Prctica

Ejercicio 1

m=1000;b=50;r=10; s=tf('s');P_cruise=1/(m*s+b); Kp=3000;Ki=50;Kd=10;C=Kp+Ki/s+Kd*sT=feedback(C*P_cruise,1);t=0:0.1:20;step(r*T,t)axis([0 5 0 20])

Ejercicio 2J=0.01;b=0.1;Ke=0.01;Kt=0.01;R=1;L=0.5; s=tf('s');P_cruise=Ke/((J*s+b)*(L*s+R)+Ke^2);Kp=1000;Ki=50;Kd=100;C=Kp+Ki/s+Kd*sT=feedback(C*P_cruise,1);t=0:0.1:20;step(r*T,t)axis([0 5 0 20])

>> stepinfo(T)ans = RiseTime: 0.0113 SettlingTime: 0.0227 SettlingMin: 0.9015 SettlingMax: 0.9903 Overshoot: 0 Undershoot: 0 Peak: 0.9903 PeakTime: 0.1556