CHNG 1: M HNH H THNG

H thng iu khin bao gm h thng c iu khin

(plant, process, controlled system), b iu khin
(controller) v cc phn t lin quan nhm thc hin mt
nhim v no
M hnh ton l biu din ton hc ca h thng k thut,
dng m phng, phn tch v tng hp b iu khin cho
T

u
,
u
,...,
u
h thng
1
2
r
u

y y1 , y 2 ,..., y s
x x1 , x2 ,..., xn

x: trng thi trong ca h thng,

y: vect tn hiu ra,
u: vect tn hiu vo

CHNG 1: M HNH H THNG

Phn loi m hnh

M hmh tuyn tnh
M hnh phi tuyn
M hnh lin tc
M hnh rI rc
M hnh SISO
M hnh MIMO

M HNH TUYN TNH

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

Nu tn hiu vo l ri rc ta c h tuyn tnh ri rc

PHNG TRNH VI PHN

H SISO lin tc m t bi phng trnh vi phn

dy
dny
du
d mu
a0 y a1 ... an n b0u b1 ... bm m
dt
dt
dt
dt
Nu h s ai bi l hng s, h gi l h tuyn tnh bt bin
Nu h s ai bi theo bin t th ta c h tuyn tnh khng dng,
nu chng ph thuc cc i s khc ta gi l h tuyn tnh vi
thng s ri.
Tm p ng y theo u vi phng trnh vi phn c bc n>2 l
bi ton kh.
Chuyn m hnh sang dng hm truyn hay phng trnh trng
thi.

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

t
x(t ) e dt , 0
0

Bin i Laplace ca x(t) l

X ( s ) L x(t) x(t )e st dt
0

V bin i Laplace ngc ca X(s)

1 c j
st
x(t ) L X ( s )
X
(
s
)
e
ds

2j c j
-1

s = +jw, c >

HM TRUYN SISO

2/ Cc nh l bin i Laplace
Tuyn tnh
z (t ) ax(t ) by (t )
Z ( s ) aX ( s ) bY ( s )
Bin i ca vi phn
l

d n f (t )
dt n

s n F ( s ) s n 1 f (0) s n 2 f (1) (0) ... sf ( n 2) (0) f ( n 1) (0)

vi
f

(k )

d k f (t )
(0)
dt k t 0

HM TRUYN SISO

f ( )dl

Bin i ca tch phn

Bin i ca tch phn bi bc n l

Bin i ca hm tr

Bin i ca

Bin i ca

Bin i ca tch chp

f (t Tl)

n
d
F ( s)
n
(1)
ds n
F ( s a)

t f (t )
f (t )e

at

x( ) y (t )d

GiI hn cui
Ga tr u

F ( s)
sn
F ( s )e sT

F (s)
s

X ( s )Y ( s )

x(t ), t
l
x(t), t 0

lim sX(s), s0
lim sX(s), s

HM TRUYN SISO

3/ Bng bin i

Hm thi gian
Xung n v (t)
Nc n v u1(t)
Dc n v t

e at

Bin i Laplace
1
1
s
1
s2
n!
s n 1
1
sa

HM TRUYN SISO

3/ Bng bin i

Hm thi gian

Bin i Laplace

t n e at

n!
s a n1

e at e bt
ba

1
( s a )( s b)

be bt ae at
ba

s
( s a )( s b)

1 e at
a

1
s(s a)

HM TRUYN SISO

3/ Bng bin i

Hm thi gian

Bin i Laplace

1
2 1 e at ate at
a

1
s(s a) 2

1
2 at 1 e at
a

1
s 2 ( s a)

1 at e
sin at

at

s
( s a) 2
a2
s2 a2

HM TRUYN SISO

3/ Bng bin i

Hm thi gian
cos at

Bin i Laplace
s
s2 a2

1- cos at
a
1 b

a2

a2
s( s 2 a 2 )

abt

sin at 1 b

abt

sin( at 1 b )

1 b
cos 1 b (b 1)
2

a2
s 2 2bas a 2
sa 2
s 2 2bas a 2

(b 1)
(b 1)

