Bi tp T ng

1. Hm m t
( Xem li cu 15, 16)
Cu 6
a) Hnh 1.3 Khu relay 2 v tr











Do u(t) l hm l nn B
1
= 0
A
1
=

() () ()

() () = -

()

Hm m t ca khu relay 2 v tr l ()

b) Hnh 1.4 Khu relay 3 v tr


Do u(t) l hm l nn B
1
= 0
A
1
=

() () ()

() () = -

()

()
Theo th ta c : D = M sin => sin = D/M
cos =

A
1
=

Hm m t : ()

Cu 7
Relay 3 v tr tr:

A
1
=

()

()

)
B
1
=

()

()

)
Hm m t ()

()
[(

) (

)]
Vi sin
1
= A
-1

, sin
2
= D/M, A = M/(D+ h) v x(t) = M sin(t), m > D+ h

Cu 8
Tm h s khuch i phc (hm m t) ca khu tuyn tnh ho tng on.
Do u(t) l nn B
1
= 0


1 1
sin(2 )
2( )( )
2
(M)
( )
a b b a
b a
a b a b a
Z X Z X
Z Z A jB
N
M X X X X X t
o
+ o
+
= =


2 2
0
4
( Msin ( ) ( ) Msin ( ) ( )
a b a
a b a
Z Z Z
t d t t d t
X X X
t
t
o / 2
o

= e e + e e

} }

/ 2
0
4 sin(2 ) sin(2 )
( M( ) | M( ) | )
2 2 2(X ) 2
a b a
t t
a b a
Z Z Z t t
t t
X X
t
t
o
e = e =o
e e
= e e

( ) 4 sin(2 ) sin(2 )
( ( ) ( ))
2 2 2(X ) 2 2
a b a
a b a
Z M Z Z M
X X
t
t
o o
= o o+

(X ) ( ) 4 sin(2 ) sin(2 )
( M( ) M( ) M )
2 (X ) 2 2(X ) 2 2(X ) 2
a b a b a a b a
a b a b a a b a
Z X Z Z X Z Z
X X X X X
t
t
o o
= o o+


4 sin(2 )
( )
2 ( ) 2 2( ) 2
a b b a b a
a b a b a
Z X Z X Z Z
M M
X X X X X
t
t
( + o
= o
(



2( ) sin(2 )
( )
( ) 2
a b b a b a
a b a b a
Z X Z X Z Z
M M
X X X X X t
+ o
= o


Do hm m t l
1 1
sin(2 )
2( )( )
2
(M)
( )
a b b a
b a
a b a b a
Z X Z X
Z Z A jB
N
M X X X X X t
o
+ o
+
= =


Cu 9
a) Khuch i c vng bo ha

Do u(t) l hm l nn B
1
= 0
A
1
=

() () ()

() () ()

()()

()()

+
=

(
()

()

+=

[ ()]
Hm m t l : ()

[ ()] (

)
b) c tnh khe h

Phng trnh ca khu khe h l:
o t e
t
s < = t k b A t w
2
; ) ( ) (
2
3
; ) sin ( ) (
t
e o t e s < + = t k b t A t w

2
5
2 ; ) sin ( ) (
t
e o t e s < = t k b t A t w
Vi )
2
1 arcsin(
A
b
= o
Da vo h phng trnh trn ca khu khe h, ta tnh c h s A1 v B1 ca khu khe h
) 1 (
4
) cos( ) (
1
= =
}

A
b kb
dwt wt t w A
t
t
t

o t e
t
s < = 2
2
3
, ) ( ) ( t k b A t w
) cos . sin
2
( ) sin( ) (
1
o o o
t
t
t
t
= =
}

Ak
dwt wt t w B
Vi k = 1 (v dc 45 ), A = M
t
o
t
o
t
o
2
cos
2
) 2 sin(
2
1
) ( j M N + =
Vi 1
2
sin =
m
a
X
X
o

Cu 10 (Phng php Popov)
Cu 11
Hm ()

()()

()()

()()

Phng trnh c tnh ca phn tuyn tnh lin tc c h s khuch i bng K:
A(s) = ( )( )

H s khuch i cho phn tuyn tnh lin tc bc 3 theo Hurwitz:

= 216 K -9 =>

Cu 12
Cho s khi nh hnh sau. Khu phi tuyt N l hm F(X) = X3. Hy xt tnh n nh ca
h.

1 1
( )
1
( 1)( 2)
2 (1 )(1 )
2
G s
s s s
s s s
= =
+ +
+ +

Khu phi tuyn:


3
( ) F X X =
2
2
3 1 4
4 3
M
N
N M
= =
Im
Re
G(jw)




Tnh

(mu s bng 0 phn s bng v cc) ;

hay

Vy h dao ng:
iu kin h n nh: |

()
| ()

()

()

{










Cu 13
Tm h s khuch i phc ca hp gim tc c c tnh khe h vi X
a
=1, a = 45
t
e
1
arctan( ) arctan( )
2 2
t t
t
e e t + + =
1
tan arctan( ) arctan( )
2
t t
e e
(
+ =
(

2
1
1 0
2
e = 2 1.41 e = ~ 2 s j =
1 1 1
( )
6 2( 2 1)( 2 2) 2. 2 1. 2 4
G j
j j j
e = = =
+ + + +
1 1
( ) 6 N M
= 6 N =
2
3
6 2 2
4
M
M = =
( ) 2 2sin( 2 ) c t t =
.

p n:
a) Phng trnh ca khu khe h l:
o t e
t
s < = t k b A t w
2
; ) ( ) (
2
3
; ) sin ( ) (
t
e o t e s < + = t k b t A t w

