Dap Ung Tan So

Kho st ng dng MATLAB trong iu khin t ng
NHM LNH V P NG TN S
(Frequency Response)
1. Lnh BODE
a) Cng dng:
Tm v v p ng tn s gin Bode.
b) C php:
[mag,phase,w] = bode(a,b,c,d)
[mag,phase,w] = bode(a,b,c,d,iu)
[mag,phase,w] = bode(a,b,c,d,iu,w)
[mag,phase,w] = bode(num,den)
[mag,phase,w] = bode(num,den,w)
c) Gii thch:
Lnh bode tm p ng tn s bin v pha ca h lin tc LTI. Gin Bode
dng phn tch c im ca h thng bao gm: bin d tr, pha d tr, li DC,
bng thng, kh nng min nhiu v tnh n nh.
Nu b qua cc i s v tri ca dng lnh th lnh bode s v ra gin Bode
trn mn hnh.
bode(a,b,c,d) v ra chui gin Bode, mi gin tng ng vi mt ng vo ca
h khng gian trng thi lin tc:
.
x Ax Bu
y = Cx + Du
vi trc tn s c xc nh t ng. Nu p ng thay i nhanh th cn phi
xc nh nhiu im hn.
bode(a,b,c,d,iu) v ra gin Bode t ng vo duy nht iu ti tt c cc ng ra
ca h thng vi trc tn s c xc nh t ng. i lng v hng iu l ch s ng
vo ca h thng v ch ra ng vo no c s dng cho p ng gin Bode.
bode(num,den) v ra gin Bode ca hm truyn a thc h lin tc
G(s) = num(s)/den(s)
trong num v den cha cc h s a thc theo chiu gim dn s m ca s.
bode(a,b,c,d,iu,w) hay bode(num,den,w) v ra gin Bode vi vector tn s w
do ngi s dng xc nh. Vector w ch ra cc im tn s (tnh bng rad/s) m ti
p ng tn s gin Bode c tnh.
Nu vn gi li cc i s v tri ca dng lnh th:
[mag,phase,w] = bode(a,b,c,d)
[mag,phase,w] = bode(a,b,c,d,iu)
[mag,phase,w] = bode(a,b,c,d,iu,w)
[mag,phase,w] = bode(num,den)
[mag,phase,w] = bode(num,den,w)

S khng v ra gin Bode m to ra cc ma trn p ng tn s mag, phase v
w ca h thng. Ma trn mag v phase c s ct bng s ng ra v mi hng ng vi mt
thnh phn trong vector w.
G(s) = C(sI A)-1B + D
mag() = G(j)
phase() = G(j)
Gc pha c tnh bng . Gi tr bin c th chuyn thnh decibel theo biu
thc:
magdB = 20*log10(mag)
Chng ta c th dng lnh fbode thay cho lnh bode i vi cc h thng c th
cho nhau. N s dng cc thut gii nhanh hn da trn s cho ha ca ma trn h
thng A.
d) V d:
V p ng bin v pha ca h bc 2 vi tn s t nhin n= 1 v h s tt dn
= 0.2
[a,b,c,d] = ord2(1,0.2);
bode(a,b,c,d)
grid on
v ta c gin Bode p ng tn s ca h thng nh sau:
Bode Diagrams
Phase (deg); Magnitude (dB)
0
-10
-20
-30
-40
0
-50
-100
-150
-1
10
10
Frequency (rad/sec)
2. Lnh FBODE
a) Cng dng:
V p ng tn s gin Bode cho h tuyn tnh lin tc.
10

b) C php:
[mag,phase,w] = fbode(a,b,c,d)
[mag,phase,w] = fbode(a,b,c,d,iu)
[mag,phase,w] = fbode(a,b,c,d,iu,w)
[mag,phase,w] = fbode(num,den)
[mag,phase,w] = fbode(num,den,w)
c) Gii thch:
Lnh fbode tm nhanh p ng tn s bin v pha ca h lin tc LTI. Nu b
qua cc i s v tri ca dng lnh th lnh fbode s v ra gin Bode trn mn hnh.
fbode(a,b,c,d) v ra chui gin Bode, mi gin tng ng vi mt ng vo ca
h khng gian trng thi lin tc:
.
x Ax Bu
y = Cx + Du
xc nh nhiu im hn.
fbode(a,b,c,d,iu) v ra gin Bode t ng vo duy nht iu ti tt c cc ng ra
ca h thng vi trc tn s c xc nh t ng. iu l ch s ng vo ca h thng v
ch ra ng vo no c s dng cho p ng gin Bode. fbode nhanh hn nhng km
chnh xc hn bode.
fbode(num,den) v ra gin Bode ca hm truyn a thc h lin tc
fbode(a,b,c,d,iu,w) hay fbode(num,den,w) v ra gin Bode vi vector tn s w
do ngi s dng xc nh. Vector w ch ra cc im tn s (tnh bng rad/s) m ti
p ng tn s gin Bode c tnh.
[mag,phase,w] = fbode(a,b,c,d)
[mag,phase,w] = fbode(a,b,c,d,iu)
[mag,phase,w] = fbode(a,b,c,d,iu,w)
[mag,phase,w] = fbode(num,den)
[mag,phase,w] = fbode(num,den,w)
s khng v ra gin Bode m to ra cc ma trn p ng tn s mag, phase v
w ca h thng. Ma trn mag v phase c s ct bng s ng ra v c s hng l
length(w).
d) V d:
V p ng bin v pha ca h bc 2 vi tn s t nhin n= 1 v h s tt dn
= 0.2
[a,b,c,d] = ord2(1,0.2);
fbode(a,b,c,d); grid on
v ta c p ng nh sau:

Bode Diagrams
0
-10
-20
-30
-40
0
-50
-100
-150
-1
10
10
10
Frequency (rad/sec)
3. Lnh DBODE
a) Cng dng:
Tm v v p ng tn s gin Bode ca h gin on.
b) C php:
[mag,phase,w] = dbode(a,b,c,d,Ts)
[mag,phase,w] = bode(a,b,c,d,Ts,iu)
[mag,phase,w] = bode(a,b,c,d,Ts,iu,w)
[mag,phase,w] = bode(num,den,Ts)
[mag,phase,w] = bode(num,den,Ts,w)
c) Gii thch:
Lnh dbode tm p ng tn s bin v pha ca h lin tc LTI. Lnh dbode
khc vi lnh freqz m trong p ng tn s t c vi tn s cha chun ha. p
ng c c t dbode c th c so snh trc tip vi p ng lnh bode ca h thng
lin tc tng ng. Nu b qua cc i s v tri ca dng lnh th lnh dbode s v ra
gin Bode trn mn hnh.
dbode(a,b,c,d,Ts) v ra chui gin Bode, mi gin tng ng vi mt ng vo
ca h khng gian trng thi lin tc:
x[n+] = Ax[n] + Bu{n]
y[n] = Cx[n] + Du[n]
vi trc tn s c xc nh t ng. Cc im tn s c chn trong khong t
/Ts (rad/sec), trong /Ts (rad/sec) tng ng vi na tn s ly mu (tn s Nyquist).
Nu p ng thay i nhanh th cn phi xc nh nhiu im hn. Ts l thi gian ly
mu.

dbode(a,b,c,d,Ts,iu) v ra gin Bode t ng vo duy nht iu ti tt c cc ng
ra ca h thng vi trc tn s c xc nh t ng. i lng v hng iu l ch s
ng vo ca h thng v ch ra ng vo no c s dng cho p ng gin Bode.
dbode(num,den,Ts) v ra gin Bode ca hm truyn a thc h lin tc gin
on.
G(z) = num(z)/den(z)
dbode(a,b,c,d,Ts,iu,w) hay dbode(num,den,Ts,w) v ra gin Bode vi vector
tn s w do ngi s dng xc nh. Vector w ch ra cc im tn s (tnh bng rad/s) m
ti p ng tn s gin Bode c tnh. Hin tng trng ph xy ra ti tn s ln
hn tn s Nyquist.
[mag,phase,w] = dbode(a,b,c,d,Ts,iu)
[mag,phase,w] = bode(a,b,c,d,Ts,iu,w)
[mag,phase,w] = bode(num,den,Ts)
[mag,phase,w] = bode(num,den,Ts,w)
s khng v ra gin Bode m to ra cc ma trn p ng tn s mag, phase v
w ca h thng c tnh ti cc gi tr tn s w. Ma trn mag v phase c s ct bng s
ng ra v mi hng ng vi mt thnh phn trong vector w.
G(z) = C(zI A)-1B + D
mag() = G(ejT)
phase() = G(ejT)
trong T l thi gian ly mu. Gc pha c tnh bng . Gi tr bin c th
chuyn thnh decibel theo biu thc:
d) V d:
V p ng gin Bode ca h thng c hm truyn nh sau:
H ( z)
2 z 2 3.4 z 1.5
z 2 1.6 s 0.8
vi thi gian ly mu Ts = 0.1

num = [2
-3.4
1.5];
den = [1
-1.6
0.8];
dbode(num,den,0.1); grid on
v ta c p ng tn s gin Bode ca h gin on nh sau:

Bode Diagrams
20
10
0
-10
100
50
0
-50
-1
10
10
10
10
Frequency (rad/sec)
4. Lnh FREQS
a) Cng dng:
Tm p ng tn s ca php bin i Laplace.
b) C php:
h = freqs(b,a,w)
[h,w] = freqs(b,a)
[h,w] = freqs(b,a,n)
freqs(b,a)
c) Gii thch:
Lnh freqs tr thnh p ng tn s H(j) ca b lc analog.
H ( s)
b(1) s nb b(2) s nb 1 ...... b( nb 1)

B( s)
A( s )
a (1) s na a ( 2) s na 1 ...... a ( na 1)
trong vector b v a cha cc h s ca t s v mu s.

h = freqs(b,a,w) to ra vector p ng tn s phc ca b lc analog c ch
nh bi cc h s trong vector b v a. Lnh freqs tm p ng tn s trong mt phng
phc ti cc thi im tn s c hc nh trong vector w.
[h,w] = freqs(b,a) t ng chn 200 im tn s trong vector w tnh vector p
ng tn s h.
[h,w] = freqs(b,a,n) chn ra n im tn s tm vector p ng tn s h.
Nu b qua cc i s ng ra v tri th lnh freqs s v ra p ng bin v
pha trn mn hnh.
freqs ch dng cho cc h thng c ng vo thc v tn s dng.
d) V d:

Tm v v p ng tn s ca h thng c hm truyn:
H (s)
0.2 s 2 0.3s 1
s 2 0.4 s 1
% Khai bo hm truyn:
a = [1 0.4
1];
b = [0.2
0.3 1];
% Xc nh trc tn s:
w = logspace(-1,1);
% Thc hin v th:
freqs(b,a,w)
1
Magnitude
10
10
-1
10
-1
10
10
Frequency (radians)
10
Phase (degrees)
0
-50
-100
-150
-1
10
10
Frequency (radians)
5. Lnh FREQZ
a) Cng dng:
Tm p ng tn s ca b lc s.
b) C php:
[h,w] = freqz(b,a,n)
[h,f] = freqz(b,a,n,Fs)
[h,w] = freqz(b,a,n,whole)
[h,f] = freqz(b,a,n,whole,Fs)
h = freqz(b,a,w)
h = freqz(b,a,f,Fs)
freqz(b,a)
c) Gii thch:
10

Lnh freqz tm p ng tn s H(ejT) ca b lc s t cc h s t s v mu s
trong vector b v a.
[h,w] = freqz(b,a,n) tm p ng tn s ca b lc s vi n im
H ( z)
b(1) b( 2) z 1 ...... b( nb 1) z nb
B( z )
A( z )
a (1) a ( 2) z 1 ...... a ( na 1) z na
t cc h s trong vector b v a. freqz to ra vector p ng tn s hi tip v

vector w cha n im tn s. freqz xc nh p ng tn s ti n im nm u nhau
quanh na vng trn n v, v vy w cha n im gia 0 v .
[h,f] = freqz(b,a,n,Fs) ch ra tn s ly mu dng Fs (tnh bng Hz). N to ra
vector f cha cc im tn s thc gia 0 v Fs/2 m ti lng s tnh p ng tn s.
[h,w] = freqz(b,a,n,whole) v [h,f] = freqz(b,a,n,whole,Fs) s dng nim
quanh vng trn n v (t 0 ti 2 hoc t 0 ti Fs)
h = freqz(b,a,w) to ra p ng tn s ti cc im tn s c ch trong vector w.
Cc im tn s ny phi nm trong khong (0 2).
h = freqz(b,a,f,Fs) to ra p ng tn s ti cc im tn s c ch trong vector f.
Cc im tn s ny phi nm trong khong (0 Fs).
Nu b qua cc i s ng ra th lnh freqz v ra cc p ng bin v pha trn
mn hnh.
Lnh freqz dng cho cc h thng c ng vo thc hoc phc.
d) V d:
V p ng bin v pha ca b lc Butter.
[b,a] = butter(5,0.2);
freqz(b,a,128)
v ta c th p ng:
Magnitude Response (dB)
100
0
-100
-200
-300
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
Normalized frequency (Nyquist == 1)
0.9
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
Normalized frequency (Nyquist == 1)
0.9
Phase (degrees)
0
-100
-200
-300
-400
-500
6. Lnh NYQUIST
a) Cng dng:
V biu p ng tn s Nyquist.
b) C php:
[re,im,w] = nyquist(a,b,c,d)
[re,im,w] = nyquist(a,b,c,d,iu)
[re,im,w] = nyquist(a,b,c,d,iu,w)
[re,im,w] = nyquist(num,den)
[re,im,w] = nyquist(num,den,w)
c) Gii thch:
Lnh nyquist tm p ng tn s Nyquist ca h lin tc LTI. Biu Nyquist
dng phn tch c im ca h thng bao gm: bin d tr, pha d tr v tnh n
nh.
Nu b qua cc i s v tri ca dng lnh th nyquist s v ra biu Nyquist
trn mn hnh.
Lnh nyquist c th xc nh tnh n nh ca h thng hi tip n v. Cho biu
Nyquist ca hm truyn vng h G(s), hm truyn vng kn:
G(s)
Gcl (s) = 1 G ( s )
l n nh khi biu Nyquist bao quanh im 1+j0 P ln theo chiu kim ng
h, trong P l s cc vng h khng n nh.
nyquist(a,b,c,d) v ra chui biu Nyquist, mi th ng vi mi quan h gia
mt ng vo v mt ng ra ca h khng gian trng thi lin tc:

.
x Ax Bu
y = Cx + Du
vi trc tn s c xc nh t ng. Nu p ng thay i cng nhanh th cn
phi xc nh cng nhiu im trn trc tn s.
nyquist(a,b,c,d,iu) v ra biu Nyquist t ng vo duy nht iu ti tt c cc ng
ng vo ca h thng v ch ra ng vo no c s dng cho p ng Nyquist.
nyquist(num,den) v ra biu Nyquist ca hm truyn a thc h lin tc
nyquist(a,b,c,d,iu,w) hoc nyquist(num,den,w) v ra biu Nyquist vi vector
tn s w do ngi s dng xc nh. Vector w ch ra cc im tn s (tnh bng rad/s) m
ti p ng Nyquist c tnh.
[re,im,w] = nyquist(a,b,c,d)
[re,im,w] = nyquist(a,b,c,d,iu)
[re,im,w] = nyquist(a,b,c,d,iu,w)
[re,im,w] = nyquist(num,den)
[re,im,w] = nyquist(num,den,w)
khng v ra biu Nyquist m to ra p ng tn s ca h thng di dng cc
ma trn re, im v w. Cc ma trn re v im c s ct bng s ng ra v mi hng ng vi
mt thnh phn trong vector w.
d) V d:
V biu Nyquist ca h thng c hm truyn:
H ( s)
2 s 2 5s 1
s 2 2s 3
num = [2 5
1];
den = [1
2 3];
nyquist(num,den); title(Bieu do Nyquist)
v ta c biu Nyquist nh hnh v:
7. Lnh DNYQUIST
a) Cng dng:
V biu p ng tn s Nyquist ca h gin on.
b) C php:
[re,im,w] = dnyquist(a,b,c,d,Ts)
[re,im,w] = dnyquist(a,b,c,d,Ts,iu)
[re,im,w] = dnyquist(a,b,c,d,Ts,iu,w)
[re,im,w] = dnyquist(num,den,Ts)
[re,im,w] = dnyquist(num,den,Ts,w)
c) Gii thch:
Lnh dnyquist tm p ng tn s Nyquist ca h gin on LTI. Biu Nyquist
dng phn tch c im ca h thng bao gm: bin d tr, pha d tr v tnh n
nh. p ng tn s dng lnh dnyquist c th so snh trc tip vi p ng nyquist ca
h lin tc tng ng.
Nu b qua cc i s v tri ca dng lnh th dnyquist s v ra biu
Nyquist trn mn hnh.
Lnh dnyquist c th xc nh tnh n nh ca h thng hi tip n v. Cho biu
Nyquist ca hm truyn vng h G(s), hm truyn vng kn:
G( z)
Gcl (z) = 1 G ( z )
l n nh khi biu Nyquist bao quanh im 1+j0 P ln theo chiu kim ng
h, trong P l s cc vng h khng n nh.
dnyquist(a,b,c,d,Ts) v ra chui biu Nyquist, mi th ng vi mi quan h
gia mt ng vo v mt ng ra ca h khng gian trng thi gin on:

x[n+] = Ax[n] + Bu{n]
0 n /Ts radians tng ng vi na tn s ly mu (tn s Nyquist). Nu p ng thay
i cng nhanh th cn phi xc nh cng nhiu im trn trc tn s. Tn s l thi gian
ly mu.
dnyquist(a,b,c,d,Ts,iu) v ra biu Nyquist t ng vo duy nht iu ti tt c cc
ng ra ca h thng vi trc tn s c xc nh t ng. i lng v hng iu l ch
s ng vo ca h thng v ch ra ng vo no c s dng cho p ng Nyquist.
dnyquist(num,den,Ts) v ra biu Nyquist ca hm truyn a thc h gin on:
dnyquist(a,b,c,d,Ts,iu,w) hoc dnyquist(num,den,w) v ra biu Nyquist vi
vector tn s w do ngi s dng xc nh. Vector w ch ra cc im tn s (tnh bng
rad/s) m ti p ng Nyquist c tnh. Hin tng trng ph xy ra ti tn s ln
hn tn s Nyquist (/Ts rad/s).
to ra trc tn s vi cc khong tn s bng nhau theo logarit ta dng lnh
logspace.
[re,im,w] = dnyquist(a,b,c,d,Ts)
[re,im,w] = dnyquist(a,b,c,d,Ts,iu)
[re,im,w] = dnyquist(a,b,c,d,Ts,iu,w)
[re,im,w] = dnyquist(num,den,Ts)
[re,im,w] = dnyquist(num,den,Ts,w)
khng v ra biu Nyquist m to ra p ng tn s ca h thng di dng cc
ma trn re, im v w. Cc ma trn re v im cha cc phn thc v phn o ca p ng tn
s ca h thng c tnh ti cc gi tr tn s w, re v im c s ct bng s ng ra v mi
hng ng vi mt thnh phn trong vector w.
d) V d:
V biu Nyquist ca h gin on c hm truyn:
H ( z)
2 z 2 3.4 z 1.5
z 2 1.6 z 0.8
vi thi gian ly mu Ts = 0.1

% Xc nh hm truyn:
num = [2 -3.4 1.5];
den = [1 -1.6 0.8];
% V biu Nyquist:
dnyquist(num,den,0.1)
title(Bieu do Nyquist he gian doan)
v ta c biu Nyquist h gin on nh sau:
8. Lnh NICHOLS
a) Cng dng:
V biu p ng tn s Nichols.
b) C php:
[mag,phase,w] = nichols(a,b,c,d)
[mag,phase,w] = nichols(a,b,c,d,iu)
[mag,phase,w] = nichols(a,b,c,d,iu,w)
[mag,phase,w] = nichols(num,den)
[mag,phase,w] = nichols(num,den,w)
c) Gii thch:
Lnh nichols tm p ng tn s Nichols ca h lin tc LTI. Biu Nichols
c dng phn tch c im ca h vng h v h vng kn.
Nu b qua cc i s v tri ca dng lnh th lnh nichols s v ra biu
Nichols trn mn hnh.
nichols(a,b,c,d) v ra chui biu Nichols, mi th tng ng vi mi quan h
gia mt ng vo v mt ng ra ca h khng gian trng thi lin tc:
.
x Ax Bu
y = Cx + Du
xc nh cng nhiu im trn trc tn s.
nichols(a,b,c,d,iu) v ra biu Nichols t ng vo duy nht iu ti tt c cc ng
ng vo ca h thng v ch ra ng vo no c s dng cho p ng Nichols.
nichols(num,den) v ra biu Nichols ca hm truyn a thc h lin tc

nichols(a,b,c,d,iu,w) hay nichols(num,den,w) v ra biu Nichols vi vector tn
s w do ngi s dng xc nh. Vector w ch nh nhng im tn s (tnh bng rad/s)
m ti p ng Nichols c tnh.
logspace.
Nu gi li cc i s v tri ca dng lnh th:
[mag,phase,w] = nichols(a,b,c,d)
[mag,phase,w] = nichols(a,b,c,d,iu)
[mag,phase,w] = nichols(a,b,c,d,iu,w)
[mag,phase,w] = nichols(num,den)
[mag,phase,w] = nichols(num,den,w)
s khng v ra biu Nichols m to ra p ng tn s ca h thng di dng
cc ma trn mag, phase v w. Cc ma trn mag v phase cha p ng bin v pha ca
h thng c xc nh ti nhng im tn s w. Ma trn mag v phase c s ct bng s
G(s) = C(sI A)-1B + D
mag() = G(j)
phase() = G(j)
Gc pha c tnh bng v nm trong khong 3600 ti 00.
Gi tr bin c th chuyn v n v decibel theo cng thc:
v li biu Nichols ta dng lnh ngrid.
d) V d: Trch trang 11-150 sch Control System Toolbox
V p ng Nichols ca h thng c hm truyn:
H ( s)
4 s 4 48s 3 18s 2 250s 600

s 4 30 s 3 282s 2 525s 60
num = [-4 48 -18 250 600];

den = [1
30 282 525 60];
nichols(num,den)
title(Bieu do Nichols)
ngrid(new)
v ta c biu Nichols nh hnh v:
9. Lnh DNICHOLS
a) Cng dng:
V biu p ng tn s Nichols ca h gin on.
b) C php:
[mag,phase,w] = dnichols(a,b,c,d,Ts)
[mag,phase,w] = dnichols(a,b,c,d,Ts,iu)
[mag,phase,w] = dnichols(a,b,c,d,Ts,iu,w)
[mag,phase,w] = dnichols(num,den,Ts)
[mag,phase,w] = dnichols(num,den,Ts,w)
c) Gii thch:
Lnh dnichols tm p ng tn s Nichols ca h gin on LTI. Biu Nichols
c dng phn tch c im ca h vng h v h vng kn. p ng t lnh
dnichols c th so snh trc tip vi p ng t lnh nichols ca h lin tc tng ng.
Nu b qua cc i s v tri ca dng lnh th lnh dnichols s v ra biu
Nichols trn mn hnh.
dnichols(a,b,c,d,Ts) v ra chui biu Nichols, mi th tng ng vi mi quan
h gia mt ng vo v mt ng ra ca h khng gian trng thi gin on:
x[n+] = Ax[n] + Bu{n]
0 ti /Ts radians. Nu p ng thay i nhanh th cn phi xc nh cng nhiu im
trn trc tn s.
dnichols(a,b,c,d,Ts,iu) v ra biu Nichols trn mn hnh t ng vo duy nht iu
ti tt c cc ng ra ca h thng vi trc tn s c xc nh t ng. i lng v

hng iu l ch s ng vo ca h thng v ch ra ng vo no c s dng cho p ng
Nichols.
dnichols(num,den,Ts) v ra biu Nichols ca hm truyn a thc h gin on
dnichols(a,b,c,d,Ts,iu,w) hay dnichols(num,den,Ts,w) v ra biu Nichols vi
vector tn s w do ngi s dng xc nh. Vector w ch nh nhng im tn s (tnh
bng rad/s) m ti p ng Nichols c tnh. Hin tng trng ph xy ra ti tn s
ln hn tn s Nyquist (/Ts rad/s).
logspace.
[mag,phase,w] = dnichols(a,b,c,d,Ts)
[mag,phase,w] = dnichols(a,b,c,d,Ts,iu)
[mag,phase,w] = dnichols(a,b,c,d,Ts,iu,w)
[mag,phase,w] = dnichols(num,den,Ts)
[mag,phase,w] = dnichols(num,den,Ts,w)
khng v ra biu Nichols m to ra p ng tn s ca h thng di dng cc
ma trn mag, phase v w. Cc ma trn mag v phase cha p ng bin v pha ca h
thng c xc nh ti nhng im tn s w. Ma trn mag v phase c s ct bng s
G(z) = C(zI A)-1B + D
mag() = G(ejT)
phase() = G(ejT)
trong T l thi gian ly mu. Gc pha c tnh bng v nm trong khong
3600 ti 00.
Gi tr bin c th chuyn v n v decibel theo cng thc:
v li biu Nichols ta dng lnh ngrid.
d) V d:
H ( z)
1.5
1.1z 1.36 z 2 0.88 z 0.31
3
num = 1.5;
den = [1
1.1 1.36 0.88 0.31];
ngrid(new)
dnichols(num,den,0.05)
title(Bieu do Nichols gian doan)
v ta c biu Nichols ca h gin on:
10. Lnh NGRID

a) Cng dng:
To li cho th Nichols.
b) C php:
ngrid
ngrid(new)
c) Gii thch:
Lnh grid to li cho th Nichols. th ny c lin h vi s phc H/(1+H),
trong H l mt s phc bt k. Nu H l mt im trn p ng tn s vng h ca h
SISO th H/(1+H) l gi tr tng ng trn p ng tn s vng kn ca h thng.
ngrid to ra li trong vng c bin t 40 dB ti 40 dB v gc pha t -360 0
0
ti 0 vi cc ng hng s mag(H/(1+H)) v angle(H/(1+H)) c v.
ngrid v li th Nichols ngoi biu Nichols c nh biu c to ra
bi lnh nichols hoc dnichols.
ngrid(new) xa mn hnh ha trc khi v li v thit lp trng thi gi
p ng Nichols c th c v bng cch dng lnh:
ngrid(new)
nichols(num,den) hay nichols(a,b,c,d,iu)
d) V d:
V li trn biu Nichols ca h thng:
H ( s)
4 s 4 48s 3 18s 2 250s 600

s 4 30 s 3 282s 2 525s 60
num = [-4 48 -18 250 600];

den = [1
30 282 525 60];

nichols(num,den)
title(Bieu do Nichols)
ngrid(new)
v ta c th p ng nh sau:
11. Lnh MARGIN

