Chuong6 LTDKTD

26 September 2006 H. T.
Hong - HBK TPHCM 1

LY THUYET IEU KHIEN T ONG
LY THUYET IEU KHIEN T ONG
Giang vien: TS. Huynh Thai Hoang
Bo mon ieu Khien T ong
Khoa ien ien T
ai hoc Bach Khoa TP.HCM
Email: hthoang@hcmut.edu.vn
Homepage: http://www2.hcmut.edu.vn/~hthoang/
Mon hoc
Mon hoc
26 September 2006 H. T. Hong - HBK TPHCM 2
MO TA TOAN HOC
MO TA TOAN HOC
HE THONG IEU KHIEN RI RAC
HE THONG IEU KHIEN RI RAC
Chng 6
Chng 6
Khai niem
Phep bien oi Z
Ham truyen
Phng trnh trang thai
Noi dung chng 6
Noi dung chng 6
Khai niem
Khai niem
May tnh so = thiet b tnh toan da tren c s ky thuat vi x
ly (vi x ly, vi ieu khien, may tnh PC, DSP,).
u iem cua he thong ieu khien so:
Linh hoat
De dang ap dung cac thuat toan ieu khien phc tap
May tnh so co the ieu khien nhieu oi tng cung mot luc
He thong ieu khien dung may tnh so
He thong ieu khien dung may tnh so
May tnh so D/A oi tng
A/D
r(kT) c(t)
u(kT)
u
R
(t)
c
ht
(kT)
Cam bien
He thong ieu khien ri rac la he thong ieu khien trong o co
tn hieu tai mot hoac nhieu iem la (cac) chuoi xung.
He thong ieu khien ri rac
He thong ieu khien ri rac
X ly ri rac Khau gi oi tng
Lay mau
r(kT) c(t)
u(kT)
u
R
(t)
c
ht
(kT)
Cam bien
Lay mau d lieu
Lay mau d lieu
x(t)
x
*
(t)
T
x(t)
t
0
x
*
(t)
0
t
Lay mau la bien oi tn hieu lien tuc theo thi gian thanh tn hieu
ri rac theo thi gian.
+
=
=
0
*
) ( ) (
k
kTs
e kT x s X
Bieu thc toan hoc mo ta qua
trnh lay mau:
c
f
T
f 2
1
=
nh ly Shannon
Neu co the bo qua c sai so lng t hoa th cac khau chuyen
oi A/D chnh la cac khau lay mau.
Khau gi d lieu
Khau gi d lieu
Khau gi d lieu la khau chuyen tn hieu ri rac theo thi gian
thanh tn hieu lien tuc theo thi gian
x
*
(t) x
R
(t)
ZOH
x
*
(t)
0
t
x
R
(t)
0
t
Khau gi bac 0 (ZOH): gi tn
hieu bang hang so trong thi
gian gia hai lan lay mau.
Ham truyen khau gi bac 0.
s
e
s G
Ts
ZOH
=
1
) (
Neu co the bo qua c sai so lng t hoa th cac khau chuyen
oi D/A chnh la cac khau gi bac 0 (ZOH).
Phep bien oi Z
Phep bien oi Z
nh ngha phep bien oi Z
nh ngha phep bien oi Z
Trong o:
(s la bien Laplace)
X(z) : bien oi Z cua chuoi x(k). Ky hieu:
Ts
e z =
) ( ) ( z X k x
Z
Mien hoi tu (Region Of Convergence ROC)
ROC la tap hp tat ca cac gia tr z sao cho X(z) hu han.
{ }

