CHNG 1: M HNH H THNG

H thng iu khin bao gm h thng c iu khin

(plant, process, controlled system), b iu khin
(controller) v cc phn t lin quan nhm thc hin mt
nhim v no
u
y
x
| |
| |
| |
T
n
T
s
T
r
x x x x
y y y y
u u u u
,..., ,
,..., ,
,..., ,
2 1
2 1
2 1
=
=
=
x: trng thi trong ca h thng,
y: vect tn hiu ra,
u: vect tn hiu vo
M hnh ton l biu din ton hc ca h thng k thut,
dng m phng, phn tch v tng hp b iu khin cho
h thng

CHNG 1: M HNH H THNG
Phn loi m hnh
M hmh tuyn tnh
M hnh phi tuyn
M hnh lin tc
M hnh rI rc
M hnh SISO
M hnh MIMO








M HNH TUYN TNH
Nu y
i
l p ng ca tn hiu vo u
i
th p ng ca
u = Ea
i
u
i
l y = Ea
i
y
i
Tinh cht xp chng cho php kho st p ng h thng
vi mt vi tn hiu c bit nh xung n v, nc n v
M hnh tuyn tnh vi mt ng vo v mt ng ra gi l
h SISO (single input-single output)
Nu tn hiu vo l lin tc ta c h tuyn tnh lin tc





Nu tn hiu vo l ri rc ta c h tuyn tnh ri rc
PHNG TRNH VI PHN
H SISO lin tc m t bi phng trnh vi phn


m
m
m
n
n
n
dt
u d
b
dt
du
b u b
dt
y d
a
dt
dy
a y a + + + = + + + ... ...
1 0 1 0
Nu h s a
i
b
i
l hng s, h gi l h tuyn tnh bt bin
Nu h s a
i
b
i
theo bin t th ta c h tuyn tnh khng dng,
nu chng ph thuc cc i s khc ta gi l h tuyn tnh vi
thng s ri.
Tm p ng y theo u vi phng trnh vi phn c bc n>2 l
bi ton kh.
Chuyn m hnh sang dng hm truyn hay phng trnh trng
thi.

HM TRUYN SISO
1/Bin i Laplace
Cho tn hiu x(t) tha mn
x(t) =0 vi t<0
x(t) lin tc tng khc


Bin i Laplace ca x(t) l



V bin i Laplace ngc ca X(s)




s = o +jw, c >o
0 , ) (
0
> <
}

o
o
dt e t x
t
| |
}
= =

0
) ( x(t) L ) ( dt e t x s X
st
| |
}
= =
+

j c
j c
st
ds e s X
j
s X t x ) (
2
1
) ( L ) (
1 -
t
HM TRUYN SISO
2/ Cc nh l bin i Laplace
Tuyn tnh






) ( ) ( ) (
) ( ) ( ) (
s bY s aX s Z
t by t ax t z
+ =
+ =
n
n
dt
t f d ) (
) 0 ( ) 0 ( ... ) 0 ( ) 0 ( ) (
) 1 ( ) 2 ( ) 1 ( 2 1

n n n n n
f sf f s f s s F s
0
) (
) (
) 0 (
=
=
t
k
k
k
dt
t f d
f
Bin i ca vi phn
l
vi

HM TRUYN SISO
Bin i ca tch phn l

Bin i ca tch phn bi bc n l

Bin i ca hm tr l

Bin i ca l

Bin i ca l


Bin i ca tch chp l


GiI hn cui l
Ga tr u l
t t
}
t
d f
0
) (
s
s F ) (
n
s
s F ) (
) ( T t f
sT
e s F

) (
) (t f t
n
n
n
n
ds
s F d ) (
) 1 (
at
e t f

) ( ) ( a s F +
t t t d t y x ) ( ) (
}
+

) ( ) ( s Y s X
t t x ), (
x(t), t 0
lim sX(s), s
lim sX(s), s0
HM TRUYN SISO
3/ Bng bin i


Hm thi gian Bin i Laplace
Xung n v o(t) 1
Nc n v u
1
(t)

