TRNG I HC BCH KHOA H NI

KHOA IN
B MN IU KHIN T NG

CC BI TH NGHIM
MN HC
L THUYT IU KHIN T NG
PHN TUYN TNH
KHI IN EE3381 ( 3 bi)
KHI IN EE3382 ( 4 bi)
C IN T ( 4 bi)
KHI IN T( 3 bi)

H NI 8/2008
1

CC BI TH NGHIM
MN HC L THUYT IU KHIN T NG
PHN 1. H THNG IU KHIN T NG TUYN TNH
BI TH NGHIM 1
CC C TNH CA H THNG IU KHIN T NG
I. MC CH
Matlab l mt trong nhng phn mm thng dng nht dng phn tch , thit k v
m phng cc h thng iu khin t ng. Trong bi th nghim ny sinh vin s
dng cc lnh ca Matlab phn tch h thng nh xt tnh n nh ca h thng, c
tnh qu , sai lch tnh..
II. CHUN B
thc hin cc yu cu trong bi th nghim, sinh vin cn phi chun b k
trc cc lnh ca Matlab. Khi khi ng chng trnh Matlab 6.5 ca s
COMMAND MATLAB xut hin vi du nhc lnh">>". thc hin cc lnh sinh
vin s g lnh t bn phm theo sau du nhc ny.
phn tch c tnh ca h thng, sinh vin cn phi hiu k v cc lnh sau:
num b0 s m + b1s m 1 + .... + bm 1s + bm
W (s) =
=
den a0 s n + a1s n 1 + .... + an 1s + an

Cho hm truyn t c dng:

Khi ng MATLAB v ca s COMMAND MATLAB ta thy hin ra du nhc >>
ta s nh cc cu lnh sau:
>>num=[b0 b1 bm-1 bm];
% nh ngha t s nu h s no khng c
% gn bng 0
>>den=[a0 a1 an-1 an];
% nh ngha mu s nu h s no khng c
% gn bng 0
>>w=tf(num,den)
% nh ngha hm truyn t w
>>step(w)
% V hm qu h(t)
>>impulse(w)
% V hm qu xung k(t)
>>nyquist(w)
% V c tnh tn bin pha ca h thng
>>bode(w)
% V c tnh logarit
>>[A,B,C,D]=tf2ss(w)
% Chuyn t hm truyn t sang khng gian
%trng thi
>>step(A,B,C,D)
% V ng qu t cc ma trn trng thi
>>impulse(A,B,C,D)
% V ng qu xung t cc ma trn trng thi
>> rlocus(w) : v QNS h thng hi tip m n v c hm truyn vng h w
>>rlocfind(w): Tm im Kgh
>> hold on : gi hnh v hin ti trong ca s Figure. Lnh ny hu ch khi ta cn v
nhiu biu trong cng mt ca s Figure. Sau khi v xong biu th nht, ta g
lnh hold on gi li hnh v sau v tip cc biu khc. Cc biu lc sau s
v ln biu th nht trong cng mt ca s Figure ny. Nu khng mun gi
hnh na, ta g lnh hold off.
>>grid on : k li trn ca s Figure. Nu khng mun k li , ta g lnh grid off.
>> subplot(m,n,p) : chia Figure thnh (mxn) ca s con v thao tc trn ca s con th
p.
2

V d : Chia Figure thnh 2 ca s con, sau v Y ln ca s th 1 va Z ln ca s

th 2
>> subplot(2,1,1), subplot(Y); % ve Y len cua so thu 1
>> subplot(2,1,2), subplot(Z); % ve Z len cua so thu 2
>> ltiview({'step','impluse','bode','nyquist'},w) v tt c cc ng c tnh ln mt
th
Ch : sinh vin nn tham kho phn Help ca Matlab nm r chc nng v c
php ca mt <lnh> bng cch g vo dng lnh : help <lnh>
III. TH NGHIM
III.1. Kho st cc c tnh ca cc khu ng hc c bn
a.Khu tch phn
Hm truyn ca khu tch phn
W ( s) =

K
s

Kho st cc c tnh trong min thi gian v cc c tnh trong mi tn s trong 2

trng hp K=5, K=20;
V d vi K=5 chng trnh c vit nh sau:
>>num=[5];
>>den=[1 0];
>>w=tf(num,den)
>>step(w)
>>impulse(w)
>>nyquist(w)
>>bode(w)

