Práctica 2 ”Simulación de la respuesta sistemas de segundo

orden para señales de entrada impulso unitario y escalón.”

Equipo:”Æ”
Arreola del Razo Gabriela Michelle
Guzmán Sevilla Diego
Hernandez Lozano Juan Samuel

1. Introdución
En esta práctica se pretende analizar el comportamiento de la respuesta transitoria
de los sistemas de control de segundo orden trabajados en la clase ante diferentes con-
diciones de operación y señales de entrada. En cada uno de estos se pretende contrastar
los resultados prácticos con los resultados teóricos y evidenciar si estos son congruentes
o si por el contrario, existen diferencias. Para esto se utilizará el software matlab, que
a través de sus múltiples herramientas, permite realizar una comprobación rápida y
robusta de los resultados y al mismo tiempo analizar el comportamiento del sistema.

RESPUESTA TRANSITORIA PARA SISTEMAS DE SEGUNDO OR-

DEN: Los sistemas de control de El comportamiento dinámico del sistema de se-
gundo orden se describe a continuación en términos de dos parámetros ξ y ωn. El valor
de ξ toma diferentes valores dependiendo de su ubicación en el plano s.

Sea un sistema de segundo orden LTI

d2 d
a2 2
y(t) + a1 y(t) + a0 y(t) = b0 x(t)
dt dt
(1)
donde, y(t), x(t) son la salida y entrada del sistema, respectivamente. El dominio s se
tiene:
b0
G(s) =
a2 s2 + a1 s + a0
(2)
Asumiendo condiciones iniciales a cero. Sin pérdida de generalidad, se considerará la
forma:

1
2. Desarrollo
2.1. Realice la simulación de la respuesta de segundo orden
para las funciones prebias de la sección anterior.
%−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−Equipo AE
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%%−−−−−−−−−−−−−−−−−−−−−−−−−−−− P r a c t i c a 2
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

%%−−−−−−−−−−−−−−−−−−−−−−−−−−Impulso u n i t a r i o
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−

%cuando e = 0 . 5
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 0 . 5 ' )
nexttile
plot ( i m p u l s e ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 2 ' )

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;

2
%cuando e = 1
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 0 . 5 ' )
nexttile
plot ( i m p u l s e ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 2 ' )

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 0 . 5 ' )
nexttile
plot ( i m p u l s e ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 0 ' )

3
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 2 ' )

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 1 −−−−−−−−−−−−−−−−−−−−−−−−−−−−

%cuando e = 0 . 5
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 0.5 ' )
nexttile
plot ( i m p u l s e ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 1 ')
nexttile
plot ( i m p u l s e ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 2 ')

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 1 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;

4
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 0 . 5 ' )
nexttile
plot ( i m p u l s e ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 2 ' )

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 1
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 0.5 ' )
nexttile
plot ( i m p u l s e ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 1 ')
nexttile
plot ( i m p u l s e ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 2 ')

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 2 −−−−−−−−−−−−−−−−−−−−−−−−−−−−

5
%cuando e = 0 . 5
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 0.5 ' )
nexttile
plot ( i m p u l s e ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 1 ')
nexttile
plot ( i m p u l s e ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 2 ')

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 2 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 0 . 5 ' )
nexttile

6
plot ( i m p u l s e ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 1 ' )
nexttile
plot ( i m p u l s e ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 2 ' )

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 2
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( i m p u l s e ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 0.5 ' )
nexttile
plot ( i m p u l s e ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 1 ')
nexttile
plot ( i m p u l s e ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( i m p u l s e ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = −2 ' )
nexttile
plot ( i m p u l s e ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 2 ')

%%

%%−−−−−−−−−−−−−−−−−−−−−−−−−−E s c a l o n u n i t a r i o
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−

%cuando e = 0 . 5
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;

7
%cuando e = 1
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 0 . 5 ; E = 2 ')

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 0 . 5 ' )
nexttile
plot ( s t e p ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 1 ' )
nexttile
plot ( s t e p ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 0 ' )

8
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 0 . 5 ; E = 2 ' )

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 0 . 5
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 0 . 5 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 0 . 5 ; E = 2 ')

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 1 −−−−−−−−−−−−−−−−−−−−−−−−−−−−

%cuando e = 0 . 5
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2

9
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 1 ; E = 2 ')

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 1 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 0 . 5 ' )
nexttile
plot ( s t e p ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 1 ' )
nexttile
plot ( s t e p ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 1 ; E = 2 ' )

%%

10
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 1
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 1 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 1 ; E = 2 ')

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=1 y W = 2 −−−−−−−−−−−−−−−−−−−−−−−−−−−−

%cuando e = 0 . 5
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 1 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys1 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys1 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys1 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 1 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys1 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile

11
plot ( s t e p ( s y s 1 a ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 0 . 5 ' )
nexttile
plot ( s t e p ( s y s 1 b ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 1 ' )
nexttile
plot ( s t e p ( s y s 1 c ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 1 d ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 1 e ) ) ; t i t l e ( 'K = 1 ; wn = 2 ; E = 2 ' )

