UNIVERSIDAD NACIONAL MAYOR DE SAN MARCOS

FACULTAD DE INGENIERIA ELECTRONICA Y ELECTRICA

CURSO: LABORATORIO DE SISTEMAS DE CONTROL I
ERROR EN ESTADO ESTABLE
a) Hallar el Kp (constante de posicin) y error de posicin = ess --> (1/(1+Kp) )
b) Hallar el Kv (constante de velocidad) y el error de velocidad = essv --> (1/Kv)
c) Hallar el Ka (constante de aceleracin) y el error de aceleracin = essa -->
(1/Ka )
Para los siguientes sistemas:
Problema N1

SOLUCIN:
>> %---- a) ----

>> kp=dcgain(G)
>> essp=1/(1+kp)

>> %'Entrada Escalon'

>> numg= 500*poly([-2 -5]);
>> deng=poly([-8 -10 -12]);
>> G=tf(numg,deng)

kp =
5.2083

Transfer function:
500 s^2 + 3500 s + 5000
-------------------------s^3 + 30 s^2 + 296 s + 960

essp =
0.1611
>> figure(1)
>> step(Gr)
>> grid

>> Gr=feedback(G,1);

Step Response
1
0.9
0.8
0.7

Amplitude

0.6
0.5
0.4
0.3
0.2
0.1
0

0.2

>> %---- b) ----

0.4

0.6

0.8

Time (sec)

1.2

kv =

1.4

1.6

1.8

>> %'Entrada Rampa'

>> numgs = conv([1
0],numg);
>> dengs=deng;
>> sG=tf(numgs,dengs);
>> sG=minreal(sG)

0
essv =
Inf

Transfer function:
500 s^3 + 3500 s^2 + 5000
s
--------------------------s^3 + 30 s^2 + 296 s + 960
>> kv=dcgain(sG)
>> essv=1/kv

>> num1=[1];
>> den1=[1 0];
>> g1=tf(num1,den1);
>> Grampa=Gr*g1;
>> figure(2)
>> step(Grampa)
>> hold on
>> step(g1)
>> grid, hold off

Step Response
800

700

600

Amplitude

500

400

300

200

100

0
>> %---- c) ---0

100

200

300

400

500 =
ka

600

700

Time (sec)

>> %'Entrada Parablica'

>> numgs2 = conv([1 0
0],numg);
>> dengs2=deng;
>> s2G=tf(numgs2,dengs2)

0
essa =
Inf
>> num2=[1];
>> den2=[1 0 0];
>> g2=tf(num2,den2);
>> Gparab=Gr*g2;
>> figure(3)
>> step(Gparab)
>> hold on
>> step(g2)
Step Response
>> grid, hold off

Transfer function:
500 s^4 + 3500 s^3 + 5000
s^2
----------------------------s^3 + 30 s^2 + 296 s + 960
>> s2G=minreal(s2G)
x 10
12
>> ka=dcgain(s2G)
>> essa=1/ka
5

10

Amplitude

500

1000
Time (sec)

1500

Problema N2

SOLUCIN:
>> %---- a) ----

>> kp=dcgain(G)
>> essp=1/(1+kp)

>> %'Entrada Escalon'

>> numg= 500*poly([-2 -5 -6]);
>> deng=poly([0 -8 -10 -12]);
>> G=tf(numg,deng)

kp =
Inf

Transfer function:
500 s^3 + 6500 s^2 + 26000 s +
30000
----------------------------------------------s^4 + 30 s^3 + 296 s^2 + 960 s

essp =
0
>> figure(1)
>> step(Gr)
>> grid

>> Gr=feedback(G,1);

Step Response
1
0.9
0.8
0.7

Amplitude

0.6
0.5
0.4
0.3
0.2
0.1

>> %---- b) ----

0.2

0.4

0.6

0.8

kv 1.2
=

1.4

Time (sec)

>> %'Entrada Rampa'

>> numgs = conv([1 0],numg);
>> dengs=deng;

31.2500
essv =

1.6

>> sG=tf(numgs,dengs);
>> sG=minreal(sG)

0.0320

Transfer function:
500 s^3 + 6500 s^2 + 2.6e004 s +
3e004
-------------------------------------------------s^3 + 30 s^2 + 296 s + 960

>> num1=[1];
>> den1=[1 0];
>> g1=tf(num1,den1);
>> Grampa=Gr*g1;
>> figure(2)
>> step(Grampa)
>> hold on
>> step(g1)
>> grid, hold off

>> kv=dcgain(sG)
>> essv=1/kv

-3

Step Response

x 10
3

2.5

Amplitude

1.5

0.5

>> %---- c) ----

0.5

2
ka
=

1.5

2.5
-3

Time (sec)

x 10

>> %'Entrada Parablica'

>> numgs2 = conv([1 0 0],numg);
>> dengs2=deng;
>> s2G=tf(numgs2,dengs2)

0
essa =
Inf

Transfer function:
500 s^4 + 6500 s^3 + 2.6e004 s^2 +
3e004 s
------------------------------------------------------s^3 + 30 s^2 + 296 s + 960
>> s2G=minreal(s2G)
>> ka=dcgain(s2G)
>> essa=1/ka
5

12

Step Response

x 10

>> num2=[1];
>> den2=[1 0 0];
>> g2=tf(num2,den2);
>> Gparab=Gr*g2;
>> figure(3)
>> step(Gparab)
>> hold on
>> step(g2)
>> grid, hold off
Step Response

x 10
1.3336

10
1.3334

1.3332
Amplitude

Amplitude

1.333

1.3328
4
1.3326
2
1.3324
0

500

1000
Time (sec)

1500

516.26

516.28

516.3

516.32

516.34
Time (sec)

516.36

516.38

516.4

516.42

Problema N3

SOLUCIN:
>> %---- a) ----

>> kp=dcgain(G)
>> essp=1/(1+kp)