HM TRUYN SISO
4/ Hm truyn h SISO
Cho h thng m t bi phng trnh vi phn

dy
dny
du
d mu
a0 y a1
... an
b0u b1
... bm
n
dt
dt
dt
dt m

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

(a0 a1s .. an 1s n 1 an s n )Y ( s ) (b0 b1s ... bm 1s m 1 bm s m )U ( s )

Hm truyn h thng l

bm s m bm 1s m 1 ... b1s b0
Y ( s)
G(s)

n
n 1
U
(
s
)
a
s

a
s
... hu
a1st a0
1
Hm truyn l hm theo bin nphc s, ln phn
sthc-

Hm truyn l hp thc (proper) nu m n v hp thc cht (strictly proper)

nu m<n , r=n-m gi l bc tng i ca h
Hm truyn l bn nu nghim ca a thc mu s c phn thc m
Hm truyn thc- hu t, hp thc cht, bn l pha cc tiu nu cc nghim
ca t s c phn thc m

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

2
2
i
k 1 i 1 ( s ak )
k 1 ( s k ) k
l

rk

A, Aki, Bk, Ck l hng s, ak l cc thc (nghim mu s) bc bi rk, k

jk l cc phc.
Tra bng tm cc hm thi gian tng ng

HM TRUYN SISO

Trng hp nghim n pi

G( s)

r
r1
.. n
s p1
s pn

ri ( s pi )G ( s ) |s p
Cc s ri gi l thng d
Trng hp nghim bi, thc p1 bc q

r1( q 1)
r1( q )
rq 1
r11
r12
rn
G ( s)

..

..

s p1 ( s p1 ) 2
( s p1 ) q 1 ( s p1 ) q s pq 1
s pn

r1( q i )

1 di
q

[(
s

p
)
1 G ( s )] |s p1 , i 0,1, 2,..., q 1
i
i! ds

Dng MATLAB
[r,p,k]=residue([1],[1 1.5 1])

r=

p=
0 - 0.7559i

-0.7500 + 0.6614i

0 + 0.7559i

-0.7500 - 0.6614i
k=
[]

HM TRUYN SISO

5/ p ng
Dng cc bin i sau:
L

{ A} A (t )

i 1 ak t
A
t
e
ki
L 1{
}

A
1(t )
ki
i
(i 1)!
( s ak )

Bk ( s k ) Ck k
kt
{
}

(
B
cos(

t
)

C
sin(

t
))
e
)1(t )
k
k
k
k
2
2
(s k ) k

V d: cho hm truyn
G(s)

3
0.6
3.2
3( s 1)

s 10[( s 1) 2 4] 5[( s 1) 2 4]
s ( s 2 2 s 5)

Ta tnh c:
g (t ) 0.6 0.3e t sin( 2t ) 0.5e t cos(2t )

HM TRUYN SISO
p ng xung c dng
C th dng Matlab v p ng
ts=[3];
ms=[1 2 5 0];
ht=tf(ts,ms);
y=impulse(ht);
z=step(ht);
hold on
plot(y)
plot(z)

20

40

60

80

Dng cng c Symbolic Math Toolbox tm biu thc ton hc

>>syms t s;
>> ht=3/(s^3+2*s^2+5*s);
>> g=simplify(ilaplace(ht,t))
g =
3/5-3/5*exp(-t)*cos(2*t)-3/10*exp(-t)*sin(2*t)

100

120

HM TRUYN MIMO

Vi h c p u vo v q u ra, hm truyn gia ng vo th i v ng ra th j l

Yi ( s )
Gijta(c
s)
,U k ( s ) 0, k j
Dng k hiu vect
U j (s)
Y ( s ) Y1 ( s ) Y2 ( s ) ...Yq ( s )

U ( s ) U1 ( s ) U 2 ( s ) ...U p ( s )

Y ( s ) G ( s )U ( s )

G11 ( s ) G12 ( s )... G1 p ( s )

G ( s ) G21 ( s ) G22 ( s )... G2 p ( s )

G(s) l ma trn hm truyn q hng p ct
Gq1 ( s ) Gq 2 ( s )... Gqp ( s )

