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Y ( s)
10 s 50
R(s),
s 60s 500
2
b) () =
+50s+55
50
2 +55s+50
10
c) () = 2
+55s+10
d) Ninguna de las anteriores
+5s+50
20
2 +10s+25
10
2 +10s15
50
2 +5s+56
100
s 2s 100
1
b) G( s)
2
s 2s 100
1
c) G( s)
2
s 2s 100
100s
d) G( s)
s 2 2s 100
a) G( s)
12
+1 (+2 )
1
2 +1 +(1 2 )
1
+1 (+2 )
1
1 (+2 )
1 (+2 )
G(s)
+2
1
+2
2
+2
a) k1=0.4578
b) k1=0.4578
c) k1=0.4578
d) k1=1.4578
,
,
,
,
100k1
s 3k2 k1 s 100k1
2
k2=3.5141
k2=2.5141
k2=1.5141
k2=1.5141
G( s)
500
s( s 50)
Gc ( s) K p
Ki
s