Compensador adelanto- atraso método LGR

18620 s 2+ 42960 s +28060

G (S)= ( 23.25 s 6+ 80.29 s 5+ 96.26 s 4 + 40.18 s3 )
Kv ≥ 20

18620 s 2 +42960 s +28060∗( S+1)

 K v =lim S K∗¿
s →0 ( )
23.25 s 6+ 80.29 s5 + 96.26 s 4 +40.18 s3
¿

20
K=
28060

K=7,127 x 10−4

 Kcβ=K
Kcβ=7,127 x 10−4
β=7,127 x 10−4

−1
 Zc=
τ
Zc=−1,18

1
τ=
1,18
τ =0,84

−1
Pc=
βτ
−1
Pc=
( 7,127 x 10−4 )∗(0,84)
Pc=1,670 x 10−3

Kc(S+ 1,18)( S+ 1)
 G(S)=
(S +1,670 x 103 )

s2 +2,18 S +1,18
G(S)=
(S+1,670 x 103 )

s2 +2,18 S +1,18
G(S)=
(S +1.670)
FUNCION SIN COMPENSAR (LGR-ATRASO)

FUNCION COMPENSADO (LGR-ATRASO)