INGENIERIA DE CONTROL 2

B.10.3
K= [ 0 0 1 ] [ B

AB

A2 B] ( A)

( A )= A 2+ 1 A 2 + 2 A+ 3 I

|SI ( ABK )|= ( S+ 2+ 4 j )( s+24 j )( s+10 )

s 3 +14 s 2 +60 s +200
s 3 + 1 s 2 + 2 s+ 3
1=14 ; 2=60 ; 3 =200
3

] [

] [

] [ ]

0
1
0
0
1
0
0
1
0
1 0 0
( A ) = 0
+14
+60
+200
0
1
0
0
1
0
0
1
0 1 0
1 5 6
1 5 6
1 5 6
0 0 1

199 55
8
8 159
7
7 43 177

[B

AB

1
1
1 11
1 11 60

B ]= 1

][

0
1
1 199 55
8
K= [ 0 0 1 ] 1
1 11 8 159
7
1 11 60 7 43 177

[
[

][
]

0.7344 0.8554
0.1446
199 55
8
[ 0 0 1 ] 0.8554 0.0120 0.0120 x 8 159
7
0.1446 0.0120 0.0120
7 43 117
138.3476 170.2169 28.7831
[ 0 0 1 ] 170.2169 49.4319 5.5181
28.7831
5.5181
2.4819
K= [ 28.7831 5.5181 2.4819 ]

B.10.4

B.10.7