B GIO DC V O TO

B CNG THNG
VIN NGHIN CU IN T, TIN HC, T NG HA
---




NGUYN DUY HNG



V MT PHNG PHP TNG HP H
IU KHIN M DNG MNG NRON
NG DNG TRONG CNG NGHIP


Chuyn ngnh: K thut in t
M ngnh: 62.52.70.01



LUN N TIN S K THUT


HNG DN KHOA HC:
GS. TSKH. NGUYN XUN QUNH













H NI 2009








LI CM N


Tc gi xin by t li cm n v lng knh trng i vi thy hng dn:
GS. TSKH. Nguyn Xun Qunh bi nhng ch dn qu bu v phng php
lun v nh hng nghin cu lun n c hon thnh.
Tc gi cng by t li cm n i vi Vin NC in t, Tin hc, T
ng ha B Cng Thng to iu kin thun li v c s vt cht v
thi gian tc gi hon thnh lun n.
Tc gi xin trn trng cm n cc nh khoa hc v cc ng nghip
phn bin, l lun, ng gp cc kin xy dng v trao i v cc vn l
thuyt cng nh thc tin lun n c hon thin.
Cui cng tc gi xin by t li cm n su sc nht n gia nh v ngi
thn lun chia s, gnh nhng kh khn cng nh dnh nhng tnh cm
v l ngun c v, ng vin tinh thn khng th thiu i vi tc gi trong
sut qu trnh thc hin lun n ny.







LI CAM OAN


Ti xin cam oan lun n ny l cng trnh nghin cu khoa hc ca ti v
khng trng lp vi bt k cng trnh khoa hc no khc. Cc s liu trnh
by trong lun n c kim tra k v phn nh hon ton trung thc. Cc
kt qu nghin cu do tc gi xut cha tng c cng b trn bt k tp
ch no n thi im ny ngoi nhng cng trnh ca tc gi.

H Ni, ngy 15 thng 9 nm 2009
Tc gi lun n




Nguyn Duy Hng

- i -


M U

Vn iu khin n nh cc h ng hc phi tuyn c phng trnh ng
hc chuyn c v dng tuyn tnh ha phn hi trng thi (state feedback
linearizable) hoc tuyn tnh ha phn hi vo-ra (input-output feedback
linearizable) c cha cc thnh phn khng r nhm bm theo tn hiu mu cho
trc vi sai s b chn l mc tiu gii quyt ca lun n. y l vn phc
tp do c tnh phi tuyn ca ng hc cng nh ca cc thnh phn cha bit
trong phng trnh ng hc ca i tng. Cc cng trnh nghin cu hin nay
ch yu tm cch gii quyt cc vn v iu khin n nh v bn vng h
phi tuyn c cc thnh phn bt nh da trn iu khin thch nghi, tuy nhin
cc phng php cn kh phc tp v cha ch r kh nng v m hnh p dng
trn cc h thng iu khin cng nghip.
Nhm ng gp, a ra mt phng php tng hp c kh nng p dng trn
cc h thng iu khin t ng tin tin hot ng trong cc phn cp mng
cng nghip, tc gi trnh by mt phng php tng hp mi da trn tng
thay th c lng (khng cn gn ng nh cc phng php hin nay) cc
hm trng thi cha bit bng cc hm s bit, t tm cch xp x sai lch
chung do php thay th c lng gy nn v thit k thnh phn b lin tc
nhm trit tiu tc ng ny. c im ca phng php l s dng b xp x
vn nng m nron (xp x sai lch nu trn) lm thnh phn b trong lut iu
khin phn hi. xy dng c mt c s ton hc chng minh cho phng
php xut, lun n ln lt pht trin phng php cho cc trng hp b
tnh (lut iu khin phn hi tnh) v trng hp b ng (lut iu khin thch
nghi). Ngoi ra lun n cn phn tch v gii quyt mt s vn khc lin quan
n cc iu kin gii hn ca qu o trng thi v u vo ca h phi tuyn
cng nh m rng phng php trong trng hp h kh tuyn tnh ha phn
hi cht (strict-feedback linearizable system).
Ngoi c s l thuyt c chng minh, lun n cng phn tch v ch ra kh
nng p dng phng php trn cc h thng iu khin cng nghip (PLC,
IPC) thng qua th nghim trn mt m hnh phn mm ng dng c xy
dng cho h thng SIMATIC S7 ca hng Siemens.
- ii -


B cc ca lun n
Lun n chia thnh 4 chng. Chng 1 trnh by tng quan cc vn
trong iu khin cc h phi tuyn v ng dng, t a ra mc tiu v ni
dung nghin cu ca lun n gii hn vo cc h kh tuyn tnh ha phn hi c
cha cc thnh phn khng r trong bi ton bm theo tn hiu mu b chn cho
trc.
Chng 2 trnh by chi tit vn cn gii quyt cng nh tng quan cc
nghin cu v cc kt qu t c n nay. Da trn phng php thit k
nh ngha h sai s tha mn gi thit ban u, lun n xy dng mt s c s
ton hc (cc nh l v b ) hnh thnh phng php mi theo hng n
gin v c kh nng ng dng c gi l phng php thay th c lng
hm trng thi lm tin pht trin cc b iu khin n nh tnh v ng
trong cc chng tip theo.
Trong Chng 3, tc gi gii thiu mt s c s ton hc nhm a ra lut
iu khin tnh dng b xp x vn nng m nron lm thnh phn b lin tc
nghim ca h sai s vng kn b chn ti hn u (uniformly ultimately
bounded) cng nh trnh by phng php tnh ton, xc nh tham s iu
khin v cc iu kin cn trong phng php qu o trng thi v tn hiu
iu khin b chn theo thit k. Ngoi ra Chng 3 cn tip tc m rng
phng php cho thit k b iu khin n nh tnh cc h chuyn ng hn
lon (chaotic systems) c phng trnh ng hc dng tuyn tnh ha phn hi
cht.
Chng 4 tp trung vo gii quyt vn b ng da trn lut iu khin
tnh v s dng b xp x m nron xy dng c b iu khin thch nghi
n nh cng nh trnh by m hnh phn mm ng dng. Nhm chng minh
tnh kh thi ca phng php trong pht trin b iu khin vi thnh phn b
ng, lun n s dng iu khin thch nghi trc tip p dng phng php
chnh nh o chnh nh tham s ca b xp x m nron trong cc trng
hp b xp x tuyn tnh v phi tuyn i vi tham s. Tc gi cng a ra m
hnh phn mm ng dng cho php p dng cc kiu iu khin tnh v ng
trn cc h thng iu khin cng nghip v phn tch kh nng ng dng trn
h thng t ng ha SIMATIC S7 ca hng Siemens.
Phn cui l kt lun v kin ngh ca lun n, tip theo sau l Ph lc bao
gm mt s chng minh v thit k.
- iii -


MC LC

CHNG 1: TNG QUAN ....................................................................................... 1
1.1. t vn ....................................................................................................... 1
1.2. Mc tiu v nhim v nghin cu ................................................................ 9
CHNG 2: IU KHIN N NH CC H THNG KH TUYN
TNH HA PHN HI BNG PHNG PHP THAY
TH C LNG HM TRNG THI ...................................... 11
2.1. Gii thiu chung ........................................................................................... 11
2.1.1. t vn ........................................................................................... 11
2.1.2. Biu din cc h thng kh tuyn tnh ha phn hi .......................... 12
2.1.3. Vn trong iu khin n nh cc h kh tuyn tnh ha
phn hi trng thi ............................................................................. 15
2.2. iu khin n nh cc h thng kh tuyn tnh ha phn hi
trng thi bng phng php thay th c lng hm trng thi ......... 21
2.2.1. C s ton hc ca phng php ....................................................... 21
2.2.2. Tnh bn vng ca h vng kn trong phng php ........................... 31
2.3. iu khin n nh cc h thng kh tuyn tnh ha phn hi vo-
ra bng phng php thay th c lng hm trng thi ...................... 44
2.3.1. Bi ton iu khin v c s ton hc ................................................ 44
2.3.2. iu khin n nh bng phng php thay th c lng hm
trng thi ............................................................................................. 47
2.3.3. Tnh bn vng ca h vng kn i vi thnh phn khng r
trong phng trnh ng hc .............................................................. 51
2.4. Tng hp thit k b iu khin tnh n nh ........................................... 55
2.5. Kt lun ......................................................................................................... 56
CHNG 3: PHNG PHP THAY TH C LNG HM
TRNG THI DNG B XP X M NRON .......................... 58
3.1. t vn v c s l thuyt xy dng phng php ............................. 58
3.1.1. Gii thiu chung.................................................................................. 58
3.1.2. B xp x vn nng .............................................................................. 59
3.1.3. C s ton hc xy dng cc b xp x dng h m v mng
nron ................................................................................................... 60
3.2. Thay th c lng hm trng thi ........................................................... 69
3.2.1. C s ton hc ca phng php ....................................................... 69
3.2.2. Xc nh tham s b iu khin .......................................................... 74
3.2.3. M phng iu khin tay rbt ........................................................... 79
3.3. Thay th c lng hm trng thi m rng trong iu khin n
nh cc h kh tuyn tnh ha phn hi cht ........................................... 84
- iv -