Dc n v t





s
1
2
1
s
n
t
1
!
+ n
s
n
at
e

a s +
1
HM TRUYN SISO
3/ Bng bin i


Hm thi gian Bin i Laplace








at n
e t

( )
1
!
+
+
n
a s
n
( )
bt at
e e
a b

1
) )( (
1
b s a s + +
( )
at bt
ae be
a b

1
) )( ( b s a s
s
+ +
( )
at
e
a

1
1
) (
1
a s s +
HM TRUYN SISO
3/ Bng bin i


Hm thi gian Bin i Laplace






sin at

( )
at at
ate e
a

1
1
2
2
) (
1
a s s +
( )
at
e at
a

+ 1
1
2
) (
1
2
a s s +
2
) ( a s
s
+
( )
at
e at

1
2 2
2
a s
a
+
HM TRUYN SISO
3/ Bng bin i

Hm thi gian Bin i Laplace
cos at
1- cos at

2 2
a s
s
+
) (
2 2
2
a s s
a
+
) 1 (
2
2 2
2
<
+ +
b
a bas s
a
2
2
1 sin
1
b at e
b
a
abt

) 1 (
2
2 2
2
<
+ +
b
a bas s
sa
) 1 ( cos
) 1 sin(
1
1
2
2
2
< =

b b
b at e
b
a
abt
u
u
HM TRUYN SISO
4/ Hm truyn h SISO
Cho h thng m t bi phng trnh vi phn


Ly bin i Laplace hai v vi gi s iu kin u bng 0


Hm truyn h thng l



Hm truyn l hm theo bin phc s, l phn s thc- hu t
Hm truyn l hp thc (proper) nu m s n v hp thc cht (strictly
proper) nu m<n , r=n-m gi l bc tng i ca h
Hm truyn l bn nu nghim ca a thc mu s c phn thc m
Hm truyn thc- hu t, hp thc cht, bn l pha cc tiu nu cc
nghim ca t s c phn thc m

m
m
m
n
n
n
dt
u d
b
dt
du
b u b
dt
y d
a
dt
dy
a y a + + + = + + + ... ...
1 0 1 0
) ( ) ... ( ) ( ) .. (
1
1 1 0
1
1 1 0
s U s b s b s b b s Y s a s a s a a
m
m
m
m
n
n
n
n
+ + + + = + + + +

0 1
1
1
0 1
1
1
...
...
) (
) (
) (
a s a s a s a
b s b s b s b
s U
s Y
s G
n
n
n
n
m
m
m
m
+ + + +
+ + + +
= =

HM TRUYN SISO
5/ p ng
Hm trng lng g(t) l p ng y(t) khi tn hiu vo l hm xung n
v o(t), l bin i Laplace ngc ca hm truyn G(s)
Hm qu h(t) l p ng y(t) khi tn hiu vo l hm nc n v 1(t),
l bin i Laplace ngc ca hm truyn H(s) = G(s)/s
Mun tm bin i Laplace ngc ca phn s hu t H(s) theo s ta
phn tch thnh cc hm phn thc ti gin



A, A
ki
, B
k
, C
k
l hng s, a
k
l cc thc (nghim mu s) bc bi r
k
, o
k
j|
k
l cc phc.
Tra bng tm cc hm thi gian tng ng

+
+
+

+ =
= = =
q
k
k k
k k k k
l
k
r
i
i
k
ki
s
C s B
a s
A
A s H
k
1
2
2
1 1 ) (
) (
) (
) (
| o
| o
HM TRUYN SISO
Trng hp nghim n p
i

n
n
p s
r
p s
r
s G

+ +

= .. ) (
1
1
Cc s r
i
gi l thng d

i
p s i i
s G p s r
=
= | ) ( ) (
Trng hp nghim bi, thc p
1
bc q
n
n
q
q
q
q
q
q
p s
r
p s
r
p s
r
p s
r
p s
r
p s
r
s G

+ +

=
+
+

..
) ( ) (
..
) (
) (
1
1
1
) ( 1
1
1
) 1 ( 1
2
1
12
1
11
1 ,..., 2 , 1 , 0 , | )] ( ) [(
!
1
1
1 ) ( 1
= =
=
q i s G p s
ds
d
i
r
p s
q
i
i
i q
Dng MATLAB
[r,p,k]=residue([1],[1 1.5 1])

r =
0 - 0.7559i
0 + 0.7559i

p =
-0.7500 + 0.6614i
-0.7500 - 0.6614i
k =
[]
HM TRUYN SISO
5/ p ng
Dng cc bin i sau:




V d: cho hm truyn



Ta tnh c:

) ( 1 ) )) sin( ) cos( ( }
) (
) (
{
) ( 1
)! 1 (
}
) (
{
) ( } {
2
2
1
1
1
1
t e t C t B
s
C s B
t
i
e t
A
a s
A
t A A
t
k k k k
k k
k k k k
t a i
ki
i
k
ki
k
k
o
| |
| o
| o
o
+ =
+
+