+
=
= =
0
) ( ) ( ) (
k
k
z k x k x z X Z
Neu x(k) = 0, k < 0:
{ }

+
=
= =
k
k
z k x k x z X ) ( ) ( ) ( Z
Cho x(k) la chuoi tn hieu ri rac, bien oi Z cua x(k) la:
Y ngha cua phep bien oi Z
Y ngha cua phep bien oi Z
Gia s x(t) la tn hieu lien tuc trong mien thi gian, lay mau x(t)
vi chu ky lay mau T ta c chuoi ri rac x(k) = x(kT).
+
=
=
0
*
) ( ) (
k
kTs
e kT x s X
Bieu thc lay mau tn hieu x(t)
+
=
=
0
) ( ) (
k
k
z k x z X
Bieu thc bien oi Z chuoi x(k) = x(kT).
Do nen ve phai cua hai bieu thc lay mau va bien oi Z
la nh nhau, do o ban chat cua viec bien oi Z mot tn hieu
chnh la ri rac hoa tn hieu o .
Ts
e z =
Tnh chat cua phep bien oi Z
Tnh chat cua phep bien oi Z
Cho x(k) va y(k) la hai chuoi tn hieu ri rac co bien oi Z la:
{ } ) ( ) ( z X k x = Z
{ } ) ( ) ( z Y k y = Z
Tnh tuyen tnh:
{ } ) ( ) ( ) ( ) ( z bY z aX k by k ax + = + Z
Tnh di trong mien thi gian:
{ } ) ( ) (
0
0
z X z k k x
k
= Z
T le trong mien Z:
{ } ) ( ) (
1
z a X k x a
k
= Z
ao ham trong mien Z:
{ }
dz
z dX
z k kx
) (
) ( = Z
nh ly gia tr au: ) ( lim ) 0 ( z X x
z
=
nh ly gia tr cuoi:
) ( ) 1 ( lim ) (
1
1
z X z x
z

=
Bien oi Z cua cac ham c ban
{ } 1 ) ( = k Z
u(k)
Ham nac n v:
<
=
0 0
0 1
) (
k
k
k u
neu
neu
0
k
1
Ham dirac:
=
=
0 0
0 1
) (
k
k
k
neu
neu
0
k
(k)
1
{ }
1
) (
=
z
z
k u Z
{ }
( )
2
1
) (
=
z
Tz
k u Z
Ham mu:
<

=
0 0
0
) (
k
k e
k x
-akT
neu
neu
x(k)
0
k
1
{ }
aT
e z
z
k x

= ) ( Z
Ham doc n v:
<

=
0 0
0 T
) (
k
k k
k r
neu
neu
0
k
1
r(k)
Ham truyen cua he ri rac
Ham truyen cua he ri rac
Tnh ham truyen t phng trnh sai phan
He ri rac
c(k) r(k)
Bien oi Z hai ve phng trnh tren ta c:
= + + + +

) ( ) ( ... ) ( ) (
1
1
1 0
z C a z zC a z C z a z C z a
n n
n n
) ( ) ( ... ) ( ) (
1
1
1 0
z R b z zR b z R z b z R z b
m m
m m
+ + + +

= + + + + + + +

) ( ) 1 ( ... ) 1 ( ) (
1 1 0
k c a k c a n k c a n k c a
n n
) ( ) 1 ( ... ) 1 ( ) (
1 1 0
k r b k r b m k r b m k r b
m m
+ + + + + + +

trong o n>m, n goi la bac cua he thong ri rac
Quan he vao ra cua he ri rac co the mo ta bang phng trnh
sai phan
Lap t so C(z)/R(z) , ta c ham truyen cua he ri rac:
n n
n n
m m
m m
a z a z a z a
b z b z b z b
z R
z C
z G
+ + + +
+ + + +
= =
1
1
1 0
1
1
1 0
...
...
) (
) (
) (
n
n
n
n
m
m
m
m
m n
z a z a z a a
z b z b z b b z
z R
z C
z G
+

+ + + +
+ + + +
= =
1
1
1
1 0
1
1
1
1 0
) (
...
] ... [
) (
) (
) (
Ham truyen tren co the bien oi tng ng ve dang:
-
-
Th du
Th du
Tnh ham truyen cua he ri rac mo ta bi phng trnh sai phan:
) ( ) 2 ( 2 ) ( 3 ) 1 ( 5 ) 2 ( 2 ) 3 ( k r k r k c k c k c k c + + = + + + + +
Giai: Bien oi Z hai ve phng trnh sai phan ta c:
) ( ) ( 2 ) ( 3 ) ( 5 ) ( 2 ) (
2 2 3
z R z R z z C z zC z C z z C z + = + +
3 5 2
1 2
) (
) (
) (
2 3
2
+ +
+
= =
z z z
z
z R
z C
z G
3 2 1
2 1
3 5 2 1
) 2 (
) (
) (
) (