PHNG TRNH TRNG THI

H thng c biu th bi p ng ra y theo tn hiu vo u, p ng
ra l nhng tn hiu o c, ngoi ra cn nhng trng thi bn trong
x ca h thng thay i theo tn hiu vo, x l vect trng thi c th
c mt vi thnh phn khng o c, hoc c mt vi thnh phn
trng vi mt vi thnh phn ca vect ng ra y
Vi h c n bin trng thi, p ng vo v q ng ra, ta c phng trnh
trng thi
dx

Ax Bu

dt
y Cx Du

A: ma trn n*n, B: ma trn n*p,

C: ma trn q*n, D: ma trn q*p
Cc ma trn gm cc s hng thc, c th l hng s, thay i theo
thi gian hay theo mt i s

PHNG TRNH TRNGTHi

Thnh lp phng trnh trng thi t hm truyn

C nhiu phng php thnh lp pttt
Dng companion th nht (dng chnh tc iu khin)
Cho h SISO c hm truyn bc n
Y ( s)
bn 1s n 1 bn 2 s n 2 ... b1s b0
G(s)
n
bn
n 1
n2
U ( s ) s an 1s an 2 s ... a1s a0
Gi A(s) a thc mu s, Y(s) vit li l
s n 1
s
1
Y ( s ) bn 1
U ( s ) ... b1
U ( s ) b0
U ( s ) bnU ( s )
A( s )
A( s )
A( s )
t cc bin trng thi nh sau:

PHNG TRNH TRNGTHi

X 1 (s)

1
s
U ( s ), X 2 ( s )
U ( s ) sX 1 ( s ),...,
A( s )
A( s )

s n 1
X n ( s)
U ( s ) sX n 1 ( s )
A( s )
suy ra
x 1 x2 , x 2 x3 ,..., x n1 xn
A( s )
X n ( s ) n1 U ( s )
s
x n a0 x1 a1 x2 .. an1 xn u
y bn1 xn bn2 xn1 ..b0 x1 bnu

PHNG TRNH TRNGTHI

Vit li di dng pttt, ta c cc ma trn

0
.

A 0
0

a0
B 0
C b0

1 ...
0
.
..
.
0
..
1
0
0
0
a1 . an 2

0 ...

0
.

0
1

an 1

1 T

b1 .. bn 1

D bn
x l vect n chiu, u v y l v hng
Cc h s ca a thc mu s c o du v xut hin
hng cui ca A, C cha cc h s ca t s

PHNG TRNH TRNGTHI

V d:
Cho hm truyn G ( s )

s3
s 3 9s 2 24 s 20

Ta c pttt
1
0
x1 0
x 0

0
1
2

x 3 20 24 9
x1
y 3 1 0 x2

x3

x1 0
x 0 u
2
x3 1

PHNG TRNH TRNGTHI

Dng companion th hai (dng chnh tc quan st)

0
1

A 0
.

0
0
1
.
0

..
..
..
.
..

0 a0

0 a1

0 a2 ; B

.
.

1 an 1

C 0 0 .. 0 1 ; D bn

b0
b1

b2
.

bn 1

PHNG TRNH TRNG THI

Dng chnh tc Jordan

Phn tch hm truyn thnh tng cc phn s theo cc
nghim ca a thc mu s.
Ga s cc nghim l n
r
r
r
G ( s ) bn 1 2 .. n
s 1 s 2
s n
U (s)
U (s)
Y ( s ) bnU ( s ) r1
.. rn
s 1
s n
t cc bin trng thi nh sau:
U ( s)
X 1 ( s)
; x1 1 x1 u; x i i xi u
s 1

PHNG TRNH TRNG THI

Dng chnh tc Jordan

1 0
0
2
A
:
:
0 0

C r1

r2

.. 0
1
1
.. 0
;B
:: 0
:
1
.. n

.. rn ; D [bn ]

Trng hp G(s) c m cc bi phn bit 1, 2,, m vi

bi n1, n2,,nm; n = n1+ n2+ +nm, phn tch thnh phn s
ring
G ( s ) bn H1 ( s ) ... H m ( s )
rini
ri1
ri 2
H i ( s)

...
ni
ni 1
( s i )
( s i )
( s i )

PHNG TRNH TRNG THI

Vi mi Hi lin kt phng trnh trng thi bc ni

xi xi1 xi 2 ..xini

x i i xi bi u
yi ci xi
i
0

i .