% nh ngha hm truyn t w
% V hm qu h(t)
% V hm trng lng w(t)
% V c tnh tn bin pha ca h thng
% V c tnh tn loga

b. Khu vi phn thc t

W (s) =

Ks
Ts + 1

Vi cc tham s K=20;T=0.1
Nhim v:
Vit chng trnh
Kho st cc c tnh trong min thi gian h(t),w(t) v cc c tnh trong min
tn s nyquist v bode
c. Khu qun tnh bc nht
Hm truyn
W (s) =

K
Ts + 1

Cho cc tham s K=20; T=50 v K=20; T=100

Nhim v:
Vit chng trnh
Kho st cc c tnh trong min thi gian h(t),w(t) v cc c tnh trong min
tn s nyquist v bode
Xc nh cc tham s K v T trn th
3

d.Khu bc hai
W (s) =

K
T s + 2dTs + 1
2 2

Cho cc tham s K=20, T=10,d=0,0.25,0.5,0.75,1.

Nhim v:
Vit chng trnh
Kho st cc c tnh trong min thi gian h(t),w(t) v cc c tnh trong min
tn s nyquist v bode
- Nhn xt nh hng ca suy gim d n c tnh qu ca khu bc hai.
III.2. Tm hm truyn tng ng ca h thng
Mc ch: Gip sinh vin lm quen vi cc lnh c bn kt ni cc h thng
Th nghim:
Bng cch s dng cc lnh c bn conv, tf, series,parallel,feedback, tm biu
thc hm truyn tng ng G(s) ca h thng sau:
X

Trong : G1 =

s +1
( s + 3)( s + 5)

G1

G2

G3

H1

; G2 =

s
;
s + 2s + 8
2

1
1
G3 = ; H 1 =
s
s+2

Hng dn: Bc u tin nhp hm truyn cho cc khi G1, G2, ... dng lnh tf. Sau
tu theo cu trc mc ni tip, song song hay phn hi m ta g lnh series ( hoc
du *) , parallel ( hay du +), feedback tng ng thc hin vic kt ni cc khi
vi nhau. Trong bo co trnh by r trnh t thc hin cc lnh ny.
V d:
>> G1=tf([1 1],conv([1 3],[1 5])) % Nhp hm truyn G1
>> G3=tf(1 ,[1 0])
% Nhp hm truyn G3
>>G13=G1+G3
% Tnh hm truyn tng ng ca G1, G3
% hoc G13=parallel(G1,G3)
>>G21=feedback(G2,H1)
% Tnh hm truyn tng ng ca G2, H1

Tip tc tnh tng t cho cc khi cn li

Nhim v:
- Vit chng trnh xc nh hm truyn t ca h thng
- Kho st cc c tnh trong min thi gian h(t),w(t) ca h thng kn v cc
c tnh trong min tn s nyquist v bode ca h thng h

III.3. Kho st cc c tnh ca h thng

Cho h thng kn c cu trc nh hnh v:
X(s)

1
(0.5s +1)(s +1)

K
s+2

Y(s)

1
0.005s +1
Cho K= 8; K=17.564411; K=20
- Nhim v:
- Vit chng trnh xc nh hm truyn t ca h thng khi thay i K trong ba
trng hp cho
- Kho st cc c tnh trong min thi gian h(t),w(t) ca h thng kn v cc
c tnh trong min tn s nyquist v bode ca h thng h
IV. YU CU VIT BO CO
Cu 1.
- Vit chng trnh MATLAB cho tng khu ng hc c bn
- V cc ng c tnh trong min thi gian v trong min tn s ca tng khu
Cu 2.
- Vit chng trnh tnh hm truyn ca h thng v in ra hm truyn ca h
thng
- Kho st cc ng c tnh trong min thi gian v tn s ca h thng
Cu 3.
Vit chng trnh xc nh hm truyn t ca h thng khi thay i K trong ba
trng hp cho
Kho st cc c tnh trong min thi gian h(t),w(t) ca h thng kn v cc c
tnh trong min tn s nyquist v bode ca h thng h
- Nhn xt g v cc c tnh trong min thi gian v trong min tn s khi K thay
i

BI TH NGHIM 2
NG DNG MATLAB KHO ST TNH N NH
V CHT LNG CA H THNG
II.1. Xc nh Kgh
Co h thng c s nh hnh v
X

K1
(T 1s + 1)(T 2s + 1)

