CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp v tiu chun n nh i s
Routh Hurwitz

Bi tp 1: Cho h thng nh Hnh 1. H thng vng kn c

n nh khng?
R(s)

GC(s)

Go(s)

C(s)

Hnh 1

1000
GO(s) =
( s +2)( s +3)( s +5)
GC(s) =1

Gii:
PTT:
1 + GC ( s ) G0 ( s ) = 0
1+

1000
=0
( s + 2 )( s + 3)( s + 5)

s 3 + 10s 2 + 31s + 1030 = 0

Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Dng tiu chun Routh

Bng Routh:
S3
S2
S1
S0

1
101
-72
1030

31
1030103
0
0

( hng s2 ta chia cc h s cho 10 d tnh ton m

khng nh hng n kt qu)
Kt lun: Ct 1 bng Routh i du 2 ln nn h thng
khng n nh, 2 cc bn phi mpp.

Dng tiu chun Hurwitz

10 1030

Ma trn Hurwitz:

H= 1
0

31
10

0
0
1030

1 = 1 > 0

Cc nh thc con:

2 =

10 1030
= 310 1030 = 720 < 0
1
31

3 = 1030* 2 < 0

Kt lun: V tt c cc nh thc con khng dng nn

h khng n nh.
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp 2: Xt n nh ca PTT sau:

s 5 + 2 s 4 + 3s 3 + 6 s 2 + 5 s + 3 = 0
Gii:
Bng Routh:
S5
S4
S3
S2
S1
S0

1
2
0
6  7
0

42  49  6

0
12  14
3

3
6
7/2
3

5
3
0
0

Kt lun: PTT khng n nh, c 2 nghim bn phi

mpp.

Bi tp 3: Xt n nh ca PTT sau:

s 5 + 7 s 4 + 6 s 3 + 42 s 2 + 8s + 56 = 0
Gii:
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bng Routh:
S5
1
6
8
S4
71
426
568
S3
041
0123
000
S2
3
8
0
S1
1/3
0
0
S0
8
0
0
Hng s3 c cc h s bng 0 lp a thc ph

A ( s ) = s 4 + 6s 2 + 8

dA ( s )

= 4 s 3 + 12 s
ds
Kt lun: PTT n nh v cc h s ct 1 bng Routh
dng.
Bi tp 4: Cho h thng nh Hnh 4. H thng vng kn c
n nh khng?
R(s)

GC(s)

Go(s)

Hnh 4

C(s)

200
GO(s) = 3 2
s( s +6s +11s +6)
GC (s) =1

S: H thng khng n nh, 2 cc bn phi mpp.

Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp 5: Cho h thng nh Hnh 5. H thng vng kn c

n nh khng?
R(s)

GC(s)

Go(s)

C(s)

G0(s)=

1
s( 2s4 +3s3 +2s2 +3s+2)

Gc(s)=1

Hnh 5

S: H thng khng n nh, 2 cc bn phi mpp.

Bi tp 6: Cho h thng nh Hnh 6. Tm K h thng

vng kn n nh?
R(s)

GC(s)

Go(s)

Hnh 6

C(s)

K
G0 (s) =
s ( s + 7)( s +11)
Gc (s) = 1

S: 0 < K < 1386.

Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp 7: Cho h thng nh Hnh 7. Tm K h thng

vng kn n nh?
R(s)

GC(s)

Go(s)

Hnh 7

C(s)

G0 ( s) =

K ( s + 20)

s ( s + 2)( s + 3)

Gc (s) = 1

S: 0 < K < 2.

Bi tp 8: Xt n nh ca h thng c cho bi h
PTTT sau:

3 1
0
10

x+0
x
=
2
8
1

10 5 2
0

y = [1 0 0] x

Tnh TT: det(sI-A)=0 ri dng tiu chun Routh hoc

Hurwitz.
S: H thng khng n nh, 1 cc bn phi mpp.

Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp 9: Xt n nh ca h thng c cho bi h
PTTT sau:

2 1 1
0

x + 0
x
=
1
7
1

3 4 5
1

y = [0 1 0] x

Tnh TT: det(sI-A)=0 ri dng tiu chun Routh hoc

Hurwitz.
S: H thng khng n nh, 2 cc bn phi mpp.
Bi tp 10: Cho h thng c hm truyn G0(s) sau:

0.25 K ( s + 0.435 )
G0 ( s ) = 4
s + 3.456 s 3 + 3.457 s 2 + 0.719 s + 0.0416
Tm iu kin ca K h thng hi tip m n v n
nh.
S: -0.382 < K < 25.87.
Bi tp 11: Cho h thng c hm truyn vng kn Gk(s)
sau:
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

CST_Nguyn c Hong

2010

Gk ( s ) =

B mn KT - Khoa T - BKHCM

76.39 K
s 3 + 151.32 s 2 + 198s + 76.39 K

Tm iu kin ca K h thng n nh.

