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Espectro de
un Proceso Estocstico Estacionario...............................................
................................. 7 }\par\pard\li1013\ri0\sl-240\slmult0 \fs20\c
f0\f1\charscalex100 { Transformacin del espectro introducida por un Sistema Lin
eal.......................................................... 8 }\par\pard\li613
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rscalex100\b {2. Mtodos de Identificacin No Paramtrica.............................
................................................................ 9 }\b0 \par\par
d\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {
2.1 Anlisis espectral
................................................................................
.................................................. 9 }\par\pard\li1160\ri0\sl-24
0\slmult0 \fs22\cf0\f0\charscalex100\i {Aplicacin en Matlab}\i0 { }\fs22\cf0\f1\c
harscalex100 {..................................................................
......................................................... 10 }\par\pard\li613\ri
0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
2.3 Anlisis por Correlacin (estim
acin de la respuesta impulsiva)..................................................
...... 10 }\par\pard\li1160\ri0\sl-240\slmult0 \fs22\cf0\f0\charscalex100\i {Apl
icacin en Matlab}\i0 { }\fs22\cf0\f1\charscalex100 {.............................
................................................................................
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i0\sl-266\slmult0 \fs22\cf0\f0\charscalex100\b {3. Prediccin ....................
................................................................................
............................................ 13 }\b0 \par\pard\li613\ri0\sl-240\
slmult0 \fs22\cf0\f1\charscalex100 {
Invertibilidad del Modelo de Ruido
...............................................................................
....................... 13 }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\char
scalex100 {
Prediccin de v .............................................
................................................................................
....... 13 }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {
Prediccin de y .............................................................
....................................................................... 14 }\par
\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs22
\cf0\f0\charscalex100\b {4. Modelos Paramtricos de Sistemas Lineales Invariantes
en el Tiempo ........................................... 15 }\b0 \par\pard\li613
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4.1 Modelos lineales y sets
de modelos lineales ............................................................
.......................... 15 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\c
harscalex100 {
4.2 Familias de modelos de funciones de transferencia ........
................................................................... 16 }\par\par
d\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {
Estructura ARX.
................................................................................
................................................... 16 }\par\pard\li613\ri0\sl-2
40\slmult0 \fs22\cf0\f1\charscalex100 {
Estructura ARMAX ..............
................................................................................
................................ 17 }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf
0\f1\charscalex100 {
Estructura ARARX..................................
................................................................................
............. 18 }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100
{
Estructura ARARMAX ..................................................
....................................................................... 18 }\par
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Estructura
de Error de Salida .............................................................
................................................. 18 }\par\pard\li613\ri0\sl-240
\slmult0 \fs22\cf0\f1\charscalex100 {
Estructura Box-Jenkins ..........
................................................................................
............................. 19 }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f
1\charscalex100 {
Familia General de Estructuras.......................
................................................................................
.... 20 }\par\pard\li1160\ri0\sl-240\slmult0 \fs22\cf0\f0\charscalex100\i {Aplic

acin en Matlab}\i0 { }\fs22\cf0\f1\charscalex100 {...............................


................................................................................
............ 20 }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0
\sl-253\slmult0 \fs22\cf0\f0\charscalex100\b {5. Seleccin de Estructura y Validac
in del Modelo ...................................................................
............ 21 }\b0 \par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex1
00 {
5.1 Aspectos generales en la eleccin de una estructura modelo............
................................................ 21 }\par\pard\li613\ri0\sl-240\
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Calidad del Modelo................
................................................................................
.............................. 21 }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\
f1\charscalex100 {
Precio del Modelo...................................
................................................................................
............. 22 }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100
{
Consideraciones generales............................................
..................................................................... 22 }\par\p
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5.2 Consideraciones
a priori.......................................................................
............................................... 22 }\par\pard\li1160\ri0\sl-240\
slmult0 \fs22\cf0\f0\charscalex100\i {Tipo}\i0 \fs22\cf0\f1\charscalex100 { del
Modelo .........................................................................
.......................................................... 22 }\par\pard\li1160\
ri0\sl-240\slmult0 \fs22\cf0\f0\charscalex100\i {Orden}\i0 \fs22\cf0\f1\charscal
ex100 { del Modelo .............................................................
................................................................... 23 }\par\par
d\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
5.3 Seleccin de Estruc
tura basada en anlisis preliminares de los datos ................................
.............. 23 }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100
{
Estimacin del Tipo del modelo .......................................
................................................................... 23 }\par\par
d\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {
Estimacin del Or
den del modelo .................................................................
...................................... 23 }\par\pard\li613\ri0\sl-253\slmult0 \f
s22\cf0\f1\charscalex100 {
5.4 Comparacin de estructuras modelo ..............
................................................................................
.... 25 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
Comparacin de modelos utilizando sets de datos frescos (Validacin Cruzada) .....
........................ 25 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\cha
rscalex100 {
Comparacin de modelos con sets de datos de \uc1\u8220XSegun
da mano\uc1\u8221X ..................................................... 25 }\pa
r\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {
5.5 Validacin del
modelo ........................................................................
................................................. 26 }\par\pard\li613\ri0\sl-240
\slmult0 \fs20\cf0\f1\charscalex100 {
Validacin del modelo con respecto
al propsito del modelado ........................................................
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Viabilidad de
los Parmetros Fsicos .............................................................
..................................... 26 }\par\pard\li613\ri0\sl-240\slmult0 \fs
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Consistencia del Modelo Entrada-Salida ......
................................................................................
...... 26 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
Reduccin del Modelo..........................................................
............................................................... 27 }\par\pard\li
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Simulacin ..........
................................................................................
................................................. 27 }\par\pard\li613\ri0\sl-240
\slmult0 \fs20\cf0\f1\charscalex100 {
5.6 Conclusiones finales ..............

................................................................................
............................. 27 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f
1\charscalex100 {
5.7 Aplicacin en Matlab ....................................
................................................................................
....... 28 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
Comparacin de Diferentes Estructuras .......................................
...................................................... 28 }\par\pard\li613\ri0\s
l-240\slmult0 \fs20\cf0\f1\charscalex100 {
Chequeo de cancelaciones Pol
o-Cero..........................................................................
...................... 29 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\chars
calex100 {
Anlisis Residual ............................................
................................................................................
..... 29 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
Simulaciones libres de ruido ................................................
............................................................... 30 }\par\pard\li
613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
Evaluacin de la ince
rtidumbre del modelo ...........................................................
............................. 30 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f
1\charscalex100 {
Comparacin de Diferentes Modelos .....................
............................................................................. 31
}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-266\slmult0
\fs20\cf0\f0\charscalex100\b {6. Acondicionamiento de los Datos................
................................................................................
........... 32 }\b0 \par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex10
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6.1 Perturbaciones de alta frecuencia....................................
................................................................... 32 }\par\par
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6.2 Burts y Outliers
................................................................................
.................................................... 32 }\par\pard\li613\ri0\sl240\slmult0 \fs18\cf0\f1\charscalex100 {
6.3 Perturbaciones Lentas: Comentari
os Generales ...................................................................
............. 32 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100
{
6.4 Evaluacin de las Aproximaciones.........................................
............................................................. 33 }\par\pard\li61
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6.5 Drift, Trends y Variaci
ones de Baja Frecuencia.........................................................
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arscalex100 {
6.6 Aplicacin en Matlab .......................................
................................................................................
... 34 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
Niveles de Offset .............................................................
.................................................................... 34 }\par\pa
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Outliers .....
................................................................................
........................................................... 34 }\par\pard\li613\
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Filtrado de los datos .
................................................................................
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Realimentacin de los Datos..............
................................................................................
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100 {
Retardos ........................................................
................................................................................
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3\slmult0 \fs20\cf0\f0\charscalex100\b {7. Nociones Bsicas para el Diseo de la Seal
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b0 \par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {
7.1 Secuen
cia Binaria de Alternancia Psudoaleatoia .......................................
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\fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf0\f0\charscalex100\b {8. Con

clusiones Generales ............................................................


............................................................ 38 }\b0 \par\pard\l
i613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {
Que nos puede ofrecer la
identificacin de sistemas ?.....................................................
........................ 38 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\cha
rscalex100 {
Posibilidades ............................................
................................................................................
........... 38 }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
Limitaciones: Calidad de los Datos ....................................
................................................................. 38 }\par\pard\
li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
Limitaciones: Est
ructuras Modelo ................................................................
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fs18\cf0\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f0\charscalex100\b {Bibliog
rafa.............................................................................
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\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {En particular,
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ms }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {exactos par
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2/39 }\pa
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harscalex100 {Identificacin de Sistemas Dinmicos


}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li613\ri0\sl-373\slmult0 \fs28\cf0\f0\charscalex100\b {1. SISTEMAS LINEALES
INVARIANTES EN EL TIEMPO }\b0 \par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-306\slmult0 \fs22\
cf0\f0\charscalex100\b \ul {1.1 Respuesta Impulsiva, Funciones de Transferencia
y Densidad Espectral de Potencia:}\b0 \ul0 \fs22\cf0\f0\charscalex100\b \ul { }\
b0 \ul0 \par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-240\s
lmult0 \fs22\cf0\f1\charscalex100\ul {Respuesta Impulsiva}\ul0 \fs22\cf0\f1\char
scalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893
\ri0\sl-320\slmult0 \fs20\cf0\f1\charscalex100 {Consideremos un sistema con una n
ica entrada u(}\fs28\cf0\f0\charscalex100 {t}\fs22\cf0\f1\charscalex100 {) y una
nica salida y(}\fs28\cf0\f0\charscalex100 {t}\fs22\cf0\f1\charscalex100 {) (SISO
). El sistema ser }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f0\charscalex100\
i {invariante en el tiempo}\i0 \fs20\cf0\f1\charscalex100 { si su respuesta a un
a cierta seal de entrada no depende en absoluto del tiempo, }\par\pard\li613\ri0\
sl-240\slmult0 \fs22\cf0\f1\charscalex100 {y ser }\fs22\cf0\f0\charscalex100\i {l
ineal}\i0 \fs20\cf0\f1\charscalex100 { si su respuesta a una combinacin lineal de
entradas, es la misma combinacin lineal de las }\par\pard\li613\ri0\sl-240\slmul
t0 \fs20\cf0\f1\charscalex100 {respuestas a las entradas individuales. De la mis
ma forma podemos decir que un sistema es }\fs22\cf0\f0\charscalex100\i {causal}\
i0 \fs22\cf0\f1\charscalex100 { si la }\par\pard\li613\ri0\sl-240\slmult0 \fs18\
cf0\f1\charscalex100 {salida en un tiempo determinado solo depende de la entrada
actual y de las entradas anteriores a dicho }\par\pard\li613\ri0\sl-253\slmult0
\fs20\cf0\f1\charscalex100 {instante de tiempo. }\par\pard\li893\ri0\sl-240\sl
mult0 \fs20\cf0\f1\charscalex100 {Entonces un sistema lineal, invariante en el t
iempo y causal puede ser perfectamente descripto por su }\par\pard\li613\ri0\sl280\slmult0 \fs20\cf0\f1\charscalex100 {respuesta al impulso }\fs28\cf0\f0\chars
calex100 {g}\fs22\cf0\f1\charscalex100 {(}\fs22\cf0\f2\charscalex100 {\uc1\u964X
}\fs20\cf0\f1\charscalex100 {) de la siguiente manera: }\par\pard\sect\sectd\sbk
none\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw3760\colsr
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sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-320\slmult0 \fs22\cf0\f2\charscalex
100 {\uc1\u964X \uc1\u964X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\
marglsxn666\margrsxn133\cols2\colno1\colw8400\colsr-0\colno2\colw2693\pard\li206
6\ri0\sl-306\slmult0 \*\tx2920\*\tx3880\fs20\cf0\f1\charscalex100 {y( )}{ }\fs20
\cf0\f2\charscalex100 {=}{ }\fs30\cf0\f0\charscalex100 {\uc1\u8212X}\tab \fs26\c
f0\f0\charscalex100 {g}\fs20\cf0\f1\charscalex100 {( ).u(}\fs26\cf0\f0\charscale
x100 {t}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8722X}\tab \fs20\cf0\f1\charscalex1
00 {)d}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {
(1.1) }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\margl
sxn666\margrsxn133\cols2\colno1\colw2680\colsr-0\colno2\colw8413\pard\li613\ri0\
sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
613\ri0\sl-333\slmult0 \fs22\cf0\f1\charscalex100\ul {Muestreo}\ul0 \fs22\cf0\f1
\charscalex100\ul { }\ul0 \par\column\pard\li0\ri0\sl-160\slmult0 \fs14\cf0\f2\c
harscalex100 {\uc1\u964X}{ }\fs12\cf0\f2\charscalex100 {=}\fs12\cf0\f1\charscale
x100 {0}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsx
n133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \
fs18\cf0\f1\charscalex100 {Dado que de ahora en ms vamos a trabajar casi
exclusivamente con seales de tiempo discreto, }\par\pard\li613\ri0\sl-293\
slmult0 \fs20\cf0\f1\charscalex100 {entonces asumiremos que y(t) ser observa
da solo en los instantes de muestreo }{ }\fs26\cf0\f0\charscalex100 {t}{\s
ub \fs10\cf0\f1\charscalex100 {k}}\fs20\cf0\f1\charscalex100 {= kT
con }\par
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r\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\

colno1\colw4040\colsr-0\colno2\colw7053\pard\li2853\ri0\sl-213\slmult0 \fs18\cf0
\par\pard\li2853\ri0\sl-213\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par
\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-320\slmult0 \f
s22\cf0\f2\charscalex100 {\uc1\u964X \uc1\u964X}\par\pard\sect\sectd\sbknone\pgw
sxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw8400\colsr-0\colno
2\colw2693\pard\li2066\ri0\sl-306\slmult0 \*\tx3066\*\tx4160\fs20\cf0\f1\charsca
lex100 {y(kT)}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs30\cf0\f0\charscalex100 {\u
c1\u8212X}\tab \fs26\cf0\f0\charscalex100 {g}\fs20\cf0\f1\charscalex100 {( ).u(k
T}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8722X}\tab \fs20\cf0\f1\charscalex100 {)d
}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {
(1.2)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\
margrsxn133\pard\li2813\ri0\sl-160\slmult0 \fs14\cf0\f2\charscalex100 {\uc1\u964
X}{ }\fs12\cf0\f2\charscalex100 {=}\fs12\cf0\f1\charscalex100 {0}\par\pard\li613
\ri0\sl-360\slmult0 \fs20\cf0\f1\charscalex100 {siendo T el periodo de muestreo.
}\par\pard\li893\ri0\sl-280\slmult0 \fs18\cf0\f1\charscalex100 {Llegado este
punto es importante destacar que en aplicaciones de identificacin la en
trada u(}\fs28\cf0\f0\charscalex100 {t}\fs22\cf0\f1\charscalex100 {) es }\par\
pard\li613\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {comnmente mantenida con
stante entre los intervalos de muestreo, de modo que:}\par\pard\sect\sectd\sbkno
ne\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw3306\colsr-0
\colno2\colw6253\colsr-0\colno3\colw1533\pard\li2053\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li2053\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100 {u( )}{ }\fs20\c
f0\f2\charscalex100 {=}{ }\fs20\cf0\f1\charscalex100 {u}{\sub \fs12\cf0\f1\chars
calex100 {k}}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\
sl-280\slmult0 \*\tx1760\fs22\cf0\f1\charscalex100 {cuando
}{ }\fs20\cf0\f1
\charscalex100 {kT}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8804X <}\tab \fs20\cf0\f
1\charscalex100 {(k 1)T}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li0\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {(1.3)}\par\pard\sect\sectd
\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\s
lmult0 \fs18\cf0\par\pard\li893\ri0\sl-280\slmult0 \fs18\cf0\f1\charscalex100 {E
sta situacin es por lo general implementada por razones de practicidad
en la implementacin, y }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\chars
calex100 {tambin involucra una gran simplicidad en el anlisis del sistema. Reempla
zando (1.3) en (1.2): }\par\pard\li4733\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
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586\colsr-0\colno2\colw266\colsr-0\colno3\colw213\colsr-0\colno4\colw120\colsr-0
\colno5\colw1840\colsr-0\colno6\colw493\colsr-0\colno7\colw120\colsr-0\colno8\co
lw5453\pard\li2066\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {y(kT)}\par\col
umn\pard\li0\ri0\sl-306\slmult0 \fs20\cf0\f2\charscalex100 {=}{ }\fs30\cf0\f0\ch
arscalex100 {\uc1\u8212X}\par\column\pard\li0\ri0\sl-146\slmult0 \fs12\cf0\f2\ch
arscalex100 {\uc1\u8734X}\par\column\pard\li0\ri0\sl-280\slmult0 \fs26\cf0\f0\ch
arscalex100 {g}\par\column\pard\li853\ri0\sl-320\slmult0 \fs22\cf0\f2\charscalex
100 {\uc1\u964X \uc1\u964X}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs30\cf0\f0\char
scalex100 {\uc1\u402X}{ }\fs30\cf0\f0\charscalex100 {\uc1\u8212X}\par\pard\li0\r
i0\sl-186\slmult0 \*\tx973\fs20\cf0\f1\charscalex100 {( ).u(kT}{ }\fs20\cf0\f2\c
harscalex100 {\uc1\u8722X}\tab \fs20\cf0\f1\charscalex100 {)d}\par\column\pard\l
i0\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {nT}\par\column\pard\li0\ri0\sl
-280\slmult0 \fs26\cf0\f0\charscalex100 {g}\par\column\pard\li840\ri0\sl-280\slm
ult0 \*\tx1320\fs22\cf0\f2\charscalex100 {\uc1\u964X \uc1\u964X}\tab \fs20\cf0\f
2\charscalex100 {=}\par\pard\li0\ri0\sl-186\slmult0 \*\tx973\fs20\cf0\f1\charsca
lex100 {( ).u(kT}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8722X}\tab \fs20\cf0\f1\ch
arscalex100 {)d}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666
\margrsxn133\cols3\colno1\colw4693\colsr-0\colno2\colw293\colsr-0\colno3\colw610
6\pard\li2813\ri0\sl-160\slmult0 \fs14\cf0\f2\charscalex100 {\uc1\u964X}{ }\fs12
\cf0\f2\charscalex100 {=}\par\pard\li2960\ri0\sl-106\slmult0 \fs12\cf0\f1\charsc
alex100 {0}\par\column\pard\li0\ri0\sl-120\slmult0 \fs12\cf0\f1\charscalex100 {n
1}\par\column\pard\li0\ri0\sl-160\slmult0 \fs14\cf0\f2\charscalex100 {\uc1\u964
X}\fs12\cf0\f2\charscalex100 {= \uc1\u8722X}\par\pard\li146\ri0\sl-106\slmult0 \
fs12\cf0\f1\charscalex100 {(n 1)T}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsx

n16840\marglsxn666\margrsxn133\cols6\colno1\colw2973\colsr-0\colno2\colw200\cols
r-0\colno3\colw666\colsr-0\colno4\colw466\colsr-0\colno5\colw693\colsr-0\colno6\
colw6093\pard\li2800\ri0\sl-200\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}
\par\pard\li2733\ri0\sl-306\slmult0 \fs28\cf0\f0\charscalex100 {\uc1\u402X}\par\
column\pard\li0\ri0\sl-306\slmult0 \fs20\cf0\f0\charscalex100 {}\par\column\pard\
li0\ri0\sl-240\slmult0 \fs12\cf0\f1\charscalex100 {nT}\par\column\pard\li0\ri0\s
l-346\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u964X \uc1\u964X}\par\column\pard
\li0\ri0\sl-306\slmult0 \fs20\cf0\f0\charscalex100 {}\par\column\pard\li66\ri0\sl
-200\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\li0\ri0\sl-306\sl
mult0 \fs30\cf0\f0\charscalex100 {\uc1\u402X}\par\pard\sect\sectd\sbknone\pgwsxn
11893\pghsxn16840\marglsxn666\margrsxn133\cols6\colno1\colw3066\colsr-0\colno2\c
olw600\colsr-0\colno3\colw1173\colsr-0\colno4\colw400\colsr-0\colno5\colw4293\co
lsr-0\colno6\colw1560\pard\li2560\ri0\sl-266\slmult0 \fs20\cf0\f2\charscalex100
{=}\par\column\pard\li0\ri0\sl-306\slmult0 \fs30\cf0\f0\charscalex100 {\uc1\u821
2X}\par\column\pard\li0\ri0\sl-240\slmult0 \*\tx733\fs26\cf0\f0\charscalex100 {g
}\fs20\cf0\f1\charscalex100 {( ).d}\tab \fs20\cf0\f1\charscalex100 {.u}\par\colu
mn\pard\li0\ri0\sl-266\slmult0 \fs20\cf0\f2\charscalex100 {=}\par\column\pard\li
0\ri0\sl-186\slmult0 \fs20\cf0\f1\charscalex100 {g (n).u}\par\column\pard\li0\ri
0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {(1.4)}\par\pard\sect\sectd\sbknone\
pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols8\colno1\colw2746\colsr-0\co
lno2\colw226\colsr-0\colno3\colw1333\colsr-0\colno4\colw240\colsr-0\colno5\colw4
66\colsr-0\colno6\colw333\colsr-0\colno7\colw493\colsr-0\colno8\colw5253\pard\li
613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-386\slmult0 \fs20\cf0\f1\
charscalex100 {donde definimos: }\par\column\pard\li0\ri0\sl-106\slmult0 \fs12\c
f0\f1\charscalex100 {n 1}\par\column\pard\li0\ri0\sl-213\slmult0 \fs20\cf0\f0\ch
arscalex100 {\uc1\u8230X}{ }\fs14\cf0\f2\charscalex100 {\uc1\u964X}{ }\fs12\cf0\
f2\charscalex100 {= \uc1\u8722X}\par\pard\li306\ri0\sl-106\slmult0 \fs12\cf0\f1\
charscalex100 {(n 1)T}\par\column\pard\li0\ri0\sl-200\slmult0 \fs20\cf0\f0\chars
calex100 {\uc1\u376X}\par\column\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charsc
alex100 {k n}\par\column\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100
{n 1}\par\column\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {T}\par\
column\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {k n}\par\pard\sec
t\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols4\colno1\col
w2560\colsr-0\colno2\colw266\colsr-0\colno3\colw493\colsr-0\colno4\colw7773\pard
\li2053\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2053\ri0\sl-346\slmult0 \fs20\cf
0\f1\charscalex100 {g (n)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li0\ri0\sl-426\slmult0 \fs20\cf0\f2\charscalex100 {=}{ }\fs30\cf0\f0\charsc
alex100 {\uc1\u8212X}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li0\ri0\sl-200\slmult0 \fs12\cf0\f1\charscalex100 {nT}\par\column\pard\li0\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-400\slmult0 \fs26\cf0\f0\charscalex1
00 {g}\fs20\cf0\f1\charscalex100 {( ).d}\fs22\cf0\f2\charscalex100 {\uc1\u964X \
uc1\u964X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margr
sxn133\cols2\colno1\colw2786\colsr-0\colno2\colw8306\pard\li2173\ri0\sl-106\slmu
lt0 \fs12\cf0\f1\charscalex100 {T}\par\column\pard\li0\ri0\sl-160\slmult0 \fs14\
cf0\f2\charscalex100 {\uc1\u964X}{ }\fs12\cf0\f2\charscalex100 {= \uc1\u8722X}\p
ar\pard\li146\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {(n 1)T}\par\pard\se
ct\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\
sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-293\slmult0 \fs20\cf0\f1\charscal
ex100 {Pero la mayor parte del tiempo asumiremos un intervalo de muestreo unitar
io y usaremos la variable t }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\cha
rscalex100 {para enumerar los instantes de muestreo. De esta manera pod
emos escribir la ecuacin (1.4) de la }\par\pard\li613\ri0\sl-240\slmult0 \f
s22\cf0\f1\charscalex100 {siguiente forma:
}\par\pard\sect\sectd\sbknone\pgws
xn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw3573\colsr-0\colno2
\colw7520\pard\li1946\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1946\ri0\sl-186\sl
mult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\column\pard\li0\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li0\ri0\sl-186\slmult0 \fs12\cf0\f2\charscalex100 {\uc1
\u8734X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsx
n133\cols2\colno1\colw6813\colsr-0\colno2\colw4280\pard\li1360\ri0\sl-306\slmult
0 \fs20\cf0\f1\charscalex100 {y(t)}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs30\cf0

\f0\charscalex100 {\uc1\u402X}{ }\fs20\cf0\f1\charscalex100 {g}{\sub \fs12\cf0\f


1\charscalex100 {T 1}}\fs20\cf0\f1\charscalex100 {(k).u(t}{ }\fs20\cf0\f2\charsc
alex100 {\uc1\u8722X}{ }\fs20\cf0\f1\charscalex100 {k)= }\fs30\cf0\f0\charscalex
100 {\uc1\u402X}{ }\fs20\cf0\f1\charscalex100 {g(k).u(t}{ }\fs20\cf0\f2\charscal
ex100 {\uc1\u8722X}{ }\fs20\cf0\f1\charscalex100 {k)
con
t =}\fs20\cf0\f1\
charscalex100 { 0,1,2,3,...}\par\pard\li1893\ri0\sl-106\slmult0 \*\tx3520\fs12\c
f0\f1\charscalex100 {k 1}\tab \fs12\cf0\f1\charscalex100 {k 1}\par\column\pard\l
i0\ri0\sl-213\slmult0 \fs16\cf0\f1\charscalex100 {(convolucin en tiempo discreto)
}\fs22\cf0\f1\charscalex100 {(1.5)}\par\pard\li2320\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li2320\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2320\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li2320\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2320
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2320\ri0\sl-373\slmult0 \fs22\cf0\f1\ch
arscalex100 {
3/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\m
arglsxn666\margrsxn133\pard\sect\sectd\sbkpage
{\shp{\*\shpinst\shpleft1240\shptop906\shpright10626\shpbottom906\shpfhdr0\shpwr
3\shpwrk0\shpfblwtxt1\shplid2041\shpz0\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn pVerticies}{\sv 8;2;(0,0);(9386,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
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{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft1346\shptop15840\shpright10520\shpbottom15840\shpfhdr0\s
hpwr3\shpwrk0\shpfblwtxt1\shplid2042\shpz1\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
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{\sp{\sn pVerticies}{\sv 8;2;(0,0);(9173,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
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{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft3506\shptop5026\shpright4586\shpbottom5386\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2045\shpz5\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}

{\sp{\sn fFlipV}{\sv 0}}


{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 1080}}
{\sp{\sn geoBottom}{\sv 360}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(1080,360);(1080,0);(0,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
7;32768}}
{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn lineWidth}{\sv 9144}}
{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft4586\shptop5200\shpright4960\shpbottom5200\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2046\shpz6\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn geoRight}{\sv 374}}
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{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(386,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft4960\shptop5120\shpright5120\shpbottom5280\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2047\shpz7\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 160}}
{\sp{\sn geoBottom}{\sv 160}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,160);(160,80);(0,0);(0,160);(0,160);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
7;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 1}}
{\sp{\sn fillColor}{\sv 0}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft5480\shptop5200\shpright6226\shpbottom5200\shpfhdr0\shpw

r3\shpwrk0\shpfblwtxt1\shplid2048\shpz8\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 746}}
{\sp{\sn geoBottom}{\sv 0}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(746,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 0}}
{\sp{\sn lineWidth}{\sv 9144}}
{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft6226\shptop5120\shpright6386\shpbottom5280\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2049\shpz9\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 160}}
{\sp{\sn geoBottom}{\sv 160}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,160);(160,80);(0,0);(0,160);(0,160);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
7;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 1}}
{\sp{\sn fillColor}{\sv 0}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft2786\shptop5200\shpright3346\shpbottom5200\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2050\shpz10\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 560}}
{\sp{\sn geoBottom}{\sv 0}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(560,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 0}}
{\sp{\sn lineWidth}{\sv 9144}}
{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}

{\sp{\sn fLayoutInCell}{\sv 1}}}}


{\shp{\*\shpinst\shpleft3346\shptop5120\shpright3506\shpbottom5280\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2051\shpz11\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 160}}
{\sp{\sn geoBottom}{\sv 160}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,160);(160,80);(0,0);(0,160);(0,160);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
7;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 1}}
{\sp{\sn fillColor}{\sv 0}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft5306\shptop4480\shpright5306\shpbottom4866\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2052\shpz12\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 0}}
{\sp{\sn geoBottom}{\sv 386}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(0,386);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn lineWidth}{\sv 9144}}
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{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
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{\sp{\sn fBehindDocument}{\sv 1}}
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{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn geoRight}{\sv 147}}
{\sp{\sn geoBottom}{\sv 160}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(80,160);(160,0);(0,0);(0,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
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{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fBehindDocument}{\sv 1}}


{\sp{\sn fLayoutInCell}{\sv 1}}}}
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{\sp{\sn geoRight}{\sv 534}}
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{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(546,360);(546,0);(0,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
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{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 1}}
{\sp{\sn fillColor}{\sv 16777215}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fArrowheadsOK}{\sv 0}}
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{\shp{\*\shpinst\shpleft5666\shptop4666\shpright6200\shpbottom5026\shpfhdr0\shpw
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{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
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{\sp{\sn geoBottom}{\sv 360}}
{\sp{\sn shapePath}{\sv 4}}
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{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
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{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn fillColor}{\sv 16777215}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fArrowheadsOK}{\sv 0}}

{\sp{\sn fBehindDocument}{\sv 1}}


{\sp{\sn fLayoutInCell}{\sv 1}}}}
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5824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;4
5824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;4
5824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;45824;1;4
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5824;1;45824;1;45824;1;45824;1;45824;1;45824;24577;32768}}
{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn pVerticies}{\sv 8;2;(0,0);(0,360);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
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{\sp{\sn fBehindDocument}{\sv 1}}

{\sp{\sn fLayoutInCell}{\sv 1}}}}


{\shp{\*\shpinst\shpleft5120\shptop5200\shpright5480\shpbottom5200\shpfhdr0\shpw
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{\sp{\sn shapeType}{\sv 0}}
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harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li8
93\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs18\cf0\f0\c
harscalex100\b {Nota: }\b0 \fs18\cf0\f1\charscalex100 {esta notacin ser la que uti
lizaremos de aqu en adelante, sin perder de vista que es ligeramente distinta }\p
ar\pard\li893\ri0\sl-213\slmult0 \fs14\cf0\f1\charscalex100 {a la que comnment
e se utiliza para enumerar las muestras de una seal de tiempo discreto.
De hecho, dicha }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex1
00 {modificacin surge como intencin ser consistentes con la mayor parte de la bibl
iografa existente. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\
ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100\ul {Perturbaciones}\ul0 \fs20\cf0\
f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li893\ri0\sl-280\slmult0 \fs18\cf0\f1\charscalex100 {De acuerdo con la ecuacin
anterior la salida puede ser calculada en forma exacta una vez conocida }\par\pa
rd\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {la entrada al sistema. P
ero en la mayora de los casos esto es imposible debido a que siempre existen }\pa
r\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {seales espurias que a
fectan al sistema y se escapan de nuestro control. Ahora, bajo un marco terico }\
par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {lineal, podemos
asumir que dichos efectos pueden ser representados por un trmino aditiv
o v(t) a la }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {s
alida (ver figura 1.1):}\par\pard\li4600\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i4600\ri0\sl-306\slmult0 \fs16\cf0\f0\charscalex100 {v(t) }\par\pard\sect\sectd\
sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols4\colno1\colw3493\co
lsr-0\colno2\colw1640\colsr-0\colno3\colw2560\colsr-0\colno4\colw3400\pard\li225
3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2253\ri0\sl-333\slmult0 \fs16\cf0\f0\c
harscalex100 {u(t) }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li613\ri0\sl-320\slmult0 \fs16\cf0\f0\charscalex100\b {Figura 1.1}\b0 \fs16\cf
0\f1\charscalex100 { Sistema con perturbacin }\par\pard\li893\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-28
0\slmult0 \fs22\cf0\f1\charscalex100 {Luego: }\par\pard\li2653\ri0\sl-160\slmult
0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\li2066\ri0\sl-306\slmult0 \f

s20\cf0\f1\charscalex100 {y(t)}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs30\cf0\f0\


charscalex100 {\uc1\u402X}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li0\ri0\sl-266\slmult0 \fs20\cf0\f2\charscalex100 {\uc1
\u8722X +}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl333\slmult0 \fs16\cf0\f0\charscalex100 {y(t) }\par\column\pard\li0\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-240\slmult0 \fs22\cf0\f1
\charscalex100 {
(1.6)}\par\pard\sect\sectd\sbkn
one\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw2826\colsr0\colno2\colw8266\pard\li2600\ri0\sl-133\slmult0 \fs12\cf0\f1\charscalex100 {k 1
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x100 {g( ).u(t}\tab \fs20\cf0\f1\charscalex100 {k)}\tab \fs20\cf0\f1\charscalex1
00 {v(t)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrs
xn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-280\slmult0
\fs18\cf0\f1\charscalex100 {Hay muchas fuentes y causas de perturbaciones,
entre las cuales podemos destacar las diferentes }\par\pard\li613\ri0\sl-24
0\slmult0 \fs20\cf0\f1\charscalex100 {clases de ruido como as tambin las entradas
exgenas al sistema, que se comportan como variables }\par\pard\li613\ri0\sl-240\s
lmult0 \fs20\cf0\f1\charscalex100 {de control pero que no pueden ser controladas
por el usuario. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri
0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0 \fs20\cf0\f1\charsc
alex100\ul {Caracterizacin de Perturbaciones}\ul0 \fs20\cf0\f1\charscalex100\ul {
}\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\sl
mult0 \fs20\cf0\f1\charscalex100 {La caracterstica ms importante de una pert
urbacin es que su valor no se puede conocer de }\par\pard\li613\ri0\sl-2
40\slmult0 \fs18\cf0\f1\charscalex100 {antemano. Sin embargo, informacin acer
ca de perturbaciones pasadas podra resultar de mucha }\par\pard\li613\ri0\
sl-240\slmult0 \fs18\cf0\f1\charscalex100 {utilidad para hacer adecuadas suposic
iones acerca de valores futuros. Por lo tanto, como siguiente paso }\par\pard\li
613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {ser necesario emplear un marco
probabilstico para describir futuras perturbaciones.
}\par\pard\li893\ri0\sl240\slmult0 \fs20\cf0\f1\charscalex100 {Una simple aproximacin de v(t) podra ser l
a siguiente:}\par\pard\li2653\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2653\ri0\s
l-186\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\li2066\ri0\sl-30
6\slmult0 \*\tx9560\fs20\cf0\f1\charscalex100 {v(t)}{ }\fs20\cf0\f2\charscalex10
0 {=}{ }\fs30\cf0\f0\charscalex100 {\uc1\u402X}{ }\fs20\cf0\f1\charscalex100 {h(
k).e(t}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs20\cf0\f1\charscalex100
{k)}\tab \fs22\cf0\f1\charscalex100 {(1.7)}\par\pard\li2586\ri0\sl-106\slmult0 \
fs12\cf0\f1\charscalex100 {k 0}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li613\ri0\sl-253\slmult0 \fs18\cf0\f1\charscalex100 {donde \{e(t)\} es una
secuencia idnticamente distribuida de variables aleatorias independientes, con un
a }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {cierta funcin d
e densidad que comnmente se la asume como Normal. Mientras que la secuencia \{h(k
)\}, }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {como verem
os posteriormente, corresponde a la respuesta impulsiva del modelo de
ruido. Esta }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {des
cripcin es muy verstil y suficiente para la mayora de nuestros propsitos prcticos. }\
par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li893\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100\b {Nota:}\b
0 \fs20\cf0\f1\charscalex100 { vale aclarar que \{e(t)\} y \{v(t)\}, como fueron
definidas anteriormente, son }\fs22\cf0\f0\charscalex100\i {procesos estocsticos