=

L
L
L
] 4 ) 1 [( 5
) 1 ( 3
] 4 ) 1 [( 10
2 . 3 6 . 0
) 5 2 (
3
) (
2 2 2
+ +
+

+ +
=
+ +
=
s
s
s s s s s
s G
) 2 cos( 5 . 0 ) 2 sin( 3 . 0 6 . 0 ) ( t e t e t g
t t
=
HM TRUYN SISO
p ng xung c dng
C th dng Matlab v p ng
ts=[3];
ms=[1 2 5 0];
ht=tf(ts,ms);
y=impulse(ht);
z=step(ht);
hold on
plot(y)
plot(z)
Dng cng c Symbolic Math Toolbox tm biu thc ton hc
>>syms t s;
>> ht=3/(s^3+2*s^2+5*s);
>> g=simplify(ilaplace(ht,t))
g =
3/5-3/5*exp(-t)*cos(2*t)-3/10*exp(-t)*sin(2*t)

0 20 40 60 80 100 120
0
1
2
3
4
5
6
HM TRUYN MIMO
Vi h c p u vo v q u ra, hm truyn gia ng vo th i v ng
ra th j l


Dng k hiu vect ta c











G(s) l ma trn hm truyn q hng p ct



j k s U
s U
s Y
s G
k
j
i
ij
= = = , 0 ) ( ,
) (
) (
) (
| |
| |
(
(
(

=
=
=
=
) ( )... ( ) (
) ( )... ( ) (
) ( )... ( ) (
) (
) ( ) ( ) (
) ( ... ) ( ) ( ) (
) ( ... ) ( ) ( ) (
2 1
2 22 21
1 12 11
2 1
2 1
s G s G s G
s G s G s G
s G s G s G
s G
s U s G s Y
s U s U s U s U
s Y s Y s Y s Y
qp q q
p
p
T
p
T
q
PHNG TRNH TRNG THI
H thng c biu th bi p ng ra y theo tn hiu vo u, p ng
ra l nhng tn hiu o c, ngoi ra cn nhng trng thi bn trong x
ca h thng thay i theo tn hiu vo, x l vect trng thi c th c
mt vi thnh phn khng o c, hoc c mt vi thnh phn trng
vi mt vi thnh phn ca vect ng ra y
Vi h c n bin trng thi, p ng vo v q ng ra, ta c phng trnh
trng thi



A: ma trn n*n, B: ma trn n*p,
C: ma trn q*n, D: ma trn q*p
Cc ma trn gm cc s hng thc, c th l hng s, thay i theo
thi gian hay theo mt i s
Du Cx y
Bu Ax
dt
dx
x
+ =
+ = =
PHNG TRNH TRNGTHi
Thnh lp phng trnh trng thi t hm truyn
C nhiu phng php thnh lp pttt
Dng companion th nht (dng chnh tc iu khin)












n
n
n
n
n
n
n
n
n
n
b
a s a s a s a s
b s b s b s b
s U
s Y
s G +
+ + + + +
+ + + +
= =

0 1
2
2
1
1
0 1
2
2
1
1
...
...
) (
) (
) (
) ( ) (
) (
1
) (
) (
... ) (
) (
) (
0 1
1
1
s U b s U
s A
b s U
s A
s
b s U
s A
s
b s Y
n
n
n
+ + + + =

Cho h SISO c hm truyn bc n

Gi A(s) a thc mu s, Y(s) vit li l
t cc bin trng thi nh sau:

PHNG TRNH TRNGTHi
u b x b x b x b y
u x a x a x a x
s U
s
s A
s X
x x x x x x
s sX s U
s A
s
s X
s sX s U
s A
s
s X s U
s A
s X
n n n n n
n n n
n
n
n n
n
n
n
+ + + + =
+ =
=
= = =
= =
= = =

1 0 1 2 1
1 2 1 1 0
1
1 3 2 2 1
..
..
) (
) (
) (
,..., ,
ra suy
) ( ) (
) (
) (
),..., ( ) (
) (
) ( ), (
) (
1
) (
1
1
1 2 1

PHNG TRNH TRNGTHI
Vit li di dng pttt, ta c cc ma trn











(
(
(
(
(
(

=
1 2 1 0
.
1 0 0 0 0
0 1 .. 0 0
. . .. . .
0 0 ... 1 0
n n
a a a a
A
| |
T
B 1 ... 0 0 =
| |
1 1 0
..

