© UdeC - DIE - 2018

Solución Tarea N°1

+ va(t) -
Problema Estudiar el control de un péndulo
ia(t)
Parámetros
−3 ω(t)
R a := 2 La := 50⋅ 10 gt := 10
θ(t)
50 máquina cc
M := 0.5 lm := kv := 0.2 Jm = 0
100 te(t) lm
π
km := 0.4 θ0 := 45⋅
180 θ(t)

Parte A Modelo Promedio.

dz1
z1 = θ y = z1 = z2
dt
te(t)
dθ dz2 −gt kv km u − km⋅ z2 M
( )
z2 = u = va
dt = ⋅ sin z1 − ⋅ z2 + ⋅
dt lm 2 2 Ra
M⋅ lm M⋅ lm

Punto de operación z10 := θ0 z20 := 0 u 0 := 0

Given

0 = z20

−gt kv km u 0 − km⋅ z20

0=
lm
( )
⋅ sin z10 −
2
⋅ z20 +
2
⋅
Ra
M⋅ lm M⋅ lm

Sol := Find u0 ( ) va0 := Sol va0 = 8.839 ω0 := 0

 0 1   0 
 
 k 
Al :=  −gt 
2
kv km b l :=  m 1  cl := ( 1 0 ) d l := 0
 ⋅ cos( z10) − +−  ⋅
 lm  M⋅ l 2 Ra 
M⋅ lm ⋅ Ra 
2 2
M⋅ lm  m 
 

Tarea N°1 - Solución 1 de 16 Sistemas de Control - 543 244

 π
Parte B La variación de va para aumnentar en 20 grados el ángulo θ1 := 65⋅ © UdeC - DIE - 2018
180
−1 −1 θ1 − θ0
( )
∆y = c⋅ −Al b l⋅ ∆u ( )
∆θ = c⋅ −Al bl⋅ ∆va va1 := + va0 va1 = 11.924
c ⋅ ( −A ) − 1b 
l l l

Parte C Simulación.

t − tr1 ( ) t − tr2 ( )
tf := 12 n f := 2000 m := 0 .. n f tr1 := 02 tr2 := 02 + tr1 (
∆va( t) := va1 − va0 ⋅
tr2 − tr1
) (
⋅ Φ t − tr1 − va1 − va0 ⋅ ) (
tr2 − tr1
)
⋅ Φ t − tr2 ( )
−1
va( t) := ∆va( t) + va0 t := 0 , tf ⋅ n f .. tf

 ∆x1 
D( t , ∆x) := Al⋅   + b ⋅ ∆v ( t)  0  , 0 , t , n , D
 ∆x  l a Zc := rkfixed  
 2  0  f f 
va teta grados omega
12 70 0.3

11 0.2
60

10 0.1

50
9 0

8 40 − 0.1
0 5 10 0 5 10 0 5 10

 −1.12 + 3.59i 
( )
eigenvals Al =  
 −1.12 − 3.59i 

180 1
Parte D Simulación Sistema en L.C. con hc(s) = kc. kc := 0.5 kst := ka :=
π 10

 −1.12 + 4.18i 
( )
eigenvals Al − b l⋅ ka⋅ kc⋅ kst⋅ cl =  
 −1.12 − 4.18i  CI :=
0 
 
0 
Tarea N°1 - Solución ( ) ( ) 2 de 16 Sistemas de Control - 543 244
 t − tr1( ) t − tr2 ( )
(
∆θd ( t) := θ1 − θ0 ⋅ kst⋅ )
tr2 − tr1
( ) (
⋅ Φ t − tr1 − θ1 − θ0 ⋅ kst⋅
tr2 − tr1
)
⋅ Φ t − tr2 ( ) © UdeC - DIE - 2018