}\i0 \fs22\cf0\f1\charscalex100 {. }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0


\f1\charscalex100 {Pero las perturbaciones que observamos y que son sumadas a la
salida del sistema son }\fs22\cf0\f0\charscalex100\i {realizaciones}\i0 \par\pa
rd\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {del }\fs20\cf0\f0\charsc
alex100\i {proceso estocstico}\i0 \fs18\cf0\f1\charscalex100 { \{v(t)\}. O sea qu
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su realizacin. No obstante, vamos a hacer un pequeo abuso de la }\par\
pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {notacin a modo de simpl
ificar la lectura, y por ahora no haremos explcita dicha distincin. }\par\pard\li
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rd\li9133\ri0\sl-386\slmult0 \fs22\cf0\f1\charscalex100 {
4/39 }\par\pard\
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harscalex100 {\uc1\u963X}{\super \fs12\up4\cf0\f1\charscalex100 {2}}\par\pard\li
2733\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {k 0 s 0}\par\pard\li3106\ri0
\sl-106\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\sect\sectd\sbk
none\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw2760\colsr
-0\colno2\colw8333\pard\li2613\ri0\sl-266\slmult0 \fs20\cf0\f2\charscalex100 {=}
\par\column\pard\li160\ri0\sl-133\slmult0 \fs12\cf0\f1\charscalex100 {2}\par\par
d\li0\ri0\sl-280\slmult0 \*\tx240\fs22\cf0\f2\charscalex100 {\uc1\u963X}\tab \fs
20\cf0\f1\charscalex100 {.}\fs30\cf0\f0\charscalex100 {\uc1\u402X}\fs20\cf0\f1\c
harscalex100 {h(k).h(k}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f
2\charscalex100 {\uc1\u964X}{ }\fs20\cf0\f1\charscalex100 {)}{ }\fs22\cf0\f0\cha
rscalex100 {
(}\fs14\cf0\f1\charscalex100 {aqu h(r) = 0 siempre que r < 0, y
a que el sistema es causal)}\fs22\cf0\f1\charscalex100 {
(1.8)}\par\par
d\li293\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {k 0}\par\pard\sect\sectd\
sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw9453\co
lsr-0\colno2\colw1640\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-306\slmult0 \fs20\cf0\f1\charsca
lex100\ul {Funcin de Autocorrelacin}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \pa
r\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs2
0\cf0\f1\charscalex100 {Si definimos la funcin de autocorrelacin de una seal determ
instica como: }\par\pard\li2906\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2906\ri0\
sl-200\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\li2386\ri0\sl-3
06\slmult0 \*\tx2626\*\tx3466\fs22\cf0\f2\charscalex100 {\uc1\u964X}\tab \fs20\c
f0\f2\charscalex100 {=}{ }\fs30\cf0\f0\charscalex100 {\uc1\u8212X}\tab \fs22\cf0
\f2\charscalex100 {\uc1\u964X}\par\pard\li2053\ri0\sl-213\slmult0 \*\tx3586\fs20
\cf0\f1\charscalex100 {R ( )}{\sub \fs12\cf0\f1\charscalex100 {xx}}\fs20\cf0\f1\
charscalex100 {x(t}{ }\fs20\cf0\f2\charscalex100 {+}\tab \fs20\cf0\f1\charscalex
100 {).x(t)dt}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li0\ri0\sl-293\slmult0 \fs22\cf0\f1\charscalex100 {(1.9a)}\par\pard\sect\se
ctd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li2880\ri0\sl-1
46\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8722X\uc1\u8734X}\par\pard\li613\ri
0\sl-386\slmult0 \fs20\cf0\f1\charscalex100 {y si dicha seal es peridica, entonces
esta expresin puede ser simplificada de la siguiente forma: }\par\pard\sect\sect
d\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols4\colno1\colw3200\
colsr-0\colno2\colw306\colsr-0\colno3\colw160\colsr-0\colno4\colw7426\pard\li238

6\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2386\ri0\sl-386\slmult0 \fs22\cf0\f2\c


harscalex100 {\uc1\u964X}\par\pard\li2053\ri0\sl-186\slmult0 \fs20\cf0\f1\charsc
alex100 {R ( )}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20\cf0\f1\charscalex100 {l
im}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-280\slm
ult0 \fs20\cf0\f1\charscalex100 {1}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18
\cf0\par\pard\li0\ri0\sl-240\slmult0 \fs12\cf0\f1\charscalex100 {T}\par\column\p
ard\li400\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li400\ri0\sl-440\slmult0 \fs22\c
f0\f2\charscalex100 {\uc1\u964X}\par\pard\li0\ri0\sl-186\slmult0 \*\tx533\fs20\c
f0\f1\charscalex100 {x(t}{ }\fs20\cf0\f2\charscalex100 {+}\tab \fs20\cf0\f1\char
scalex100 {).x(t)dt}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsx
n666\margrsxn133\cols3\colno1\colw2880\colsr-0\colno2\colw6426\colsr-0\colno3\co
lw1786\pard\li2200\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {xx}\par\column
\pard\li0\ri0\sl-360\slmult0 \*\tx520\fs12\cf0\f2\charscalex100 {\uc1\u8594X\uc1
\u8734X}\tab \fs30\cf0\f0\charscalex100 {\uc1\u8212X}\fs12\cf0\f2\charscalex100
{\uc1\u8722X}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100
{ (1.9b)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margr
sxn133\cols3\colno1\colw3120\colsr-0\colno2\colw440\colsr-0\colno3\colw7533\pard
\li2800\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {T}\par\column\pard\li0\ri
0\sl-186\slmult0 \fs20\cf0\f1\charscalex100 {2T}\par\column\pard\li0\ri0\sl-106\
slmult0 \fs12\cf0\f1\charscalex100 {T}\par\pard\sect\sectd\sbknone\pgwsxn11893\p
ghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li893\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {Llegado este punto pode
mos enunciar el siguiente teorema: }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0
\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\f0\charscalex100\b {Teorema 1.1 : }
\b0 \par\pard\li1320\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {
sea x(t) un proceso estocstico ergdico, entonces dado un }\fs22\cf0\f2\charscal
ex100 {\uc1\u964X}\fs22\cf0\f1\charscalex100 {:}\par\pard\sect\sectd\sbknone\pgw
sxn11893\pghsxn16840\marglsxn666\margrsxn133\cols7\colno1\colw3200\colsr-0\colno
2\colw306\colsr-0\colno3\colw560\colsr-0\colno4\colw1080\colsr-0\colno5\colw506\
colsr-0\colno6\colw533\colsr-0\colno7\colw4906\pard\li2386\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li2386\ri0\sl-360\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u964
X}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-253\slmu
lt0 \fs20\cf0\f1\charscalex100 {1}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li0\ri0\sl-213\slmult0 \fs12\cf0\f1\charscalex100 {T}\par\column\pa
rd\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-413\slmult0 \fs22\cf0\f2
\charscalex100 {\uc1\u964X}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li0\ri0\sl-426\slmult0 \fs12\cf0\f2\charscalex100 {\{}\par\column\pard\li0
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-413\slmult0 \fs22\cf0\f2\chars
calex100 {\uc1\u964X}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li0\ri0\sl-426\slmult0 \fs12\cf0\f2\charscalex100 {\}}\par\pard\sect\sectd\sbkno
ne\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw3666\colsr-0
\colno2\colw7426\pard\li2053\ri0\sl-186\slmult0 \fs20\cf0\f1\charscalex100 {R (
)}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20\cf0\f1\charscalex100 {lim}\par\colum
n\pard\li0\ri0\sl-186\slmult0 \*\tx533\*\tx2106\*\tx2666\fs20\cf0\f1\charscalex1
00 {x(t}{ }\fs20\cf0\f2\charscalex100 {+}\tab \fs20\cf0\f1\charscalex100 {).x(t)
dt}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20\cf0\f1\charscalex100 {E x(t}{ }\fs2
0\cf0\f2\charscalex100 {+}\tab \fs20\cf0\f1\charscalex100 {).x(t)}\tab \fs20\cf0
\f2\charscalex100 {=}{ }\fs20\cf0\f1\charscalex100 {C ( )}\par\pard\sect\sectd\s
bknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols4\colno1\colw2880\col
sr-0\colno2\colw3760\colsr-0\colno3\colw866\colsr-0\colno4\colw3586\pard\li2200\
ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {xx}\par\column\pard\li0\ri0\sl-36
0\slmult0 \*\tx533\fs12\cf0\f2\charscalex100 {\uc1\u8594X\uc1\u8734X}\tab \fs30\
cf0\f0\charscalex100 {\uc1\u8212X}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}\par\c
olumn\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {x}\par\column\pard
\li0\ri0\sl-186\slmult0 \fs20\cf0\f1\charscalex100 {(Covarianza \{x(t)\})
(1
.10)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn13
3\cols3\colno1\colw3120\colsr-0\colno2\colw440\colsr-0\colno3\colw7533\pard\li28
00\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {T}\par\column\pard\li0\ri0\sl186\slmult0 \fs20\cf0\f1\charscalex100 {2T}\par\column\pard\li0\ri0\sl-106\slmul
t0 \fs12\cf0\f1\charscalex100 {T}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn

16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Vale aclarar que para proces
os ergdicos la autocorrelacin de una realizacin coincide con la }\par\pard\li613\ri
0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {covarianza del proceso. }\par\pard\
li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li613\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100\ul {Funciones de Tra
nsferencia}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100
{A partir de ahora ser conveniente introducir una notacin de la cual vamos a hacer
mucho uso en }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {ad
elante, y consiste en definir el }\fs22\cf0\f0\charscalex100\i {operador de adel
anto}\i0 { }\fs22\cf0\f0\charscalex100\i {q}\i0 \fs22\cf0\f1\charscalex100 { de
esta forma }\par\pard\li2053\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2053\ri0\sl
-253\slmult0 \fs20\cf0\f1\charscalex100 {q.u(t)}{ }\fs20\cf0\f2\charscalex100 {=
}{ }\fs20\cf0\f1\charscalex100 {u(t 1)}\par\pard\li613\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li613\ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {y el }\fs22\cf
0\f0\charscalex100\i {operador de atraso q}\i0 {\super \fs14\up4\cf0\f0\charscal
ex100\i {-1}\i0 }\par\pard\li2053\ri0\sl-213\slmult0 \fs18\cf0\par{\trowd\trleft
2053\trkeep\trftsWidth1\trpaddl0\trpaddr0\trpaddfl3\trpaddfr3 \clvertalt\clbrdrt
\brdrnone\clbrdrl\brdrnone\clbrdrb\brdrnone\clbrdrr\brdrnone\cltxlrtb\clNoWrap\c
lftsWidth3\clwWidth1520\clpadt0\clpadr0\clpadft3\clpadfr3\cellx4106 \pard\li0\ri
0\sl-173\widctlpar\intbl \fs12\cf0\f1\charscalex100 {1}\par\pard\li0\ri0\sl-106\
widctlpar\intbl \fs22\cf0\f1\charscalex100 {q .u(t)}\fs22\cf0\f1\charscalex100 {
u(t 1)}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}\cell\row}\pard\li893\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li893\ri0\sl-306\slmult0 \fs20\cf0\f1\charscalex100 {
En estas condiciones, (1.5) se puede escribir as: }\par\pard\li9133\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li9133\ri0\sl-200\slmult0 \fs22\cf0\f1\charscalex100 {
5/39 }\par\pard\sec
t\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\sect\sectd\
sbkpage
{\shp{\*\shpinst\shpleft1240\shptop906\shpright10626\shpbottom906\shpfhdr0\shpwr
3\shpwrk0\shpfblwtxt1\shplid2067\shpz0\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
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{\sp{\sn geoRight}{\sv 9386}}
{\sp{\sn geoBottom}{\sv 0}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(9386,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
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{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft1346\shptop15840\shpright10520\shpbottom15840\shpfhdr0\s
hpwr3\shpwrk0\shpfblwtxt1\shplid2068\shpz1\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 9174}}
{\sp{\sn geoBottom}{\sv 0}}

{\sp{\sn shapePath}{\sv 4}}


{\sp{\sn pVerticies}{\sv 8;2;(0,0);(9173,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 0}}
{\sp{\sn lineWidth}{\sv 9144}}
{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft2733\shptop8080\shpright2733\shpbottom8653\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2069\shpz2\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 0}}
{\sp{\sn geoBottom}{\sv 573}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(0,573);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 0}}
{\sp{\sn lineWidth}{\sv 6340}}
{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft6253\shptop8080\shpright6253\shpbottom8653\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2070\shpz3\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 0}}
{\sp{\sn geoBottom}{\sv 573}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(0,573);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 0}}
{\sp{\sn lineWidth}{\sv 6340}}
{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft2733\shptop8080\shpright6266\shpbottom8080\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2071\shpz4\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}

{\sp{\sn rotation}{\sv 0}}


{\sp{\sn geoRight}{\sv 3533}}
{\sp{\sn geoBottom}{\sv 0}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(3533,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 0}}
{\sp{\sn lineWidth}{\sv 6340}}
{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft2733\shptop8640\shpright6266\shpbottom8640\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2072\shpz5\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 3533}}
{\sp{\sn geoBottom}{\sv 0}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(3533,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 0}}
{\sp{\sn lineWidth}{\sv 6340}}
{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft2786\shptop10693\shpright2786\shpbottom10986\shpfhdr0\sh
pwr3\shpwrk0\shpfblwtxt1\shplid2073\shpz6\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 0}}
{\sp{\sn geoBottom}{\sv 293}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(0,293);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 0}}
{\sp{\sn lineWidth}{\sv 6340}}
{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineDashing}{\sv 0}}
{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft5026\shptop10693\shpright5026\shpbottom10986\shpfhdr0\sh
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0 \fs22\cf0\f1\charscalex100 {Y en esta expresin hemos introducido el trmino G(q)
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{
con
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li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-360\slmult0 \fs22\cf0\f0\ch
arscalex100 {
(}\fs22\cf0\f1\charscalex100 {1.15)}\par\pard\sect\sectd\sbkn
one\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li893\ri0\sl-306\slmult0 \fs20\cf0\f1\charscalex100 {De mod
o que nuestra descripcin para un sistema lineal con perturbacin aditiva ser la sigu
iente: }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrs
xn133\cols2\colno1\colw9413\colsr-0\colno2\colw1680\pard\li2146\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li2146\ri0\sl-360\slmult0 \fs20\cf0\f1\charscalex100 {y(t)
}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20\cf0\f1\charscalex100 {G(q).u(t) H(q).
e(t)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-360\s
lmult0 \fs22\cf0\f1\charscalex100 {(1.16)}\par\pard\sect\sectd\sbknone\pgwsxn118
93\pghsxn16840\marglsxn666\margrsxn133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-186\slmult0 \fs
20\cf0\f1\charscalex100 {siendo \{e(t)\}, por lo general, una secuencia d
e variables aleatorias independientes de media nula y }\par\pard\li613\ri
0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {varianza }\fs22\cf0\f2\charscalex10
0 {\uc1\u963X}{\super \fs12\up4\cf0\f1\charscalex100 {2}}\fs22\cf0\f1\charscalex
100 {. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\s
lmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100\b
\ul {1.2 Espectro de seal}\b0 \ul0 \fs22\cf0\f0\charscalex100\b \ul { }\b0 \ul0 \
par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \f
s20\cf0\f1\charscalex100 {Ahora desarrollaremos un marco terico que nos permitir d
escribir las caractersticas espectrales de }\par\pard\li613\ri0\sl-240\slmult0 \f
s18\cf0\f1\charscalex100 {las seales con las cuales trabajaremos, que van
a ser tanto de naturaleza determinstica como }\par\pard\li613\ri0\sl-240\s
lmult0 \fs18\cf0\f1\charscalex100 {estocstica. Y en particular ser muy comn de aqu e

n adelante que utilicemos seales descriptas como }\par\pard\li613\ri0\sl-240\slmu


lt0 \fs18\cf0\f1\charscalex100 {procesos estocsticos con componentes determins
ticas. La razn es bsicamente que preferimos }\par\pard\li613\ri0\sl-240\slmu
lt0 \fs18\cf0\f1\charscalex100 {considerar la secuencia de entrada como de
terminstica o al menos parcialmente, mientras que las }\par\pard\li613\ri0
\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {perturbaciones sobre el sistema es c
onveniente que sean descriptas como variables aleatorias. Entonces }\par\pard\li
613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {mirando (1.16) encontramos qu
e:}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\
cols4\colno1\colw4760\colsr-0\colno2\colw880\colsr-0\colno3\colw1213\colsr-0\col
no4\colw4240\pard\li2186\ri0\sl-546\slmult0 \*\tx3026\fs18\cf0\f2\charscalex100
{\{ \}}{ }\fs20\cf0\f2\charscalex100 {=}\tab \fs12\cf0\f2\charscalex100 {\{}\par
\column\pard\li0\ri0\sl-546\slmult0 \fs12\cf0\f2\charscalex100 {\}}\par\column\p
ard\li0\ri0\sl-546\slmult0 \fs18\cf0\f2\charscalex100 {\{ \}}\par\column\pard\li
0\ri0\sl-546\slmult0 \fs18\cf0\f2\charscalex100 {\{ \}}\par\pard\sect\sectd\sbkn
one\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw9133\colsr0\colno2\colw1960\pard\li2880\ri0\sl-186\slmult0 \*\tx4906\*\tx6160\*\tx7400\fs2
0\cf0\f1\charscalex100 {E G(q).u(t) H(q).e(t)}\tab \fs20\cf0\f2\charscalex100 {=
}{ }\fs20\cf0\f1\charscalex100 {G(q).E u(t)}\tab \fs20\cf0\f2\charscalex100 {+}{
}\fs20\cf0\f1\charscalex100 {H(q).E e(t)}\tab \fs20\cf0\f2\charscalex100 {=}{ }
\fs20\cf0\f1\charscalex100 {G(q).u(t)}\par\pard\li893\ri0\sl-306\slmult0 \fs20\c
f0\f1\charscalex100 {O sea que \{y(t)\} no es un proceso estacionario, ya que su
esperanza vara con el tiempo. }\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0
\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18
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fs18\cf0\par\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {
6/39
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arscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\l
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\fs22\cf0\f2\charscalex100 {\uc1\u8804X}{ }\fs22\cf0\f1\charscalex100 {C}\par\co
lumn\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-306\slmult0 \fs22
\cf0\f2\charscalex100 {\uc1\u8704X}\fs22\cf0\f1\charscalex100 {t}\par\column\par
d\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-280\slmult0 \fs20\cf0\f1\
charscalex100 {(media acotada)}\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li0\ri0\sl-360\slmult0 \fs20\cf0\f1\charscalex100 {(covarianza acotada)}\par\
pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols5\co
lno1\colw3373\colsr-0\colno2\colw853\colsr-0\colno3\colw1173\colsr-0\colno4\colw
4013\colsr-0\colno5\colw1680\pard\li2560\ri0\sl-306\slmult0 \fs30\cf0\f0\charsca
lex100 {\uc1\u402X}\par\column\pard\li120\ri0\sl-226\slmult0 \fs22\cf0\f2\charsc
alex100 {\uc1\u964X}\par\pard\li0\ri0\sl-200\slmult0 \fs22\cf0\f2\charscalex100
{\uc1\u8722X =}\par\column\pard\li0\ri0\sl-280\slmult0 \fs22\cf0\f2\charscalex10
0 {\uc1\u964X}\par\column\pard\li0\ri0\sl-266\slmult0 \fs22\cf0\f2\charscalex100
{\uc1\u8704X}\fs22\cf0\f1\charscalex100 {t}\par\column\pard\li0\ri0\sl-186\slmu
lt0 \fs22\cf0\f1\charscalex100 {(1.17)}\par\pard\sect\sectd\sbknone\pgwsxn11893\
pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw2786\colsr-0\colno2\colw830
6\pard\li2080\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {lim}\par\column\par
d\li0\ri0\sl-186\slmult0 \*\tx840\*\tx1106\fs22\cf0\f1\charscalex100 {R (t,t}\ta
b \fs22\cf0\f1\charscalex100 {)}\tab \fs22\cf0\f1\charscalex100 {R ( )}\par\pard
\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols6\colno1
\colw2146\colsr-0\colno2\colw226\colsr-0\colno3\colw213\colsr-0\colno4\colw346\c
olsr-0\colno5\colw1106\colsr-0\colno6\colw7053\pard\li2053\ri0\sl-106\slmult0 \f
s12\cf0\f1\charscalex100 {N}\par\column\pard\li0\ri0\sl-146\slmult0 \fs12\cf0\f2
\charscalex100 {\uc1\u8594X\uc1\u8734X}\par\column\pard\li0\ri0\sl-186\slmult0 \
fs22\cf0\f1\charscalex100 {N}\par\column\pard\li0\ri0\sl-173\slmult0 \fs12\cf0\f
1\charscalex100 {t 1}\par\column\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charsc
alex100 {ss}\par\column\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {
ss}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\
pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-280\slmult0 \fs22\
cf0\f0\charscalex100\b {Nota (1):}\b0 \fs18\cf0\f1\charscalex100 { si \{s(t)\
} es una secuencia determinstica, la esperanza ya no tiene sentido y
la idea de }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {f
uncin cuasi-estacionaria se refiere a que \{s(t)\} sea una secuencia ac
otada siempre que el lmite de }\par\pard\li613\ri0\sl-280\slmult0 \fs22\cf0\
f1\charscalex100 {R}{\sub \fs12\cf0\f1\charscalex100 {ss}}\fs22\cf0\f1\charscale
x100 {(}\fs22\cf0\f2\charscalex100 {\uc1\u964X}\fs22\cf0\f1\charscalex100 {) exi
sta. }\par\pard\li893\ri0\sl-213\slmult0 \fs22\cf0\f0\charscalex100\b {Nota (2)
:}\b0 \fs18\cf0\f1\charscalex100 { si \{s(t)\} es un proceso estocstico es
tacionario entonces se satisfacen (i) y (ii) en forma }\par\pard\li613\r
i0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {trivial.}\par\pard\li613\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\r
i0\sl-266\slmult0 \fs20\cf0\f1\charscalex100\ul {Definicin de Densidad Espectral
de Potencia }\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0\sl213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex1
00 {Se define densidad espectral de potencia o espectro (en ingls spectra) de \{s
(t)\} como,}\par\pard\li2893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2893\ri0\sl

-146\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\sect\sectd\sbknon


e\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw3853\colsr-0\
colno2\colw7240\pard\li2040\ri0\sl-280\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\
u966X \uc1\u969X}\par\column\pard\li0\ri0\sl-146\slmult0 \fs12\cf0\f1\charscalex
100 {j}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn
133\cols2\colno1\colw2280\colsr-0\colno2\colw8813\pard\li2146\ri0\sl-106\slmult0
\fs12\cf0\f1\charscalex100 {ss}\par\column\pard\li0\ri0\sl-306\slmult0 \*\tx546
\fs22\cf0\f1\charscalex100 {( )}{ }\fs22\cf0\f2\charscalex100 {=}\tab \fs30\cf0\
f0\charscalex100 {\uc1\u402X}{ }\fs22\cf0\f1\charscalex100 {R ( ).e}{\sub \fs12\
cf0\f1\charscalex100 {ss}}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs14\cf0\f
2\charscalex100 {\uc1\u964X\uc1\u969X}\par\pard\li493\ri0\sl-160\slmult0 \fs14\c
f0\f2\charscalex100 {\uc1\u964X}{ }\fs12\cf0\f2\charscalex100 {=\uc1\u8722X\uc1\
u8734X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn
133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \f
s18\cf0\f1\charscalex100 {y espectro cruzado entre \{s(t)\} y \{w(t)\} }\par\par
d\li2920\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2920\ri0\sl-146\slmult0 \fs12\c
f0\f2\charscalex100 {\uc1\u8734X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn
16840\marglsxn666\margrsxn133\cols2\colno1\colw3906\colsr-0\colno2\colw7186\pard
\li2040\ri0\sl-280\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u966X \uc1\u969X}\pa
r\column\pard\li0\ri0\sl-146\slmult0 \fs12\cf0\f1\charscalex100 {j}\par\pard\sec
t\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\col
w2320\colsr-0\colno2\colw8773\pard\li2146\ri0\sl-106\slmult0 \fs12\cf0\f1\charsc
alex100 {sw}\par\column\pard\li0\ri0\sl-306\slmult0 \*\tx546\fs22\cf0\f1\charsca
lex100 {( )}{ }\fs22\cf0\f2\charscalex100 {=}\tab \fs30\cf0\f0\charscalex100 {\u
c1\u402X}{ }\fs22\cf0\f1\charscalex100 {R ( ).e}{\sub \fs12\cf0\f1\charscalex100
{sw}}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs14\cf0\f2\charscalex100 {\uc
1\u964X\uc1\u969X}\par\pard\li493\ri0\sl-160\slmult0 \fs14\cf0\f2\charscalex100
{\uc1\u964X}{ }\fs12\cf0\f2\charscalex100 {=\uc1\u8722X\uc1\u8734X}\par\pard\sec
t\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li613\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf0\f1\charscale
x100 {siempre y cuando las sumas infinitas existan. }\par\pard\li893\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li893\ri0\sl-293\slmult0 \fs22\cf0\f1\charscalex100 {
En tanto que }\fs22\cf0\f2\charscalex100 {\uc1\u966X}{\sub \fs12\cf0\f1\charscal
ex100 {ss}}\fs22\cf0\f1\charscalex100 {(}\fs22\cf0\f2\charscalex100 {\uc1\u969X}
\fs22\cf0\f1\charscalex100 {) siempre es una funcin real, y }\fs22\cf0\f2\charsca
lex100 {\uc1\u966X}{\sub \fs12\cf0\f1\charscalex100 {sw}}\fs22\cf0\f1\charscalex
100 {(}\fs22\cf0\f2\charscalex100 {\uc1\u969X}\fs20\cf0\f1\charscalex100 {) es p
or lo general una funcin compleja de }\fs22\cf0\f2\charscalex100 {\uc1\u969X}\fs2
2\cf0\f1\charscalex100 {. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf0\
f1\charscalex100\ul {Espectro de un Proceso Estocstico Estacionario}\ul0 \fs20\cf
0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li893\ri0\sl-266\slmult0 \fs18\cf0\f1\charscalex100 {Si ahora tomamos un
proceso estacionario \{v(t)\} de covarianza (1.10), y tenemos en cuent
a que }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {segn nues
tro ltimo desarrollo (1.17) coincide con (1.10), veremos que la definic
in de espectro }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {
adoptada coincide con la convencional. Por lo tanto, si el proceso v(t) viene da
do por (1.7) su funcin de }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charsc
alex100 {covarianza ser (1.8), y su espectro: }\par\pard\sect\sectd\sbknone\pgwsx
n11893\pghsxn16840\marglsxn666\margrsxn133\cols5\colno1\colw3106\colsr-0\colno2\
colw1013\colsr-0\colno3\colw1333\colsr-0\colno4\colw426\colsr-0\colno5\colw5213\
pard\li2906\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2906\ri0\sl-146\slmult0 \fs1
2\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\li2040\ri0\sl-306\slmult0 \*\tx284
0\fs22\cf0\f2\charscalex100 {\uc1\u966X \uc1\u969X}{\sub \fs12\cf0\f1\charscalex
100 {vv}}\fs22\cf0\f1\charscalex100 {( )}{ }\fs22\cf0\f2\charscalex100 {=}\tab \
fs32\cf0\f0\charscalex100 {\uc1\u402X}\par\column\pard\li680\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li680\ri0\sl-306\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u87
22X}\fs12\cf0\f1\charscalex100 {j}\fs14\cf0\f2\charscalex100 {\uc1\u964X\uc1\u96
9X}\par\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {R ( ).e}\par\col

umn\pard\li266\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li266\ri0\sl-186\slmult0 \f
s12\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\li0\ri0\sl-306\slmult0 \*\tx200\
fs22\cf0\f2\charscalex100 {=}\tab \fs32\cf0\f0\charscalex100 {\uc1\u402X}{ }\fs2
2\cf0\f2\charscalex100 {\uc1\u963X}{\super \fs12\up4\cf0\f1\charscalex100 {2}}\f
s22\cf0\f1\charscalex100 {.e}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}\fs12\cf0\f
1\charscalex100 {j}\fs14\cf0\f2\charscalex100 {\uc1\u964X\uc1\u969X}\par\column\
pard\li66\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li66\ri0\sl-186\slmult0 \fs12\cf
0\f2\charscalex100 {\uc1\u8734X}\par\pard\li0\ri0\sl-306\slmult0 \fs32\cf0\f0\ch
arscalex100 {\uc1\u402X}\par\column\pard\li840\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li840\ri0\sl-426\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u964X}\par\pard\l
i0\ri0\sl-186\slmult0 \*\tx960\fs22\cf0\f1\charscalex100 {h(k).h(k}{ }\fs22\cf0\
f2\charscalex100 {\uc1\u8722X}\tab \fs22\cf0\f1\charscalex100 {)}\par\pard\sect\
sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols5\colno1\colw3
160\colsr-0\colno2\colw1106\colsr-0\colno3\colw320\colsr-0\colno4\colw666\colsr0\colno5\colw5840\pard\li2786\ri0\sl-160\slmult0 \fs14\cf0\f2\charscalex100 {\uc
1\u964X}{ }\fs12\cf0\f2\charscalex100 {=\uc1\u8722X\uc1\u8734X}\par\pard\li2773\
ri0\sl-440\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u963X}{\super \fs12\up4\cf0\
f1\charscalex100 {2}}\par\column\pard\li93\ri0\sl-106\slmult0 \fs12\cf0\f1\chars
calex100 {vv}\par\pard\li0\ri0\sl-253\slmult0 \*\tx466\fs12\cf0\f2\charscalex100
{\uc1\u8734X}\tab \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\column\pard\li0\
ri0\sl-160\slmult0 \fs14\cf0\f2\charscalex100 {\uc1\u964X}{ }\fs12\cf0\f2\charsc
alex100 {=\uc1\u8722X\uc1\u8734X}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li0\ri0\sl-253\slmult0 \fs12\cf0\f1\charscalex100 {jk}\par\column\pa
rd\li0\ri0\sl-146\slmult0 \fs12\cf0\f1\charscalex100 {k max(0, )}\par\pard\li13\
ri0\sl-453\slmult0 \*\tx640\fs22\cf0\f2\charscalex100 {\uc1\u964X}{\super \fs12\
up4\cf0\f1\charscalex100 {j(k}}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}\tab \fs1
2\cf0\f1\charscalex100 {)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\m
arglsxn666\margrsxn133\cols3\colno1\colw3986\colsr-0\colno2\colw2173\colsr-0\col
no3\colw4933\pard\li2613\ri0\sl-306\slmult0 \*\tx3000\fs22\cf0\f2\charscalex100
{=}\tab \fs22\cf0\f1\charscalex100 {.}{ }\fs32\cf0\f0\charscalex100 {\uc1\u402X
\uc1\u402X}\par\pard\li3040\ri0\sl-160\slmult0 \fs14\cf0\f2\charscalex100 {\uc1\
u964X}{ }\fs12\cf0\f2\charscalex100 {=\uc1\u8722X\uc1\u8734X =}\fs10\cf0\f1\char
scalex100 {k max(0, )}\par\pard\li3120\ri0\sl-106\slmult0 \fs12\cf0\f2\charscale
x100 {\uc1\u8734X}\par\pard\li2613\ri0\sl-306\slmult0 \*\tx3786\fs22\cf0\f2\char
scalex100 {=}{ }\fs22\cf0\f2\charscalex100 {\uc1\u963X}{\super \fs12\up4\cf0\f1\
charscalex100 {2}}\fs30\cf0\f0\charscalex100 {\uc1\u402X}\tab \fs12\cf0\f1\chars
calex100 {js}\fs14\cf0\f2\charscalex100 {\uc1\u969X}\par\column\pard\li0\ri0\sl253\slmult0 \*\tx680\*\tx1400\*\tx1840\fs22\cf0\f1\charscalex100 {h(k).e}\fs12\c
f0\f2\charscalex100 {\uc1\u8722X}\tab \fs14\cf0\f2\charscalex100 {\uc1\u969X}{ }
\fs22\cf0\f1\charscalex100 {.h(k}{ }\fs22\cf0\f2\charscalex100 {\uc1\u8722X}\tab
\fs22\cf0\f1\charscalex100 {).e}\tab \fs14\cf0\f2\charscalex100 {\uc1\u964X \uc
1\u969X}\par\pard\li93\ri0\sl-146\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734
X}\par\pard\li40\ri0\sl-306\slmult0 \*\tx773\fs30\cf0\f0\charscalex100 {\uc1\u40
2X}\tab \fs12\cf0\f2\charscalex100 {\uc1\u8722X}\fs12\cf0\f1\charscalex100 {jk}\
fs14\cf0\f2\charscalex100 {\uc1\u969X}{\sub \fs22\cf0\f2\charscalex100 {=}}\fs22
\cf0\f2\charscalex100 {\uc1\u963X}{\super \fs12\up4\cf0\f1\charscalex100 {2}}\fs
12\cf0\f1\charscalex100 {j}\fs14\cf0\f2\charscalex100 {\uc1\u969X}\par\column\pa
rd\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-186\slmult0 \fs12\cf0\f1
\charscalex100 {2}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn6
66\margrsxn133\cols4\colno1\colw5493\colsr-0\colno2\colw1173\colsr-0\colno3\colw
2440\colsr-0\colno4\colw1986\pard\li3000\ri0\sl-186\slmult0 \*\tx3280\*\tx3973\*
\tx4253\fs22\cf0\f1\charscalex100 {.}\tab \fs22\cf0\f1\charscalex100 {h(s).e}\ta
b \fs22\cf0\f1\charscalex100 {.}\tab \fs22\cf0\f1\charscalex100 {h(k).e}\par\par
d\li3053\ri0\sl-106\slmult0 \*\tx4026\fs12\cf0\f1\charscalex100 {s 0}\tab \fs12\
cf0\f1\charscalex100 {k 0}\par\pard\li2733\ri0\sl-266\slmult0 \fs22\cf0\f0\chars
calex100 {(siendo s=k-}\fs22\cf0\f2\charscalex100 {\uc1\u964X}\fs22\cf0\f0\chars
calex100 {) }\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100
{. H(e )}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {(us
ando (1.14))
}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charsca
lex100 {
(1.18)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\margls

xn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl240\slmult0 \fs20\cf0\f1\charscalex100 {Este va a ser un resultado muy important


