50 ! + 226 6 + 442 + 368 + 120 = 0
A partir de la ecuacin
4 + + 50 ! + 226 6 + 442 + 368 + 120 = 0
Obtenemos:
= 4.3439 0.6682
= 2.3775
6 = 0.7174 0.3723
0.935
0.88
1
0.8
0.8
0.62
0.35
p5
0.986
0.6
= 4.3439 0.6682
0.4 0.997
= 2.3775
Imaginary Axis
0.2
0
-0.2
p3
z1
p3
z1
p2
p1
-0.4 0.997
6 = 0.7174 0.3723
-0.6
-0.8
0.986
p4
-1
0.968
-5
-4.5
0.935
-4
-3.5
-3
0.88
-2.5
Real Axis
-2
0.8
0.62
-1.5
-1
0.35
-0.5
De donde obtenemos
0 =0
0 = 3.9515
=0
0 = 1.1318
= 10.6290
0.74
0.46
0.34
0.22
0.1
7
6
5
0.86
3
2
p3
p3
Imaginary Axis
0.96
p5
2
1
p1
p3
z1
-2
z1
p2
0.96
p4
2
3
-4
0.86
5
-6
6
0.74
-8
-8
0.6
-7
-6
0.46
-5
-4
0.34
-3
Real Axis
0.22
-2
0.1
-1
7
80
En matlab
Root Locus
8
0.68
0.8
0.54
0.38
0.18
6
System: sys
Gain: 10.7
Pole: 0.0016 + 1.13i
Damping: -0.00141
Overshoot (%): 100
Frequency (rad/sec): 1.13
0.89
4
0.95
2
Imaginary Axis
n=[1 4]
d=[1 10 33 46 30 0]
rlocus(n,d)
grid
0.986
10
0
-2
0.986
0.95
-4
0.89
-6
0.8
-8
-10
0.68
-8
0.54
-6
0.38
-4
0.18
-2
Real Axis