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Clase 3 - Control en matlab

Clase 3 - Control en matlab

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Published by Eric Mosvel
Clase practica de control en MATLAB
Clase practica de control en MATLAB

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Published by: Eric Mosvel on Oct 09, 2008
Copyright:Attribution Non-commercial

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02/26/2013

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Area de AutomáticaIng. Mecatrónica.Jimmy Tombé Andrade
1
DISEÑO DE OBSERVADORES DEESTADO
Considere el siguiente sistema:
[ ]
=
+
=
212121
011006.20 10
 x x yu x x x x
 
Diseño de un regulador con observador
 a=[0,1;20.6,0]a =0 1.000020.6000 0eig(a)ans =4.5387-4.5387Se observa que el sistema es inestable, sedesea que los polos queden ubicados en
]4.28.1,4.28.1[
ii pd 
+=
 pd=[-1.8+2.4i,-1.8-2.4i]pd =-1.8000 + 2.4000i -1.8000 - 2.4000ib=[0;1]b =01c=[1,0]c =1 0co=ctrb(a,b);ob=obsv(a,c);rank(co)ans =2rank(ob)ans =2El sistema es completamente controlable ycompletamente observable, entonces lospolos se pueden ubicar arbitrariamente encualquier lugar.k=place(a,b,pd)place: ndigits= 15k =29.6000 3.6000po=[-8,-8]po =-8 -8h=acker(a',c',po)h =16.0000 84.6000h=h'
 
 
Area de AutomáticaIng. Mecatrónica.Jimmy Tombé Andrade
2
 h =16.000084.6000reaconobser.
tTo Workspace1yTo Workspaces1Integrator1s1IntegratorKHKControlClockKC1KCKB1KBKA1KA
 
0 1 2 3 4 5 6 7 8 9 10-0.4-0.200.20.40.60.811.2Regulador - observador
Diseño de un seguidor – observador
aa=[a,zeros(2,1);-c,0]aa =0 1.0000 020.6000 0 0-1.0000 0 0ba=[b;0]ba =010pda=[pd,-20]pda =-1.8000 + 2.4000i -1.8000 - 2.4000i -20.0000kt=acker(aa,ba,pda)kt =101.6000 23.6000 -180.0000kp=kt(1:1,1:2)kp =101.6000 23.6000ki=kt(1:1,3:3)ki =-180reapiconobser
 
 
Area de AutomáticaIng. Mecatrónica.Jimmy Tombé Andrade
3
yTo Workspace1tTo Workspace
In1In2Out1
Subsystem1
In1Out1
SubsystemSteps1Integrator2180Gain1KControlClock
 
1Out1s1IntegratorKCKBKA1In1
 
1Out1s1Integrator1KHKC1KB1KA12In2
 
1In1
 
0 1 2 3 4 5 6 7 8 9 1000.20.40.60.811.21.4Seguidor - observador
Diseño de un controlador clásico
d=0d =0[num,den]=ss2tf(a,b,c,d)num =0 0 1den =1.0000 0 -20.6000sysclasico=tf(num,den)Transfer function:1----------s^2 - 20.6syms sControlador=k*((s*eye(2)-a+h*c+b*k)^-1)*hControlador =2368/5*(5*s+18)/(5*s^2+98*s+756)-14436/(5*s^2+98*s+756)+7614/5*(s+16) /(5*s^2+98*s+756)eval(Controlador)ans =(2368*s+42624/5)/(5*s^2+98*s+756)-14436/(5*s^2+98*s+756)+(7614/5*s+121824/5)/(5*s^2+98*s+756)simplify(Controlador)ans =2/5*(9727*s+46134)/(5*s^2+98*s+756)numc=[2*9727,2*46134]

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