e para un uso futuro. }\par\pard\li933\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9
33\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li933\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li933\ri0\sl-186\slmult0 \fs18\cf0\f1\charscalex100 {El proceso estocstico
descripto por v(t) = H(q).e(t), donde \{e(t)\} es una secuencia de
variables }\par\pard\li640\ri0\sl-280\slmult0 \fs18\cf0\f1\charscalex100 {aleato
rias independientes de media nula y varianza }{ }\fs20\cf0\f2\charscalex10
0 {\uc1\u963X}{\super \fs10\up4\cf0\f1\charscalex100 {2}}\fs18\cf0\f1\charscalex
100 {, tiene la siguiente densidad espectral de }\par\pard\li640\ri0\sl-21
3\slmult0 \fs22\cf0\f1\charscalex100 {potencia: }\par\pard\li4866\ri0\sl-160\slm
ult0 \fs12\cf0\f1\charscalex100 {2}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghs
xn16840\marglsxn666\margrsxn133\cols3\colno1\colw4200\colsr-0\colno2\colw4933\co
lsr-0\colno3\colw1960\pard\li3493\ri0\sl-293\slmult0 \fs22\cf0\f2\charscalex100
{\uc1\u966X}{\sub \fs12\cf0\f1\charscalex100 {vv}}\fs22\cf0\f2\charscalex100 {=}
{ }\fs22\cf0\f2\charscalex100 {\uc1\u963X}{\super \fs12\up4\cf0\f1\charscalex100
{2}}\par\column\pard\li426\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {j}\pa
r\pard\li0\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {. H(e )}\fs14\cf0\f2\c
harscalex100 {\uc1\u969X}\par\column\pard\li213\ri0\sl-186\slmult0 \fs22\cf0\f1\
charscalex100 {(1.19)}\par\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex10
0 {
7/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666
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harscalex100 {Identificacin de Sistemas Dinmicos
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li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
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pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-386\slmult0 \fs28\
cf0\f0\charscalex100\b {2. MTODOS DE IDENTIFICACIN NO PARAMTRICA }\b0 \par\pard\li8
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uede ser descripto por su funcin de }\par\pard\li613\ri0\sl-253\slmult0 \fs
20\cf0\f1\charscalex100 {transferencia, o bien por su correspondiente repuesta i
mpulsiva, lo que iniciaremos ahora ser un camino }\par\pard\li613\ri0\sl-240\slmu
lt0 \fs18\cf0\f1\charscalex100 {en busca de algunos mtodos que nos permitan deter
minar estas funciones por tcnicas directas y sin }\par\pard\li613\ri0\sl-240\slmu
lt0 \fs18\cf0\f1\charscalex100 {hacer una preseleccin de los posibles model
os. Estos mtodos son frecuentemente denominados }\par\pard\li613\ri0\sl-240\
slmult0 \fs18\cf0\f1\charscalex100 {mtodos no paramtricos debido a que no emplean
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lmult0 \fs20\cf0\f1\charscalex100 {la bsqueda de una mejor descripcin del sistema.
}\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {A continuacin p
resentaremos una tcnica que puede contener varios niveles de sofisticacin llamada
}\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {\uc1\u8220Xanlisi
s espectral\uc1\u8221X, la cual tiene lugar en el dominio de la frecu
encia. Y por otro lado un mtodo muy }\par\pard\li613\ri0\sl-240\slmult0 \f
s20\cf0\f1\charscalex100 {sencillo denominado \uc1\u8220Xanlisis por correlacin\uc
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iones de transferencia de sistemas lineales fue desarrollado a partir }\par\pard
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spectral. Y lo que nosotros haremos aqu, ser un ligero acercamiento al
}\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {tema y tomar alg
unos conceptos bsicos para realizar estimadores matemticos que permitan arribar a
}\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {un resultado aco
rde a la situacin. }\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100
{ De acuerdo a (1.16), si queremos caracterizar un sistema bastara con
hallar su funcin de }\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf0\f1\charsca

lex100 {transferencia G(e}{\super \fs12\up2\cf0\f1\charscalex100 {j}}\fs14\cf0\


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ediato del anlisis de (1.20), es claro que estimando las tres densidad
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00 {potencia involucradas (hablamos de }\fs20\cf0\f2\charscalex100 {\uc1\u966X}{
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53\slmult0 \fs20\cf0\f1\charscalex100 {a travs de (1.19) se vincula con el mdulo d
e H(e}{\super \fs12\up2\cf0\f1\charscalex100 {j}}\fs14\cf0\f2\charscalex100 {\uc
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{2)}\b0 \fs20\cf0\f1\charscalex100 { A partir de esto se forman los estimadore
s de los correspondientes espectros, }\par\pard\li2893\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li2893\ri0\sl-120\slmult0 \fs12\cf0\f1\charscalex100 {M}\par\pard\l
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arscalex100 {\uc1\u710X}\tab \fs12\cf0\f1\charscalex100 {j}\par\pard\li2160\ri0\
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0\f2\charscalex100 {\uc1\u964X}{ }\fs12\cf0\f2\charscalex100 {=\uc1\u8722X}\fs12
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cf0\f1\charscalex100 {R ( ).W ( ).e}{\sub \fs12\cf0\f1\charscalex100 {uu}}\fs12\
cf0\f1\charscalex100 {M}\tab \fs12\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs14\cf
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par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\
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1\charscalex100 {donde W}{\sub \fs12\cf0\f1\charscalex100 {M}}\fs22\cf0\f1\chars
calex100 {(}\fs22\cf0\f2\charscalex100 {\uc1\u964X}\fs20\cf0\f1\charscalex100 {)
es una ventana de tiempo, utilizada para disminuir el ripple que presenta el es
pectro de }\par\pard\li893\ri0\sl-200\slmult0 \fs18\cf0\f1\charscalex100 {la seal
al considerar un nmero finito de muestras. En la actualidad existen varios tipos

de ventana, }\par\pard\li893\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {y p


or lo general, en este tipo de aplicaciones se suele utilizar la ventana de Hamm
ing o la de Bartlett, }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscale
x100 {las cuales poseen una buena relacin entre el ancho del lbulo principal, y la
atenuacin en bandas }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex1
00 {laterales. Para nuestro caso, dicha ventana es conocida como }{ }\fs
22\cf0\f0\charscalex100\i {ventana de retardo}\i0 \fs22\cf0\f1\charscalex100 {
y el ndice M }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100
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alex100 {como as tambin sus desviaciones estndar. Esto le va a permitir
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\par\pard\li1320\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1320\ri0\sl-240\slmult0
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\charscalex100 {(t). }\par\pard\li893\ri0\sl-400\slmult0 \fs20\cf0\f1\charscalex
100 {El valor de M define el nmero de muestras para las cuales la autocorrelacin s
er calculada. Esto es }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex
100 {desde \uc1\u8211XM hasta M, o sea que el largo de la correlacin es 2M+1 y la
respuesta impulsiva es calculada }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\
f1\charscalex100 {desde 0 a M (el programa por defecto toma M=20). }\par\pard\
li893\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {Debido a que la entrada
\uc1\u8220Xpreblanqueada\uc1\u8221X es ajustada a un modelo paramtrico \
uc1\u8220Xar\uc1\u8221X de orden }{ }\fs22\cf0\f0\charscalex100\i {na}\i0 \par
\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {(como los que se
analizarn en los prximos captulos), el tercer valor a definir es justame
nte dicho }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {ndice
(el algoritmo toma por defecto na = 20). }\par\pard\li893\ri0\sl-240\slmult0 \f
s22\cf0\f1\charscalex100 {Por ltimo lo que se puede hacer, en base a los datos de
l vector }\fs22\cf0\f0\charscalex100\i {ir}\i0 \fs20\cf0\f1\charscalex100 {, es
utilizar el comando \uc1\u8216Xcumsum\uc1\u8217X }\par\pard\li613\ri0\sl-240\sl
mult0 \fs20\cf0\f1\charscalex100 {que realiza una suma acumulativa de los elemen
tos de un vector, para determinar en forma aproximada }\par\pard\li613\ri0\sl-24
0\slmult0 \fs20\cf0\f1\charscalex100 {la respuesta al escaln del sistema. }\par\p
ard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs22\c
f0\f1\charscalex100 {>>sr = cumsum(ir) }\par\pard\li9133\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0
\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-2
13\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li913
3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0
\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-2
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3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\

pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs1


8\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-360\slmult0 \fs22\cf0\f1\charsc
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13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-386\slmult0 \fs28\cf0\
f0\charscalex100\b {3. PREDICCIN }\b0 \par\column\pard\li0\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\charscalex100 {Control y Se
rvomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs22\cf1\f1\charscalex100 {
2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn1
33\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs
18\cf0\f1\charscalex100 {Las descripciones del sistema dadas con anteriori
dad pueden ser utilizadas para resolver una gran }\par\pard\li613\ri0\sl240\slmult0 \fs20\cf0\f1\charscalex100 {variedad de problemas de diseo relac
ionados con los sistemas reales. Sin embargo, a los fines }\par\pard\li
613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {prcticos suele ser conveniente
llevar a cabo el modelado en funcin de una cantidad fija de variables. }\par\par
d\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {En este sentido, la i
dea de predecir futuros valores de salida se va a tornar en un tema
de esencial }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {i
mportancia en el desarrollo de mtodos de identificacin, es por eso que a continuac
in presentaremos }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
las ideas bsicas para hallar un predictor de la salida. }\par\pard\li893\ri0\sl213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex1
00 {En una primera instancia deberemos desarrollar un mtodo que nos permita prede
cir valores futuros }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex1
00 {de v(t) en el caso de que su descripcin sea: }\par\pard\li3600\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li3600\ri0\sl-186\slmult0 \fs12\cf0\f2\charscalex100 {\u

c1\u8734X}\par\pard\li2066\ri0\sl-306\slmult0 \*\tx9560\fs20\cf0\f1\charscalex10
0 {v(t)}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20\cf0\f1\charscalex100 {H(q).e(t
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100 {donde asumimos que H(q) es estable, o sea que el filtro no posee polos fuer
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i0\sl-306\slmult0 \*\tx9506\fs30\cf0\f0\charscalex100 {\uc1\u402X}{ }\fs20\cf0\f
1\charscalex100 {h(k)}{ }\fs20\cf0\f2\charscalex100 {< \uc1\u8734X}\tab \fs22\cf
0\f1\charscalex100 {(3.2)}\par\pard\li2066\ri0\sl-106\slmult0 \fs12\cf0\f1\chars
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100\ul {Invertibilidad del Modelo de Ruido }\ul0 \par\pard\li893\ri0\sl-213\slmu
lt0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {Una
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0\f0\charscalex100\i {invertible}\i0 \fs22\cf0\f1\charscalex100 {. Esto quiere }
\par\pard\li613\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {decir que si es c
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\pard\li893\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {con }\par\column\pard
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f0\f1\charscalex100 {h(k).v(t}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs2
0\cf0\f1\charscalex100 {k)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs22\cf0\f1\
charscalex100 {(3.3) }\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri
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one\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li893\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex100 {De est
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rscalex100 {\uc1\u8722X}\fs12\cf0\f1\charscalex100 {k}\par\pard\li0\ri0\sl-186\s
lmult0 \fs20\cf0\f1\charscalex100 {h(k).q}\par\column\pard\li0\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-186\sl
mult0 \fs22\cf0\f1\charscalex100 {(3.5)}\par\pard\sect\sectd\sbknone\pgwsxn11893
\pghsxn16840\marglsxn666\margrsxn133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li613\ri0\sl-306\slmult0 \fs22\cf0\f0\charscalex100\b {Nota:}\b0 \fs20\cf0
\f1\charscalex100 { para que la funcin 1/H(q) sea analtica en }\fs22\cf0\f2\charsc
alex100 {|}\fs22\cf0\f1\charscalex100 {q}\fs22\cf0\f2\charscalex100 {|}{ }\fs22\
cf0\f2\charscalex100 {\uc1\u8805X}\fs20\cf0\f1\charscalex100 { 1 es necesario qu
e no tenga polos fuera del crculo }\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf0\f
1\charscalex100 {unitario, esto quiere decir que H(q) no debe tener ceros fuera
del crculo unitario. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li61
3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-280\slmult0 \fs20\cf0\f1\ch
arscalex100\ul {Prediccin de }\ul0 \fs22\cf0\f0\charscalex100\i \ul {v}\i0 \ul0 \
par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-293\slmult0 \f
s18\cf0\f1\charscalex100 {Supongamos ahora que hemos observado v(t\uc1\u8217X) p
ara t\uc1\u8217X}\fs20\cf0\f2\charscalex100 {\uc1\u8804X}\fs20\cf0\f1\charscalex
100 { t -1 y que queremos predecir el valor de v(t) }\par\pard\li613\ri0\sl-213
\slmult0 \fs20\cf0\f1\charscalex100 {basndonos en estas observaciones. Tenemos en
tonces, a partir de que el polinomio H es mnico, }\par\pard\sect\sectd\sbknone\p
gwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw4600\colsr-0\col
no2\colw6493\pard\li2653\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2653\ri0\sl-200
\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\column\pard\li0\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-200\slmult0 \fs12\cf0\f2\charscalex100 {\
uc1\u8734X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\marg
rsxn133\cols2\colno1\colw9106\colsr-0\colno2\colw1986\pard\li2066\ri0\sl-306\slm
ult0 \fs20\cf0\f1\charscalex100 {v(t)}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs30\
cf0\f0\charscalex100 {\uc1\u402X}{ }\fs20\cf0\f1\charscalex100 {h(k).e(t}{ }\fs2
0\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs20\cf0\f1\charscalex100 {k)}{ }\fs20\c
f0\f2\charscalex100 {=}{ }\fs20\cf0\f1\charscalex100 {e(t)}{ }\fs20\cf0\f2\chars
calex100 {+}{ }\fs30\cf0\f0\charscalex100 {\uc1\u402X}{ }\fs20\cf0\f1\charscalex
100 {h(k).e(t}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs20\cf0\f1\charsca
lex100 {k)}\par\pard\li2586\ri0\sl-106\slmult0 \*\tx4546\fs12\cf0\f1\charscalex1
00 {k 0}\tab \fs12\cf0\f1\charscalex100 {k 1}\par\column\pard\li0\ri0\sl-213\slm
ult0 \fs22\cf0\f1\charscalex100 {
(3.6)}\par\pard\sect\sectd\sbknone\pgws
xn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li893\ri0\sl-306\slmult0 \*\tx8346\fs22\cf0\f1\charscalex100 {Surge
ahora trabajar con la }{ }\fs22\cf0\f0\charscalex100\i {esperanza condicional}\
i0 \fs22\cf0\f1\charscalex100 { de v(t) que se denota }{ }\fs20\cf0\f1\charscale
x100 {v(t | t -1)}\fs18\cf0\f0\charscalex100 {}\tab \fs22\cf0\f1\charscalex100 {,
que se refiere al }\par\pard\li613\ri0\sl-280\slmult0 \fs16\cf0\f1\charscalex10
0 {valor que se predice de v(t) con la informacin obtenida de los ins
tantes anteriores a t. Como el valor }\par\pard\li613\ri0\sl-240\slmult0 \
fs20\cf0\f1\charscalex100 {esperado de e(t) es nulo, entonces: }\par\pard\li3106
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li3106\ri0\sl-186\slmult0 \fs12\cf0\f2\ch
arscalex100 {\uc1\u8734X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\ma
rglsxn666\margrsxn133\cols3\colno1\colw2546\colsr-0\colno2\colw6560\colsr-0\coln
o3\colw1986\pard\li2080\ri0\sl-200\slmult0 \fs20\cf0\f1\charscalex100 {\uc1\u710
X}\fs20\cf0\f1\charscalex100 {v(t | t 1)}\par\column\pard\li0\ri0\sl-306\slmult0
\fs20\cf0\f2\charscalex100 {\uc1\u8722X =}{ }\fs30\cf0\f0\charscalex100 {\uc1\u
402X}\fs20\cf0\f1\charscalex100 {h(k).e(t}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8
722X}{ }\fs20\cf0\f1\charscalex100 {k)}\par\pard\li520\ri0\sl-106\slmult0 \fs12\
cf0\f1\charscalex100 {k 1}\par\column\pard\li0\ri0\sl-213\slmult0 \fs22\cf0\f1\c
harscalex100 {
(3.7)}\par\pard\li26\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li26\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li26\ri0\sl-213\slmult0 \fs18\cf0\pa
r\pard\li26\ri0\sl-346\slmult0 \fs22\cf0\f1\charscalex100 {
13/39 }\par\pa
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{\sp{\sn fBehindDocument}{\sv 1}}


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harscalex100 {Identificacin de Sistemas Dinmicos
}\par\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0 \fs22\cf0\
f1\charscalex100 {por lo tanto }\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\charscalex100 {Control y Servomec
anismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs22\cf1\f1\charscalex100 { 2003 }
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i0\sl-266\slmult0 \fs20\cf0\f0\charscalex100 {}{ }\fs12\cf0\f2\charscalex100 {\uc
1\u8734X}\par\pard\li2546\ri0\sl-320\slmult0 \fs20\cf0\f2\charscalex100 {\uc1\u8
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t0 \fs20\cf0\f0\charscalex100 {}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0
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lmult0 \fs18\cf0\par\pard\li0\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100 {H(q
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d\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0
\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-240\slmult0 \
fs20\cf0\f1\charscalex100\ul {Prediccin de }\ul0 \fs22\cf0\f0\charscalex100\i \ul
{y}\i0 \ul0 \par\column\pard\li0\ri0\sl-186\slmult0 \fs20\cf0\f1\charscalex100
{\uc1\u710X}\fs20\cf0\f1\charscalex100 {v(t | t 1)}\par\column\pard\li0\ri0\sl-1

06\slmult0 \fs12\cf0\f1\charscalex100 {k 1}\par\column\pard\li0\ri0\sl-186\slmul


t0 \*\tx666\*\tx1386\fs20\cf0\f1\charscalex100 {h(k).q}\tab \fs20\cf0\f0\charsca
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lmult0 \fs20\cf0\f0\charscalex100 {\uc1\u8260X}\par\column\pard\li0\ri0\sl-186\s
lmult0 \fs20\cf0\f1\charscalex100 {H(q)}\par\column\pard\li0\ri0\sl-186\slmult0
\*\tx573\fs20\cf0\f1\charscalex100 {.v(t)}\tab \fs20\cf0\f0\charscalex100 {}\fs20
\cf0\f1\charscalex100 {1 H (q) .v(t)}\par\column\pard\li0\ri0\sl-186\slmult0 \fs
22\cf0\f1\charscalex100 {
(3.8)}\par\pard\sect\sectd\sbknone\pgwsxn11893\
pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li893\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {Considerando una descr
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conocidas para t\uc1\u8217X}\fs22\cf0\f2\charscalex100 {\uc1\u8804X}\fs20\cf0\f1
\charscalex100 { t -1 podemos decir que
}\par\pard\sect\sectd\sbknone\pgwsxn
11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw9506\colsr-0\colno2\c
olw1586\pard\li2066\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2066\ri0\sl-240\slmu
lt0 \fs20\cf0\f1\charscalex100 {v(t ')}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20
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0 \fs18\cf0\par\pard\li0\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {(3.9)}\p
ar\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\
li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-346\slmult0 \fs20\cf0\f
1\charscalex100 {o sea que v(t\uc1\u8217X) tambin es conocida para t\uc1\u8217X}\
fs22\cf0\f2\charscalex100 {\uc1\u8804X}\fs22\cf0\f1\charscalex100 { t -1. Por lo
tanto la esperanza condicional de y(t), dada la }\par\pard\li613\ri0\sl-213\sl
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0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {\uc1\u710X}\par\column\pard\li0\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-240\slmult0 \fs20\cf0\f1\charscale
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1)}\fs20\cf0\f2\charscalex100 {\uc1\u8722X =}{ }\fs20\cf0\f1\charscalex100 {G(q
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ult0 \fs22\cf0\f1\charscalex100 {Esta ser, de aqu en adelante, la expresin que util
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harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
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2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
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harscalex100\b {4. MODELOS PARAMTRICOS DE SISTEMAS LINEALES INVARIANTES
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{En la mayora de los casos es impracticable el hecho de hacer esta
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cf0\par\pard\li0\ri0\sl-306\slmult0 \fs22\cf0\f1\charscalex100 {
(4.3a)}\pa
r\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols4\
colno1\colw2800\colsr-0\colno2\colw1546\colsr-0\colno3\colw5066\colsr-0\colno4\c
olw1680\pard\li2186\ri0\sl-413\slmult0 \fs22\cf0\f2\charscalex100 {\{ \}}\par\co
lumn\pard\li400\ri0\sl-226\slmult0 \fs12\cf0\f1\charscalex100 {2}\par\pard\li0\r
i0\sl-280\slmult0 \fs20\cf0\f2\charscalex100 {=}{ }\fs30\cf0\f0\charscalex100 {\
uc1\u8212X}{ }\fs20\cf0\f1\charscalex100 {x .f (x).dx}{\sub \fs10\cf0\f1\charsca
lex100 {e}}\fs20\cf0\f2\charscalex100 {=}{ }\fs20\cf0\f2\charscalex100 {\uc1\u96
3X}\par\column\pard\li0\ri0\sl-226\slmult0 \fs12\cf0\f1\charscalex100 {2}\par\co
lumn\pard\li0\ri0\sl-333\slmult0 \fs22\cf0\f1\charscalex100 {(4.3b)}\par\pard\se
ct\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\
sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs22\cf0\f1\charscal

ex100 {Es tambin muy comn asumir que }\fs22\cf0\f0\charscalex100\i {e(t)}\i0 \fs22
\cf0\f1\charscalex100 { tiene una distribucin Gaussiana, en cuyo caso la }\fs22\c
f0\f0\charscalex100\i {fdp}\i0 \fs22\cf0\f1\charscalex100 { queda }\par\pard\li6
13\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {enteramente especificada por (
4.3). }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 { La especi
ficacin (4.1) en trminos de un nmero finito de valores, o coeficientes, se conoce c
omo }\par\pard\li613\ri0\sl-240\slmult0 \*\tx8826\fs20\cf0\f1\charscalex100 {mod
elado paramtrico e involucra mtodos de estimacin y prediccin conocidos }\ta
b \fs20\cf0\f0\charscalex100\i {mtodos de }\i0 \par\pard\li613\ri0\sl-240\slmult
0 \fs22\cf0\f0\charscalex100\i {identificacin paramtrica}\i0 \fs22\cf0\f1\charscal
ex100 {. }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Muy a
menudo no es posible determinar a priori estos coeficientes partiendo del conoci
miento de las }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {le
yes fsicas que gobiernan el comportamiento del sistema. Es por eso que la determi
nacin de todos o }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {
algunos de dichos valores debe ser dejada a los procedimientos de estimacin. Esto
quiere decir que los }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscale
x100 {coeficientes en cuestin entran en el modelo como }{ }\fs22\cf0\f0\ch
arscalex100\i {parmetros a ser determinados}\i0 \fs22\cf0\f1\charscalex100 {.
Llamaremos }\par\pard\li613\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex100 {ento
nces }\fs20\cf0\f2\charscalex100 {\uc1\u952X}\fs18\cf0\f1\charscalex100 { al ve
ctor que contenga todos los parmetros a estimar. O sea que ahora la descripcin del
}\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf0\f1\charscalex100 {modelo ser la si
guiente:}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrs
xn133\cols2\colno1\colw9413\colsr-0\colno2\colw1680\pard\li2066\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li2066\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {y(t,
)}{ }\fs22\cf0\f2\charscalex100 {=}{ }\fs22\cf0\f1\charscalex100 {G(q, ).u(t) H
(q, ).e(t)}\par\pard\li2066\ri0\sl-373\slmult0 \*\tx3906\fs22\cf0\f1\charscalex1
00 {f}{\sub \fs12\cf0\f1\charscalex100 {e}}\fs28\cf0\f2\charscalex100 {( )}\tab
\fs18\cf0\f2\charscalex100 {\{ \}}\par\pard\li2453\ri0\sl-280\slmult0 \*\tx2680\
fs22\cf0\f2\charscalex100 {\uc1\u952X}\tab \fs22\cf0\f1\charscalex100 {, fdp de
e(t) ; e(t) ruido blanco}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\pa
r\pard\li0\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {(4.4a)}\par\pard\li0\r
i0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {(4.4b)}\par\pard\sect\sectd\sbknon
e\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li893\ri0\sl-280\slmult0 \fs18\cf0\f1\charscalex100 {Vale de
stacar que este no es un modelo sino un }{ }\fs22\cf0\f0\charscalex100\i
{set de modelos}\i0 \fs20\cf0\f1\charscalex100 {, aunque por lo general
vamos a }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {hablar
despreocupadamente del \uc1\u8220Xmodelo (4.4)\uc1\u8221X auque sea una
abuso de notacin desde un punto de }\par\pard\li613\ri0\sl-240\slmult0 \fs2
2\cf0\f1\charscalex100 {vista formal. }\par\pard\li893\ri0\sl-240\slmult0 \fs22\
cf0\f1\charscalex100 {Usando (3.10), vamos a poder predecir las muestras
futuras para (4.4), y para enfatizar la }\par\pard\li613\ri0\sl-280\slmul
t0 \fs18\cf0\f1\charscalex100 {dependencia que mantiene el estimador con e
l vector de parmetros }{ }\fs20\cf0\f2\charscalex100 {\uc1\u952X}\fs18\cf0\f1\
charscalex100 {, la notacin se hace de la }\par\pard\li613\ri0\sl-213\slmul
t0 \fs22\cf0\f1\charscalex100 {siguiente manera : }\par\pard\li9133\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-360\slmult0 \fs22\cf0\f1\char
scalex100 {
15/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\ma
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3\slmult0 \fs20\cf1\f1\charscalex100 {Control y Servomecanismos }\par\pard\li197
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ente la relacin entrada-salida ms simple que se puede obtener sea la p
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893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {Debido a que el trmino de
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\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {diferencias, el model
o (4.6) es tambin conocido como }\fs22\cf0\f0\charscalex100\i {modelo o estructur
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fs12\cf0\f1\charscalex100 {1}\tab \fs12\cf0\f1\charscalex100 {2}\tab \fs12\cf0\f
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t0 \fs12\cf0\f1\charscalex100 {n}{\sub \fs10\cf0\f1\charscalex100 {a}}\par\pard\
li66\ri0\sl-133\slmult0 \fs12\cf0\f1\charscalex100 {n}\par\pard\sect\sectd\sbkno
ne\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li2053\ri0\sl-253\slmult
0 \fs22\cf0\f1\charscalex100 {B(q)}{ }\fs22\cf0\f2\charscalex100 {=}{ }\fs22\cf0
\f1\charscalex100 {b .q}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}{\sub \fs22\cf0\
f2\charscalex100 {+}}\fs22\cf0\f1\charscalex100 {b .q}\fs12\cf0\f2\charscalex100
{\uc1\u8722X}{\sub \fs22\cf0\f2\charscalex100 {+ +}}\fs22\cf0\f1\charscalex100
{... b .q}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}{\sub \fs10\cf0\f1\charscalex1
00 {b}}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn
133\cols3\colno1\colw3400\colsr-0\colno2\colw1026\colsr-0\colno3\colw6666\pard\l
i2746\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {1}\par\column\pard\li0\ri0\
sl-106\slmult0 \fs12\cf0\f1\charscalex100 {2}\par\column\pard\li0\ri0\sl-120\slm
ult0 \fs12\cf0\f1\charscalex100 {n}{\sub \fs10\cf0\f1\charscalex100 {b}}\par\par
d\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li613\

ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-280\slmult0 \fs20\cf0\f1\char


scalex100 {vemos que (4.6) se corresponde con (4.4), siendo, }\par\pard\sect\sec
td\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols6\colno1\colw2853
\colsr-0\colno2\colw453\colsr-0\colno3\colw746\colsr-0\colno4\colw933\colsr-0\co
lno5\colw4520\colsr-0\colno6\colw1586\pard\li2413\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li2413\ri0\sl-386\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u952X =}\par\
pard\li2053\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {G(q, )}\par\column\pa
rd\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-280\slmult0 \fs22\cf0\f1
\charscalex100 {B(q)}\par\pard\li13\ri0\sl-293\slmult0 \fs22\cf0\f1\charscalex10
0 {A(q)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-200\slmult0 \fs22\cf0\f0\charscalex100 {
, }\par\column\pard\li493\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li493\ri0\sl-3
86\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u952X =}\par\pard\li120\ri0\sl-186\s
lmult0 \fs22\cf0\f1\charscalex100 {H(q, )}\par\pard\li0\ri0\sl-213\slmult0 \fs18
\cf0\par\pard\li0\ri0\sl-173\slmult0 \fs16\cf0\f0\charscalex100 {e(t) }\par\pard
\li13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li13\ri0\sl-213\slmult0 \fs18\cf0\pa
r\pard\li13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li13\ri0\sl-306\slmult0 \fs22\
cf0\f0\charscalex100 { 1/A }\par\column\pard\li146\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li146\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {1}\par\pard\li0\ri
0\sl-346\slmult0 \fs22\cf0\f1\charscalex100 {A(q)}\par\column\pard\li0\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\s
l-200\slmult0 \fs22\cf0\f1\charscalex100 {(4.8)}\par\pard\sect\sectd\sbknone\pgw
sxn11893\pghsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw3160\colsr-0\colno
2\colw2333\colsr-0\colno3\colw5600\pard\li1893\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li1893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1893\ri0\sl-240\slmult0 \fs1
6\cf0\f0\charscalex100 {u(t) }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li613\ri0\sl-306\slmult0 \fs16\cf0\f0\charscalex100\b {Figura 4.1}\b0 \fs16\
cf0\f1\charscalex100 { Estructura ARX }\par\column\pard\li0\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-293\slmu
lt0 \fs22\cf0\f0\charscalex100 { B/A }\par\column\pard\li0\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-240\slmult
0 \fs16\cf0\f0\charscalex100 {y(t) }\par\pard\sect\sectd\sbknone\pgwsxn11893\pgh
sxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {A este modelo se lo
conoce como estructura \uc1\u8220XARX\uc1\u8221X, donde \uc1\u8220XAR\uc1\u
8221X hace referencia a la parte }\par\pard\li613\ri0\sl-240\slmult0 \fs20\
cf0\f1\charscalex100 {autorregresiva }\fs20\cf0\f0\charscalex100\i {A(q).y(t)}\i
0 \fs20\cf0\f1\charscalex100 { y \uc1\u8220XX\uc1\u8221X al la entrada extra (ex
tra imput) }\fs20\cf0\f0\charscalex100\i {B(q).u(t)}\i0 \fs18\cf0\f1\charscalex1
00 { tambin conocida como variable }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\
f1\charscalex100 {exgena. }\par\pard\li893\ri0\sl-240\slmult0 \fs16\cf0\f1\charsc
alex100 {El flujo de seal de la Figura 4.1 nos indica que posiblemente
este no sea el modelo ms natural }\par\pard\li613\ri0\sl-240\slmult0 \fs2
0\cf0\f1\charscalex100 {desde un punto de vista fsico, ya que el ruido blanco es
sumado a la salida luego de pasar a travs del }\par\pard\li613\ri0\sl-240\slmult0
\fs16\cf0\f1\charscalex100 {denominador del sistema dinmico. Sin embargo,
el set de modelos de ecuacin de error posee una }\par\pard\li613\ri0\sl240\slmult0 \fs18\cf0\f1\charscalex100 {propiedad importante que lo convierte en
una buena primera eleccin en muchas aplicaciones. Y es que }\par\pard\li613\ri0\
sl-240\slmult0 \fs20\cf0\f1\charscalex100 {la forma del predictor define una reg
resin lineal. }\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri
0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-373\slmult0 \fs22\cf
0\f1\charscalex100 {
16/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsx
n16840\marglsxn666\margrsxn133\pard\sect\sectd\sbkpage
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{\sp{\sn fLayoutInCell}{\sv 1}}}}
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{\sp{\sn fLayoutInCell}{\sv 1}}}}\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn13


3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\pard\li893\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-280\slmult0 \fs22\cf0\
f0\charscalex100\i {Regresiones lineales: }\i0 \par\column\pard\li0\ri0\sl-213\s
lmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\charscalex100 {Con
trol y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs22\cf1\f1\charsca
lex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\
margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\sl
mult0 \fs20\cf0\f1\charscalex100 {En primer lugar hallemos un predictor para (4.
6) reemplazando (4.8) en (4.5):}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn1
6840\marglsxn666\margrsxn133\cols2\colno1\colw4720\colsr-0\colno2\colw6373\pard\
li3826\ri0\sl-546\slmult0 \fs28\cf0\f2\charscalex100 {[}\par\column\pard\li0\ri0
\sl-546\slmult0 \fs28\cf0\f2\charscalex100 {]}\par\pard\sect\sectd\sbknone\pgwsx
n11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw9506\colsr-0\colno2\
colw1586\pard\li2080\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {\uc1\u710Xy(
t, )}{ }\fs22\cf0\f2\charscalex100 {=}{ }\fs22\cf0\f1\charscalex100 {B(q, ).u(t)
}{ }\fs22\cf0\f2\charscalex100 {+ \uc1\u8722X}\fs22\cf0\f1\charscalex100 {1 A(q,
) .y(t)}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {(4.
9)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\
pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-306\slmult0 \fs20\
cf0\f1\charscalex100 {Claramente, esta expresin podra haber sido hallada sin mayor
es problemas a partir de (4.6). O sea }\par\pard\li613\ri0\sl-240\slmult0 \fs20\
cf0\f1\charscalex100 {que, sin un marco probabilstico, el predictor (4.9) podra se
r una eleccin natural si es que el trmino e(t) }\par\pard\li613\ri0\sl-240\slmult0
\fs18\cf0\f1\charscalex100 {en (4.6) es considerado \uc1\u8220Xinsignifican
te\uc1\u8221X o bien \uc1\u8220Xdifcil de estimar\uc1\u8221X. Si somos un
poco ms estrictos }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex
100 {podemos decir que a la hora de estimar el trmino e(t), la mejor estimacin del
mismo es considerarlo }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscal
ex100 {nulo ya que la esperanza de un proceso con caractersticas de ru
ido blanco es nula. Es entonces }\par\pard\li613\ri0\sl-240\slmult0 \fs20\c
f0\f1\charscalex100 {perfectamente natural trabajar con (4.9) incluso para model
os determinsticos.
}\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex
100 {Introducimos ahora el vector }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghs
xn16840\marglsxn666\margrsxn133\cols2\colno1\colw8586\colsr-0\colno2\colw2506\pa
rd\li2600\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2600\ri0\sl-386\slmult0 \fs28\
cf0\f2\charscalex100 {[}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li0\ri0\sl-386\slmult0 \fs28\cf0\f2\charscalex100 {]}{\super \fs12\up7\cf0\f1
\charscalex100 {T}}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn
666\margrsxn133\pard\li2040\ri0\sl-293\slmult0 \*\tx2786\fs22\cf0\f2\charscalex1
00 {\uc1\u981X = \uc1\u8722X}\fs22\cf0\f1\charscalex100 {(t)}\tab \fs22\cf0\f1\c
harscalex100 {y(t 1) }{ }\fs22\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f
1\charscalex100 {y(t}{ }\fs22\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f1\
charscalex100 {2) ... }{ }\fs22\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs22\cf0
\f1\charscalex100 {y(t n ) }{\sub \fs12\cf0\f1\charscalex100 {a}}\fs22\cf0\f2\ch
arscalex100 {\uc1\u8722X}{ }\fs22\cf0\f1\charscalex100 {u(t 1) }{ }\fs22\cf0\f2
\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f1\charscalex100 {u(t}{ }\fs22\cf0\f2\c
harscalex100 {\uc1\u8722X}{ }\fs22\cf0\f1\charscalex100 {2) ... }{ }\fs22\cf0\
f2\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f1\charscalex100 {u(t}{ }\fs22\cf0\f2
\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f1\charscalex100 {n )}{\sub \fs12\cf0\f
1\charscalex100 {b}}\fs22\cf0\f0\charscalex100 {
(}\fs22\cf0\f1\char
scalex100 {4.10)}\par\pard\li893\ri0\sl-186\slmult0 \fs20\cf0\f1\charscalex100 {
As podemos rescribir (4.9) como }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn1
6840\marglsxn666\margrsxn133\cols5\colno1\colw2600\colsr-0\colno2\colw280\colsr0\colno3\colw200\colsr-0\colno4\colw6333\colsr-0\colno5\colw1680\pard\li2080\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li2080\ri0\sl-266\slmult0 \fs22\cf0\f1\charsc
alex100 {\uc1\u710X}\fs22\cf0\f1\charscalex100 {y(t, )}\par\column\pard\li0\ri0\

sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-306\slmult0 \fs22\cf0\f2\charscalex


