Thit k v m phng

1
1. Cho i tng c c tnh bin loga hnh sau:
-20

L/dB

10
-40

1/7
lg 1/T

1 2
0 y2

w
lgw/deg
-60

1.1 Xc nh m hnh i tng

1.2 Xc nh cu trc v tham s ca b iu khin theo lt PID bng phng php ti
u i xng
1.3 Xc nh hm h(t) ca h kn v cho bit cc cht lng t c
2. Xc nh b iu khin theo phng php Gain Scheduling cho i tng phi tuyn
c m hnh
1 = 2 1
2 = 3 + 2
3 = 1 +
= 1
h kn c cc im cc l p1=p2=p3= -5. Nhn xt v kh nng thc thi b iu khin
trong thc t

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Thit k v m phng
2
1. Cho i tng c c tnh bin loga hnh sau:
L/dB

20

-20
0.1
-1

1/5
lg 1/5

10
lg5

lgw/deg

-60

2.1 Xc nh m hnh i tng

2.2 Xc nh cu trc v tham s ca b iu khin theo lt PID bng phng php ti
u m un
2.3 Xc nh hm h(t) ca h kn v cho bit cc cht lng t c
3. Xc nh b iu khin theo phng php Gain Scheduling cho i tng phi tuyn
c m hnh
1 = 2 + 1 2
2 = 3 + 2 3
3 = 32 + 2 1 + 2 +
= 1
Bit tn hiu t c dng r(t) = 5sinwt
Nhn xt v kh nng thc thi b iu khin trong thc t

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 3
1. i tng K c c tnh bin logarit
-20
L/dB

20lg5
-40

-1

lgw
-60

a. Xc nh m hnh ton hc ca i tng

b. Thit k BK theo phng php ti u i xng, u tin ch tc ng nhanh
c. Xc nh sai lch tnh ca h, khi tn hiu t c dng r(t) = t.1(t)
2. Cho i tng c m hnh hm truyn ri rc
=

2 3

+ 5 2 + 3 + 1

a. Xc nh m hnh TT ca t
b. Thit k BK u(kT) = -kx(kT) im cc ca h kn |zi| 0.5 vi i = 1,2,3
c. Thit k b quan st DeatBeat
3. Cho i tng c m hnh
1 = 1 2 ()
2 = 2 1 +
a. Thit k BK Gain Scheduling cho i tng trn bng phng php gn im cc
b. Xc nh BK u(t,x1 (t))
(chn bin tham s ho BK l x1 (t))

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 4
1 i tng K c c tnh bin logarit
-20
L/dB
20lg5
-20

-40
-1

0.5

lgw

a. Xc nh m hnh ton hc
b. Thit k BK theo phng php ti u mun , u tin ch tc ng nhanh
c. Xc nh sai lch tnh ca h, nu tn hiu t r(t) = t.1(t)
2. Cho i tng c m hnh ri rc
2 + 1
= 3
5 + 2 2 + 3 + 1
a. Xc nh m hnh ton hc
b. Xc nh BK hi tip trng thi u(kT)= -kx(kT) im cc ca h zi 0.5; i =
1, 2 , 3
c. Thit k b quan st trng thi deatbeat
3. cho i tng c m hnh
1 = 1 2 ()
2 = 2 1 +
a. Thit k BK trt cho T trn
b. r(t)=

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