0
0

ci ri1

0
1

..
..

0
0

.
..
..

i
.
0
0
ri 2

0
0
..

rini

i l ma trn c dng Jordan

i
0

0
0
0

0
0

, bi .

0
1

PHNG TRNH TRNG THI

kt hp m nghim ta c phng trnh trng thi

1 0 .. 0
b1

0 .. 0
b

2
,b 2 , x

: :
:

0
0
0

b
m

c c1 c2 .. cm , d bn ,

x1
x2
:

xm

l ma trn cho khi, cc ma trn con trn ng

cho thuc dng Jordan

PHNG TRNH TRNG THI

Trng hp nghim phc: gi s c ba cc l

s = + j, s = - j v s =
Khai trin phn s ring phn

0
0

r
p jq
p jq
0 jw
0 ,b
G( s) d

s s ( jw) s ( jw)
0
jw
0

c r p jq p jq

Dng php i bin

x1 x1 , x2 x2 x3 , x3 j ( x2 x3 )
0
1
x 0 1/ 2

0 1 / 2

0
1
j / 2 x Px , x 0

j / 2
0

0
1
j

0
1 x P 1 x

1
1

PHNG TRNH TRNG THI

Phng trnh trng thi mi l:

C r

0 0

, B

p q , D d

1
2

PHNG TRNH TRNG THI

Vi mt i tng, c th c nhiu phng trnh trng thi

khc nhau

V d:

G ( s)

s3
1/ 3
2/9 2/9

s 3 9 s 2 24s 20 ( s 2) 2 s 2 s 5

Dng iu khin

Dng quan st

Dng chnh tc

1
0
x 1 0
x 0
0
1
2
x 3 20 24 9
x1
y 3 1 0 x2
x3
x 1 0 0 20
x 1 0 24
2

x 3 0 1 9
y x3

x1
x
2
x3

x1
x
2
x3

0
x 1 2 1
x 0 2 0
2

x 3 0
0 5

0 u
1

3
1 u
0

x1
x
2
x3
x1
y 1 / 3 2 / 9 2 / 9 x2
x3

1 u
1

PHNG TRNH TRNG THI

Transfer function:
s+3
----------------------s^3 + 9 s^2 + 24 s + 20

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

Pttt=ss(ht)

a=

x1

x2

x3

c=

x1

-9

x2

16

y1

x3

d=

b=

u1

x1 0.25
x2

x3

-1.5 -0.1563

x1
0

x2

x3

0.25 0.09375

u1
y1 0
Continuous-time model.

PHNG TRNH TRNG THI

Pttt=canon(ht,companion)

a=

x1 x2 x3

c=

x1 0 0 -20
x2 1 0 -24
x3 0 1
b=

y1 0 1 -6
d=

-9

u1

y1 0

x2 0
x3 0

Transfer function:
s+3
--------------------s^3 + 3 s^2 + 3 s + 2

pttt=canon(ht,'modal')

u1

Continuous-time
model.

x1 1

ht=tf([1 3],conv([1 2],[1 1 1]))

x1 x2 x3

PHNG TRNH TRNG THI

a=

c=
x1

x2

x1

-2

x2

0 -0.5

x3

0 -0.866 -0.5

b=

x3
0

x1

x2

y1 -0.1443 0.5455 0.189

0.866

d=
u1

x1 -2.309

u1
y1 0

x2 -1.528
x3 2.646

x3

Continuous-time model.