2
5
2 ; ) sin ( ) (
t
e o t e s < = t k b t A t w
Vi )
2
1 arcsin(
A
b
= o
Da vo h phng trnh trn ca khu khe h, ta tnh c h s A1 v B1 ca khu khe h
o t e
t
s < = 2
2
3
, ) ( ) ( t k b A t w
) 1 (
4
) cos( ) (
1
= =
}

A
b kb
dwt wt t w A
t
t
t

) cos . sin
2
( ) sin( ) (
1
o o o
t
t
t
t
= =
}

Ak
dwt wt t w B
Vi k = 1 (v dc 45 ), A = M
t
o
t
o
t
o
2
cos
2
) 2 sin(
2
1
) ( j M N + =
Vi 1
2
sin =
m
a
X
X
o
b) Bin v tn s dao ng trong
) (
1
) ( 0 ) ( ) ( 1
M N
j G M N j G

= = + e e


N(M) = 6
Cu 14
Cho v d v h iu khin t ng c s dng c tnh phi tuyt Trigger Schmitt. V s
khi v gii thch hot ng.
Gii:
Xt h thng iu khin nhit ON-OFF nh sau:

Vi
1 10
300
) (
3
+
=

s
e
s G
s
v N l khu phi tuyn c c tnh Trigger Schmitt.
Thut ton iu khin ON-OFF nh sau:
- Nu e(t) > 10
o
C th u(t) = 1 (cp 100% cng sut)
- Nu e(t) < -10
o
C th u(t) = 0 (ngng cp ngun)
- Nu -10
o
C < u(t) < 10
o
C th tn hiu iu khin khng i.
1 1 1
( )
6 2( 2 1)( 2 2) 2. 2 1. 2 4
G j
j j j
e = = =
+ + + +


H s khuch i khu Trigger Schmitt (hay khu relay 2 v tr c tr)

Trong : D=10 v

p ng ca h thng trng thi xc lp l dao ng quanh gi tr t.
Ta c: ()

1 10
300
) (
3
+
=

e
e
e
j
e
j G
j

Bin v tn s dao ng l nghim ca phng trnh:
) 2 ( arcsin 3 ) 10 arctan(
) 1 (
4
1 100
300
{
)
) (
1
arg( )) ( arg(
|
) (
1
| | ) ( |
{
) (
1
) (
2
M
D
V
M
M N
j G
M N
j G
M N
j G
m
= =
=
+

=
o e e
t
e
e
e
e
) 3 (
. 1200
1 100
) 1 (
2
m
V
D
M
D +
=
e t

m
V
D
v
1200
1 100
arcsin 3 ) 10 arctan( ) 3 ( ) 2 (
2
+
=
e t
e e
Gii phng trnh ta c ) / ( 56 . 0 s rad = e
Thay vo (1) ta suy ra: M = 33.00
Vy trng thi xc lp, p ng ca h thng l dao ng vi thnh phn c bn l
) 56 . 0 sin( 33 ) (
1
o + = t t y
Cu 15

C(t)


()

( )( )

a)
Khu phi tuyn N c c tnh khe h
t
o
t
o
t
o
2
cos
2
) 2 sin(
2
1
) ( j M N + =
()

( )( )

Bin v tn s dao ng l nghim ca phng trnh:
()

e e

Vi o =45
0
v X =1
N= 1/2- 1/4 + 1/2pi- j/pi
Gii phng trnh G(s)= 1/ N(s)
G(s) N
r(t)=0
Ta c nghim:
= 0.767 (rad/s)
b) Gi tr h s khuch i gii hn:
G(j)H(j) =

( )()

Phng trnh c tnh ca phn tuyn tnh lin tc c h s khuch i K
A(s)= s(s+1)(s+2) +K=0
s
3
+3s
2
+2s+K=0
H s khuch i gii hn c xc nh theo tiu chun Hurwitz cho h bc 3 l:
6- K
gh
=0 => K
gh
= 6
c) d tr bin :

(rad/s)
G(j

) = K/6
20log(G(j

))
Suy ra K=7.55
Cu 16
Tng t cu 15:
N= 1/2- 1/4 + 1/2pi- j/pi
a) Gii phng trnh G(s)= - 1/ N(s)
Gii phng trnh ta c : = 1.11(rad/s)
phng trnh c tnh:
s(1+2.1s)
2
+K(1+3s)= 0
4.41s
3
+ 4.2s
2
+ s (1+3K) +K = 0
Xc nh h s khuch i gii hn
4.2 (1 +3K)-4.41K = 0 =>
- d tr bin
Arctan(3 ) pi/2 2.arctan(2,1 ) = - pi
=> = 0.35 rad/s
20 log(G(
-pi
))= 2
=>20 log(1.96K) =2
=> K= 0.64



b) Gii phng trnh G(s)= - 1/ N(s) tm
ta c nghim = 1.262 rad/s
Tm h s khuch i gii hn
Phng trnh c tnh:
K(1+5s) + s(1+1,67s)
2
=0
Tiu chun Hurwitz
(5K+1)3.34 2.7889 =0
K
gh
=
- d tr bin
Arctan(5 ) Pi/2 2arctan(1.67 ) = -Pi

-Pi
= 0.268 rad/s
20 log (G(
-Pi
)) = 2
20 log (5.19 K) =2
K= 0.24
Cu 17

a) iu kin xy ra chu trnh ti hn v kho st chu trnh ti hn bng
phng php tuyn tnh ha iu ha
Hm truyn tuyn tnh ha iu ha ca khu phi tuyn
2 1 1
( , ) ( sin 2 )
2 2
n
K
G E t u u
t
e =

Hm cho c K = 1, D = 1
Xt
arcsin( / ); D E E D u = >
2 1 1
( , ) ( sin 2 )
2 2
n
K
G E t u u
t
e =
N (M)
G(s)



h c chu trnh ti hn, hm truyn phi ct ng cong
E 1 2 3 5
1/G
n
- -2.55 -1.71 -1.33 -1

