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2.-
1
.
R 1. C 2
s
2
s +(
1
1
R 1+ R 2
+
) s +(
)
R 3. C 2 R 3. C 1
R 1. R 2. R 3. C 1. C 2
19.6s
s +27.256s+556.25
2
a 2 a 1 x 2 b1
x2
( )(
)( ) ( )
x1
0
1
x1 + 0
=
u
( )(
)( ) (
( )
y=( 0 1 ) x 1 + ( 0 ) u
x2
Step Response
0.05
0
-0.05
-0.1
Amplitude
-0.15
-0.2
-0.25
-0.3
-0.35
-0.4
-0.45
0.1
0.2
0.3
0.4
0.5
0.6
Time (sec)
Re
u(t),x1(t),x2(t)
0.6
t vs u
t vs x1
t vs x2
0.4
0.2
0
-0.2
-0.4
0.1
0.2
0.3
t
0.4
0.5
0.6
So
1.-
1
s 2+
c
k
s+
M
M
1
s +3 s+80 |
2
80
den =
1
num/den =
1
-----------------s^2 + 3 s + 80
A=
-3 -80
1
B=
1
0
C=
0
D=
0
Rango de Matriz de Controlabilidad: 2
Rango de Matriz de Observabilidad : 2
El Sistema SI es Controlable...
El Sistema SI es Observable...
1
.
R 1. C 2
s
2
s +(
1
1
R 1+ R 2
+
) s +(
)
R 3. C 2 R 3. C 1
R 1. R 2. R 3. C 1. C 2
G ( S )=
19.6s
s +27.256s+556.25
2
den =
1.0000 27.2560 556.2500
num/den =
-19.6 s
-----------------------------s^2 + 27.256 s + 556.25
A=
-27.2560 -556.2500
1.0000
B=
1
0
C=
-19.6000
D=
0
Rango de Matriz de Controlabilidad: 2
Rango de Matriz de Observabilidad : 2
El Sistema SI es Controlable...
El Sistema SI es Observable...