1) PRIMER METODO

𝑥̇ = 𝐴𝑥 + 𝐵𝑢

0 1 0 0
𝐴= [0 0 1] B = [1] 𝑆 = −2 ± 4𝑗 𝑆 = −10
−1 −5 −6 1

- Primero paso: comprobar si la matriz es controlable

𝑃𝐶 = [𝐵 𝐴𝐵 𝐴2 𝐵]

0 1 0 0 1
𝐴𝐵 = [ 0 0 1 ] [ 1] = [ 1 ]
−1 −5 −6 1 −11

1
𝐴2 𝐵 = [−11]
60

0 1 1
𝑃𝐶 =[1 1 11] la matriz es controlable
1 −11 60

- Ecuación característica

𝑆 0 0 0 1 0 𝑆 −1 0
[𝑆𝐼 − 𝐴] = [0 𝑆 0] − [ 0 0 1 ] = [0 𝑆 −1 ] = 𝑆 3 + 6𝑆 2 +5S+1
0 0 𝑆 −1 −5 −6 1 5 𝑆+6

𝑎1 = 6 𝑎2 = 5 𝑎3 = 1

𝑆 = −2 ± 4𝑗 𝑆 = −10

(𝑠 + 2 + 4𝑗) (𝑠 + 2 − 4𝑗) (𝑆 + 10) = (𝑆 + 10) (𝑆 2 + 4𝑆 ∓ 20)

(𝑆 + 10) (𝑆 2 + 4𝑆 ∓ 20) = 𝑆 3 + 4𝑆 2 ∓ 20𝑆 + 10𝑆 2 + 40𝑆 + 200

𝑆 3 + 4𝑆 2 ∓ 20𝑆 + 10𝑆 2 + 40𝑆 + 200 = 𝑆 3 + 14𝑆 2 ∓ 60𝑆 + 200

𝛼1 = 14 𝛼2 = 60 𝛼1 = 200
La matriz de transformacion T

T = 𝑀. W

5 6 1
𝑊 = [6 1 0]
1 0 0

0 1 1 5 6 1 7 1 0
𝑇 = [1 1 −11] [6 1 0] = [ 0 7 1]
1 −11 60 1 0 0 −1 −5 1

- La matriz de ganacia

𝑘 = [(𝛼3 − 𝑎3 ) (𝛼2 − 𝑎2 ) (𝛼1 − 𝑎1 ) ]𝑇 −1

𝐾 = [(200 − 1) (60 − 5) (14 − 6) ] 𝑇 −1

𝐾 = [(199) (55) (8) ] 𝑇 −1

𝐾 = [(28.78) (5.51) (2.48) ]

2) SEGUNDO METODO

𝐾 = [𝑘1 𝑘2 𝑘3 ]

[𝑆𝐼 − 𝐴 + 𝐵𝐾] = (𝑆 − 𝑢1 )(𝑆 − 𝑢2 )(𝑆 − 𝑢3 )

𝑆 0 0 0 1 0 0
[0 𝑆 0 ] − [ 0 0 1 ] + [1] [𝑘1 𝑘2 𝑘3 ]
0 0 𝑆 −1 −5 −6 1

𝑆 −1 0 0 0 0 𝑆 −1 0
[0 𝑆 −1 ] + [ 0 0 0]= [ 0 𝑆 −1 ]
1 5 𝑆+6 𝑘1 𝑘2 𝑘3 𝑘1 + 1 𝑘2 + 5 𝑘3 + 𝑆 + 6

=𝑠 3 + (𝑘3 + 6)𝑠 2 + (𝑘2 + 5)𝑠 + 𝑘1 + 1 = 𝑠 3 + 14𝑠 2 + 64

𝑘3 + 6 = 14
𝑘3 = 16 − 6
𝑘3 = 8

𝑘2 + 5 = 60
𝑘2 = 60 − 5
𝑘3 = 55
𝑘1 + 1 = 200
𝑘1 = 200 − 1
𝑘3 = 199

𝑘 = [199 55 9]

Escriba aquí la ecuación.