a) Cng dng:
Tnh bin d tr v pha d tr.
b) C php:
[Gm,Pm,Wcp,Wcg] = margin(mag,phase,w)
[Gm,Pm,Wcp,Wcg] = margin(num,den)
[Gm,Pm,Wcp,Wcg] = margin(a,b,c,d)
c) Gii thch:
Lnh margin tnh bin d tr (gain margin), pha d tr (phase margin) v tn s
ct (crossover frequency) t d liu p ng tn s. Bin d tr v pha d tr da trn h
thng vng h SISO v cho bit tnh n nh tng i ca h thng khi h thng l h
thng vng kn.
Nu b qua cc i s v tri dng lnh th gin Bode vi bin d tr v pha
d tr s c v trn mn hnh.
Bin d tr l li cn tng thm to ra li vng n v ti tn s m gc
pha bng 1800. Ni cch khc, bin d tr l 1/g nu g l li ti tn s gc pha 180 0.
Tng t, pha d tr l s khc bit gia gc pha p ng v 180 0 khi li l 1. Tn

s m ti bin l 1 c gi l tn s li n v (unity-gain frequency) hoc tn
s ct.
margin(num,den) tnh bin d tr v pha d tr ca hm truyn lin tc:
G(s) = num/den
Tng t, margin(a,b,c,d) tnh d tr ca h khng gian trng thi (a,b,c,d).
Vi cch ny, lnh margin ch s dng cho h lin tc. i vi h gin on, ta s dng
lnh dbode tm p ng tn s ri gi margin.
margin(mag,phase,w)
[Gm,Pm,Wcp,Wcg] = margin(mag,phase,w) s khng v ra cc th p ng m
to ra cc ma trn bin d tr Gm, pha d tr Pm, tn s kt hp Wcp, Wcg c cho bi
cc vector bin mag, phase v tn s w ca h thng. Cc gi tr chnh xc c tm ra
bng cch dng php ni suy gia cc im tn s. Gc pha c tnh bng .
d) V d:
Tm bin d tr, pha d tr v v gin Bode ca h bc 2 c n = 1 v = 0.2
[a,b,c,d] = ord(1,0.2);
bode(a,b,c,d)
margin(a,b,c,d)
[Gm,Pm,Wcp,Wcg] = margin(a,b,c,d)
v ta c kt qu:
Gm = lnf()
Pm = 32.8599
Wcg = NaN (khng xc nh)
Wcp = 1.3565
Gin Bode ca h:
12. Lnh SIGMA

a) Cng dng:
Tm gin Bode gi tr suy bin ca h khng gian trng thi.
b) C php:
[sv,w] = sigma(a,b,c,d)
[sv,w] = sigma(a,b,c,d,inv)
[sv,w] = sigma(a,b,c,d,w)
[sv,w] = sigma(a,b,c,d,w,inv)
c) Gii thch:
Lnh sigma tnh cc gi tr suy bin ca ma trn phc C(jI-A)-1B+D theo hm
ca tn s . Cc gi tr suy bin l m rng ca p ng bin gin Bode ca h
MIMO.
Nu b qua cc i s v tri ca dng lnh th sigma s v ra gin Bode ca
gi tr suy bin trn mn hnh.
[sv,w] = sigma(a,b,c,d) v ra gin suy bin ca ma trn phc:
G(w) = C(jI-A)-1B+D
theo hm ca tn s. Trc tn s c chn t ng v phi hp nhiu im nu
th thay im nhanh.
i vi cc ma trn vung, sigma(a,b,c,d,inv) v th cc gi tr suy bin ca
ma trn phc o:
G-1(w) = [C(jI-A)-1B+D]-1
sigma(a,b,c,d,w) hoc sigma(a,b,c,d,w,inv) v th cc gi tr suy bin vi
vector tn s do ngi s dng xc nh. Vector w ch ra nhng tn s (tnh bng rad/s)
m ti p ng cc gi tr suy bin c tnh.
Nu gi li cc i s v tri dng lnh th:
[sv,w] = sigma(a,b,c,d)
[sv,w] = sigma(a,b,c,d,inv)
[sv,w] = sigma(a,b,c,d,w)
[sv,w] = sigma(a,b,c,d,w,inv)
khng v ra cc th p ng m to ra cc ma trn suy bin theo chiu gim
dn ca bc tng ng vi cc im tn s trong vector w.
i vi php phn tch rn chc, cc gi tr suy bin ca ma trn hm truyn c
bit c phn tch.
V thc hin cc lnh t c ma trn hm truyn mong mun ca mt s
khi c trnh by trong bng sau:
Ma trn hm truyn
G(j)
G-1(j)
S khi
G(s)
G-1(s)
Lnh
sigma(a,b,c,d)
sigma(a,b,c,d,inv)
Kho st ng dng MATLAB trong

G(s) iu khin t ng
G(s)
1+G(j)
G-1(s)
-1
1+G (j)
[a,b,c,d] = parallel(a,b,c,d,[ ],[ ],[ ],eye(d))

sigma(a,b,c,d)
[a,b,c,d] = feedback([ ],[ ],[ ],eye(d),a,b,c,d)
sigma(a,b,c,d,inv)
[a,b,c,d] = feedback(a,b,c,d,[ ],[ ],[ ],eye(d))
sigma(a,b,c,d)
p ng gi tr suy bin ca h SISO tng ng vi p ng bin gin

Bode ca h .
d) V d:
Xt h bc 2 c n = 1 v = 0.2. V th gi tr suy bin ca h thng.
[a,b,c,d] = ord(1,0.2);
margin(a,b,c,d)
title(Gia tri suy bien)
v ta c p ng nh hnh v:
13. Lnh DSIGMA

a) Cng dng:
Tm gin Bode gi tr suy bin ca h khng gian trng thi.
b) C php:

[sv,w]= dsigma(a,b,c,d,Ts)
[sv,w]= dsigma(a,b,c,d,Ts,inv)
[sv,w]= dsigma(a,b,c,d,Ts,w)
[sv,w]= dsigma(a,b,c,d,Ts,w,'inv')
c) Gii thch:
Lnh dsigma tnh cc gi tr suy bin ca ma trn phc C(e jTI-A)-1+B+D theo
hm ca tn s . Cc gia tr suy bin l m rng ca p ng bin gin Bode ca
h MIMO v c th c dng xc nh rn chc ca h thng.
Nu b qua cc i s v tri dng lnh th dsigma s v ra gin Bode ca
gi tr suy bin trn mn hnh.
dsigma(a,b,c,d,Ts) v gin suy bin ca ma trn phc :
G(w) = C(ejTI-A)-1+B+D
theo hm ca tn s. Cc im tn s c chn t ng trong khong t 0 ti /Ts
rad/sec trong /Ts rad/sec tng ng vi na tn s ly mu (tn s Nyquist). Nu
th thay i nhanh th cn chn nhiu im tn s hn.
i vi cc h thng c ma trn vung, dsigma(a,b,c,d,Ts,inv) v th cc gi
tr suy bin ca ma trn phc o :
G-1(w) = [C(ejTI-A)-1B+D]-1
dsigma(a,b,c,d,Ts,w) hoc dsigma(a,b,c,d,Ts,inv) v th cc gi tr suy bin
vi vector tn s do ngi s dng xc nh. Vector w ch ra nhng tn s (tnh bng
rad/sec) m ti p ng cc gi tr suy bin c tnh. Hin tng trng ph xy ra ti
tn s ln hn tn s Nyquist (/Ts rad/sec).
to ra vector tn s c chia u theo logarit tn s ta dng lnh logspace.
Nu gi li cc i s v tri dng lnh th :
[sv,w]= dsigma(a,b,c,d,Ts)
[sv,w]= dsigma(a,b,c,d,Ts,inv)
[sv,w]= dsigma(a,b,c,d,Ts,w)
[sv,w]= dsigma(a,b,c,d,Ts,w,inv)
khng v ra cc th p ng m to ra cc gi tr suy bin trong sv v cc im tn
s w. Mi hng ca ma trn sv cha cc gi tr suy bin theo chiu gim dn ca bc
tng ng vi cc im tn s trong vector w.
i vi php phn tch rn chc, cc gi tr suy bin ca ma trn hm truyn c
bit c phn tch.
Vic thc hin cc lnh t c ma trn hm truyn mong mun ca mt s
khi c trnh by trong bng sau :
Ma trn hm truyn
S khi
G(j)
G(s)
G-1(j)
G-1(s)
G(s)
1+ G(j)
G(s)
Lnh
dsigma(a,b,c,d)
dsigma(a,b,c,d, inv)
[a,b,c,d]= parallel(a,b,c,d,[ ],[ ],[ ],eye(d))
dsigma(a,b,c,d)
[a,b,c,d]=feedback([ ],[ ],[ ],eye(d),a,b,c,d)

dsigma(a,b,c,d,inv)
-1
1+G (j)
G-1(s)
[a,b,c,d]= feedback(a,b,c,d,[ ],[ ],[ ],eye(d))

dsigma(a,b,c,d)
p ng gi tr suy bin ca h SISO tng ng vi p ng bin gin

Bode ca h .
d) V d:
Xt h bc 2 c n = 1 v = 0.2. V th gi tr suy bin ca h thng vi thi
gian ly mu Ts = 0.1
[a,b,c,d]= ord2(1,0.2);
bode(a,b,c,d)
dsigma(a,b,c,d,0.1)
title('Gia tri suy bien gian doan')
v ta c gin Bode gi tr suy bin :
14. Lnh LTIFR

a) Cng dng:
p ng tn s ca h tuyn tnh bt bin.
b) C php:
ltifr(a,b,s)
c) Gii thch:

Lnh ltifr dng m rng p ng tn s ca h khng gian trng thi tuyn tnh
bt bin.
G = Ltifr(a,b,s) tm p ng tn s ca h thng vi mt ng vo duy nht :
G(s) = (sI A)-1B
Vector s ch ra s phc m ti p ng tn s c xc nh. i vi p ng
gin Bode h lin tc, s nm trn trc o. i vi p ng gin Bode h gin on,
s nhn cc gi tr quanh vng trn n v.
ltifr to ra p ng tn s di dng ma trn phc G vi s ct bng s trng thi
hay s hng ca ma trn A v c s hng l length(s).
CC BI TP V P NG TN S
Bi 1: hm margin (bi tp ny trch t trang 11-138 sch Control System Toollbox
hd=tf([0.04798 0.0464],[1 -1.81 0.9048],0.1)
Transfer function:
0.04798 z + 0.0464
--------------------z^2 - 1.81 z + 0.9048
Sampling time: 0.1 ; Thi gian ly mu: 0,1
[Gm,Pm,Wcg,Wcp]=margin(hd);
[Gm,Pm,Wcg,Wcp]
ans =
2.0517 13.5712
5.4374
4.3544
margin(hd)
Kt qu:
Bode Diagrams
Gm=6.2424 dB (at 5.4374 rad/sec), Pm=13.571 deg. (at 4.3544 rad/sec)
20
0
-20
-40
-60
-80
0
-100
-200
-300
10
Frequency (rad/sec)
Bi 2: lnh modred (bi tp ny trch t trang 11-142 sch Control System Toollbox
h( s )
s3 11s 2 36 s 26
s 4 14,6 s3 74,96 s 2 153,7 s 99,65
h=tf([1 11 36 26],[1 14.6 74.96 153.7 99.65])

Transfer function:
s^3 + 11 s^2 + 36 s + 26
-------------------------------------------s^4 + 14.6 s^3 + 74.96 s^2 + 153.7 s + 99.65
[hb,g]=balreal(h)

a=
x1
x2
x3
x4
x1
x2
x3
x4
-3.6014 -0.82121 -0.61634 -0.058315
0.82121 -0.59297
-1.0273 -0.090334
-0.61634
1.0273
-5.9138
-1.1272
0.058315 -0.090334
1.1272
-4.4918
b=
x1
x2
x3
x4
u1
1.002
-0.10641
0.086124
-0.0081117
y1
x1
1.002
y1
u1
0
c=
x2
x3
x4
0.10641 0.086124 0.0081117
d=
Continuous-time model.
g=
0.1394
0.0095
0.0006
0.0000
g'
ans =
0.1394 0.0095 0.0006 0.0000
hmdc=modred(hb,2:4,'mdc')
a=
x1
x1
-4.6552

b=
x1
u1
1.1392
y1
x1
1.1392
y1
u1
-0.017857
c=
d=
hdel=modred(hb,2:4,'del')
a=
x1
x1
-3.6014
x1
u1
1.002
y1
x1
1.002
y1
u1
0
b=
c=
d=
bode(h,'-',hmdc,'x',hdel,'*')
Kt qu:

Bode Diagrams
From: U(1)
-40
-60
-80
0
-50
To: Y(1)
-20
-100
-150
-200
-1
10
10
10
Frequency (rad/sec)
Bi 3: (Trang 11-16 sch Control System Toollbox)

Xem zero-pole-gain (zero-cc- li) ca h thng sau:
sys=zpk([-10 -20.01],[-5 -9.9 -20.1],1)
Zero/pole/gain:
(s+10) (s+20.01)
---------------------(s+5) (s+9.9) (s+20.1)
[sys,g]=balreal(sys)
a=
x1
x2
x3
x1
-4.9697
-0.2399
-0.22617
x1
x2
x3
u1
1
0.024121
0.022758
b=
x2
x3
0.2399 -0.22617
-4.2756
9.4671
-9.4671 -25.755
10
10
c=
y1
x1
1
y1
u1
0
x2
-0.024121
d=
g=
0.1006
0.0001
0.0000
g'
ans =
0.1006 0.0001 0.0000
sysr=modred(sys,[2 3],'del')
a=
x1
x1
-4.9697
x1
u1
1
y1
x1
1
y1
u1
0
b=
c=
d=
x3
0.022758

zpk(sysr)
Zero/pole/gain:
1.0001
-------(s+4.97)
bode(sys,'-',sysr,'x')
Bode Diagrams
-10
From: U(1)
-30
-40
-50
0
-20
To: Y(1)
-20
-40
-60
-80
-100
0
10
10
10
Frequency (rad/sec)
Bi 4: Trch t trang 55 sch Hng dn s dng MATLAB tc gi Nguyn Vn

Gip.
V biu nyquist ca h thng:
H(s) = (s+4)/(s2 + 3s 8)
num=[1 4];
den=[1 3 -8];
nyquist(num,den);

Nyquist Diagrams
From: U(1)
0.3
0.2
To: Y(1)
Imaginary Axis
0.1
-0.1
-0.2
-0.3
-0.4
-1
-0.9
-0.8
-0.7
-0.6
-0.5
-0.4
-0.3
-0.2
Real Axis
Bai 5: Trch trang 11-147 sch Control System Toolbox

H ( s)
4 s 4 48s 3 18s 2 250s 600

s 4 30 s 3 282s 2 525s 60
H=tf([-4 48 -18 250 600],[1 30 282 525 60])

Transfer function:
-4 s^4 + 48 s^3 - 18 s^2 + 250 s + 600
-------------------------------------s^4 + 30 s^3 + 282 s^2 + 525 s + 60
Nichols(H)
ngrid
-0.1

Nichols Charts
From: U(1)
20
10
To: Y(1)
Open-Loop Gain (dB)
15
-5
-10
-15
-600
-500
-400
-300
-200
-100
Open-Loop Phase (deg)
Bi 6: Trang 131 sch ng dng MATLAB trong iu khin t ng tc gi Nguyn

Vn Gip.
Trn gin Nichols v ng cong logarit bin pha ca hm truyn h thng
k
H(s) =
S3+52s2+100s
k=438;
num=k;
den=[1 52 100 0];
w=.1:.1:10;
[mag,phase]=bode(num,den,w);
ngrid,
Kt qu:
40
0 dB
30
0.25 dB
0.5 dB
Open-Loop Gain (dB)
20
1 dB
-1 dB
3 dB
10
-3 dB
6 dB
-6 dB
0
-10
-12 dB
-20
-20 dB
-30
-40
-350
-300
-250
-200
-150
Open-Loop Phase (deg)
-100
-50
-40 dB
0
NHM LNH V P NG THI GIAN

(Time Response)
1. Lnh IMPULSE
a) Cng dng:
Tm p ng xung n v.
b) C php:
[y,x,t] = impulse(a,b,c,d)
[y,x,t] = impulse(a,b,c,d,iu)
[y,x,t] = impulse(a,b,c,d,iu,t)
[y,x,t] = impulse(num,den)
[y,x,t] = impulse(num,den,t)
c) Gii thch:
Lnh impulse tm p ng xung n v ca h tuyn tnh. Nu b qua cc i s
bn tri th lnh impulse s v ra p ng xung trn mn hnh.
impulse(a,b,c,d) to ra chui th p ng xung, mi th ng vi mt mi quan
h vo ra ca h lin tc LTI:
.
x = Ax + Bu
y = Cx + Du
vi vector thi gian c xc nh t ng.
impulse(a,b,c,d,iu) to ra p ng xung t ng vo duy nht iu ti ton b cc ng
ra ca h thng vi vector thi gian c xc nh t ng. iu l ch s ng vo ca h
thng v ch ra ng vo no c dng cho p ng xung.
impulse(num,den) to ra th p ng xung ca a thc hm truyn:
impulse(a,b,c,d,iu,t) hay impulse(num,den,t) dng vector thi gian t do ngi s
dng quy nh. Vector t ch nh nhng thi im m p ng xung c tnh v vector t
phi c ch chia thnh cc khong u nhau.
Nu gi cc i s bn tri:
[y,x,t] = impulse(a,b,c,d)
[y,x,t] = impulse(a,b,c,d,iu)
[y,x,t] = impulse(a,b,c,d,iu,t)
[y,x,t] = impulse(num,den)
[y,x,t] = impulse(num,den,t)
khng v ra cc th m to ra cc ma trn p ng trng thi v p ng ng ra
ca h thng v vector thi gian t. Ma trn y v x cha cc p ng trng thi v p ng
ng ra ca h thng c xc nh ti nhng thi im t. Ma trn y c s ct l s ng ra
v mi hng ng vi mt thnh phn trong vector t. Ma trn x c s ct l s trng thi v
mi hng ng vi mt thnh phn trong vector t.
d) V d: (Trch t trang 11-95 sch control System Toolbox)
V p ng xung ca h khng gian trng thi bc 2 sau:
0.5 0.8 x 1
1
x. 1
0 x2 0
x2 0.8
.
x1
0 u
x2
y 1.9 6.5
% Khai bo h thng:
a = [-0.5 -0.8 ; 0.8 0];
b = [1 ; 0];
c = [1.9
6.5];
d = [0];
% V p ng xung:
impulse(a,b,c,d); title(Dap ung xung) (t tiu cho th)
v cui cng ta nhn c th p ng xung nh sau:
2. Lnh DIMPULSE
a) Cng dng:
Tm p ng xung n v ca h gin on.
b) C php:
[y,x] = dimpulse(a,b,c,d)
[y,x] = dimpulse(a,b,c,d,iu)
[y,x] = dimpulse(a,b,c,d,iu,n)
[y,x] = dimpulse(num,den)
[y,x] = dimpulse(num,den,n)
c) Gii thch:
Lnh dimpulse tm p ng xung n v ca h tuyn tnh gin on. Nu b qua
cc i s bn tri th th lnh dimpulse s v ra p ng xung trn mn hnh.