3.3.1. Phng php cun chiu .................................................................... 84
3.3.2. Phng php thay th c lng hm trng thi khi h cha
cc thnh phn khng r .................................................................... 85
3.4. Tng hp v kt lun ................................................................................... 93
CHNG 4: IU KHIN THCH NGHI TRC TIP DNG H M
NRON TRONG PHNG PHP THAY TH C
LNG HM TRNG THI ......................................................... 96
4.1. Gii thiu chung ........................................................................................... 96
4.1.1. S cn thit pht trin b iu khin thch nghi ................................. 96
4.1.2. Vn v c s ton hc xy dng b iu khin thch nghi
trc tip ............................................................................................... 98
4.2. iu khin m nron thch nghi trc tip cc h thng kh tuyn
tnh ha phn hi ....................................................................................... 101
4.2.1. H kh tuyn tnh ha phn hi trng thi ....................................... 101
4.2.2. H kh tuyn tnh ha phn hi vo-ra ............................................ 108
4.3. Tng hp thit k b iu khin thch nghi trc tip n nh ............... 110
4.4. M hnh iu khin thch nghi trn h thng iu khin cng
nghip .......................................................................................................... 111
4.4.1. Gii thiu chung................................................................................ 111
4.4.2. M hnh phn mm ng dng v kh nng p dng trn h
thng iu khin cng nghip ........................................................... 113
4.5. Kt lun ....................................................................................................... 121
KT LUN V KIN NGH ................................................................................. 122
CC CNG TRNH CNG B LIN QUAN CA TC GI......................... 124
TI LIU THAM KHO ....................................................................................... 125
PH LC ............................................................................................................ 134
5.1. Mt s thut ng ting Anh ...................................................................... 134
5.2. B 1 trang 23 .......................................................................................... 136
5.3. B 3 trang 40 v kt qu (2-64) ........................................................... 139
5.4. Tuyn tnh ha phng trnh ng lc hc (3-23) ................................. 143
5.5. Chng trnh m phng v d iu khin tay rbt trang 79 ............... 145
5.6. B 6 trang 100 ........................................................................................ 152
5.7. Mt s mun phn mm trong m hnh phn mm ng dng ............ 155


- v -


MC LC HNH V


Hnh 1 : Hm ( , ) 1 sign( )bsig( , ) E E E k k = .......................................................... 33
Hnh 2 : Hm ( , ) ( , ) E E E k k = ............................................................................. 34
Hnh 3 : Hm Lambert
w( )
w( )
x
x e x = ....................................................................... 35
Hnh 4 : Hm ( ) ( , , ) sign( )bsig( , )
E
E E E E k k = ........................................ 41
Hnh 5 : Hm ( , )
m
E k v
_ max
( , ) ( , , )
E E m
E k k = ................................... 41
Hnh 6 : H m MISO .................................................................................................. 63
Hnh 7 : Mng nron 2 lp ........................................................................................... 65
Hnh 8 : M phng trong trng hp khng s dng thnh phn b .......................... 81
Hnh 9 : M phng s dng thnh phn b tnh vi 1 k = v 1.0 = ...................... 82
Hnh 10 : M phng s dng thnh phn b tnh vi 1 k = v 0.8 = .................... 83
Hnh 11 : iu khin thch nghi trong h thng iu khin cng nghip .................. 114
Hnh 12 : S ng i d liu trong m hnh iu khin thch nghi .................... 115
Hnh 13 : Cc mun phn mm chnh trong m hnh h thng NF ......................... 117
Hnh 14 : Cu trc b m v d liu qu trnh cung cp cho PC-Server ................. 155
Hnh 15 : Cc khi mun phn mm trn giao din STEP7 V5 .............................. 157


- vi -


BNG CH VIT TT

ABS Antilock Braking System
ANFIS Adaptive-Network-based Fuzzy Inference System
CNC Computerized Numerical Control
CSDL C s d liu
DC Direct Current
DCS Distributed Control System
DVD Digital Video Disc
GUAS Globally Uniformly Asymtotically Stable
HD DVD High Density DVD
IE Industrial Ethernet
IEC International Electrotechnical Commission
IPC Industrial Personal Computer
ISPS Input-to-State Practically Stable
ISS Input-to-State Stable
KH&CN Khoa hc v Cng ngh
LTI Linear Time Invariant
MIMO Multi-Input Multi-Output
MLP Multilayer Perceptron (Network)
NF/NFN Neuro-Fuzzy/Neuro-Fuzzy Network
PC Personal Computer
PID Proportional Integral Differential
PLC Programmable Logic Controller
R&D Research and Development
RBF Radial Basis Function Network
RBN Radial Basis Neural Network
SCADA Supervisory Control and Data Acquisition
SCL Structured Control Language
SISO Single-Input Single-Output
UAS Uniformly Asymtotically Stable
- 1 -


CHNG 1
TNG QUAN
1.1. t vn
Trong nhng thp k gn y, s pht trin mnh m ca khoa hc v cng
ngh (KH&CN) trong cc lnh vc cng ngh ch to, cng ngh vt liu mi
v cng ngh thng tin cho ra i cc b vi x l mnh, kch c nh gn, tiu
th in nng thp v gi thnh h. Nh con ngi c th to ra hng lot sn
phm cng ngh cao tinh vi v thng minh cng nh cc sn phm cng ngh
cao ny ngy cng tr nn ph bin hn v l mt phn khng th thiu trong s
pht trin ca x hi vn minh hin i. Nhng thit b dn dng cng ngh cao
nh my in thoi di ng, iPod, u a HD DVD v Blu-ray hay my git,
my ra bt, ... khng cn xa l i vi nhiu ngi dn trong khi cc thit b
khc nh my rt tin t ng, my bn hng, bn v tu xe t ng, thit b tr
gip y t, thit b dn ng, rbt gip vic, ... ang tr nn gn gi vi con
ngi hn bao gi ht. C th ni s pht trin ca KH&CN v ang to ra
nhng thay i ln trong x hi loi ngi nhm p ng nhu cu ngy mt cao
ca con ngi v mi trng v iu kin sng.
Cng vi s pht trin ny l s ln mnh ca cc ngnh cng nghip nhm
khai thc v cung cp cc sn phm, dch v c cht lng tt nht vi gi
thnh h ti ngi tiu dng. Kinh nghim ca cc nc pht trin cho thy vic
p dng KH&CN trong ci tin, to ra cc sn phm mi cng nh vic nng
cao cht lng, gim chi ph sn xut v h gi thnh sn phm, dch v c
ngha sng cn i vi mi nh sn xut nhng ngc li cng i hi KH&CN
phi lun i trc mt bc, p ng c yu cu pht trin ca nh sn xut
ni ring v ca x hi ni chung. Mc d hin nay th gii ang phi i mt
vi cc vn nghim trng v khng hong ti chnh v tnh trng suy thoi
kinh t ton cu nh hng ln n cc hot ng sn xut, tuy nhin ng trn
quan im trit hc th bn cht ca pht trin v pht trin l bn cht ca x
- 2 -


hi v do chng ta hon ton c th tin tng rng trong tng lai khng xa,
vic cc nn kinh t c khi phc v tip tc pht trin l tt yu, trong
KH&CN vn l ng lc thc y pht trin kinh t x hi.
Tnh phi tuyn v vai tr ca l thuyt iu khin hin i
Trong s pht trin ca KH&CN, l thuyt iu khin hin i c vai tr ht
sc quan trng gii quyt nhiu vn nh nng cao cht lng iu khin,
n nh ca h thng, tit kim nng lng hay nh s dng my mc thay
th con ngi trong cc ng dng iu khin phc tp hoc nguy hi. Hng lot
cc cng trnh nghin cu v iu khin bn vng, iu khin thch nghi, iu
khin ti u hay iu khin m v mng nron c cng b trong nhng nm
gn y cho thy s quan tm ln ca cc nh khoa hc trn khp th gii v
nhng vn , cc hng nghin cu pht trin trong lnh vc ny ([35], [40],
[41], [42], [44], [46], [48], [52], [53], [54], [56], [57], [59], [60], [61], [62], [63],
[64], [65], [66], [67], [71], [73], [75], [77], [79], [80], [81], [82], [83], [92], [93],
[94], [95], [96], [98], [99], [100], [101], [102], [103], [104], [105], [106], [107],
[108]).
Nh chng ta bit, cc h thng thc l cc m hnh phi tuyn ht sc
phc tp nn cc phng php thit k kinh in da trn iu khin tuyn tnh
trong nhiu trng hp khng m bo c yu cu do c tnh phi tuyn ca
ng hc i tng iu khin, c tuyn u o hoc c cu chp hnh cng
nh tnh cht khng y , chnh xc ca cc m hnh thay th (ng hc cha
bit, nhiu, iu kin ban u).
Trong cng nghip, u o v c cu chp hnh l nhng v d r nht v
tnh phi tuyn. Tuy nhin c tnh phi tuyn cn th hin r trong cc h c in
(ng c DC khng chi than, ng c in cm ng), tay my, cc h thng
trang b trn t (Power train, ABS, Precision Control), cc qu trnh ha hc,
sinh hc v cc h chuyn ng hn lon (chaos). Cn lu rng cc h chuyn
ng hn lon l cc h ng hc phi tuyn tin nh (deterministic) ngha l -
khc vi ngu nhin - ng hc tng lai ca h thng c nh ngha bi cc
- 3 -