=
n
b b b C
| |
n
b D =
x l vect n chiu, u v y l v hng
Cc h s ca a thc mu s c o du v xut hin
hng cui ca A, C cha cc h s ca t s
PHNG TRNH TRNGTHI
V d:
Cho hm truyn


20 24 9
3
) (
2 3
+ + +
+
=
s s s
s
s G
| |
(
(
(

=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

3
2
1
3
2
1
3
2
1
0 1 3
1
0
0
9 24 20
1 0 0
0 1 0
x
x
x
y
u
x
x
x
x
x
x

Ta c pttt

PHNG TRNH TRNGTHI
Dng companion th hai (dng chnh tc quan st)

| | | |
n
n n
b D C
b
b
b
b
B
a
a
a
a
A
= =
(
(
(
(
(
(

=
(
(
(
(
(
(

=

; 1 0 .. 0 0
.
;
1 .. 0 0
. . . . .
0 .. 1 0
0 .. 0 1
0 .. 0 0
1
2
1
0
1
2
1
0
PHNG TRNH TRNG THI
Dng chnh tc Jordan

n
n
n
s
r
s
r
s
r
b s G

+ +

+ = .. ) (
2
2
1
1
n
n n
s
s U
r
s
s U
r s U b s Y

+ +

+ =
) (
..
) (
) ( ) (
1
1
t cc bin trng thi nh sau:

u x x u x x
s
s U
s X
i i i
+ = + =

; ;
) (
) (
1 1 1
1
1
Phn tch hm truyn thnh tng cc phn s theo cc
nghim ca a thc mu s.
Ga s cc nghim l n

PHNG TRNH TRNG THI
Dng chnh tc Jordan

| | ] [ ; ..
1
:
1
1
;
.. 0 0
0 :: : :
0 .. 0
0 .. 0
2 1
2
1
n n
n
b D r r r C
B A
= =
(
(
(
(

=
(
(
(
(

Trng hp

G(s) c m cc bi phn bit
1
,
2,
,
m
vi
bi n
1
, n
2
,,n
m
; n = n
1
+ n
2
+ +n
m
, phn tch thnh phn s
ring

) (
...
) ( ) (
) (
) ( ... ) ( ) (
1
2 1
1
i
in
n
i
i
n
i
i
i
m n
s
r
s
r
s
r
s H
s H s H b s G
i
i i

+ +

=
+ + + =

PHNG TRNH TRNG THI

Vi mi H
i
lin kt phng trnh trng thi bc n
i

| |
| |
i
i
in i i i
i
i
i
i
i
i
i
i i i
i i i i
T
in i i i
r r r c
b
x c y
u b x x
x x x x
..
1
0
.
0
0
,
0 .. 0 0 0
0 .. 0 0 0
0 . . . .
0 0 .. 1 0
0 0 .. 0 1
..
2 1
2 1
=
(
(
(
(
(
(

=
(
(
(
(
(
(

= A
=
+ A =
=

A
i
l ma trn c dng Jordan
PHNG TRNH TRNG THI
kt hp m nghim ta c phng trnh trng thi

| | , , ..
:
,
:
,
0 0 0
: : :
0 .. 0
0 .. 0
2 1
2
1
2
1
2
1
n m
m m m
b d c c c c
x
x
x
x
b
b
b
b
= =
(
(
(
(

=
(
(
(
(

=
(
(
(
(

A
A
A
= A
A l ma trn cho khi, cc ma trn con trn ng
cho thuc dng Jordan
PHNG TRNH TRNG THI
Trng hp nghim phc: gi s c ba cc l
s = o + je, s = o - je v s =

Khai trin phn s ring phn

) ( ) (
) (
jw s
jq p
jw s
jq p
s
r
d s G


+
+
+
+

+ =
o o
| | jq p jq p r c
b
jw
jw
+ =
(
(
(

=
(
(
(

+ = A
1
1
1
,
0 0
0 0
0 0
o
o

Dng php i bin

x P x
j j
x x P x
j
j x
x x j x x x x x x
1
3 2 3 3 2 2 1 1
0
1 1 0
0 0 1
,
2 / 2 / 1 0
2 / 2 / 1 0
0 0 1
) ( , ,

=
(
(
(

= =
(
(
(

=
= + = =
PHNG TRNH TRNG THI

Phng trnh trng thi mi l:
| | | | d D q p r C
B
= =
(
(
(

=
(
(
(

= A
,
0
2
1
,
0
0
0 0
o e
e o

PHNG TRNH TRNG THI

Vi mt i tng, c th c nhiu phng trnh trng thi
khc nhau
5
9 / 2
2
9 / 2
) 2 (
3 / 1
20 24 9
3
) (
2 2 3
+