+ +
+
= =
z z z
z z
z R
z C
z G

Tnh ham truyen cua he ri rac t s o khoi
Tnh ham truyen cua he ri rac t s o khoi
G
C
(z)
C(s)
+
T
G(s)
H(s)
ZOH
R(s)
Cau hnh thng gap cua cac he thong ieu khien ri rac:
Ham truyen kn cua he thong:
) ( ) ( 1
) ( ) (
) (
) (
) (
z GH z G
z G z G
z R
z C
z G
C
C
k
+
= =
)
`
=

s
s G
z z G
) (
) 1 ( ) (
1
Z
)
`
=

s
s H s G
z z GH
) ( ) (
) 1 ( ) (
1
Z
trong o:
) (z G
C
: ham truyen cua bo ieu khien, tnh t phng trnh sai phan
Tnh ham truyen cua he ri rac t s o khoi. Th du 1
Tnh ham truyen kn cua he thong:
C(s)
+
G(s) ZOH
R(s)
5 . 0 = T
2
3
) (
+
=
s
s G
)
`
=

s
s G
z z G
) (
) 1 ( ) (
1
Z
Giai:
) )( 1 (
) 1 (
2
3
) 1 (
5 . 0 2
5 . 0 2
1

=
e z z
e z
z
) )( 1 (
) 1 (
) (
aT
aT
e z z
e z
a s s
a

=
)
`
+
Z
368 . 0
948 . 0
) (
=
z
z G
)
`
+
=

) 2 (
3
) 1 (
1
s s
z Z
) ( 1
) (
) (
z G
z G
z G
k
+
=
368 . 0
948 . 0
1
368 . 0
948 . 0
+

=
z
z
580 . 0
948 . 0
) (
+
=
z
z G
k

3
3
) (
+
=

s
e
s G
s
C(s)
+
G(s) ZOH
R(s)
5 . 0 = T
H(s)
1
1
) (
+
=
s
s H
Biet rang:
Giai:
) ( 1
) (
) (
z GH
z G
z G
k
+
=
)
`
=

s
s G
z z G
) (
) 1 ( ) (
1
Z
) )( 1 (
) 1 (
) 1 (
5 . 0 3
5 . 0 3
2 1

=
e z z
e z
z z
s Ts
aT
aT
e e z
e z z
e z
a s s
a
5 . 0
) )( 1 (
) 1 (
) (
= =

=
)
`
Z
) 223 . 0 (
777 . 0
) (
2
=
z z
z G
)
`
+
=

) 3 (
3
) 1 (
1
s s
e
z
s
Z
) 3 (
3
) (
+
=

s
e
s G
s
)
`
=

s
s H s G
z z GH
) ( ) (
) 1 ( ) (
1
Z
) )( )( 1 (
) (
) 1 ( 3
5 . 0 1 5 . 0 3
2 1

+
=
e z e z z
B Az z
z z
) (
) 1 ( ) 1 (
) (
) 1 ( ) 1 (
) )( )( 1 (
) (
) )( (
1
a b ab
e be e ae
B
a b ab
e a e b
A
e z e z z
B Az z
b s a s s
aT bT bT aT
bT aT
bT aT

=

+
=
)
`
+ +

Z
)
`
+ +
=

) 1 )( 3 (
3
) 1 (
1
s s s
e
z
s
Z
) 1 (
1
) (
) 3 (
3
) (
+
=
+
=

s
s H
s
e
s G
s
0346 . 0
) 3 1 ( 3
) 1 ( ) 1 ( 3
0673 . 0
) 3 1 ( 3
) 1 ( 3 ) 1 (
5 . 0 3 5 . 0 5 . 0 5 . 0 3
5 . 0 5 . 0 3
=

=
=

=

e e e e
B
e e
A
) 607 . 0 )( 223 . 0 (
104 . 0 202 . 0
) (
2

+
=
z z z
z
z GH
) ( 1
) (
) (
z GH
z G
z G
k
+
=
) 607 . 0 )( 223 . 0 (
104 . 0 202 . 0
1
) 223 . 0 (
777 . 0
2
2

+
+

=
z z z
z
z z
) 607 . 0 )( 223 . 0 (
104 . 0 202 . 0
) (
) 223 . 0 (
777 . 0
) (
2
2

