First Group Homework of Automatic

Control – IT433M
De la Cruz, Brayan – García, Leonardo – Ventocilla, Jair – Gutierrez, Christian

QUESTIONS:

1.Three block diagrams are shown below, of

which one is requested:

A. Use some method of reducing block

diagrams, so you can Compare the response of
the displayed system with the reduced one,
applying Xcos (from SciLab).

- Diagram N°1:

Solution:

First, we change the variables to decrease the

calculations.

Finally, we replace each variable and we get:

Then we have the comparison: ………

Diagram N°2:

Solution:

First, we change the variables to decrease the

calculations.

Finally, we replace each variable and we get:

Then we have the comparison: ………

Diagram N°3:

Finally, we replace each variable and we

get:
Solution:

First, we change the variables to decrease the

calculations.

Then we have the comparison using the

software Xcos(Scilab).

Showing the parameters:

And finally the graph shows us the similarity of
the curves. (green and black)
Diagrama 2b 0
De la función de transferencia:

Y (s )
= 4
1
R (s ) s + 4 s +19 s2 +49 s+144
3
B= 0
0
1
[]
C=[ 1 0 0 0 ]
4 3 2
Y ( s ) . ( s + 4 s +19 s + 49 s +144 ) =R ( s )
Then we have the comparison using the
s 4 Y ( s ) +4 s3 Y ( s ) +19 s2 Y ( s ) +49sY ( s ) +144Y ( s ) =R ( s)
software Xcos(Scilab).

Aplicando la Transformada inversa de Laplace:

y( IV ) ( t ) +4 y⃛ ( t ) + 19 ÿ ( t ) +49 ẏ ( t ) +144y ( t ) =r(t)

Definiendo las variables de estados:

x 1= y ẋ 1= ẏ=x 2

x 2= ẏ ẋ 2= ÿ=x 3

x 3= ÿ ẋ 3= ⃛y =x 4

x 4 =y⃛ u(t)=r(t) Showing the parameters:

ẋ 4 =y (IV )=−144 x 1−49 x 2−19 x3 −4 x 4 + u ( t )

Expresado en forma matricial:

ẋ1 0 1 0 0 x1 0

[ ][
ẋ2 0
=
ẋ3 0
ẋ 4 -144
0
0
-49
1
0
-19
0
1
-4
][ ] [ ]
x2 0
+ u(t)
x3 0
x4 1

x1
x
y= [ 1 0 0 0 ] 2
x3
x4

Ecuaciones de Estado
[] And finally the graph shows us the similarity of
the curves. (green and black)

ẋ= Ax+ Bu
y=Cx

0 1 0 0
A= 0
0
[
-144
0
0
-49
1
0
-19
0
1
-4
]
 Y ( s )=−( 12 s2 +36 s +23 ) X ( s )

Y ( s )=−12 s 2 X ( s )−36 sX ( s )−23 X ( s)

Aplicando la Transformada inversa de Laplace:

y ( t ) =−12 ẍ ( t ) −36 ẋ ( t )−23 x ( t )

Diagrama 3 b
y=−23 x 1−36 x 2−12 x 3

De la función de transferencia:

Y (s ) −(12 s 2+36 s+ 23)

=
R (s ) s3 + 43 s 2+122 s +90 Expresado en forma matricial

ẋ 1 0 1 0 x1 0

[ ][
ẋ 2 = 0 0 1 x 2 + 0 u(t)
ẋ 3 −90 −122 −43 x 3 1
][ ] [ ]
x1

Separando la función de transferencia en dos

funciones de transferencia en cascada, como se
y= [−23 −36 −12 ] x 2
x3 []
muestra.
Ecuaciones de Estado

ẋ= Ax+ Bu
y=Cx
En la primera función de transferencia: 0 1 0
X ( s ) . ( s3 + 43 s2 +122 s +90 ) =R ( s )
s 3 X ( s ) +43 s 2 X ( s ) +122sX ( s ) +90X ( s ) =R ( s )
A= 0
[ 0 1
−90 −122 −43 ]
0
Aplicando la Transformada inversa de Laplace:

⃛x ( t ) + 43 ẍ ( t ) +122 ẋ ( t ) +90x ( t ) =r(t)

B= 0
1[]
C=[ −23 −36 −12 ]
Definiendo las variables de estados:

x 1=x ẋ 1= ẋ=x 2
Then we have the comparison using the
software Xcos(Scilab).
x 2= ẋ ẋ 2= ẍ=x3

x 3= ẍ u(t)=r(t)

ẋ 3=−90 x 1−122 x2 −43 x 3+ u(t)

La segunda función de transferencia con solo el

numerador genera:
Showing the parameters:

And finally the graph shows us the similarity of

the curves. (red and black)