K2
T3 s + 1

Cc thng s c o trong bng

K1
K2
T1
T2
T3
Nhm
K
1
25
8
1
0,1
0,4
2
25
7
2
0,2
0,8
3
25
9
0.5
0,4
0,05
4
25
5
4
0,8
0,6
5
25
6.5
5
0,5
0,2
_ Mc ch:
Kho st c tnh ca h thng tuyn tnh c h s khuch i K thay i, tm gi tr
gii hn Kgh ca K h thng n nh.
Nhim v:
- Xc nh Kgh ca h thng theo iu kin n nh ( Yu cu sinh vin phi tnh trc
khi ln th nghim)
Cch 1: Cng thc tnh Kgh:

K gh =

1
1 1
1
(T1 + T2 + T3 )( + + ) 1
K1K 2
T1 T2 T3

Cch 2: V QNS ca h thng. Da vo QNS, tm Kgh ca h thng, ch r gi tr

ny trn QNS. Lu QNS ny thnh file *.bmp vit bo co.

- Hm truyn t ca h thng h:
K1K 2
Wh (s) = K
(T1s + 1)(T2s + 1)(T3s + 1)
- Chng trnh
>>K1=25;K2=8;T1=1;T2=0.1;T3=0.4
- Vit chng
trnh MATLAB
cho h
thng
>>w=tf(K1,
[T1 1])*tf(1,
[T2
1])*tf(K2, [T3 1]);
>>rlocus(w)
>>rlocfind(w)
>>[K,p]=rlocfind(w)
- Kho st c tnh trong min thi gian ca h kn trong 3 trng hp
H thng n nh K<Kgh vi ch tiu cht lng 20%
H thng khng n nh K>Kgh
H thng bin gii n nh K=Kgh
- Kho st c tnh trong min tn s cho h thng h trong 3 trng hp sau: K=Kgh
;K<Kgh ;K>Kgh
6

Nhn xt v tr ca im (-1,j0) so vi ng c tnh tn s trong cc trng hp

trn
II.2. Hiu chnh b PID
Cho h thng c s nh sau:
X

Y
WPID(s)

W DT(s)

+ Hm truyn ca b PID:
WPID ( s ) = K PID (1 +

Td s
1
)
+
Ti s Td s + 1

Trong :

KPID l h s khuych i ca b iu khin

Ti l hng s thi gian tch phn
Td l hng s thi gian vi phn
l h s t l ca khu vi phn ( thng nh hn 1)
+ Hm truyn ca i tng
WDT (s) =

K DT
(T1s + 1)(T2 s + 1)

Cc thng s ban u ca b iu khin PID v i tng iu khin c cho trong

bng sau:
KDT
Ti
Td
T1
T2
Nhm
KPID

1.
50
2
0.5
0.05
5
1
0.2
2.
1
50
5
0.05
4
200
40
3.
1
50
2
0.05
20
100
50
4.
70
150
2
0.05
5
10
2
5.
10
100
2
0.05
5
80
40
Nhim v:
a. Vit chng trnh Matlab cho h thng
b. V qu trnh qu vi cc thng s ban u, tnh qu iu chnh, thi gian qu
, sai lch tnh
c. Thay i cc tham s KPID,Ti,Td ca b iu khin PID nng cao cht lng ca
h thng

IV. YU CU VIT BO CO
Vit chng trnh MATLAB cho h thng
V cc ng c tnh trong min thi gian ca h kn v cc ng c tnh
trong min tn s ca h thng
Nhn xt v qu trnh qu thu c qua thc nghim

BI TH NGHIM 3
NG DNG SIMULINK
TNG HP H THNG IU KHINT NG
I. MC CH :
SIMULINK l mt cng c rt mnh ca Matlab xy dng cc m hnh mt cch
trc quan v d hiu. m t hay xy dng h thng ta ch cn lin kt cc khi c
sn trong th vin ca SIMULINK li vi nhau. Sau , tin hnh m phng h thng
xem xt
nh hng ca b iu khin n p ng qu ca h thng v nh gi cht lng
h thng.
II. CHUN B :
thc hin cc yu cu trong bi th nghim ny, sinh vin cn phi chun b k v
hiu r cc khi c bn cn thit trong th vin ca SIMULINK. Sau khi khi ng
Matlab 6.5, ta g lnh simulink hoc nhn vo nt simulink trn thanh cng c th ca
s SIMULINK hin ra: 2 th vin chnh p dng trong bi th nghim ny
Cc th vin con trong

