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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}}}}\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
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
i4733\ri0\sl-146\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\sect\
sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols8\colno1\colw2
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
r3\shpwrk0\shpfblwtxt1\shplid2048\shpz8\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
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{\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}}
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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}}
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{\shp{\*\shpinst\shpleft6226\shptop5120\shpright6386\shpbottom5280\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2049\shpz9\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 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}}
{\sp{\sn fFilled}{\sv 1}}
{\sp{\sn fillColor}{\sv 0}}
{\sp{\sn fLine}{\sv 0}}{\sp{\sn lineColor}{\sv 0}}
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{\shp{\*\shpinst\shpleft2786\shptop5200\shpright3346\shpbottom5200\shpfhdr0\shpw
r3\shpwrk0\shpfblwtxt1\shplid2050\shpz10\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn fFillOK}{\sv 1}}
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{\shp{\*\shpinst\shpleft3786\shptop8826\shpright4040\shpbottom8826\shpfhdr0\shpw
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{\sp{\sn shapeType}{\sv 0}}
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{\shp{\*\shpinst\shpleft3786\shptop10773\shpright4040\shpbottom10773\shpfhdr0\sh
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{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn pVerticies}{\sv 8;2;(0,0);(253,0);}}
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{\sp{\sn fFillOK}{\sv 1}}
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{\sp{\sn lineWidth}{\sv 6340}}
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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\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-213\slmult0 \fs18\cf0\
par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \f
s18\cf0\par\pard\li613\ri0\sl-346\slmult0 \fs22\cf0\f1\charscalex100\ul {Funcin C
ovarianza}\ul0 \fs22\cf0\f1\charscalex100\ul { }\ul0 \par\column\pard\li0\ri0\sl
-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\charscalex10
0 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs22\cf1\f1\c
harscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\margls
xn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl266\slmult0 \fs20\cf0\f1\charscalex100 {Con la descripcin (1.7) de v(t), podemos
calcular su valor esperado como,}\par\pard\li2960\ri0\sl-213\slmult0 \fs18\cf0\p
ar\pard\li2960\ri0\sl-186\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\p
ard\li2186\ri0\sl-346\slmult0 \*\tx3653\*\tx4333\fs18\cf0\f2\charscalex100 {\{ \
}}{ }\fs20\cf0\f2\charscalex100 {=}{ }\fs30\cf0\f0\charscalex100 {\uc1\u402X}\ta
b \fs12\cf0\f2\charscalex100 {\{}\tab \fs12\cf0\f2\charscalex100 {\}}\par\pard\l
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
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{\sp{\sn fBehindDocument}{\sv 1}}
{\sp{\sn fLayoutInCell}{\sv 1}}}}
{\shp{\*\shpinst\shpleft1346\shptop15840\shpright10520\shpbottom15840\shpfhdr0\s
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pwr3\shpwrk0\shpfblwtxt1\shplid2094\shpz13\shpbxpage\shpbypage
{\sp{\sn shapeType}{\sv 0}}
{\sp{\sn fFlipH}{\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}}
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{\shp{\*\shpinst\shpleft5506\shptop15893\shpright5506\shpbottom16173\shpfhdr0\sh
pwr3\shpwrk0\shpfblwtxt1\shplid2095\shpz14\shpbxpage\shpbypage
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{\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}}
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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\margbsxn93\cols2\colno1\colw7426\colsr-0\colno2\colw3666\pard\li61
3\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-213\slmult0 \fs20\cf1\f1\ch
arscalex100 {Identificacin de Sistemas Dinmicos
}\par\column\pard\l
i0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\cha
