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7/26/2019 Control 2 Trabajo
1/7
-12 -10 -8 -6 -4 -2 0-6
-4
-2
0
2
4
6
Root Locus
Real Axis
ImaginaryAxis
PARTE C)
Para K=1
PARTE D)
7/26/2019 Control 2 Trabajo
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0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.90
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
Step Response
Time (sec)
Amplitude
Para k=4
PARTE F)
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Nichols Chart
Open-Loop Phase (deg)
Open-LoopGain(dB)
-180 -135 -90 -45 0-50
-40
-30
-20
-10
0
10
20
30
40
X: -163.1
Y: -0.2553
Para k=4
PARTE E)
7/26/2019 Control 2 Trabajo
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-60
-50
-40
-30
-20
-10
0
10
20
30
40
Magnitude(dB)
10-1
100
101
102
103
-180
-135
-90
-45
0
Phase(deg)
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 17.2 deg (at 39.4 rad/sec)
Frequency (rad/sec)
Para k=4
PARTE G)
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0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.90
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
Step Response
Time (sec)
Amplitude
Para k=4
PARTE H)
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Bode Diagram
Frequency (rad/sec)100
101
102
103
-180
-135
-90
-45
0
Phase(deg)
-120
-110
-100
-90
-80
-70
-60
-50
-40
-30
-20
X: 18.92Y: -35.43
Magnitude(dB)
X: 29.89
Y: -43.38
Para K=1
PARTE 1-C)
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0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.80
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Amplitude
Para
K=1