Joan Sebastian Barbosa Vidal

Control Automático
TALLER FINAL

1. Consider an analog plant with transfer function:

1
G(s)=
s (s+2)

Use the root locus method to design a specific controller according the
following specifications: Damping ratio: 0.5, natural frequency= 4
rad/seg.
Student Direct Indirect Ts Approximation
PI 0.1 Tustin

a) Implement the diagram in Simulink and show the step response

b) Using a math script to show the LGR
c) Express the controller transfer function in terms of a difference
equation
b)
Discretizar la function de transferencia. (MATLAB)
Los polos del sistema en tiempo discreto. (MATLAB)

Polo especificaciones: Damping ratio: 0.5, natural frequency= 4

rad/seg.
P=−z( wn )± j(wn ) √ 1−z 2 1.
1
P=−(0,5)(4)± j( 4) 1−
√ 4
2.

P=−2± j 3.46 3.
Polo en tiempo discreto:
P1=e(T∗ P) 4.
P1=e(0.2 )∗(−2± j 3.46 ) ⁡ 5.
P1=0.52 ± j 0.43 6.
Grafica LGR

Figura. 1 LGR

0.43 0.43
tan ( θ 1 )= 7. tan ( θ 2 )= 8.
0.4 0.5
θ1=47.07 θ2=40.7

α =180−θ1 β=180−θ2

α =133 ° β=139 °

Condición de fase:
G ( s ) ° =0−( 133 ° +139 ° )=−272 ° 9.
272 °−180 °=92 ° 10.

2 √3
tan ( 92° )= 11.
x1
3.46
x 1= 12.
tan ( 92° )

x 1=−0.12 13.
Cero=0.5−(−0.12 )=0.62 14.

Figura. 2 LGR

Controlador PI:
z−0.62
C ( z )=k 15.
z
(0.0022+0.0045+ 0.0022)∗A
k =1 16.
B∗C
(0.0022+0.0045+ 0.0022)∗0.446
k =1 17
0.58∗0.66

K=91.3 18
91.3 z−56.6
C ( z )= 20
z
C) Express the controller transfer function in terms of a difference equation

Figura. 3 Codigo Math lab

a) Implement the diagram in Simulink and show the step response