Hm truyn phn tuyn tnh:
H thng c chu trnh ti hn khi ct trc honh ti A vi |OA|>1 hay bao ly
im (-1), cng l iu kin h tuyn tnh:
khng n nh
Phng trnh c trng ca W
tt
: K + S(1 + S/10)(1 + S/25) = 0
S
3
+ 35S
2
+ 250S + 250K = 0
Xc nh K gii hn bng Routh:
S
3
1 250
S
2
35 250K
S
1
a 0
S
0
b 0



K
gh
= 35
Vy h W
tt
khng n nh khi K > K
gh
hay h phi tuyn cho chu trnh ti hn khi K > K
gh
(=
35)
Khi chu trnh ti hn l n nh.
b) Bin chu trnh ti hn E v tn s t giao im A
Ti giao im A, ta c
arcsin(1/ ); 1 E E u = >
( ) G je
1
( )
n
G E

( )
1 ( )
tt
G S
W
G S
=
+
( )
(1 / 10)(1 / 25)
K
G j
j j j
e =
e + e + e
( ) G je ( ) G je
( )
1 ( )
tt
G S
W
G S
=
+
1 250
(250 250.35) 250
35 35
a K K

= =
1
( .250 ) 250 b a K K
a

= =
[ ( )] 0
m
I G je =



Vy tn s ca chu trnh ti hn l :
Suy ra honh im A :

Vi =
A
= 15.81 v K = 2K
gh
= 70
x
A
= -14.8
-1/G
n
(E
A
) = x
A
= -14.8 (*)
T (*) ta c E
A

E
A
2 1.2 1.1 1.188 1.179 1.175
-1/G
n
-2.55 -12.56 -30.8 -13.55 -14.41 -14.83

Chn E
A
= 1.175, chu trnh ti hn: E
A
= 1.175,
A
= 15.81
E
A
2 2.44 3
-1/N

-2.55 -2 -1.71




2. Phng php Lyapunov
1.18. Trnh by ni dung v phm vi ng dng ca phng php Lyapunov
Bi gii:
2 2 2
2
2
( )
(1 / 10)(1 / 25)
( (1 / 10)(1 / 25)
(1 / 100)(1 / 625)
1 1
M[ ( ) ( 1)]
10 25 250
K
G j
j j j
K
j j j
j
e =
e + e + e
= e) e e
e +e +e
e
= e + + e
[ ( )] 0
m
I G je =
2
1) 0
250
e
e( =
1
250 15.81sec
A

e = =
15.81
A
e =
2
2 2
2
( ) 1 1
Re | ( ) | ( )
10 25
(1 )(1 )
100 625
A
K
x G j
e
= e = +
e e
e + +
C th phn cc phng php gii quyt bi ton n nh chuyn ng thnh hai
loi ch yu:

a. Loi th nht
Gm nhng phng php kho st trc tip chuyn ng b nhiu da trn vic xc
nh cc nghim tng qut hoc nghim ring ca phng trnh vi phn ca chuyn
ng b nhiu. S dng phng php tuyn tnh ha vit phng trnh vi phn phi
tuyn ca chuyn ng b nhiu bng mt h phng trnh tuyn tnh gn ng
b qua cc s hng bc cao, v thc cht l thay th mt bi ton ny bng mt bi
ton khc m chng c th khng c tnh cht no chung vi nhau, tuy nhin p s
ca bi ton tuyn tnh ha trong mt s trng hp c th cho bit thng tin v s
n nh ca chuyn ng phi tuyn b nhiu.
Nu nghim ca phng trnh c trng c phn thc khc khng th cc phng
trnh xp x tuyn tnh lun cho p s ng i vi cu hi n nh ca h phi tuyn.
Nu tt c cc nghim ca phng trnh c trng c phn thc m th h
phi tuyn s n nh trong phm vi hp.
Nu c d ch mt trong s cc nghim ca phng trnh c trng c phn
thc dng th h phi tuyn khng n nh.
Nu c d ch mt trong s cc nghim ca phng trnh c trng c phn
thc bng khng v cc nghim cn li c phn thc m th khng th nh
gi tnh n nh ca h phi tuyn theo nh gi nghim ca phng trnh
tuyn tnh gn ng c.
Phng php th nht ca Lyapunov xc nh s n nh trong ln cn tc thi ca
im cn bng.

b. Loi th hai
Da trn hm
1 2
( , ,..., )
n
V x x x
c tnh cht c bit v kho st o hm ton phn
theo thi gian
/ dV dt
vi
1 2
, ,...,
n
x x x
l bin trng thi ca phng trnh vi phn m
t chuyn ng b nhiu.
Nu tm c mt hm V(x) vi mi bin trng thi
1 2
, ,...,
n
x x x
l mt hm
xc nh du dng, sao cho o hm ca n
( ) / dV x dt
da theo phng
trnh vi phn ca chuyn ng b nhiu:
1 2
( , ,..., )
n
x f x x x =
cng l hm xc
nh du, song tri du vi hm V(x) th chuyn ng khng b nhiu s n
nh tim cn.
Nu tm c mt hm V(x) sao cho o hm dV(x)/dt da theo phng
trnh vi phn ca chuyn ng b nhiu l hm xc nh du, cn trong ln
cn ty b ca gc ta c nhng im ti hm
V
ly gi tr cng du
vi V th chuyn ng khng b nhiu khng n nh.