rscalex100 {Control y Servomecanismos }\par\pard\li1973\ri0\sl-240\slmult0 \fs22
\cf1\f1\charscalex100 { 2003 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn168
40\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\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-346\slmult0 \fs20\cf0\f1\charscalex100 { Para resolver
este problema se introduce el concepto de proceso cuasi-estacionario, que no es
ms }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {que un proceso
\{s(t)\} que debe cumplir con las siguientes reglas: }\par\pard\sect\sectd\sbkn
one\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\cols6\colno1\colw2053\colsr0\colno2\colw2333\colsr-0\colno3\colw1053\colsr-0\colno4\colw1306\colsr-0\colno5
\colw946\colsr-0\colno6\colw3400\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\par
d\li893\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex100 {(i)}\par\pard\li893\ri0\s
l-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-360\slmult0 \fs22\cf0\f1\charscale
x100 {(ii)}\par\column\pard\li133\ri0\sl-546\slmult0 \fs18\cf0\f2\charscalex100
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
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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
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s18\cf0\par\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-213\slmult
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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-213\slmult0 \fs18\cf0\par\pard\li0\ri0\sl-386\slmult0 \fs2
2\cf0\f1\charscalex100 {
8/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pg
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{\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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{\shp{\*\shpinst\shpleft1346\shptop15840\shpright10520\shpbottom15840\shpfhdr0\s
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{\sp{\sn shapeType}{\sv 0}}
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{\sp{\sn pVerticies}{\sv 8;2;(0,0);(9173,0);}}
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{\shp{\*\shpinst\shpleft1640\shptop5173\shpright3520\shpbottom5200\shpfhdr0\shpw
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fs12\cf0\f1\charscalex100 {yu}\par\column\pard\li0\ri0\sl-200\slmult0 \fs20\cf0\
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c1\u964X}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrs
xn133\cols2\colno1\colw9506\colsr-0\colno2\colw1586\pard\li2053\ri0\sl-306\slmul
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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
i2040\ri0\sl-293\slmult0 \*\tx3160\*\tx4453\fs22\cf0\f2\charscalex100 {\uc1\u966
X \uc1\u969X}\fs20\cf0\f1\charscalex100 {\uc1\u710X ( )}\tab \fs20\cf0\f1\charsc
alex100 {\uc1\u710X}\tab \fs12\cf0\f1\charscalex100 {j}\par\pard\li2160\ri0\sl-3
06\slmult0 \*\tx4373\fs12\cf0\f1\charscalex100 {yy}{\super \fs20\up0\cf0\f2\char
scalex100 {=}}\fs30\cf0\f0\charscalex100 {\uc1\u402X}{ }\fs20\cf0\f1\charscalex1
00 {R ( ).W ( ).e}{\sub \fs12\cf0\f1\charscalex100 {yy}}\fs12\cf0\f1\charscalex1
00 {M}\tab \fs12\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs14\cf0\f2\charscalex100
{\uc1\u969X\uc1\u964X}\par\pard\li2786\ri0\sl-160\slmult0 \fs14\cf0\f2\charscal
ex100 {\uc1\u964X}{ }\fs12\cf0\f2\charscalex100 {=\uc1\u8722X}\fs12\cf0\f1\chars
calex100 {M}\par\pard\li2893\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {M}\p
ar\pard\li2040\ri0\sl-306\slmult0 \*\tx2840\*\tx4453\fs22\cf0\f2\charscalex100 {
\uc1\u966X \uc1\u969X}\fs20\cf0\f1\charscalex100 {\uc1\u710X ( )}{ }\fs20\cf0\f2
\charscalex100 {=}\tab \fs30\cf0\f0\charscalex100 {\uc1\u402X}{ }\fs20\cf0\f1\ch
arscalex100 {\uc1\u710X}\tab \fs12\cf0\f1\charscalex100 {j}\par\pard\li2160\ri0\
sl-280\slmult0 \*\tx3106\*\tx4373\fs12\cf0\f1\charscalex100 {yu}\tab \fs20\cf0\f
1\charscalex100 {R ( ).W ( ).e}{\sub \fs12\cf0\f1\charscalex100 {yu}}\fs12\cf0\f
1\charscalex100 {M}\tab \fs12\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs14\cf0\f2\
charscalex100 {\uc1\u969X\uc1\u964X}\par\pard\li2786\ri0\sl-160\slmult0 \fs14\cf
0\f2\charscalex100 {\uc1\u964X}{ }\fs12\cf0\f2\charscalex100 {=\uc1\u8722X}\fs12
\cf0\f1\charscalex100 {M}\par\pard\li2893\ri0\sl-106\slmult0 \fs12\cf0\f1\charsc
alex100 {M}\par\pard\li2040\ri0\sl-280\slmult0 \*\tx3160\*\tx4466\fs22\cf0\f2\ch