 ∆x1 
D( t , ∆x) := ( Al − b l⋅ ka⋅ kc⋅ kst⋅ cl) ⋅   + b ⋅ k ⋅ k ⋅ ∆θ ( t)
( )
Za3 := rkfixed CI , 0 , tf , nf , D
 ∆x2  l c a d
 
  tf   va1 va0
∆w( m) := kc⋅  ∆θd  m⋅  − kst⋅ Za3
m, 2
 ∆va( m) := ka⋅ ∆w( m) (
va0 = ka⋅ kc⋅ θ1 − θ0 ⋅ kst ) w1 := w0 :=
  nf   ka ka

va teta grados omega

9.8 52 0.08

9.6 0.06
50

9.4 0.04
48
9.2 0.02

46
9 0

8.8 44 − 0.02
0 5 10 0 5 10 0 5 10

teta referencia w
70 98

96
60
94

92
50
90

40 88
0 5 10 0 5 10

Parte E El kc que deja las raíces en el eje imaginario. kc := 0.2

Given

( ( )) ( ( ))
Tarea N°1 - Solución 3 de 16 Sistemas de Control - 543 244
 ( ( )) ( (
Im eigenvals Al − bl⋅ ka⋅ kc⋅ kst⋅ cl 1 = −4 ⋅ Re eigenvals Al − b l⋅ ka⋅ kc⋅ kst ⋅ cl 1 )) © UdeC - DIE - 2018
kcc := Find kc ( ) kcc = 0.784

(
Ac := augment Al − b l⋅ ka⋅ kcc ⋅ kst⋅ cl )

Simulación Sistema en L.C. con hc(s) = kcc . kc := kcc

 −1.12 + 4.48i 
(
eigenvals Al − b l⋅ ka⋅ kc⋅ kst⋅ cl =  ) 
 −1.12 − 4.48i 
t − tr1 ( ) t − tr2 ( )
(
∆θd ( t) := θ1 − θ0 ⋅ kst⋅ )
tr2 − tr1
( ) (
⋅ Φ t − tr1 − θ1 − θ0 ⋅ kst⋅
tr2 − tr1
)
⋅ Φ t − tr2 ( )

 ∆x1 
D( t , ∆x) := Al − b l⋅ ka⋅ kc⋅ kst⋅ cl ⋅ 
( )  + b ⋅ k ⋅ k ⋅ ∆θ ( t)
(
Za3 := rkfixed CI , 0 , tf , nf , D )
 ∆x  l c a d
 2

  tf   va1 va0
∆w( m) := kc⋅  ∆θd  m⋅  − kst⋅ Za3
m, 2
 ∆va( m) := ka⋅ ∆w( m) (
va0 = ka⋅ kc⋅ θ1 − θ0 ⋅ kst ) w1 := w0 :=
  nf   ka ka

va teta grados omega

10 54 0.1

52
9.5 0.05
50

48
9 0
46

8.5 44 − 0.05
0 5 10 0 5 10 0 5 10

Tarea N°1 - Solución 4 de 16 Sistemas de Control - 543 244

 teta referencia w © UdeC - DIE - 2018
70 100

60 95

50 90

40 85
0 5 10 0 5 10

Parte F Simulación Sistema en L.C. con hc(s) = kc/s. kc := 0.9

( ( ) (
Ac := augment stack Al , −kc⋅ kst ⋅ cl , stack b l⋅ ka , 0 )) (
b c := stack b l⋅ 0 , kc )
 −0.806 + 3.533i 
0 
eigenvals( Ac) =  −0.806 − 3.533i 
  CI :=  0 
 −0.628   
0 
 1 
∆x

D( t , ∆x) := Ac⋅  ∆x2  + b c⋅ ∆θd ( t) ( )

Za3 := rkfixed CI , 0 , tf , nf , D
 
 ∆x3 
 
∆w( m) := Za3 ∆va( m) := ka⋅ ∆w( m)
m, 4

Tarea N°1 - Solución 5 de 16 Sistemas de Control - 543 244

 va teta grados omega © UdeC - DIE - 2018
12 65 0.15

11 60
0.1

10 55

0.05
9 50

8 45 0
0 5 10 0 5 10 0 5 10

teta referencia w
70 120

110
60

100

50
90

40 80
0 5 10 0 5 10

Given

( ( ( ( ) (
Re eigenvals augment stack Al , −kc⋅ kst⋅ cl , stack bl⋅ ka , 0 ) ) ) 1) = 0
( )
kcc := Find kc kcc = 3.456

2⋅ π
( ( ) (
Ac := augment stack Al , −kcc ⋅ kst⋅ cl , stack b l⋅ ka , 0 )) Tosc :=
( ( ))
Im eigenvals Ac 1
Tosc = 1.671 Periodo de la
oscilación en s.

(
Im eigenvals Ac 1 ( )) Frecuencia de la
= 0.599
2⋅ π oscilación en Hz.

Simulación Sistema en L.C. con hc(s) = kc/s. kc := kcc

Tarea N°1 - Solución 6 de 16 Sistemas de Control - 543 244

 ( ( ) (
Ac := augment stack Al , −kc⋅ kst ⋅ cl , stack b l⋅ ka , 0 )) © UdeC - DIE - 2018

(
b c := stack b l⋅ 0 , kc )
 3.761i  0 
eigenvals( Ac) =  −3.761i 
  CI :=  0 
 −2.24   
0 
 1 
∆x

D( t , ∆x) := Ac⋅  ∆x2  + b c⋅ ∆θd ( t) ( )

Za3 := rkfixed CI , 0 , tf , nf , D
 
 ∆x3 
 
∆w( m) := Za3 ∆va( m) := ka⋅ ∆w( m)
m, 4

va teta grados omega

13 70 0.3
7 7+Tosc

12 0.2
60
11 0.1

10 0
50
9 − 0.1

8 40 − 0.2
0 5 10 0 5 10 0 5 10

teta referencia w
70 130

120
60
110

100
50
90

40 80
0 5 10 0 5 10

Tarea N°1 - Solución 7 de 16 Sistemas de Control - 543 244

 © UdeC - DIE - 2018

−3 −1
Parte G Ecuaciones de Estado Discretas Equivalentes. Tm := 250 ⋅ 10 ( )
T := eigenvecs Al

 exp( eigenvals( Al) 1⋅ t) 0

 ⋅ T tf
⋅
−1
Φ c( t) := T mf := k := 0 .. mf
 0 exp( eigenvals( Al) 2⋅ t)  Tm

 0.656 0.165 
( ( ))
Ad := Re Φc Tm Ad =  
 −2.328 0.287 
cd := cl

 Tm 
⌠ 
 ( Φc( Tm − τ) ⋅ b l) 1 dτ


⌡0   0.039  0 
b d := Re  bd =   xo :=  
⌠ Tm   0.263  0 
 ( Φc( Tm − τ) ⋅ b l) dτ

⌡
2 
 0 

Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.A..

t − tr1 ( ) t − tr2 ( )
(
∆va( t) := va1 − va0 ⋅ )
tr2 − tr1
(
⋅ Φ t − tr1 − va1 − va0 ⋅ ) (
tr2 − tr1
)
⋅ Φ t − tr2 ( )

∆va( t) tf 0 
∆w( t) :=
ka
(
∆wd ( j ) := ∆w j ⋅ Tm ) kf :=
Tm
k := 0 .. kf ∆xo :=  
0 

 k−1 
∆xd( k) := if k = 0 , ∆xo , Ad ⋅ ∆xo +   A k−j −1⋅ b ⋅ k ⋅ ∆w ( j ) 
∑
k
   d d a d 

 j = 0 
∆w( t) := Re ∆wd  trunc 
t
∆va( t) := ∆w( t) ⋅ ka
Tm   
   
 ∆x1  0 
D( t , ∆x) := Al⋅   + b ⋅ k ⋅ ∆w( t) CI :=   (
Zp := rkfixed CI , 0 , tf , n f , D)
 ∆x2  l a 0 
 

Tarea N°1 - Solución 8 de 16 Sistemas de Control - 543 244

 w va © UdeC - DIE - 2018
120 w1 12 va1

110 11

100 10

90 w0 9 va0

80 8
0 5 10 0 5 10

teta grados omega

70 0.3

0.2
60
0.1
50
0

40 − 0.1
0 5 10 0 5 10

 0.471 + 0.591i 
( )
eigenvals Ad =  
 0.471 − 0.591i 

Parte H Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kc.

