TM HIU V S n NH H THNG

Cc tiu ch nh gi mt h thng c xy dng theo 3 tiu chun *Tnh n nh ca h thng(tiu ch u tin) * chnh xc tnh hay chnh xc t c ch xc lp * chnh xc ng hay tc p ng(p ng nhanh hay chm) Ta bit rng h thng iu khin t ng vng kn c nhiu u im l -iu khin chnh xc vng h -C th kh c tc ng bn ngoi (nhiu) lm nh hng h -To kh nng h p ng nhanh hn.

Cc u im ny th hin cng tt nu nh h thng vng kn lun khng mat n nh .Trong thc t ta s thy sau ny,khi tng h s khuch i qu ln trong h m th c th gim c sai s ch xc lp,tng chnh xc iu khin nhng d xut hin nhng dao ng i lng u ra m ta khng th iu khin c v c th gy ra nguy him cho qu trnh vn hnh h thng .v vy cn phi bit r nhng iu kin n nh v tnh n nh ca h trc khi vn hnh h thng.

1.NH TH NO GI L MT H
THNG n NH ?
1.1 khi nim v n nh ca Liapunov. Theo Liapunov:n nh h l kh nng tr v trng thi cn bng ca h sau khi kt thc cc tc ng bn ngoi lm cho n ri kh trng thi

Th d minh hoa cho s n nh

2.Nu h thng khng n nh th x l nh th no?

Trc tin ta i nghin cu h thng nh th no l n nh. bit h thng c n nh hay khng ta phi bit c hm truyn t ca h thng.

Hm truyn t mt s ng c thng gp

Tiu chun n nh i s

Th d 2(tt)

 h thng n nh ta thit k b hiu chnh PID