+
+
+
=
+ + +
+
=
s s s s s s
s
s G
V d:

Dng iu khin
| |
(
(
(

=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

3
2
1
3
2
1
3
2
1
0 1 3
1
0
0
9 24 20
1 0 0
0 1 0
x
x
x
y
u
x
x
x
x
x
x

Dng quan st
3
3
2
1
3
2
1
0
1
3
9 1 0
24 0 1
20 0 0
x y
u
x
x
x
x
x
x
=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

Dng chnh tc
| |
(
(
(

=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

3
2
1
3
2
1
3
2
1
9 / 2 9 / 2 3 / 1
1
1
0
5 0 0
0 2 0
0 1 2
x
x
x
y
u
x
x
x
x
x
x

PHNG TRNH TRNG THI

Dng MATLAB
ht=tf([1 3],[1 9 24 20])


Transfer function:
s + 3
-----------------------
s^3 + 9 s^2 + 24 s + 20
Pttt=ss(ht)
a = x1 x2 x3
x1 -9 -1.5 -0.1563
x2 16 0 0
x3 0 8 0
b = u1
x1 0.25
x2 0
x3 0
c =
x1 x2 x3
y1 0 0.25 0.09375
d =
u1
y1 0
Continuous-time model.
PHNG TRNH TRNG THI

Pttt=canon(ht,companion)
a = x1 x2 x3
x1 0 0 -20
x2 1 0 -24
x3 0 1 -9
b = u1
x1 1
x2 0
x3 0
c = x1 x2 x3
y1 0 1 -6
d = u1
y1 0
Continuous-time
model.
pttt=canon(ht,'modal')
ht=tf([1 3],conv([1 2],[1 1 1]))
Transfer function:
s + 3
---------------------
s^3 + 3 s^2 + 3 s + 2
PHNG TRNH TRNG THI

a =
x1 x2 x3
x1 -2 0 0
x2 0 -0.5 0.866
x3 0 -0.866 -0.5
b =
u1
x1 -2.309
x2 -1.528
x3 2.646


c =
x1 x2 x3
y1 -0.1443 0.5455 0.189


d =
u1
y1 0

Continuous-time model.
I PTTT RA HM TRUYN

) ( ) ( ) (
) ( ) ( ) (
t Du t Cx t y
t Bu t Ax t x
+ =
+ =
Cho phng trnh trng thi
Ly bin i Laplace hai v
) ( ) ( ) (
) ( ) ( ) (
0
s DU s CX s Y
s BU s AX x s sX
+ =
+ =
) ( ] ) ( [ ) ( ) (
) ( ) ( ) ( ) (
1 0 1
1 0 1
s U D B A sI C x A sI C s Y
s BU A sI x A sI s X
+ + =
+ =


Trng hp x
o
= 0, ta vit
) ( ] ) ( [ ) ( ) ( ) (
1
s U D B A sI C s U s G s Y + = =

G(s) l ma trn hm truyn bc n
y

*
n
u

Nu y v u l v hng G(s) l phn s hu t
MT S CNG THC I S MA TRN
Ma trn A m hng n ct l mt tp hp cc phn t a
ij
xp
thnh bng m hng v n ct: A
mxn
= (a
ij
),
i = 1,2,,m;j =1,2,..,n
(
(
(
(

=
mn m m
n
n
a a a
a a a
a a a
A
..
: : : :
..
..
2 1
2 22 21
1 12 11
Cng tr hai ma trn cng s hng, s ct:
C = A+B = (c
ij
) = (a
ij
b
ij
)
Kt qu nhn ma trn A vi s v hng x l ma trn cng
kch thc B = Ax = xA= (xa
ij
)
Nhn hai ma trn A
mxp
v B
pxn
l ma trn C
mxn
s ct ca A phi bng s hng ca B

=
= =
p
k
kj ik ij
b a c C
1
) ( ) (
Chuyn v ca ma trn A
mxn
l B
nxm
= A
T
, b
ij
= a
ji

Ma trn cho l ma trn vung vi a
ij
= 0 khi i=j
Ma trn n v l ma trn cho I vi a
ii
=1