iu kin ban u nn h cn c xem l rt nhy vi cc iu kin ban u.
V d in hnh ca h chuyn ng hn lon trong t nhin l thi tit kh hu
cn trong cng nghip l cc qu trnh ha hc, sinh hc, dng chy.
Ngoi ra mt vn khc cng c t ra l rt nhiu h cn iu khin c
cc tham s khng r (nh h truyn ng servo, rbt), c cc tham s bin i
chm (v d nh cc tham s ph thuc vo nhit ) hoc c cc tham s thay
i khng d on c (nh cc h thng nng lng).
gii quyt cc vn phc tp trn, l thuyt iu khin bn vng v
thch nghi c xem l cc cng c hu hiu. Thc t hin nay iu khin thch
nghi c p dng thnh cng trong nhiu lnh vc nh iu khin rbt,
my cng c, CNC, iu khin qu trnh (ha hc, sinh hc, ...), iu khin
truyn ng hay nh iu khin li tu, my bay t ng. Tuy nhin vic thit
k cc b iu khin phi tuyn ni chung v iu khin thch nghi ni ring l
khng n gin v t ra hng lot vn cn gii quyt nh vn v n nh
h vng kn, vn iu khin bm theo tn hiu mu, vn chng nhiu hoc
lm suy gim nhiu cng nh khi kt hp cc vn trn vi nhau. Ging nh
trong iu khin tuyn tnh, phn hi vn l cha kha thit k cc b iu
khin phi tuyn ni chung. V mt l thuyt, nu ton b cc trng thi ca h
o c khi ta ni n iu khin phn hi trng thi, cn trong trng hp
ch c vct u ra o c, iu khin phn hi u ra c p dng. Cc
phng php thit k b iu khin phi tuyn nh tuyn tnh ha phn hi
(feedback linearization), iu khin tch phn (integral control), iu chnh nh
trnh khuch i (gain scheduling) l cc phng php ch o hin nay ([32],
[45], [50], [51], [68]).
iu khin m nron
Mc d cc nghin cu v iu khin phi tuyn c nhiu bc tin quan
trng, tuy nhin vn tr nn phc tp hn khi h phi tuyn c cha cc thnh
phn khng r lm mt n nh h. Cc c tnh khng r ny c th xut pht
t cc ngun nh nhiu u vo, ng hc cha bit ca i tng, sai s ca
- 4 -


cc m hnh thay th hoc tc ng bn ngoi. iu khin n nh h, cc
phng php thit k s dng iu khin m nron (hay cn gi l iu khin
m dng mng nron) nhm xp x cc thnh phn cha bit t tm cch
gim tr tc ng ca cc thnh phn ny t c cht lng iu khin tt
nht. Vic p dng iu khin m nron cn cho php pht trin cc b iu
khin thch nghi do tham s c th chnh nh c trc tuyn trong qu trnh
hot ng.
Cn lu thm rng v mt thut ng, iu khin m nron trong lun n
cn c hiu l iu khin (phi tuyn) da trn c s h m (fuzzy system),
mng nron nhn to (artificial neural network), mng nron m lai (hybrid
fuzzy neural network) hoc h m nron (neuro-fuzzy system).
Chng ta bit rng l thuyt tp m c gii thiu t nhng nm 60 ca
th k trc, tuy nhin phi ti u thp k 90 cc h thng iu khin m mi
thc s c a vo ng dng trong i sng v sn xut. H m chng t
c tnh u vit so vi cc h iu khin c dng trc trong gii quyt
cc bi ton nh iu khin qu trnh sn xut da trn kinh nghim vn hnh,
iu khin phi tuyn, iu khin cc thng s mi trng, cc h thng d bo
kh tng, thy vn. Trong cng nghip, iu khin m cn c nghin cu
kt hp vi iu khin PID kinh in nhm tn dng c cc u im ca c
hai h thng, cho php nng cao cht lng iu khin ([21], [28], [34], [47],
[69], [86]). Hin nay cc h thng iu khin m trong cng nghip c pht
trin da trn c s cc mun phn mm cho cc h thng thit b kh trnh
(PLC), my tnh cng nghip (IPC) cho php gii quyt c nhiu bi ton
trc y kh thc hin c.
Mng nron nhn to thng c dng iu chnh cc hm lin thuc
ca cc h m trong cc thit b iu khin. Mc d logic m c th m ha trc
tip tri thc chuyn gia s dng cc lut vi cc nhn ngn ng nhng logic m
li i hi nhiu thi gian thit k v chnh nh cc hm lin thuc nh
lng cc nhn ngn ng. K thut luyn mng nron cho php t ng ha
- 5 -


qu trnh ny v gim ng k thi gian, chi ph pht trin trong khi ci thin
c tc x l ([76], [86], [91]).
Mc d v l thuyt cc mng nron v cc h thng m l tng ng
nhau theo ngha chng c kh nng chuyn i c tuy nhin trong thc t mi
h thng li c u v nhc im ring. i vi cc mng nron, tri thc c th
thu c t ng bi thut ton hi quy nhng qu trnh luyn li tng i
chm v vic phn tch mng luyn l kh khn. Ngoi ra ta cng khng c
kh nng rt ra c tri thc c dng cu trc (cc lut) t mng nron luyn
cng nh khng th a thm cc thng tin bit vo trong mng nron
n gin ha qu trnh luyn mng.
Cc h thng m tt hn theo ngha hot ng ca chng c th gii thch
c da trn cc lut m v nh vy tc thc thi ca h c th thay i
c bng cch chnh nh cc lut. Tuy nhin thng thng vic thu c tri
thc l kh kh khn v vic phi chia bin u vo thnh nhiu min nn ng
dng ca cc h thng m b gii hn trong cc vng m tri thc chuyn
gia phi c cng nh a phn trong thc t ch p dng c vi s lng cc
bin u vo nh.
Vic kt hp cc u im ca h m v mng nron dn n cc h thng lai
vi cc cu trc c s dng rng ri l mng nron m lai (hybrid FNN) v
h m nron (NFS). Trong l thuyt iu khin hin i, h m, mng nron v
s kt hp ca h m vi mng nron c coi l nhng cng c a nng
gii quyt cc vn v phi tuyn v tnh khng chc chn trong iu khin cc
h phi tuyn ni chung.
H thng iu khin cng nghip v xu hng pht trin
Khi nim h thng iu khin cng nghip thng thng c hiu l cc
h thng SCADA, cc h iu khin phn tn (DCS) v cc thit b (logic) kh
trnh (PLC). V mt thut ng, SCADA l h thng my tnh phc v gim st
v iu khin mt qu trnh no . Qu trnh y c th l qu trnh cng
nghip (nh ch to, sn xut, tinh ch c ch hot ng lin tc, gin on
- 6 -


hay c tnh cht theo m hoc lp li), c s h tng (nh x l, cp nc; x l,
thu hi nc thi; cc ng ng dn du, kh ga; phn phi v truyn dn in;
cc h thng thng tin) hoc c s tin nghi (nh ta nh, cng hng khng, hi
cng, trm v tr). Trong khi , DCS ch cc h iu khin c cc thnh
phn iu khin nm phn tn (khng tp trung) trong ton h thng, trong
mi h con c iu khin bi mt hoc nhiu thnh phn iu khin. Trong
cng nghip cc h DCS gim st v iu khin cc thit b phn tn c dng
trong cc nh my in, lc du, ha cht, x l nc, nc thi, ... Mt dng
h iu khin cng nghip khc l PLC dng trong t ng ha cc qu trnh c
in v cc thit b iu khin my mc. PLC l mt dng my tnh s, so vi
my tnh thng thng PLC c thit k hot ng di nhit rng hn,
kh nng chng nhiu cao, chu c rung ng v va p tt cng nh c tnh
nng x l thi gian thc.
Tuy nhin vic phn chia cc h iu khin cng nghip nu trn ch c
ngha tng i m khng c ranh gii r rng. Ngy nay nhiu h PLC c th
thc thi nhim v ca mt h DCS nh trong khi cc h DCS li c th c cc
h con hot ng nh cc PLC thc th. S pht trin ca KH&CN trong nhng
nm gn y cho thy xu hng tch hp cc h thng iu khin trn li vi
nhau to ra cc h thng mnh, c tnh m v s dng cc ngn ng lp trnh
bc cao. PAC (Process Automation Control) l mt v d ca xu hng pht
trin ny.
Trong h thng iu khin cng nghip, h thng mng cng nghip c mt
vai tr quan trng hin ti cng nh trong tng lai. Nh s pht trin nhanh
chng ca cng ngh thng tin v yu cu ngy cng cao ca t ng ha cng
nghip m vic s dng cc mng cng nghip ngy mt rng ri hn. Tuy
nhin khc vi mng thng tin, mng cng nghip phi p ng c cc yu
cu v tc truyn thch hp vi gi thnh tt cng nh phi m bo hot
ng n nh, tin cy trong mi trng cng nghip.
H thng mng cng nghip thng c s dng theo m hnh phn cp
ty thuc vo yu cu trao i d liu gia cc thit b trong mng (nh p ng
- 7 -