I PTTT RA HM TRUYN

Cho phng trnh trng thi

x (t ) Ax(t ) Bu (t )
y (t ) Cx (t ) Du (t )
Ly bin i Laplace hai v
sX ( s ) x 0 AX ( s ) BU ( s )
Y ( s ) CX ( s ) DU ( s )
X ( s ) ( sI A) 1 x 0 ( sI A) 1 BU ( s )
Y ( s ) C ( sI A) 1 x 0 [C ( sI A) 1 B D ]U ( s )
Trng hp xo = 0, ta vit
Y ( s ) G ( s )U ( s ) [C ( sI A) 1 B D]U ( s )
G(s) l ma trn hm truyn bc ny * nu
Nu y v u l v hng G(s) l phn s hu t

MT S CNG THC I S MA TRN

a11 a12 .. a1n
t..aij axp
Ma trn A m hng n ct l mt tp hp cc
aphn

a
21
22
2
n

thnh bng m hng v n ct: Amxn = (aij),

:
: : :

a
a
..
a
mn
m1 m 2

i = 1,2,,m;j =1,2,..,n
Cng tr hai ma trn cng s hng, s ct:

C = A+B = (cij) = (aij bij)

Kt qu nhn ma trn A vi s v hng x l ma trn cng
kch thc
B = Ax = xA= (xaij)
Nhn hai ma trn Amxp v Bpxn l ma trn Cmxn

C (cij ) ( aik bkj )

s ct ca A phi bng s hng ca B

Chuyn v ca ma trn Amxn l Bnxm= AT, bij= aji
Ma trn cho l ma trn vung vi aij= 0 khi ij
Ma trn n v l ma trn cho I vi aii=1
Hng ca ma trn l s cc vect hng c lp tuyn tnh
hay s cc vect ct c lp tuyn tnh

k 1

MT S CNG THC I S MA TRN

NH THC

nh thc ma trn vung Anxn l s thc hay phc

n

det( A) A (1) aij det( Aij ) (1) i j aij det( Aij )

j 1

i j

i 1

(Aij) l ma trn c c t ma trn A bng cch b hng i ct j

Biu thc (-1)i+jdet(Aij) gI l ng tha ca phn t aij
Ma trn vung bc 2 c nh thc l a11a22-a12a21
Ma trn c nh thc bng 0 l ma trn suy bin (singular), c hai hng hay
hai ct ph thuc tuyn tnh (ging nhau)

det(A)=det(AT), det(AB)=det(A)det(B), det(A)= ndet(A)

Ma trn adjoint ca ma trn vung A l ma trn chuyn v ca
ma trn c c bng cch thay mi phn t ca A bng ng
tha ca phn t
Ma trn o ca ma trn A vung khng bt thng l B A 1

adjA
A

MT S CNG THC I S MA TRN

V d
A=
A=[3 -1; 0 1; 2 0]

3 -1

B=[1 0 -1; 2 1 0]

C=A*B
D=B*A
det(A)

B=

C=

0 -1

1 -1 -3

0 -2

D=
??? Error using ==> det
Matrix must be square.

E=det(D)
ans =
inv(D)

-0.2000 0.2000

D^-1

-1.2000 0.2000

1 -1
6 -1

E=
5

NH L CAYLEY HAMILTON

Ma trn A c phng trnh c trng l

MT S CNG THC I S MA TRN

AA-1=A-1A=I, I l ma trn vung cho n v

(AB)-1=B-1A-1
Vt ma trn vung l tng cc s hng ng cho
tr(A*B)=tr(B*A)

tr ( A) aii
i 1

tr(S-1AS)=tr(A), S l ma trn vung khng suy bin bt k

Chun ma trn: o kch thc ca ma trn
m n
2
Chun Frobenius
A F aij tr ( AT A)
(chun Euclide):
i 1 j 1
Chun bc 1: tng ln nht trong s cc tng ca cc module
m
cc s hng cng mt cot
A 1 max j aij
i 1
T
Chun bc 2: gi tr ring ln nht ca A A
A 2 max i i ( AT A)
Chun v cng: tng ln nht trong s cc tng ca cc
n
module cc s hng cng mt hang
A max i aij
j 1

MT S TNH CHT QUAN TRNG

C ( sI A) B
bn 1s n 1 bn 2 s n 2 ... b1s b0
C ( sI A) B
n
sI A
s an 1s n 1 an 2 s n 2 .. a1s a0
1