Hng ca ma trn l s cc vect hng c lp tuyn tnh hay
s cc vect ct c lp tuyn tnh
MT S CNG THC I S MA TRN
NH THC

nh thc ma trn vung A
nxn
l s thc hay phc

=
+
=
+
= = =
n
i
ij ij
j i
ij ij
n
j
j i
A a A a A A
1 1
) det( ) 1 ( ) det( ) 1 ( ) det(
(A
ij
) l ma trn c c t ma trn A bng cch b hng i ct j
Biu thc (-1)
i+j
det(A
ij
) gI l ng tha ca phn t a
ij

Ma trn vung bc 2 c nh thc l a
11
a
22
-a
12
a
21
Ma trn c nh thc bng 0 l ma trn suy bin (singular), c hai hng hay
hai ct ph thuc tuyn tnh (ging nhau)
Ma trn adjoint ca ma trn vung A l ma trn chuyn v ca
ma trn c c bng cch thay mi phn t ca A bng ng
tha ca phn t
Ma trn o ca ma trn A vung khng bt thng l
A
adjA
A B = =
1
det(A)=det(A
T
), det(AB)=det(A)det(B), det(A)=
n
det(A)
MT S CNG THC I S MA TRN
V d
A=[3 -1; 0 1; 2 0]
B=[1 0 -1; 2 1 0]
A =
3 -1
0 1
2 0
B =
1 0 -1
2 1 0
C=A*B
C =
1 -1 -3
2 1 0
2 0 -2
D=B*A
D =
1 -1
6 -1
det(A)
??? Error using ==> det
Matrix must be square.
E=det(D)
E =
5
inv(D)
D^-1
ans =
-0.2000 0.2000
-1.2000 0.2000
NH L CAYLEY HAMILTON
Ma trn A c phng trnh c trng l
MT S CNG THC I S MA TRN

AA
-1
=A
-1
A=I, I l ma trn vung cho n v
(AB)
-1
=B
-1
A
-1

Vt ma trn vung l tng cc s hng ng cho

=
=
n
i
ii
a A tr
1
) (
Chun ma trn: o kch thc ca ma trn
tr(A*B)=tr(B*A)
tr(S
-1
AS)=tr(A), S l ma trn vung khng suy bin bt k
Chun Frobenius
(chun Euclide):
) (
1 1
2
A A tr a A
T
m
i
n
j
ij
F
=

=
= =
Chun bc 1: tng ln nht trong s cc tng ca cc module
cc s hng cng mt cot

=
=
m
i
ij j
a A
1
1
max
Chun bc 2: gi tr ring ln nht ca A
T
A
) ( max
2
A A A
T
i i
=
Chun v cng: tng ln nht trong s cc tng ca cc
module cc s hng cng mt hang

=
=

n
j
ij i
a A
1
max
MT S TNH CHT QUAN TRNG
0 1
2
2
1
1
0 1
2
2
1
1
1
..
... ) (
) (
a s a s a s a s
b s b s b s b
A sI
B A sI C
B A sI C
n
n
n
n
n
n
n
n
n
+ + + + +
+ + + +
=

nh thc |sI-A| chnh l mu s hm truyn, gi l a thc c trng

Nghim ca a thc nh thc |I-A| l tr ring ca ma trn A, cng
chnh l nghim ca mu s hm truyn
V d:
(sI-A)
+
l ma trn adjoint ca A
T
c b A
0
0
1
,
10
0
0
,
10 1 0
1 1 0
0 1 0
= =

=
a thc c trng:
) 11 11 (
10 1 0
1 1 0
0 1
2
+ + =
+
+

= s s s
s
s
s
A sI
Hm truyn:
| |
) 11 11 (
10
) 11 11 (
10
0
0
) 1 ( 0
) 10 ( 0
1 10 11 11
0 0 1
) (
) (
2
2
2
+ +
=
+ +
(
(
(

