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-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)

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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)

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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