(t − tr1) (t − tr2 )
( )
∆θd ( t) := θ1 − θ0 ⋅ kst⋅
tr2 − tr1
( ) ( )
⋅ Φ t − tr1 − θ1 − θ0 ⋅ kst⋅
tr2 − tr1
(
⋅ Φ t − tr2 ) (
∆θdd( j ) := ∆θd j ⋅ Tm )

tf 0 
kf := k := 0 .. kf kc := 0.5 ∆xo :=  
Tm 0 

Tarea N°1 - Solución 9 de 16 Sistemas de Control - 543 244

 ∆xd( k) := if k = 0 , ∆xo , Ad − b d⋅ cd ⋅ ka⋅ kc⋅ kst ⋅ ∆xo ...
( ) 
k
 © UdeC - DIE - 2018
 k−1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆θ ( j )

  ∑  d d d a c st d c a dd 



 j = 0  

( ) ∆w( t) := Re ∆wd  trunc 

t
∆wd ( k) := kc⋅ ∆θdd( k) − kst⋅ cd ⋅ ∆xd ( k)  ∆va( t) := ka⋅ ∆w( t)
   Tm   

 ∆x1  0 
D( t , ∆x) := Al⋅   + b ⋅ ∆v ( t) CI :=   ( )
Zp := rkfixed CI , 0 , tf , n f , D
 ∆x2  l a 0 
 

w va
98 9.8

96 9.6

94 9.4

92 9.2

90 9
w0 va0
88 8.8
0 5 10 0 5 10

teta grados omega

52 0.08
0.06
50
0.04
48 0.02
0
46
− 0.02
44 − 0.04
0 5 10 0 5 10

teta referencia
65

60

55
Tarea N°1 - Solución 10 de 16 Sistemas de Control - 543 244
 50 © UdeC - DIE - 2018

45
0 5 10

 0.415 + 0.701i 
(
eigenvals Ad − bd ⋅ cd⋅ ka⋅ kc⋅ kst =  
 0.415 − 0.701i 
) ( )
eigenvals Ad − b d ⋅ cd ⋅ ka⋅ kc⋅ kst 2 = 0.814

Given (
eigenvals Ad − b d ⋅ cd ⋅ ka⋅ kc⋅ kst 1 = 1 ) kcc := Find kc ( ) kcc = 2.327

Parte I Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kc, incluyendo retardo. kc := 0.5

( (
Adr := augment stack Ad , cd⋅ 0 , stack b d , 0 ) ( )) (
b dr := stack bd ⋅ 0 , 1 ) (
cdr := augment cd , 0 )
t − tr1 ( ) t − tr2 ( )
(
∆θd ( t) := θ1 − θ0 ⋅ kst⋅ )
tr2 − tr1
⋅ Φ t − tr1 − θ1 − θ0 ⋅ kst⋅ ( ) (
tr2 − tr1
⋅ Φ t − tr2 ) ( ) (
∆θdd( j ) := ∆θd j ⋅ Tm )

tf 0 
kf := k := 0 .. kf ∆xo :=  0 
Tm  
0 

∆xd( k) := if k = 0 , ∆xo , Adr − b dr⋅ cdr⋅ ka⋅ kc⋅ kst ⋅ ∆xo ...
( ) 
k

 k−1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆θ ( j )

 ∑  dr dr dr a c st dr c a dd 



 j = 0  

( ) ∆w( t) := Re ∆wd  trunc 

t
∆wd ( k) := kc⋅ ∆θdd( k − 1 ) − kst⋅ cdr⋅ ∆xd ( k − 1) ∆va( t) := ka⋅ ∆w( t)
Tm   
   
 ∆x1  0 
D( t , ∆x) := Al⋅   + b ⋅ ∆v ( t) CI :=   ( )
Zp := rkfixed CI , 0 , tf , n f , D
 ∆x  l a 0 
 2

Tarea N°1 - Solución 11 de 16 Sistemas de Control - 543 244

 w d © UdeC - DIE - 2018
98 9.8

96 9.6

94 9.4

92 9.2

90 9
w0 va0
88 8.8
0 5 10 0 5 10

teta grados omega

52 0.1

50
0.05
48
0
46

44 − 0.05
0 5 10 0 5 10

 0.529 + 0.724i 
eigenvals( Adr − bdr⋅ cdr⋅ ka⋅ kc⋅ kst) =  0.529 − 0.724i  ( )
eigenvals Adr − b dr⋅ cdr⋅ ka⋅ kc⋅ kst 1 = 0.897
 
 −0.115 

Given (
eigenvals Adr − b dr⋅ cdr⋅ ka⋅ kc⋅ kst 1 = 1 ) kcc := Find kc ( ) kcc = 0.996

Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kcc , incluyendo retardo.

2 ⋅ π ⋅ Tm Tosc
kc := kcc Tosc := Tosc = 1.615 = 6.459
( ( (
Im ln eigenvals Adr − bdr⋅ cdr⋅ ka⋅ kcc ⋅ kst 1 ) )) Tm

∆xd( k) := if k = 0 , ∆xo , Adr − b dr⋅ cdr⋅ ka⋅ kc⋅ kst ⋅ ∆xo ...
( ) 
k

 k−1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆θ ( j )

 ∑  dr dr dr a c st dr c a dd 


 j = 0  

Tarea N°1 - Solución 12 de 16 Sistemas de Control - 543 244

 ( ) ∆w( t) := Re ∆wd  trunc 
t
∆wd ( k) := kc⋅ ∆θdd( k − 1 ) − kst⋅ cdr⋅ ∆xd ( k − 1) ∆va( t) := ka⋅ ∆w( t)
Tm   
© UdeC - DIE - 2018
   

 ∆x1  0 
D( t , ∆x) := Al⋅   + b ⋅ ∆v ( t) CI :=   ( )
Zp := rkfixed CI , 0 , tf , n f , D
 ∆x2  l a 0 
 
w d
105 10.5

100 10

95 9.5

90 9
w0 va0

85 8.5
0 5 10 0 5 10

teta grados omega

56 0.2
54
0.1
52
50 0
48
− 0.1
46
44 − 0.2
0 5 10 0 5 10

Parte J Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kc/(z-1), incluyendo retardo.

( ( )
Adr := augment stack Ad , cd⋅ 0 , stack b d , 0 ( )) (
b dr := stack bd ⋅ 0 , 1 ) cdr := augment cd , 0 ( ) Modelo con retardo kc := 0.5

(
t − tr1 ) t − tr2 ( ) kc = 0.5
( )
∆θd ( t) := θ1 − θ0 ⋅ kst⋅
tr2 − tr1
( ) (
⋅ Φ t − tr1 − θ1 − θ0 ⋅ kst⋅ )
tr2 − tr1
⋅ Φ t − tr2 ( ) (
∆θdd( j ) := ∆θd j ⋅ Tm )

Tarea N°1 - Solución 13 de 16 Sistemas de Control - 543 244

 ( ( ) (
AdI := augment stack Adr , cdr⋅ 0 , stack b dr , 1 )) (
b dI := stack bdr⋅ 0 , 1 ) (
cdI := augment cdr , 0 ) Modelo con integrador
© UdeC - DIE - 2018
0 
 
tf
∆xo :=  
0
kf := k := 0 .. kf
Tm 0 
0 
 

∆xd( k) := if k = 0 , ∆xo , ( AdI − b dI⋅ cdI⋅ ka⋅ kc⋅ kst) ⋅ ∆xo ...
k 

 k − 1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆θ ( j ) 

  ∑  dI dI dI a c st dI c a dd 
 
 j = 0  
∆vad( k) ∆va( t)
∆va( t) := Re ∆vad trunc
t 
∆vad( k) := ∆xd( k) ∆wd ( k) := ∆w( t) :=
ka Tm    ka
3
   
 ∆x1 
D( t , ∆x) := Al⋅   + b ⋅ ∆v ( t) 0 
 ∆x  l a CI :=  
 2 0  ( )
Zp := rkfixed CI , 0 , tf , n f , D

w d
130 13

120 w1 12 va1

110 11

100 10

90 w0 9 va0

80 8
0 5 10 0 5 10

teta grados omega

80 0.4
0.3
70
0.2
60 0.1
0
50
− 0.1
40 − 0.2
0 5 10 0 5 10

Tarea N°1 - Solución 14 de 16 Sistemas de Control - 543 244

  0.806 + 0.475i  © UdeC - DIE - 2018
0.806 − 0.475i 
eigenvals( AdI − bdI⋅ cdI⋅ ka⋅ kc⋅ kst) =  ( )
eigenvals AdI − b dI⋅ cdI⋅ ka⋅ kc⋅ kst 1 = 0.935
 0.166 + 0.279i 
 0.166 − 0.279i 
 

Given ( )
eigenvals AdI − b dI⋅ cdI⋅ ka⋅ kc⋅ kst 1 = 1 kcc := Find kc ( ) kcc = 0.629

Parte K Simulación de Ecuaciones de Estado Discretas Equivalentes y Comparación en L.C., hc(z) = kcc /(z-1), incluyendo retardo.

 0.855 + 0.519i 
0.855 − 0.519i 
eigenvals( AdI − bdI⋅ cdI⋅ ka⋅ kcc ⋅ kst ) =  ( )
eigenvals AdI − b dI⋅ cdI⋅ ka⋅ kcc ⋅ kst 1 = 1
 0.116 + 0.32i 
 0.116 − 0.32i 
 
2 ⋅ π ⋅ Tm
Tosc :=
( ( ( ) ))
Im ln eigenvals AdI − bdI⋅ cdI⋅ ka⋅ kcc ⋅ kst 1
Tosc
Tosc = 2.88 = 11.521
kc := kcc Tm

∆xd( k) := if k = 0 , ∆xo , AdI − b dI⋅ cdI⋅ ka⋅ kc⋅ kst ⋅ ∆xo ...
( ) 
k

 k−1  
+ ( A − b ⋅ c ⋅ k ⋅ k ⋅ k ) k−j −1⋅ b ⋅ k ⋅ k ⋅ ∆θ ( j )

  ∑
 dI dI dI a c st dI c a dd 



 j = 0  
∆vad( k) ∆va( t)
∆va( t) := Re ∆vad trunc
t 
∆vad( k) := ∆xd( k) ∆wd ( k) :=  ∆w( t) :=
ka
3
   Tm    ka

 ∆x1 
D( t , ∆x) := Al⋅   + b ⋅ ∆v ( t) 0 
 ∆x  l a CI :=  
 2 0  (
Zp := rkfixed CI , 0 , tf , n f , D)

Tarea N°1 - Solución 15 de 16 Sistemas de Control - 543 244

 w d © UdeC - DIE - 2018
130 13

120 w1 12 va1

110 11

100 10

90 w0 9 va0

80 8
0 5 10 0 5 10

teta grados omega

80 0.4
7 7+ Tosc

70 0.2

60 0

50 − 0.2

40 − 0.4
0 5 10 0 5 10

Tarea N°1 - Solución 16 de 16 Sistemas de Control - 543 244