(
(
(

+
+
+ + +
=

=
+
s s s
s s s
s s s
s s s
s s s
A sI
b A sI c
s G
I PTTT RA HM TRUYN
V d:
Pttt = ss ([-0.01 0; 0 -0.02], [1 1; -0.004 0.002], [0.01 0;0 1], 0)
a =
x1 x2
x1 -0.01 0
x2 0 -0.02
b =
u1 u2
x1 1 1
x2 -0.004 0.002.
c =
x1 x2
y1 0.01 0
y2 0 1
d =
u1 u2
y1 0 0
y2 0 0
Ht = tf(pttt)
Transfer function from input 1 to output...
0.01
#1: --------
s + 0.01
-0.004
#2: --------
s + 0.02
Transfer function from input 2 to output...
0.01
#1: --------
s + 0.01
0.002
#2: --------
s + 0.02
I PTTT RA HM TRUYN
V d:
>> A=[0 1 0; 0 -1 1; 0 -1 -10]
A =
0 1 0
0 -1 1
0 -1 -10
>>B=[0 0 10]'
B =
0
0
10
>> C=[1 0 0]
C =
1 0 0
>> D=0
D =
0
>> E = poly (A)
E =
1.0000 11.0000 11.0000 0
>>sys = ss(A, B, C, D);
>>ht = tf(sys)
Transfer function:
10
-------------------
s^3 + 11 s^2 + 11 s
>> nghiem=roots(E)
nghiem =
0
-9.8875
-1.1125
TR RING
Tr ring (eigenvalue) ca ma trn vung A l nghim ca
phng trnh c trng |sI-A|
Nu
1
,
2
,
n
l cc tr ring ca A th tr(A)=

=
n
i
i
1

Nu
1
,
2
,
n
l cc tr ring ca A th cng l tr ring ca A
T

Nu
1
,
2
,
n
l cc tr ring ca A th 1/
i
l tr ring ca A
-1

>>A = [0 1 0; 0 0 1; -2 -1 -5] A =
0 1 0
0 0 1
-2 -1 -5
d =
-4.8791
-0.0605 + 0.6374i
-0.0605 - 0.6374i
>> d = eig(A)
>> e = eig (A')
e =
-0.0605 + 0.6374i
-0.0605 - 0.6374i
-4.8791
>> f= eig(inv(A))
f =
-0.1475 + 1.5549i
-0.1475 - 1.5549i
-0.2050
VECT RING
Vect ring (eigenvector) v
i
ca ma trn A lin kt vi nghim
ring
i
l nghim ca phng trnh

(
i
I-A) v
i
= 0
V d:
(

=
1 0
1 1
A
Phng trnh c trng:
|

I-A|=
2
-1
Nghim ring:

1
= 1,
2
= -1

Vect ring v
1
vi
1
l nghim ca phng trnh

(

=
(

0
0
2 0
1 0
12
11
v
v
v
12
= 0, v
11
bt k, chn bng 1
Tng t vect ring th hai tha phng trnh -2v
21
+v
22
= 0,
chn ty v
21
=1, suy ra v
22
= 2
Cc vec ring l
(

=
(

=
2
1
,
0
1
2 1
v v
[v,d] = eig(A)
v =
1.0000 0.4472
0 0.8944
d =
1 0
0 -1
VECT RING TR BI
Trng hp
1
l nghim bi bc m
C m vect ring tng ng gii bi cc phng trnh
( )
( )
( )
1 1
1 2 1
1 1
...
0

=
=
=
m m
v v A I
v v A I
v A I

V d:
(
(
(

=
5 0 0
0 2 0
0 1 2
A
Cc tr ring l
1
= -5,
2
=
3
= -2

Vect ring ng vi tr ring
1
= -5 l v
1
= [0 0 1]
T

Gii phng trnh
0
3 0 0
0 0 0
0 1 0
) (
32
22
12
2 2
=
(
(
(

(
(
(

=
v
v
v
v A I
c vect ring v
2
= [1 0 0]
T

Gii phng trnh
c vect ring v
3
= [1 1 0]
T

(
(
(

=
(
(
(

(
(
(

=
0
0
1
3 0 0
0 0 0
0 1 0
) (
33
23
13
3 3
v
v
v
v A I
NGHIM CA PTTT
dx/dt=Ax+Bu
Hm m ma trn e
At
:
i i
i
At
t A
i
t A At I e

= + + + =

=0
2 2
!
1
..
! 2
1
e
A0
=I, e
At
e
-At
=I, e
Au
e
Av
=e
A(u+v)

A e Ae e
dt
d
At At At
= =
Bin i Laplace ca e
At
l (sI-A)
-1

= + + + =

=
+ +

= 0
1 1
0 0
2 2
!
!
1
) (
!
1
..)
! 2
1
( ) (
i
i
i
i
i
i
i i
i
At
s
A
s
i
A
i
t L A
i
t A At I L e L
I
s
A
A sI
I
s
A
s
A
i
i
i
i i
i
i
i
i
=