1.19. Kho st tnh n nh ca h c m t bi phng trnh vi phn phi
tuyn:
2 2
1 2
( ) [ ( ) ( )] ( ) ( ) 0 x t K x t x t K x t x t + + + + =

Bi gii:
t
1 2 1 1 1 2
2 2
2 1 2 2 1 2 2 2 1 1 2
( )
x x f x x x x
x x x x x x K x x K x x f
= = = =


= = = = + =


Ma trn
1 1
1 2
2 1 1 1 2 2 2
1 2

0 1
2 1 2

f f
x x
A
K x K K x f f
x x
c c (
(
c c
(
(
= =
(
c c (

(
c c


Phng trnh trng thi cn bng:
2 1 1
2
2 2 2 1 1
0 0 0
0 0 0
x f x
f x K x x
= = =


= = + =


2
1 1 1
2
2
1 2
2
0
1
0 0
0 1
0
x
x x x
K
x
x x
K
=

= = =
v

= =

a. Phng php 1 ca Lyapunov:
Xt
1
2
0
0
x
x
=

Ma trn
1
0 1
1
A
K
(
=
(



Phng trnh c trng:
1
1
det( )
1
s
sI A
s K
(
=
(
+


2
1
1 0 s sK + + =

2
1
2
1 1 1
1,2
4
4
2 2
K
K K K
s
A =
A
= =

1)
1 2 1,2
0, 0 Re( ) 0 K K s > > <
H n nh
2)
1 2 1,2
0, 0 Re( ) 0 K K s < < >
H khng n nh
3)
1 2 1,2
0, 0 Re( ) 0 K K s < > >
H khng n nh
Xt
1
2
2
1
0
x
K
x

=

Ma trn
1
0 1
1
A
K
(
=
(

Phng trnh c trng:
1
1
det( )
1
s
sI A
s K
(
=
(
+


2
1
1 0 s sK + =

2
1 1
2
1 1 1
1,2
2
1 1
1 1
2
1 1
2 1
4 0
4
2 2
4
0
2
4
0
2
K K
K K K
s
K K
s K
K K
s K
A = + >
+ A
= =

+
= <

+ +
= >

H khng n nh vi
1 2
, K K

b. Phng php 2 ca Lyapunov:
Xt trong ln cn im cn bng :
1
2
0
0
x
x
=

Chn dng ton phng:
2 2
1 2
1 1
( )
2 2
V x x x = +

Ta nhn thy:
1 2
( ) 0 ( x , ) V x x >

V:
( ) 0 V x =
ti
1
2
0
0
x
x
=

o hm ca V(x):
2 2 2 2 2
1 1 2 2 1 2 2 1 2 2 2 1 1 1 2 2 1 2 2 1
( ) [ ( ) ] ( ) V x x x x x x x x K x x K x x K x x K x K x = + = + + = +

1)
1 2
0, 0 K K > >

Vi
1 2
, x x
trong ln cn im cn bng th
( ) 0 V x <
h n nh tim cn
2)
1 2
0, 0 K K < <

Vi
1 2
, x x
trong ln cn im cn bng th
( ) 0 V x >
h khng n nh
3)
1 2
0, 0 K K < >

Ta c:
2 3 2
1 2 2 2 1 2
( ) ( ) V x K x x K x x = +

Trong :
1 1
2 2
0 0
0 0
K K
K K
< >

> <


h cn bng phi c:
( ) 0 V x <

2 3 2 2 3 2
1 2 2 2 1 2 1 2 2 2 1 2
( ) 0 ( ) K x x K x x K x x K x x + < + <

2 3 2
2 2 2 2 2 2
2 2
1 1 2 1 1
K x x K x x
K x x K x
+ +
> >

2
2
2
1
K x x
K x
+
>


1.20. Dng phng php Lyapunov xt tnh n nh ca cc h thng sau:
a)
3 4
sin x x x = +

b)
2
(5 ) x x =

c)
5 7 2 8 2
sin cos 3 x x x x x x + + =

d)
x x x x x x
3 3 5 7 4
sin ) 1 ( = + +

e)
)
2
sin( ) 1 (
7 2
x
x x x x
t
= + +

Bi gii:
a. Chn hm
2
( ) V x x =

( ) 0 0 V x x > =
hay ta ni V(x) xc nh dng
Ta c:
3 4
( ) 2 2 ( sin ) V x xx x x x = = +

Vi x > 0:
3 3 4 3 4
sin sin sin sin 0 x x x x x x x > > > + <

3 4
2 ( sin ) 0 ( ) 0 x x x V x + < <

Vi x = 0:
2 2
( ) 0 0 V x x = = =

Vi x < 0:
3 3 3 4
0 0 sin 0 x x x x < > + >

3 4
2 ( sin ) 0 ( ) 0 x x x V x + < <

Kt lun: H n nh tim cn quanh im cn bng x = 0
b.
5
(5 ) x x =

t:
(5 ) y x = y x =

Khi :
2 5
(5 ) x x y y = =

Chn:
2
1
( ) 0
2
V y y = >
,
0 y =

6
( ) 0 V y yy y = = s
,
y

Kt lun: H n nh tim cn quanh y=0 hay x=5
c.
5 7 2 8 2
sin cos 3 x x x x x x + + =

Xt h phng trinh phi tuyn:
( ) ( ) 0 x b x c x + + =

Chn hm:
2
0
1
( ) ( )
2
x
V x x c y dy = +
}

Vi iu kin:
( ) 0
( ) 0
xb x
xc x
>

>

,
0 x =

Ta c:
5 6
7 2 8 2 3 5 8 2
( ) ( )
( ) sin cos 3 ( ) ( sin cos 3 )
b x x xb x x
c x x x x x xc x x x x x
= =

= =

Vi x<0:
5 8 2
sin cos 3 0 ( ) 0 x x x xc x < >

Vi x>0:
Vi
(0;1) xe
:
8 8 8 2 8 2
5 8 2 5 8
sin sin sin cos 3 do 0 cos 3 1
sin cos 3 0
x x x x x x x x
x x x x x
< < < s s
> >

