PROCESOS DE PRIMER ORDEN

Sin perturbaciones:
GC G v GP 1
G ( s )=
1+ G C G v G P 1 G M
KP1
KC
τs+1
G ( s )=
K
1+ K C P 1
τs+ 1
KC K P1 K K
∗1
τs+1 K C K P1 K K +1 K +1 τ
G ( s )= = ; K =K C K P 1 G ( s )= = = ;τ ´= G( s
τs+1+ K C K P 1 τs+1+ K C K P 1 τs+1+ K τs +1+ K τ K +1
s +1
τs+1 K +1 K+ 1

Aplicando un cambio de carga (escalón):

AK
∗1
( s )∗K K +1
∗1 ∗1
K +1 A s AK
Y ( s )=X ; X ( s ) = Y ( s )= e= A−
τ ´ s+1 s τ ´ s +1 K+ 1

Con perturbaciones:
 GU 1 G P 1 GU 2
G ( s )= ; G´ ( s ) =
1+ GC G P 1 1+GC GP 1
K P1 KU 1 KP1 K
KU 1
τ s+1 τs+1 K U1 K P1 K K +1 τ
G ( s )= = = ; K =K U 1 K P 1 G ( s )= = ; τ ´=
K P 1 τs+1+ K C K P 1 τs+1+ K C K P 1 τs+ 1+ K ❑ τ K+ 1
1+ K C s+1
τs+ 1 τs+1 K +1