arscalex100 {\uc1\u966X \uc1\u969X}\fs20\cf0\f1\charscalex100 {\uc1\u710X ( )}\t
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r\pard\li2146\ri0\sl-306\slmult0 \*\tx4386\fs12\cf0\f1\charscalex100 {uu}{\super
\fs20\cf0\f2\charscalex100 {=}}\fs30\cf0\f0\charscalex100 {\uc1\u402X}{ }\fs20\
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
0\f2\charscalex100 {\uc1\u969X\uc1\u964X}\par\pard\li2786\ri0\sl-160\slmult0 \fs
14\cf0\f2\charscalex100 {\uc1\u964X}{ }\fs12\cf0\f2\charscalex100 {=\uc1\u8722X}
\fs12\cf0\f1\charscalex100 {M}\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 \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-346\slmult0 \fs22\cf0\f1\charscalex100 {(2.2)}\p
ar\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\
li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-306\slmult0 \fs22\cf0\f
1\charscalex100 {donde W}{\sub \fs12\cf0\f1\charscalex100 {M}}\fs22\cf0\f1\chars
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;
}{\sub \f
s12\cf0\f1\charscalex100 {vv}}\par\column\pard\li0\ri0\sl-106\slmult0 \fs12\cf0\
f1\charscalex100 {yy}\par\column{\trowd\trleft0\trkeep\trftsWidth1\trpaddl0\trpa
ddr0\trpaddfl3\trpaddfr3 \clvertalt\clbrdrt\brdrnone\clbrdrl\brdrnone\clbrdrb\br
drnone\clbrdrr\brdrnone\cltxlrtb\clNoWrap\clftsWidth3\clwWidth1346\clpadt0\clpad
r0\clpadft3\clpadfr3\cellx7546 \pard\li0\ri0\sl-26\widctlpar\intbl \fs20\cf0\f2\
charscalex100 {\uc1\u8722X}\fs20\cf0\f0\charscalex100 {\uc1\u8486X}\par\pard\li0
\ri0\sl-93\widctlpar\intbl \fs20\cf0\f1\charscalex100 {\uc1\u710X ( )}\par\pard\
li0\ri0\sl-80\widctlpar\intbl \fs12\cf0\f1\charscalex100 {uu}\cell\row}\column\p
ard\li0\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {N}\par\column\pard\li0\ri
0\sl-280\slmult0 \fs22\cf0\f2\charscalex100 {\uc1\u963X}\par\column\pard\li0\ri0
\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {2}\par\pard\sect\sectd\sbknone\pgwsx
n11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\c
f0\par\pard\li893\ri0\sl-333\slmult0 \fs20\cf0\f1\charscalex100 {Este procedimie
nto es conocido como }\fs22\cf0\f0\charscalex100\i {anlisis espectral}\i0 \fs22\c
f0\f1\charscalex100 {. }\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li
613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0 \fs22\cf0\f0\
charscalex100\b \i {Aplicacin en Matlab }\b0 \i0 \fs22\cf0\f0\charscalex100\b \i
{ }\b0 \i0 \par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-25
3\slmult0 \fs18\cf0\f1\charscalex100 {Para un sistema de una salida y de
una o ms entradas, la funcin \uc1\u8216Xspa\uc1\u8217X lleva a cabo el
anlisis }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {espectra
l de acuerdo al procedimiento anteriormente mencionado.}\par\pard\li893\ri0\sl-2
13\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex10
0 {>>[G,FIV] = spa(z) }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li8
93\ri0\sl-253\slmult0 \fs22\cf0\f1\charscalex100 {Aqu z es una matriz compuesta d
e dos columnas que contiene los datos de salida y entrada como }\par\pard\li613\
ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {primera y segunda columna respect
ivamente. G y FIV son matrices que contendrn la funcin estimada }\par\pard\li5013\
ri0\sl-106\slmult0 \fs20\cf0\f1\charscalex100 {\uc1\u710X}\par\pard\li760\ri0\sl
-213\slmult0 \fs14\cf0\f1\charscalex100 {N}\fs20\cf0\f1\charscalex100 { y la est
imacin del espectro de perturbacin }{ }\fs22\cf0\f2\charscalex100 {\uc1\u966X}{\su
b \fs12\cf0\f1\charscalex100 {vv}}\fs20\cf0\f1\charscalex100 {. Las mismas son c
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f1\charscalex100 {llamado }\fs22\cf0\f0\charscalex100\i {freqfunc format}\i0 \fs
20\cf0\f1\charscalex100 { que contiene informacin acerca de los valores de frecue
ncia, amplitud, y fases, }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\charsc
alex100 {como as tambin sus desviaciones estndar. Esto le va a permitir
a uno graficar las estimaciones en }\par\pard\li613\ri0\sl-240\slmult0 \fs1
8\cf0\f1\charscalex100 {forma inmediata usando la funcin \uc1\u8216Xbodeplot\uc1\
u8217X o \uc1\u8216Xffplot\uc1\u8217X.}\par\pard\li893\ri0\sl-240\slmult0 \fs20\
cf0\f1\charscalex100 {En los clculos (2.2), \uc1\u8216Xspa\uc1\u8217X usa una ven
tana de Hamming con un ancho por defecto, igual al mnimo }\par\pard\li613\ri0\sl240\slmult0 \fs18\cf0\f1\charscalex100 {entre 30 y un dcimo del nmero de muestras.
