Practica#1 Teoria de Control y Robotica

 

@eauhtel lm Mstuljfs Qupmrjfrms Aueutjthåk Aueutjthåk  

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]KJPM^QJLEL KEAJFKEH E]\FKFBE LM BMSJAF

@EA]H\EL LM MQ\]LJFQ Q]_M^JF^MQ A]E]\J\HEK JKDMKJM^JE JKDMKJM^J E BMAEKJAE MHMA\^JAE MHMA\ ^JAE \MF^JE LM AFK\^FH Z ^FNF\JAE _^EA\JAE#57 JK\^FL]AAJÑK JK\^FL]AAJÑK EH QJQ\MBE LM QJB]HEAJÑK LM AJ^A]J\FQ MHMA\^ÑKJAFQ D]WBEK D]WBE K ^MZMQ GEPJM^ G EPJM^ EHMGEKL^F PJA\F^ EHNM^\F DFKWEHMW BE^\JKMW D^]_F7>3?>-M >?>?->

_råatjae 5  5 

5 

 

@eauhtel lm Mstuljfs Qupmrjfrms Aueutjthåk Aueutjthåk  

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Henfretfrjf lm \mfrâe lm Afktrfh y ^fnñtjae ^fnñtjae   _råatjae 5  5  Jktrfluaajñk eh sjstmbe lm sjbuheajñk lm ajraujtfs mhmatrñkjafs  mhmatrñkjafs 

\mbe \mbe   5.5. Lm`jkjajfkms.

Fngmtjvfs  Fngmtjvfs  Eh têrbjkf lm mste pråatjae mh ehubkf7  

Msterå `ebjhjerjzelf afk mh ebnjmktm lm sjbuheajñk y erbelf lm ajraujtfs mhmatrñkjafs bmljektm mh usf lm sf`twerm.

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_flrå afkfamr mh afbpfrtebjmktf jlmeh lm ehdukfs ajraujtfs mhmatrñkjafs nåsjafs pere pflmr afbpererhfs afk hfs rmsuhtelfs pråatjafs lm hfs ajraujtfs erbelfs mk henfretfrjf afbprfneklf esâ hfs rmsuhtelfs.

Jktrfluaajñk Jktrfluaajñk   Jklustrje P y uke `rmaumkaje lm 5icz. He `umktm smkfjleh sm mkaumktre lmktrf lm he fpajñk

_råatjae 5  5 

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@eauhtel lm Mstuljfs Qupmrjfrms Aueutjthåk Aueutjthåk  

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‘Dmkmretfr Bflm‒ afk mh kfbnrm ‘Qjkm‒ y sus peråbmtrfs pumlmk egustersm ceajmklf lfnhm  lfnhm   ahja sfnrm mh mhmbmktf. 53.  Edrmdum eh ljsmõf uk fsajhfsafpjf pere fnsmrver hes smõehms smkfjlehms lmktrf lmh ajraujtf. He `jdure 5.51 bumstre mh jafkf lmh fsajhfsafpjf qum pumlm fntmkmrsm lm he nerre lm cmrrebjmktes lm he fpajñk ‘Pjrtueh ‘Pjrtueh  Jkstrubmkts‒. Jkstrubmkts‒. Aele  Aele uke lm hes tmrbjkehms afrrmspfklm e uk aekeh ljstjktf lmh fsajhfsafpjf y he vmkteke lmh fsajhfsafpjf sm enrjrå f amrrerå eutfbåtjaebmktm eh jkjajer f lmtmkmr he sjbuheajñk.

@jdure 5.51. Mh fsajhfsafpjf lmktrf lmh sjbuhelfr.

5:.  Ekftm sus afbmkterjfs lm hf fnsmrvelf y dre`jqum hes smõehms lm hfs puktfs lm bmljajñk lm vfhtegm 5 eh < utjhjzeklf mh fsajhfsafpjf vjrtueh. _råatjae 5  5 

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@eauhtel lm Mstuljfs Qupmrjfrms Aueutjthåk Aueutjthåk  

]KEB ]KEB  

>?.  Bflj`jqu Bflj`jqum m mh vehfr lm hes rmsjstmkajes afbf sm jkljae e afktjkueajñ afktjkueajñk k mk mh ajraujtf lm he `jdure 5.5>, rmpjtjmklf hfs pesf 5:, fnsmrvm y dre`jqum hes smõehms P5, P>, P1 y P< eaftåklfhes afrrmatebmktm ^5 pfr uke rmsjstmkaje ^ 52 pfr uke rmsjstmkaje ^ >2=.0i℠ ^1 pfr uke rmsjstmkaje ^ 121.:i℠ ^< pfr uke rmsjstmkaje ^i℠ 25.>i℠  

>5.  Erber mh ajraujtf lm he `jdure 5.5)  ¶Uuê ftre fpajñk lm sjbuheajñk prmsmkte mh sf`twerm _rftmus elmbås lm hes vjstes mk he pråatjae6

Mh _rjktml Ajraujt Nferl (_AN),tebnjêk sm pumlmk ceamr ekåhjsjs lm LA y lm `rmaumkaje mk hes sjbuheajfkms. 1)  ¶Mk quê hjnrmrâe sm mkaumktre mh AJ HB4