=
+

=
+
+
0
1
0 0
1
1
) (
NGHIM CA PTTT
dx/dt=Ax+Bu
Xt phng trnh dx/dt=Ax+Bu
Nhn hai v vi e
-At
v chuyn v
Bu e Ax e
dt
dx
e
At At At
=
Dng tnh cht o hm Bu e x e
dt
d
At At
= ) (
Ly tch phn hai v }
=
}

t
A A
t
d Bu e d x e
d
d
0 0
) ( ) ( t t t
t
t t
Ta c kt qu
}
+ =

t
t A At
d Bu e x e t x
0
) (
) ( ) 0 ( ) ( t t
t
Du d Bu e x e C t y
t
t A At
+
(

}
+ =

0
) (
) ( ) 0 ( ) ( t t
t
TNH e
At
Dng Laplace ngc e
At
=L
-1
[(sI-A)
-1
]
(
(
(
(
(
(

=
=

=
(
(
(

) 2 )( 1 (
0
) 2 )( 1 (
1
0
1
1
0
) 2 )( 1 (
2
0
) 2 )( 1 (
3
) (
) 2 ( ) 1 (
) (
) (
3 0 1
0 1 0
2 0 0
1
2
1
s s
s
s s
s
s s s s
s
A sI
s s A sI
A sI
A sI
A sI
A
(
(
(

+

=
t t t t
t
t t t t
At
e e e e
e
e e e e
e
2 2
2 2
2 0
0 0
2 2 0 2
V d
| | 0 1 ,
10
0
;
10 1
1 1
=
(

=
(

= c b A
8875 . 9 , 1125 . 1 ;
1 1
1 10
) )( (
1
1 1
1 10
11 11
1
10 1
1 1
) (
2 1
2 1
2
1
1
= =
(

+
+
+ +
=
(

+
+
+ +
=
(

+
+
=

a a
s
s
a s a s
s
s
s s s
s
A sI
| |
(

+ +

=
=



t a t a t a t a
t a t a t a t a
At
e e e e
e e e e
A sI L e
2 1 2 1
2 1 2 1
0128 . 1 0128 . 0 114 . 0 114 . 0
114 . 0 114 . 0 0128 . 0 0128 . 1
) (
1 1
Vi u(t) = 1, x(0) = 0
t a t a
t a t a
t a t a
t
t a t a
t a t a
t
t A
e e t x t y
e e
e e
d
e e
e e
bd e t x
2 1
2 1
2 1
2 1
2 1
1153 . 0 0274 . 1 9094 . 0 ) ( ) (
1019 . 0 1151 . 0 0132 . 0
1153 . 0 0274 . 1 9094 . 0
8842 . 8 1123 . 0 ( 14 . 1
( 14 . 1
) (
1
0
) ( ) (
) ( ) (
0
) (

+ = =
(

+
+
=
}
(

+

=
}
= t t
t t
t t
t
Dng MATLAB
>> A=[-1 1;-1 -10];
>> b=[0;10];
>> c=[1 0];
>> model=ss(A,b,c,0);
>> [y,t,X]=step(model);
>> plot(y)
0 20 40 60 80 100 120
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
>> plot(X)
0 20 40 60 80 100 120
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
NH L CAYLEY HAMILTON
Ma trn A c phng trnh c trng
0 1
1
1
.. ) det( ) ( a a a A I p
n
n
n
+ + + + = =

Thay bng A ta c phng trnh
0 .. ) (
0 1
1
1
= + + + + =

I a A a A a A A p
n
n
n
Tht vy, t hai ng thc trn ta c
) ( .. ) ( ) ( ) (
1
1 1
1
A I a A I a A I A p I p
n n
n
n n
+ + + =

V ) .. )( (
1 2 3 2 1
+ + + + =
k k k k k k
A A A I A I A I
Nn v phi chia ht cho I-A, vy v tri cng chia ht cho I-A, vy
p()I chia ht cho I-A v p(A) cng vy
p(A) khng cha m chia ht cho I-A vy p(A) = 0
L C-H: hm f(A) theo ma trn A biu th bng chui
.. .. ) (
1
1 1 0
+ + + + + =

n
n
n
n
A a A a A a I a A f
NH L CAYLEY HAMILTON
Cng c th biu th bng biu thc
1
1 1 0
.. ) (

+ + + =
n
n
A b A b I b A f
iu ny l do A
n
c th biu th theo t hp A,,A
n-1

Nu
i
l nghim ring ca A th


1
1 1 0
.. ) (

+ + + =
n
i n i
b b b f
Nu cc nghim ring l phn bit ta c n phng trnh tm b
i

Nu nghim ring
i
l bc bi th ta o hm m-1 ln
i i
n
i n i
j
j
j
j
b b b
d
d
f
d
d

=
+ + + = | } .. { | ) (
1
1 1 0