Vi
[1; ) xe
:
( ) 0
( ) 0
xb x
xc x
>

>

,
0 x =

Xt hm:
2
0
1
( ) ( )
2
x
V x x c y dy = +
}

Do iu kin xc(x)>0
( ) 0 V x >
,
0 x =

( ) ( ) ( ( )) ( ) 0 V x xx c x x x x c x xb x = + = + = <
,
0 x =

Kt lun: H n nh tim cn quanh im cn bng
0
0
x
x
=

d.
x x x x x x
3 3 5 7 4
sin ) 1 ( = + +

Xt phng trnh:
0 ) ( ) ( = + + x c x b x

Chn hm:
}
+ =
x
dy y c x x V
0
2
) (
2
1
) (

Ta chng minh:

>
>
0 ( .
0 ) ( .
x c x
x b x
, 0
, 0
x
x
=
=
(*)
Ta c:
4 7 4 8
( ) ( 1) . ( ) ( 1) 0 b x x x x b x x x = = >
0 x =

Mt khc:
) sin ( ) ( .
3 2 4
x x x x c x =

- Vi x < 0:
0 sin
3 2
> x x

0 ) ( . > x c x

- Vi x > 0:
o
) 1 , 0 ( e x
:
2 2 3
sin sin x x x < <

0 sin
3 2
> x x


0 ) ( . > x c x

o
: ) ; 1 [ + e x
0 sin
1 sin
1
3 2
3
2
>

s
>
x x
x
x

T suy ra (*) c chng minh. Xt hm
2
0
1
( ) ( )
2
x
V x x c y dy = +
}

- Vi x > 0:
0 ) ( 0 > > x c x

}
>
x
dy y c
0
0 ) (

0 ) ( > x V

- Vi x < 0:
0 ) ( 0 < < x c x

}
>
x
dy y c
0
0 ) (

0 ) ( > x V

Vy V(x) > 0
0 = x

Ta c:
| | ) ( ) ( . ) ( x c x x x x c x x x V + = + =

0 ) ( . < = x b x
0 = x

Kt lun: H n nh tim cn quanh im cn bng x = 0
e.
)
2
sin( ) 1 (
7 2
x
x x x x
t
= + +

t
1 2 1
1 1 2
2 7 1
2 1 2 2 1 2 1 2
( 1) sin( )
2
x x f
x x x x
x
x x x x x x x x x f
t
= =
= =



= = = = + =

Phng trnh trng thi cn bng:
2 1
1 1
2 7 1
2 1 2 1
2
1 1 1
2 2 2
0
0 sin( )
2
0 ( 1) sin( ) 0
0
2
0 1 1
0 0 0
x x
f x
x
f x x x
x
x x x
x x x
t
t
=
= =



= + =

=

= = =
v v

= = =


Xt trong ln cn im cn bng :
1
2
0
0
x
x
=

Xt phng trnh:
0 ) ( ) ( = + + x c x b x

Chn hm:
}
+ =
x
dy y c x x V
0
2
) (
2
1
) (

Ta chng minh:
. ( ) 0
. ( ) 0
x b x
x c x
>

>

0
0
=
=
x
x

) 2 (
) 1 (

Ta c:
0 ) 1 ( ) ( . ) 1 ( ) (
8 4 7 2
> = = x x x b x x x x b

0 = x

(1) c chng minh.

Xt (2), ta c:
)
2
sin( )
2
sin( ) ( .
2
x
x x
x
x x x c x
t t
=
(

=

Trong ln cn ca im cn bng (
1
2
0
0
x x
x x
= =

= =

) th
sin( )
2
x
x
t
>

. ( ) 0 x c x >

Do
( ) 0 V x >
v
( ) 0 V x =
ti im cn bng
o hm V(x):
2 8 2 8
( ) ( ) ( 1) sin( ) sin( ) ( 1) 0
2 2
x x
V x xx xc x x x xx x xx x x x
t t
= + = + + = <

Suy ra h n nh ti im cn bng
1
2
0
0
x x
x x
= =

= =

Xt trong ln cn im cn bng :
1
2
1
0
x
x
=

Thc hin i bin:
1 y x y x = =

Phng trnh vi phn m t h tr thnh:
2 7 2 7
1 sin( ) 1 cos( ) 0
2 2 2
y y
y y y y y y y y
t t t
+ + + = + + + + =

Nh vy im cn bng
1
2
1
0
x
x
=

tr thnh
1
2
0
0
y y
y y
= =

= =

Chn hm
2 2 2
0
1 1 1 2
( ) [ 1 cos( )] sin( )
2 2 2 2 2
y
t y
V y y t dt y y y
t t
t
= + + = + +
}

Trong ln cn ca im cn bng (
1
2
0
0
y y
y y
= =

= =

) th
2 2
sin( ) sin( ) do 1
2 2
y y
y y
t t
t t
> > <

( ) 0 V y >

V cng c V(0) = 0
Xt:
2 7 2 8
( ) cos( ) ( 1 cos( )) cos( ) 0
2 2 2
y y y
V y yy yy y y y y y y yy y y y y
t t t
= + + = + + + = <

Suy ra h n nh ti im cn bng
1
2
0
0
y y
y y
= =

= =

Hay n nh ti im cn bng
1
2
1
0
x
x
=

Xt trong ln cn im cn bng :
1
2
1
0
x
x
=

Thc hin i bin:
1 y x y x = + =

Phng trnh vi phn m t h tr thnh:
2 7 2 7
( 2) 1 sin( ) ( 2) 1 cos( ) 0
2 2 2
y y
y y y y y y y y
t t t
+ + = + + + =

