{"id":2702,"date":"2021-12-22T21:45:26","date_gmt":"2021-12-22T21:45:26","guid":{"rendered":"https:\/\/blogs.ugto.mx\/rea\/?p=2702"},"modified":"2022-03-15T19:38:59","modified_gmt":"2022-03-15T19:38:59","slug":"clase-digital-8-controlador-pid","status":"publish","type":"post","link":"https:\/\/blogs.ugto.mx\/rea\/clase-digital-8-controlador-pid\/","title":{"rendered":"Clase digital 8. Controlador PID"},"content":{"rendered":"\n\n\n<div class=\"wp-block-cover is-light\" style=\"min-height:284px;aspect-ratio:unset;\"><span aria-hidden=\"true\" class=\"has-background-dim-40 wp-block-cover__gradient-background has-background-dim\"><\/span><img decoding=\"async\" class=\"wp-block-cover__image-background wp-image-2726\" alt=\"\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/Controlador-PID.jpg\" style=\"object-position:51% 39%\" data-object-fit=\"cover\" data-object-position=\"51% 39%\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" class=\"wp-block-cover__image-background wp-image-2726\" alt=\"\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/Controlador-PID.jpg\" style=\"object-position:51% 39%\" data-object-fit=\"cover\" data-object-position=\"51% 39%\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/Controlador-PID.jpg 1024w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/Controlador-PID-300x225.jpg 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/Controlador-PID-768x576.jpg 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/noscript><div class=\"wp-block-cover__inner-container is-layout-flow wp-block-cover-is-layout-flow\">\n<p class=\"has-text-align-center has-base-3-color has-text-color has-large-font-size wp-block-paragraph\">Controlador PID<\/p>\n<\/div><\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"introduccion\">Introducci\u00f3n<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u00a1Hola!<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Es un gusto presentarte tu \u00faltima clase de la UDA de Control Continuo, espero que sea de tu agrado.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">En esta ocasi\u00f3n veremos el tema: Controlador PID.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Un controlador o regulador PID es un dispositivo que permite controlar un sistema en lazo cerrado para que alcance el estado de salida deseado. El controlador PID est\u00e1 compuesto de tres elementos que proporcionan una acci\u00f3n Proporcional, Integral y Derivativa. Estas tres acciones son las que dan nombre al controlador PID.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Sin m\u00e1s que agregar, te invito a continuar con la clase. \u00a1\u00c9xito!<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"desarrollo-del-tema\">Desarrollo del tema <\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"control-por-retorno-de-salida\">Control por retorno de salida<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Consid\u00e9rese el sistema de control por retorno de salida<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P22-1024x296.png\" alt=\"\" class=\"wp-image-2730\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"296\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P22-1024x296.png\" alt=\"\" class=\"wp-image-2730\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P22-1024x296.png 1024w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P22-300x87.png 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P22-768x222.png 768w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P22.png 1229w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/noscript><figcaption>Imagen 1. Sistema de control por retorno de salida.<\/figcaption><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">donde:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li><strong><em>r(t)<\/em><\/strong> es la referencia a seguir.<\/li><li><strong><em>y(t)<\/em><\/strong> es la salida medida.<\/li><li><strong><em>e(t)<\/em><\/strong> es la se\u00f1al de error.<\/li><li><strong><em>u(t)<\/em><\/strong> es la entrada de control.<\/li><li><strong><em>G(s)<\/em><\/strong> es la funci\u00f3n de transferencia del proceso de inter\u00e9s.<\/li><li><strong><em>K(s)<\/em><\/strong> es la funci\u00f3n de transferencia del controlador.<\/li><\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"sistema-de-lazo-cerrado\">Sistema de lazo cerrado<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">El sistema en lazo cerrado se representa como:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P2.png\" alt=\"\" class=\"wp-image-2705\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"924\" height=\"252\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P2.png\" alt=\"\" class=\"wp-image-2705\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P2.png 924w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P2-300x82.png 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P2-768x209.png 768w\" sizes=\"auto, (max-width: 924px) 100vw, 924px\" \/><\/noscript><figcaption>Imagen 2. Sistema de lazo cerrado.<\/figcaption><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">donde:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P3.png\" alt=\"\" class=\"wp-image-2706\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"569\" height=\"152\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P3.png\" alt=\"\" class=\"wp-image-2706\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P3.png 569w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P3-300x80.png 300w\" sizes=\"auto, (max-width: 569px) 100vw, 569px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">es la funci\u00f3n de transferencia en lazo cerrado.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">El objetivo de control es dise\u00f1ar <strong><em>K(s)<\/em><\/strong> tal que <strong><em>y(t)<\/em><\/strong> tienda a <strong><em>r(t)<\/em><\/strong> en estado estacionario.