Ingeniería en Control en Tiempo Discreto

José Didier Martínez Martínez

Universidad Aeronáutica en Querétaro

April 24, 2018

elˇ¯7e
 k
G(s) =
s(s + 10)
      
x91 0 1 x1 0
= + u
x92 0 −10 x2 1
 
  x1
y = 1 0 + [0]u
x2

x((k+1)T)=G(T)x(kT)+H(T)u(kT)
G(T)=e AT =L−1 ((sI − A)−1 )
   
1 1
−1 s
− s(s+10) 1 1
(1− e −10t )
L = 10
0 1
− s+10 0 e −10t

RT
H(T)= e At dt
0  1 
10
(T − e −10T )
= 1 −10T
10
(1 − e )

Tomando T=0.1
      
x1 (k + 1) 1 0.06321 x1 (k) 0.00036
= + u(k)
x2 (k + 1) 0 0.3678 x2 (k) 0.0632
  
  x1 (k)
y = 1 0
x2 (k)

F.C.C
T=MW  
0.0632 0.0044
M=
0.3678 0.0232
 
0.3678 1
W=
1 0
 
0.0276 0.0632
T=
0.1585 0.3678

F.C.O
Q=(WN ∗ )−1  
1 1
N=
0 0.0635
 
0 1
Q=
15.8228 −21.6424
 10 + 8s
G(s) =
s 2 + 6s + 8
      
x91 −6 −8 x1 1
= + u
x92 1 0 x2 0
 
  x1
y = 8 10 + [0]u
x2

x((k+1)T)=G(T)x(kT)+H(T)u(kT)
G(T)=e AT =L−1 ((sI − A)−1 )
 
s 8
−1 s(s+8)+8
− s(s+8)+8
L 1 s+8
s(s+8)+8
− s(s+8)+8

RT
H(T)= e At dt
0
Con T=1
      
x1 (k + 1) 0.3106 −0.308 x1 (k) 0.6924
= + u(k)
x2 (k + 1) 0.0545 0.3738 x2 (k) 0.0782
  
  x1 (k)
y = 8 10
x2 (k)

F.C.C
T=MW  
0.6924 0.1909
M=
0.0782 0.0669
 
0.0669 1
W=
1 0
 
0.2373 0.6924
T=
0.0722 0.0782

F.C.O
Q=(WN ∗ )−1  
8 3.0298
N=
10 1.2740
 
0.4974 −0.0966
Q=
−0.3979 0.1773