100 {=}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-173
\slmult0 \fs12\cf0\f1\charscalex100 {T}\par\column\pard\li560\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li560\ri0\sl-173\slmult0 \fs12\cf0\f1\charscalex100 {T}\par\
pard\li0\ri0\sl-280\slmult0 \*\tx653\fs22\cf0\f1\charscalex100 {(t)}{ }\fs22\cf0
\f2\charscalex100 {=}{ }\fs22\cf0\f2\charscalex100 {\uc1\u981X}\tab \fs22\cf0\f1
\charscalex100 {(t)}\fs22\cf0\f2\charscalex100 {\uc1\u952X}\par\column\pard\li0\
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-280\slmult0 \fs22\cf0\f1\charsc
alex100 {(4.11)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666
\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-293\s
lmult0 \fs20\cf0\f1\charscalex100 {Esta es la importante propiedad de la
que hacamos referencia previamente. El predictor es un }\par\pard\li613\ri
0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {producto escalar entre un vector de
datos conocidos }\fs22\cf0\f2\charscalex100 {\uc1\u981X}\fs20\cf0\f1\charscalex
100 {(t) y el vector de parmetros }\fs22\cf0\f2\charscalex100 {\uc1\u952X}\fs20\c
f0\f1\charscalex100 {. A este modelo se lo }\par\pard\li613\ri0\sl-266\slmult0 \
fs18\cf0\f1\charscalex100 {conoce en estadstica como }{ }\fs20\cf0\f0\charscal
ex100\i {regresin lineal}\i0 \fs20\cf0\f1\charscalex100 {, y al vector }{ }\f
s20\cf0\f2\charscalex100 {\uc1\u981X}\fs20\cf0\f1\charscalex100 {(t) se lo ll
ama }{ }\fs20\cf0\f0\charscalex100\i {vector de regresin}\i0 \fs20\cf0\f1\chars
calex100 {. La }\par\pard\li613\ri0\sl-200\slmult0 \fs16\cf0\f1\charscalex100 {
importancia de esto radica en la simplicidad y eficacia de los mtodos
de estimacin que pueden ser }\par\pard\li613\ri0\sl-266\slmult0 \fs20\cf0\f1
\charscalex100 {aplicados para la determinacin de }\fs22\cf0\f2\charscalex100 {\u
c1\u952X}\fs20\cf0\f1\charscalex100 {, como por ejemplo el criterio de cuadrados
mnimos: }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrs
xn133\cols2\colno1\colw4466\colsr-0\colno2\colw6626\pard\li3333\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li3333\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {\uc1
\u710X}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-146
\slmult0 \fs12\cf0\f1\charscalex100 {T}\par\pard\sect\sectd\sbknone\pgwsxn11893\
pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw9306\colsr-0\colno2\colw178
6\pard\li2040\ri0\sl-280\slmult0 \*\tx4560\fs22\cf0\f2\charscalex100 {\uc1\u8712
X}{ }\fs22\cf0\f1\charscalex100 {(t, )}{ }\fs22\cf0\f2\charscalex100 {=}{ }\fs22
\cf0\f1\charscalex100 {y(t)}{ }\fs22\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs22\
cf0\f1\charscalex100 {y(t)}{ }\fs22\cf0\f2\charscalex100 {=}{ }\fs22\cf0\f1\char
scalex100 {y(t)}{ }\fs22\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f2\chars
calex100 {\uc1\u981X}\tab \fs22\cf0\f1\charscalex100 {(t)}\fs22\cf0\f2\charscale
x100 {\uc1\u952X}\par\pard\li3293\ri0\sl-186\slmult0 \fs12\cf0\f1\charscalex100
{N}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {(4.12a)}\
par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard
\li3066\ri0\sl-186\slmult0 \*\tx3480\fs22\cf0\f1\charscalex100 {1}\tab \fs22\cf0
\f1\charscalex100 {1}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\margls
xn666\margrsxn133\cols7\colno1\colw2880\colsr-0\colno2\colw346\colsr-0\colno3\co
lw400\colsr-0\colno4\colw93\colsr-0\colno5\colw1186\colsr-0\colno6\colw4400\cols
r-0\colno7\colw1786\pard\li2653\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {N
}\par\pard\li2066\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {V ( ,Z )}\par\c
olumn\pard\li0\ri0\sl-266\slmult0 \fs22\cf0\f2\charscalex100 {=}\par\column\pard
\li0\ri0\sl-306\slmult0 \fs30\cf0\f0\charscalex100 {\uc1\u402X}\par\column\pard\
li0\ri0\sl-200\slmult0 \fs20\cf0\f0\charscalex100 {}\par\column\pard\li480\ri0\sl
-280\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u981X}{\super \fs12\up2\cf0\f1\cha
rscalex100 {T}}\fs22\cf0\f2\charscalex100 {\uc1\u952X}{ }\fs20\cf0\f0\charscalex
100 {}\par\pard\li0\ri0\sl-240\slmult0 \*\tx720\*\tx1093\fs22\cf0\f1\charscalex10
0 {y(t)}{ }\fs22\cf0\f2\charscalex100 {\uc1\u8722X}\tab \fs22\cf0\f1\charscalex1
00 {(t).}\tab \fs20\cf0\f0\charscalex100 {\uc1\u8260X}\par\column\pard\li0\ri0\s
l-106\slmult0 \fs12\cf0\f1\charscalex100 {2}\par\column\pard\li0\ri0\sl-186\slmu
lt0 \fs22\cf0\f1\charscalex100 {(4.12b)}\par\pard\sect\sectd\sbknone\pgwsxn11893
\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw3053\colsr-0\colno2\colw80
40\pard\li2186\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {N}\par\column\pard
\li0\ri0\sl-200\slmult0 \fs22\cf0\f1\charscalex100 {N}{\sub \fs12\cf0\f1\charsca
lex100 {t 1}}\fs22\cf0\f1\charscalex100 {2}\par\pard\sect\sectd\sbknone\pgwsxn11

893\pghsxn16840\marglsxn666\margrsxn133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li613\ri0\sl-320\slmult0 \fs18\cf0\f1\charscalex100 {que se trata de
ir modificando el vector }\fs22\cf0\f2\charscalex100 {\uc1\u952X}\fs18\cf0\
f1\charscalex100 { con el objeto minimizar la funcin V}{\sub \fs12\cf0\f1\
charscalex100 {N}}\fs18\cf0\f1\charscalex100 {, o lo que es lo mismo }\par
\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {reducir la diferenc
ia entre y(t) y su valor predicho. Es importante notar que el camino
para hallar un }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex10
0 {modelo adecuado conduce necesariamente a clculos iterativos. }\par\pard\li613\
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf0\f1\char
scalex100\ul {Estructura ARMAX}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\p
ard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\c
f0\f1\charscalex100 {La principal desventaja del modelo (4.6) reside en la escas
ez o falta de libertad en la descripcin del }\par\pard\li613\ri0\sl-240\slmult0 \
fs18\cf0\f1\charscalex100 {trmino de perturbacin. Sin embargo, es posible i
ncorporar mayor flexibilidad al modelado si es que }\par\pard\li613\ri0\s
l-240\slmult0 \fs20\cf0\f1\charscalex100 {agregamos un trmino conocido como media
en movimiento (moving average) del ruido blanco.}\par\pard\li1240\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li1240\ri0\sl-320\slmult0 \*\tx8386\fs22\cf0\f1\charsca
lex100 {y(t) a y(t 1) ... a y(t}{\sub \fs12\cf0\f1\charscalex100 {1}}\fs12\cf0\f
1\charscalex100 {n}{\sub \fs10\cf0\f1\charscalex100 {a}}\fs22\cf0\f2\charscalex1
00 {\uc1\u8722X}{ }\fs22\cf0\f1\charscalex100 {n )}{\sub \fs12\cf0\f1\charscalex
100 {a}}\fs22\cf0\f2\charscalex100 {=}{ }\fs22\cf0\f1\charscalex100 {b u(t 1) ..
. b u(t}{\sub \fs12\cf0\f1\charscalex100 {1}}\fs12\cf0\f1\charscalex100 {n}{\sub
\fs10\cf0\f1\charscalex100 {b}}\fs22\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs22
\cf0\f1\charscalex100 {n ) e(t) c e(t 1) ... c e(t n )}{\sub \fs12\cf0\f1\charsc
alex100 {b}}\fs12\cf0\f1\charscalex100 {1}\tab \fs12\cf0\f1\charscalex100 {n}{\s
ub \fs10\cf0\f1\charscalex100 {c}}\fs22\cf0\f2\charscalex100 {\uc1\u8722X}{\sub
\fs12\cf0\f1\charscalex100 {c}}\fs22\cf0\f0\charscalex100 { (}\fs22\cf0\f1\cha
rscalex100 {4.13)}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri
0\sl-280\slmult0 \fs22\cf0\f1\charscalex100 {con }\par\pard\sect\sectd\sbknone\p
gwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw3880\colsr-0\col
no2\colw1040\colsr-0\colno3\colw6173\pard\li3253\ri0\sl-213\slmult0 \fs18\cf0\pa
r\pard\li3253\ri0\sl-186\slmult0 \fs12\cf0\f1\charscalex100 {1}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-186\slmult0 \fs12\cf0\f1\ch
arscalex100 {2}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri
0\sl-186\slmult0 \fs12\cf0\f1\charscalex100 {n}\par\pard\sect\sectd\sbknone\pgws
xn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li2053\ri0\sl-253\slmult0 \fs22
\cf0\f1\charscalex100 {C(q)}{ }\fs22\cf0\f2\charscalex100 {= +}\fs22\cf0\f1\char
scalex100 {1 c q}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}{\sub \fs22\cf0\f2\char
scalex100 {+}}\fs22\cf0\f1\charscalex100 {c q}\fs12\cf0\f2\charscalex100 {\uc1\u
8722X}{\sub \fs22\cf0\f2\charscalex100 {+ +}}\fs22\cf0\f1\charscalex100 {... c q
}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}{\sub \fs10\cf0\f1\charscalex100 {c}}\p
ar\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols3
\colno1\colw3626\colsr-0\colno2\colw973\colsr-0\colno3\colw6493\pard\li3013\ri0\
sl-106\slmult0 \fs12\cf0\f1\charscalex100 {1}\par\column\pard\li0\ri0\sl-106\slm
ult0 \fs12\cf0\f1\charscalex100 {2}\par\column\pard\li0\ri0\sl-133\slmult0 \fs12
\cf0\f1\charscalex100 {n}{\sub \fs10\cf0\f1\charscalex100 {c}}\par\pard\sect\sec
td\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw5186
\colsr-0\colno2\colw4213\colsr-0\colno3\colw1693\pard\li893\ri0\sl-213\slmult0 \
fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {Por lo ta
nto podemos escribir }\par\pard\li2066\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
2066\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {A(q).y(t)}{ }\fs22\cf0\f2\ch
arscalex100 {=}{ }\fs22\cf0\f1\charscalex100 {B(q).u(t) C(q).e(t)}\par\pard\li61
3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-320\slmult0 \fs20\cf0\f1\ch
arscalex100 {dicha ecuacin se corresponde con (4.4) si }\par\pard\li2853\ri0\sl-2
13\slmult0 \fs18\cf0\par\pard\li2853\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex1
00 {B(q)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-2
13\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\
sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\

ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\


li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-280\slmult0 \fs22\cf0\f1\ch
arscalex100 {C(q)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li0\ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {(4.14)}\par\pard\sect\sectd\
sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols5\colno1\colw2853\co
lsr-0\colno2\colw426\colsr-0\colno3\colw1920\colsr-0\colno4\colw3906\colsr-0\col
no5\colw1986\pard\li2053\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {G(q, )}{
}\fs22\cf0\f2\charscalex100 {=}\par\column\pard\li0\ri0\sl-280\slmult0 \fs22\cf
0\f1\charscalex100 {A(q)}\par\column\pard\li0\ri0\sl-266\slmult0 \fs22\cf0\f1\ch
arscalex100 {
,
H(q, )}{ }\fs22\cf0\f2\charscalex100 {=}\par\co
lumn\pard\li0\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex100 {A(q)}\par\column\pa
rd\li0\ri0\sl-200\slmult0 \fs22\cf0\f0\charscalex100 {
(}\fs22\cf0\f1\chars
calex100 {4.15)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666
\margrsxn133\cols2\colno1\colw9133\colsr-0\colno2\colw1960\pard\li613\ri0\sl-280
\slmult0 \fs20\cf0\f1\charscalex100 {siendo ahora el nuevo vector de parmetros: }
\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li0\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {
17/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margr
sxn133\pard\sect\sectd\sbkpage
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{\sp{\sn fArrowheadsOK}{\sv 0}}


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\charscalex100 {1}}\fs12\cf0\f1\charscalex100 {2}\tab \fs12\cf0\f1\charscalex100
{n}{\sub \fs10\cf0\f1\charscalex100 {a}}\fs12\cf0\f1\charscalex100 {1}\tab \fs1
2\cf0\f1\charscalex100 {2}\tab \fs12\cf0\f1\charscalex100 {n}{\sub \fs10\cf0\f1\
charscalex100 {b}}\fs12\cf0\f1\charscalex100 {1}\tab \fs12\cf0\f1\charscalex100
{2}\tab \fs12\cf0\f1\charscalex100 {n}{\sub \fs10\cf0\f1\charscalex100 {c}}\fs20
\cf0\f0\charscalex100 {}\fs20\cf0\f0\charscalex100 {\uc1\u8260X}\par\column\pard\
li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {(4.16)}\par\pard\sect\sectd\s
bknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li893\ri0\sl-293\slmult0 \fs18\cf0\f1\charscalex100 {Deb
ido al nuevo trmino de media en movimiento C(q)e(t), el modelo (4.14)
ser llamado ARMAX. }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex
100 {Este modelo se ha convertido en una herramienta estndar en control
y econometra, tanto para la }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f
1\charscalex100 {descripcin de sistemas como para el diseo de control. }\par\par
d\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0
\f0\charscalex100\b {Nota: }\b0 \fs18\cf0\f1\charscalex100 {una versin de este mo
delo con una integracin forzada se lo conoce como modelo ARIMAX, }\par\pard\li613
\ri0\sl-266\slmult0 \fs18\cf0\f1\charscalex100 {el cual es muy usado para descri
bir sistemas con perturbaciones lentas. Y se obtiene reemplazando }\fs20\cf0\f2\
charscalex100 {\uc1\u8710X}\fs20\cf0\f1\charscalex100 {y(t) }\par\pard\li613\ri0
\sl-213\slmult0 \fs22\cf0\f1\charscalex100 {= y(t) \uc1\u8211X y(t-1) en lugar d
e y(t) en la ecuacin (4.14).}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li613\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100\ul {Estructura ARARX}\ul0
\fs22\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li893\ri0\sl-266\slmult0 \fs18\cf0\f1\charscalex100 {En lugar de
modelar el trmino de ruido de la ecuacin (4.6) con una media en movim
iento, como }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {hic
imos en (4.13), se puede describir esta perturbacin como una autorregresin, y
de aqu el nombre }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {

del modelo. }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\m


argrsxn133\cols6\colno1\colw2066\colsr-0\colno2\colw1706\colsr-0\colno3\colw160\
colsr-0\colno4\colw413\colsr-0\colno5\colw5066\colsr-0\colno6\colw1680\pard\li89
3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li893\ri0\sl-213\slmult0 \fs22\cf0\f1\charscalex100 {con }\par\colu
mn\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li0\ri0\sl-200\slmult0 \fs22\cf0\f1\charscalex100 {A(q).y(t)}{ }\fs2
2\cf0\f2\charscalex100 {=}{ }\fs22\cf0\f1\charscalex100 {B(q).u(t)}\par\column\p
ard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-386\slmult0 \fs22\cf0\f
2\charscalex100 {+}\par\column\pard\li146\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li146\ri0\sl-293\slmult0 \fs22\cf0\f1\charscalex100 {1}\par\pard\li0\ri0\sl-280\
slmult0 \fs20\cf0\f1\charscalex100 {D(q)}\par\column\pard\li0\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-200\slm
ult0 \fs22\cf0\f1\charscalex100 {.e(t)}\par\column\pard\li0\ri0\sl-213\slmult0 \
fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-200\slmul
t0 \fs22\cf0\f1\charscalex100 {(4.17)}\par\pard\sect\sectd\sbknone\pgwsxn11893\p
ghsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw3866\colsr-0\colno2\colw1040
\colsr-0\colno3\colw6186\pard\li3240\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li324
0\ri0\sl-200\slmult0 \fs12\cf0\f1\charscalex100 {1}\par\column\pard\li0\ri0\sl-2
13\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-200\slmult0 \fs12\cf0\f1\charscalex100
{2}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-186\slm
ult0 \fs12\cf0\f1\charscalex100 {n}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghs
xn16840\marglsxn666\margrsxn133\pard\li2053\ri0\sl-306\slmult0 \*\tx4840\fs22\cf
0\f1\charscalex100 {D(q)}{ }\fs22\cf0\f2\charscalex100 {= +}\fs22\cf0\f1\charsca
lex100 {1 d q}{\sub \fs12\cf0\f1\charscalex100 {1}}\fs12\cf0\f2\charscalex100 {\
uc1\u8722X}{\sub \fs22\cf0\f2\charscalex100 {+}}\fs22\cf0\f1\charscalex100 {d q}
{\sub \fs12\cf0\f1\charscalex100 {2}}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}{\s
ub \fs22\cf0\f2\charscalex100 {+ +}}\fs22\cf0\f1\charscalex100 {... d q}{\sub \f
s12\cf0\f1\charscalex100 {n}}\fs10\cf0\f1\charscalex100 {d}\tab \fs12\cf0\f2\cha
rscalex100 {\uc1\u8722X}{\sub \fs10\cf0\f1\charscalex100 {d}}\par\pard\li613\ri0
\sl-346\slmult0 \fs20\cf0\f1\charscalex100\ul {Estructura ARARMAX }\ul0 \par\par
d\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs18\cf0
\f1\charscalex100 {Un forma ms general an es la que introduce la descrip
cin ARMA en el modelo anterior, dando }\par\pard\li613\ri0\sl-240\slmult0 \
fs20\cf0\f1\charscalex100 {como resultado la estructura ARARMAX. }\par\pard\li42
40\ri0\sl-306\slmult0 \fs16\cf0\f0\charscalex100 {e(t) }\par\pard\li4240\ri0\sl213\slmult0 \fs18\cf0\par\pard\li4240\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li42
40\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4240\ri0\sl-320\slmult0 \fs22\cf0\f0\
charscalex100 { C/D }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\margls
xn666\margrsxn133\cols5\colno1\colw3346\colsr-0\colno2\colw426\colsr-0\colno3\co
lw1373\colsr-0\colno4\colw1426\colsr-0\colno5\colw4520\pard\li2080\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li2080\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2080\ri0
\sl-240\slmult0 \fs16\cf0\f0\charscalex100 {u(t) }\par\pard\li613\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-146\slmult0 \fs16\cf0\f0\charscalex
100\b {Figura 4.2}\b0 \fs16\cf0\f1\charscalex100 { Estructura ARARMAX }\par\col
umn\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li0\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100 { B }\par\colum
n\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmu
lt0 \fs18\cf0\par\pard\li0\ri0\sl-333\slmult0 \fs22\cf0\f2\charscalex100 {+}{ }\
fs22\cf0\f1\charscalex100 {C(q)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-293\slmult0 \fs2
2\cf0\f0\charscalex100 { 1/A }\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-240\slmult0 \fs16\
cf0\f0\charscalex100 {y(t) }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840
\marglsxn666\margrsxn133\cols4\colno1\colw3946\colsr-0\colno2\colw400\colsr-0\co

lno3\colw5066\colsr-0\colno4\colw1680\pard\li2066\ri0\sl-186\slmult0 \fs22\cf0\f
1\charscalex100 {A(q).y(t)}{ }\fs22\cf0\f2\charscalex100 {=}{ }\fs22\cf0\f1\char
scalex100 {B(q).u(t)}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613
\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100\ul {Estructura de Error de Salida
}\ul0 \par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {D(q)}
\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {.e(t)}\par\c
olumn\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {(4.18)}\par\pard\s
ect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs18\cf0\f1\charsca
lex100 {Hasta ahora hemos visto estructuras en las cuales la descripcin
de las funciones de transferencia }\par\pard\li613\ri0\sl-240\slmult0 \fs20
\cf0\f1\charscalex100 {tienen al polinomio A(q) como factor comn en sus denominad
ores. Pero desde un punto de vista fsico }\par\pard\li613\ri0\sl-240\slmult0 \fs2
0\cf0\f1\charscalex100 {sera ms natural parametrizar estas transferencias en forma
independiente. }\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {
Supongamos entonces por un momento que la relacin entre la entrada y una salida n
o perturbada }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {w(t
) puede ser representada como una ecuacin en diferencias lineal, y que la perturb
acin consiste en }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {
ruido blanco. }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\
margrsxn133\cols2\colno1\colw9306\colsr-0\colno2\colw1786\pard\li2066\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li2066\ri0\sl-306\slmult0 \*\tx4373\*\tx6746\fs22\cf
0\f1\charscalex100 {w(t)}{ }\fs22\cf0\f2\charscalex100 {+}{ }\fs22\cf0\f1\charsc
alex100 {f w(t 1) ... f w(t}{\sub \fs12\cf0\f1\charscalex100 {1}}\fs12\cf0\f1\ch
arscalex100 {n}\tab \fs22\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f1\char
scalex100 {n )}{\sub \fs12\cf0\f1\charscalex100 {f}}\fs22\cf0\f2\charscalex100 {
=}{ }\fs22\cf0\f1\charscalex100 {b u(t 1) ... b u(t n )}{\sub \fs12\cf0\f1\chars
calex100 {1}}\fs12\cf0\f1\charscalex100 {n}\tab \fs22\cf0\f2\charscalex100 {\uc1
\u8722X}{\sub \fs12\cf0\f1\charscalex100 {b}}\par\column\pard\li0\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li0\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex100 {(4.19
a)
}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margr
sxn133\cols7\colno1\colw2066\colsr-0\colno2\colw1680\colsr-0\colno3\colw240\cols
r-0\colno4\colw733\colsr-0\colno5\colw1680\colsr-0\colno6\colw2906\colsr-0\colno
7\colw1786\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-373\slm
ult0 \fs22\cf0\f1\charscalex100 {Con }\par\column\pard\li0\ri0\sl-293\slmult0 \f
s22\cf0\f1\charscalex100 {y(t)}{ }\fs22\cf0\f2\charscalex100 {=}{ }\fs22\cf0\f1\
charscalex100 {w(t) e(t)}\par\pard\li1106\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li1106\ri0\sl-253\slmult0 \fs12\cf0\f1\charscalex100 {1}\par\column\pard\li0\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-120\slmult0 \fs12\cf0\f1\chars
calex100 {2}\par\column\pard\li0\ri0\sl-80\slmult0 \fs10\cf0\f1\charscalex100 {f
}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-120\s
lmult0 \fs12\cf0\f1\charscalex100 {n}\par\column\pard\li0\ri0\sl-80\slmult0 \fs1
0\cf0\f1\charscalex100 {b}\par\column\pard\li0\ri0\sl-293\slmult0 \fs22\cf0\f1\c
harscalex100 {(4.19b)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\margl
sxn666\margrsxn133\pard\li2053\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {F(
q)}{ }\fs22\cf0\f2\charscalex100 {= +}\fs22\cf0\f1\charscalex100 {1 f q}\fs12\cf
0\f2\charscalex100 {\uc1\u8722X}{\sub \fs22\cf0\f2\charscalex100 {+}}\fs22\cf0\f
1\charscalex100 {f q}\fs12\cf0\f2\charscalex100 {\uc1\u8722X}{\sub \fs22\cf0\f2\
charscalex100 {+ +}}\fs22\cf0\f1\charscalex100 {... f q}\fs12\cf0\f2\charscalex1
00 {\uc1\u8722X}{\sub \fs10\cf0\f1\charscalex100 {f}}\par\pard\sect\sectd\sbknon
e\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw3493\colsr-0\
colno2\colw920\colsr-0\colno3\colw6680\pard\li2933\ri0\sl-106\slmult0 \fs12\cf0\
f1\charscalex100 {1}\par\column\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charsca
lex100 {2}\par\column\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {n}
\par\pard\li66\ri0\sl-80\slmult0 \fs10\cf0\f1\charscalex100 {f}\par\pard\sect\se
ctd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw913
3\colsr-0\colno2\colw1960\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613
\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex100 {podemos escribir la ecuacin del m

odelo como}\fs22\cf0\f0\charscalex100 {: }\par\column\pard\li0\ri0\sl-213\slmult


0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\sl
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6\slmult0 \fs22\cf0\f1\charscalex100 {
18/39 }\par\pard\sect\sectd\sbknone
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{\sp{\sn geoRight}{\sv 360}}
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{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(360,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 0}}
{\sp{\sn lineWidth}{\sv 9144}}
{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}


{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft5306\shptop3120\shpright6040\shpbottom3120\shpfhdr0\shpw
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{\sp{\sn geoRight}{\sv 734}}
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{\sp{\sn pVerticies}{\sv 8;2;(0,0);(746,0);}}
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{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,160);(160,80);(0,0);(0,160);(0,160);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
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{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 546}}
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{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(546,360);(546,0);(0,0);}}
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{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn fillColor}{\sv 16777215}}


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{\sp{\sn geoRight}{\sv 546}}
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{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(546,360);(546,0);(0,0);}}
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{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn fFlipV}{\sv 0}}
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{\sp{\sn geoRight}{\sv 546}}
{\sp{\sn geoBottom}{\sv 360}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(546,360);(546,0);(0,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
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{\sp{\sn geoRight}{\sv 720}}
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{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(720,360);(720,0);(0,0);}}
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{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(720,360);(720,0);(0,0);}}
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{\sp{\sn geoBottom}{\sv 373}}
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{\sp{\sn pVerticies}{\sv 8;5;(0,0);(80,160);(160,0);(0,0);(0,0);}}


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{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft6226\shptop9760\shpright6386\shpbottom9920\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2296\shpz51\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}

{\sp{\sn rotation}{\sv 0}}


{\sp{\sn geoRight}{\sv 160}}
{\sp{\sn geoBottom}{\sv 160}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,160);(160,80);(0,0);(0,160);(0,160);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
7;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 1}}
{\sp{\sn fillColor}{\sv 0}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft2786\shptop9653\shpright3320\shpbottom10013\shpfhdr0\shp
wr3\shpwrk0\shpfblwtxt1\shplid2297\shpz52\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 534}}
{\sp{\sn geoBottom}{\sv 360}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(546,360);(546,0);(0,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
7;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 1}}
{\sp{\sn fillColor}{\sv 16777215}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft6386\shptop9653\shpright6920\shpbottom10013\shpfhdr0\shp
wr3\shpwrk0\shpfblwtxt1\shplid2298\shpz53\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 534}}
{\sp{\sn geoBottom}{\sv 360}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(533,360);(533,0);(0,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
7;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 1}}
{\sp{\sn fillColor}{\sv 16777215}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft4946\shptop8040\shpright5480\shpbottom8400\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2299\shpz54\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}

{\sp{\sn rotation}{\sv 0}}


{\sp{\sn geoRight}{\sv 534}}
{\sp{\sn geoBottom}{\sv 360}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,360);(546,360);(546,0);(0,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
7;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 1}}
{\sp{\sn fillColor}{\sv 16777215}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn13
3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\cols7\colno1\colw2426\colsr-0\colno2\colw173\colsr-0
\colno3\colw386\colsr-0\colno4\colw1253\colsr-0\colno5\colw1440\colsr-0\colno6\c
olw3720\colsr-0\colno7\colw1693\pard\li2066\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li2066\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2066\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li2066\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2066\ri0\sl-213\slmul
t0 \fs22\cf0\f1\charscalex100 {y(t)}\par\pard\li2080\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li2080\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2080\ri0\sl-213\slmult
0 \fs18\cf0\par\pard\li2080\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2080\ri0\sl213\slmult0 \fs18\cf0\par\pard\li2080\ri0\sl-240\slmult0 \fs16\cf0\f0\charscalex
100 {u(t) }\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri
0\sl-400\slmult0 \fs22\cf0\f2\charscalex100 {=}\par\column\pard\li0\ri0\sl-213\s
lmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-2
13\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-293\slmult0 \fs22\cf0\f1\charscalex100
{B(q)}\par\pard\li0\ri0\sl-293\slmult0 \fs22\cf0\f1\charscalex100 {F(q)}\par\col
umn\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs22\cf0\f1\charscalex100 {.u(t) e(t)}\
par\pard\li360\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li360\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li360\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li360\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li360\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li360\ri0\s
l-293\slmult0 \fs22\cf0\f0\charscalex100 { B/F }\par\column\pard\li0\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0
\ri0\sl-186\slmult0 \fs16\cf0\f0\charscalex100 {e(t) }\par\column\pard\li0\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\pa
r\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li0\ri0\sl-240\slmult0 \fs16\cf0\f0\charscalex100 {y(t) }\par\column\
pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li0\ri0\sl-213\slmult0 \fs22\cf0\f1\charscalex100 {(4.20)}\par\pard
\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li613\ri0\sl-213\slmult0 \fs16\cf0\f0\charscalex100\b {Figura 4.3}\b0 \fs16\cf0
\f1\charscalex100 { Estructura de Error de Salida}\par\pard\li613\ri0\sl-213\slm

ult0 \fs18\cf0\par\pard\li613\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100\ul {