+
=
=
z z z
z
z GH
z z
z G
104 . 0 202 . 0 135 . 0 83 . 0

) 607 . 0 ( 777 . 0
) (
2 3 4
+ + +

=
z z z z
z
z G
k
2
2 . 0
5
) (
s
e
s G
s
= 1 . 0 ) ( = s H
Biet rang:
G
C
(z)
C(s)
+
T=0.2
G(s)
H(s)
ZOH
R(s) e(k) u(k)
Bo ieu khien Gc(z) co quan he vao ra mo ta bi phng trnh:
) 1 ( 2 ) ( 10 ) ( = k e k e k u
Giai:
) ( ) ( 1
) ( ) (
) (
z GH z G
z G z G
z G
C
C
k
+
=
Ta co:
) 1 ( 2 ) ( 10 ) ( = k e k e k u
) ( 2 ) ( 10 ) (
1
z E z z E z U

=
1
2 10
) (
) (
) (

= = z
z E
z U
z G
C

)
`
=

s
s G
z z G
) (
) 1 ( ) (
1
Z
2
) 1 (
) 1 ( 1 . 0
) (
+
=
z z
z
z G
)
`
3
2 . 0
1
5
) 1 (
s
e
z
s
Z
2
2 . 0
5
) (
s
e
s G
s
=
s Ts
e e z
z
z z T
s
2 . 0
3
2
3
) 1 ( 2
) 1 ( 1
= =

+
=
)
`
Z
)
`
=

s
s H s G
z z GH
) ( ) (
) 1 ( ) (
1
Z
1 . 0 ) ( = s H
)
`
=

s
s G
z
) (
) 1 ( 1 . 0
1
Z
2
) 1 (
) 1 ( 01 . 0
) (
+
=
z z
z
z GH
3
2
1 1
) 1 ( 2
) 1 ( ) 2 . 0 (
) 1 ( 5
+
=

z
z z
z z
) ( ) ( 1
) ( ) (
) (
z GH z G
z G z G
z G
C
C
k
+
=
(
+
(

+
(
+
(

=
2
2
) 1 (
) 1 ( 01 . 0
.
2 10
1
) 1 (
) 1 ( 1 . 0
.
2 10
z z
z
z
z
z z
z
z
z
2
2
1
) 1 (
) 1 ( 01 . 0
) (
) 1 (
) 1 ( 1 . 0
) (
2 10 ) (
+
=
+
=
=

z z
z
z GH
z z
z
z G
z z G
C
02 . 0 08 . 0 1 . 1 2
2 . 0 8 . 0
) (
2 3 4
2
+ +
+
=
z z z z
z z
z G
k
Khai niem
Khai niem
Phng trnh trang thai (PTTT) cua he ri rac la he phng trnh
sai phan bac 1 co dang:
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k c
k r k k
d
d d
x C
B x A x
(
(
(
(
=
nn n n
n
n
d
a a a
a a a
a a a
K
M M M
K
K
2 1
2 22 21
1 12 11
A
(
(
(
(
=
n
d
b
b
b
M
2
1
B
| |
n d
c c c K
2 1
= C
trong o:
(
(
(
(
=
) (
) (
) (
) (
2
1
k x
k x
k x
k
n
M
x
Thanh lap PTTT t phng trnh sai phan (PTSP)
Thanh lap PTTT t phng trnh sai phan (PTSP)

Trng hp 1:
Trng hp 1: Ve phai cua PTSP khong cha sai phan cua tn
hieu vao
) ( ) ( ) 1 ( ... ) 1 ( ) (
0 1 1 0
k r b k c a k c a n k c a n k c a
n n
= + + + + + + +

at bien trang thai theo qui tac:
Bien au tien at bang tn hieu ra:
Bien th i (i=2..n) at bang cach lam
sm bien th i1 mot chu ky lay mau
) 1 ( ) (
) 1 ( ) (
) 1 ( ) (
) ( ) (
1
2 3
1 2
1
+ =
+ =
+ =
=
k x k x
k x k x
k x k x
k c k x
n n
M
Thanh lap PTTT t PTSP
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k c
k r k k
d
d d
x C
B x A x
Trng hp 1 (tt)
Trng hp 1 (tt)
Phng trnh trang thai:
trong o:
(
(
(
(
(
(
(