>> %'Entrada Escalon'

>> numg= 500*poly([-2 -4 -5 -6 -7]);
>> deng=poly([0 0 -8 -10 -12]);
>> G=tf(numg,deng)

kp =
Inf

Transfer function:
500 s^5 + 12000 s^4 + 111500 s^3 +
498000 s^2 + 1.058e006 s + 840000
------------------------------------------------------------------s^5 + 30 s^4 + 296 s^3 + 960
s^2

essp =
0
>> figure(1)
>> step(Gr)
>> grid

>> Gr=feedback(G,1);
Step Response
1.001

1.0005

Amplitude

0.9995

0.999

0.9985

0.998

0.9975

0.997
0

0.5

>> %---- b) --->> %'Entrada Rampa'

>> numgs = conv([1 0],numg);
>> dengs=deng;
>> sG=tf(numgs,dengs);
>> sG=minreal(sG)
Transfer function:

1.5
Time (sec)

2.5

3.5

kv =
Inf
essv =
0
>> num1=[1];

500 s^5 + 1.2e004 s^4 + 1.115e005 s^3 +

4.98e005 s^2 + 1.058e006 s + 8.4e005
-----------------------------------------------------------------s^4 + 30 s^3 + 296 s^2 + 960 s
>> kv=dcgain(sG)
>> essv=1/kv

>> den1=[1 0];

>> g1=tf(num1,den1);
>> Grampa=Gr*g1;
>> figure(2)
>> step(Grampa)
>> hold on
>> step(g1)
>> grid, hold off

Step Response

Step Response

0.642

0.7

0.6

0.641

0.5
Amplitude

Amplitude

0.64
0.4

0.3

0.2

0.639

0.638

0.1
0.637
0

0.1

0.2

0.3

>> %---- c) ----

0.4

0.5

0.6

0.7

0.6375 0.638 0.6385 0.639 0.6395 0.64 0.6405 0.641 0.6415 0.642 0.6425

ka =

Time (sec)

>> %'Entrada Parablica'

>> numgs2 = conv([1 0 0],numg);
>> dengs2=deng;
>> s2G=tf(numgs2,dengs2)

Time (sec)

875.0000
essa =
0.0011

Transfer function:
500 s^5 + 1.2e004 s^4 + 1.115e005 s^3 +
4.98e005 s^2 + 1.058e006 s + 8.4e005
-----------------------------------------------------------------s^3 + 30 s^2 + 296 s + 960
>> s2G=minreal(s2G)
>> ka=dcgain(s2G)
essa=1/ka Step Response
x >>
10
5

12

x 10

>> num2=[1];
>> den2=[1 0 0];
>> g2=tf(num2,den2);
>> Gparab=Gr*g2;
>> figure(3)
>> step(Gparab), hold on
>> step(g2)
>> grid, hold off
Step Response

1.1243
1.1243

10
1.1243
1.1243
Amplitude

Amplitude

1.1243
1.1243
1.1243
1.1243

2
1.1243
0

500

1000
Time (sec)

1500

1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
1499.513
Time (sec)

Problema N4

G( s) =

100( s + 1)
, con realimentacin unitaria.
( s + 2) ( s + 4 )

SOLUCIN:
>> %---- a) ----

>> kp=dcgain(G)
>> essp=1/(1+kp)

>> %'Entrada Escalon'

>> numg= 100*poly([-1]);
>> deng=poly([-2 -4]);
>> G=tf(numg,deng)

kp =
12.5000

Transfer function:
100 s + 100
------------s^2 + 6 s + 8

essp =
0.0741
>> figure(1)
>> step(Gr)
>> grid

>> Gr=feedback(G,1);

Step Response
1
0.9
0.8
0.7

Amplitude

0.6
0.5
0.4
0.3
0.2
0.1
0

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

Time (sec)

>> %---- b) --->> %'Entrada Rampa'

>> numgs = conv([1
0],numg);
>> dengs=deng;
>> sG=tf(numgs,dengs);
>> sG=minreal(sG)
Transfer function:
100 s^2 + 100 s
--------------s^2 + 6 s + 8
>> kv=dcgain(sG)
>> essv=1/kv

kv =
0
essv =
Inf
>> num1=[1];
>> den1=[1 0];
>> g1=tf(num1,den1);
>> Grampa=Gr*g1;
>> figure(2)
>> step(Grampa)
>> hold on
>> step(g1)

>> grid, hold off

Step Response
1600

1400

1200

Amplitude

1000

800

600

400

200

500

>> %---- c) ----

1000
Time (sec)

>> %'Entrada Parablica'

>> numgs2 = conv([1 0
0],numg);
>> dengs2=deng;
>> s2G=tf(numgs2,dengs2)

0
essa =
Inf
>> num2=[1];
>> den2=[1 0 0];
>> g2=tf(num2,den2);
>> Gparab=Gr*g2;
>> figure(3)
>> step(Gparab)
>> hold on
>> step(g2)
>> grid, hold off

Transfer function:
100 s^3 + 100 s^2
----------------s^2 + 6 s + 8
>> s2G=minreal(s2G)
>> ka=dcgain(s2G)
>> essa=1/ka
5

12

1500

ka =

Step Response

x 10

10

Amplitude

500

1000

1500

Time (sec)

Llenando el cuadro de comparacin, para lo cual tomamos como referencia los 3

primeros problemas.
Tabla

Tipo 0

essp

Tipo 1

essv

Tipo 2

essa

Kp

5.208
3

0.1611

Kp

Inf

Kp

Inf

Kv

Inf

Kv

31.2
5

0.032

Kv

Inf

Ka

Inf

Ka

Inf

Ka

875

0.001