Estructura Box-Jenkins}\ul0 \fs22\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li89
3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs18\cf0\f1\ch
arscalex100 {El desarrollo del modelo de error de salida (4.20) es par
a adicionar al modelo las propiedades del }\par\pard\li613\ri0\sl-240\slmu
lt0 \fs20\cf0\f1\charscalex100 {ruido en la salida. Pero si describimos e
sto mismo en el
marco de un modelo ARMA llegamos al }\par\pard\li613
\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {siguiente resultado:}\par\pard\s
ect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols6\colno1\c
olw2600\colsr-0\colno2\colw386\colsr-0\colno3\colw546\colsr-0\colno4\colw426\col
sr-0\colno5\colw5453\colsr-0\colno6\colw1680\pard\li2066\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li2066\ri0\sl-400\slmult0 \fs22\cf0\f1\charscalex100 {y(t)}{ }\fs
22\cf0\f2\charscalex100 {=}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li0\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {B(q)}\par\pard\li0\ri0\
sl-293\slmult0 \fs22\cf0\f1\charscalex100 {F(q)}\par\column\pard\li0\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li0\ri0\sl-426\slmult0 \fs22\cf0\f1\charscalex100 {.u
(t)}{ }\fs22\cf0\f2\charscalex100 {+}\par\column\pard\li13\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li13\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {C(q)}\par\p
ard\li0\ri0\sl-293\slmult0 \fs22\cf0\f1\charscalex100 {D(q)}\par\column\pard\li0
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {e(t)}\par\column\pard\li0\ri
0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {(4.21)}\par\pard\sect\sectd\sbk
none\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li893\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100 {Siend
o esta la parametrizacin de dimensiones finitas ms natural si es que partimos de (
4.4). Ya que }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Las
funciones de transferencia G y H son parametrizadas en forma indepen
diente como funciones }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charsca
lex100 {racionales. Entonces, de acuerdo a (4.5) el predictor para el set de mod
elos (4.21) ser: }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn66
6\margrsxn133\cols6\colno1\colw2760\colsr-0\colno2\colw826\colsr-0\colno3\colw54
6\colsr-0\colno4\colw986\colsr-0\colno5\colw4280\colsr-0\colno6\colw1693\pard\li
2080\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2080\ri0\sl-386\slmult0 \fs22\cf0\f
1\charscalex100 {\uc1\u710Xy(t, )}{ }\fs22\cf0\f2\charscalex100 {=}\par\column\p
ard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-266\slmult0 \fs20\cf0\f
1\charscalex100 {D(q).B(q)}\par\pard\li13\ri0\sl-293\slmult0 \fs18\cf0\f1\charsc
alex100 {C(q).F(q)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
0\ri0\sl-426\slmult0 \fs22\cf0\f1\charscalex100 {.u(t)}{ }\fs22\cf0\f2\charscale
x100 {+}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-26
6\slmult0 \fs22\cf0\f1\charscalex100 {C(q) D(q)}\par\pard\li280\ri0\sl-293\slmul
t0 \fs22\cf0\f1\charscalex100 {C(q)}\par\pard\li280\ri0\sl-213\slmult0 \fs18\cf0
\par\pard\li280\ri0\sl-213\slmult0 \fs16\cf0\f0\charscalex100 {e(t) }\par\pard\l
i293\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li293\ri0\sl-213\slmult0 \fs18\cf0\pa
r\pard\li293\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li293\ri0\sl-306\slmult0 \fs2
2\cf0\f0\charscalex100 { C/D }\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-186\slmult0 \fs22\
cf0\f1\charscalex100 {y(t)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-186\slmult0 \fs22\cf0
\f1\charscalex100 {(4.22)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\m
arglsxn666\margrsxn133\cols3\colno1\colw3520\colsr-0\colno2\colw2333\colsr-0\col
no3\colw5240\pard\li2253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2253\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li2253\ri0\sl-240\slmult0 \fs16\cf0\f0\charscalex100
{u(t) }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-266\s
lmult0 \fs16\cf0\f0\charscalex100\b {Figura 4.4}\b0 \fs16\cf0\f1\charscalex100 {
Estructura Box-Jenkins }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li613\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100\ul {Familia General de Estru
cturas}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\column\pard\li0\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\s
l-293\slmult0 \fs22\cf0\f0\charscalex100 { B/F }\par\column\pard\li0\ri0\sl-213\

slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl240\slmult0 \fs16\cf0\f0\charscalex100 {y(t) }\par\pard\sect\sectd\sbknone\pgwsx


n11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {Las estructura
s que hemos desarrollado anteriormente pueden dar lugar a 32 sets de
modelos }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {diferen
tes, dependiendo de cual de los cinco polinomios A, B, C, D o F son usados, aunq
ue solo hemos }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {mo
strado seis de esas posibilidades. Entonces por conveniencia adoptaremos
una estructura }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100
{generalizada.}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666
\margrsxn133\cols6\colno1\colw3080\colsr-0\colno2\colw386\colsr-0\colno3\colw560
\colsr-0\colno4\colw413\colsr-0\colno5\colw4973\colsr-0\colno6\colw1680\pard\li2
106\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2106\ri0\sl-440\slmult0 \fs22\cf0\f1
\charscalex100 {A(q).y(t)}{ }\fs22\cf0\f2\charscalex100 {=}\par\column\pard\li0\
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-320\slmult0 \fs22\cf0\f1\charsc
alex100 {B(q)}\par\pard\li0\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex100 {F(q)}
\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-466\slmult
0 \fs22\cf0\f1\charscalex100 {.u(t)}{ }\fs22\cf0\f2\charscalex100 {+}\par\column
\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-320\slmult0 \fs22\cf0
\f1\charscalex100 {C(q)}\par\pard\li0\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex
100 {D(q)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100
{e(t)}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {(
4.23)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn1
33\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-346\slmult0 \fs
20\cf0\f1\charscalex100 {Para propsitos prcticos, uno o ms polinomios debern ser lle
vados a la unidad debido a que este }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf
0\f1\charscalex100 {modelo es muy general para muchos casos. Sin embargo, el des
arrollo de algoritmos y resultados para }\par\pard\li613\ri0\sl-240\slmult0 \fs2
0\cf0\f1\charscalex100 {(4.23) tambin cubre todos los casos especiales correspond
ientes a sets de modelos ms realsticos. }\par\pard\li893\ri0\sl-213\slmult0 \fs18
\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {A partir de (
4.5) sabemos que el predictor para (4.23) es: }\par\pard\sect\sectd\sbknone\pgws
xn11893\pghsxn16840\marglsxn666\margrsxn133\cols5\colno1\colw2760\colsr-0\colno2
\colw826\colsr-0\colno3\colw893\colsr-0\colno4\colw4933\colsr-0\colno5\colw1680\
pard\li2080\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2080\ri0\sl-453\slmult0 \fs2
2\cf0\f1\charscalex100 {\uc1\u710Xy(t, )}{ }\fs22\cf0\f2\charscalex100 {=}\par\c
olumn\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-306\slmult0 \fs2
0\cf0\f1\charscalex100 {D(q).B(q)}\par\column\pard\li546\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li546\ri0\sl-280\slmult0 \fs20\cf0\f0\charscalex100 {}\par\pard\li
0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {.u(t)}{ }\fs22\cf0\f2\charscale
x100 {+ \uc1\u8722X}\fs22\cf0\f1\charscalex100 {1}\par\column\pard\li0\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-306\slmult0 \fs22\cf0\f1\charscalex100 {
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x100 { y b}{\sub \fs12\cf0\f1\charscalex100 {i}}\fs20\cf0\f1\charscalex100 { del
modelo ARX (4.6) se usa la funcin \uc1\u8216Xarx\uc1\u8217X : }\par\pard\li893\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs22\cf0\f1\chars
calex100 {>>mod = arx (z,[n}{\sub \fs12\cf0\f1\charscalex100 {a}}\fs22\cf0\f1\ch
arscalex100 { n}{\sub \fs12\cf0\f1\charscalex100 {b}}\fs22\cf0\f1\charscalex100
{ n}{\sub \fs12\cf0\f1\charscalex100 {k}}\fs22\cf0\f1\charscalex100 {]); }\par\p
ard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs22\c
f0\f1\charscalex100 {Aqu n}{\sub \fs12\cf0\f1\charscalex100 {a }}\fs22\cf0\f1\cha
rscalex100 {y n}{\sub \fs12\cf0\f1\charscalex100 {b }}\fs20\cf0\f1\charscalex100
{son los rdenes de A(q) y B(q) respectivamente. Mientras que n}{\sub \fs12\cf0\f
1\charscalex100 {k}}\fs20\cf0\f1\charscalex100 { es el nmero de retardos }\par\pa
rd\li613\ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {entre la entrada y l
a salida definidos en la estructura. La funcin \uc1\u8216Xarx\uc1\u8217X
implementa el mtodo de }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\chars
calex100 {estimacin de mnimos cuadrados. }\par\pard\li893\ri0\sl-213\slmult0 \fs18
\cf0\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\f0\charscalex100\i \ul {Familia
General de Modelos de Caja Negra}\i0 \ul0 \fs22\cf0\f0\charscalex100\i \ul { }\
i0 \ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\s
lmult0 \fs20\cf0\f1\charscalex100 {Basndose en la estructura (4.25) es posible co
nstruir modelos de prcticamente cualquier tipo. Para }\par\pard\li613\ri0\sl-240\
slmult0 \fs20\cf0\f1\charscalex100 {esto existe la funcin \uc1\u8216Xpem\uc1\u821
7X : }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\sl
mult0 \fs22\cf0\f1\charscalex100 {>>mod = pem (z,nn); }\par\pard\li613\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100
{donde N determina todos los rdenes y retardos }\par\pard\li893\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {>>N =
[n}{\sub \fs14\cf0\f1\charscalex100 {a}}\fs22\cf0\f1\charscalex100 { n}{\sub \f
s14\cf0\f1\charscalex100 {b}}\fs22\cf0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\c
harscalex100 {c}}\fs22\cf0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\charscalex100
{d}}\fs22\cf0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\charscalex100 {f}}\fs22\c
f0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\charscalex100 {k}}\fs22\cf0\f1\charsc
alex100 {]; }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl240\slmult0 \fs20\cf0\f1\charscalex100 {El comando \uc1\u8216Xpem\uc1\u8217X
cubre todos los casos de modelos de sistemas lineales tipo caja negra
. Sin }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {embargo e
xisten rutinas ms eficientes para algunos casos especiales: }\par\pard\sect\sectd

\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw6986\c
olsr-0\colno2\colw4106\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri
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\f1\charscalex100 {a}}\fs22\cf0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\charscal
ex100 {b}}\fs22\cf0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\charscalex100 {c}}\f
s22\cf0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\charscalex100 {k}}\fs22\cf0\f1\c
harscalex100 {]); }\par\pard\li893\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100
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00 { n}{\sub \fs14\cf0\f1\charscalex100 {f}}\fs22\cf0\f1\charscalex100 { n}{\sub
\fs14\cf0\f1\charscalex100 {k}}\fs22\cf0\f1\charscalex100 {]); }\par\pard\li893
\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {>>mod = bj (z,[n}{\sub \fs14\cf0
\f1\charscalex100 {b}}\fs22\cf0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\charscal
ex100 {c}}\fs22\cf0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\charscalex100 {d}}\f
s22\cf0\f1\charscalex100 { n}{\sub \fs14\cf0\f1\charscalex100 {f}}\fs22\cf0\f1\c
harscalex100 { n}{\sub \fs14\cf0\f1\charscalex100 {k}}\fs22\cf0\f1\charscalex100
{]); }\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-240
\slmult0 \fs16\cf0\f1\charscalex100 {(estructura ARMAX)}\par\pard\li0\ri0\sl-226
\slmult0 \fs16\cf0\f1\charscalex100 {(estructura de Error de Salida)}\par\pard\l
i0\ri0\sl-226\slmult0 \fs16\cf0\f1\charscalex100 {(estructura Box-Jenkins)}\par\
pard\li2146\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2146\ri0\sl-373\slmult0 \fs2
2\cf0\f1\charscalex100 {
20/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\p
ghsxn16840\marglsxn666\margrsxn133\pard\sect\sectd\sbkpage
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3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li613\ri0\sl-373\slmult0 \fs28\cf0\f0\charscalex100\b {5. SELECCIN DE ESTRUC
TURA Y VALIDACIN DEL MODELO }\b0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li893\ri0\sl-333\slmult0 \fs20\cf0\f1\charscalex100 {La eleccin de una
estructura apropiada (por ejemplo: arx, armax, etc.) es un paso crucia
l en el }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {camino
de la identificacin de sistemas dinmicos. Y dicha eleccin debe estar b
asada tanto en el }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex
100 {entendimiento del proceso de identificacin, como en un acabado conocimiento
del sistema a identificar. }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\char
scalex100 {Con anterioridad hemos descripto una serie de estructuras tpicas para
ser usadas en identificacin, y lo }\par\pard\li613\ri0\sl-253\slmult0 \fs18\cf0\f
1\charscalex100 {que nos proponemos ahora es complementar dichas listas con una
discusin detallada acerca de cmo }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\
charscalex100 {arribar a un modelo, guiados tanto por el conocimiento d
el sistema como por el set de datos }\par\pard\li613\ri0\sl-240\slmult0 \
fs22\cf0\f1\charscalex100 {recolectados.
}\par\pard\li893\ri0\sl-240\slmult0
\fs20\cf0\f1\charscalex100 {Una vez que la estructura ha sido escogida,
el prximo paso consiste en seleccionar un modelo }\par\pard\li613\ri0\sl240\slmult0 \fs18\cf0\f1\charscalex100 {particular de dicha estructura, es
decir, determinar un conjunto particular de parmetros para dicha }\par\pa
rd\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {estructura. Concluido es
te paso el modelo hallado puede llegar a ser el mejor disponible, sin embargo, }
\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {ms importante an
es saber a ciencia cierta si dicho modelo es suficientemente bueno para nuest
ros }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {propsitos. }
\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {El proceso de
evaluacin de un modelo para determinar si es el apropiado, es conocido
como }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f0\charscalex100\i {validac
in del modelo}\i0 \fs22\cf0\f1\charscalex100 {.
}\par\pard\li613\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\s
l-293\slmult0 \fs22\cf0\f0\charscalex100\b \ul {5.1 Aspectos generales en la ele
ccin de una estructura modelo}\b0 \ul0 \fs22\cf0\f0\charscalex100\b \ul { }\b0 \u
l0 \par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult
0 \fs20\cf0\f1\charscalex100 {El camino hacia una estructura particular involucr
a, al menos, tres pasos: }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\m
arglsxn666\margrsxn133\cols2\colno1\colw8400\colsr-0\colno2\colw2693\pard\li893\
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\char
scalex100 {1 paso) Eleccin del }\fs22\cf0\f0\charscalex100\i {tipo}\i0 \fs20\cf0\f
1\charscalex100 { del set de modelos. }\par\column\pard\li0\ri0\sl-213\slmult0 \
fs18\cf0\par\pard\li0\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {
(5a) }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666
\margrsxn133\pard\li1600\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Esto inv
olucra, por ejemplo, la seleccin entre modelos lineales y no lineales, entre caja
negra }\par\pard\li1600\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {y modelo
s en variables de estado parametrizados fsicamente, y as siguiendo. }\par\pard\sec
t\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\col
w9106\colsr-0\colno2\colw1986\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {2 paso) Eleccin del }\fs22\cf0

\f0\charscalex100\i {tamao}\i0 \fs20\cf0\f1\charscalex100 { del set de modelos. }


\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-266\slmult
0 \fs22\cf0\f1\charscalex100 {
(5b) }\par\pard\sect\sectd\sbknone\pgwsxn
11893\pghsxn16840\marglsxn666\margrsxn133\pard\li1600\ri0\sl-240\slmult0 \fs20\c
f0\f1\charscalex100 {Aqu se plantean varios temas como la seleccin de los
grados de los polinomios en el }\par\pard\li1600\ri0\sl-240\slmult0 \fs20
\cf0\f1\charscalex100 {modelo (4.23) y el problema de que tipo de variables incl
uir en la descripcin del modelo. }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsx
n16840\marglsxn666\margrsxn133\cols2\colno1\colw9106\colsr-0\colno2\colw1986\par
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ard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-266\slmult0 \fs22\cf0\f
1\charscalex100 {
(5c) }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn1
6840\marglsxn666\margrsxn133\pard\li1600\ri0\sl-240\slmult0 \fs20\cf0\f1\charsca
lex100 {Cuando un set de modelos ha sido seleccionado, todava resta par
ametrizarlo, esto es, }\par\pard\li1600\ri0\sl-240\slmult0 \fs18\cf0\f1\charsc
alex100 {encontrar una estructura particular que se adecue al set de datos dispo
nible y a la aplicacin }\par\pard\li1600\ri0\sl-240\slmult0 \fs22\cf0\f1\charscal
ex100 {buscada. }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\r
i0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {El propsito fundamental de un proce
so de identificacin es, en pocas palabras, }{ }\fs22\cf0\f0\charscalex100\i {obte
ner un modelo }\i0 \par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f0\charscalex100
\i {bueno y confiable con una cantidad razonable de trabajo}\i0 \fs22\cf0\f1\cha
rscalex100 {. Es por eso que la eleccin de una estructura, }\par\pard\li613\ri0\s
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o tanto en la calidad del modelo resultante, como en el precio }\par\pard\li613\
ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {que signific arribar al mismo.}\pa
r\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li613\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex100\ul {Calidad d
el Modelo}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {
La calidad del modelo resultante puede, por ejemplo, ser medida por un criterio
de reduccin de }\fs22\cf0\f0\charscalex100\i {bias}\i0 \par\pard\li613\ri0\sl-240
\slmult0 \fs18\cf0\f1\charscalex100 {(polarizacin de los parmetros), que consiste
bsicamente en la implementacin de grandes estructuras }\par\pard\li613\ri0\sl-240\
slmult0 \fs18\cf0\f1\charscalex100 {para obtener una mayor flexibilidad. Pe
ro a su vez, el hecho de aumentar el nmero de parmetros }\par\pard\li61
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varianza (que sera algo as como un grado indeterminacin) de los }\par\p
ard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {parmetros estimados. E
s por todo esto que se llega a una situacin conflictiva de requerimie
ntos }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {producindose
un compromiso entre: }\par\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li1253\ri0\sl-293\slmult0 \*\tx1613\fs22\cf0\f2\charscalex100 {\uc1\u61623X }\ta
b \fs22\cf0\f0\charscalex100\i {Flexibilidad}\i0 \fs22\cf0\f1\charscalex100 {:
que consiste en el empleo de estructuras modelo que ofrezcan una gran
}\par\pard\li1613\ri0\sl-226\slmult0 \fs20\cf0\f1\charscalex100 {capacidad de d
escripcin de posibles sistemas. La flexibilidad se puede incrementar de dos }\par
\pard\li1613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {formas bsicas, usan
do muchos parmetros o bien ubicando los mismos en posiciones }\par\pard\
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fs22\cf0\f0\charscalex100\i {Parsimonia}\i0 \fs22\cf0\f1\charscalex100 {: que
es el no hacer uso de una gran cantidad de parmetros en forma }\par\p
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lt0 \fs18\cf0\par\pard\li9133\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex100 {
21/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\marg
rsxn133\pard\sect\sectd\sbkpage

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harscalex100 {Identificacin de Sistemas Dinmicos
}\par\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0 \fs20\cf0\
f1\charscalex100\ul {Precio del Modelo }\ul0 \par\column\pard\li0\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\charscalex100 {Contr
ol y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs22\cf1\f1\charscale
x100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\ma
rgrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmu
lt0 \fs20\cf0\f1\charscalex100 {El precio de un modelo est asociado con el esfuer
zo realizado para arribar al mismo, esto es, tanto }\par\pard\li613\ri0\sl-240\s
lmult0 \fs18\cf0\f1\charscalex100 {para realizar la minimizacin requerida po
r el mtodo de cuadrados mnimos, como para calcular las }\par\pard\li613\r
i0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {correspondientes estimaciones. E
ste trabajo en particular es altamente dependiente de la estructura }\p
ar\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {adoptada. }\par\par
d\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Otro precio asociado es e
l hecho de que un modelo complejo es ms difcil de ser usado para hacer }\par\pard\
li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {simulacin y diseo de cont
rol. En cambio, el uso de un modelo marginalmente mejor a uno simple
, }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {implica por lo
general, un buen precio de modelado.}\par\pard\li613\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-280\slmult0
\fs20\cf0\f1\charscalex100\ul {Consideraciones generales}\ul0 \fs20\cf0\f1\char
scalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893
\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {La eleccin final de la estructura
ser entonces un compromiso entre (5a), (5b) y (5c). Mientras que }\par\pard\li61
3\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {las tcnicas y consideraciones ut
ilizadas para la evaluacin de dichos aspectos pueden ser divididas en }\par\pard\
li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {cuatro diferentes categoras:
}\par\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253\ri0\sl-293\slmul
t0 \*\tx1613\fs20\cf0\f2\charscalex100 {\uc1\u61623X }\tab \fs20\cf0\f0\charscal
ex100\i {Consideraciones a priori}\i0 \fs16\cf0\f1\charscalex100 {: Ciertos
aspectos son independientes del set de datos z y pueden }\par\pard\li16
13\ri0\sl-213\slmult0 \fs20\cf0\f1\charscalex100 {ser evaluados a priori, antes
de que sean analizados los datos.}\par\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li1253\ri0\sl-293\slmult0 \*\tx1613\fs22\cf0\f2\charscalex100 {\uc1\u61
623X }\tab \fs22\cf0\f0\charscalex100\i {Tcnicas basadas en anlisis preliminares d
e los datos}\i0 \fs20\cf0\f1\charscalex100 {: Con los datos disponibles, se pued
en }\par\pard\li1613\ri0\sl-213\slmult0 \fs20\cf0\f1\charscalex100 {cumplimentar
ciertos tests y evaluaciones que nos brindarn un panorama certero de
las }\par\pard\li1613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {posibles e
structuras a usar.}\par\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253
\ri0\sl-280\slmult0 \*\tx1613\fs22\cf0\f2\charscalex100 {\uc1\u61623X }\tab \fs2
2\cf0\f0\charscalex100\i {Comparacin de diferentes estructuras}\i0 \fs22\cf0\f
1\charscalex100 {: Antes de que el modelo final sea elegido, es }\par\p
ard\li1613\ri0\sl-226\slmult0 \fs20\cf0\f1\charscalex100 {aconsejable informarse
acerca de otras estructuras diferentes y comparar sus caractersticas. }\par\pa
rd\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253\ri0\sl-280\slmult0 \*\tx1
613\fs22\cf0\f2\charscalex100 {\uc1\u61623X }\tab \fs22\cf0\f0\charscalex100\i {
Validacin del modelo obtenido}\i0 \fs20\cf0\f1\charscalex100 {: Independiente
mente de cmo ha sido obtenido el modelo, }\par\pard\li1613\ri0\sl-213\slmu
lt0 \fs20\cf0\f1\charscalex100 {siempre es posible utilizar el set de dat
os z para evaluar y determinar si el mismo se }\par\pard\li1613\ri0\sl240\slmult0 \fs20\cf0\f1\charscalex100 {comporta en forma til y adecuada para nue
stros propsitos finales. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-320\slmult0 \fs22\cf0\f0

\charscalex100\b {5.2 Consideraciones a priori}\b0 \fs22\cf0\f0\charscalex100\b


{ }\b0 \par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li613\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100\i \
ul {Tipo}\i0 \ul0 \fs22\cf0\f1\charscalex100\ul { del Modelo}\ul0 \fs22\cf0\f1\c
harscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {La eleccin del }{ }\fs22\cf0
\f0\charscalex100\i {tipo}\i0 \fs20\cf0\f1\charscalex100 { de modelo a utili
zar es bastante subjetiva e involucra varias consideraciones }\par\pard\l
i613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {independientes del set de
datos z. Esta seleccin suele ser el resultado de un compromiso entre
los }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {items men
cionados anteriormente, combinado con factores ms racionales como la dis
ponibilidad de }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
softwares y la familiaridad que tengamos con ciertos modelos. }\par\pard\li893\
ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {El compromiso entre parsimonia y
flexibilidad es el corazn de un problema tpico de identificacin, en }\par\pard\li61
3\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {consecuencia, una pregunta inme
diata que nos puede surgir sera: como podemos hacer un buen ajuste }\par\pard\li6
13\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {de los datos con pocos pa
rmetros?. Siendo la respuesta ms natural a este interrogante \uc1\u8220Xu
sando }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {conocimien
to previo, intuicin e ingenio\uc1\u8221X. Dichas circunstancias ponen en
relieve que la Identificacin }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1
\charscalex100 {est lejos de ser un proceso totalmente automtico, y su complejidad
guarda estricta dependencia con la }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf
0\f1\charscalex100 {aplicacin buscada.
}\par\pard\li893\ri0\sl-240\slmult0 \fs
22\cf0\f1\charscalex100 {Para un sistema fsico, es natural pensar que la mejor fo
rma de incorporar datos al modelo sera si }\par\pard\li613\ri0\sl-280\slmult0 \*\
tx4813\fs20\cf0\f1\charscalex100 {este estuviera modelado en forma continua
.}\tab \fs20\cf0\f1\charscalex100 {Pero esto significara que los clculos par
a hallar }{ }\fs22\cf0\f2\charscalex100 {\uc1\u949X}\fs18\cf0\f0\charscalex100
{(t,}\fs18\cf0\f2\charscalex100 {\uc1\u952X}\fs18\cf0\f0\charscalex100 {)}\par\p
ard\li613\ri0\sl-226\slmult0 \fs20\cf0\f1\charscalex100 {(ecuacin 4.12a) y para s
u posterior minimizacin, se conviertan en una tarea excesivamente laboriosa. }\pa
r\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {En consecuencia, es
de esperar que dichos aspectos de complejidad en los algoritmos favorezcan el us
o }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {de modelos d
iscretos tipo caja negra, e incluso induzcan al uso de modelos como
el (4.23) que se }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex1
00 {adapten al set de datos, sin por ello tener que imponer alguna interpretacin
especial a los valores de los }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\c
harscalex100 {parmetros.}\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscal
ex100 {Un consejo general que suelen dar algunos autores es \uc1\u8220Xen princi
pio tratar con cosas simples\uc1\u8221X, y esto }\par\pard\li613\ri0\sl-240\slmu
lt0 \fs20\cf0\f1\charscalex100 {es porque uno debera, en lo posible, adoptar estr
ucturas sofisticadas solo en el caso que las estructuras }\par\pard\li613\ri0\sl
-240\slmult0 \fs20\cf0\f1\charscalex100 {ms sencillas no pasen los tests de valid
acin. Por lo general, modelos que aceptan regresiones lineales }\par\pard\li613\r
i0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {como (4.11) conducen a simples y r
obustos esquemas de minimizacin como la de mnimos cuadrados. }\par\pard\li613\ri0\
sl-240\slmult0 \fs20\cf0\f1\charscalex100 {En consecuencia, las estructuras
como ARX son a menudo muy buenas primeras elecciones para }\par\pard\li
613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {afrontar un problema de ident
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harscalex100 {Identificacin de Sistemas Dinmicos


}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li8
93\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li893\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100 {Por ltimo, vale dest
acar que es necesario contemplar alguna eventual no linealidad que pud
iera }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {presentar e
l sistema, ya que si la hubiera, resultara muy difcil ajustar los datos a un siste
ma lineal. En }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {pa
rticular, los efectos de no linealidad de actuadores y sensores pueden
ser conocidos y luego ser }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1
\charscalex100 {usados para redefinir las seales de entrada y salida. }\par\par
d\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs22\cf0
\f0\charscalex100\i \ul {Orden}\i0 \ul0 \fs22\cf0\f1\charscalex100\ul { del Mode
lo
}\ul0 \fs22\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-2
13\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex10
0 {La resolucin del problema (5b) normalmente requiere hacer uso de los
datos. Sin embargo, un }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\cha
rscalex100 {entendimiento fsico del sistema, puede en muchos casos indicarnos el
rango de ordenes que deberan }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\cha
rscalex100 {ser considerados para el modelo. Incluso cuando los datos y
a han sido tomados, el conocimiento del }\par\pard\li613\ri0\sl-240\slmult
0 \fs18\cf0\f1\charscalex100 {nmero total de ellos (N) y su calidad, indicar cuant
os parmetros son factibles de ser estimados. Por }\par\pard\li613\ri0\sl-240\slmu
lt0 \fs18\cf0\f1\charscalex100 {ejemplo si disponemos de unos pocos datos, no es
razonable tratar de determinar un modelo a partir de }\par\pard\li613\ri0\sl-24
0\slmult0 \fs22\cf0\f1\charscalex100 {una estructura compleja.
}\par\pard\l
i893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Normalmente el periodo de mu
estreo, adems de tener que cumplir con el teorema de Nyquist, suele }\par\pard\li
613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {estar fuertemente influenci
ado por el diseo de control a utilizar. Y esto se debe a que el pe
riodo de }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {muestr
eo con el cual modelamos el sistema, debera ser el mismo que se usa
para la aplicacin de }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charsca
lex100 {control, al menos que estemos dispuestos a recalcularlo durante los inte
rvalos existentes entre muestras }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f
1\charscalex100 {sucesivas.
}\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\f1
\charscalex100 {Otro problema relacionado suele ser que, por problemas n
umricos, sea difcil describir }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\
charscalex100 {adecuadamente ms de dos o tres dcadas del rango de frecue
ncia con un mismo modelo. Por otro }\par\pard\li613\ri0\sl-240\slmult0 \fs
18\cf0\f1\charscalex100 {lado, consideraciones acerca de periodo de muestr
eo, excitacin, y longitud del registro de datos, }\par\pard\li613\ri0\sl-2
40\slmult0 \fs16\cf0\f1\charscalex100 {sugieren que por lo general uno no}
\fs16\cf0\f1\charscalex100 { deba apuntar a cubrir ms de tres dcadas de
las constantes de }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex1
00 {tiempo en un experimento. De modo que si el sistema contiene cons
tantes de tiempo ampliamente }\par\pard\li613\ri0\sl-253\slmult0 \fs18\cf0\f1
\charscalex100 {separadas, el consejo es construir dos o ms modelos, cada uno cub
riendo una parte determinada del }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f
1\charscalex100 {rango de frecuencias y siendo muestreado con un periodo adecuad
o. En un modelo de alta frecuencia, la }\par\pard\li613\ri0\sl-240\slmult0 \fs18
\cf0\f1\charscalex100 {dinmica de baja frecuencia se comporta, para la mayora de l
os casos prcticos, como un bloque con }\par\pard\li613\ri0\sl-240\slmult0 \fs16\c
f0\f1\charscalex100 {tantos integradores como polos de baja frecuencia te
nga el sistema; pensar en el diagrama de Bode. }\par\pard\li613\ri0\sl-2
40\slmult0 \fs18\cf0\f1\charscalex100 {Anlogamente, las altas frecuencias se ven
como relaciones instantneas (estticas) en los modelos de }\par\pard\li613\ri0\sl-2

40\slmult0 \fs22\cf0\f1\charscalex100 {baja frecuencia. }\par\pard\li613\ri0\sl213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613


\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100\b \ul {5.3 Seleccin de Estructura
basada en anlisis preliminares de los datos}\b0 \ul0 \fs22\cf0\f0\charscalex100\b
\ul { }\b0 \ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0
\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {Por anlisis preliminar de los datos,
queremos decir clculos que no involucran la determinacin de }\par\pard\li613\ri0\s
l-240\slmult0 \fs20\cf0\f1\charscalex100 {un modelo completo del sistema. }\par\
pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li613\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100\ul {Estimacin de
l Tipo del modelo}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charsca
lex100 {Generalmente, algunas tcnicas no paramtricas pueden ser tiles para descubri
r transformaciones }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex10
0 {no lineales de los datos, como as tambin para indicar el tipo de d
ependencias existentes entre las }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf
0\f1\charscalex100 {variables involucradas. Por lo general, dichos tests estn bas
ados en relaciones entre correlaciones de }\par\pard\li613\ri0\sl-240\slmult0 \f
s20\cf0\f1\charscalex100 {orden superior (mayor a segundo orden) y espectros que
obedecen a descripciones lineales. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0
\fs20\cf0\f1\charscalex100\ul {Estimacin del Orden del modelo}\ul0 \fs20\cf0\f1\c
harscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {El orden de un sistema l
ineal puede ser estimado de varias formas diferentes. En particular, l
os }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {mtodos basados
en anlisis previos de los datos caen dentro de las siguientes categoras. }\par\pa
rd\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253\ri0\sl-266\slmult0 \fs20\
cf0\f1\charscalex100 {1. Examinacin de la funcin de transferencia estimada por el
mtodo de Anlisis Espectral. }\par\pard\li1253\ri0\sl-240\slmult0 \fs20\cf0\f1\cha
rscalex100 {2. Evaluacin de rangos en matrices de covarianza. }\par\pard\li1253
\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {3. Correlacin de variables. }\pa
r\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \*\t
x1253\fs22\cf0\f1\charscalex100 {1. }\tab \fs22\cf0\f0\charscalex100\i {Estimacin
por anlisis espectral}\i0 \fs22\cf0\f1\charscalex100 {: Una estimacin no paramtric
a de la funcin de transferencia }\par\pard\li1253\ri0\sl-293\slmult0 \fs20\cf0\f1
\charscalex100 {G}{\sub \fs10\cf0\f1\charscalex100 {N}}\fs20\cf0\f1\charscalex10
0 {(e}{\super \fs10\up3\cf0\f1\charscalex100 {j}}\fs12\cf0\f2\charscalex100 {\uc
1\u969X}\fs16\cf0\f1\charscalex100 {) nos entregar valiosa informacin acerca
de los picos de resonancia, cadas (roll-off) y }\par\pard\li1253\ri0\sl-2
00\slmult0 \fs20\cf0\f1\charscalex100 {corrimientos de fase. De esta forma obten
dremos valiosos indicios acerca del orden que requerir }\par\pard\li1253\ri0\sl-2
40\slmult0 \fs22\cf0\f1\charscalex100 {el modelo para describir la dinmica del si
stema (o al menos la parte que nos interesa). Habra }\par\pard\li1253\ri0\sl-240\
slmult0 \fs20\cf0\f1\charscalex100 {que notar que por lo general un diagrama de
bode de tiempo discreto presenta ciertas anomalas }\par\pard\li9133\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li9133\ri0\sl-346\slmult0 \fs22\cf0\f1\charscalex100 {
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13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253\ri0\sl-266\slmult0 \fs20\cf0\f
1\charscalex100 {si se lo compara con uno de tiempo continuo, es por
eso que es conveniente tomar dichas }\par\pard\li1253\ri0\sl-240\slmult0 \f
s20\cf0\f1\charscalex100 {observaciones con especial recaudo. }\par\pard\li893\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \*\tx1253\fs22\cf0
\f0\charscalex100 {2. }\tab \fs22\cf0\f0\charscalex100\i {Evaluacin de la Matriz
de Covarianza}\i0 \fs20\cf0\f1\charscalex100 { : Supongamos que el sistema real
est descripto por:}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn6
66\margrsxn133\cols2\colno1\colw9453\colsr-0\colno2\colw1640\pard\li2066\ri0\sl213\slmult0 \fs18\cf0\par\pard\li2066\ri0\sl-293\slmult0 \*\tx4293\*\tx6533\*\tx
7040\fs22\cf0\f1\charscalex100 {y(t) a y(t 1) ... a y(t}{\sub \fs12\cf0\f1\chars
calex100 {1}}\fs12\cf0\f1\charscalex100 {n}\tab \fs22\cf0\f2\charscalex100 {\uc1
\u8722X}{ }\fs22\cf0\f1\charscalex100 {n)}{ }\fs22\cf0\f2\charscalex100 {=}{ }\f
s22\cf0\f1\charscalex100 {b u(t 1) ... b u(t}{\sub \fs12\cf0\f1\charscalex100 {1
}}\fs12\cf0\f1\charscalex100 {n}\tab \fs22\cf0\f2\charscalex100 {\uc1\u8722X +}\
fs22\cf0\f1\charscalex100 {n)}\tab \fs22\cf0\f1\charscalex100 {v (t)}{\sub \fs12
\cf0\f1\charscalex100 {0}}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li0\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {(5.1a)}\par\pard\sect\se
ctd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li1253\ri0\sl-2
13\slmult0 \fs18\cf0\par\pard\li1253\ri0\sl-306\slmult0 \fs20\cf0\f1\charscalex1
00 {para alguna secuencia de ruido \{v}{\sub \fs12\cf0\f1\charscalex100 {0}}\fs2
0\cf0\f1\charscalex100 {(t)\}. Supongamos incluso que n es el menor valor para e
l cual }\par\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {se sigue
cumpliendo la ecuacin (5.1a), o sea que n es el \uc1\u8220Xorden verdadero\uc1\u
8221X del modelo. Como }\par\pard\li1253\ri0\sl-240\slmult0 \fs20\cf0\f1\charsca
lex100 {siempre, tomemos: }\par\pard\li2040\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li2040\ri0\sl-320\slmult0 \*\tx4053\fs22\cf0\f2\charscalex100 {\uc1\u981X}{\su
b \fs12\cf0\f1\charscalex100 {s}}\fs22\cf0\f1\charscalex100 {(t)}{ }\fs22\cf0\f2
\charscalex100 {= \uc1\u8722X}\fs22\cf0\f1\charscalex100 {[ y(t 1)... y(t}\fs22\
cf0\f2\charscalex100 {\uc1\u8722X}\tab \fs22\cf0\f2\charscalex100 {\uc1\u8722X}{
}\fs22\cf0\f1\charscalex100 {s) u(t 1)...u(t}{ }\fs22\cf0\f2\charscalex100 {\uc
1\u8722X}{ }\fs22\cf0\f1\charscalex100 {s)]}{\super \fs12\up3\cf0\f1\charscalex1
00 {T}}\fs22\cf0\f1\charscalex100 {(5.1b)}\par\pard\li1253\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li1253\ri0\sl-306\slmult0 \fs20\cf0\f1\charscalex100 { Conside
remos en principio que v}{\sub \fs12\cf0\f1\charscalex100 {0}}\fs20\cf0\f1\c
harscalex100 {(t) = 0. Esto implica que la matriz de covarianza, defin
ida }\par\pard\li893\ri0\sl-200\slmult0 \fs22\cf0\f1\charscalex100 {como: }\par\
pard\li2200\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2200\ri0\sl-306\slmult0 \*\t
x2786\fs12\cf0\f1\charscalex100 {s}\tab \fs22\cf0\f1\charscalex100 {1}{\super \f
s12\up3\cf0\f1\charscalex100 {N}}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn

16840\marglsxn666\margrsxn133\cols3\colno1\colw2600\colsr-0\colno2\colw6813\cols
r-0\colno3\colw1680\pard\li2053\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {R
(N)}\par\column\pard\li0\ri0\sl-306\slmult0 \*\tx346\*\tx1013\fs22\cf0\f2\chars
calex100 {=}\tab \fs30\cf0\f0\charscalex100 {\uc1\u402X}\fs22\cf0\f2\charscalex1
00 {\uc1\u981X}\tab \fs22\cf0\f2\charscalex100 {\uc1\u981X}{\super \fs12\up4\cf0
\f1\charscalex100 {T}}\par\pard\li773\ri0\sl-186\slmult0 \*\tx1253\fs22\cf0\f1\c
harscalex100 {(t).}\tab \fs22\cf0\f1\charscalex100 {(t)}\par\pard\li693\ri0\sl-1
06\slmult0 \*\tx1146\fs12\cf0\f1\charscalex100 {s}\tab \fs12\cf0\f1\charscalex10
0 {s}\par\pard\li173\ri0\sl-200\slmult0 \fs22\cf0\f1\charscalex100 {N}{\sub \fs1
2\cf0\f1\charscalex100 {t 1}}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f
1\charscalex100 {(5.1c)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\mar
glsxn666\margrsxn133\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253\ri
0\sl-320\slmult0 \fs20\cf0\f1\charscalex100 {no ser singular para s }{ }\fs22
\cf0\f2\charscalex100 {\uc1\u8804X}\fs20\cf0\f1\charscalex100 { n, lo que si
gnificara que todava es posible aumentar el orden del }\par\pard\li1253\ri
0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {modelo, pues no hemos alcanzado an e
l \uc1\u8220Xorden verdadero\uc1\u8221X del mismo. Mientras que R}{\super \fs10\
up3\cf0\f1\charscalex100 {s}}\fs20\cf0\f1\charscalex100 {(N) ser }\par\pard\li12
53\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {singular si s }\fs22\cf0\f2\ch
arscalex100 {\uc1\u8805X}\fs22\cf0\f1\charscalex100 { n +1, o sea cuando nos hay
amos excedido del nmero de parmetros natural del }\par\pard\li1253\ri0\sl-213\slmu
lt0 \fs18\cf0\f1\charscalex100 {sistema. Dicho de otro modo esto quiere decir qu
e es posible utilizar una funcin k(s)=R}{\super \fs10\up2\cf0\f1\charscalex100 {s
}}\fs20\cf0\f1\charscalex100 {(N) para }\par\pard\li1253\ri0\sl-240\slmult0 \fs2
0\cf0\f1\charscalex100 {hacer una evaluacin cuantitativa del orden del modelo. }\
par\pard\li1253\ri0\sl-280\slmult0 \fs16\cf0\f1\charscalex100 { En el caso q
ue se presente ruido \{v}{\sub \fs10\cf0\f1\charscalex100 {0}}\fs16\cf0\f1\c
harscalex100 {(t)\} en la ecuacin (5.1a), la matriz (5.1c) puede seguir
}\par\pard\li1253\ri0\sl-200\slmult0 \fs18\cf0\f1\charscalex100 {siendo usada
si es que se establece un umbral adecuado, y si la relacin seal a ru
ido es lo }\par\pard\li1253\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {suf
icientemente alta. }\par\pard\li1253\ri0\sl-280\slmult0 \fs18\cf0\f1\charscalex1
00 { Pero cuando la influencia de v}{\sub \fs10\cf0\f1\charscalex100 {0}}\
fs18\cf0\f1\charscalex100 {(t) sobre el sistema deja de ser insignificant
e, una alternativa }\par\pard\li1253\ri0\sl-240\slmult0 \fs18\cf0\f1\charscale
x100 {vlida sera utilizar vectores de correlacin. Esto es, si \{v}{\sub \f
s12\cf0\f1\charscalex100 {0}}\fs18\cf0\f1\charscalex100 {(t)\} y \{u(t)\} no
estn correlacionadas, }\par\pard\li1253\ri0\sl-200\slmult0 \fs22\cf0\f1\charsca
lex100 {podramos usar,}\par\pard\li2000\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2
000\ri0\sl-320\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u950X}{\sub \fs12\cf0\f1
\charscalex100 {s}}\fs22\cf0\f1\charscalex100 {(t)}{ }\fs22\cf0\f2\charscalex100
{=}{ }\fs22\cf0\f1\charscalex100 {[u(t 1) u(t}{ }\fs22\cf0\f2\charscalex100 {\u
c1\u8722X}{ }\fs22\cf0\f1\charscalex100 {2)...u(t}{ }\fs22\cf0\f2\charscalex100
{\uc1\u8722X}{ }\fs22\cf0\f1\charscalex100 {2s)]}{\super \fs12\up4\cf0\f1\charsc
alex100 {T}}\par\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253\ri0\sl
-280\slmult0 \fs22\cf0\f1\charscalex100 {y luego hallar: }\par\pard\li2813\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li2813\ri0\sl-266\slmult0 \fs22\cf0\f1\charscal
ex100 {1}{\super \fs12\up3\cf0\f1\charscalex100 {N}}\par\pard\sect\sectd\sbknone
\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw2613\colsr-0\c
olno2\colw8480\pard\li2200\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {s}\par
\pard\li2053\ri0\sl-186\slmult0 \fs20\cf0\f1\charscalex100 {R (N)}\par\column\pa
rd\li0\ri0\sl-320\slmult0 \*\tx346\*\tx1026\fs22\cf0\f2\charscalex100 {=}\tab \f
s30\cf0\f0\charscalex100 {\uc1\u402X}\fs22\cf0\f2\charscalex100 {\uc1\u981X}\tab
\fs22\cf0\f2\charscalex100 {\uc1\u950X}{\super \fs12\up4\cf0\f1\charscalex100 {
T}}\par\pard\li786\ri0\sl-186\slmult0 \*\tx1266\fs22\cf0\f1\charscalex100 {(t).}
\tab \fs22\cf0\f1\charscalex100 {(t)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pg
hsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw2786\colsr-0\colno2\colw533\c
olsr-0\colno3\colw7773\pard\li2186\ri0\sl-160\slmult0 \fs14\cf0\f2\charscalex100
{\uc1\u950X}\par\column\pard\li0\ri0\sl-200\slmult0 \fs22\cf0\f1\charscalex100
{N}{\sub \fs12\cf0\f1\charscalex100 {t 1}}\par\column\pard\li0\ri0\sl-106\slmult

0 \*\tx440\fs12\cf0\f1\charscalex100 {s}\tab \fs12\cf0\f1\charscalex100 {s}\par\


pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li1
306\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1306\ri0\sl-306\slmult0 \fs20\cf0\f1
\charscalex100 {que ser no singular para s }\fs22\cf0\f2\charscalex100 {\uc1\u880
4X}\fs22\cf0\f1\charscalex100 { n, y singular para s }\fs22\cf0\f2\charscalex100
{\uc1\u8805X}\fs22\cf0\f1\charscalex100 { n +1. }\par\pard\li893\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li893\ri0\sl-240\slmult0 \*\tx1253\fs22\cf0\f1\charscale
x100 {3. }\tab \fs22\cf0\f0\charscalex100\i {Correlacin de variables:}\i0 \fs20\c
f0\f1\charscalex100 { El problema de la determinacin del orden radica en el hecho
de incluir }\par\pard\li1253\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {o n
o una variable ms en la estructura modelo. Esta variable podra ser y(t \uc1\u8211X
n \uc1\u8211X 1) en (5.1a) o }\par\pard\li1253\ri0\sl-240\slmult0 \fs20\cf0\f1\
charscalex100 {posiblemente una variable perturbacin w(t) que ha sido medida. En
cualquier caso, lo importante }\par\pard\li1253\ri0\sl-240\slmult0 \fs22\cf0\f1\
charscalex100 {es saber si esa nueva variable tiene algo que contribuir en la de
finicin de la variable de salida }\par\pard\li1253\ri0\sl-240\slmult0 \fs20\cf0\f
1\charscalex100 {y(t). Esto se puede medir haciendo la correlacin entre y(t) y w(
t). Sin embargo, para desestimar }\par\pard\li1253\ri0\sl-240\slmult0 \fs20\cf0\
f1\charscalex100 {la posible relacin entre y(t) y w(t), calculada a partir de la
estructura ms pequea, la correlacin }\par\pard\li1253\ri0\sl-240\slmult0 \fs22\cf0\
f1\charscalex100 {debe ser medida entre w(t) y lo que resta por ser c
onocido, o sea los residuos}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn1
6840\marglsxn666\margrsxn133\cols2\colno1\colw2600\colsr-0\colno2\colw8493\pard\
li1653\ri0\sl-213\slmult0 \fs22\cf0\f1\charscalex100 {\uc1\u710X}\par\column\par
d\li0\ri0\sl-280\slmult0 \*\tx333\fs22\cf0\f1\charscalex100 {\uc1\u710X}\tab \fs
22\cf0\f1\charscalex100 {\uc1\u710X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pgh
sxn16840\marglsxn666\margrsxn133\pard\li1280\ri0\sl-280\slmult0 \*\tx3280\fs20\c
f0\f0\charscalex100 {:}\fs22\cf0\f1\charscalex100 {(t,}\fs22\cf0\f2\charscalex10
0 {\uc1\u952X}{\sub \fs12\cf0\f1\charscalex100 {N}}\fs22\cf0\f1\charscalex100 {)
}{ }\fs22\cf0\f2\charscalex100 {=}{ }\fs22\cf0\f1\charscalex100 {y(t)}{ }\fs22\c
f0\f2\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f1\charscalex100 {y(t,}\fs22\cf0\f
2\charscalex100 {\uc1\u952X}{\sub \fs12\cf0\f1\charscalex100 {N}}\fs22\cf0\f1\ch
arscalex100 {)}{ }\fs12\cf0\f1\charscalex100 {.}\tab \fs18\cf0\f1\charscalex100
{Esto se conoce en el anlisis por regresin como }\fs22\cf0\f0\charscalex10
0\i {correlacin cannica}\i0 \fs22\cf0\f1\charscalex100 { o }\par\pard\li1253\ri0
\sl-186\slmult0 \fs22\cf0\f0\charscalex100\i {correlacin parcial}\i0 \fs22\cf0\f1
\charscalex100 {. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\r
i0\sl-373\slmult0 \fs22\cf0\f0\charscalex100\b \ul {5.4 Comparacin de estructuras
modelo}\b0 \ul0 \fs22\cf0\f0\charscalex100\b \ul { }\b0 \ul0 \par\pard\li893\ri
0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs18\cf0\f1\charsc
alex100 {Una aproximacin muy natural para buscar una estructura adecuada, es simp
lemente la que surge de }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charsca
lex100 {evaluar distintos modelos y comparar los resultados que ellos arrojen. A
continuacin se expondrn los }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\char
scalex100 {lineamientos bsicos para llevar a cabo las comparaciones menci
onadas variando el grado de }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1
\charscalex100 {formalismo. Es importante aclarar que la etapa de valida
cin del modelo (etapa final) se hace ms }\par\pard\li613\ri0\sl-240\slmult0
\fs20\cf0\f1\charscalex100 {efectiva si es que previamente se han descartado o
filtrado los modelos de menor calidad. }\par\pard\li9133\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li9133\ri0\sl-360\slmult0 \fs22\cf0\f1\charscalex100 {
24/39
}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\
pard\sect\sectd\sbkpage
{\shp{\*\shpinst\shpleft1240\shptop906\shpright10626\shpbottom906\shpfhdr0\shpwr
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{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn geoRight}{\sv 9386}}

{\sp{\sn geoBottom}{\sv 0}}


{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(9386,0);}}
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{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft1346\shptop15840\shpright10520\shpbottom15840\shpfhdr0\s
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{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn geoRight}{\sv 9174}}
{\sp{\sn geoBottom}{\sv 0}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(0,0);(9173,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;5;16384;45824;1;45824;32768}}
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{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft4200\shptop9693\shpright7826\shpbottom11880\shpfhdr0\shp
wr3\shpwrk0\shpfblwtxt1\shplid2335\shpz5\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 3626}}
{\sp{\sn geoBottom}{\sv 2187}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;5;(0,0);(0,2186);(3626,2186);(3626,0);(0,0);}}
{\sp{\sn pSegmentInfo}{\sv 2;12;16384;45824;1;45824;1;45824;1;45824;1;45824;2457
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{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn lineWidth}{\sv 9144}}
{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft4546\shptop9853\shpright7653\shpbottom11373\shpfhdr0\shp
wr3\shpwrk0\shpfblwtxt1\shplid2336\shpz6\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}

{\sp{\sn fFlipH}{\sv 0}}


{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 3107}}
{\sp{\sn geoBottom}{\sv 1520}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;41;(0,0);(26,66);(53,133);(80,213);(106,280);(133,346
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(1773,1386);(1906,1400);(2040,1413);(2173,1426);(2306,1440);(2440,1453);(2560,14
66);(2680,1466);(2786,1480);(2880,1493);(2973,1493);(3053,1506);(3106,1506);}}
{\sp{\sn pSegmentInfo}{\sv 2;83;16384;45824;1;45824;1;45824;1;45824;1;45824;1;45
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{\sp{\sn fFillOK}{\sv 1}}
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{\shp{\*\shpinst\shpleft5200\shptop10906\shpright5266\shpbottom10960\shpfhdr0\sh
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{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\sv 0}}
{\sp{\sn fFlipV}{\sv 0}}
{\sp{\sn rotation}{\sv 0}}
{\sp{\sn geoRight}{\sv 66}}
{\sp{\sn geoBottom}{\sv 54}}
{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;121;(40,0);(40,0);(40,0);(26,0);(26,0);(26,0);(26,0);
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{\sp{\sn pSegmentInfo}{\sv 2;244;16384;45824;1;45824;1;45824;1;45824;1;45824;1;4
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5824;1;45824;1;45824;1;45824;1;45824;1;45824;24577;32768}}
{\sp{\sn fFillOK}{\sv 1}}
{\sp{\sn fFilled}{\sv 1}}
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{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
{\sp{\sn lineType}{\sv 0}}
{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft5200\shptop10906\shpright5266\shpbottom10960\shpfhdr0\sh
pwr3\shpwrk0\shpfblwtxt1\shplid2338\shpz8\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn geoRight}{\sv 66}}
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{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;121;(40,0);(40,0);(40,0);(26,0);(26,0);(26,0);(26,0);
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{\sp{\sn pSegmentInfo}{\sv 2;244;16384;45824;1;45824;1;45824;1;45824;1;45824;1;4
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{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft5306\shptop10253\shpright5480\shpbottom10800\shpfhdr0\sh
pwr3\shpwrk0\shpfblwtxt1\shplid2339\shpz9\shpbxpage\shpbypage
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{\sp{\sn geoBottom}{\sv 547}}


{\sp{\sn shapePath}{\sv 4}}
{\sp{\sn pVerticies}{\sv 8;2;(186,0);(0,546);}}
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{\shp{\*\shpinst\shpleft5280\shptop10693\shpright5386\shpbottom10800\shpfhdr0\sh
pwr3\shpwrk0\shpfblwtxt1\shplid2340\shpz10\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn pVerticies}{\sv 8;3;(0,0);(13,106);(93,26);}}
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{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fLine}{\sv 1}}{\sp{\sn lineColor}{\sv 0}}
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{\sp{\sn fArrowheadsOK}{\sv 0}}
{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn13
3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-266\slmult0 \fs20\cf0\f1\c
harscalex100\ul {Comparacin de modelos utilizando sets de datos frescos (Validacin
Cruzada)
}\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\
ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {No habra que sorprenderse si es qu
e a la hora de evaluar el modelo, este se ajusta bien al set de }\par\pard\li613
\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {datos a partir del cual fue esti
mado. El test real sera verificar si es que el modelo tambin es capaz de }\par\par
d\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {describir datos frescos d
el proceso. Una sugestiva y a la vez atractiva forma de comparar dos modelos }\p
ar\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {diferentes, obteni
dos a partir de dos estructuras diferentes, es evaluar su desempeo cua
ndo se }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {emplean
sets de datos que no han sido utilizados para ajustar ninguno de lo
s dos modelos. De esta }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\char
scalex100 {forma podramos optar por el modelo que presente el mejor com
portamiento o performance. A dicho }\par\pard\li613\ri0\sl-240\slmult0 \fs20
\cf0\f1\charscalex100 {procedimiento se lo conoce como }\fs22\cf0\f0\charscalex1
00\i {Validacin Cruzada}\i0 \fs20\cf0\f1\charscalex100 { y posee muchas variantes

. }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Una medicin de


la performance, podra ser por ejemplo la suma de los cuadrados de los errores de
}\par\pard\li613\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {prediccin o de
la diferencia entre las salidas actuales y las salidas simuladas y}{\
sub \fs12\cf0\f1\charscalex100 {M }}\fs22\cf0\f1\charscalex100 {= }{\sub \fs14\c
f0\f1\charscalex100 {N}}\fs22\cf0\f1\charscalex100 {(q).u(t). Una }\par\pard\li
613\ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {caracterstica atractiva del pr
oceso de Validacin Cruzada es que la comparacin tiene sentido sin tener }\par\pard
\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {que introducir ningn argume
nto probabilstico y sin hacer conjeturas acerca del sistema real. La nica }\par\pa
rd\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {desventaja es que tenemo
s que rescatar un set de datos frescos para las comparaciones, o sea que no }\pa
r\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {podemos hacer uso de
toda la informacin que disponemos para construir el modelo. }\par\pard\li613\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\l
i613\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100\ul {Comparacin de modelos con
sets de datos de \uc1\u8220XSegunda mano\uc1\u8221X }\ul0 \fs20\cf0\f1\charscal
ex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0
\sl-266\slmult0 \fs18\cf0\f1\charscalex100 {Solo si no podemos separar los
datos frescos para hacer una Validacin Cruzada, debemos sacar }\par\pard
\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {conclusiones entre dos
modelos usando el mismo set de datos que ha sido utilizado para ajus
tar los }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {mismos.
Este hecho complica la comparacin considerablemente debido a que el m
odelo obtenido a }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex10
0 {partir de la estructura ms grande, automticamente va a entregar el menor result
ado para un criterio de }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charsca
lex100 {ajuste convencional. Mientras la estructura modelo se expande, e
ste resultado va a ser an ms }\par\pard\li613\ri0\sl-280\slmult0 \fs18\cf0\f
1\charscalex100 {pequeo, ya que el valor de V}{\sub \fs10\cf0\f1\charscalex
100 {N}}\fs20\cf0\f1\charscalex100 {
(V}{\sub \fs10\cf0\f1\charscalex100 {N}}
\fs16\cf0\f1\charscalex100 { = mn\{V}{\sub \fs10\cf0\f1\charscalex100 {N}}\fs20
\cf0\f1\charscalex100 {(}\fs20\cf0\f2\charscalex100 {\uc1\u952X}\fs16\cf0\f1\cha
rscalex100 {)\}) disminuye a medida que el modelo incorpora ms }\par\pard
\li613\ri0\sl-213\slmult0 \fs20\cf0\f1\charscalex100 {caractersticas relevantes d
el set de datos (Figura 5.1). Incluso despus de hallarse una estructura que }\par
\pard\li613\ri0\sl-266\slmult0 \fs18\cf0\f1\charscalex100 {permita una correcta
descripcin del sistema, el valor V}{\sub \fs10\cf0\f1\charscalex100 {N}}\fs18\cf0
\f1\charscalex100 { contina descendiendo, pero ahora a causa de }\par\pard\li613\
ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {parmetros adicionales (innecesar
ios) que se ajustan a las distintas caractersticas de realizaciones }\pa
r\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {particulares del r
uido. Esto es conocido como \uc1\u8220Xoverfit\uc1\u8221X, y el valor d
e este ajuste extra no lo podemos }\par\pard\li613\ri0\sl-240\slmult0 \fs1
8\cf0\f1\charscalex100 {conocer debido a que aplicaremos el modelo a dif
erentes realizaciones del ruido. Sera razonable }\par\pard\li613\ri0\sl-266\
slmult0 \fs18\cf0\f1\charscalex100 {entonces que la disminucin de V}{\sub \f
s10\cf0\f1\charscalex100 {N}}\fs18\cf0\f1\charscalex100 { por efecto del ove
rfit sea menos significativa que el descenso }\par\pard\li613\ri0\sl-213\s
lmult0 \fs18\cf0\f1\charscalex100 {producido por la inclusin de ms caracterstica
s relevantes al modelo. Es por eso que buscaremos el }\par\pard\li613\ri0\sl-240
\slmult0 \fs16\cf0\f1\charscalex100 {punto de quiebre o codo en la curva
de la Figura (5.1). Ciertamente es una buena idea graficar dicha }\pa
r\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {curva para sacar con
clusiones y verificar si el ajuste fue valedero.}\par\pard\li3160\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li3160\ri0\sl-293\slmult0 \fs16\cf0\f0\charscalex100 {
V}{\sub \fs10\cf0\f0\charscalex100 {N }}\par\pard\li4773\ri0\sl-280\slmult0 \fs1
0\cf0\f0\charscalex100 {Codo }\par\pard\li4880\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li4880\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4880\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li4880\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4880\ri0\sl-213\sl

mult0 \fs18\cf0\par\pard\li4880\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4880\ri0


\sl-213\slmult0 \fs18\cf0\par\pard\li4880\ri0\sl-213\slmult0 \fs18\cf0\par\pard\
li4880\ri0\sl-186\slmult0 \fs16\cf0\f0\charscalex100 {
M (tamao de la
estructura)}\par\pard\li893\ri0\sl-293\slmult0 \fs16\cf0\f0\charscalex100 {Figur
a 5.1}\fs16\cf0\f0\charscalex100 { Valor mnimo de V}\fs10\cf0\f0\charscalex1
00 {N}\fs16\cf0\f0\charscalex100 {(}\fs16\cf0\f2\charscalex100 {\uc1\u952X}\fs16
\cf0\f0\charscalex100 {) en }\par\pard\li893\ri0\sl-173\slmult0 \fs16\cf0\f0\ch
arscalex100 {funcin del tamao de la estructura }\par\pard\li893\ri0\sl-226\sl
mult0 \fs16\cf0\f0\charscalex100 {modelo}\fs22\cf0\f0\charscalex100 {. }\par\pa
rd\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs20\cf
0\f1\charscalex100 {Se han desarrollado varios procedimientos con la intencin de
formalizar la bsqueda de dicho codo, }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf
0\f1\charscalex100 {y en la actualidad existen dos ideas bsicas. La prim
era aproximacin consiste en imitar la idea de la }\par\pard\li613\ri0\sl266\slmult0 \fs22\cf0\f1\charscalex100 {Validacin Cruzada, esto es, usar el valor
de V}{\sub \fs12\cf0\f1\charscalex100 {N}}\fs20\cf0\f1\charscalex100 { como bas
e para el ajuste, pero aplicando al modelo el }\par\pard\li613\ri0\sl-213\slmult
0 \fs20\cf0\f1\charscalex100 {mismo set de datos a partir del cual fue calculado
.
}\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {El otro pro
cedimiento est basado en una filosofa diferente, donde se asume que la estructura
ms }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {pequea consigu
e realizar una correcta descripcin del sistema, y luego se calcula com
o ser la }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {dismin
ucin esperada debido al overfit en una estructura ms grande. Finalmente
se evala si la }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100
{disminucin observada es significativamente mayor a la terica o no. Est
a idea se basa en el test de }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf
0\f1\charscalex100 {hiptesis estadstico. }\par\pard\li9133\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li9133\ri0\sl-386\slmult0 \fs22\cf0\f1\charscalex100 {
25/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\ma
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13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li8
93\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\c
harscalex100 {Por ltimo, es importante destacar que ambas aproximaciones, desde u
n punto de vista operacional, }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\c
harscalex100 {estn estrechamente relacionadas.
}\par\pard\li613\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\s
l-293\slmult0 \fs22\cf0\f0\charscalex100\b {5.5 Validacin del modelo}\b0 \fs22\cf
0\f0\charscalex100\b { }\b0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li893\ri0\sl-253\slmult0 \fs18\cf0\f1\charscalex100 {El proceso de estimacin
de parmetros opta por el \uc1\u8220Xmejor\uc1\u8221X modelo dentro de
una estructura }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
preseleccionada. Pero lo importante en todo esto es saber si dicho modelo es lo
suficientemente bueno }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscale
x100 {para nuestros propsitos. Este es el problema de la validacin de u
n modelo y el asunto tiene varios }\par\pard\li613\ri0\sl-240\slmult0 \fs2
0\cf0\f1\charscalex100 {aspectos a considerar como as tambin tres preguntas bsicas
que contestar: }\par\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253\ri
0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {1) Se adapta lo suficientemente bi
en el modelo a los datos observados ? }\par\pard\li1253\ri0\sl-240\slmult0 \fs20
\cf0\f1\charscalex100 {2) Es el modelo lo suficientemente adecuado para nuestro

propsito ? }\par\pard\li1253\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {3)


Describe el modelo al sistema real ? }\par\pard\li893\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li893\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {Por lo general,
la forma de contestar estas preguntas es examinar el modelo con la mayor cantid
ad }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {posible de in
formacin acerca del sistema real. Esto incluye conocimiento previo, anlisis de los
datos y }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {experie
ncia en el uso del modelo. En una aplicacin de identificacin el mayor
problema a la hora de }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\char
scalex100 {enfrentarse con el modelo lo presentan los datos en si mismos. Debido
a esto, las tcnicas de validacin }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1
\charscalex100 {del modelo tienden a centrarse en responder las primeras dos pre
guntas. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li613\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100\u
l {Validacin del modelo con respecto al propsito del modelado}\ul0 \fs20\cf0\f1\ch
arscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li8
93\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {Dado que es imposible dar resp
uesta a la pregunta 3), lo que importa en la prctica es echar luz a la }\par\pard
\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {segunda pregunta. Y en est
e aspecto, podemos afirmar que siempre existe un propsito particular que }\par\pa
rd\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {nos conduce a hacer el m
odelado, ya sea el diseo de un compensador, la prediccin de futuras salidas, }\par
\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {o bien la simulacin de
l sistema. Es por eso que la ltima validacin consiste en verificar si el problema
}\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {que motiv el mode
lado puede ser resuelto usando el modelo obtenido. Por ejemplo, si un compensado
r }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {diseado en ba
se al modelo hallado exhibe una satisfactoria respuesta desde el punto
de vista del }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100
{control, entonces el modelo ser \uc1\u8220Xvlido\uc1\u8221X, independientem
ente de los aspectos formales que esto }\par\pard\li613\ri0\sl-240\slmult0
\fs18\cf0\f1\charscalex100 {implique. A menudo ser imposible, costoso, o peligro
so evaluar todas los posibles modelos respecto de }\par\pard\li613\ri0\sl-240\sl
mult0 \fs16\cf0\f1\charscalex100 {su propsito planeado. En lugar de eso, u
no debe tomar otros caminos para formar un criterio que le }\par\pard\
li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {permita discernir entre var
ios modelos.}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex1
00\ul {Viabilidad de los Parmetros Fsicos}\ul0 \fs20\cf0\f1\charscalex100\ul { }\u
l0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult
0 \fs20\cf0\f1\charscalex100 {Para una estructura que est parametrizada en trminos
de parmetros fsicos, una validacin natural }\par\pard\li613\ri0\sl-240\slmult0 \fs
18\cf0\f1\charscalex100 {y a la vez efectiva es comparar los valores estimados y
sus varianzas, con valores razonables obtenidos }\par\pard\li613\ri0\sl-240\slm
ult0 \fs18\cf0\f1\charscalex100 {en base a un conocimiento previo del sis
tema. Es una buena prctica el evaluar la sensibilidad que }\par\pard\li6
13\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {presenta el comportamiento ent
rada-salida, con respecto a estos parmetros para chequear su correcta }\par\pard\
li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {identificabilidad (esto deb
era reflejarse en las varianzas estimadas).
}\par\pard\li613\ri0\sl-213\slmu
lt0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl293\slmult0 \fs20\cf0\f1\charscalex100\ul {Consistencia del Modelo Entrada-Salid
a}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs18\cf0\f1\charscalex100 {En un
modelo de caja negra, nosotros centramos nuestro inters en sus propieda
des de entrada-}\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100
{salida. Particularmente, para modelos lineales se suelen presentar dich
as caractersticas a travs de }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\
charscalex100 {diagramas de Bode. Es por eso que siempre es aconsejable
evaluar y comparar diferentes modelos }\par\pard\li613\ri0\sl-240\slmult0

\fs18\cf0\f1\charscalex100 {lineales por intermedio de estas grficas, inclu


so utilizando la varianza estimada de los parmetros, }\par\pard\li613\ri0\
sl-240\slmult0 \*\tx4880\*\tx5373\fs22\cf0\f1\charscalex100 {trasladada a inte
rvalos de confianza
de }\tab \fs22\cf0\f1\charscalex100 { y }\tab \fs20\cf
0\f1\charscalex100 {. Comparaciones en diagramas de Bode, entre }\par\pard
\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {estimaciones por anlisis es
pectral y otras derivadas de modelos paramtricos, son por lo general muy }\par\pa
rd\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {tiles ya que se forman a
partir de suposiciones diferentes. }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf
0\f1\charscalex100 {Generalmente, cuando el sistema real no se correspond
e con el set de modelos, se obtiene una }\par\pard\li613\ri0\sl-240\slmu
lt0 \fs18\cf0\f1\charscalex100 {aproximacin cuyas caractersticas dependen de las c
ondiciones del experimento, los filtros usados y de }\par\pard\li613\ri0\sl-240\
slmult0 \fs18\cf0\f1\charscalex100 {la estructura seleccionada. Por lo tant
o, este tipo la comparacin en diagramas de Bode permite }\par\pard\li613
\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {establecer si es que las ca
ractersticas esenciales del sistema dinmico han sido capturadas }\par\pard\
li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {correctamente.}\par\pard\li
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ar\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-200\slmult0 \
fs22\cf0\f1\charscalex100 {
26/39 }\par\pard\sect\sectd\sbknone\pgwsxn1189
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harscalex100 {Identificacin de Sistemas Dinmicos
}\par\pard\li613\r
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nte las propiedades de entrada-salida, entonces se dice que el modelo
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{\uc1\u952X}{\sub \fs10\cf0\f1\charscalex100 {N}}\fs18\cf0\f1\charscalex100 { p
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\slmult0 \fs20\cf0\f1\charscalex100 {sea por una comparacin visual en un grfico o
bien por alguna medida de distancia un poco ms formal. }\par\pard\li613\ri0\sl-24
0\slmult0 \fs18\cf0\f1\charscalex100 {Para la comparacin se debe usar, preferible
mente, un set de datos diferente al usado para la estimacin }\par\pard\li613\ri0\
sl-280\slmult0 \fs22\cf0\f1\charscalex100 {de }\fs22\cf0\f2\charscalex100 {\uc1\
u952X}{\sub \fs12\cf0\f1\charscalex100 {N}}\fs20\cf0\f1\charscalex100 { (Validac
in Cruzada).}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-2
13\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-266\slmult0 \fs22\cf0\f0\charscalex10
0\b \ul {5.6 Conclusiones finales}\b0 \ul0 \fs22\cf0\f0\charscalex100\b \ul { }\
b0 \ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\s
lmult0 \fs20\cf0\f1\charscalex100 {El \uc1\u8220Xsistema real\uc1\u8221X es una
entidad que no puede ser dimensionada totalmente a travs de un modelado }\par\par
d\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {prctico. En consecuencia,
tenemos que conformarnos con descripciones parciales que sean adecuadas }\par\pa
rd\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {para nuestros propsitos
. A veces esto significar trabajar con varios modelos del mismo sistem
a que }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {sern usad
os para diferentes puntos de operacin, para diferentes intervalos de mu
estreo (escalas de }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex
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arscalex100 {Es importante destacar el principio de \uc1\u8220Xtratar con
cosas simples en un primer momento \uc1\u8221X, lo que }\par\pard\li61
3\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {sugiere que uno debera comenzar
evaluando regresiones lineales simples, tal como los modelos ARX }\par\pard\li61
3\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {en el caso lineal, y varia

ntes con transformaciones no lineales de datos basadas en consideracion


es }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {fsicas, cuando
sea necesario. }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100
{En cuanto al tema de la validacin de modelos se debera apuntar lo siguiente: }\pa
r\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253\ri0\sl-293\slmult0 \*
\tx1613\fs22\cf0\f2\charscalex100 {\uc1\u61623X }\tab \fs20\cf0\f1\charscalex100
{Comparacin en diagramas de Bode, de modelos lineales obtenidos bajo varias cond
iciones y }\par\pard\li1613\ri0\sl-226\slmult0 \fs20\cf0\f1\charscalex100 {utili
zando diversas estructuras (incluyendo estimaciones por anlisis espectral). }\par
\pard\li1253\ri0\sl-266\slmult0 \*\tx1613\fs22\cf0\f2\charscalex100 {\uc1\u61623
X }\tab \fs20\cf0\f1\charscalex100 {Comparacin de salidas medidas y simuladas. }\
par\pard\li1253\ri0\sl-266\slmult0 \*\tx1613\fs22\cf0\f2\charscalex100 {\uc1\u61
623X }\tab \fs20\cf0\f1\charscalex100 {Monitoreo de intervalos de confianza
de los parmetros estimados, para rastrear y localizar }\par\pard\li1613\ri0\sl-20
0\slmult0 \fs20\cf0\f1\charscalex100 {los ceros y polos en la funcin de transfere
ncia. Como as tambin posibles prdidas locales }\par\pard\li1613\ri0\sl-240\slmult0
\fs20\cf0\f1\charscalex100 {de identificabilidad. }\par\pard\li893\ri0\sl-213\
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Finalmente, es necesario tener en cuenta que dichas tcnicas deberan ser tomadas co
mo guas de }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {trabaj
o, y no dejar que la seleccin de variables se haga exclusivamente por procedimien
tos estadsticos, }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {
desplazando de este modo al imprescindible ingrediente subjetivo que pu
eda aportar quien realice el }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f
1\charscalex100 {anlisis. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li613\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100\b {5.7 Aplicacin en Matlab}
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ber analizado los datos, es probable que hayamos obtenido una extensa
coleccin de }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {mod
elos de diferentes rdenes y estructuras. Entonces, llegado este punto es aconseja
ble estar provisto }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex10
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cualidades de los diferentes }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1
\charscalex100 {modelos. En este sentido podemos asegurar que el Toolbox de Iden
tificacin de Matlab es un poderoso }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\
f1\charscalex100 {instrumento capaz de llevar a cabo dichas tareas.}\par\pard\li
9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-373\slmult0 \fs22\cf0\f
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13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0 \fs20\cf0\
f1\charscalex100\ul {Comparacin de Diferentes Estructuras }\ul0 \par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li8
93\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {Es natural comparar los result
ados obtenidos a partir de diferentes modelos de una misma estructura, }\par\par
d\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {esto es, variando los
rdenes y retardos de la misma. Por ejemplo, para modelos del tipo AR
X esto }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {puede s
er llevado a cabo eficientemente por el comando \uc1\u8216Xarxstruc\uc1\
u8217X. Para ello, primero debemos definir }\par\pard\li613\ri0\sl-240\slmul
t0 \fs20\cf0\f1\charscalex100 {una matriz NN con todas la estructuras ARX que de
seamos investigar: }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsx
n666\margrsxn133\cols2\colno1\colw4626\colsr-0\colno2\colw6466\pard\li3253\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li3253\ri0\sl-293\slmult0 \*\tx3853\*\tx4333\fs
20\cf0\f0\charscalex100 {\uc1\u8776X}{ }\fs20\cf0\f1\charscalex100 {a}\tab \fs20
\cf0\f1\charscalex100 {a}\tab \fs20\cf0\f1\charscalex100 {a}\par\pard\li3493\ri0
\sl-106\slmult0 \*\tx3973\*\tx4453\fs12\cf0\f1\charscalex100 {a1}\tab \fs12\cf0\
f1\charscalex100 {b1}\tab \fs12\cf0\f1\charscalex100 {k1}\par\pard\li3253\ri0\sl
-200\slmult0 \fs20\cf0\f0\charscalex100 {\uc1\u8710X}\par\column\pard\li0\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-280\slmult0 \fs20\cf0\f0\charscalex10
0 {\uc1\u8217X}\par\pard\li0\ri0\sl-200\slmult0 \fs20\cf0\f0\charscalex100 {}\par
\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li
2760\ri0\sl-306\slmult0 \*\tx4426\fs20\cf0\f1\charscalex100 {NN}{ }\fs20\cf0\f2\
charscalex100 {=}{ }\fs20\cf0\f0\charscalex100 {\uc1\u8710X}{\super \fs12\up3\cf
0\f0\charscalex100 {@}}\fs12\cf0\f0\charscalex100 {@}\tab \fs12\cf0\f0\charscale
x100 {@}{\sub \fs20\cf0\f0\charscalex100 {}}\par\pard\sect\sectd\sbknone\pgwsxn11
893\pghsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw3346\colsr-0\colno2\col
w1280\colsr-0\colno3\colw6466\pard\li3253\ri0\sl-200\slmult0 \fs20\cf0\f0\charsc

alex100 {\uc1\u8710X}\par\column\pard\li0\ri0\sl-240\slmult0 \fs20\cf0\f1\charsc


alex100 {a}\par\column\pard\li0\ri0\sl-200\slmult0 \fs20\cf0\f0\charscalex100 {}\
par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols
2\colno1\colw3253\colsr-0\colno2\colw7840\pard\li613\ri0\sl-306\slmult0 \fs22\cf
0\f1\charscalex100 {luego, }\par\column\pard\li0\ri0\sl-200\slmult0 \*\tx213\fs2
0\cf0\f0\charscalex100 {}\tab \fs12\cf0\f1\charscalex100 {am}{\super \fs20\up0\cf
0\f1\charscalex100 {a}}\fs12\cf0\f1\charscalex100 {bm}{\super \fs20\up0\cf0\f1\c
harscalex100 {a}}\fs12\cf0\f1\charscalex100 {km}{ }\fs20\cf0\f0\charscalex100 {\
uc1\u9674X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\marg
rsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult
0 \fs22\cf0\f1\charscalex100 {>> V = arxstruc (z}{\sub \fs14\cf0\f1\charscalex10
0 {e}}\fs22\cf0\f1\charscalex100 {,z}{\sub \fs14\cf0\f1\charscalex100 {v}}\fs22\
cf0\f1\charscalex100 {,NN); }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li893\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex100 {Siendo el modelo ajus
tado al set de datos z}{\sub \fs12\cf0\f1\charscalex100 {e}}\fs22\cf0\f1\ch
arscalex100 {, para cada conjunto de parmetros de NN. }\par\pard\li613\ri0
\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {Posteriormente, a cada uno de los mo
delos se le aplica el set de datos z}{\sub \fs12\cf0\f1\charscalex100 {e}}\fs22\
cf0\f1\charscalex100 { y se calcula la suma de los }\par\pard\li613\ri0\sl-200\s
lmult0 \fs18\cf0\f1\charscalex100 {errores de prediccin al cuadrado. A esto
s valores se los conoce como funciones de prdida y son }\par\pard\li613
\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {guardados en V con los modelos c
orrespondientes. }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100
{Para seleccionar el modelo que posea la funcin de prdida ms pequea para el set de v
alidacin }\par\pard\li613\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex100 {z}{\sub
\fs12\cf0\f1\charscalex100 {e}}\fs20\cf0\f1\charscalex100 {, se procede utilizan
do: }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-213\slm
ult0 \fs22\cf0\f1\charscalex100 {>> nn = selstruc (V,0); }\par\pard\li893\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex
100 {Este no es ni ms ni menos que el procedimiento de }{ }\fs22\cf0\f0
\charscalex100\i {Validacin Cruzada}\i0 \fs22\cf0\f1\charscalex100 { mencionado
con }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {anteriorid
ad. }\par\pard\li893\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {Por lo gen
eral, es tambin una buena idea inspeccionar visualmente como cambia el
ajuste con el }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100
{nmero de parmetros estimados. Un grfico del ajuste versus el nmero de parmetros se o
btiene con:}\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-2
53\slmult0 \fs22\cf0\f1\charscalex100 {>> nn = selstruc (V); }\par\pard\li893\ri
0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs20\cf0\f1\charsc
alex100 {Esta rutina lo incita a uno a elegir el nmero de parmetros a estimar, basn
dose en primer lugar, en }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charsc
alex100 {la inspeccin visual del grfico para luego escoger el modelo que
mejor se ajuste a dicha cantidad de }\par\pard\li613\ri0\sl-240\slmult0
\fs22\cf0\f1\charscalex100 {parmetros. }\par\pard\li893\ri0\sl-240\slmult0 \fs2
0\cf0\f1\charscalex100 {En estos casos, el comando \uc1\u8216Xstruc\uc1\u8217X s
uele convertirse en una gran ayuda, ya que genera matrices NN }\par\pard\li613\r
i0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {con diferentes estructuras caracte
rsticas. Una secuencia de comando tpica sera: }\par\pard\li893\ri0\sl-213\slmult0 \
fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {>> V = ar
xstruc (ze,zv,struc(2,2,1:10); }\par\pard\li893\ri0\sl-226\slmult0 \fs22\cf0\f1\
charscalex100 {>> nn = selstruc (V,0); }\par\pard\li893\ri0\sl-226\slmult0 \fs22
\cf0\f1\charscalex100 {>> nk = nn(3); }\par\pard\li893\ri0\sl-226\slmult0 \fs22\
cf0\f1\charscalex100 {>> V = arxstruc (ze,zv,struc(1:5,1:5,nk-1:nk+1)); }\par\pa
rd\li893\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {>> nn = selstruc (V); }\
par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \f
s20\cf0\f1\charscalex100 {De esta forma hemos establecido un valor adecua
do para el retardo nk, testeando modelos de }\par\pard\li613\ri0\sl-240\s
lmult0 \fs20\cf0\f1\charscalex100 {segundo orden con retardos entre uno y diez.
El mejor ajuste selecciona un retardo, y luego se evalan }\par\pard\li613\ri0\sl240\slmult0 \fs18\cf0\f1\charscalex100 {todas las combinaciones posibles entre m

odelos ARX con un nmero de parmetros \uc1\u8220Xa\uc1\u8221X y \uc1\u8220Xb\uc1\u8