(sI-A)+ l ma trn adjoint ca A

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

Nghim ca a thc nh thc |I-A|

l tr ring ca ma trn A, cng
c( sI A) b
G
(
s
)

chnh l nghim ca mu s hm truyn

sI A
V d:
2
s 10
1 0
T s 11s 11
0 1
0
0
1
s 1
0

1 0 0
0
s ( s 10)
s 2 0
A 0 1 1 , b 0 , c 0 sI A 0 s 1 1 s ( s 11s 1

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

Hm truyn:
s ( s 2 11s 11)

I PTTT RA HM TRUYN

V d:
Pttt = ss ([-0.01 0; 0 -0.02], [1 1; -0.004 0.002], [0.01 0;0 1], 0)
a=

c=
x1

x2

x1 -0.01
x2

0
-0.02

b=

x2 -0.004
#1: -------s + 0.01
Ht = tf(pttt)
-0.004

x2

y1 0.01

y2

d=

u1 fromu2input 1 to output...
Transfer function
0.01x1

x1

1
0.002.

u1 u2 function from input 2 to output...

Transfer
y1 00.01
0
y2
0
#1: 0-------s + 0.01
0.002

#2: --------

#2: --------

s + 0.02

s + 0.02

I PTTT RA HM TRUYN

V d:
>> A=[0 1 0; 0 -1 1; 0 -1 -10]
>>B=[0 0 10]'

A=
0

B=
1

0 -1

0 -1 -10

C=

D=
1

10

>> C=[1 0 0]
>> D=0
E=
>> E = poly (A)

1.0000 11.0000 11.0000

>>sys = ss(A, B, C, D);

>>ht = tf(sys)
>> nghiem=roots(E)

Transfer function:
10

nghiem =
0

-------------------

-9.8875

s^3 + 11 s^2 + 11 s

-1.1125

TR RING

Tr ring (eigenvalue) ca ma trn vung A l nghim ca

phng trnh c trng |sI-A|
n

Nu 1, 2, n l cc tr ring ca A th tr(A)= i
i 1

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

Nu 1, 2, n l cc tr ring ca A th 1/ i l tr ring ca A-1
>>A = [0 1 0; 0 0 1; -2 -1 -5]

d=

A=

>> d = eig(A)

-4.8791

>> e = eig (A')

-0.0605 + 0.6374i

-2 -1 -5

-0.0605 - 0.6374i

>> f= eig(inv(A))

e=

f=

-0.0605 + 0.6374i

-0.1475 + 1.5549i

-0.0605 - 0.6374i

-0.1475 - 1.5549i

-4.8791

-0.2050

VECT RING

Vect ring (eigenvector) vi ca ma trn A lin kt vi nghim

ring i l nghim ca phng trnh (i I-A) vi = 0
V d:

1
1

1
A
0

| I-A|= 2-1

Phng trnh c trng:

1 = 1, 2 = -1
Nghim ring:
Vect ring v1 vi 1 l nghim ca phng trnh
v12 = 0, v11 bt k, chn bng 1

0
0

1
2

v11
0
v 0

12

Tng t vect ring th hai tha phng trnh -2v21+v22 = 0,

chn ty v21=1, suy ra v22 = 2
1
Cc vec ring l
v1 , v2
0

[v,d] = eig(A)

v=

1

2
d=

1.0000

0.4472

0.8944

0 -1

VECT RING TR BI

Trng hp 1 l nghim bi bc m
C m vect ring tng ng gii bi cc phng trnh
1 I A v1 0
1 I A v2 v1
...