%%
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=2 y W = 2 −−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 2 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys2 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys2 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys2 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 2 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys2 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 2 a ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 0 . 5 ' )
nexttile
plot ( s t e p ( s y s 2 b ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 1 ' )
nexttile
plot ( s t e p ( s y s 2 c ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 0 ' )
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 2 d ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 2 e ) ) ; t i t l e ( 'K = 2 ; wn = 2 ; E = 2 ' )

%%

12
%−−−−−−−−−−−−−−−−−−−−−−−−− Para K=0.5 y W = 2
−−−−−−−−−−−−−−−−−−−−−−−−−−−−
%cuando e = 0 . 5
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2 ∗ 0 . 5 ∗w ; c = wˆ 2 ;
s y s 3 a= t f ( a , [ 1 , b , c ] ) ;
%cuando e = 1
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗1∗w ; c = wˆ 2 ;
sys3 b = t f (a , [ 1 , b , c ] ) ;
%cuando e = 0
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗0∗w ; c = wˆ 2 ;
sys3 c = tf (a ,[1 , b , c ]) ;
%cuando e = −2
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗−2∗w ; c = wˆ 2 ;
sys3 d = t f (a , [ 1 , b , c ] ) ;
%cuando e = 2
k = 0 . 5 ; w = 2 ; a = k∗wˆ 2 ; b = 2∗2∗w ; c = wˆ 2 ;
sys3 e = tf (a ,[1 , b , c ]) ;
t = tiledlayout (3 ,2) ;
nexttile
plot ( s t e p ( s y s 3 a ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 0.5 ' )
nexttile
plot ( s t e p ( s y s 3 b ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 1 ')
nexttile
plot ( s t e p ( s y s 3 c ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 0 ')
xlim ( [ 0 1 0 0 ] )
nexttile
plot ( s t e p ( s y s 3 d ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = −2 ' )
nexttile
plot ( s t e p ( s y s 3 e ) ) ; t i t l e ( 'K = 0 . 5 ; wn = 2 ; E = 2 ')

13
2.2. Graficas de comportamiento por cada estado
2.2.1. Impulso Unitario

Figura 1: Impulso unitario cuando K=1, Wn=0.5.

Figura 2: Impulso unitario cuando K=1, Wn=1.

14
Figura 3: Impulso unitario cuando K=1, Wn=2.

Figura 4: Impulso unitario cuando K=2, Wn=0.5.

15
Figura 5: Impulso unitario cuando K=2, Wn=1.

Figura 6: Impulso unitario cuando K=2, Wn=2.

16
Figura 7: Impulso unitario cuando K=0.5, Wn=0.5.

Figura 8: Impulso unitario cuando K=0.5, Wn=1.

17
Figura 9: Impulso unitario cuando K=0.5, Wn=2.

18
2.2.2. Escalon Unitario

Figura 10: Escalon unitario cuando K=1, Wn=0.5.

Figura 11: Escalon unitario cuando K=1, Wn=1.

19
Figura 12: Escalon unitario cuando K=1, Wn=2.

Figura 13: Escalon unitario cuando K=2, Wn=0.5.

20
Figura 14: Escalon unitario cuando K=2, Wn=1.

Figura 15: Escalon unitario cuando K=2, Wn=2.

21
Figura 16: Escalon unitario cuando K=0.5, Wn=0.5.

Figura 17: Escalon unitario cuando K=0.5, Wn=1.

22
Figura 18: Escalon unitario cuando K=0.5, Wn=2.

23
3. Cuestionario
3.1. Para K = 1, ¿Cómo es el comportamiento de la respues-
ta en cada uno de los casos de los incisos i)-iii) y sus
respectivos sub-incisos?
En respuesta al impulso, será el valor en el cual oscile nuestra función para finalmen-
te acercarse a dicho valor en tiempos elevados. Cuando nuestro parámetro e sea igual
a cero y la gráfica se comporte como una onda Sinusoide, el eje de simetrı́a horizontal
estará dado por el valor de 1 en el eje ordenado.

3.2. ¿Qué diferencia cualitativa puede observar cuando se cam-

bia el valor de Wn?
La diferencia cualitativa observable en la variación del parámetro de ganancia estáti-
ca “K” consiste en el valor al cual se aproximara nuestra función para valores muy
grandes de tiempo, este valor será en el que nuestro sistema entre en estado estaciona-
rio o bien en una posición de equilibrio. Visualmente se puede observar cómo estas el
sistema oscila con respecto a un valor en común.

3.3. ¿Qué diferencia cualitativa puede observar cuando se cam-

bia el valor de K?
La diferencia cualitativa observable en la variación del parámetro de frecuencia
natural “Wn” este parámetro es el que nos indicara la rapidez mediante la cual se
alcanza el estado estacionario, sin embargo para valores grandes de este parámetro,
nuestro sistema tenga como consecuencias picos más grandes. Visualmente se puede
observar como el aumento de ciclos en la gráfica.

Bibliografı́a
[1] MATLAB, User’s.The mathworks. MATLAB.

[1]

24