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"error-en-estado-estacionario\">Error en estado estacionario<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">El error <strong><em>E(s)<\/em><\/strong> est\u00e1 dado por:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P4.png\" alt=\"\" class=\"wp-image-2707\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"591\" height=\"134\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P4.png\" alt=\"\" class=\"wp-image-2707\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P4.png 591w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P4-300x68.png 300w\" sizes=\"auto, (max-width: 591px) 100vw, 591px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">El error en estado estacionario <strong><em>e<sub>ss<\/sub><\/em><\/strong> se obtiene usando el teorema de valor final<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P5-1024x130.png\" alt=\"\" class=\"wp-image-2708\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"130\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P5-1024x130.png\" alt=\"\" class=\"wp-image-2708\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P5-1024x130.png 1024w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P5-300x38.png 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P5-768x98.png 768w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P5.png 1165w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"referencia-tipo-escalon\">Referencia tipo escal\u00f3n<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Sea la funci\u00f3n de transferencia en lazo abierto <strong><em>G(s)<\/em><\/strong> descrita por:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P6-1024x165.png\" alt=\"\" class=\"wp-image-2709\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"165\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P6-1024x165.png\" alt=\"\" class=\"wp-image-2709\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P6-1024x165.png 1024w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P6-300x48.png 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P6-768x124.png 768w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P6.png 1026w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Consid\u00e9rese un escal\u00f3n de amplitud <strong><em>A<\/em><\/strong> con transformada de Laplace<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P8.png\" alt=\"\" class=\"wp-image-2711\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"757\" height=\"141\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P8.png\" alt=\"\" class=\"wp-image-2711\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P8.png 757w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P8-300x56.png 300w\" sizes=\"auto, (max-width: 757px) 100vw, 757px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">por:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P9.png\" alt=\"\" class=\"wp-image-2712\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"489\" height=\"83\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P9.png\" alt=\"\" class=\"wp-image-2712\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P9.png 489w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P9-300x51.png 300w\" sizes=\"auto, (max-width: 489px) 100vw, 489px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"control-proporcional\">Control proporcional<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Consid\u00e9rese un controlador Proporcional<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P10.png\" alt=\"\" class=\"wp-image-2713\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"312\" height=\"83\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P10.png\" alt=\"\" class=\"wp-image-2713\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P10.png 312w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P10-300x80.png 300w\" sizes=\"auto, (max-width: 312px) 100vw, 312px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">con funci\u00f3n de transferencia <strong><em>K(s) = K<sub>p<\/sub><\/em><\/strong>. De forma que ke est\u00e1 dada por:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P11-1024x236.png\" alt=\"\" class=\"wp-image-2714\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"236\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P11-1024x236.png\" alt=\"\" class=\"wp-image-2714\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P11-1024x236.png 1024w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P11-300x69.png 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P11-768x177.png 768w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P11.png 1278w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Por lo tanto:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P12.png\" alt=\"\" class=\"wp-image-2715\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"389\" height=\"158\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P12.png\" alt=\"\" class=\"wp-image-2715\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P12.png 389w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P12-300x122.png 300w\" sizes=\"auto, (max-width: 389px) 100vw, 389px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"controlador-proporcional-integral\">Controlador proporcional-integral<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Consid\u00e9rese ahora un controlador Proporcional-Integral<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P13.png\" alt=\"\" class=\"wp-image-2716\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"148\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P13.png\" alt=\"\" class=\"wp-image-2716\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P13.png 720w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P13-300x62.png 300w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">con funci\u00f3n de transferencia<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P14.png\" alt=\"\" class=\"wp-image-2717\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"372\" height=\"101\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P14.png\" alt=\"\" class=\"wp-image-2717\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P14.png 372w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P14-300x81.png 300w\" sizes=\"auto, (max-width: 372px) 100vw, 372px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">est\u00e1 dada por:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P15-1024x200.png\" alt=\"\" class=\"wp-image-2718\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"200\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P15-1024x200.png\" alt=\"\" class=\"wp-image-2718\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P15-1024x200.png 1024w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P15-300x59.png 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P15-768x150.png 768w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P15.png 1257w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Por lo tanto:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P16.png\" alt=\"\" class=\"wp-image-2719\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"399\" height=\"145\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P16.png\" alt=\"\" class=\"wp-image-2719\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P16.png 399w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P16-300x109.png 300w\" sizes=\"auto, (max-width: 399px) 100vw, 