=

0
1
0
2
0
1
0
1 0 0 0
0 1 0 0
0 0 1 0
a
a
a
a
a
a
a
a
n n n
d
K
K
M M M M
K
K
A
(
(
(
(
(
(
(
=
0
0
0
0
0
a
b
d
M
B
| | 0 0 0 1 K =
d
C
(
(
(
(
=
) (
) (
) (
) (
2
1
k x
k x
k x
k
n
M
x
+ =
+ =
=
) 1 ( ) (
) 1 ( ) (
) ( ) (
2 3
1 2
1
k x k x
k x k x
k c k x
at cac bien trang thai:
(
(
(

=
(
(
(
(
(

=
5 . 0 5 . 2 2
1 0 0
0 1 0
1 0 0
0 1 0
0
1
0
2
0
3
a
a
a
a
a
a
d
A
(
(
(
=
(
(
(
(
(
=
5 . 1
0
0
0
0
0
0
a
b
d
B
| | 0 0 1 =
d
C
trong o:
Th du trng hp 1
Th du trng hp 1
Viet PTTT mo ta he thong co quan he vao ra cho bi PTSP sau:
) ( 3 ) ( 4 ) 1 ( 5 ) 2 ( ) 3 ( 2 k r k c k c k c k c = + + + + + +
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k c
k r k k
d
d d
x C
B x A x
Bien au tien at bang tn
hieu ra
Bien th i (i=2..n) at bang
cach lam sm bien th i1
mot chu ky lay mau va tr 1
lng t le vi tnh hieu vao
) ( ) 1 ( ) (
) ( ) 1 ( ) (
) ( ) 1 ( ) (
) ( ) (
1 1
2 2 3
1 1 2
1
k r k x k x
k r k x k x
k r k x k x
k c k x
n n n
+ =
+ =
+ =
=
M

Trng hp 2:
Trng hp 2: Ve phai cua PTSP co cha sai phan cua tn hieu
vao
= + + + + + + +

) ( ) 1 ( ... ) 1 ( ) (
1 1 0
n n
) ( ) 1 ( ... ) 2 ( ) 1 (
1 2 1 0
k r b k r b n k r b n k r b
n n
+ + + + + + +
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k c
k r k k
d
d d
x C
B x A x
Trng hp 2 (tt)
Trng hp 2 (tt)
trong o:
(
(
(
(
(
(
(

=

0
1
0
2
0
1
0
1 0 0 0
0 1 0 0
0 0 1 0
a
a
a
a
a
a
a
a
n n n
d
K
K
M M M M
K
K
A
(
(
(
(
(
(
n
n
d
1
2
1
M B
| | 0 0 0 1 K =
d
C
(
(
(
(
=
) (
) (
) (
) (
2
1
k x
k x
k x
k
n
M
x
Trng hp 2 (tt)
Trng hp 2 (tt)
Cac he so trong vector B
d
xac nh nh sau:
0
1 1 2 2 1 1 1
0
1 2 2 1 2
3
0
1 1 1
2
0
0
1
a
a a a b
a
a a b
a
a b
a
b
n n n n
n

=

=
=
=
K
M
+ =
+ =
=
) ( ) 1 ( ) (
) ( ) 1 ( ) (
) ( ) (
2 2 3
1 1 2
1
k r k x k x
k r k x k x
k c k x
at cac bien trang thai:

(
(
(

=
(
(
(
(
(

=
5 . 0 5 . 2 2
1 0 0
0 1 0
1 0 0
0 1 0
0
1
0
2
0
3
a
a
a
a
a
a
d
A (
(
(
=
3
2
1
d
B
| | 0 0 1 =
d
C
trong o:
Th du trng hp 2
Th du trng hp 2
) ( 3 ) 2 ( ) ( 4 ) 1 ( 5 ) 2 ( ) 3 ( 2 k r k r k c k c k c k c + + = + + + + + +
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k c
k r k k
d
d d
x C
B x A x
Th du trng hp 2 (tt)
Th du trng hp 2 (tt)
Cac he so cua vector B
d
xac nh nh sau:
=

=

=
=

=
=
= = =
375 . 0
2
5 . 0 5 ) 25 . 0 ( 1 3
25 . 0
2
5 . 0 1 0
5 . 0
2
1
0
1 2 2 1 2
3
0
1 1 1
2
0
0
1
a
a a b
a
a b
a
b

(
(
(
=
375 . 0
25 . 0
5 . 0
d
B
Thanh lap PTTT t PTSP dung phng phap toa o pha
Xet he ri rac mo ta bi phng trnh sai phan
= + + + + + + +