thi gian thc, ln d liu, dch v truyn thng). Theo cp trn cng (gi
l cp nh my) c s dng kt ni gia cc my tnh trong h thng qun
l v iu hnh hot ng sn xut ca nh my (thng thng i hi thi gian
p ng d liu di 1s). Trong khi , cp trung gian (cell/control level) dng
kt ni cc b iu khin (phn tn) vi nhau cho thc thi cc nhim v iu
khin chung nn yu cu thi gian p ng d liu phi nhanh hn (di
100ms). Di cng l cp trng (field level) thc hin vic kt ni thit b iu
khin vi cc I/O phn tn (u o, c cu chp hnh), do p ng phi
nhanh hn c m bo b iu khin x l c cc I/O thi gian thc
(thng thng thi gian p ng di 10ms).
Trao i d liu trong h thng mng cng nghip c thc hin thng qua
bus trng (fieldbus). Bus trng l tn gi chung ca h cc giao thc mng
cng nghip dng trong cc ng dng iu khin phn tn thi gian thc v
c tiu chun ha (tiu chun IEC 61158). Mt s chun bus trng c th k
ra nh Foundation Fieldbus (H1, HSE), Profibus, ProfiNet IO, ControlNet, P-
Net, Interbus v WorldFIP. Tuy nhin cc chun bus trng khng tng thch
vi nhau do c pht trin bi cc hng ring bit nn kh khn cho ngi s
dng la chn cng ngh v thit b. Ngy nay cng vi vic Ethernet h tr
phn ln cc giao thc mng v c dng rng ri trong mng thng tin d
liu, Ethernet cng nghip ang l s la chn pht trin s mt ca nhiu hng
t ng ha. Ethernet cng nghip khng ch s dng trong cc phn cp trn
m ang c xu th hng ti c phn cp di (cp trng). C th ni cng
ngh Ethernet ha hn s mang n s thay i ln trong lnh vc iu khin
cng nghip ([39], [84]).
Tnh hnh nghin cu hin nay trn th gii v ti Vit Nam
Trong nhng nm gn y vn v thit k b iu khin thch nghi cho
cc h thng ng hc phi tuyn lun l mt trong cc ch chnh trn cc tp
ch chuyn ngnh v iu khin, t ng ha trn th gii v ngy cng thu ht
c nhiu nh khoa hc tham gia nghin cu. c nhiu bc tin, kt qu
- 8 -


t c c v mt l thuyt v thc tin ng dng ([41], [44], [45], [46], [50],
[51], [57], [59], [66], [97], [100]), c bit theo hng s dng h m v/hoc
mng nron xp x phng trnh ng hc ca i tng phi tuyn v dng
cc phng php tuyn tnh ha phn hi trng thi hoc phn hi u ra ca h
thng ([35], [40], [45], [52], [54], [56], [57], [75], [94], [95], [98], [101], [102],
[106]) thit k b iu khin n nh tnh. b iu khin c c tnh thch
nghi vi nhng sai lch khng r khi hot ng trc tuyn, cc b iu khin
c thit k s dng cu trc mng nron hoc logic m vi cc lut chnh
nh cc trng s trong qu trnh lm vic. y cng l phng php thng
dng thit k cc b iu khin thch nghi trong cc ng dng cng nghip.
i vi trong nc, cc nghin cu v iu khin m, mng nron nhn to
v h thng m nron cng c nhiu c s KHCN tp trung nghin cu
trong nhiu nm tr li y ([2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12],
[13], [14], [15], [16], [17], [18], [20], [23], [24], [26], [27], [29], [30], [31], [36],
[78]) v c khng t cng trnh hng ti vic ng dng c cng b nhng
nhn chung cc kt qu t c cn kh khim tn. Mt s c s nh Vin NC
in t, Tin hc, T ng ha (VIELINA), i hc Bch khoa H Ni, i hc
Bch khoa thnh ph H Ch Minh, Phn vin T ng ha - Vin cng ngh
thng tin, Vin T ng ha K thut qun s, Hc vin Cng ngh Bu chnh
Vin thng, ... l nhng n v c nhiu nm nghin cu v iu khin m
nron v c mt s kt qu nht nh, tuy nhin cc nghin cu su rng hn
nhm ng dng cng ngh ny trong cc h thng t ng ha cng nghip tin
tin cn l nhng bc i ban u.
Vn nghin cu v ng gp chnh ca lun n
Nhng vn cn tn ti hin nay c v l thuyt v thc tin ng dng
trong iu khin cc h phi tuyn c cha cc thnh phn khng r i hi
nhng nghin cu, pht trin tip nhm gii quyt cc vn nu. Trong
khun kh ca lun n, tc gi chn hng nghin cu p dng h m v mng
nron trong iu khin cc h ng hc phi tuyn tuy nhin ch gii hn vo cc
- 9 -


h phi tuyn c phng trnh ng hc chuyn c v dng tuyn tnh ha
phn hi c cha cc thnh phn khng r do y l mt trong nhng dng in
hnh trong cng nghip. Ngoi ra y cng l vn cha c gii quyt y
trn th gii ([40], [50], [52], [53], [54], [56], [57], [60], [61], [62], [63],
[72], [73], [75], [81], [92], [94], [95], [98], [104], [105]) cng nh c rt t cng
trnh nghin cu trong nc c cng b ([14], [81]). Chng 2 s trnh by
v phn tch r hn nhng hn ch trong cc phng php gii hin nay v
tng hnh thnh phng php mi nhm trnh phi gii quyt cc vn trn.
Nh vy ng gp chnh ca lun n l mt phng php mi (gi l
phng php thay th c lng hm trng thi) cho php tng hp b iu
khin n nh tnh v ng cc h thng kh tuyn tnh ha phn hi trng thi
v kh tuyn tnh ha phn hi vo-ra c cc thnh phn khng r trong phng
trnh ng hc cho lp bi ton iu khin bm tn hiu mu cho trc. Phng
php mi a ra cch thc phn tch c nh hng ca php thay th ln h
sai s nhm trnh phi gii quyt mt s vn thng gp trong cc phng
php gii hin nay. Ngoi ra phng php c kh nng p dng c trn cc h
thng iu khin cng nghip tin tin vi PLC mnh hoc s dng Soft-
PLC (nh WinAC RTX ca hng Siemens).
1.2. Mc tiu v nhim v nghin cu
Mc tiu
Xy dng phng php thay th c lng hm trng thi trn c s p dng
h m v mng nron cho php tng hp b iu khin n nh tnh v ng
(thch nghi) cc h kh tuyn tnh ha phn hi (feedback linearizable system)
c cha cc thnh phn khng r trong phng trnh ng hc gii quyt bi
ton iu khin bm theo tn hiu mu cho trc v c kh nng p dng trn
cc h thng iu khin cng nghip.
Nhim v nghin cu
Vi mc tiu trn, nhim v nghin cu t ra ca lun n nh sau:
- 10 -


- Nghin cu cc vn trong iu khin n nh cc h kh tuyn tnh ha
phn hi c cha cc thnh phn khng r trong bi ton bm theo tn hiu
mu cho trc, tp trung vo cc h kh tuyn tnh ha phn hi trng thi
v kh tuyn tnh ha phn hi vo-ra.
- Xy dng c s ton hc ca phng php tng hp mi nhm gii quyt v
trnh c mt s vn trong cc phng php hin nay.
- Xy dng lut iu khin tnh v ng trong phng php mi.
- Xy dng m hnh phn mm ng dng trn mt h thng iu khin cng
nghip in hnh nhm phn tch kh nng p dng ca phng php.
Phng php nghin cu
Xut pht t nhng vn ca cc phng php gii v cc hng nghin
cu tip theo hin nay, lun n chn phng php nghin cu p dng h m v
mng nron trong iu khin gii quyt vn phi tuyn v khng r trong
phng trnh ng hc ca h. Lin quan n vn n nh v tnh bn vng
ca h vng kn, lun n la chn mt s c s ton hc phn tch, xy dng
v pht trin c s ton hc ca phng php. Cc c s ton hc chnh gm
phng php lp h sai s, phn tch n nh h theo tiu chun Lyapunov, l
thuyt xp x vn nng m nron v iu khin thch nghi trc tip. thc
hin tng ca phng php (thay th c lng cc hm trng thi khng
phi xp x gn ng nh nhiu phng php hin nay), tc gi vn dng mt s
kt qu nghin cu c cng b gn y v s dng cc c s ton hc nu
trn tng bc chng minh cch gii quyt cc vn trong phng php
tng hp nhm t c mc tiu v ni dung nghin cu ra. Ngoi ra mt
s c s ton hc quan trng xy dng trong lun n cng c tc gi lp trnh
m phng trn Matlab kim tra li tnh chnh xc ca cc kt qu t c.

- 11 -


CHNG 2
IU KHIN N NH CC H THNG KH TUYN TNH
HA PHN HI BNG PHNG PHP THAY TH C
LNG HM TRNG THI
2.1. Gii thiu chung
2.1.1. t vn
Mt trong nhng vn c bn trong l thuyt iu khin l nghin cu s
dng phn hi lm thay i ng hc ca i tng nhm t c c tnh
theo mun. i vi h tuyn tnh bt bin theo thi gian (LTI) vn ny
c gi l t im cc, cn trong trng hp tng qut ca h phi tuyn vn
c gi l tuyn tnh ha phn hi (feedback linearization).
Tuyn tnh ha phn hi trong h phi tuyn l tm cch (nu c) thay i ta
khng gian trng thi qua php bin i vi ng phi (diffeomorphism) ton
cc v s dng lut phn hi tnh biu din h thng trong khng gian trng
thi mi, tuyn tnh v iu khin c ([32], [50], [51]). Tuy nhin trong nhiu
trng hp php bin i vi ng phi ch xc nh trong ln cn ca im cn
xt, khi php bin i c gi l cc b.
Cc phng php tuyn tnh ha phn hi ch yu a v dng tuyn tnh
ha phn hi trng thi hay cn gi l tuyn tnh ha u vo-trng thi hoc
tuyn tnh ha y trng thi, trong ton b phng trnh trng thi c
tuyn tnh ha v dng tuyn tnh ha phn hi vo-ra hay cn gi l tuyn tnh
ha khng y trng thi, trong ch c nh x u vo - u ra v mt
phn phng trnh trng thi c tuyn tnh ha.
Trong chng ny ca lun n, cc nghin cu tp trung vo phng php
iu khin n nh cc h phi tuyn a c v dng tuyn tnh ha phn hi
trng thi c dng (2-6) v m rng i vi cc h kh tuyn tnh ha phn hi
- 12 -


vo-ra dng (2-3) c cc c tnh khng r trong phng trnh ng hc do y
l mt trong nhng bi ton in hnh trong cng nghip.
2.1.2. Biu din cc h thng kh tuyn tnh ha phn hi
Xt h phi tuyn SISO c phng trnh ng hc v u ra biu din c
dng sau:

( ) ( )
( )
u
y h
= +
=

f g

(2-1)
vi
| |
1
( ) , , , ,
T
n d
n n d
t
+
+
= e9 l vect trng thi, 0 d > ; ( ) u t e9,
( ) y t e9 tng ng l u vo iu khin v u ra ca i tng;
( )
n d +
e9

f , ( )
n d +
e9

g , ( ) h e9 l cc hm phi tuyn i vi i s v
kh vi vi bc bt k (hm trn).
Gi thit h (2-1) c = 0 l im cn bng ca ( )

f , hay ( ) =

f 0 0 v
( ) 0 h = 0 ; ngoi ra h c bc tng i (relative degree) bng n ti = 0. Khi
tn ti ln cn
n d
U
+
e9 ca = 0 v php i ta
| |
1
( ) T ( ), , T ( )
T
n d +
= T nh ngha trn U vi
n
e9 x ,
d
e9 q , ( ) = T 0 0
v:

1
2
1
T ( ) ( )
T ( ) ( )
T ( ) ( )
T ( )
( ) 0; 1, ,
n
n
i
h
L h
L h
i n n d

=
=
=
c
= = + +
c

f
f

(2-2)
biu din h trong khng gian trng thi mi dng tuyn tnh ha phn hi
vo-ra chun tc nh sau:
- 13 -



1 2
1
1
( , )
( , ) ( , )
n n
n
x x
x x
x f g u
y x

=
=
=
= +
=
q x q
x q x q

(2-3)
vi
1 1
2 2
1
( )
T
( )
T
T
( )
n
n n
h
x
L h
x
x
L h

(
( (
(
( (
(
( (
= = =
(
( (
(
( (
(

f
f

,
1 1
T ( )
T ( )
n
d n d
q
q
+
+
( (
( (
= =
( (
( (

,
1
( , )
( , )
( , )
d
t
t
(
(
=
(
(

x q
x q
x q

v ( , ) ( )
n
f L h =

f
x q ,
1
( , ) ( )
n
g L L h

=

g f
x q trong
1
| |
(
=
|
(

\ .
x
T
q
.
Nu k hiu
0 1 0 0 0
0 0 1 0 0
0 0 0 0 1
0 0 0 0 0
(
(
(
( =
(
(
(

A

,
0
0
1
(
(
(
=
(
(

b

,
1
0
0
(
(
(
=
(
(

c

vi : n n A ,
: 1 n b , : 1 n c th phng trnh (2-3) c th vit di dng:
( )
( , )
( , ) ( , )
.
T
f g u
y
=
= + +
(
=
(

q x q
x Ax b x q x q
x
c
q

(2-4)
Chn lut phn hi ( )
1
( , ) ( , ) u g f v

= + x q x q , h vng kn s c dng:

( , )
.
T
y
v
=
= +
(
=
(

q x q
x Ax b
x
c
q

(2-5)
- 14 -


Phng trnh (2-5) cho thy h c phn tch thnh hai h con gm mt h
con tuyn tnh c chiu n , biu din quan h vo-ra (cn gi l h con ngoi
ng hc [50]) v mt h con (phi tuyn) c chiu d nhng khng c tc ng
ti u ra ca h (h con ni ng hc). Ngoi ra h con tuyn tnh nu trn (h
con ngoi ng hc) l iu khin c v quan st c, c hm truyn l
( ) 1
n
H s s = hay c im cc bi bc n ti 0 s = .
Phng trnh ng hc ca h con (phi tuyn) trn (h con ni ng hc) khi
= x 0 l ( , ) = q 0 q c gi l ng hc khng (zero dynamics, [32], [33]) ca
h thng. ng hc khng cho bit u ra ca h (2-4) lun bng 0 khi cc
trng thi ban u ca h l
0
( , ) ( , ) = x q 0 q hay = x 0 nhng
0
(0) = q q c th
chn ty v u vo ca h phi t bng ( ) ( )
1
( ) , ( ) , ( ) u t g t f t

= 0 q 0 q vi
( ) t q l nghim ca phng trnh ng hc khng vi iu kin ban u
0
(0) = q q . Ngoi ra c th nhn thy vi mi tp hp iu kin ban u
0
( , ) ( , ) = x q 0 q lun tn ti mt u vo duy nht gi cho u ra lun bng 0.
Nh vy ng hc khng cn c th xc nh c bng cch gi cho u ra
lun bng 0 bi u vo thch hp m khng nht thit phi bin i h sang
dng chun tc.
c tnh n nh ca ng hc khng ng vai tr quan trng trong phng
php tuyn tnh ha phn hi vo-ra. Trng hp 0 d = hay bc tng i bng
vi bc ca h phi tuyn, khi php tuyn tnh ha l y ngha l ton b
quan h vo-ra c tuyn tnh ha v do vy vn bn vng ca h c
gii quyt. Tuy nhin trong trng hp 0 d > th ch h con ngoi ng hc
c tuyn tnh ha, h con ni ng hc l phi tuyn v khng quan st c
t u ra. Khi c tnh n nh ca h con ni ng hc c xc nh t
ng hc khng.
Ging nh trng hp h tuyn tnh c ton b cc im cc v cc im
khng nm bn na mt phng phc tri gi l h pha ti thiu (minimum-phase
system, [70]), h phi tuyn (2-1) c ng hc khng c im cn bng = q 0 l
- 15 -


n nh tim cn cng c gi l h pha ti thiu v c th dng phn hi trng
thi n nh tim cn h ([32]). Nu ng hc khng c im cn bng
khng n nh tim cn th phng php tuyn tnh ha vo-ra khng c ngha
thc tin do khng a ra c lut iu khin thc. Mc 2.3 s phn tch vn
ny thng qua mt phng php thit k n nh h trong trng hp h
c cha thnh phn khng r.
Lu l trng hp 0 d = th h cn c th biu din c c di dng
tuyn tnh ha phn hi trng thi c phn tch trong mc 2.1.3 di y.
2.1.3. Vn trong iu khin n nh cc h kh tuyn tnh ha phn hi
trng thi
Xt h phi tuyn SISO biu din c di dng phng trnh trng thi v
u ra sau:

1 2
1
1
( ) ( )
n n
n
x x
x x
x f g u
y x

=
=
= +
=
x x

(2-6)
vi
| |
( 1)
1 2 1 1 1
, , , , , ,
T
T
n n
n
x x x x x x

(
= = e9

x l vect trng thi gi thit o
c ca h phi tuyn; ( ) u t e9, ( ) y t e9 tng ng l cc u vo iu khin
v u ra ca i tng; ( ) f e9 x , ( ) g e9 x l cc hm s thc lin tc b chn
tha mn cc iu kin s c gi thit sau trong mi trng hp. H (2-6) cn
c th biu din cc dng:

( ) ( 1) ( 1)
1 1 1 1 1 1 1
1
( ) ( 1) ( 1)
( , , , ) ( , , , )
( , , , ) ( , , , )
n n n
n n n
x f x x x g x x x u
y x
y f y y y g y y y u


= +
=

= +


(2-7)
hoc
- 16 -



( )
1
( ) ( ) x f g u
y x
= + +
=
x A b x x
vi
0
0 0
(
=
(

I
A ,
| |
0, ,0,1
T
= b . (2-8)
R rng h (2-6) iu khin c ta cn ( ) 0 g = x vi mi x trong min
hp l
n
O c9
x
. Ngoi ra do ( ) g x lin tc nn sau y ta lun gi thit rng
( ) 0 g > x vi mi eO
x
x m khng lm mt tnh tng qut do trng hp
( ) 0 g < x ta ch cn o du tn hiu u vo u .
Bi ton t ra y l cn tm lut iu khin phn hi b chn ( ) u v = z vi
z l vect cha cc tn hiu o c thch hp i vi phng php thit k sao
cho u ra ca h lun bm theo c tn hiu mu ( ) r t cho trc b chn hay
vct trng thi x ca h phi bm theo c vct tn hiu mu
| |
( 1)
1 2
, , , , , ,
T
T
n
n
r r r r r r

(
= =

r vi
1 1
/
i i
i
r d r dt

= , 1.. i n = . Ngoi ra
cng gi thit rng tn hiu mu c o hm n bc n bit v vct tn hiu
mu b chn bi
M
r s r .
Sau y l tng hp mt s phng php gii hin nay v vn ca cc
phng php gii ny trong 2 trng hp. Trng hp 1 xem xt vi gi thit
ton b phng trnh ng hc ca h cn phn tch bit trong khi Trng
hp 2 s phn tch h phi tuyn vi gi thit c cc thnh phn khng r trong
phng trnh ng hc ca h v y cng chnh l vn cn gii quyt ca
lun n. Mc d cc vn trong Trng hp 1 c gii quyt v khng
nm trong ni dung pht trin mi ca lun n, tuy nhin thun tin cho vic
trnh by v theo di, lun n xem xt vn trong c hai trng hp.
Trng hp 1
Trng hp ( ) f x , ( ) g x bit hon ton, khi bng phng php tuyn
tnh ha phn hi kinh in ([50], [51], [57]), t
( 1)
1 1 1
, , ,
T
n
e e e