221X entre cero }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {
y cinco, utilizando retardos en un entorno cercano al seleccionado previamente.
}\par\pard\li893\ri0\sl-266\slmult0 \fs18\cf0\f1\charscalex100 {Si el modelo
es validado sobre el mismo set de datos a partir del cual fue esti
mado, esto es z}{\sub \fs12\cf0\f1\charscalex100 {e}}\fs22\cf0\f1\charscalex1
00 {=z}{\sub \fs12\cf0\f1\charscalex100 {v}}\fs22\cf0\f1\charscalex100 {, }\par\
pard\li613\ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {entonces el ajuste sie
mpre mejorar a medida que se incremente el tamao de la estructura. Por lo tanto }\
par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {es necesario com
pensar este decrecimiento automtico de las funciones de prdida debido al
overfit }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {(Figur
a 5.1), y para ello se han desarrollado diferentes procedimientos. Probablemente
la mejor tcnica }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {
conocida es la Prediccin Final de Error de Akaike (FPE), que est estre
chamente relacionada con el }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\
charscalex100 {Criterio de la Teora de la Informacin. Ambas simulan la validacin cr
uzada cuando el modelo se evala }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\
charscalex100 {con un set de datos frescos.}\par\pard\li893\ri0\sl-240\slmult0 \
fs20\cf0\f1\charscalex100 {La FPE es formada as: }\par\pard\li2960\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li2960\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {n}
\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\col
s5\colno1\colw2653\colsr-0\colno2\colw293\colsr-0\colno3\colw173\colsr-0\colno4\
colw6013\colsr-0\colno5\colw1960\pard\li2053\ri0\sl-373\slmult0 \fs20\cf0\f1\cha
rscalex100 {FPE}{ }\fs20\cf0\f2\charscalex100 {=}\par\column\pard\li0\ri0\sl-266
\slmult0 \fs20\cf0\f1\charscalex100 {1}{ }\fs20\cf0\f2\charscalex100 {+}\par\par
d\li13\ri0\sl-373\slmult0 \fs18\cf0\f1\charscalex100 {1}\fs18\cf0\f2\charscalex1
00 {\uc1\u8722X}\par\column\pard\li0\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex1
00 {N}\par\pard\li13\ri0\sl-213\slmult0 \fs20\cf0\f1\charscalex100 {n}\par\pard\
li0\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex100 {N}\par\column\pard\li0\ri0\sl
-360\slmult0 \fs20\cf0\f1\charscalex100 {.V}\par\column\pard\li0\ri0\sl-213\slmu
lt0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-386\slmult0 \fs22\cf0\f1\charscalex100
{
28/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666
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harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li613\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex100 {donde n es el nmero tot
al de parmetros estimados, N es el largo del registro de datos y V la funcin de }\
par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {prdida (ajuste cuad
rtico) para la estructura en cuestin. }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li893\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {El AIC se forma
as: }\par\pard\li2066\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2066\ri0\sl-266\slm
ult0 \fs20\cf0\f1\charscalex100 {AIC}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20\c
f0\f1\charscalex100 {log[(1 2n / N).V]}\par\pard\li893\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li893\ri0\sl-306\slmult0 \fs20\cf0\f1\charscalex100 {De acuerdo a l
a teora de Akaike se debe seleccionar, dentro de una coleccin de diferentes modelo
s, }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {aquel que pos
ea la menor FPE (o AIC). La estructura que minimiza el AIC se obtiene con: }\par
\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs18
\cf0\f1\charscalex100 {>> nn = selestruc (V,\uc1\u8217XAIC\uc1\u8217X); }\par\pa
rd\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf
0\f1\charscalex100 {donde V fue previamente generada por \uc1\u8216Xarxstruc\uc1
\u8217X. }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266
\slmult0 \fs18\cf0\f1\charscalex100 {Un criterio relacionado es la Aproxima
cin de Mnima Distancia de Rissanen, el cual selecciona la }\par\pard\li61
3\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {estructura que permita hacer la
descripcin general ms pequea a partir de los datos observados . Esto }\par\pard\li
613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {se puede obtener con: }\par\p
ard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs18\c
f0\f1\charscalex100 {>> nn = selstruc (V,\uc1\u8217XMDL\uc1\u8217X); }\par\par
d\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf0
\f1\charscalex100\ul {Chequeo de cancelaciones Polo-Cero}\ul0 \fs20\cf0\f1\chars
calex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\
ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {Una cancelacin polo-cero en el mod
elo dinmico es una indicacin de que el orden escogido puede }\par\pard\li613\ri0\s
l-240\slmult0 \fs20\cf0\f1\charscalex100 {ser muy elevado. Para juzgar si
una cancelacin es real, hay que tomar en consideracin las }\par\pard\li61
3\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {incertidumbres que existen en l
a localizacin de polos y ceros. En particular la funcin \uc1\u8216Xth2zp\uc1\u8217
X calcula las }\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {re

giones de confianza para los polos y ceros, lo cual puede ser graficado a travs d
e}\fs22\cf0\f0\charscalex100 {: }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\pa
r\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {>> zpplot (th2zp(th)
,1);
}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-25
3\slmult0 \fs18\cf0\f1\charscalex100 {donde 1 indica la cantidad de desvia
ciones standard de ancho que tendr el intervalo de confianza. }\par\pard
\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {Entonces, si las regiones
de confianza se superponen, habra que intentar utilizar rdenes menores para }\par\
pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {el modelo. }\par\pard
\li893\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {Este chequeo es de especia
l utilidad cuando los modelos han sido generados por el comando \uc1\u8216Xarx\u
c1\u8217X, }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {ya qu
e los rdenes pueden estar sobredimensionados debido a que 1/A(q) describe el comp
ortamiento }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {frent
e al ruido. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl253\slmult0 \fs20\cf0\f1\charscalex100\ul {Anlisis Residual}\ul0 \fs20\cf0\f1\cha
rscalex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li89
3\ri0\sl-306\slmult0 \fs20\cf0\f1\charscalex100 {Los residuos asociados con los
datos y el modelo dado (diferencia entre y e y}{\sub \fs12\cf0\f1\charscalex100
{M}}\fs22\cf0\f1\charscalex100 {), son independientes }\par\pard\li613\ri0\sl-20
0\slmult0 \fs20\cf0\f1\charscalex100 {de la entrada y tienen, idealmente, caract
ersticas de ruido blanco. En particular, la siguiente funcin: }\par\pard\li893\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs22\cf0\f1\charsca
lex100 {>> e = resid (z,th); }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\p
ard\li613\ri0\sl-253\slmult0 \fs18\cf0\f1\charscalex100 {calcula los residuos e
y lleva a cabo los anlisis de independencia y \uc1\u8220Xblancura\uc1\u8221X. Se
presenta entonces en }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex
100 {pantalla la funcin de autocorrelacin de }\fs22\cf0\f0\charscalex100\i {e
}\i0 \fs18\cf0\f1\charscalex100 { y la funcin de intercorrelacin entre }{ }\
fs22\cf0\f0\charscalex100\i {u}\i0 \fs22\cf0\f1\charscalex100 { y }{ }\fs22\cf0
\f0\charscalex100\i {e}\i0 \fs22\cf0\f1\charscalex100 { hasta el retardo }\par\p
ard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {nmero 25. Tambin son exhi
bidos los intervalos de confianza de estas funciones, asumiendo que }\fs20\cf0\f
0\charscalex100\i {e}\i0 \fs20\cf0\f1\charscalex100 { es }\par\pard\li613\ri0\sl
-240\slmult0 \fs20\cf0\f1\charscalex100 {blanco e independiente de }\fs22\cf0\f0
\charscalex100\i {u}\i0 \fs22\cf0\f1\charscalex100 {. }\par\pard\li893\ri0\sl-2
40\slmult0 \fs20\cf0\f1\charscalex100 {La regla dice que si la funcin de autocorr
elacin se escapa significativamente de este intervalo de }\par\pard\li613\ri0\sl240\slmult0 \fs18\cf0\f1\charscalex100 {confianza, entonces no se acepta el corr
espondiente modelo como una buena descripcin del sistema. }\par\pard\li613\ri0\sl
-240\slmult0 \fs20\cf0\f1\charscalex100 {Son necesarias algunas aclaraciones par
a dar por vlida esta afirmacin: }\par\pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li1253\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {1. Una estructura c
omo la de Error de Salida se enfoca en la dinmica de G y deja un poco de }\par\pa
rd\li1613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {lado las propiedades de
H. De modo que si estamos interesados en G habra que centrarse }\par\pard\li1613
\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {en buscar la independencia entre
}\fs22\cf0\f0\charscalex100\i {e}\i0 \fs22\cf0\f1\charscalex100 { y }\fs22\cf0\
f0\charscalex100\i {u}\i0 \fs22\cf0\f1\charscalex100 { en lugar de la blancura d
e }\fs22\cf0\f0\charscalex100\i {e}\i0 \fs22\cf0\f1\charscalex100 {. }\par\pard
\li1253\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {2. La intercorrelacin ent
re }\fs22\cf0\f0\charscalex100\i {e}\i0 \fs22\cf0\f1\charscalex100 { y }\fs22\cf
0\f0\charscalex100\i {u}\i0 \fs22\cf0\f1\charscalex100 { para retardos negativos
, o el hecho de que el ruido e(t) actual }\par\pard\li1613\ri0\sl-240\slmult0 \f
s20\cf0\f1\charscalex100 {afecte la futura entrada u(t), es una indicacin de que
existe realimentacin de la salida hacia }\par\pard\li1613\ri0\sl-253\slmult0 \fs2
2\cf0\f1\charscalex100 {la entrada. Pero esta no es una razn para descartar el mo
delo, ya que la correlacin para }\par\pard\li1613\ri0\sl-240\slmult0 \fs20\cf0\f1
\charscalex100 {valores de retardo negativos es de gran inters debido a que, a pe
sar de que existen ciertos }\par\pard\li1613\ri0\sl-240\slmult0 \fs20\cf0\f1\cha

rscalex100 {mtodos que no funcionan bien cuando se presentan realimentaci


ones en los datos de }\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-240\slmult0 \fs22\cf
0\f1\charscalex100 {
29/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsx
n16840\marglsxn666\margrsxn133\pard\sect\sectd\sbkpage
{\shp{\*\shpinst\shpleft1240\shptop906\shpright10626\shpbottom906\shpfhdr0\shpwr
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3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li1613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
1613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1613\ri0\sl-266\slmult0 \fs20\cf0\f
1\charscalex100 {entrada-salida, a partir de estos se logran realizar bu
enos grficos de correlacin cruzada }\par\pard\li1613\ri0\sl-240\slmult0 \fs20\
cf0\f1\charscalex100 {para propsitos de validacin. }\par\pard\li1253\ri0\sl-240\sl
mult0 \fs20\cf0\f1\charscalex100 {3. Cuando usamos modelos ARX, el procedi
miento de mnimos cuadrados hace }\par\pard\li1613\ri0\sl-240\slmult0 \fs20\cf

0\f1\charscalex100 {automticamente cero la correlacin entre e(t) y u(t-k) para k =


nk, nk + 1, ...,nk + nb \uc1\u8211X1. }\par\pard\li893\ri0\sl-213\slmult0 \fs18
\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs18\cf0\f1\charscalex100 {Como parte de
l proceso de validacin se suelen tambin graficar los residuos para poder hacer una
}\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {simple inspeccin
visual en bsqueda de posibles irregularidades y outliers. Esto se hace usando: }
\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \
fs22\cf0\f1\charscalex100 {>> plot (e); }\par\pard\li893\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li893\ri0\sl-226\slmult0 \fs16\cf0\f0\charscalex100\b {Nota:}\b0
\fs16\cf0\f1\charscalex100 { Outliers son observaciones infrecuentes o puntos
que no parecen seguir la distribucin caracterstica del }\par\pard\li613\ri
0\sl-226\slmult0 \fs18\cf0\f1\charscalex100 {resto de los datos. }\par\pard\li61
3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\ch
arscalex100\ul {Simulaciones libres de ruido}\ul0 \fs20\cf0\f1\charscalex100\ul
{ }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\s
lmult0 \fs16\cf0\f1\charscalex100 {Para saber si el modelo escogido es ca
paz de reproducir los datos que se observan, a partir de }\par\pard\li
613\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {excitar al modelo con una cie
rta entrada u(t), se puede correr una simulacin como la siguiente}\fs22\cf0\f0\ch
arscalex100 {: }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\
sl-240\slmult0 \fs22\cf0\f1\charscalex100 {>> yh = idsim (u,th); }\par\pard\li89
3\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {>> plot ([y yh]); }\par\pard\li
893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs20\cf0\f1\
charscalex100 {El mismo resultado se obtiene con: }\par\pard\li893\ri0\sl-213\sl
mult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {>>
compare ([y,u],th); }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li89
3\ri0\sl-253\slmult0 \fs18\cf0\f1\charscalex100 {Un test ms exigente y relevante,
sera llevar a cabo esta simulacin (e incluso su anlisis residual) a }\par\pard\li6
13\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {partir de un set de datos
frescos que no haya sido utilizado para estimar el modelo (concepto
de }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {validacin cru
zada). }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\
slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100\u
l {Evaluacin de la incertidumbre del modelo}\ul0 \fs20\cf0\f1\charscalex100\ul {
}\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slm
ult0 \fs20\cf0\f1\charscalex100 {El modelo estimado es siempre incierto de
bido a las perturbaciones existentes en los datos }\par\pard\li613\ri0\sl
-240\slmult0 \fs18\cf0\f1\charscalex100 {observados (incertidumbre externa), y a
la falta de una estructura absolutamente correcta (incertidumbre }\par\pard\li6
13\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {interna). La variabilidad d
el modelo que se produce debido a perturbaciones aleatorias en la sal
ida, }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {puede ser c
alculada por la mayora de los procedimientos de estimacin conocidos, e incluso pue
de ser }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {presentad
a en un gran nmero de formas. Dicha variacin responde la pregunta de cuan diferent
e puede }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {llegar a
ser un modelo si se repite el proceso de identificacin, usando la misma estructu
ra, pero con un }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {
set de datos diferente que contiene la misma secuencia de entrada. Sin embargo,
este anlisis no tiene }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex
100 {en cuenta los errores sistemticos que se producen debido a una inadecuada el
eccin de la estructura. }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscal
ex100 {Por lo tanto no hay garantas de que el \uc1\u8220Xsistema real\uc1\u8221X
se site dentro del intervalo de confianza. }\par\pard\li893\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li893\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex100 {Para halla
r la incertidumbre en la respuesta frecuencial se comienza por pasar el modelo d
el formato }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f0\charscalex100\i {the
ta}\i0 \fs20\cf0\f1\charscalex100 { al formato }\fs20\cf0\f0\charscalex100\i {fr
eqfunc}\i0 \fs20\cf0\f1\charscalex100 {, que es un formato que contiene informac
in acerca de valores de frecuencia, }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0

\f1\charscalex100 {amplitudes, como as tambin sus desviaciones estndar : }\par\pard


\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\
f1\charscalex100 {>> [g,fiv] = th2ff (th); }\par\pard\li613\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs18\cf0\f1\charscalex100 {luego se
pueden graficar los datos obtenidos usando el comando \uc1\u8216Xbodeplot\uc1\u
8217X, no sin antes especificar la }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0
\f1\charscalex100 {cantidad de desviaciones estndar que se desean graficar, por e
jemplo:
}\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-2
53\slmult0 \fs22\cf0\f1\charscalex100 {>> bodeplot (g,2); }\par\pard\li893\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs20\cf0\f1\charscale
x100 {Por otro lado, la incertidumbre en la respuesta temporal se puede visualiz
ar utilizando: }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\
sl-253\slmult0 \fs22\cf0\f1\charscalex100 {>> idsimsd (u,th); }\par\pard\li893\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs20\cf0\f1\chars
calex100 {En este caso se grafica en un mismo diagrama, la respuesta a la entrad
a }\fs22\cf0\f0\charscalex100\i {u}\i0 \fs20\cf0\f1\charscalex100 {, de diez pos
ibles modelos }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {ob
tenidos a partir de la distribucin del modelo }\fs22\cf0\f0\charscalex100\i {th}\
i0 \fs22\cf0\f1\charscalex100 {. }\par\pard\li893\ri0\sl-240\slmult0 \fs18\cf0\
f1\charscalex100 {La ambigedad de estas respuestas tiene que ver principa
lmente con las propiedades externas del }\par\pard\li613\ri0\sl-240\slmult0 \
fs20\cf0\f1\charscalex100 {modelo, ya que refleja los efectos de una inadecuada
excitacin y la presencia de perturbaciones. }\par\pard\li9133\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li9133\ri0\sl-346\slmult0 \fs22\cf0\f1\charscalex100 {
3
0/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn
133\pard\sect\sectd\sbkpage
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3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li8
93\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs18\cf0\f1\c
harscalex100 {En cambio, la incertidumbre interna se manifiesta por lo
general en la matriz de covarianza de los }\par\pard\li613\ri0\sl-240\slm
ult0 \fs20\cf0\f1\charscalex100 {parmetros estimados. Esto se puede revelar con,
}\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-240\slmult0
\fs22\cf0\f1\charscalex100 {>> present (th); }\par\pard\li893\ri0\sl-213\slmult0
\fs18\cf0\par\pard\li893\ri0\sl-240\slmult0 \fs18\cf0\f0\charscalex100\b {Nota:
}\b0 { }\fs18\cf0\f1\charscalex100 {Debido a la alta precisin numrica que
implementa Matlab, es altamente improbable que encontremos}\par\pard\li613\
ri0\sl-226\slmult0 \fs18\cf0\f1\charscalex100 {mensajes acerca de matrices sin
gulares o deficientes. En lugar de eso, los modelos de rdenes sobreestimad
os}\par\pard\li613\ri0\sl-213\slmult0 \fs16\cf0\f1\charscalex100 {normalmente mu
estran grandes varianzas de sus parmetros. Consecuentemente, este suele ser un bu
en indicador }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {de
que uno ha ido demasiado lejos en el incremento del orden del modelo. }\par\par
d\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs16\cf0
\f1\charscalex100 {Otra forma de interiorizarse acerca de la incertidumbr
e interna que presenta el modelo, puede ser }\par\pard\li613\ri0\sl-240\s
lmult0 \fs20\cf0\f1\charscalex100 {observando las desviaciones estndar existentes
en las localizaciones de polos y ceros. Para hacer esto }\par\pard\li613\ri0\sl
-240\slmult0 \fs20\cf0\f1\charscalex100 {se suele comenzar por pasar el modelo a
l formato }\fs22\cf0\f0\charscalex100\i {zepo}\i0 \fs22\cf0\f1\charscalex100 { (
cero polo) : }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl
-240\slmult0 \fs22\cf0\f1\charscalex100 {>> ceropolo = th2zp (th); }\par\pard\li
613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-266\slmult0 \fs18\cf0\f1\
charscalex100 {luego es posible graficar el mapa polo-cero usando el comando zpp
lot de la misma forma que se usa el }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf
0\f1\charscalex100 {comando bodeplot. Grandes incertidumbres en las repres
entaciones son causadas por modelos de }\par\pard\li613\ri0\sl-240\slmult0
\fs18\cf0\f1\charscalex100 {rdenes excesivamente altos, excitacin inadecuada, o ma
las relaciones seal a ruido en las ristras de }\par\pard\li613\ri0\sl-240\slmult0
\fs22\cf0\f1\charscalex100 {datos. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li613\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100\ul {Comparacin d
e Diferentes Modelos }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li893\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {Suele ser por lo general u
na muy buena idea presentar las propiedades del modelo en trminos de }\par\pard\l
i613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {variables que tengan un mayo
r significado fsico que los parmetros en si mismos. }\par\pard\li893\ri0\sl-240\sl
mult0 \fs20\cf0\f1\charscalex100 {Por otro lado, diagramas de Bode, mapas polo-c
ero y simulaciones del modelo, nos dan una idea de }\par\pard\li613\ri0\sl-240\s
lmult0 \fs20\cf0\f1\charscalex100 {las propiedades del sistema que deben ser cap
turadas por nuestro modelo. }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {Si ahora varios modelo
s de diferentes caractersticas proporcionan diagramas de Bode similares en el }\p
ar\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {mismo rango de f

recuencias de inters, entonces podemos asegurar en justa medida que est


o estar }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {reflejan
do particularidades autnticas del sistema real. As entonces podemos elegi
r el modelo ms }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100
{simple de entre todos estos. }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\c
harscalex100 {Una tpica sesin de identificacin incluye la estimacin en dife
rentes estructuras, y comparaciones }\par\pard\li613\ri0\sl-240\slmult0 \fs20\c
f0\f1\charscalex100 {de las propiedades de los modelos. }\par\pard\li9133\ri0\sl
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harscalex100 {Identificacin de Sistemas Dinmicos
}\par\pard\li613\r
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\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-386\slmult0 \fs28\cf0\
f0\charscalex100\b {6. ACONDICIONAMIENTO DE LOS DATOS }\b0 \par\column\pard\li0\
ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\charsc
alex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs22\cf
1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\
marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\r

i0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {Una vez que los datos han sido rec
olectados del proceso fsico, es probable que los mismos no estn }\par\pard\li613\r
i0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {en condiciones de ser usados
por algoritmos de identificacin. Esto se debe a que hay varias }\par\pa
rd\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {deficiencias posibles en
los datos que deberan ser tenidas en cuenta, tales como: }\par\pard\li1253\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li1253\ri0\sl-266\slmult0 \fs22\cf0\f1\charscal
ex100 {1. Perturbaciones de alta frecuencia en la adquisicin de los dat
os, por encima de las }\par\pard\li1613\ri0\sl-240\slmult0 \fs20\cf0\f1\char
scalex100 {frecuencias de inters del sistema dinmico. }\par\pard\li1253\ri0\sl-240
\slmult0 \fs22\cf0\f1\charscalex100 {2. Bursts y/o outliers ocasionales. }\par\
pard\li1253\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {3. Drift, offset y p
erturbaciones de baja frecuencia, posiblemente de carcter peridico. }\par\pard\li8
93\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs22\cf0\f1\c
harscalex100\ul {Aclaraciones}\ul0 \fs22\cf0\f1\charscalex100\ul {: }\ul0 \par\
pard\li1253\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1253\ri0\sl-293\slmult0 \*\t
x1613\fs22\cf0\f2\charscalex100 {\uc1\u61623X }\tab \fs22\cf0\f0\charscalex100\i
{Burst}\i0 \fs20\cf0\f1\charscalex100 {: es una secuencia o rfaga de datos de va
lor unitario. }\par\pard\li1253\ri0\sl-266\slmult0 \*\tx1613\fs20\cf0\f2\charsca
lex100 {\uc1\u61623X }\tab \fs20\cf0\f0\charscalex100\i {Outliers}\i0 \fs18\cf0\
f1\charscalex100 {: son observaciones infrecuentes o puntos que no parec
en seguir la distribucin }\par\pard\li1613\ri0\sl-200\slmult0 \fs20\cf0\f1\cha
rscalex100 {caracterstica del resto de los datos. }\par\pard\li1253\ri0\sl-266\sl
mult0 \*\tx1613\fs20\cf0\f2\charscalex100 {\uc1\u61623X }\tab \fs20\cf0\f0\chars
calex100\i {Drift}\i0 \fs18\cf0\f1\charscalex100 {: variacin lenta de una caracte
rstica del sistema como la amplitud, frecuencia o potencia }\par\pard\li1613\ri0\
sl-226\slmult0 \fs20\cf0\f1\charscalex100 {de salida. Esto se puede deber, por e
jemplo, a cambios de temperatura o envejecimiento. }\par\pard\li893\ri0\sl-213
\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100
{Es necesario acentuar el hecho de que en aplicaciones off-line, siempre es acon
sejable graficar los }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex
100 {datos, en orden de realizar una inspeccin minuciosa de las deficiencias menc
ionadas. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213
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b \ul {6.1 Perturbaciones de alta frecuencia}\b0 \ul0 \fs22\cf0\f0\charscalex100
\b \ul { }\b0 \ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\r
i0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {Este tipo de perturbaciones indica
n que la eleccin del intervalo de muestreo y de los filtros de pre-}\par\pard\li6
13\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {muestreo, no fueron correct
amente escogidos. Si luego de hacer el experimento, resulta ser que e
l }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {periodo de mue
streo fue tomado innecesariamente pequeo, uno siempre podr re-muestrear los datos
}\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {tomando de a cad
a n muestras del registro original (proceso de diezmado). Sin embargo, sigue sie
ndo }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {necesario ap
licar un filtro anti-aliasing antes de realizar el re-muestreo de los datos.
}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\sl
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6.2 Burts y Outliers}\b0 \fs22\cf0\f0\charscalex100\b { }\b0 \par\pard\li893\ri0
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harscalex100 {estimacin resultante. Es por eso que resulta necesario prot
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0 \fs16\cf0\f1\charscalex100 {complementar esto con un robusto criterio de
identificacin. Cabe resaltar que los datos errneos son }\par\pard\li613\r
i0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {muy fciles de detectar en un
grfico residual, e igualmente sencillo cambiarlos manualmente por un }\pa
r\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {valor proveniente de
una interpolacin. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\r