Pero el ancho M de la ventana puede ser modificado en }\par\pard\li613\ri0\sl-2
40\slmult0 \fs20\cf0\f1\charscalex100 {forma arbitraria de esta forma, }\par\par
d\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-240\slmult0 \fs22\cf0
\f1\charscalex100 {>>[G,FIV] = spa(z,M) }\par\pard\li893\ri0\sl-213\slmult0 \fs1
8\cf0\par\pard\li893\ri0\sl-266\slmult0 \fs20\cf0\f1\charscalex100 {La regla es
que mientras M se incrementa, las funciones de frecuencia estimadas muestran det
alles }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {ms agudos,
pero son tambin ms afectadas por perturbaciones aleatorias. En estos casos, para h
acer }\par\pard\li613\ri0\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {la eleccin
podra ser de utilidad implementar alguna secuencia tpica de comandos qu
e examine }\par\pard\li613\ri0\sl-240\slmult0 \fs20\cf0\f1\charscalex100 {difer
entes tamaos de ventana. }\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard
\li893\ri0\sl-253\slmult0 \fs22\cf0\f0\charscalex100\b {Nota: }\b0 { }\fs18\cf0\
f1\charscalex100 {la funcin \uc1\u8216Xspa\uc1\u8217X permite la especificac
in del periodo de muestreo (T), mediante el uso del }\par\pard\li613\ri0
\sl-240\slmult0 \fs18\cf0\f1\charscalex100 {comando \uc1\u8216Xsett\uc1\u8217X.}
\par\pard\li1320\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li1320\ri0\sl-240\slmult0
\fs22\cf0\f1\charscalex100 {>>G=spa(z) }\par\pard\li1320\ri0\sl-240\slmult0 \fs
22\cf0\f1\charscalex100 {>>G=sett(G,T)}\par\pard\li613\ri0\sl-213\slmult0 \fs18\
cf0\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult
0 \fs22\cf0\f0\charscalex100\b \ul {2.2 Anlisis por Correlacin (estimacin de la res
puesta impulsiva)}\b0 \ul0 \fs22\cf0\f0\charscalex100\b \ul { }\b0 \ul0 \par\par
d\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-280\slmult0 \fs18\cf0
\f1\charscalex100 {Considerando la descripcin del modelo (1.16) podemos re
scribir la salida \{y(t)\} en funcin de la }\par\pard\li613\ri0\sl-240\slm
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\pard\li613\ri0\sl-360\slmult0 \fs20\cf0\f1\charscalex100 {entonces de acuerdo a
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{
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harscalex100 {Identificacin de Sistemas Dinmicos
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rd\li3986\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li3986\ri0\sl-213\slmult0 \fs18\
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par\pard\li2053\ri0\sl-280\slmult0 \fs20\cf0\f1\charscalex100 {E\{y(t).u(t- )\}=
R ( )=}{\sub \fs12\cf0\f1\charscalex100 {yu}}\fs30\cf0\f0\charscalex100 {\uc1\u4
02X}{ }\fs20\cf0\f1\charscalex100 {g(k).R (k}{\sub \fs12\cf0\f1\charscalex100 {u
u}}\fs20\cf0\f2\charscalex100 {\uc1\u8722X}{ }\fs22\cf0\f2\charscalex100 {\uc1\u
964X}{ }\fs20\cf0\f1\charscalex100 {)}\par\pard\li3933\ri0\sl-146\slmult0 \fs12\
cf0\f1\charscalex100 {k=1}\par\column\pard\li0\ri0\sl-213\slmult0 \fs18\cf0\par\
pard\li0\ri0\sl-213\slmult0 \fs20\cf1\f1\charscalex100 {Control y Servomecanismo
s }\par\pard\li1973\ri0\sl-240\slmult0 \fs22\cf1\f1\charscalex100 { 2003 }\par\p
ard\li2133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li2133\ri0\sl-213\slmult0 \fs18
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ult0 \fs18\cf0\par\pard\li2133\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {(2
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3\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-280\slmult0 \fs2
0\cf0\f1\charscalex100 {Si escogemos ruido blanco como entrada al sistema, su fu
ncin de autocorrelacin ser la siguiente: }\par\pard\sect\sectd\sbknone\pgwsxn11893\
pghsxn16840\marglsxn666\margrsxn133\cols3\colno1\colw6066\colsr-0\colno2\colw453
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t0 \fs12\cf0\f1\charscalex100 {2}\par\pard\li2053\ri0\sl-186\slmult0 \*\tx4333\f
s20\cf0\f1\charscalex100 {R ( ) = E\{u(t+ ).u(t)\}=}\tab \fs20\cf0\f1\charscalex
100 {. ( )}\par\column\pard\li0\ri0\sl-266\slmult0 \fs20\cf0\f2\charscalex100 {=
}{ }\fs20\cf0\f0\charscalex100 {}\par\column\pard\li0\ri0\sl-186\slmult0 \*\tx906
\fs20\cf0\f1\charscalex100 {_____ si}\tab \fs20\cf0\f2\charscalex100 {=}{ }\fs20
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rglsxn666\margrsxn133\cols2\colno1\colw4960\colsr-0\colno2\colw6133\pard\li2200\
ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {uu}\par\column\pard\li1093\ri0\sl
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ult0 \*\tx1266\fs20\cf0\f0\charscalex100 {}\fs20\cf0\f1\charscalex100 {0 _____ s
i}\tab \fs20\cf0\f2\charscalex100 {\uc1\u8800X}{ }\fs20\cf0\f1\charscalex100 {0}
{ }\fs20\cf0\f0\charscalex100 {\uc1\u8250X}\par\pard\sect\sectd\sbknone\pgwsxn11
893\pghsxn16840\marglsxn666\margrsxn133\cols2\colno1\colw9106\colsr-0\colno2\col
w1986\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-306\slmult0
\fs20\cf0\f1\charscalex100 {Luego, la funcin de intercorrelacin (correlacin cruzada
) entre la entrada y la salida ser: }\par\pard\li2026\ri0\sl-213\slmult0 \fs18\cf
0\par\pard\li2026\ri0\sl-280\slmult0 \fs22\cf0\f1\charscalex100 {R}{\sub \fs14\c
f0\f1\charscalex100 {yu}}\fs22\cf0\f1\charscalex100 {(}\fs22\cf0\f2\charscalex10
0 {\uc1\u964X}\fs22\cf0\f1\charscalex100 {) = E\{y(t+}\fs22\cf0\f2\charscalex100
{\uc1\u964X}\fs22\cf0\f1\charscalex100 {).u(t)\} = }\fs22\cf0\f2\charscalex100
{\uc1\u963X}{\super \fs14\up4\cf0\f1\charscalex100 {2}}\fs22\cf0\f1\charscalex10
0 {.g(}\fs22\cf0\f2\charscalex100 {\uc1\u964X}\fs22\cf0\f1\charscalex100 {) }\
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-346\slm
ult0 \fs22\cf0\f1\charscalex100 {
(2.5) }\par\pard\sect\sectd\sbknone\pgw
sxn11893\pghsxn16840\marglsxn666\margrsxn133\pard\li893\ri0\sl-480\slmult0 \fs20
\cf0\f1\charscalex100 {Donde g(}\fs22\cf0\f2\charscalex100 {\uc1\u964X}\fs18\cf
0\f1\charscalex100 {) es la respuesta impulsiva del sistema. De este mo
do ser fcil hallar, en funcin de la }\par\pard\li613\ri0\sl-213\slmult0 \fs2
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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20\cf0\f1\charscalex100 {h(k).e(t}{ }\fs20\cf0\f2\charscalex100 {\uc1\u8722X}{ }
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li3533\ri0\sl-106\slmult0 \fs12\cf0\f1\charscalex100 {k 0}\par\pard\li613\ri0\sl
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100 {donde asumimos que H(q) es estable, o sea que el filtro no posee polos fuer
a del crculo unitario, debido }\par\pard\li613\ri0\sl-240\slmult0 \fs22\cf0\f1\ch
arscalex100 {a que: }\par\pard\li2120\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li21
20\ri0\sl-186\slmult0 \fs12\cf0\f2\charscalex100 {\uc1\u8734X}\par\pard\li2066\r
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
calex100 {k 0}\par\pard\li613\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl
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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
propiedad muy importante de (3.1), la cual vamos a imponer, es que sea }\fs22\cf
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
onocida v(t\uc1\u8217X) para todo t\uc1\u8217X}\fs22\cf0\f2\charscalex100 {\uc1\
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pghsxn16840\marglsxn666\margrsxn133\cols5\colno1\colw2053\colsr-0\colno2\colw145
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893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par
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harscalex100 {1}\par\pard\li0\ri0\sl-186\slmult0 \fs20\cf0\f1\charscalex100 {e(t
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r\pard\li66\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li66\ri0\sl-280\slmult0 \fs12\
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{=}{ }\fs30\cf0\f0\charscalex100 {\uc1\u402X}\par\pard\li173\ri0\sl-106\slmult0
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pard\li0\ri0\sl-426\slmult0 \fs20\cf0\f2\charscalex100 {=}\par\column\pard\li146
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rscalex100 {1}\par\pard\li0\ri0\sl-293\slmult0 \fs20\cf0\f1\charscalex100 {H(q)}