Nh vy im cn bng
1
2
1
0
x
x
=

tr thnh
1
2
0
0
y y
y y
= =

= =

Chn hm
2 2 2
0
1 1 1 2
( ) [ 1 cos( )] sin( )
2 2 2 2 2
y
t y
V y y t dt y y y
t t
t
= + + = + +
}

Trong ln cn ca im cn bng (
1
2
0
0
y y
y y
= =

= =

) ta quan st thy
2
1 2
sin( ) 0
2 2
y
y y
t
t
+ >

( ) 0 V y >

V cng c V(0) = 0

Xt:
2 7 2 8
( ) cos( ) ( ( 2) 1 cos( )) cos( ) ( 2) 0
2 2 2
y y y
V y yy yy y y y y y y yy y y y y
t t t
= + + = + + + = <

Suy ra h n nh ti im cn bng
1
2
0
0
y y
y y
= =

= =

Hay n nh ti im cn bng
1
2
1
0
x
x
=

1.21. Xt h con lc ngc c m t bi phng trnh ng hc:

Xc nh im cn bng v xt tnh n nh ca h thng dng hai phng php ca
Lyapunov.
Bi lm
t
{

Suy ra:
{

Phng trnh cha thnh phn sin x, nn h trn l h phi tuyn
Phng trnh trng thi cn bng:
{

( )

a. Phng php th nht ca Lyapunov
kho st tnh n nh ca h phi tuyn, phng trnh c trng:
( )
|
|
(


)
(

|
|

|

| (

Xt

( )

Phng trnh c trng:
(

Ma trn Hurwitz:
(

) (

)
Lp cc nh thc Hurwitz:

Theo tiu chun Hurwitz, 2 nghim ca phng trnh c trng c phn thc m, do
h n nh trong phm vi hp.

Xt

( ) ( )

Phng trnh c trng:
(

Ma trn Hurwitz:
(

) (

)
Lp cc nh thc Hurwitz:

Suy ra phng trnh c trng c 2 nghim: 1 nghim c phn thc dng v 1
nghim c phn thc m. Theo phng php th nht ca Lyapunov th h khng
n nh.

b. Phng php th hai ca Lyapunov

Chn hm V() :
() ( )

im cn bng tha mn hm () l {

( )
o hm ca V():

()

Chn

()

Suy ra h thng n nh ti im cn bng: {

( )
Chn hm V() :
() ( )

im cn bng tha mn hm () l {

()
( )
o hm ca V():

()

Chn

()

Kt lun trong trng hp ny l khng th xc nh c h n nh hay khng
3. Mt phng pha

Bi 1.2
Xt h thng cp 2 m t bi phng trnh vi phn ( ) (*)
Vi ( ) l hm tuyn tnh hoc phi tuyn ca ( )

) (1)

) (2)

T nh l v tnh duy nht nghim ca h phng trnh vi phn th h (1),(2) c nghim duy
nht khi

l gii tch c (c khai trin Taylor quanh 1 im)

Loi b bin t (1), (2) ta c:

)
(3)

Phng trnh ny cho bit nghing ca tip tuyn ca qu o mt phng pha i qua im
(

) . Nghim ca (3) c th vit di dng

) y l phng trnh ca ng cong

trong mt phng pha. N ch ra chuyn ng ca cc im trng thi ca h thng.
Gi phng trnh:

l phng trnh c trng cho (*)

Nu (

) c xem l nghim ca phng trnh trn th ta c bng tng kt Bng

1.1/trang 17 ( sch L thuyt iu khin t ng).


Bi 1.3

Theo ta c:
()
()

)() ()

Ly Laplace ngc : () () () ()

Gi s h khng c kch thch ( () ) , ta c phng trnh vi phn m t h thng bc 2 :
() () ()

Phng trnh t trng:

c nghim

Vy dng nghim ca () l:
() (

() [(

Kt hp vi in kin u : () v () , suy ra

Vy nghim l:

() (

() (

V qu o vi thi gian

Bng cc cp gi tr ( ):

k ( )
0 ( )
1 ( )
2 ( )
3 ( )
4 ( )
5 ( )
( )

Nhn xt:
+Khi , qu o ca h tin v im cn bng ( ).
+ Qu o pha l qu o hnh tiu n nh.



th m phng theo bng tnh trn: th m phng vi phn di cao (10000
im):




Bi 1.4
Kho st v n nh h rle bc 2 bng phng php mt phng pha

-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
-2 -1 0 1 2 3
Y-Values

1


1







Z
a

0


-
Z
a

X

F(X)



c(t)

r(t)=0

a) Xt n nh khi
b) Nu tc dng ca phn hi m tc , v qu o pha v vit phng trnh ng thng chuyn
i
c) Hiu chnh phi tuyn mch phn hi m tc c dng nh th no rle ch chuyn i mt
ln
Gii
a)
Khi ta c ()
Khi : () {

()

()

Ta c :
{
()

()

()

()

()
()()
()

()

()

()
()

()

Nhn xt:
- Qu o pha l h nhng ng parabol
- ng chuyn i l ()
- H dao ng quanh (0,0)
- H khng c im cn bng
- Min n nh rng
Qu o pha:

b)
Phn hi m tc lm thay i ng thng chuyn i nn sau mi ln chuyn i s theo mt
ng pha nh hn, lm mt dn s dao ng
Ta c: () ()
() {

() ()

() ()

ng thng chuyn i: () ()
{
()

()

()

()

()
()()
()

()

()

() ()
()

() ()




Nhn xt:
- Qu o pha l cc ng parabol
- ng chuyn i () ()
- C mt im cn bng (0,0)
- Min n nh l ton mt phng
c)
rle ch chuyn i mt ln, ng chuyn i phi trng vi mt ng parabol trong cc h
ng parabol cu trn. Khi gp ng chuyn i, qu o pha s i dc theo ng chuyn i
nn s ch i mt ln.
Phng trnh ng chuyn i:
{