dimpulse(a,b,c,d) to ra chui th p ng xung, mi th p ng vi mt mi
quan h vo ra ca h gin on LTI:
x[n + 1] = Ax[n] + Bu[n]
vi s im ly mu c xc nh t ng.
dimpulse(a,b,c,d,iu) to ra th p ng xung t ng vo duy nht iu ti ton b
cc ng ra ca h thng vi s im ly mu c xc nh t ng. iu l ch s ng vo
ca h thng v ch ra ng vo no c dng cho p ng xung.
dimpulse(num,den) to ra th p ng xung ca a thc hm truyn:
trong num v den cha cc h s a thc theo chiu gim dn s m ca z.
dimpulse(num,den,n) hay dimpulse(a,b,c,d,iu,n) dng s im ly mu n do ngi
s dng ch nh.
Nu gi cc i s bn tri:
[y,x] = dimpulse(a,b,c,d)
[y,x] = dimpulse(a,b,c,d,iu)
[y,x] = dimpulse(a,b,c,d,iu,n)
[y,x] = dimpulse(num,den)
[y,x] = dimpulse(num,den,n)
khng v ra cc th m to ra cc ma trn p ng ng ra v p ng trng thi
ca h thng. Ma trn y v x cha cc p ng trng thi v ng ra ca h thng c xc
nh ti nhng im ly mu. Ma trn y c s ct l s ng ra. Ma trn x c s ct l s
trng thi.
d) V d:
V p ng xung ca h gin on c hm truyn sau:
H ( z)
2 z 2 3 .4 z 1 .5
z 2 1 .6 0 .8
num = [2 -3.4 1.5];

den = [1 -1.6 0.8];
dimpulse(num,den); title(Dap ung xung he gian doan)
v cui cng ta c th p ng xung h gin on nh sau:
3. Lnh INITIAL
a) Cng dng:
Tm p ng iu kin ban u.
b) C php:
[y,x,t] = initial(a,b,c,d,x0)
[y,x,t] = initial(a,b,c,d,x0,t)
c) Gii thch:
Lnh initial dng tm p ng ca h tuyn tnh lin tc ng vi iu kin ban
u ca cc trng thi. Nu b qua cc i s bn tri th lnh initial s v ra p ng
iu kin ban u trn mn hnh.
initial(a,b,c,d,x0) v ra th p ng iu kin ban u ca tt c cc ng ra ca h
lin tc LTI:
.
x = Ax + Bu
y = Cx + Du
vi vector thi gian c xc nh t ng. x0 l vector trng thi ban u.
initial(a,b,c,d,x0,t) v ra th p ng ban u vi vector thi gian t do ngi s
dng xc nh. Vector t s ch ra nhng thi im m ti p ng iu kin ban u
c tnh.
Nu s dng cc i s v tri ca dng lnh th:
[y,x,t] = initial(a,b,c,d,x0)
[y,x,t] = initial(a,b,c,d,x0,t)
s khng v ra cc th p ng m to ra cc ma trn p ng trng thi x, p
ng ng ra y v vector thi gian t ca h thng i vi iu kin ban u x0. Ma trn y v

x cha cc p ng ng ra v p ng trng thi ca h thng c tnh ti thi im t.
Ma trn y c s ct bng s ng ra v mi hng ng vi mt thnh phn trong vector t.
Ma trn x c s ct bng s trng thi v mi ct ng vi mt thnh phn trong vector t.
d) V d:
V p ng iu kin ban u ca h khng gian trng thi bc 2 sau:
0.5572 0.7814
x
1
.
0
x 2 0.7814
.
x1 1
x 0 u
2
x1
0 u
x2
y 1.9691 6.4493
vi iu kin ban u x0 = [1 0]
% Khai bo h thng, iu kin ban u v trc thi gian:
a = [-0.5572 -0.7814 ; 0.7814
0];
b = [1 ; 0];
c = [1.9691 6.4493];
d = [0];
x0 = [1 0];
t = 0:0.1:20;
% V p ng:
initial(a,b,c,d,x0,t)
title(Dap ung dieu kien ban dau)

4. Lnh DINITIAL
a) Cng dng:
Tm p ng iu kin ban u ca h gin on.
b) C php:
[y,x] = dinitial(a,b,c,d,x0)
[y,x] = dinitial(a,b,c,d,x0,n)
c) Gii thch:
Lnh dinitial dng tm p ng ca h tuyn tnh gin on ng vi iu kin
ban u ca cc trng thi. Nu b qua cc i s bn tri th lnh dinitial s v ra p
ng iu kin ban u trn mn hnh.
dinitial(a,b,c,d,x0) v ra th p ng iu kin ban u ca tt c cc ng ra ca h
gin on LTI:
x[n + 1] = Ax[n] + Bu[n]
vi s im ly mu c xc nh t ng. x0 l vector trng thi ban u.
dinitial(a,b,c,d,x0,n) v ra th p ng ban u vi s im ly mu n do ngi s
dng xc nh.
Nu s dng cc i s v tri ca dng lnh th:
[y,x] = dinitial(a,b,c,d,x0)
[y,x] = dinitial(a,b,c,d,x0,n)
s khng v ra cc th p ng m to ra cc ma trn p ng trng thi x, p
ng ng ra y ca h thng i vi iu kin ban u x0. Ma trn y c s ct bng s ng
ra v ma trn x c s ct bng s trng thi.
d) V d:
V p ng iu kin ban u ca h khng gian trng thi bc 2:
x1[n1]
0.7497 0.2027 x1[n] 4.1841
u
1
0 x2[n] 6.5049

x
[
n
1
]
2

x [n]
y 3.9321 0 1
x 2 [ n]
vi iu kin ban u x0 = [1 0]
a = [-0.7497
-0.2027 ; 1
0];
b = [-4.1841 ; -6.5049];
c = [3.9321
0];
d = [0];
dinitial(a,b,c,d,[1
0]);
title(Dap ung dieu kien ban dau cua he gian doan)
5. Lnh LSIM
a) Cng dng:
M phng h thng lin tc vi cc ng vo ty .
b) C php:
[y,c] = lsim(a,b,c,d,u,t)
[y,c] = lsim(a,b,c,d,u,t,x0)
[y,c] = lsim(num,den,u,t)
c) Gii thch:
Lnh lsim dng m phng h tuyn tnh lin tc vi cc ng vo ty .
Nu b qua cc i s v tri ca dng lnh th lnh lsim v ra ra th trn
mn hnh.
Cho h khng gian trng thi LTI:
.
x = Ax + Bu
y = Cx + Du
lsim(a,b,c,d,u,t) v ra th p ng thi gian ca h thng vi ng vo thi gian
ban u nm trong ma trn u. Ma trn u phi c s ct bng s ng vo u. Mi hng ca
ma trn u tng ng vi mt thi gian mi v ma trn u phi c s hng l length(t).
Vector t ch ra trc thi gian cho qu trnh m phng v phi chia thnh cc on bng
nhau. Nu dng thm i s x0 v phi th lnh lsim(a,b,c,d,u,t,x0) s ch ra iu kin
ban u ca cc trng thi.
lsim(num,den,u,t) v ra p ng thi gian ca hm truyn a thc:

Nu gi li cc i s v tri th:
[y,c] = lsim(a,b,c,d,u,t)
[y,c] = lsim(a,b,c,d,u,t,x0)
[y,c] = lsim(num,den,u,t)
s khng v ra cc th p ng m to ra cc ma trn y v x, trong ma trn y
l p ng ng ra v ma trn x l p ng trng thi ca h thng. Ma trn y c s ct
bng s ng ra y v mi hng ng vi mt hng ca ma trn u. Ma trn x c s ct bng
s trng thi x v mi hng ng vi mt hng ca ma trn u.
d) V d: (Trch t trang 11-127 sch Control System Toolbox)
M phng v v th p ng ca h thng c hm truyn:
H ( s)
2 s 2 5s 1
s 2 2s 3
vi chu k sng vung l 10s.