) ( ) 1 ( ... ) 1 ( ) (
1 1 0
n n
) ( ) 1 ( ... ) 1 ( ) (
1 1 0
k r b k r b m k r b m k r b
m m
+ + + + + + +

Bien trang thai au tien la nghiem cua phng trnh:
) ( ) ( ) 1 ( ) 1 ( ) (
1
0
1
0
1
1
0
1
1
k r k x
a
a
k x
a
a
n k x
a
a
n k x
n n
= + + + + + + +

L
) 1 ( ) (
) 1 ( ) (
) 1 ( ) (
1
2 3
1 2
+ =
+ =
+ =
k x k x
k x k x
k x k x
n n
M
Bien th i (i=2..n) at bang cach lam sm bien th i1 mot
chu ky lay mau:
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k c
k r k k
d
d d
x C
B x A x
trong o:
(
(
(
(
(
(
(

=

0
1
0
2
0
1
0
1 0 0 0
0 1 0 0
0 0 1 0
a
a
a
a
a
a
a
a
n n n
d
K
K
M M M M
K
K
A
(
(
(
(
(
(
=
1
0
0
0
M
d
B
(
=

0 0
0
0
0
1
0
K K
a
b
a
b
a
b
m m
d
C
(
(
(
(
=
) (
) (
) (
) (
2
1
k x
k x
k x
k
n
M
x
Th du thanh lap PTTT t PTSP dung PP toa o pha
Th du thanh lap PTTT t PTSP dung PP toa o pha
(
(
(

=
(
(
(
(
(

=
5 . 0 5 . 2 2
1 0 0
0 1 0
1 0 0
0 1 0
0
1
0
2
0
3
a
a
a
a
a
a
d
A
(
(
(
=
1
0
0
d
B
| | 5 . 0 0 5 . 1
0
0
0
1
0
2
=
(
=
a
b
a
b
a
b
d
C
trong o:
) ( 3 ) 2 ( ) ( 4 ) 1 ( 5 ) 2 ( ) 3 ( 2 k r k r k c k c k c k c + + = + + + + + +
at bien trang thai theo phng phap toa o pha, ta c phng
trnh trang thai:
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k c
k r k k
d
d d
x C
B x A x
Thanh lap PTTT he ri rac t PTTT he lien tuc
Thanh lap PTTT mo ta he ri rac co s o khoi:
c(t)
+
G(s) ZOH
r(t)
T
e
R
(t) e(kT) e(t)
Bc 1: Thanh lap PTTT mo ta he lien tuc (h):
c(t)
G(s)
e
R
(t)
=
+ =
) ( ) (
) ( ) ( ) (
t t c
t e t t
R
Cx
B Ax x&
Bc 2: Tnh ma tran qua o
)] ( [ ) (
1
s t =

L
( )
1
) (
-
s s A I =
vi
Bc 3: Ri rac hoa PTTT mo ta he lien tuc (h):
vi
G(s) ZOH
e(kT) c(kT)
=
+ = +
) ( ) (
) ( ) ( ] ) 1 [(
kT kT c
kT e kT T k
d
R d d
x C
B x A x
=
=
=
C C
B
A
d
T
d
d
Bd
T
0
) (
) (

Bc 4: Viet PTTT mo ta he ri rac kn (vi tn hieu vao la r(kT))
| |
=
+ = +
) ( ) (
) ( ) ( ] ) 1 [(
kT kT c
kT r kT T k
d
d d d d
x C
B x C B A x
Th du thanh lap PTTT he ri rac t PTTT he lien tuc
Thanh lap PTTT mo ta he ri rac co s o khoi:
c(t)
+
ZOH
r(t)
T
e
R
(t) e(kT) e(t)
s
1
a s +
1
K
x
2
x
1
Vi a = 2, T = 0.5, K = 10
c(t)
e
R
(t)
s
1
2
1
+ s
10
x
2
x
1
Bc 1:
Giai:
s
s X
s X
) (
) (
2
1
=
2
) (
) (
2
+
=
s
s E
s X
R
) ( ) (
2 1
s X s sX = ) ( ) (
2 1
t x t x = &
) ( ) ( ) (
2
s E s X a s
R
= + ) ( ) ( 2 ) (
2 2
t e t x t x
R
+ = &
{
) (
1
0
) (
) (
2 0
1 0
) (
) (
2
1
2
1
t e
t x
t x
t x
t x
R
B
A
(
+
(
=
(
43 42 1
&
&
| |
(
= =
) (
) (
0 10 ) ( 10 ) (
2
1
1
t x
t x
t x t c
3 2 1
C
Bc 2: Tnh ma tran qua o
( )
1 1
1
2 0
1
2 0
1 0
1 0
0 1
) (

