1)

3 K (s+ 1)
G ( s )=
s ( s+3)(s+6)

Kv ≥ 25 s−1 , M f ≥ 30 o M A >10 dB

3 K ( s+1 )
>25
s ( s+3 )( s+6 )
150= K

25 (s +1)
G ( s )=
s
s ( +1)( s/6+1)
3

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 21.7 deg (at 20.7 rad/s)
50
Magnitude (dB)

-50

-100
-45
Phase (deg)

-90

-135

-180
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
 rad
w gcs =20.7 , Mφsc =22° , w φsc =inf , M Asc =inf
seg

φm=30−22+2=20

1−sen 20
alfa= =0.49
1+ sen 20
Wm: /GH/=-20*log(1/sqrt(alfa)) wm=25.1 z=wm*sqrt(alfa)= 9.8 p=z/alfa=215
kc=1/alfa=22
1
s+1
9.8
Gc=
1
s+1
215

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 38.1 deg (at 24.9 rad/s)
50
Magnitude (dB)

-50

-100
-45
Phase (deg)

-90

-135

-180
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
2)

3 K (s+ 1)
G ( s )=
s ( s+3)(s+6)

Kp ≥25 s1 , M f ≥ 30 o BW >4 rad /seg

3K
>25
3 (6 )
150= K
25(s+1)
G ( s )=
s ( s/3+1)(s /6+1)

25(s +1)
G ( s )=
s s
( )( )
s +1
3 6
+1 ¿
¿
 Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 21.7 deg (at 20.7 rad/s)
50
Magnitude (dB)

-50

-100
-45
Phase (deg)

-90

-135

-180
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)

35° por encima de -180

Wg=14.6rad/seg (FasGH=-145)

El compensador atenuara 6 20 logB=2 dB B=1.9

Z<< z=0.15 y p=Z/B=0.08 Kc=1

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 34 deg (at 12.6 rad/s)
100

50
Magnitude (dB)

-50

-100
-45
Phase (deg)

-90

-135

-180
-3 -2 -1 0 1 2 3
10 10 10 10 10 10 10
Frequency (rad/s)

(1/ z +1)
G ( s )=
(1/ p+1)
 3
3) G ( s )= 2
s ( s +2 s+ 6)

Kp ≥25 s1 , M f ≥ 30 o ℘>5 rad /seg

3K
2
>25
s (s +2 s+ 6)
50=K
25
G ( s )= 2
s
s( +2 /6 s+1)
6

25
G ( s )= 2
s (0.17 s +0.33 s +1)

Root Locus
15

10
Imaginary Axis (seconds-1)

-5

-10

-15
-14 -12 -10 -8 -6 -4 -2 0 2 4 6
Real Axis (seconds -1)
 Bode Diagram
Gm = -22.2 dB (at 2.43 rad/s) , Pm = -66.4 deg (at 5.51 rad/s)
50

Magnitude (dB)
0

-50

-100
-90

-135
Phase (deg)

-180

-225

-270
-1 0 1 2
10 10 10 10
Frequency (rad/s)

rad
w gcs =2.43 , Mφsc =−66 ° , wφsc =5.51 , M Asc =−22.2
seg
φm=30−(−66 ) + 4=60
2 redes de 60

1−sen 60
alfa= =0 .072
1+ sen 60
Wm: /GH/=-40*log(1/sqrt(alfa)) wm=12.7 z=wm*sqrt(alfa)= 3.4 p=z/alfa=47.3
kc=1/alfa=193
2
1
Gc=
(
3.4
s+1 )
2
1
(
47.3
s+1 )
II.1
2 ( s+2 ) 5
G 1= ,G 2= , H ( s )=4
s ( s+ 4 ) s+5
i. Elevar un grado la exactitud respecto a R(s)
1 1
φer ( s )= = =¿
1+G1 ( s ) G2( s) H (s ) 40( s+ 2)
1+
❑
ii. Elevar un grado la exactitud respecto a F(s)