S: 0 < K < 392.2.
Bi tp 12: Cho h thng c hm truyn vng kn Gk(s)
sau:
Gk ( s ) =

( 0.25s + 0.10925 ) K
s 4 + 3.483s 3 + 3.465 s 2 + 0.25 ( K + 2.4288 ) s + 0.10925 K

Tm iu kin ca K h thng n nh.

S: 0 < K < 26.42.
Bi tp 13: Cho h thng c hm truyn G0(s) sau:

K ( s + 3)( s + 5 )
G0 ( s ) =
( s 2 )( s 4 )
Tm iu kin ca K h thng hi tip m n v n
nh.
S: K > 6/8.
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp 14: Cho h thng c hm truyn G0(s) sau:

G0 ( s ) =

K ( s + 2 )( s 2 )

(s

+ 3)

Tm iu kin ca K h thng hi tip m n v n

nh.
S: -1 < K < 3/4.

Bi tp 15: Cho h thng c hm truyn G0(s) sau:

K ( s + 1)
G0 ( s ) = 4
s ( s + 2)
Tm iu kin ca K h thng hi tip m n v n
nh.
S: Khng tn ti K.

Bi tp 16: Cho h thng c hm truyn G0(s) sau:

G0 ( s ) =

K ( s 2 )( s + 4 )( s + 5 )

(s

+ 3)

Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Tm iu kin ca K h thng hi tip m n v n

nh.
S: 1/54 < K < 3/40.

Bi tp 17: Cho h thng c hm truyn G0(s) sau:

G0 ( s ) =

(s

K ( s + 2)

+ 1) ( s + 4 )( s 1)

Tm iu kin ca K h thng hi tip m n v n

nh.
S: Khng tn ti K.

Bi tp 18: Cho h thng c hm truyn G0(s) sau:

K
G0 ( s ) =
( s + 15 )( s + 27 )( s + 38 )
Tm iu kin ca K h thng hi tip m n v dao
ng.
S: K = 144690, tn s dao ng 44.73 rad/s.
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

10

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp 19: Cho h thng sau:

R(s)

  2  2

C(s)

1
s
 2s  1
Hnh 19

Tm iu kin ca K h thng kn n nh.

S: -1/2 < K < 1.

Bi tp 20: Cho h thng sau:

R(s)

Ks  2
ss  1s  3

C(s)

s6
s7
Hnh 20

Tm iu kin ca K h thng kn n nh.

S: 0 < K.
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

11

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp 21: Cho h thng sau:

s  10
s
 0.6s  9

Ks  1
s  4.85

R(s)

C(s)

1
Hnh 21

Tm iu kin ca K h thng kn n nh.

S: -0.36772 < K.

Bi tp 22: Cho h thng sau:

R(s)

1
s  0.4

0.7
s
 1.7s  0.25

C(s)

0.1
s  0.1
Hnh 22

Tm iu kin ca K h thng kn n nh.

S: -0.1429 < K < 1.1759.
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

12

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp 23: Cho h thng sau:

R(s)

Ks  0.01s  6
ss  20s  100

10
s
 10s  29

C(s)

Hnh 23

Tm iu kin ca K h thng kn n nh.

S: 0 < K < 29908.07.
Bi tp 24: Cho h thng sau:

R(s)

Ks  0.6s  6
s  0.1s  100

200
s
 12s  100

500
ss  6

C(s)

Hnh 24

Tm iu kin ca K h thng kn n nh.

S: 0 < K < 1.0192.
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

13

CST_Nguyn c Hong

2010

B mn KT - Khoa T - BKHCM

Bi tp 25: Cho h thng sau:

R(s)

Ks  0.8s  103

s

7570
s  62.61s  62.61

C(s)

Hnh 25

Tm iu kin ca K h thng kn n nh.

S: 0.00509 < K.

Bi tp ly t sch: Control Systems Engineering by Norman S. Nise

14