()

()

V d trong hnh sau, ng thng chuyn i l ng mu en

Bi 1.5:
Cho h phi tuyn:

a) V qu o pha: 1 = , ( 0) 3 x t = = , ( 0) 0 y t = =
b) V qu o vi iu kin khc nhau.
Gii:
a) V qu o pha: 1 = ,
( 0) 3 x t = =
,
( 0) 0 y t = =

Ta c: x y x y c = =
nn
1, 1
0, 1 1
1, 1
x y
f x y
x y
c
c
c
>1 + <

= 1< <1 < + <

< 1 + >

Vy,
dx
y
dx y
dt
ydy fdx
dy dy f
f
dt

= =

i. 1 1 1 x y f c > + < =
nn
2
2
y
ydy dx x k = = +
ii. 1 1 1 1 0 x y f c < < < + < =
nn 0 ydy y k = =
iii. 1 1 1 x y f c < + > =
nn
2
2
y
ydy dx x k = = +
Vy ,
2
2
1
2
1 1
1
2
y
x k khi x y
y k khi x y
y
x k khi x y

= + + <

= < + <

= + + >

C 2 ng thng chuyn i l y=-x +1 v y= -x-1
Qu o pha vi iu kin u x(0) = 3; y(0) = 0.
Dng 2 ng thng chuyn i chia mt phng pha thnh 3 phn (1), (2), (3).
i. Do x+y=3>1 nn qu o pha i theo phng trnh th 3 => k=3 =>
2
3
2
y
x = +
ii. Giao im ca qu o pha vi ng chuyn i l ngim ca h:
2
5
3
2
1 5
1
y
x
x
y
x y

=
= +

=


+ =

iii. Trong vng (2) qu o pha i theo ng thng 1 5 y =
iv. Giao im ca qu aoh pha vi ng chuyn i l nghim ca h:
2 5
1 5
1
1 5
x
y
x y
y

= +
=

+ =
=



v. vng (1) qu pha s i theo phng trnh th nht
( )
2
2
1
2 5 1 5 5 2 5
2 2
y
x k k = + = + = +
vi. Giao im ca qu o pha vi ng chuyn i l nghim ca h:
2
2 5
5 2 5
2
3 5
1
y
x
x
y
x y

=
= +

= +


+ =

vii. Qu o pha dng giao im vi ng chuyn i. Trong vng y<0 qu o pha i t
phi qua tri.
viii. Ta thu c qu o pha:

b) Vi iu kin khc:
i. x(0) = 1; y(0) = 0:
Nm trong hai ng chuyn i, giao im vi ng chuyn i ti y = 0 nn qu o
pha s i ngc li.
=> h dao ng trn (1,0), (-1,0).

ii. x(0) = -2; y(0) =0:
Tng t cu a) nhng trong vng (3) qu o pha khng th c v ngc chiu qu o.


4. iu khin trt
Bi 1.22/ Trnh by phng php thit k b iu khin trt v cho mt v d.
Gii
thit k mt b iu khin trt bm qu o, ta cn lm cc bc sau y:
Bc 1: Biu din quan h vo ra ca i tng phi tuyn di dng:
y
(n)
= a(x) + b(x).u
Bc 2: Chn mt trt = e
(n-1)
+ k
1
e
(n-2)
+ + k
n-2
e
(1)
+ k
n-1
e
Trong k
i
c chn sao cho (s) = s
n-1
+ k
1
s
n-2
+ + k
n-2
s + k
n-1
l a thc Hurwitz;
nghim ca (s) = 0 cng nm xa trc o th e(t) tin ti 0 cng nhanh khi = 0.
Bc 3: Vit biu thc b iu khin trt:

()
[()

()

()

()]
Trong K>0. K cng ln th tin v 0 cng nhanh
Bc 4: Thit k b lc thng thp tn hiu vo m bo tn hiu chun y
d
(t) kh vi b
chn n bc n

C th thay hm sign() bng hm sat() hoc cc hm trn gim hin tng chattering

V d:
Xt h con lc m t bi PTVP:

()

() ()
m = 0.1 (kg); l = 1(m) B = 0.01 (N.m.s/rad)
Thit k b iu khin trt iu khin gc lch ca con lc bm theo tn hiu t.
Gii
t cc bin trng thi l x
1
= ; x
2
= , tn hiu ra l y = = x
1
Bc 1: tnh o hm ca tn hiu ra

() ()
()

()

Bc 2: Biu thc mt trt:

vi

a thc c trng ca mt trt: s + k
1
= 0
Chn cc ca mt trt ti -500 => k
1
= 500
Bc 3: Biu thc b iu khin trt

()
[()

()

()]
Chn K = 1000
Bc 4: Thit k b lc tn hiu vo
Chn b lc thng thp bc 2 tn hiu y
d
(t) kh vi b chn n o hm bc 2. Hm truyn
ca b lc l:

()

()

M phng h thng iu khin trt

M phng khi iu khin trt bng Simulink ca matlab


V, kt qu m phng khi tn hiu chun l xung vung

Ta c th thy, tn hiu ra ca i tng bm theo tn hiu chun rt tt.
Khi ta tng khi lng vt nng ln 10 ln:

Khi ta tng khi lng vt nng ln 10 ln (=1kg), cht lng iu khin gn nh khng b
nh hng. Cho thy b iu khin trt rt bn vng vi sai s m hnh. Nhng tn hiu
iu khin u(t) dao ng vi tn s kh cao (hin tng chattering), y l nhc im ca
b iu khin trt. trnh hin tng ny, ta c th thay th hm sign() bng hm sat().
Kt qa m phng khi thay th hm sign() bng hm sat()

Bi 1.23/
Cho h thng
{

()

()