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fs20\cf0\f2\charscalex100 {=}{ }\fs30\cf0\f0\charscalex100 {\uc1\u402X}\par\pard
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ex100 {Es tambin muy comn asumir que }\fs22\cf0\f0\charscalex100\i {e(t)}\i0 \fs22
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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
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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
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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
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scalex100 {
15/39 }\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\ma
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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
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fs12\cf0\f1\charscalex100 {1}\tab \fs12\cf0\f1\charscalex100 {2}\tab \fs12\cf0\f
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\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\
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\
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
pwr3\shpwrk0\shpfblwtxt1\shplid2266\shpz16\shpbxpage\shpbypage
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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\shpleft1346\shptop15840\shpright10520\shpbottom15840\shpfhdr0\s
hpwr3\shpwrk0\shpfblwtxt1\shplid2301\shpz1\shpbxpage\shpbypage
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olsr-0\colno2\colw4106\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri
0\sl-266\slmult0 \fs22\cf0\f1\charscalex100 {>>mod = armax (z,[n}{\sub \fs14\cf0
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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
{>>mod = oe (z,[n}{\sub \fs14\cf0\f1\charscalex100 {b}}\fs22\cf0\f1\charscalex1
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\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
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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
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(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
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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
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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
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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
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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
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tab \fs22\cf0\f2\charscalex100 {=}{ }\fs32\cf0\f2\charscalex100 {(}\par\pard\li2
066\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {Z}{\sub \fs12\cf0\f1\charscal
ex100 {M}}\par\column\pard\li66\ri0\sl-226\slmult0 \fs22\cf0\f1\charscalex100 {g
t,Z ;}{ }\fs22\cf0\f1\charscalex100 {\uc1\u710X}\par\pard\li520\ri0\sl-106\slmu
lt0 \*\tx746\fs12\cf0\f1\charscalex100 {M}\tab \fs22\cf0\f2\charscalex100 {\uc1\
u952X}{\sub \fs12\cf0\f1\charscalex100 {M}}\par\pard\li240\ri0\sl-346\slmult0 \*
\tx1106\*\tx2173\*\tx2626\*\tx2893\fs28\cf0\f2\charscalex100 {( ) ( ) (}\tab \fs
22\cf0\f2\charscalex100 {\uc1\u8722X}{\sub \fs12\cf0\f1\charscalex100 {M}}\fs22\
cf0\f1\charscalex100 {t}{ }\fs22\cf0\f2\charscalex100 {\uc1\u8722X}\tab \fs28\cf
0\f2\charscalex100 {) (}\tab \fs22\cf0\f2\charscalex100 {\uc1\u8722X}\tab \fs28\
cf0\f2\charscalex100 {)}\par\pard\li0\ri0\sl-226\slmult0 \*\tx2773\fs22\cf0\f1\c
harscalex100 {y}{\sub \fs12\cf0\f1\charscalex100 {M}}\fs20\cf0\f1\charscalex100
{2 ,u t}\tab \fs20\cf0\f1\charscalex100 {2 ,..., y}{\sub \fs10\cf0\f1\charscalex
100 {M}}\par\column\pard\li0\ri0\sl-400\slmult0 \fs28\cf0\f2\charscalex100 {( )
( )}{ }\fs32\cf0\f2\charscalex100 {)}\par\column\pard\li0\ri0\sl-186\slmult0 \fs
22\cf0\f1\charscalex100 {(5.2)}\par\pard\li0\ri0\sl-186\slmult0 \fs22\cf0\f1\cha
