𝑥1ሶ 0 1 0 𝑥1 𝛽1 𝑥1
𝑥2ሶ = 0 0 1 𝑥2 + 𝛽2 𝑢 𝑦= 1 0 0 𝑥2 + 𝛽0 𝑢
𝑥3ሶ −𝑎3 −𝑎2 −𝑎1 𝑥3 𝛽3 𝑥3
EE-615N
Ejemplo para Laboratorio
𝑎1 = 10 𝑏0 = 𝑏1 = 0
𝑦ഺ + 10𝑦ሷ + 24𝑦ሶ + 0𝑦 = 0ഺ
𝑢 + 0𝑢ሷ + 10𝑢ሶ + 20𝑢
𝑎2 = 24 𝑏2 = 10
𝑎3 = 0 𝑏3 = 20
𝛽0 = 𝑏0 = 0
𝛽1 = 𝑏1 − 𝑎1 𝛽0 = 0 − 10 0 = 0
𝛽2 = 𝑏2 − 𝑎1 𝛽1 − 𝑎2 𝛽0 = 10 − 10 0 − 24 0 = 10
𝛽3 = 𝑏3 − 𝑎1 𝛽2 − 𝑎2 𝛽1 − 𝑎3 𝛽0 = 20 − 10 10 − 24 0 − 0 0 = −80
𝑥1ሶ 0 1 0 𝑥1 0 𝑥1
𝑥2ሶ = 0 0 1 𝑥2 + 10 𝑢 𝑦= 1 0 0 𝑥2
𝑥3ሶ 0 −24 −10 𝑥3 −80 𝑥3
EE-615N
5
6 𝑢 𝑠 L
-1
𝑥ሶ 1 𝑡 =
5
𝑢 𝑡
𝑥1 𝑠 = 6
𝑠
5
2 𝑢 𝑠 L
-1
𝑥ሶ 2 𝑡 = −4𝑥2 𝑡 +
5
𝑢 𝑡
𝑥2 𝑠 = 2
𝑠+4
10
− 3 𝑢 𝑠 -1
𝑥3 𝑠 = L 𝑥ሶ 3 𝑡 = −6𝑥2 (𝑡) −
10
𝑢 𝑡
𝑠+6 3
𝑥1ሶ 0 0 0 𝑥1 5/6 𝑥1
𝑥2ሶ = 0 −4 0 𝑥2 + 5/2 𝑢 𝑦= 1 1 1 𝑥2
𝑥3ሶ 0 0 −6 𝑥3 −10/3 𝑥3
EE-615N
0 0 0 5/6
𝐴 = 0 −4 0 𝐵 = 5/2 𝐶= 1 1 1 𝐷=0
0 0 −6 −10/3
𝑠 0 0 0 0 0 𝑠 0 0
𝑠𝐼 − 𝐴 = 0 𝑠 0 − 0 −4 0 = 0 𝑠+4 0
0 0 𝑠 0 0 −6 0 0 𝑠+6
1/𝑠 0 0
𝑠𝐼 − 𝐴 −1 = 0 1/(𝑠 + 4) 0
0 0 1/(𝑠 + 6)
1/𝑠 0 0 5/6
𝐶 𝑠𝐼 − 𝐴 −1 𝐵 = 1 1 1 0 1/(𝑠 + 4) 0 5/2
0 0 1/(𝑠 + 6) −10/3
Efectuando obtenemos:
10(𝑠 + 2)
𝐹. 𝑇. (𝑠) =
𝑠(𝑠 + 4)(𝑠 + 6)
MODELAMIENTO DE UN MOTOR D.C.
En el espacio de estados: