J

C C =3700
K
RCl =0.00625 K /W

C l=?

Rla =0.0125 K /W

θa =300 K θ L =?

P=1000 W
1 1
θ´C (t )= [qi ( t ) − [ θ (t)−θl (t)] ]
CC RCl c

Volumen del tanque

v=66 cm∗76 cm∗48=240768 cm3

C l=240768 cm3∗4.184=1007373.312
1 1
θ´C (t )= [q i ( t )− [ θ (t )−θl (t )] ]
3700 0.00625 c
1 1
θ´C (t )= [q i ( t )− [ θ (t )−θl (t )] ]
3700 0.00625 c
1 8 8
θ´C ( t )= qi ( t ) − θc ( t ) + θ (t )
3700 185 185 l
1 8 8
0= ∗1000− θce ( t )+ θ (t)
3700 185 185 ¿
−8 8
−0.27027027 03= θce + θ (1)
185 185 ¿

1 1 1
θ´L (t )= [ [ θc (t)−θ l (t ) ]− [ θ (t)−θa ] ]
C L RCl Rla c

1 1 1
θ´L (t )= [ [ θc (t)−θ l (t) ] − [ θ (t)−300 K ] ]
1007373.312 0.00625 0.0125 c
1 1 1 1
θ´L ( t )= ( θc ( t ) − θl ( t ) − θ ( t ) +24000)
1007373.312 0.00625 0.00625 0.0125 l
1 1
θ´L ( t )= ( θ ( t )−240θ l ( t ) +24000)
1007373.312 0.00625 c

θ´L ( t )=1.588 X 10−4 θc ( t ) −2.382 X 10−4 θl (t ) +0.0238

−0.0238=1.588 X 10−4 θc ( t )−2.382 X 10−4 θl ( t ) (2)
θce =318.498

θ¿ =312.248

θ´L ( t )=1.588 X 10−4 θc ( t ) −2.382 X 10−4 θl (t ) +0.0238

´
θ́ L ( t )=1.588 X 10−4 θ́c ( t ) −2.382 X 10−4 θ́l (t )

θ´´ c ( t ) =θc ( t )−318.498 θ´´ l ( t ) =θl ( t )−312.248 q́ i ( t )=qi ( t )−1000

´
θ́c ( t ) =6297.229 θ́ L ( t ) +1.5 θ́ l ( t ) (3)
1 8 8
0= ∗1000− ∗318.498+ ∗312.248
3700 185 185
1 8 8
θ´´ c ( t ) = q́i− θ́ c ( t )+ θ́ ( t ) (4)
3700 185 185 l
Reemplazar (3) en (4)

1 8 8
6297.229 θ́¨L ( t ) +1.5 θ́˙ l ( t ) = q́i− (6297.229 θ́´L (t ) +1.5 θ́l ( t ) )+ θ́ (t )
3700 185 185 l

6297.229 θ́¨L ( t ) +273.812 θ́˙ l (t ) +0.02155=0.00027027 q́i

6297.229 s 2+ 273.812 s+0.02155=0.00027027 q́ i

θ́ l ( s ) 0.00027027
=
q́i ( s) 6297.229 s2 +273.812 s +0.02155

Forma canonica controlable

(6297.229 s 2 +273.812 s+ 0.02155)Y (s)=(0.00027027)U ( s)

(6297.229 s 2 +273.812 s+ 0.02155) W (s)=U (s)

Y ( s)=(0.00027027)W (s )

( 6297.229 s 2 +273.812 s+ 0.02155 ) W ( s )=6297.229 s 2 W ( s ) +273.812 s W ( s ) + 0.02155W ( s ) =U ( s)

s x3 =−0.02155 x 1( s)−273.812 x 2 (s )−6297.229 x3 (s)+U (s)

Y ( s )=0.00027027 x 1 (s )
 0 1 0 0
ẋ=
[ 0 0 1
−0.02155 −273.812 −6297.229] []
x+ 0 U
1

Y =[0.00027027 0] X