Thit k mt b iu khin h thng c th bm theo qu o cho trc x
d
(t), gi s [x
1

x
2
]
T
l c th c c, bn cnh x
d
(t), x
d
(t), x
d
(t) bit trc, v
1
(t) ,
2
(t) l hm
khng xc nh v thay i theo thi gian b gii hn bi:

()

()
Gii
Bc 1:
t y(t) = x
1
(t), ta c :
( )
( )
( )
( ) ( )
( )
( )
( ) ( )
( )
( ) ( )
1 2 2
2 2
1 2 2 2 2 2
4
2
1 1 2 2 2
4
2
1 1 2 2 2 2
sin 1.
cos 1 cos 1
2 1 2 1
cos . cos 1
2 1
cos cos 1 cos 1 .
2 1
.
y t x x t x
x x
y t x x x t x x x t
t t
x
t x x t u x t
t
x
t x x x t x t t u
t
a x b x u
o o
o o
= = + +
= = + + + = + + +
+ +
( = + + + +

+
= + + + + + +
+
= +

Vi
( ) ( )
( )
( )
( )
( )
4
2
1 1 2 2
2 2
cos cos 1
2 1
cos 1
x
a x t x x x t
t
b x x t t
o
o
= + + +
+
= + +


Bc 2 :
Chn mt trt
= + k
1
e vi e = y y
d
= x - x
d

Chn k
1
= -10 =>

() ()

(1)

Bc 3 :
Biu thc b iu khin trt:
Chn u (), khi hm Lyapunov
2
1
2
V o = c 0 0
t
V V oo

= <

Thay vo (1):

()
[ () ()

] Chn K =50

Bc 4 :
Chn b lc thng thp bc 2 y
d
(t) b chn n o hm bc 2:
( )
2
1
0, 01 1
LF
G
s
=
+

Bi 24: Thit k b iu khin Switching cho h thng.

()

()

Trong

(),

() l cc hm khng xc nh v thay i theo thi gian b gii hn bi:

()

()
Gii:
t ta c h thng:
() ()
{

() ()

Trong :

()

()

()

()
Vi:
()

()

Phng trnh mt trt (theo v d mc 1.6.2 trang 54):

Ta chn lut iu khin:

()
[

() ()]

()

()

)
Chn gi tr cho u v k ta s c biu thc ca b iu khin trt tng ng.
Chn b lc thng thp bc 2 tn hiu t r b chn n bc 2, hm truyn ca b lc l:

()

( )

Bi 1.25 / Thit k b iu khin trt cho h thng:
( ) ( ) ( ) ( )
(3) 2 5
1 2
sin 4 x t x t x x b t u o o + + =

Trong
( ) ( ) ( )
1 2
, , t t b t o o l hm khng xc nh v thay i theo thi gian b gii hn
bi:
( ) ( ) ( )
1 2
0, 1, 2,1 4 t t t b t o o > s s s s
Gii
Ta c :
( ) ( ) ( ) ( )
(3) 2 5
1 2
sin 4 x t x t x x b t u
y x
o o = +

t cc bin trng thi
1
2
3
x y x
x x
x x
= =

Bc 1: Ly o hm tn hiu ra
( ) ( ) ( ) ( )
(3) 2 5
1 3 2 2 1
sin 4 y t x t x x b t u o o = +

(3)
( ) ( ) y f X g X u = + vi
( ) ( ) ( ) ( )
( ) ( )
( ) ( ) ( )
2 5
1 3 2 2 1
1 2
sin 4
0, 1, 2,1 4
f X t x t x x
g X b t
t t t b t
o o
o o

> s s s s

| |
1 2 3

T
X x x x =

Bc 2: Biu thc ca mt trt

Biu thc mt trt:
1 2
e k e k e o = + +
vi
d
e y y =

a thc c trng ca mt trt:
2
1 2
0 s k s k + + =

Chn cp cc ca a thc c trng l: -10,-10

1
2
20
100
k
k
=

Bc 3: Vit biu thc ca b iu khin trt

Biu thc iu khin trt:
( )
( )
1 2
1
( )
d
u f X y k e k e Ksign
g X
o = + + + + (


( ) ( ) ( )
2 5
1 2 1 2
1
sin 4 ( )
( )
d
u t x t x x x k e k e Ksign
b t
o o o ( = + + + + +

Chn K=50
Bc 4: Thit k b lc tn hiu vo
Chn b lc thng thp bc 3 tn hiu y
d
kh vi v b chn n o hm bc ba
Hm truyn ca b lc:
( )
3
1
0.1 1
LF
G
s
=
+


5. Phng php tuyn tnh ha




Bi 1.29: Xt h phi tuyn
3
1 2
2
1
x x u
x u
y x
( + (
=
( (

=
(1)
Hng dn: chn lut iu khin
3
2
( ) ( )
( ) ( ) ( )
d
d
u x e t y t
e t y t y t
= + +
=

Yu cu y(t) ng ra bm ui y
d
(t). y
d
(t) l ng ra mong mun theo yu cu thit k.
1- Chng minh y(t) bm ui c y
d
(t). (h (1) n nh).
2- Chng minh h phi tuyn (2) khng n nh:
3
1 2
2
1
x x u
x u
y x
( + (
=
( (


=
(2)
Bi lm a)

1
3
1 2
y x
y x x u
=
=> = = +
(1)
=> ()

() => ()

()

s+1=0 => s=-1;
e tin v 0 khi t->
Ta li c :

= =

V e v

gii hn nn

<=D

<=D
V nu

<0 m

>

th khng tha do nghch bin , nu

> 0 m

<

th khng tha do

ng bin

<=

b) Chng minh tng t
ta c

= =

<=D
V nu

<0 m

>-

th khng tha do nghch bin , nu

> 0 m 0<

<

th khng tha do

ng bin

>=

H khng n nh