|
|
.
|
\
|
(
=
|
|
.
|
\
|
(
= =
s
s
s s s
-
A I
(
(
(
(
+
+
=
(
+
+
=
2
1
0
) 2 (
1 1
0
1 2
) 2 (
1
s
s s s
s
s
s s
(
(
(
(
)
`
+
)
`
+
)
`
(
(
(
(
+
+
= =

2
1
0
) 2 (
1 1
2
1
0
) 2 (
1 1
)] ( [ ) (
1
1 1
1 1
s
s s s
s
s s s
s t
L
L L
L L
(
(
t
t
e
e
t
2
2
0
) 1 (
2
1
1
) (
Bc 3: Ri rac hoa
PTTT cua he lien tuc

=
+ = +
) ( ) (
) ( ) ( ] ) 1 [(
kT kT c
kT e kT T k
d
R d d
x C
B x A x
(
=
(
(

=
(
(

= =

=
368 . 0 0
316 . 0 1
0
) 1 (
2
1
1
0
) 1 (
2
1
1
) (
5 . 0 2
5 . 0 2
2
2
e
e
e
e
T
T t
t
t
d
A
| | 0 10 = = C C
d

(
(
(
(

= =
T T T
d
d
e
e
d
e
e
d
0
2
2
0
2
2
0
) 1 (
2
1
1
0
0
) 1 (
2
1
1
) (
B B
(
=
(
(
(
(
+
|
|
.
|
\
|
+
=
(
(
(
(
|
|
.
|
\
|
+
=

316 . 0
092 . 0
2
1
2
2
1
2 2
5 . 0
2
2 2
5 . 0 2
2 2
5 . 0 2
0
2
2
2
e
e
e
e
T

Bc 4: PTTT ri rac mo ta he kn
| |
=
+ = +
) ( ) (
) ( ) ( ] ) 1 [(
kT kT c
kT r kT T k
d
d d d d
x C
B x C B A x
) (
316 . 0
092 . 0
) (
) (
368 . 0 160 . 3
316 . 0 080 . 0
) 1 (
) 1 (
2
1
2
1
k r
k x
k x
k x
k x
(
+
(
=
(
+
+
| |
(
=
) (
) (
. 0 10 ) (
2
1
k x
k x
k c
Vay phng trnh trang thai cua he ri rac can tm la:
| | | |
(
=
(
=
368 . 0 160 . 3
316 . 0 080 . 0
0 10
316 . 0
092 . 0
368 . 0 0
316 . 0 1
d d d
C B A
vi
Tnh ham truyen t PTTT
Tnh ham truyen t PTTT
Cho he ri rac mo ta bi PTTT
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k c
k r k k
d
d d
x C
B x A x
Ham truyen cua he ri rac la:
d d d
z
z
z
z G B A I C
R
C
1
) (
) (
) (
) (

= =
Th du tnh ham truyen t PTTT
Th du tnh ham truyen t PTTT
Giai: Ham truyen can tm la
d d d
z z G B A I C
1
) ( ) (

=
Tnh ham truyen cua he ri rac mo ta bi PTTT
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k c
k r k k
d
d d
x C
B x A x
(

=
1 . 0 7 . 0
1 0
d
A
(
=
2
0
d
B
| | 0 1 =
d
C
| |
(
|
|
.
|
\
|
(
=

2
0
1 . 0 7 . 0
1 0
1 0
0 1
0 1
1
z
7 . 0 1 . 0
2
) (
2
+ +
=
z z
z G

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26 September 2006 H. T.

Hong - HBK TPHCM 1

26 September 2006 H. T. Hong - HBK TPHCM 19

26 September 2006 H. T. Hong - HBK TPHCM 22

104 . 0 202 . 0 135 . 0 83 . 0

26 September 2006 H. T. Hong - HBK TPHCM 28

at cac bien trang thai:

26 September 2006 H. T. Hong - HBK TPHCM 49

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