1 I A vm vm 1

V d:

2
A 0

1
2
0

0
0

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

1
0
0

0
(2 I A)v2 0

0
0

v12
v
22
v32

Vect ring ng vi tr ring 1 = -5 l v1= [0 0 1]T

Gii phng trnh
0
(3 I A)v3 0

c vect ring v2 = [1 0 0]T

Gii phng trnh
c vect ring v3 = [1 1 0]T

1
0
0

0
0

v13
1
v 0
23

v33
0

NGHIM CA PTTT
dx/dt=Ax+Bu

Hm m ma trn eAt:
1
1 2 2
At
e I At A t .. Ai t i
2!
i 0 i!
eA0=I, eAte-At=I, eAueAv=eA(u+v)
d At
e Ae At e At A
dt
Bin i Laplace ca eAt l (sI-A)-1
1
1
Ai
1
i
!
L(e At ) L( I At A2t 2 ..) Ai L(t i ) Ai i 1 i 1
2!
i 0 i!
i 0 i!
s
i 0 s
Ai 1
A
i i 1 I
i 0 s
i 0 s
Ai
( sI A) i 1 I
i 0 s

NGHIM CA PTTT
dx/dt=Ax+Bu

Xt phng trnh dx/dt=Ax+Bu

Nhn hai v vi e-At v chuyn v e At dx e At Ax e At Bu
dt

d
(e At x ) e At Bu
dt

Dng tnh cht o hm

t
d
A
(e
x ) d e A Bu ( ) d

0 d
0
t

Ly tch phn hai v

Ta c kt qu

x(t ) e x(0) e A(t ) Bu ( )d

At

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

0
At

TNH eAt
Dng Laplace ngc
0
A 0

1
( sI A)

eAt=L-1[(sI-A)-1]
2
0

0
1
0
1

( sI A)

sI A

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

( sI A)

( s 1)( s 2)

e At

2e t e 2 t

0
e t e 2t

0
et
0

0
1
s 1
0

2e t 2e 2 t

2t
t
2e e

( s 1)( s 2)
0

( s 1)( s 2)

V d
1
A
1
( sI A)

1
0
;
b

10 , c 1
10

s 1

s 10
1
( s a1 )( s a2 )
1

e At L1 ( sI A) 1

1
s 10

s2

0
s 10
1
1
11s 11

1
s 1

1
; a1 1.1125, a2 9.8875
s 1

1.0128e a1t 0.0128e a2t

0.114 e a1t 0.114 e a2t

a1t
0.114 e a2t
0.114 e

0.0128e a1t 1.0128e a2t

Vi u(t) = 1, x(0) = 0

1.14(e a1 ( t ) e a2 ( t )
x (t ) e
bd
d
a1 ( t )
a2 ( t )
8.8842e
0
0 1.14( 0.1123e

0.9094 1.0274e a1t 0.1153e a2t

a1t
a2t

0
.
0132

0
.
1151
e

0
.
1019
e

A ( t )

y (t ) x1 (t ) 0.9094 1.0274e a1t 0.1153e a2t

Dng MATLAB
>> A=[-1 1;-1 -10];
>> b=[0;10];
>> c=[1 0];
>> model=ss(A,b,c,0);
>> [y,t,X]=step(model);
>> plot(y)

1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0

>> plot(X)

20

40

60

40

60

80

100

120

1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0

20

80

100

120

NH L CAYLEY HAMILTON
Ma trn A c phng trnh c trng
p ( ) det(I A) n an 1n 1 .. a1 a0

Thay bng A ta c phng trnh

p ( A) A n an 1 An 1 .. a1 A a0 I 0

Tht vy, t hai ng thc trn ta c

p ( ) I p ( A) n I A n an 1 (n 1 I A n 1 ) .. a1 (I A)

k I Ak (I A)(k 1 I k 2 A k 3 A2 .. Ak 1 )

Nn v phi chia ht cho I-A, vy v tri cng chia ht cho I-A, vy

p()I chia ht cho I-A v p(A) cng vy
p(A) khng cha m chia ht cho I-A vy p(A) = 0
L C-H: hm f(A) theo ma trn A biu th bng chui
f ( A) a0 I a1 A .. an 1 An 1 an A n ..

NH L CAYLEY HAMILTON
Cng c th biu th bng biu thc
f ( A) b0 I b1 A .. bn 1 A n 1

iu ny l do An c th biu th theo t hp A,,An-1

Nu i l nghim ring ca A th

f ( ) b0 b1i .. bn 1in 1

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

Nu nghim ring i l bc bi th ta o hm m-1 ln
dj
dj
f ( ) | i
{b0 b1i .. bn 1in 1} | i
j
j
d
d