Bi 1.

Cho h con lc ngc trn xe:

Mx + bx + N = F
N = mx + mlcos ml 2 sin
P sin + N cos mg sin = ml + mxcos
Pl sin Nl cos = I = m(2l ) 2 /12.

X ( s ) ( s )
,
ti ln cn = 0, x = 0
F (s) F (s)
b. Xy dng phng trnh BTT m t h thng phi tuyn vi 4 BTT: ,, x, x
a. Xy dng hm truyn tuyn tnh m t h thng:

Bi 2. Cho h bn nc lin kt i:

dH
= Qi Qo = Qi Cd a 2 gH
dt

a. Xy dng phng trnh BTT m t h thng phi tuyn trn vi 2 BTT: [ h1 , h2 ] .

b. Xy dng phng trnh BTT tuyn tnh ha ti im lm vic (h1 , h2 )
c. Tm hm truyn tuyn tuyn tnh ha ti im lm vic (h1 , h2 ) :

H1 ( s ) H 2 ( s )
,
U ( s) U ( s)

Bi 3. Tm hm m t khu phi tuyn sau:

1
1

Bi 4. Cho h thng phi tuyn nh hnh bn di, trong G ( s ) =

1
v N ( M ) l khu
( s + 1)3

relay 3 v tr nh hnh bn di.

r(t)=0

N(M)

G(s)

y(t)

5
-2

2
-5

a. Tm hm m t ca khu phi tuyn (ch p dng cng thc tnh).

b. Tm bin v tn s dao ng ring nu c ca h thng
Bi 5. Cho h thng phi tuyn bc 2 vi u(t) l tn hiu u vo, y(t) l tn hiu u ra:
x1 (t ) = x1 (t ) x2 (t ) x2 (t )
x 2 (t ) = x1 (t ) x2 (t ) x2 (t ) + 2u (t )
y (t ) = 2 x1 (t ) + u (t )
a. Vit phng trnh bin trng thi tuyn tnh ha ti im lm vic x = [1 4]T , u = 1 .
b. Xt tnh n nh ti im lm vic x = [1 4]T , u = 1 theo tieu chuan Lyapunov.
Bi 6. Cho h thng phi tuyn nh sau:

x1 = ( x2 1) x1

2
x2 = 2 x1
a. Tm im cn bng ca h thng.
b. Tm hm Lyapunov chng t h thng trn n nh ti im cn bng (0, 2). H thng c
n nh tim cn khng?
Bi 7. Xt tnh n nh ti im cn bng ca cc h thng sau (u tin dng pp trc tip L):
(4), (5)

Bi 8. Cho i tng iu khin m t bi phng trnh trng thi:

x1 = x2 (1 x12 )

x2 = x1 x2 + u
y = x1
Yu cu iu khin l tn hiu ra y(t) bm theo tn hiu t yd(t). Thit k b iu
khin hi tip tuyn tnh ha, iu khin trt sao cho phng trnh c trng ca sai s c
cp nghim kp ti 4.
Bi 9. Cho h thng phi tuyn sau:

x1 = x1 + x2

2
x2 = x1 x2 x1 + x3

x3 = u
y = x2 + x
1
2

Hy thit k b iu khin hi tip tuyn tnh ha, iu khin trt tn hiu ra y(t) bm
theo tn hiu t yd(t) bit rng phng trnh c trng ca sai s c cc nghim ti 10.
Bi 10. Cho h thng phi tuyn sau:

x1 = x2
x = 2sin x 0.5( x x )
2
1
1
3

x3 = x4
x4 = 2( x1 x3 ) + 2u (t )
y = x1
Yu cu iu khin l tn hiu ra y(t) bm theo tn hiu t yd(t). Thit k b iu khin
hi tip tuyn tnh ha, iu khin trt sao cho phng trnh c trng ca sai s c 2 cp
nghim kp ti 1 v 2.
BT Matlab 1. Xy dng m hnh simulink V d 2 (slide 43), v p ng ng ra y(t) v tn
hiu iu khin u(t) chng t h thng c dao ng. Tm bin dao ng. Kim tra xem
bin dao ng M = 13.9?
BT Matlab 2. Xy dng m hnh simulink V d 2 (slide 93), v p ng ng ra y(t)
chng t h thng c POT<10%, tqd < 0.3s vi u vo hm nc.
Thay i tn hiu u vo bng tn hiu xung tam gic vi tn s 0.25Hz, v li p
ng ng ra v tnh POT, exl.

m = 0.1(kg ), l = 1(m), B = 0.01

BT Matlab 3. Xy dng m hnh simulink V d 1 (slide 116), v p ng ng ra y(t) vi

u l tn hiu xung vung.
Thay i hm du ca mt trt t sign( ) sang sat ( ) gim c hin tng
chattering trong tn hiu iu khin. V tn hiu iu khin 2 trng hp trn.