Prctica

Ejercicio 1

m=1000;
b=50;
r=10;
s=tf('s');
P_cruise=1/(m*s+b);
Kp=3000;
Ki=50;
Kd=10;
C=Kp+Ki/s+Kd*s
T=feedback(C*P_cruise,1);
t=0:0.1:20;
step(r*T,t)
axis([0 5 0 20])

Step Response

20
18
16
14

Amplitude

12
10
8
6
4
2
0

0.5

1.5

2.5
Time (seconds)

3.5

4.5

Ejercicio 2
J=0.01;
b=0.1;
Ke=0.01;
Kt=0.01;
R=1;
L=0.5;
s=tf('s');
P_cruise=Ke/((J*s+b)*(L*s+R)+Ke^2);
Kp=1000;
Ki=50;
Kd=100;
C=Kp+Ki/s+Kd*s
T=feedback(C*P_cruise,1);
t=0:0.1:20;
step(r*T,t)
axis([0 5 0 20])

Step Response

20
18
16
14

System: untitled1
Time (seconds): 1.69
Amplitude: 9.91

Amplitude

12
10
8
6
4
2
0

0.5

1.5

2.5
Time (seconds)

>> stepinfo(T)
ans =
RiseTime: 0.0113
SettlingTime: 0.0227
SettlingMin: 0.9015
SettlingMax: 0.9903
Overshoot: 0
Undershoot: 0
Peak: 0.9903

3.5

4.5

PeakTime: 0.1556