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Formulas
(2013)
s 1 2
1
s 2 n s n2
2 e nt
sen n 1 t Arctg
2
1 2
1 1 t
t n1e T
(1 Ts) n n
T (n 1)!
2
e n t
sen 1 2 t Arctg T n . 1
n n
n2 t 1 T n
T n2 e T
(1 Ts )(s 2 2 n s n2 ) 2 2
1 2T n T n (1 2 )(1 2T n T 2 n2 )
n sen( n t )
s n2
2
e at sen( t )
(s ) 2 2
s
e at cos( t )
(s ) 2 2
n t
T n e T sen n t Arctg (T n )
(1 Ts )(s 2 n2 )
1 T 2 n2 1 T 2 n2
n2 1 1 2
s (s 2 2 n s n2 ) 1 e nt sen n 1 2 t Arctg
1 2
n2 1 cos( n t )
s (s 2 n2 )
1 t
T
s (1 Ts ) 1 e
Transformada de Laplace Función en el tiempo
F(s) f(t)
1 t T tT
1 e
s (1 Ts ) 2 T
t
T 2 n2 e T e nt sen( n 1 2 t )
1
n2 1 2T n T 2 n2 (1 2 )(1 2T n T 2 n2 )
s (1 Ts )(s 2 2 n s n2 ) 1 2 2
donde tan 1 tan 1 T n 1
1 T n
n2 2 1 1 2
s 2 ( s 2 2 n s n2 ) t e nt sen n 1 2 t 2. Arctg
n n (1 2 )
t
2 T 3 n2 e T e nt sen( n 1 2 t )
t T
n2 n 1 2T n T 2 n2 n (1 2 )(1 2T n T 2 n2 )
s 2 (1 Ts )(s 2 2 n s n2 ) 1 2 2
donde 2tan 1 tan 1 T n 1
1 T n
1 t
T
s (1 Ts ) 2
2 t 2T (t 2T )e
t
T (a T ) n2 e T
n2 (1 as ) 1 2T n T 2 n2
s (1 Ts )(s 2 2 n s n2 ) a 1 2
donde tan 1 n
1 a n
T 1 2 2
tan 1 n tan 1 1
1 T n
1 as t
T
2
s (1 Ts ) t (a T )(1 e )
s
cos( n t )
s n2
2
s 1
t sen( n t )
( s n2 ) 2
2
2 n
s 1
cos( n1t ) cos( n 2 t )
( s n1 )( s 2 n22 )
2 2
n22
2
n1
s 1 t 1
2 2
e T cos n t Arctg (T n )
(1 Ts )( s 2 n2 ) 1 T n 1 T 2 n2
1 as bs 2 b aT1 T12 t T1 b aT2 T22 t T2
t (a T1 T2 ) e e
s 2 (1 T1 s )(1 T2 s ) T1 T2 T1 T2
n2 (1 as bs 2 ) (1 a n b n2 2b 2 n2 ) 2 n2 (1 2 )(a 2b n ) 2
1
s (s 2 2 n s n2 ) (1 2 )
x e nt sen( n 1 2 t )
1 2 (a 2b n ) 2
donde tan 1 n2 tan 1 1
b n (2 2 1) 1 a n
s2 1
sen( n t ) n t cos( n t )
( s 2 n2 ) 2 2 n
Respuesta al escalón de sistemas de 2º orden sin ceros