(
= =

e x r
l sai s bm vi
( 1)
, , ,
T
n
r r r

(
=

r th ng hc ca sai s bm l:
- 17 -



( )
( )
( ) ( )
n
f g u r = = + + e x r Ae b x x (2-9)
S dng lut iu khin phn hi:

( )
1 ( )
( ) ( )
n T
u g f r

= + x x k e (2-10)
vi
| |
1 2
, , ,
T
n
k k k = k c chn sao cho
1
1
n n
n
x k x k

+ + + l a thc
Hurwitz (c ton b cc nghim nm bn na tri ca mt phng phc) dn n
( )
T T
= = =
k
e Ae bk e A bk e A e .
Chn hm Lyapunov
T
V = e Pe vi P l ma trn i xng xc nh dng
th ( )
T T T T
V = + = +
k k
e Pe e Pe e PA A P e

. R rng l cn chn P sao cho

T
+ =
k k
PA A P Q vi Q cng l ma trn i xng xc nh dng h vng
kn n nh v do lim 0
t
= e .
Trng hp 2
Trng hp 2 c th xem xt di nhiu iu kin gi thit khc nhau. Trc
tin xt trng hp gi thit ( ) f x bit v ( ) g x l hm phi tuyn cha bit
hoc c cha thnh phn cha bit tha mn ( ) 0
L
g g > > x vi eO
x
x , khi
phng php gii thng thng l thit k mt trt v lut iu khin phn hi
trng thi qu o trng thi ca h lun chuyn ng bm xung quanh mt
trt ny ([50], [51]). Ngoi ra mt khi trng thi ca h nm trn mt trt th
cn gi qu o trng thi khng thot ra khi mt trt . i vi bi ton
bm y, ta cn thit phi n nh gc ca h phng trnh sai s sau:

1 2
1
( )
( ) ( )
n n
n
n
e e
e e
e f g u r

=
=
= + x x

(2-11)
Nu coi
n
e l u vo iu khin ca h 1 n phng trnh u tin trong
(2-11) th gc ca h c n nh bi lut iu khin tuyn tnh:
- 18 -



1 1 1 1 n n n
e k e k e

=
vi
1 1
..
n
k k

c chn sao cho a thc
1
1 1
n n
n
x k x k

+ + + l Hurwitz. Khi
thit k mt trt l
1 1 1 1
0
n n n
s k e k e e

= + + + = th:

( )
1 2 1
( ) ( )
n
n n
s k e k e f g u r

= + + + + x x .
Bng lut iu khin phn hi:

( )
1 ( )
1 2 1
( ) ( )
n
n n
u g k e k e f r v

= + + x x
vi ( ) g x l m hnh thay th ca ( ) g x ta c th biu din s dng:
( ) ( , , ) s g v t v = + A x x (2-12)
Gi thit:

0
( , , )
( )
( )
t v
v
g
k
A
s +
x
x
x
,
0
0 1 k s < (2-13)
vi mi | ) ( , , ) 0, t v D e 9 x ,
n
Dc9 trong ( ) x v
0
k bit, khi
chn ( )sign( ) v s | = x vi
1 0
sign( ) 0 0
1 0
s
s s
s
>

= =

<

,
0
0
( )
( )
1

| |
k
> +

x
x ,
0
0 | > v
hm Lyapunov
2
1
2
V s = th o hm ca V theo qu o ng hc (2-12) ca
mt trt s l:

( ) ( )
0 0
0 0
0
0 0
( ) ( )sign( ) ( , , )
(1 )
(1 )
1
(1 )
L
V ss sg s s t v
g s g s g s
g s
g s
|
| k | | k

| k
k
| k
= = + A
s + + =
(
| |
s +
( |

\ .

s
x x x

R rng l vi m hnh thay th p ng iu kin gi thit (2-13) nu trn
th sai s bm s lun tin n 0 khi t .

- 19 -


Vn tr nn phc tp hn trong trng hp c tnh phi tuyn ca c
( ) f x v ( ) g x u cha bit hoc c cha thnh phn khng r. Khi cc
phng php gii ch yu theo hng iu khin thch nghi ([40], [50], [52],
[53], [54], [56], [57], [60], [61], [62], [63], [72], [73], [75], [81], [92], [94], [95],
[98], [104], [105]) c th tng hp nh di y.
1. Tm cch thay th ( ) g x bng m hnh xp x gn ng ( , ) g x

vi

l
vct tham s hay cc trng s c lng ca m hnh.
m bo m hnh gn ng lun p ng ( , ) 0 g = x

vi eO
x
x , mt
s phng php gii quyt nh sau:
a) Chn tham s khi to ban u (0)

gn nht vi gi tr ti u bng
phng php luyn ngoi tuyn trc khi a vo hot ng ([92]).
b) S dng cc thut ton quy chiu (projection) vi mt s gi thit bit
khc v h cho php xc nh

( , ) 0 g = x

([72], [73]).
c) S dng mng nron hoc h m xp x o ca ( ) g x nu
H
g g s vi
H
g bit ([56]).
d) Thit k b iu khin thch nghi c cha thnh phn iu khin theo ch
trt gi cho bin ca tn hiu iu khin b chn ([50]).
e) Xy dng hm Lyapunov sa i cho php cu trc b iu khin thch
nghi da trn hm Lyapunov trnh trng hp 0 nu trn ([81], [104]).
2. a ra m hnh thay th hn hp cc hm ( ) f x , ( ) g x :
a) S dng cc m hnh cc b v xp x tuyn tnh i vi tham s cng
nh dng phng php quy chiu tham s (parameter projection) gii
quyt vn ( ) 0 g = x vi ( ) g x l c lng ca ( ) g x trong m hnh
hn hp ([53], [60], [61], [62]).
b) Dng m hnh iu khin m thch nghi bn vng gii quyt trng hp
0 nu trn thay cho s dng phng php quy chiu tham s v chuyn
i lin tc tn hiu u vo iu khin ([54])
- 20 -


3. Thit k m hnh xp x tn hiu iu khin phn hi (2-10) dng mng
nron hoc h m ([57]).

c im chung ca cc phng php gii hin nay l s dng cc m hnh
thay th xp x cc thnh phn khng bit (vi cc iu kin gi thit v gii
hn khc nhau) v phi gii quyt vn ( , ) 0 g = x

trong m hnh thay th.

Ngoi ra do m hnh xp x c nhiu u vo (cc trng thi, sai s, tn hiu
mu v cc o hm) nn phi xc nh c tham s ban u lut chnh
nh tham s hot ng ng cng nh phn ln u gi thit rng m hnh xp
x m bo sai s trong min lm vic ca qu o trng thi. Mc d mt s
kt qu nghin cu cng b gn y ([53], [54], [71], [93], [103], [105]) gii
quyt c vn xc nh tham s v n gin hn do lut iu khin phn
hi lun m bo khng xy ra ( ) 0 g = x tuy nhin ch gii hn trong cc iu
kin ca tc gi. V mt ng dng, cc tc gi khng ch r m hnh thc t nn
cha nh gi c tnh kh thi ca cc phng php xut khi p dng trn
thit b iu khin cng nghip.
Vi nhng vn nu, lun n sau y i vo nghin cu, xut mt
phng php tip cn mi da trn tng thay th c lng (khng cn gn
ng) cc hm trng thi cha bit v s dng h m v mng nron gii
quyt vn b sai lch do php thay th c lng gy nn. Phng php tip
cn mi nhm n gin ha vic thit k m hnh thay th nh trnh phi gii
quyt mt s vn thng gp trong cc phng php nu trn. Ngoi ra lun
n cng xy dng m hnh phn mm ng dng nhm th nghim, nh gi kh
nng p dng phng php trn cc h thng iu khin cng nghip. Cc c s
l thuyt xy dng phng php mi c tc gi s dng bao gm phng
php phn tch da trn h sai s, iu khin phi tuyn n nh theo tiu chun
Lyapunov, l thuyt xp x vn nng m nron v iu khin thch nghi trc
tip c tc gi trch dn ch yu trong cc ti liu [32], [50], [51], [57], [66]
v [68].
- 21 -


2.2. iu khin n nh cc h thng kh tuyn tnh ha phn hi trng
thi bng phng php thay th c lng hm trng thi
2.2.1. C s ton hc ca phng php
Phng php thay th c lng hm trng thi trong lun n c xut
nhm gii quyt bi ton nu trn c s phn tch tnh bn vng ca h vng
kn cng nh theo hng pht trin cc b iu khin thch nghi cho cc ng
dng cng nghip. Trc khi i su vo c s ton hc ca phng php, ta
xem xt mt phng php tip cn khc ([57]) da trn nh ngha h sai s
tha mn Gi thit 1 di y c th p dng cho cc h phi tuyn SISO tng
qut dng:

( ) ( )
( )
u
y h
= +
=
x f x g x
x

(2-14)
vi
| |
1 2
( ) , , ,
T
n
n
t x x x = e9 x l vect trng thi; ( ) u t e9, ( ) y t e9 l cc u
vo iu khin v u ra ca i tng; ( )
n
e9 f x , ( )
n
e9 g x , ( ) h e9 x l cc
hm phi tuyn i vi i s x ca chng v kh vi vi bc bt k (hm trn).
Gi thit 1: H sai s ( , ) t E x c nh ngha sao cho = E 0 th ( ) ( ) y t r t v
( , ) t s
x
x E vi mi t , :
+ +
9 9 9
x
l hm s b chn vi E b chn v
( , ) t u
x
khng gim dn (nondecrescent) i vi u
+
e9 khi t khng i.
Nu Gi thit 1 c tha mn th khi h sai s b chn cng c ngha l qu
o trng thi ca h cng b chn. Mt khc nu tn ti tn hiu ( ) t q > E vi
mi t th ( , ) t q s
x
x do ( , ) t q
x
khng gim dn i vi q
+
e9 . Nh vy
vi Gi thit 1, h sai s khng ch l php o cht lng ca h vng kn m
cn cho bit c tnh b chn i vi cc trng thi ca h.
Ngoi ra vi phng trnh ng hc (2-14) v h sai s c chn tha mn
Gi thit 1, ta c th s dng ng hc ca h thng tnh ng hc h sai s
nh sau:
- 22 -


( ) ( , ) ( ) ( ) ( , ) ( ) t u t u
t t
c c c c
= + = + + = +
c c c c
E E E E
E x x f x g x x x
x x

. (2-15)
Phn tip theo cho thy gii quyt bi ton ca h (2-6), ta lun lp c
h sai s thch hp tha mn Gi thit 1 m khng cn phi a thm bt c
iu kin rng buc no khc.
Trng hp 1
p dng phng php lp h sai s ([57]) trong gii bi ton ca h (2-6)
trong trng hp ( ) f x , ( ) g x xc nh dn n phng php gii sau y. nh
ngha h sai s:

( )
( 1)
( , ) ,1
n T T T
E E E n
E t x r

(
= = = +

x k e k e k d (2-16)
vi ,1
T T
E
(
=

k k ,
| |
1 1
, ,
T
E n
k k

= k ,

( 2)
1 2 1
, , ,

n
E n
x r x r x r

(
=

d ,
= e x r v
1 2
1 1
n n
n
s k s k

+ + + l Hurwitz. Lu rng E y l i
lng v hng thay v dng vect e nh phng php gii trnh by trong
phn trc. Gi s h sai s (2-16) tha mn Gi thit 1, khi ng hc ca h
sai s c dng:

( )
( ) ( ) ( , ) ( )
T n
E E
E f r g u t u o | = + + = + k d x x x x

(2-17)
vi
( )
( , ) ( )
T n
E E
t f r o = + x k d x

v ( ) ( ) g | = x x .
Chn hm Lyapunov
2
1
2
V E = v s dng lut iu khin:
( )
1
( ) ( , ) u t E | o q

= x x (2-18)
vi 0 q > s cho kt qu ( )
2
( , ) ( ) 2 V E t u E V o | q q = + = = x x

nn 0 E = l
im cn bng n nh theo hm m (exponentially stable) ca h sai s. B
di y (tng hp t cc kt qu trong [57]) cho thy h sai s c nh ngha
nh trn (im cn bng n nh) th cng tha mn Gi thit 1.
- 23 -


B 1 : H sai s nh ngha bi (2-16) cho bi ton bm ca h (2-6) tha
mn Gi thit 1.
Chng minh b trn c trnh by trong Ph lc mc 5.2 trang 136.

C th thy trong trng hp ny, cc lut iu khin phn hi (2-10) v
(2-18) trong hai phng php v c bn l ging nhau do thnh phn phn hi
trong c hai phng php u tuyn tnh. Tuy nhin vi phng php thit k
da trn h sai s c th a thnh phn phn hi phi tuyn vo h sai s
nng tnh bn vng ca h vng kn nh s thy phn sau ca lun n ny.
Trng hp 2
Trc tin ta xem li B 2.1 trong ti liu [57] dng phn tch tnh b
chn ca h sai s c pht biu nh sau: Nu ( , ) :
n
V t
+ +
9 9 9 E l hm
s xc nh dng v
1 2
V mV m s +

vi
1
0 m > ,
2
0 m > l cc hng s b chn
th
1
2 2
1 1
( , ) (0)
m t
m m
V t V e
m m

| |
s +
|
\ .
E vi mi 0 t > .
Chng minh b bng cch gi
1 2
m m = + v chn (0) (0) 0 V = >
th
1
2 2
1 1
( ) (0)
m t
m m
t V e
m m

| |
= +
|
\ .
, mt khc t V s

(hay V lun gim nhanh

hn hoc bng so vi ) v (0) (0) V = suy ra ( , ) ( ) V t t s E vi 0 t > .
Lu l b trn cng cho bit
2 1
V m m s khi t v nu
( )
( , ) V t > E E vi
( )
K e E (hm thuc lp K ) th ( )
1
2 1
lim
t
m m

s E .

Trng hp ( ) f x , ( ) g x c cha cc thnh phn khng r, gi thit rng t
s liu o v hiu bit v h thng ta c th tm c cc hm s
( ) ( ) ( )
f
f f = + A x x x

, ( ) ( ) ( )
g
g g = + A x x x tnh gn ng c
n
x nh sau:
- 24 -



( ) ( ) ( ) ( ) ( ) ( )
( , )
n f g
n dxn
x f g u u
x u
= + + A + A
= + A
x x z x x z
x

(2-19)
vi
dxn n n f g
x x u A = = A + A

l sai s gia tn hiu xp x

n
x

vi tn hiu
n
x
v
dxn
W A s , 0 W > cho trc vi mi x, u trong min hp l
n
O c9
x
v
u
O c9. Tip tc nh ngha h sai s nh (2-16) trong Trng hp 1, khi
o hm ca h sai s theo thi gian s l:

( )
( )
( )
( ) ( )
T n
E E n
T n
E E n dxn
T n
E E dxn
E x r
x r
r f g u
= +
= + A
= A + +
k d
k d
k d x x

hay vi k hiu
( )
( , ) ( )
T n
E E
t r f o = + x k d x

, ( ) ( ) g | = x x th:
( , ) ( ) ( , )
dxn
E t u u o | = + A x x x

(2-20)
S dng lut iu khin phn hi:

( )
( )
1
1 ( )
( ) ( ) ( , )
( ) ( )
T n
E E
u t E
g r f E
| o q
q

=
= +
z x x
x k d x

(2-21)
vi 0 q > v ,
T T
t
(
=

z x l vct o c th phng trnh ng hc ca h sai
s tr thnh:
( , )
dxn
E E u q = A x

. (2-22)
Lu l z trong lut iu khin phn hi (2-21) ch cha t xut hin r
trong trng hp ( ) r t c o hm l hm s c cha t .
Chn hm Lyapunov xc nh dng
2
1
2
( ) V E E = v tnh o hm ca V
theo (2-22) ta c:
- 25 -



( )
2
2
1
2
2
2
2
1
2 2
2
dxn
V EE E E
V E W E
W
V W E
W
V
q
q q
q q
q q
q
q
= = A
s +
= +
s +

(2-23)
p dng B 2.1 ([57]) vi
1
m q = ,
2
2
2
W
m
q
= dn n V b chn v do
E cng b chn:

( )
2 2 2
2 2 2
(0) 1 (0)
2 2 2
t t t
H
W W W
V V e e V e V
q q q
q q q

| |
s + = + =
|
|
\ .


( )
2
2
2
1 (0) .
t t
H
W
E e E e E
q q
q

s + = (2-24)
Kt qu (2-23) cho thy 0 V <

khi
2
2
2
W
V
q
> v t (2-24):

2
2
2
1
lim
2
H
t
m W
V V
m
q

= = = ,
2
1
2
lim
H
t
m W
E E
m q

= = = (2-25)
do vy nu q ln th c th xc nh
H
E trong ch xc lp nh ty .
Ngoi ra nu php xp x
n
x cng chnh xc bao nhiu (sai s xp x W cng
nh) trong min hp l ca x v u th E

hay gii hn
H
E khi t ca h
sai s cng nh by nhiu.
Bit rng 0 V s

khi ( )
2
2
2
W W
V V V E
q
q

| |
> = =
|
\ .
hay
2
1
2m W
E E
m q

> = = ,
do ta cn c th suy lun nh sau: ( ) 0 V V E E E V

> > s

.
Nh vy nu ( )
0
V V E

s vi
0
(0) V V = l V ban u ti 0 t = th
( ) 0 V V E

s s vi mi 0 t > do V l hm s xc nh dng nn khng th

- 26 -


tng ln hn ( ) V E

. Trng hp ( )
0
V V E

> th r rng 0 V s

cho n khi
( ) V V E

s . Tm li kt qu (2-24) cn c th vit nh sau:

( ) ( )
( )
0
0
0 max ,
max ,
V V V E
E E E

s s
s
(2-26)
vi mi 0 t > ,
0
(0) E E = l gi tr ban u ca h sai s ti 0 t = v
2
0 0
1
2
V E =
.