II.1. Cc khi c s dng trong bi th nghim:

a. Cc khi ngun tn hiu vo (source):
Khi Step ( th vin Simulink \ Sources) c chc nng xut ra tn
hiu hm bc thang. Double click vo khi ny ci t cc thng
s:
Step time : khong thi gian u ra chuyn sang mc Final value k
t lc bt u m phng. Ci t gi tr ny bng 0.
Initial value : Gi tr ban u. Ci t bng 0.
Final value : Gi tr lc sau. Ci t theo gi tr ta mun tc ng ti
h thng. Nu l hm bc thang n v th gi tr ny bng 1.
Sample time : thi gian ly mu. Ci t bng 0.
Khi Signal Generator ( th vin Simulink \ Sources) l b pht tn
hiu xut ra cc tn hiu hng sin, hng vung, hng rng ca v ngu
nhin (ci t cc dng hng ny trong mc Wave form).
b. Cc khi ti thit b kho st ng ra (sink):
Khi Mux ( th vin Simulink \ Signals Routing) l b ghp knh
nhiu ng vo 1 ng ra, t ng ra ny ta a vo Scope xem nhiu
tn hiu trn cng mt ca s. Double click vo khi ny thay i
s knh u vo (trong mc Number of inputs)
8

Khi Scope ( th vin Simulink \ Sinks) l ca s xem cc tn

hiu theo thi gian, t l xch ca cc trc c iu chnh t
ng quan st tn hiu mt cch y .
Khi XY Graph dng xem tng quan 2 tn hiu trong h thng
(quan st mt phng pha).
c.Cc khi x l khi ng hc :
Khi Sum ( th vin Simulink \ Math Operations) l b tng (cng
hay tr) cc tn hiu, thng dng ly hiu s ca tn hiu t vi
tn hiu phn hi. Double click thay i du ca b tng.
Khi Gain ( th vin Simulink \ Math Operations) l b t l. Tn
hiu sau khi qua khi ny s c nhn vi gi tr Gain. Double click
thay i gi tr li Gain.
Khi Transfer Fcn ( th vin Simulink \ Continuous) l hm truyn
ca h tuyn tnh. Double click thay i bc v cc h s ca hm
truyn. Ci t cc thng s:
_ Numerator : cc h s ca a thc t s
_ Denominator : cc h s ca a thc mu s
Khi Relay ( th vin Simulink \ Discontinuities) l b iu khin
rle 2 v tr c tr (cn gi l b iu khin ON-OFF). Cc thng s :
_ Switch on point : nu tn hiu u vo ln hn gi tr ny th ng ra
ca khi Relay ln mc on
_ Switch off point : nu tn hiu u vo nh hn gi tr ny th ng
ra ca khi Relay xung mc off
_ Output when on : gi tr ca ng ra khi mc on
_ Output when off : gi tr ca ng ra khi mc off
Nu tn hiu u vo nm trong khong (Switch on point, Switch off
point) th gi tr ng ra gi nguyn khng i.
Khi PID controller ( th vin Simulink Extras \ Additional
Linear) l b iu khin PID vi hm truyn ( )
KP : h s t l (proportional term)
KI: h s tch phn (integral term)
KD: h s vi phn (derivative term)
Khi Saturation ( th vin Simulink \ Discontinuities) l mt khu
bo ha. Cc thng s ci t:
_ Upper limit : gii hn trn. Nu gi tr u vo ln hn Upper limit
th ng ra lun bng gi tr Upper limit
_ Lower limit : gii hn di. Nu gi tr u vo nh hn Lower
limit th ng ra lun bng gi tr Lower limit
Khu bo ho dng th hin gii hn bin ca cc tn hiu
trong thc t nh : p ra cc i ca b iu khin t vo i tng,
p ngun

II.2. Cc bc tin hnh xy dng mt ng dng mi trong SIMULINK:

9

_ Sau khi khi ng Matlab, g lnh simulink hoc nhn vo nt simulink trn thanh
cng c th ca s SIMULINK hin ra (nh hnh v Trang 1)
_ Trong ca s SIMULINK, vo menu File / New m ca s cho mt ng dng
mi.
Kch chut vo cc th vin gii thiu mc II.1 chn khi cn tm. Kch chut
tri vo khi ny, sau ko v th vo ca s ng dng va mi to ra. Double click
vo khi ny ci t v thay i cc thng s.
_ C th nhn s lng cc khi bng cch dng chc nng Copy v Paste. Kch chut
tri ni cc ng vo / ra ca cc khi hnh thnh s h thng.
_ C th di mt hoc nhiu khi t v tr ny n v tr khc bng cch nhp chut
chn cc khi v ko n v tr mi. Dng phm Delete xa cc phn khng cn
thit hay b sai khi chn.
_ C th vit ch thch trong ca s ng dng bng cch double click vo mt v tr
trng v g cu ch thch vo. Vo menu Format / Font thay i kiu ch.
_ Nh vy, m hnh h thng xy dng xong. By gi tin hnh m phng h thng
bng cch vo menu Simulation / Simulation Parameters ci t cc thng s m
phng.
Ca s Simulation Parameters hin ra nh sau:
_ Start time : thi im bt u m phng. Mc nh chn bng 0.
_ Stop time : thi im kt thc m phng. Gi tr ny chn theo c tnh ca h
thng. Nu h thng c thi hng ln th gi tr Stop time cng phi ln quan st
ht thi gian qu ca h thng.
_ Cc thng s cn li chn mc nh nh hnh k bn.
_ Chy m phng bng cch vo menu Simulation / Start. Khi thi gian m phng
bng gi tr Stop time th qu trnh m phng dng li. Trong qu trnh m phng, nu
ta mun dng na chng th vo menu Simulation / Stop.
III. TH NGHIM:
III.1. Kho st m hnh h thng iu khin nhit :
_ Mc ch:
c trng ca l nhit l khu qun tnh nhit. T khi bt u cung cp nng lng
u vo cho l nhit, nhit ca l bt u tng ln t t. nhit l t ti gi tr
nhit cn nung th thng phi mt mt khong thi gian kh di. y chnh l c
tnh qun tnh ca l nhit. Khi tuyn tnh ho m hnh l nhit, ta xem hm truyn ca
l nhit nh l mt khu qun tnh bc 2 hoc nh l mt khu qun tnh bc nht ni
tip vi khu tr.
Trong phn ny, sinh vin s kho st khu qun tnh bc 2 cho trc. Dng phng
php Ziegler-Nichols nhn dng h thng sau xy dng li hm truyn. So snh gi
tr cc thng s trong hm truyn va tm c vi khu qun tnh bc 2 cho trc ny
_ Th nghim:
Dng SIMULINK xy dng m hnh h thng l nhit vng h nh sau:

Step : l tn hiu hm bc thang th hin phn trm cng sut cung cp cho l
nhit.Gi tr ca hm nc t 01 tng ng cng sut cung cp 0%100%
Transfer Fcn Transfer Fcn1 : m hnh l nhit tuyn tnh ha.
10

Nhm
1
2
3
4
5

K
100
200
150
300
200

T1
20
30
40
20
50

T2
100
300
200
150
200

a. Chnh gi tr ca hm step bng 1 cng sut cung cp cho l l 100% (Step time
=0, Initial time = 0, Final time = 1). Chnh thi gian m phng Stop time = 600s. M
phng v v qu trnh qu ca h thng trn.
b. Trn hnh v cu trn,hy x?p x? v? khu qun tnh b?c nh?t c tr? b?ng cch v
tip tuyn ti im un tnh thng s L v T theo nh hnh v?. Ch r cc gi tr ny
trn hnh v. So snh gi tr L, T va tm c vi gi tr ca m hnh l nhit tuyn
tnh ha.
_ Hng dn:
Sau khi chy xong m phng, xem qu trnh qu ca tn hiu ta double click vo
khi Scope. Ca s Scope hin ra nh sau:

V ca s Scope ch c th xem p ng hoc in trc tip ra my in nhng khng lu

hnh v thnh file *.bmp c nn ta phi chuyn Scope ny sang ca s Figure
lu. Thc hin iu ny bng cch nhp chut vo Parameters. Ca s Parameters
hin ra, nhp chut vo trang Data history v tin hnh ci t cc thng s nh hnh
bn di:
Tin hnh chy m phng li tn hiu lu vo bin ScopeData. Ch nu sau khi
khai bo m khng tin hnh chy m phng li th tn hiu s khng lu vo bin
ScopeData mc d trn ca s Scope vn c hnh v.

Sau , vo ca s Command Window nhp lnh sau:

>> plot(ScopeData.time, ScopeData.signals.values) %ve dap ung
>> grid on %ke luoi
Lc ny ca s Figure hin ra vi hnh v ging nh hnh v ca s Scope. Vo
menu Insert/ Line, Insert/ Text tin hnh k tip tuyn v ch thch cho hnh v. Kt
qu cui cng nh hnh bn di :
11

Vo menu [File]/[Export] lu thnh file *.bmp nh Bi th nghim 1.