399px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"controlador-proporcional-integral-declarativo\">Controlador proporcional-integral-declarativo<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Finalmente, consid\u00e9rese un controlador Proporcional-Integral-Derivativo<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P17.png\" alt=\"\" class=\"wp-image-2721\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"953\" height=\"147\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P17.png\" alt=\"\" class=\"wp-image-2721\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P17.png 953w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P17-300x46.png 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P17-768x118.png 768w\" sizes=\"auto, (max-width: 953px) 100vw, 953px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">con funci\u00f3n de transferencia:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P18.png\" alt=\"\" class=\"wp-image-2722\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"572\" height=\"95\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P18.png\" alt=\"\" class=\"wp-image-2722\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P18.png 572w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P18-300x50.png 300w\" sizes=\"auto, (max-width: 572px) 100vw, 572px\" \/><\/noscript><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">La acci\u00f3n derivativa permite predecir y corregir los sobre impulsos de la respuesta del sistema en lazo cerrado.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"objetivo-de-diseno\">Objetivo de dise\u00f1o<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">A partir de un sistema de control por retorno de salida<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P21-1-1024x296.png\" alt=\"\" class=\"wp-image-2729\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"296\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P21-1-1024x296.png\" alt=\"\" class=\"wp-image-2729\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P21-1-1024x296.png 1024w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P21-1-300x87.png 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P21-1-768x222.png 768w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P21-1.png 1232w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/noscript><figcaption>Imagen 3. Sistema de control por retorno de salida.<\/figcaption><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Dise\u00f1ar <strong><em>K(s)<\/em><\/strong> tal que las din\u00e1micas del sistema en lazo cerrado<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img decoding=\"async\" src=\"data:image\/gif;base64,R0lGODlhAQABAIAAAAAAAP\/\/\/yH5BAEAAAAALAAAAAABAAEAAAIBRAA7\" data-src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P20.png\" alt=\"\" class=\"wp-image-2724\" \/><noscript><img loading=\"lazy\" decoding=\"async\" width=\"927\" height=\"252\" src=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P20.png\" alt=\"\" class=\"wp-image-2724\" srcset=\"https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P20.png 927w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P20-300x82.png 300w, https:\/\/blogs.ugto.mx\/rea\/wp-content\/uploads\/sites\/71\/2021\/11\/UDA_ControlContinuo_C8P20-768x209.png 768w\" sizes=\"auto, (max-width: 927px) 100vw, 927px\" \/><\/noscript><figcaption>Imagen 4. Sistema de lazo cerrado.<\/figcaption><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">sean asint\u00f3ticamente estables y tales que <strong><em>y(t)<\/em><\/strong> tienda asint\u00f3ticamente a <strong><em>r(t)<\/em><\/strong>.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"conclusion\">Conclusi\u00f3n <\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">En conclusi\u00f3n, el controlador puede proveer una acci\u00f3n de control adaptada a los requerimientos del proceso en espec\u00edfico. La respuesta del controlador puede describirse en t\u00e9rminos de respuesta del control ante un error, el grado el cual el controlador sobrepasa el punto de ajuste, y el grado de oscilaci\u00f3n del sistema.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u00a1Has concluido la \u00faltima clase del curso! \u00a1Muchas felicidades! Ha sido un gozo compartir contigo este trayecto formativo. Deseo que la UDA haya cumplido con tus expectativas y encuentres satisfacci\u00f3n con los temas abordados, as\u00ed como con tu desempe\u00f1o y compromiso. No olvides realizar tu proyecto para la plena conclusi\u00f3n del curso. Espero encontrarte nuevamente, \u00a1hasta pronto!<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Introducci\u00f3n \u00a1Hola! Es un gusto presentarte tu \u00faltima clase de la UDA de Control Continuo, espero que sea de tu agrado. En esta ocasi\u00f3n veremos el tema: Controlador PID. Un controlador o regulador PID es un dispositivo que permite controlar un sistema en lazo cerrado para que alcance el estado de salida deseado. El controlador &#8230; <a title=\"Clase digital 8. Controlador PID\" class=\"read-more\" href=\"https:\/\/blogs.ugto.mx\/rea\/clase-digital-8-controlador-pid\/\" aria-label=\"Leer m\u00e1s sobre Clase digital 8. Controlador PID\">Leer m\u00e1s<\/a><\/p>\n","protected":false},"author":142,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_crdt_document":"","episode_type":"","audio_file":"","podmotor_file_id":"","podmotor_episode_id":"","cover_image":"","cover_image_id":"","duration":"","filesize":"","filesize_raw":"","date_recorded":"","explicit":"","block":"","itunes_episode_number":"","itunes_title":"","itunes_season_number":"","itunes_episode_type":"","footnotes":""},"categories":[17,30],"tags":[41,100,106],"class_list":["post-2702","post","type-post","status-publish","format-standard","hentry","category-ingenieria-en-comunicaciones-y-electronica","category-uda-control-continuo","tag-clase-digital","tag-iili04029","tag-jesus-ixbalank-torres-zuniga-2"],"acf":[],"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/posts\/2702","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/users\/142"}],"replies":[{"embeddable":true,"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/comments?post=2702"}],"version-history":[{"count":8,"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/posts\/2702\/revisions"}],"predecessor-version":[{"id":9373,"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/posts\/2702\/revisions\/9373"}],"wp:attachment":[{"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/media?parent=2702"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/categories?post=2702"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blogs.ugto.mx\/rea\/wp-json\/wp\/v2\/tags?post=2702"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}