rscalex100 {(5.3)}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn6
66\margrsxn133\pard\li893\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-373
\slmult0 \*\tx4520\fs22\cf0\f0\charscalex100\b {Nota:}\b0 \fs20\cf0\f1\charscale
x100 { no hay que confundir}{ }\fs22\cf0\f1\charscalex100 {y}{\sub \fs12\cf0
\f1\charscalex100 {M}}\fs28\cf0\f2\charscalex100 {( )}{ }\fs22\cf0\f1\charscalex
100 {con }\tab \fs16\cf0\f1\charscalex100 {\uc1\u710Xy(t,}\fs22\cf0\f2\charscale
x100 {\uc1\u952X}\fs22\cf0\f1\charscalex100 {\uc1\u710X}{\sub \fs12\cf0\f1\chars
calex100 {N}}\fs22\cf0\f1\charscalex100 {)}{ }\fs20\cf0\f1\charscalex100 {, ya
que solo coinciden para el modelo de error de }\par\pard\li613\ri0\sl-2
66\slmult0 \fs22\cf0\f1\charscalex100 {salida. }\par\pard\li893\ri0\sl-266\slmul
t0 \fs18\cf0\f1\charscalex100 {El modelo de parmetros }\fs20\cf0\f2\charscalex100
{\uc1\u952X}{\sub \fs10\cf0\f1\charscalex100 {N}}\fs18\cf0\f1\charscalex100 { p
uede entonces ser evaluado por una comparacin entre y}{\sub \fs10\cf0\f1\charscal
ex100 {M}}\fs20\cf0\f1\charscalex100 {(t) e y(t), ya }\par\pard\li613\ri0\sl-213
\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
100 {tiempo), y as siguiendo. }\par\pard\li893\ri0\sl-240\slmult0 \fs18\cf0\f1\ch
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
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
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
\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-293\slmult0 \fs22\cf0\f0\charscalex100\
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
mult0 \fs18\cf0\par\pard\li613\ri0\sl-306\slmult0 \fs22\cf0\f0\charscalex100\b {
6.2 Burts y Outliers}\b0 \fs22\cf0\f0\charscalex100\b { }\b0 \par\pard\li893\ri0
\sl-213\slmult0 \fs18\cf0\par\pard\li893\ri0\sl-253\slmult0 \fs22\cf0\f1\charsca
lex100 {Errores aislados o valores muy perturbados pueden tener una inf
luencia considerable en la }\par\pard\li613\ri0\sl-240\slmult0 \fs16\cf0\f1\c
harscalex100 {estimacin resultante. Es por eso que resulta necesario prot
eger la estimacin de los malos datos, y }\par\pard\li613\ri0\sl-240\slmult
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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t:}\par\pard\sect\sectd\sbknone\pgwsxn11893\pghsxn16840\marglsxn666\margrsxn133\
cols3\colno1\colw5080\colsr-0\colno2\colw360\colsr-0\colno3\colw5653\pard\li4026
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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 {
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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-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
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harscalex100 {conmutaciones de la entrada. }\par\pard\li1173\ri0\sl-240\slmult0
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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
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lmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri
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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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\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs
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lmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri
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\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf
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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
13\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li613\ri0\sl-360\slmult0 \fs28\cf0\f0\c
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
f0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmul
t0 \fs18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl
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s18\cf0\par\pard\li9133\ri0\sl-213\slmult0 \fs18\cf0\par\pard\li9133\ri0\sl-213\
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i0\sl-360\slmult0 \fs22\cf0\f1\charscalex100 {
39/39 }\par}