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calex100\b {6.3 Perturbaciones Lentas: Comentarios Generales}\b0 \fs22\cf0\f0\ch
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\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {Perturbaciones de baja frecuenci
a, offsets, trends (valores medios), drift, y variaciones peridicas no }\par\pard
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s de datos. Estos fenmenos provienen tpicamente de fuentes externas que
}\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {podramos o no inc
luir en nuestro modelo. Y en este sentido podramos decir que existen bsicamente }\
par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {dos aproximaciones
diferentes para lidiar con estos problemas: }\par\pard\li1253\ri0\sl-213\slmult
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r\pard\li1253\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {2. Dejar que el mo
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t0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {La p
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sustraccin directa, }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex1
00 {mientras que la segunda confa en los modelos de ruido con polos s
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cf0\f1\charscalex100 {como la estructura ARIMA. }\par\pard\li893\ri0\sl-240\slmu
lt0 \fs20\cf0\f1\charscalex100 {En principio es posible ilustrar ambas apr
oximaciones aplicadas al problema del offset, y el modelo }\par\pard\li613\ri0
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harscalex100 {Identificacin de Sistemas Dinmicos
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arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li6
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\*\tx4586\fs20\cf0\f1\charscalex100 {relacin esttica entre una constante u(t) = }\
tab \fs20\cf0\f1\charscalex100 { y el valor de estado estacionario y(t) = }{ }\f
s20\cf0\f1\charscalex100\ul {y}\ul0 { }\fs22\cf0\f1\charscalex100 {. }\par\pard
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ard\li2066\ri0\sl-333\slmult0 \fs20\cf0\f1\charscalex100 {A(1).y}{ }\fs20\cf0\f2
\charscalex100 {=}{ }\fs20\cf0\f1\charscalex100 {B(1).u}\par\column\pard\li0\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-333\slmult0 \fs22\cf0\f1\charscale
x100 {(6.2)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\mar
grsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-306\slmul
t0 \fs20\cf0\f1\charscalex100 {En la prctica, las medidas de entrada y sa
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u8801X}{ }\fs20\cf0\f1\charscalex100 {u}{ }\fs20\cf0\f1\charscalex100 { cercano
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ls2\colno1\colw9413\colsr-0\colno2\colw1680\pard\li3480\ri0\sl-186\slmult0 \fs20
\cf0\f1\charscalex100 {y(t)}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20\cf0\f1\cha
rscalex100 {y (t)}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs20\cf0\f1\cha

rscalex100\ul {y}\ul0 \par\pard\li4093\ri0\sl-133\slmult0 \fs12\cf0\f1\charscale


x100 {m}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {(6.3
a)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\
cols2\colno1\colw9413\colsr-0\colno2\colw1680\pard\li3466\ri0\sl-266\slmult0 \fs
20\cf0\f1\charscalex100 {u(t)}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20\cf0\f1\c
harscalex100\ul {u (t) u}\ul0 \fs20\cf0\f2\charscalex100 {\uc1\u8722X}\par\colum
n\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\charscalex100 {(6.3b)}\par\pard\sect\
sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li2173\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li2173\ri0\sl-293\slmult0 \fs20\cf0\f1\charscale
x100 {como las desviaciones de este equilibrio. Estas variables corridas
van a satisfacer }\par\pard\li2173\ri0\sl-240\slmult0 \fs18\cf0\f1\charscale
x100 {automticamente la ecuacin (6.2), haciendo ambos miembros iguales a cero. De
esta }\par\pard\li2173\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {forma (6.
2) no influenciar el ajuste que ser realizado en (6.1). Este tipo de }
\par\pard\li2173\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {aproximacin enfa
tiza la interpretacin fsica de la ecuacin (6.1) como una }\par\pard\li2173
\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {linealizacin alrededor del punto
de equilibrio. }\par\pard\li1546\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1546\ri
0\sl-266\slmult0 \*\tx8600\fs20\cf0\f1\charscalex100 {
2.
Extraer los v
alores principales o valores medios de las muestras:}\tab \fs22\cf0\f1\ch
arscalex100 { Una segunda }\par\pard\li2173\ri0\sl-240\slmult0 \fs20\cf0\f1\ch
arscalex100 {aproximacin es definir:}\par\pard\sect\sectd\sbknone\pgwsxn11893\pgh
sxn16840\marglsxn666\margrsxn133\cols7\colno1\colw3640\colsr-0\colno2\colw173\co
lsr-0\colno3\colw426\colsr-0\colno4\colw1733\colsr-0\colno5\colw160\colsr-0\coln
o6\colw3373\colsr-0\colno7\colw1586\pard\li3480\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li3480\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li3480\ri0\sl-186\slmult0 \fs
20\cf0\f1\charscalex100 {y}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li0\ri0\sl-373\slmult0 \fs20\cf0\f2\charscalex100 {=}\par\column\pard\li26
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li26\ri0\sl-266\slmult0 \fs20\cf0\f1\char
scalex100 {1}{\super \fs12\up3\cf0\f1\charscalex100 {N}}\par\pard\li173\ri0\sl-3
06\slmult0 \fs30\cf0\f0\charscalex100 {\uc1\u402X}\par\pard\li0\ri0\sl-200\slmul
t0 \fs20\cf0\f1\charscalex100 {N}{\sub \fs12\cf0\f1\charscalex100 {t 1}}\par\col
umn\pard\li106\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li106\ri0\sl-293\slmult0 \f
s12\cf0\f1\charscalex100 {m}\par\pard\li0\ri0\sl-186\slmult0 \fs20\cf0\f1\charsc
alex100 {y (t)
;
u}\par\column\pard\li0\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li0\ri0\sl-426\slmult0 \fs20\cf0\f2\charscalex100 {=}\par\column\
pard\li26\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li26\ri0\sl-266\slmult0 \fs20\cf
0\f1\charscalex100 {1}{\super \fs12\up3\cf0\f1\charscalex100 {N}}\par\pard\li160
\ri0\sl-306\slmult0 \fs30\cf0\f0\charscalex100 {\uc1\u402X}{\super \fs12\up4\cf0
\f1\charscalex100 {m}}\par\pard\li386\ri0\sl-186\slmult0 \fs20\cf0\f1\charscalex
100 {u (t)}\par\pard\li0\ri0\sl-200\slmult0 \fs20\cf0\f1\charscalex100 {N}{\sub
\fs12\cf0\f1\charscalex100 {t 1}}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-186\slmult0 \fs
22\cf0\f1\charscalex100 {(6.4)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li2173\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
2173\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex100 {y luego utilizar las ecu
aciones (6.3). De modo que si una entrada u}{\super \fs12\up3\cf0\f1\cha
rscalex100 {m}}\fs22\cf0\f1\charscalex100 {(t), que vara}\par\pard\li2173\ri0\s
l-240\slmult0 \fs22\cf0\f1\charscalex100 {alrededor de }{ }\fs20\cf0\f1\charscal
ex100 {u}{ }\fs22\cf0\f1\charscalex100 {, conduce a un valor de salida que oscil
a alrededor de }{ }\fs20\cf0\f1\charscalex100 {y}{ }\fs22\cf0\f1\charscalex100 {
, entonces es }\par\pard\li2173\ri0\sl-306\slmult0 \fs20\cf0\f1\charscalex100 {p
robable que el par }\fs20\cf0\f1\charscalex100 {(u, y)}{ }\fs20\cf0\f1\charscale
x100 { est cerca de corresponder al punto de equilibrio del sistema.
}\par\p
ard\li1546\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1546\ri0\sl-306\slmult0 \*\tx
2200\fs22\cf0\f1\charscalex100 {
3.}\tab \fs22\cf0\f1\charscalex100 {Estimar
el offset en forma explcita: Uno podra tambin modelar el sistema usando }\par\pa
rd\li2173\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {variables en las uni
dades fsicas originales, y luego agregar un valor constante que }\par\pa
rd\li2173\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {haga las veces de offse

t:}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\
cols3\colno1\colw5080\colsr-0\colno2\colw360\colsr-0\colno3\colw5653\pard\li4026
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li4026\ri0\sl-173\slmult0 \fs12\cf0\f1\ch
arscalex100 {m}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri
0\sl-173\slmult0 \fs12\cf0\f1\charscalex100 {m}\par\column\pard\li0\ri0\sl-213\s
lmult0 \fs18\cf0\par\pard\li0\ri0\sl-306\slmult0 \*\tx480\fs20\cf0\f2\charscalex
100 {+ +}\fs22\cf0\f2\charscalex100 {\uc1\u945X}\tab \fs20\cf0\f1\charscalex100
{v(t)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn1
33\cols2\colno1\colw9506\colsr-0\colno2\colw1586\pard\li3480\ri0\sl-186\slmult0
\fs20\cf0\f1\charscalex100 {A(q).y (t)}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs20
\cf0\f1\charscalex100 {B(q).u (t)}\par\column\pard\li0\ri0\sl-186\slmult0 \fs22\
cf0\f1\charscalex100 {(6.5)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840
\marglsxn666\margrsxn133\pard\li2173\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li217
3\ri0\sl-346\slmult0 \fs20\cf0\f1\charscalex100 {Si comparamos la ecuacin (6.1) c
on (6.3), vemos que }\fs22\cf0\f2\charscalex100 {\uc1\u945X}\fs22\cf0\f1\charsca
lex100 { corresponde a }{ }\fs20\cf0\f1\charscalex100 {A(1).y B(1).u}{ }\fs22\cf
0\f1\charscalex100 {. }\par\pard\li2173\ri0\sl-293\slmult0 \fs20\cf0\f1\charscal
ex100 {De esta forma, el valor de }\fs22\cf0\f2\charscalex100 {\uc1\u945X}\fs20\
cf0\f1\charscalex100 { es incluido en el vector de parmetros }\fs22\cf0\f2\charsc
alex100 {\uc1\u952X}\fs20\cf0\f1\charscalex100 { y estimado a partir }\par\pard\
li2173\ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {del set de datos. Es
evidente que esta aproximacin, es de hecho una variante de la }\par\pard\li2173
\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {segunda aproximacin expuesta. }\p
ar\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-266\slmult0 \fs
22\cf0\f0\charscalex100\b {6.4 Evaluacin de las Aproximaciones}\b0 \fs22\cf0\f0\c
harscalex100\b { }\b0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li89
3\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {En una aplicacin off-line co
n offsets, la aproximacin ms recomendable es la primera, y si un }\par\
pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {experimento de estad
o estacionario resulta de difcil aplicacin, entonces se suele utilizar l
a segunda }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {aprox
imacin. En cambio, la estimacin explcita del offset es una forma innecesariamente
complicada }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {de ex
traer el valor medio de una muestra. }\par\pard\li893\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\f0\charscalex100\b {Nota: }\b0 \p
ar\pard\li1320\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {Es de especial
importancia remover los offsets cuando los mtodos utilizados emplean un
}\par\pard\li1320\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {modelo de ruido
fijo, tal como los modelos de error de salida.}\par\pard\li9133\ri0\sl-213\slmu
lt0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-200\slmult0 \fs22\cf0\f1\charscal
ex100 {
33/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\margls
xn666\margrsxn133\pard\sect\sectd\sbkpage
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3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-320\slmult0 \fs22\cf0\
f0\charscalex100\b {6.5 Drift, Trends y Variaciones de Baja Frecuencia }\b0 \par
\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \f
s20\cf1\f1\charscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240
\slmult0 \fs22\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn1
1893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0
\par\pard\li893\ri0\sl-253\slmult0 \fs18\cf0\f1\charscalex100 {Los mtodos para
tratar con otras perturbaciones lentas en los datos son bastante anlog
os a las }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {aprox
imaciones discutidas con anterioridad. Esto se debe a que los }\fs22\cf
0\f0\charscalex100\i {Drifts}\i0 \fs22\cf0\f1\charscalex100 { y }{ }\fs22\cf0\f
0\charscalex100\i {Trends}\i0 \fs20\cf0\f1\charscalex100 { pueden ser vistos
}\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {como variaciones
en el tiempo del punto de equilibrio. De esta forma, es posible ajustar lneas re
ctas o }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {segmentos
curvos, de la misma forma en que se consideran niveles constantes d
e offset y sus }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100
{variaciones respecto a la media.}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\
par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0 \f
s22\cf0\f0\charscalex100\b {6.6 Aplicacin en Matlab}\b0 \fs22\cf0\f0\charscalex10
0\b { }\b0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-25
3\slmult0 \fs20\cf0\f1\charscalex100 {La extraccin de informacin de los dato
s no suele ser por lo general una tarea directa. Y las }\par\pard\li6
13\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {decisiones requeridas para
la seleccin y validacin del modelo, necesitan estar acompaadas por un }\p
ar\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {cuidadoso tratamie
nto de los datos. Es por eso, que a continuacin intentaremos introduci
r algunos }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {conce
ptos bsicos acerca de cmo lidiar con ciertas situaciones comunes presentes en la m
ayora de los }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {caso
s.}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult
0 \fs22\cf0\f1\charscalex100\ul {Niveles de Offset}\ul0 \fs22\cf0\f1\charscalex1
00\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl
-266\slmult0 \fs20\cf0\f1\charscalex100 {Como comentamos previamente, los datos
que han sido recolectados de una planta fsica real, estn }\par\pard\li613\ri0\sl-2
40\slmult0 \fs20\cf0\f1\charscalex100 {tpicamente medidos en unidades fsicas. Y po
r lo general los valores de entrada-salida en bruto no se }\par\pard\li613\ri0\s
l-240\slmult0 \fs18\cf0\f1\charscalex100 {suelen corresponder en forma consi
stente, lo cual forzar a los modelos a gastar inevitablemente }\par\pard
\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {algunos parmetros para corr
egir dichos niveles.
}\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0\f1\charsca
lex100 {En particular es bastante sencillo tratar con niveles de offset
no deseados, ya que siempre }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\
f1\charscalex100 {intentaremos extraer el valor medio de la secuencia de
entrada y de salida antes de realizar la }\par\pard\li613\ri0\sl-240\sl
mult0 \fs18\cf0\f1\charscalex100 {estimacin. El caso ideal sera si dichos valores
medios corresponden a un equilibrio fsico, pero si tales }\par\pard\li613\ri0\sl240\slmult0 \fs18\cf0\f1\charscalex100 {valores son desconocidos, entonces es ac
onsejable utilizar un comando para extraer el valor medio de }\par\pard\li613\ri
0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {cada muestra:}\par\pard\li1173\ri0\
sl-213\slmult0 \fs18\cf0\par\pard\li1173\ri0\sl-253\slmult0 \fs22\cf0\f1\charsca

lex100 {>> z = dtrend(z);


}\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li893\ri0\sl-253\slmult0 \fs20\cf0\f0\charscalex100\b {Nota:}\b0 \fs16\cf0
\f1\charscalex100 { con este comando tambin es posible remover valores m
edios o medias lineales, ya sea en }\par\pard\li893\ri0\sl-240\slmult0 \fs
20\cf0\f1\charscalex100 {forma total o parcial (por tramos). }\par\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-253\slmult0 \fs22\cf0\f1\chars
calex100\ul {Outliers}\ul0 \fs22\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\cha
rscalex100 {Incluso los datos reales estn sujetos a posibles perturbaciones. Esto
es, largas perturbaciones poco }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1
\charscalex100 {habituales, fallas temporales del sensor o transmisor, et
c. Es importante no permitir que estos }{ }\fs22\cf0\f0\charscalex100\i {o
utliers}\i0 \par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {afect
en en forma considerable a los modelos estimados. }\par\pard\li893\ri0\sl-240\s
lmult0 \fs20\cf0\f1\charscalex100 {En general, la robustificacin del criteri
o de error suele ser de gran ayuda para estos casos. Sin }\par\pard\l
i613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {embargo, siempre es buena prc
tica examinar los residuos para localizar muestras poco usuales de gran }\par\pa
rd\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {valor, para luego volver
a los datos originales y poder evaluarlos en una forma ms crtica. Obviamente }\pa
r\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {que si los datos pos
ean algn tipo de anomala, estos pueden ser suavizados y posteriormente repetido }\p
ar\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {el procedimiento de
estimacin. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-2
66\slmult0 \fs20\cf0\f1\charscalex100\ul {Filtrado de los Datos
}\ul0 \par\p
ard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs18\c
f0\f1\charscalex100 {Dependiendo del tipo de aplicacin, es probable que e
l inters sobre el modelo est focalizado en }\par\pard\li613\ri0\sl-240\slmu
lt0 \fs18\cf0\f1\charscalex100 {algunas bandas de frecuencia especficas. El filtr
ado previo de los datos, a travs de filtros que resalten }\par\pard\li613\ri0\sl240\slmult0 \fs18\cf0\f1\charscalex100 {la informacin sobre dichas bandas, mejora
el ajuste en las regiones de inters. En particular, el Toolbox }\par\pard\li613\
ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {de Procesamiento de Seales de Matl
ab contiene varias funciones para el diseo y aplicacin de filtros }\par\pard\li613
\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {digitales. Por ejemplo la funcin
'idfilt' (del Toolbox de Identificacin) utiliza la funcin butter del Toolbox }\pa
r\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {de Procesamiento de
Seales, e implementa un filtro de Butterworth. }\par\pard\li1173\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li1173\ri0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {Ej:
}\par\pard\li2026\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {>> zf = idfilt(
z,5, [10 100]); }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri
0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {Aqu hemos usado un filtro Butte
rworth de quinto orden tipo pasabanda, con frecuencia de corte }\par\pa
rd\li613\ri0\sl-320\slmult0 \fs22\cf0\f1\charscalex100 {inferior en 10 x }\fs24\
cf0\f2\charscalex100 {\uc1\u960X}\fs20\cf0\f1\charscalex100 { Hz. y frecuencia
de corte superior en 100 x }\fs24\cf0\f2\charscalex100 {\uc1\u960X}\fs22\cf0\f1\
charscalex100 { Hz. }\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-373\slmult0 \fs22\cf0\f
1\charscalex100 {
34/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
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3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li8
93\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\c
harscalex100 {Otro comando bastante til que posee el Toolbox de Procesamiento de
Seales, es uno que realiza }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\chars
calex100 {decimacin en un factor variable para poder disminuir la frecue
ncia de muestreo, y observar los datos }\par\pard\li613\ri0\sl-240\slmult0
\fs20\cf0\f1\charscalex100 {temporalmente ms espaciados. }\par\pard\li1320\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li1320\ri0\sl-266\slmult0 \fs22\cf0\f1\charscal
ex100 {Ej: }\par\pard\li2026\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2026\ri0\sl
-240\slmult0 \fs22\cf0\f1\charscalex100 {>> y4 = decimate (y,4); }\par\pard\li20
26\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {>> u4 = decimate (u,4);}\par\p
ard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs20\c
f0\f1\charscalex100 {Aqu se ha reducido la frecuencia de muestreo en un factor 4
. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li613\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100\ul {Re
alimentacin en los Datos}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li8
93\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs18\cf0\f1\c
harscalex100 {Si al momento de recolectar los datos el sistema estaba operando a
lazo cerrado, entonces habr que }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1
\charscalex100 {tomar ciertos recaudos a la hora de procesar la informacin. }\par
\pard\li893\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {Bsicamente todos los mt
odos de prediccin de error trabajan en forma correcta con datos de lazo }\par\par

d\li613\ri0\sl-253\slmult0 \fs16\cf0\f1\charscalex100 {cerrado. Cabe destacar,


sin embargo, que el modelo de Error de Salida y el modelo Box-Jenk
ins que }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {normalm
ente entregan una correcta descripcin de la dinmica de G, incluso cuando H (que e
s igual a 1 }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {en
el modelo de error de salida) no permita una correcta descripcin de l
as propiedades de ruido que }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1
\charscalex100 {presenta el sistema, no conserva estas cualidades cuando el sist
ema est funcionando a lazo cerrado. }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0
\f1\charscalex100 {En estos casos es necesario modelar H en una forma ms cuidados
a. }\par\pard\li893\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {Tambin el mtodo
de anlisis espectral entrega resultados poco confiables cuando es aplicado en un
}\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {conjunto de dat
os que proviene de un lazo cerrado. }\par\pard\li893\ri0\sl-240\slmult0 \fs18\cf
0\f1\charscalex100 {En estos casos lo ms aconsejable para detectar la presencia d
e realimentacin, es utilizar el mtodo }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf
0\f1\charscalex100 {de Anlisis por Correlacin y estimar la respuesta impul
siva del sistema. La existencia de valores }\par\pard\li613\ri0\sl-240\slm
ult0 \fs18\cf0\f1\charscalex100 {significativos en la respuesta impulsional para
retardos negativos es un claro indicio de la presencia de }\par\pard\li613\ri0\
sl-240\slmult0 \fs20\cf0\f1\charscalex100 {realimentacin en el sistema. }\par\pa
rd\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Otra alternativa es, una
vez que se ha estimado un modelo paramtrico, utilizar el comando }\fs22\cf0\f0\c
harscalex100\i {resid}\i0 \fs22\cf0\f1\charscalex100 { para }\par\pard\li613\ri0
\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {visualizar un grfico de la correlacin
entre los residuos y la entrada. Si hallamos que la correlacin es }\par\pard\li61
3\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {significativa para valores d
e retardo negativos, entonces es probable que exista algn proceso de }\
par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {realimentacin en la
generacin de la entrada.
}\par\pard\li893\ri0\sl-240\slmult0 \fs18\cf0\f1\c
harscalex100 {Dicho esto, queda de manifiesto que la evaluacin en bsqueda de reali
mentaciones es parte natural }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\ch
arscalex100 {del proceso de validacin del modelo. }\par\pard\li613\ri0\sl-213\slm
ult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl
-293\slmult0 \fs22\cf0\f1\charscalex100\ul {Retardos }\ul0 \fs22\cf0\f1\charsc
alex100\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\r
i0\sl-293\slmult0 \fs20\cf0\f1\charscalex100 {La seleccin del retardo n}{\sub
\fs12\cf0\f1\charscalex100 {k}}\fs18\cf0\f1\charscalex100 { en la estructura
modelo, es considerada un paso muy importante en la }\par\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {obtencin de buenos resultados de id
entificacin. Sin ir ms lejos, uno puede obtener una certera idea }\par\pard\li613\
ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {acerca de los retardos que presen
ta el sistema, a travs del estudio de la respuesta impulsiva obtenida }\par\pard\
li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {con el comando }\fs22\cf0\f
0\charscalex100\i {cra}\i0 \fs22\cf0\f1\charscalex100 {. }\par\pard\li893\ri0\sl
-240\slmult0 \fs18\cf0\f1\charscalex100 {Es notable como la estimacin incorr
ecta de los retardos en los modelos paramtricos, suele }\par\pard\li613\r
i0\sl-266\slmult0 \fs18\cf0\f1\charscalex100 {traducirse en visibles cambios del
modelo obtenido. En particular, retardos subestimados (n}{\sub \fs10\cf0\f1\cha
rscalex100 {k}}\fs20\cf0\f1\charscalex100 { muy chicos) }\par\pard\li613\ri0\sl240\slmult0 \fs18\cf0\f1\charscalex100 {conducen a pequeos valores en las e
stimaciones de los parmetros b}{\sub \fs10\cf0\f1\charscalex100 {k}}\fs18\cf0
\f1\charscalex100 {. Por otro lado, retardos }\par\pard\li613\ri0\sl-240\slm
ult0 \fs18\cf0\f1\charscalex100 {sobrestimados (n}{\sub \fs10\cf0\f1\charscalex1
00 {k}}\fs18\cf0\f1\charscalex100 { muy grandes) producen una significativa corr
elacin entre los residuos y la entrada, en }\par\pard\li613\ri0\sl-240\slmult0 \f
s20\cf0\f1\charscalex100 {especial sobre los retardos o lags correspondientes a
los trminos b}{\sub \fs12\cf0\f1\charscalex100 {k}}\fs22\cf0\f1\charscalex100 { f
altantes. }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\f1\charscalex100 {Un bu
en procedimiento consiste en empezar utilizando la sentencia }\fs22\cf0\f

0\charscalex100\i {arxstruc}\i0 \fs18\cf0\f1\charscalex100 { para evaluar tod


os los }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {posibles
retardos en conjunto, en especial con un modelo de segundo orden. Luego, habra q
ue utilizar el }\par\pard\li613\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {r
etardo que entregue el mejor ajuste. Una vez encontrado un modelo apropiado, es
aconsejable variar n}{\sub \fs12\cf0\f1\charscalex100 {k}}\par\pard\li613\ri0\sl
-213\slmult0 \fs20\cf0\f1\charscalex100 {alrededor de su valor nominal y realiza
r los ajustes finales.
}\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\pa
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harscalex100 {Identificacin de Sistemas Dinmicos
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2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
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rscalex100 {Si bien existe una gran variedad de excitaciones posibles para ident
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Esto es, a fin de tener una idea estimada de los modos rpidos (no dominantes) }\p
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a
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}\par\pard\li1173\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Por lo tanto,
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rscalex100 { (constante }\par\pard\li1040\ri0\sl-213\slmult0 \fs20\cf0\f1\charsc
alex100 {de tiempo ms rpida del sistema). Tal es as, que se toma: }\par\pard\li2026
\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2026\ri0\sl-320\slmult0 \fs22\cf0\f1\ch
arscalex100 {T}{\sub \fs12\cf0\f1\charscalex100 {c}}\fs22\cf0\f1\charscalex100 {
= }\fs22\cf0\f2\charscalex100 {\uc1\u964X}{\sub \fs14\cf0\f1\charscalex100 {m}}\
fs22\cf0\f1\charscalex100 { /2 }\par\pard\li1040\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li1040\ri0\sl-266\slmult0 \fs20\cf0\f0\charscalex100\b {2)}\b0 \fs16\cf0
\f1\charscalex100 {
Una vez elegido T}{\sub \fs10\cf0\f1\charscalex100 {c}
}\fs20\cf0\f1\charscalex100 {, la seleccin del nmero de elementos de la PRBS (n}{\
sub \fs10\cf0\f1\charscalex100 {s}}\fs20\cf0\f1\charscalex100 {), est directament
e }\par\pard\li1040\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {relacionado
con el tiempo total de cada ensayo (T}{\sub \fs12\cf0\f1\charscalex100 {t
}}\fs22\cf0\f1\charscalex100 {= n}{\sub \fs12\cf0\f1\charscalex100 {s}}\fs22\c
f0\f1\charscalex100 {.T}{\sub \fs12\cf0\f1\charscalex100 {c}}\fs22\cf0\f1\charsc
alex100 {), y este a su vez est altamente }\par\pard\li1040\ri0\sl-293\slm
ult0 \fs16\cf0\f1\charscalex100 {condicionado por la constante de tiempo ms
larga del sistema (}\fs20\cf0\f2\charscalex100 {\uc1\u964X}{\sub \fs12\cf0\
f1\charscalex100 {M}}\fs16\cf0\f1\charscalex100 {). Con el fin de tener un
valor }\par\pard\li1040\ri0\sl-186\slmult0 \fs18\cf0\f1\charscalex100 {ms real
ista de la dinmica dominante del proceso, suele ser aconsejable efectua
r un ensayo }\par\pard\li1040\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {p
reliminar que consista en aplicar un escaln a la entrada del sistema,
para as tener un valor }\par\pard\li1040\ri0\sl-306\slmult0 \fs22\cf0\f1\cha
rscalex100 {estimativo de }\fs22\cf0\f2\charscalex100 {\uc1\u964X}{\sub \fs14\cf
0\f1\charscalex100 {M}}\fs22\cf0\f1\charscalex100 { y poder definir T}{\sub \fs1
2\cf0\f1\charscalex100 {t}}\fs20\cf0\f1\charscalex100 { de modo de poder excitar
la planta en forma adecuada. Un criterio }\par\pard\li1040\ri0\sl-293\slmult0 \
fs20\cf0\f1\charscalex100 {vlido podra ser tomar T}{\sub \fs12\cf0\f1\charscalex10
0 {t }}\fs22\cf0\f2\charscalex100 {\uc1\u8776X}\fs22\cf0\f1\charscalex100 { 3.}\
fs22\cf0\f2\charscalex100 {\uc1\u964X}{\sub \fs14\cf0\f1\charscalex100 {M}}\fs22
\cf0\f1\charscalex100 {. }\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult
0 \fs22\cf0\f1\charscalex100 {
36/39 }\par\pard\sect\sectd\sbknone\pgwsxn1

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3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li8
93\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-346\slmult0 \*\tx1
186\fs22\cf0\f0\charscalex100\b {3)}\b0 \tab \fs20\cf0\f1\charscalex100 {Para se
leccionar la probabilidad de cambio de la PBRS (}\fs24\cf0\f0\charscalex100 {p}\
fs20\cf0\f1\charscalex100 {) debe observase que para valores de }\fs24\cf0\f0\ch
arscalex100 {p}\par\pard\li1040\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {t
endiendo a cero, los cambios se hacen ms infrecuentes, por consiguiente
los pulsos (ristras de }\par\pard\li1040\ri0\sl-240\slmult0 \fs18\cf0\f1\ch
arscalex100 {unos o ceros consecutivos) ms largos y menos alternantes, parecindose
la seal cada vez ms a }\par\pard\li1040\ri0\sl-240\slmult0 \fs20\cf0\f1\charscale

x100 {un escaln. En estas circunstancias se observa que la energa tiende a concent
rarse en las bajas }\par\pard\li1040\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex1
00 {frecuencias, perdindose excitacin para los modos rpidos. Cuando }{ }\fs2
4\cf0\f0\charscalex100 {p}\fs20\cf0\f1\charscalex100 { tiende a uno, la PRB
S }\par\pard\li1040\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100 {conmuta en fo
rma permanente, concentrndose la energa en las altas frecuencias (cercanas a f}{\s
ub \fs14\cf0\f1\charscalex100 {mx}}\par\pard\li1040\ri0\sl-253\slmult0 \fs22\cf0\
f1\charscalex100 {= 1/2T}{\sub \fs12\cf0\f1\charscalex100 {c}}\fs20\cf0\f1\char
scalex100 {). Una secuencia de este tipo aplicada a una planta de car
actersticas pasabajo, no }\par\pard\li1040\ri0\sl-200\slmult0 \fs18\cf0\f1\char
scalex100 {producira ningn efecto, ya que el sistema no podra responder s
uficientemente rpido a las }\par\pard\li1040\ri0\sl-240\slmult0 \fs20\cf0\f1\c
harscalex100 {conmutaciones de la entrada. }\par\pard\li1173\ri0\sl-240\slmult0
\fs22\cf0\f1\charscalex100 {Por lo tanto, si se pudieran efectuar ensayos sin ni
nguna limitacin de tiempo, lo ideal sera usar }\par\pard\li1040\ri0\sl-266\slmult0
\fs20\cf0\f1\charscalex100 {una }\fs22\cf0\f0\charscalex100 {p}\fs20\cf0\f1\cha
rscalex100 { = 0.5, que tiene una distribucin de energa bastante pareja en todo el
rango de frecuencias }\par\pard\li1040\ri0\sl-240\slmult0 \fs22\cf0\f1\charscal
ex100 {de inters. }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-333\slmult0 \fs22\cf0\f0\chars
calex100\b {4) }\b0 \fs20\cf0\f1\charscalex100 { La amplitud del pulso (}\fs22\c
f0\f2\charscalex100 {\uc1\u8710X}\fs20\cf0\f1\charscalex100 {P) depender de la z
ona de trabajo que se desee identificar. }\par\pard\li613\ri0\sl-213\slmult0 \fs
18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-240\slm
ult0 \fs18\cf0\f0\charscalex100\b {Nota:}\b0 \fs16\cf0\f1\charscalex100 { Si b
ien la probabilidad de cambio de la PBRS y la amplitud del pulso sue
len ser seleccionadas en forma }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\
f1\charscalex100 {independiente. Cabe resaltar que en conjunto determinan el gra
do de apartamiento de la salida respecto de su valor }\par\pard\li613\ri0\sl-213
\slmult0 \fs18\cf0\f1\charscalex100 {de equilibrio, de modo que una incorrecta e
leccin de alguno de estos parmetros podra repercutir en un indeseado }\par\pard\li6
13\ri0\sl-226\slmult0 \fs18\cf0\f1\charscalex100 {alejamiento de la zona de trab
ajo. }\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\s
lmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri
0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard
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0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult
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100 {
37/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn
666\margrsxn133\pard\sect\sectd\sbkpage
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harscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\
li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs2
2\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16
840\marglsxn666\margrsxn133\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li6
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harscalex100\b {8. CONCLUSIONES ACERCA DE LA IDENTIFICACIN }\b0 \par\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li613\ri0\sl-280\slmult0 \fs22\cf0\f0\charscalex100\b {Que nos puede ofrecer la
identificacin de sistemas? }\b0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par
\pard\li893\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {Las tcnicas de identif
icacin de sistemas forman una verstil herramienta para la solucin de varios }\par\p
ard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {problemas de la ciencia
y la ingeniera. El valor de esta herramienta ha sido evidenciado por numerosas }
\par\pard\li613\ri0\sl-253\slmult0 \fs20\cf0\f1\charscalex100 {aplicaciones en d
iversos campos. }\par\pard\li893\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100
{Es por eso que para finalizar con este estudio vamos a hacer un b

reve comentario acerca de las }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\


f1\charscalex100 {posibilidades y limitaciones prcticas que ofrece la identificac
in. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-266\slmu
lt0 \fs20\cf0\f1\charscalex100\ul {Posibilidades}\ul0 \fs20\cf0\f1\charscalex100
\ul { }\ul0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-2
53\slmult0 \fs20\cf0\f1\charscalex100 {Las tcnicas discutidas en este apunte son
independientes de la aplicacin, ya que cualquier proceso }\par\pard\li613\ri0\sl240\slmult0 \fs20\cf0\f1\charscalex100 {de caractersticas dinmicas representa una
aplicacin potencial. }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex
100 {Ciertamente, se han registrado exitosas aplicaciones de identificacin de sis
temas en muy diferentes }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charsca
lex100 {campos del conocimiento, tales como procesos de control, biomedi
cina, sismologa, sistemas }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\char
scalex100 {ambientales, dinmicas de aviones, macroeconoma, procesamiento de seales
y muchas ms. }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Sien
do que la clave para arribar a buenos resultados reside en el hecho de obtener d
atos de buena }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {ca
lidad y tener un buen criterio acerca de las caractersticas de la est
ructura modelo que debera ser }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f
1\charscalex100 {utilizada. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pa
rd\li613\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100\ul {Limitaciones: Calidad
de los Datos
}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charsca
lex100 {A esta altura resulta obvio que la limitacin en el uso de las
tcnicas de identificacin est }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\
charscalex100 {estrechamente relacionada con la disponibilidad de un buen
set de datos y de eficientes estructuras }\par\pard\li613\ri0\sl-240\slm
ult0 \fs20\cf0\f1\charscalex100 {modelo. Ya que, sin un razonable registro de da
tos no se puede hacer mucho, y existen varias razones }\par\pard\li613\ri0\sl-24
0\slmult0 \fs18\cf0\f1\charscalex100 {por las cuales no se puede obtener, en cie
rtas aplicaciones, registros de este tipo. Un ejemplo clsico es }\par\pard\li613\
ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {cuando la escala de tiempo del pr
oceso es tan lenta que cualquier registro de datos que tome termina }\par\pard\l
i613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {siendo corto. Este es el cas
o de los sistemas ecolgicos y econmicos que claramente sufren de este }\par\pard\l
i613\ri0\sl-240\slmult0 \fs16\cf0\f1\charscalex100 {tipo de problemas. Otra
razn es que la entrada no debe estar abierta para manipulaciones, sino
se }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {podra empeor
ar la relacin seal a ruido y no se podra garantizar la total identificabilidad del
sistema. }\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Es impo
rtante remarcar que las malas relaciones seal a ruido pueden, en teora, ser compen
sadas }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {por regist
ros de datos ms largos. Pero, incluso si la planta admite largos tiempos de exper
imentacin, }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {puede
ser que no siempre este sea un buen camino de salida, debido a las variaciones t
emporales, drift }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100
{y perturbaciones de baja frecuencia que pueda sufrir el proceso.
}\par\pa
rd\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Finalmente, an cuando ten
gamos permitida la manipulacin de la entrada, podamos medir por largos }\par\pard
\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {periodos, y tengamos buena
s relaciones seal a ruido, todava puede ser difcil obtener un buen registro }\par\p
ard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {de datos. La principal
razn de esto suele ser la presencia de perturbaciones que no se ajusten bien al }
\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {modelo de \uc1\
u8220Xproceso estocstico estacionario\uc1\u8221X. En la seccin de Acondicio
namiento de los Datos ya }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\ch
arscalex100 {hemos discutido la forma de tratar con estas perturbaciones
lentas para que las mediciones sean }\par\pard\li613\ri0\sl-240\slmult0 \
fs16\cf0\f1\charscalex100 {exitosas. Por lo tanto no queda ms por recorda
r que: la calidad de los datos debe ser de primordial }\par\pard\li613

\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {atencin en aplicaciones de id


entificacin de sistemas. Lo cual tambin determinar el costo del }\par\pard
\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\charscalex100 {experimento. }\par\pard\
li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li613\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100\ul {Limitaciones: Es
tructuras Modelo}\ul0 \fs20\cf0\f1\charscalex100\ul { }\ul0 \par\pard\li893\ri0\
sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs22\cf0\f1\charscal
ex100 {Es bastante trivial que una mala estructura modelo no puede ofr
ecer un buen modelo final, }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\
charscalex100 {independientemente de la cantidad y calidad de datos disponibles.
}\par\pard\li893\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {Entonces el pr
imer problema al que nos enfrentamos, es saber si el proceso (alrededor de su pu
nto }\par\pard\li613\ri0\sl-253\slmult0 \fs18\cf0\f1\charscalex100 {de operacin)
admite una descripcin estndar preexistente (\uc1\u8220Xcaja negra\uc1\u8221X), o s
i es necesario construir un }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\cha
rscalex100 {set de modelos hecho a medida. En el primer caso, nuestras chances d
e tener xito son grandes; en el }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\
charscalex100 {segundo, tendremos que recurrir a un anlisis fsico del sis
tema antes de estimar el modelo. Este }\par\pard\li613\ri0\sl-240\slmult0
\fs18\cf0\f1\charscalex100 {problema es claramente dependiente de la aplic
acin y por lo tanto no muy discutido dentro de la }\par\pard\li613\ri0\
sl-240\slmult0 \fs18\cf0\f1\charscalex100 {literatura de identificacin. Sin e
mbargo, es necesario acentuar que la clave para arribar a un buen }\p
ar\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {resultado reside en
lo siguiente: El razonamiento, la intuicin y el entendimiento del problema no pu
eden }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {volverse ob
soletos por la construccin automtica de un modelo.
}\par\pard\li9133\ri0\sl-21
3\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133
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arscalex100 {
38/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\
marglsxn666\margrsxn133\pard\sect\sectd\sbkpage
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3\margtsxn160\margbsxn133\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li6
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\c
harscalex100 {Identificacin de Sistemas Dinmicos
}\par\pard\li613\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-386\slmult0 \fs28\cf0\
f0\charscalex100\b {BIBLIOGRAFA }\b0 \par\column\pard\li0\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\charscalex100 {Control y Serv
omecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs22\cf1\f1\charscalex100 { 20
03 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133
\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18
\cf0\par\pard\li613\ri0\sl-306\slmult0 \fs22\cf0\f1\charscalex100 {[1] Lennart L
jung, }\fs22\cf0\f0\charscalex100\i {System identification (the teory for the us
er)}\i0 \fs22\cf0\f1\charscalex100 {. Pentice Hall, 1987. }\par\pard\li613\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-320\slmult0 \fs22\cf0\f1\charscale
x100 {[2] Lennart Ljung, }\fs22\cf0\f0\charscalex100\i {Systen Identification To
olbox (user guide).}\i0 \fs22\cf0\f1\charscalex100 { The Math Works, 1991. }\par
\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-320\slmult0 \fs22
\cf0\f1\charscalex100 {[3] Papoulis, }\fs22\cf0\f0\charscalex100\i {Probability,
Random Variables, and Stochastic Processes. }\i0 \fs22\cf0\f1\charscalex100 {Mc
Graw Hill, 1965. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri
0\sl-306\slmult0 \fs22\cf0\f1\charscalex100 {[4] Charles S. Williams, }\fs22\cf0
\f0\charscalex100\i {Deisgning Digital Filters}\i0 \fs22\cf0\f1\charscalex100 {.
Prentice Hall, 1986.}\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9
133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\pa
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slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\r
i0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\par
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39/39 }\par}

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