III.2. Kho st m hnh iu khin nhit dng phng php Ziegler-Nichols
(iu khin PID):
_ Mc ch:
Kho st m hnh iu khin nhit dng b iu khin PID, cc thng s ca b
PID c tnh theo phng php Ziegler-Nichols. T so snh cht lng ca h
thng b iu khin PID .
_ Th nghim:
Xy dng m hnh h thng iu khin nhit PID nh sau:

Trong d
_ Tn hiu t u vo l hm bc thang u(t) = 100 ( tng trng nhit t 100 oC)
_ B iu khin PID c cc thng s cn tnh ton.
_ Transfer Fcn Transport Delay : m hnh l nhit tuyn tnh ha.
a. Tnh gi tr cc thng s KP, KI, KD ca khu PID theo phng php ZieglerNichols t thng s L v T tm c phn III.1.
b. Chy m phng v lu p ng ca cc tn hiu Scope vit bo co. C th
chn li Stop time cho ph hp. Trong hnh v phi ch thch r tn cc tn hiu.
c. Nhn xt v cht lng phng php iu khin PID
_ Hng dn:
Cch tnh cc thng s KP, KI, KD ca khu PID theo phng php Ziegler-Nichols
nh sau:

12

WPID (s) = K P +

KI
+ K Ds
s

Vi
KP =

1.2T
K
; K I = P ; K D = 0.5K P L
K.L
2L

Trong L, T, K l cc gi tr tm c phn III.1.a.

IV. YU CU VIT BO CO
Bi 1. - Xy dng s h thng trn SIMULINK
- Xp x i tng v khu qun tnh bc nht theo phng php th
- So snh gia m hnh cho trc v m hnh nhn dng
Bi 2. - Xy dng s h thng trn SIMULINK
- Tnh cc thng s ca b iu khin theo ZieglerNichol v chnh nh cc thng
s trn my tnh
- V ng c tnh qu trnh qu
- Nhn xt v qu trnh qu thu c qua thc nghim

13

PHN 2. H THNG IU KHIN TRONG

KHNG GIAN TRNG THI
BI TH NGHIM 4
Cho i tng c hm truyn:

W(s) =

5
(T1s + 1)(T2s + 1)(T3s + 1)

Vi T1=STT ( STT l s th t theo danh sch lp); T2=100;T3=5

a. Xc nh phng trnh trng thi:
.

x = Ax+Bu
y = Cx+Du
A,B,C,D l cc ma trn ca phng trnh trng thi
b. Kim tra tnh iu khin c v tnh quan st c ca i tng
c. Kim tra tnh n nh ca i tng da trn h phng trnh trng thi
d. Kho st cc c tnh trong min thi gian v trong min tn s ca i tng
e. Xy dng s cu trc trn SIMULINK
f. Thit k b iu khin phn hi trng thi sao cho h kn nhn cc im s=-1; s=-2;
v s=-n ( vi n l s th t theo danh sch lp) lm cc im cc
g. Kho st c tnh trong min thi gian ca h thng
>>num=[K];
>>den=[a0 a1 a2 a3 ];
>>[A,B,C,D]=tf2ss(num,den)
>>co=ctrb(A,B)
>>ob=obsv(A,C)
>>step(A,B,C,D)
>>impulse(A,B,C,D)
>>nyquist(A,B,C,D)
>>bode(A,B,C,D)
>>K=acker(A,B,[s1 s2 s3])

% nh ngha hm truyn t w
% Tnh ma trn iu khin c
% Tnh ma trn quan st c
% V hm qu h(t)
% V hm trng lng w(t)
% V c tnh tn bin pha ca h thng
% V c tnh tn loga
% Tm ma trn phn hi trng thi theo ackerman

IV. YU CU VIT BO CO
- In ra cc ma trn A,B,C,D
- Tnh ma trn iu khin c v hng ca n
- Tnh ma trn quan st c v hng ca n
- Vit phng trnh c tnh
- V c tnh hm qu v hm trng lng ca i tng
- V cc c tnh BTL v bin tn s pha ca i tng
- Xy dng s h thng trn SIMULINK
- Tnh ma trn iu khin phn hi trng thi
- V c tnh hm qu v hm trng lng ca h kn
- V cc c tnh BTL v bin tn s pha ca h h
Bo co phi np sau 1 tun th nghim . Ai lm khng y hoc ly c tnh sai
phi lm li .Khng np bi th nghim khng c d thi mn hc

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