Control Pid Ejercicios Resueltos !!top!!

[ K_p = 0.6 \times 4 = 2.4 ] [ T_i = 0.5 \times 3.14 = 1.57 ,\texts \quad \Rightarrow \quad K_i = \fracK_pT_i = 1.53 ] [ T_d = 0.125 \times 3.14 = 0.3925 ,\texts \quad \Rightarrow \quad K_d = K_p \cdot T_d = 0.942 ]

[ G_OL(s) = \left(K_p + \fracK_is\right) \cdot \frac5s+2 = \frac5(K_p s + K_i)s(s+2) ] control pid ejercicios resueltos

Para ω=3 rad/s: Cero3.2, cero22.8 → 72.96 Polos ω²=9, polo √(10)=3.16 → 28.44 |G|=0.5 72.96/(9 3.16)=36.48/28.44=1.283 (>1) [ K_p = 0

[ 1 + G_c(s)G(s) = 0 \Rightarrow 1 + \left(K_p + \fracK_is + s\right) \cdot \frac1s(s+2) = 0 ] Multiplicando por (s^2(s+2)): [ s^2(s+2) + K_p s + K_i + s^2 = s^3 + 2s^2 + K_p s + K_i + s^2 ] [ = s^3 + 3s^2 + K_p s + K_i = 0 ] cero22.8 → 72.96 Polos ω²=9

: Se aumenta la ganancia proporcional ( Kpcap K sub p