num = [2 5 1];
den = [1 2 3];
t = 0:.1:10;
period = 4;
u = (rem(t,period)) >= period./2);
lsim(num,den,u,t); title(Dap ung cua song vuong)
v ta c th p ng ca h nh sau:
6. Lnh DLSIM
a) Cng dng:

M phng h thng gin on vi cc ng vo ty .
b) C php:
[y,c] = dlsim(a,b,c,d,u,t)
[y,c] = dlsim(a,b,c,d,u,x0)
[y,c] = dlsim(num,den,u)
c) Gii thch:
Lnh lsim dng m phng h tuyn tnh gin on vi cc ng vo ty .
Nu b qua cc i s v tri ca dng lnh th lnh dlsim v ra ra th trn
mn hnh.
Cho h khng gian trng thi LTI:
x[n + 1] = Ax[n] + Bu[n]
dlsim(a,b,c,d,u) v ra th p ng thi gian ca h thng vi ng vo thi gian
ban u nm trong ma trn u. Ma trn u phi c s ct bng s ng vo u. Mi hng ca
ma trn u tng ng vi mt thi im mi. Nu dng thm i s x0 v phi th lnh
lsim(a,b,c,d,u,x0) s ch ra iu kin ban u ca cc trng thi.
lsim(num,den,u) v ra p ng thi gian ca hm truyn a thc:
Nu gi li cc i s v tri th:
[y,c] = dlsim(a,b,c,d,u)
[y,c] = dlsim(a,b,c,d,u,x0)
[y,c] = dlsim(num,den,u)
s khng v ra cc th p ng m to ra cc ma trn y v x, trong ma trn y
l p ng ng ra v ma trn x l p ng trng thi ca h thng. Ma trn y c s ct
bng s ng ra y v mi hng ng vi mt hng ca ma trn u. Ma trn x c s ct bng
s trng thi x v mi hng ng vi mt hng ca ma trn u.
d) V d:
M phng p ng ca h thng gin on c hm truyn:
H ( z)
2 z 2 3.4 z 1.5
z 2 1.6 z 0.8
vi 100 mu ca nhiu ngu nhin.

num = [2 -3.4 1.5];
den = [1 -1.6 0.8];
rand(nomal)
u = rand(100,1);
dlsim(num,den,u)
title(Dap ung nhieu)
v ta c th p ng ca h nh sau:
7. Lnh STEP
a) Cng dng:
Tm p ng nc n v.
b) C php:
[y,x,t] = step(a,b,c,d)
[y,x,t] = step(a,b,c,d,iu)
[y,x,t] = step(a,b,c,d,iu,t)
[y,x,t] = step(num,den)
[y,x,t] = step(num,den,t)
c) Gii thch:
Lnh step tm p ng nc n v ca h tuyn tnh lin tc.
Nu b qua cc i s v tri ca dng lnh th lnh step v ra p ng nc trn
mn hnh.
step(a,b,c,d) v ra chui th p ng nc, mi th tng ng vi mi quan
h gia mt ng vo v mt ng ra ca h lin tc LTI:
.
x = Ax + Bu
y = Cx + Du
vi vector thi gian c xc nh t ng.
step(a,b,c,d,iu) v ra th p ng nc t mt ng vo duy nht ti tt c cc ng
ra ca h thng vi vector thi gian c xc nh t ng. i lng v hng iu l ch
s ng vo ca h thng v n ch ra ng vo no c s dng cho p ng xung.
step(num,den) v ra th p ng nc ca hm truyn a thc:
G(s) =num(s)/den(s)

step(a,b,c,d,iu,t) hay step(num,den,t) cng v ra p ng nc ca h khng gian
trng thi hay hm truyn vi vector thi gian t do ngi s dng xc nh. Vector t ch ra
nhng thi im m ti p ng nc c tnh v vector t phi c chia thnh nhng
on u nhau.
[y,x,t] = step(a,b,c,d)
[y,x,t] = step(a,b,c,d,iu)
[y,x,t] = step(a,b,c,d,iu,t)
[y,x,t] = step(num,den)
[y,x,t] = step(num,den,t)
khng v ra cc th p ng m to ra cc ma trn p ng ng ra y v ma trn
p ng trng thi x cah thng c xc nh ti nhng thi im t. Ma trn y c s ct
bng s ng ra v mi hng ng vi mt thnh phn trong vector t. Ma trn x c s ct
bng s trng thi v mi hng ng vi mt thnh phn trong vector t.
d) V d:
V th p ng nc ca h khng gian trng thi bc 2 sau:
.
0.5572 0.7814
x
1
.
0
x 2 0.7814
x1 1
x 0 u
2
x1
0 u
x2
y 1.9691 6.4493
a = [-0.5572 -0.7814 ; 0.7814

0];
b = [1 ; 0];
c = [1.9691 6.4493];
d = [0];
step(a,b,c,d); title(Dap ung nac)
v ta c th p ng nc ca h thng nh sau:
8. Lnh DSTEP
a) Cng dng:
Tm p ng nc n v ca h gin on.
b) C php:
[y,x] = dstep(a,b,c,d)
[y,x] = dstep(a,b,c,d,iu)
[y,x] = dstep(a,b,c,d,iu,n)
[y,x] = dstep(num,den)
[y,x] = dstep(num,den,n)
c) Gii thch:
Lnh dstep tm p ng nc n v ca h tuyn tnh gin on.
Nu b qua cc i s v tri ca dng lnh th lnh dstep v ra p ng nc
trn mn hnh.
dstep(a,b,c,d) v ra chui th p ng nc, mi th tng ng vi mi quan
h gia mt ng vo v mt ng ra ca h gin on LTI:
x[n + 1] = Ax[n] + Bu[n]
vi s im ly mu c xc nh t ng.
dstep(a,b,c,d,iu) v ra th p ng nc t mt ng vo duy nht ti tt c cc
ng ra ca h thng vi s im ly mu c xc nh t ng. i lng v hng iu
l ch s ng vo ca h thng v n ch ra ng vo no c s dng cho p ng xung.
dstep(num,den) v ra th p ng nc ca hm truyn a thc:
G(z) =num(z)/den(z)

dstep(a,b,c,d,iu,n) hay dstep(num,den,n) cng v ra p ng nc ca h khng
gian trng thi hay hm truyn vi s im ly mu do ngi s dng xc nh.
[y,x] = dstep(a,b,c,d)
[y,x] = dstep(num,den)
[y,x] = dstep(num,den,n)
khng v ra cc th p ng m to ra cc ma trn p ng ng ra y v ma trn
p ng trng thi x cah thng. Ma trn y c s ct bng s ng ra. Ma trn x c s ct
bng s trng thi.
d) V d:
V p ng nc ca h gin on ca h c hm truyn nh sau:
H ( z)
2 z 2 3.4 z 1.5
z 2 1.6 z 0.8
num = [2 -3.4 1.5];

den = [1 -1.6 0.8];
dstep(num,den)
title(Dap ung nac he gian doan)
v ta c th p ng nc ca h nh hnh bn:
9. Lnh LTITR

a) Cng dng:
Tm p ng thi gian ca h tuyn tnh bt bin.
b) C php:
ltitr(a,b,u)
ltitr(a,b,u,x0)
c) Gii thch:
Lnh ltitr dng m rng p ng thi gian ca h tuyn tnh bt bin. N m
phng cho h khng gian trng thi gin on:
x = ltitr(a,b,u) m rng p ng ca h gin on:
x[n + 1] = Ax[n] + Bu[n]
i vi ng vo u. Ma trn u phi c s ct bng s ng vo u. Mi hng ca ma
trn u tng ng vi mt im thi gian mi.
ltitr to ra ma trn x vi s ct bng s trng thi x v c s hng l length(u).
Nu thm vo v phi dng lnh tham s x0 th iu kin ban u s c thit
lp vi lnh x = ltitr(a,b,u,x0)
10. Lnh FILTER
a) Cng dng:
Lc d liu vi p ng xung khng xc nh hay p ng xung xc nh.
b) C php:
y = filter(b,a,X)
[y,zf] = filter(b,a,X)
[y,zf] = filter(b,a,X,zi)
y = filter(b,a,X,zi,dim)
[...] = filter(b,a,X,[ ],dim)
c) Gii thch:
Lnh fiter lc d liu tun t s dng b lc s cho cc ng vo thc v phc.
y = filter(b,a,X) lc d liu trong vector X vi b lc c m t bi vector h s t
s b v vector h s mu s a. Nu a(1) khng bng 1, b lc s chun ha h s lc bi
a(1). Nu a(1) bng 0 th s bo li.
Nu X l mt ma trn, b lc s thc hin trn cc ct ca X. Nu X l mt mng a
chiu, b lc s thc hin theo chiu duy nht.
[y,zf] = filter(b,a,X) to ma trn iu kin cui cng zf ca b tr. Ng ra zf l
mt vector ca max(size(a),size(b)) hoc mt tp hp cc vector vi mi vector l mt
ct ca X.
[y,zf] = filter(b,a,X,zi) chp nhn iu kin ban u zi v to ra iu kin cui
cng cui cng zf ca b lc tr. Ng vo zi l mt vector c kch thc
length(a),length(b)) 1.
y = filter(b,a,X,zi,dim) v [...] = filter(b,a,X,[ ],dim) thc hin lc theo chiu dim.
CC BI TP V P NG THI GIAN
Bi1: Lnh pade: Tnh ton sp x
Bi ny trch t trang 11-66 sch Control System Toollbox
pade(0.1,3)
Step response of 3rd-order Pade approximation
1.5
Amplitude
1
0.5
0
-0.5
-1
0.02
Phase (deg.)
0.04
0.06
0.08
0.1
0.12
Time (secs)
Phase response
0.14
0.16
0.18
0.2
-200
-400
-600
-800
-1000
1
10
10
Frequency (rad/s)
Bi 2: Trch t trang 11-24 sch Control System Toollbox

s -1
H(s) = ------------------s2 + 4s +5
10

H=tf([1 -1],[1 4 5],'inputdelay',035)
Transfer function:
s-1
exp(-35*s) * ------------s^2 + 4 s + 5
Hd=c2d(H,0.1,'foh')
Transfer function:
0.04226 z^2 - 0.01093 z - 0.03954
z^(-350) * --------------------------------z^2 - 1.629 z + 0.6703
Sampling time: 0.1
step(H,'-',Hd,'--')
Step Response
From: U(1)
0.15
0.1
0.05
To: Y(1)
Amplitude
0
-0.05
-0.1
-0.15
-0.2
-0.25
10
15
20
Time (sec.)
Bi 3: Trang 11-127, H(s) =
2s2 + 5s + 1
s2 + 2s + 3
s-1
s2+s+5
25
30
35
40

[u,t]=gensig('square',4,10,0.1);
H=[tf([2 5 1],[1 2 3]);tf([1 -1],[1 1 5])];
lsim(H,u,t)
Kt qu:
Bi tp ny c trch t trang 11-127 sch Control System Toolbox
Linear Simulation Results
3
2
To: Y(1)
1
0
Amplitude
-1
-2
0.4
To: Y(2)
0.2
0
-0.2
-0.4
-0.6
Time (sec.)
Bi 4: Dng lnh lsim, trch t trang 11-130 sch Control Systen Toollbox
Dch : V p ng khu bc 2 ca hm truyn sau:
2
h(s )
s2 + 2s + 2
= 62,83
w2=62.83^2
w2 =
3.9476e+003
h=tf(w2,[1 2 w2]);
t=0:0.1:5;
%vector of time sample:
u=(rem(t,1)>=0.5); %square ware value :
lsim(h,u,t)
Kt qu:
10

2
1.5
To: Y(1)
Amplitude
0.5
-0.5
-1
0.5
1.5
2.5
Time (sec.)
Bi 5: Trang 11-131 sch Control Systen Toollbox

Ta ly s liu bi 24 nhng thi gian mu l 0,1.
Chng trnh:
w2=62.83^2;
hd=c2d(h,0.1);
t=0:0.1:5;
lsim(hd,u,t)
3.5
4.5

0.7
0.6
To: Y(1)
Amplitude
0.5
0.4
0.3
0.2
0.1
0.5
1.5
2.5
Time (sec.)
Bi 6: Trang 11-132 sch Control Systen Toollbox

Cng ly s liu 2 bi trn.
w2=62.83^2;
h=tf(w2,[1 2 w2]);
t=0:0.1:5;
hd=c2d(h,0.1);
lsim(h,'b--',hd,'r-',u,t) %
3.5
4.5

2
1.5
To: Y(1)
Amplitude
0.5
-0.5
-1
0.5
1.5
2.5
3.5
4.5
Time (sec.)
Bi 7: Trch t trang 46 sch ng dng matlab trong iu khin t ng

Phng trnh bin trang thi ca h thng tuyn tnh bt bin theo thi gian l:
Chng trnh c vit trong file.m:
%function [yout,x] = lsim(A, B, C, D, U, t, x0)
%Phuong trinh bien trang thai cua mot he thong tuyen tinh
% bat bien theo thoi gian la:
% .
% x1
%
.
0 1 0
x1
1
% {x2} = { 0 0 1 } { x2 } + {1} r(t)
%
.
-6 -11 -6
x3
1
% x3
%
1
% y=[1 1 0]x, x(0)= 0.5
%
-0.5
% Xac dinh x(t),y(t) khi r(t) la ham bac don vi
hold on
grid on
A=[0 1 0;0 0 1;-6 -13 -6];
B=[1;1;1];%xac dinh vi ban dau va hinh dang cua do thi x1,y,x2,x3
C=[1 1 0];
D=0;
x0=[1 .5 -.5]; %vecto hang dieu kien ban dau
t=0:.05:8; %buoc nhay

U=ones(1,length(t));%tao vecto hang u(t)
[x,y]=lsim(A,B,C,D,U,t,x0);
plot(t,x,t,y)
title('BAI GIAI BT15')
xlabel('Thoi gian-giay')
text(3.8,1.8,'y'),text(3.8,2.6,'x1');%Canh vi tri cua y va x1 tren do thi
text(3.8,-0.6,'x2'),text(3.8,-1.4,'x3')%Canh vi tri cua x2 va x3 tren do thi
BAI GIAI BT15
3
x1
2
0
x2
-1
x3
-2
4
5
Thoi gian-giay
Bi 9: trch t trang 48 sch tc gi Nguyn Vn Gip.

Cng vi yu cu nh bi 28, nhng r(t)=sin(2t).
Chng trnh son trong file.m:
%function [yout,x] = lsim(A, B, C, D, U, t, x0)
%BT16:Ve do thi y(t),x(t) cua bai BT15 neu r(t)=sin(2pit)
A=[0 1 0;0 0 1;-6 -11 -6];
B=[1;1;1];C=[1 1 0];D=0;
x0=[1 .5 -.5];
%vecto hang dieu kien ban dau
t=0:.05:4;
%buoc nhay
r=sin(2*pi*t);
[y,x]=lsim(A,B,C,D,r,t,x0);
plot(t,x,t,y)
title('BAI GIAI BT16')

xlabel('Thoi gian-giay')
text(3.8, 1.8,'y'),text(3.8, 2.6,'x1')
text(3.8, -8,'x2'),text(3.8, -1.4,'x3')
x1
BAI GIAI BT16
1.5
1
0.5
0
-0.5
-1
x3
-1.5
-2
0.5
1.5
2
2.5
Thoi gian-giay
3.5
Bi 10: Xt hm truyn sau:

G( s)
s 10
s 8s 25
2
tnh p ng bc ca h thng ny ta dng cu trc nh sau:

[out,state,tt]=step([1 10],[1 8 25])
Gi s ta mun phn tch mt p ng bc ca h thng thay i, vi zero ca hm
truyn thay i nhng li dc (dc gain) ca h thng khng i, gi li cho h
thng cng mu v thay i h s ca s hng u trong a thc ca t,tc l h s ca s,
v vy m dc gain l hng s v zero thay i.
V d : h thng nh v d trn nhng s hng ban u ca a thc t s thay i
thnh (-4,-2,-1,0,1,2,4)
Ta thc hin trong ca s lnh ca matlab nh sau:
coef=[-4 -2 -1 0 1 2 4];
den=[1 8 25];
[y,x,t]=step([coef' 10*ones(length(coef),1)],den);
mesh(coef,t,y)
x2

Kt qu nh hnh:
Hnh 3.7: So snh gia cc p ng step

Bi 11: p ng xung (impulse)
V d h thng c hm truyn sau:
G( s)
s 10
s 2s 25
2
V p ng xung ca h thng:
impulse([1 10],[1 2 25])
Gi s ta mun phn tch p ng xung thay i nh th no khi zero ca hm truyn
thay i, khng thay i dc gain ca h thng. ging nh v d phn trc ta c :
coef=[-4 -2 -1 0 1 2 4];
den=[1 2 25];
impulse([coef' 10*ones(length(coef),1)],den);

Kt qu nh hnh sau:
Bi 12: Trch t trang 716 sch The Student Edition of MATLAB

Dch : Thit k 1 khu gm 10 b lc ca di bng truyn ngang c tn s t 100
n 200 Hz v v p ng xung ca n:
n=5;wn=[100 200]/500;
[b,a]=butter(n,wn);
[y,t]=impz(b,a,101);
stem(t,y)
0.2
0.15
0.1
0.05
0
-0.05
-0.1
-0.15
-0.2
-0.25
10
20
30
40
50
60
70
80
90
100
Bi 13: p ng tng ng vo
Mt vn tng qut hn l ta c th tnh c tn hiu ng ra ca h thng LTI
vi mt tnh hiu ng vo khng ng nht.
V d nh h thng bc nht sau:
.
x x u
y x
H thng ny b tc ng vi mt tn hiu ng vo hnh sin c tn s l 1Hz, tn hiu

ng ra thu c bi cu trc:
>> freq=1; t=0:0.05:10;
>> u=sin(2*pi*freq*t); lsim(-1,1,1,0,u,t)
Kt qu l hnh sau:
Hnh : p ng tng ng vo

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