Cc kt qu trn cho thy vi lut iu khin phn hi (2-21) cht lng ca
h vng kn ch ph thuc vo sai s xp x
n
x v khng nht thit phi xc
nh c chnh xc cc hm ( ) f x , ( ) g x c cha cc thnh phn khng r. Ni
cch khc thay v phi xp x gn ng tng hm ( ) f x , ( ) g x vi sai s cn
thit hoc s dng cc m hnh xp x nh trong nhiu phng php khc ([40],
[52], [53], [54], [56], [60], [61], [62], [63], [72], [73], [75], [92], [94], [95], [98],
[103], [104], [105]), ta c th xp x ( ) f x , ( ) g x vi sai s ty min sao sai s
xp x
n
x tha mn
dxn
W A s trong min hp l ca eO
x
x v
u
u eO (lu
l iu kin sai s xp x khng cn p ng ngoi min hp l).
Ngoi ra vi mi 0 W > cho trc v vi
{ }
:
u M
u u u u eO = e9 s , 0
M
u >
lun tn ti cc cp hm trng thi ( ) f x

, ( ) g x lin tc b chn p ng iu
kin xp x v d nh trng hp cc hm thay th tha mn:

g
M
W
u
A s , 0
f g M
W u s A s A (2-27)
do khi
dxn f g f g M
u u W A = A + A s A + A s .

Tuy nhin ngay c trng hp khng xc nh c cp hm thay th tha
mn hay cp hm thay th khng p ng iu kin sai s xp x (2-27) nu trn
ta vn c th p dng c phng php nu nh b c sai s xp x do php
- 27 -


c lng cc thnh phn khng r gy nn. Trong thc t c nhiu cch xc
nh cp hm thay th t s liu bit v h thng v d nh ta c th nh
ngha trc hm ( ) f x

v ( ) 0 g > x da trn cc thnh phn bit v tm cch

b sai s xp x do cc thnh phn khng r gy nn thng qua lut iu khin
phn hi sao cho o hm ca V theo (2-22) tha mn (2-23) hay
2
2
W
V V q
q
s +

trong min hp l ca x v u . Nh vy bi ton iu khin

h vng kn n nh trong trng hp ny tr thnh bi ton xp x
n
x vi
chnh xc cn thit v vn m bo cc iu kin v trng thi v u vo
trong min hp l. Phng php gii quyt cc vn ny s c trnh by chi
tit trong Chng 3.
Do c im ca phng php l xp x
n
x khng nht thit phi xp x
ring tng hm trng thi vi sai s cn thit m c th thay th bng cp hm
c lng nh phn tch m trong lun n ny phng php c gi l
phng php thay th c lng hm trng thi. Phn sau ca lun n s phn
tch phng php thay th c lng cc hm trng thi s dng iu khin m
nron nhm thch nghi vi cc thay i khng r trong h sai s.

Tnh cht b chn ti hn u ca h sai s
Gi s tm c cp hm trng thi thay th iu kin xp x
n
x c
tha mn, khi tip tc bin i biu thc:

| |
1 1 1
1 1 1 1 1 1
1 1 1
1
1 1 1 1 1 1 2 1
1
( ) ( )
( ) , , ,
0
n n n
T T
E E i i i i i i i i
i i i
n
i i i n
i
T
T
E
E k x r k x r k e k e
k k e k e k k k k
q q q q
q q q q q
q

+ + + +
= = =

+ +
=
+ = + = + +
= + + = + +
| |
(
= + =
|
(

\ .

k d k e
e
k e e
k

ta c th biu din li lut iu khin phn hi (2-21) nh sau:
- 28 -



( )
1 ( )
( ) ( )
n T
u u g r f

= = x e x

(2-28)
vi
| |
1 1 2 1
, , ,
T
n
k k k k q q q

= + + .
Do
( )
( ) ( )
n T
n
x f g u r = + = x x e

nn:

( )
( )
1 1 1
1
,
,1 , ,
( )
dxn n n
T
n
T
n T
dxn
u x x
e
e e e
e
A =
=
( (
=

= A
x
e

(2-29)
hay
dxn
A cng l hm ca
1
e . Mt khc t php chn
| |
1 1
, , ,1
T
n
k k

= k a
thc
1 2
1 1
n n
n
s k s k

+ + + l Hurwitz nn cc s hng ca
| |
1
,1 , , ,1
T
n
q q
(
=

cng lp thnh a thc Hurwitz:

1
1 2
1
1 1 2 1
1
1 2
( ) ( )
( )( ).
n n
n
n n
n
n
s s s
k k k s k s s
s k k s s
q q q
q q q
q

+ + + +
= + + + + + +
= + + + +

(2-30)
Biu din quan h (2-29) qua php bin i Laplace:

1
1
1 2
1
1 2
1
( ) ( )
( )
1
( )
( )( )
n
dxn
n
E s E s
k k s s
s
s k k s s q

=
+ + +
= A
+ + + +

(2-31)
vi
1
( ) E s , ( ) E s v ( )
dxn
s A tng ng l bin i Laplace ca
1
( , ) e t x , ( , ) E t x
v
1
( )
dxn
e A suy ra:
- 29 -



1
1 1
1
1 1
1 1
lim lim lim
1
lim lim
1
lim lim
dxn
t t t
dxn
t t
dxn
t t
e E
k k
W
e
k k
W
E
q
q q
q q



= = A
= A s
= A s
(2-32)
hay vi lut iu khin phn hi (2-28), gii hn sai s bm u ra
1
e y r =
trong ch xc lp b chn ph thuc vo cc gi tr
1
, , k W q c chn
trong thit k. Lu l
1 i
k s q = [ chnh l gi tr tuyt i ca tch ton b cc
nghim ca a thc Hurwitz (2-30). Ngoi ra do
( ) n T
n
x r = e

nn iu kin
xp x cn c th vit di dng:

( ) n T
dxn n
r x W A = s e (2-33)
Nh vy trong bi ton bm ca h phi tuyn (2-6) trng hp 2, bng
phng php lp h sai s (2-16) v s dng lut iu khin phn hi (2-21),
nu ta coi E l trng thi ca h sai s th kt hp cc kt qu trn, dn n pht
biu ca nh l 1 di y v tnh cht b chn ca nghim ca phng trnh
ng hc h sai s (2-20) trong phng php thay th c lng hm trng thi.
nh l 1 : Phng trnh ng hc h sai s (2-20) c nghim b chn ti hn
u (uniformly ultimately bounded) theo (2-26) v gii hn sai s bm u ra
trong ch xc lp theo (2-32), nu xc nh c cc hm s lin tc, b
chn ( ) 0 g > x v ( ) f x

vi lut iu khin phn hi tnh (2-28) th iu kin:

( ) n T
n
r x W s e (2-34)
lun tha mn vi mi
n
eO c9
x
x ,
u
u eO v 0 W > cho trc.
- 30 -


Chng minh
Theo nh l v iu kin b chn ti hn u ([51], [57]), vic chng minh
nghim ca phng trnh ng hc (2-20) vi lut iu khin phn hi (2-28) b
chn ti hn u (hay b chn cui ng u) thc cht l phi ch ra c cc
hm s
1 2
( ), ( ) E E K

e (hm lp K

) v
3
( ) E K e (hm lp K ) xc
nh trn
| ) 0, tha mn:

1 2
3
( ) ( ) ( )
( ) ( )
E V E E
V
V E E E
E

s s
c
= s
c

(2-35)
vi E R > v ( ) V E l hm s kh vi lin tc xc nh trn E R > .
Chn
2
1
1 2
2
( ) ( ) ( ) E E V E E = = = l cc hm lp K

, ta cn tm
3
( ) E K e tha mn (2-35) khi E R > . T (2-23) c th bin i tip nh sau:

2 2
2
1
( ) (1 )
2 2
( ) (1 )
2
W W
V E V V V
W
E V
q cq c q
q q
cq c q
q
s + = +
= +

vi 0 1 c < < nn nu chn
3 1
( ) ( ) E E cq = th
2
3
( ) ( ) (1 )
2
W
V E E V c q
q
s +

.
3
( ) ( ) V E E s

cn thit
2
2
2(1 )
W
V
c q
>

hay khi
1
W
E R
c q
> =

.
R rng cc hm
1 2 3
( ), ( ), ( ), ( ) E E E V E c chn nh trn lun
tha mn iu kin (2-35) nn nh l 1 c chng minh.

- 31 -


2.2.2. Tnh bn vng ca h vng kn trong phng php
Nng cao tnh bn vng ca h vng kn
Phng php thay th c lng hm trng thi nu trn xut pht t gi
thit thnh phn sai s
dxn
W A s b chn vi 0 W > cho trc, t s dng
lut iu khin phn hi trng thi tnh (2-28)
2
2
W
V V q
q
s +

v do h
vng kn c sai s E cng b chn theo (2-26). Ngoi ra quan h (2-32) cho
thy lun tn ti sai s u ra c quan h t l thun vi sai s xp x trong ch
xc lp. Nhm tm cch b tr nh hng ca sai s xp x, sau y tip tc
phn tch phng php theo hng nng cao tnh bn vng ca h vng kn
gii quyt vn ny.
Kt qu di y cho thy nu tn ti hm
1
( , ) :
n
u
+ +
9 9 x tha mn
iu kin ( , )
dxn
u A s u x vi eO
x
x ,
u
u eO th v l thuyt c th loi tr
hon ton nh hng ca sai s xp x
dxn
A trong phng trnh ng hc sai s
(2-20) bng cch a thm thnh phn b
c
u vo lut iu khin phn hi, hay
c
u u u = +

vi
( )
1 ( )
( ) ( )
n T
u g r f

= x e x

,
| |
1 1 2 1
, , ,
T
n
k k k k q q q

= + +
l thnh phn phn hi theo (2-28).
T phng trnh ng hc ca h sai s:

( )
( , ) ( )
( , ) ( ) ( )
( )
c dxn
c dxn
c dxn
E t u u
t u u
E u
o |
o | |
q |
= + + A
= + + A
= + A
x x
x x x
x

(2-36)
trong
( ) ( )
( , ) ( ) ( )
T n T n
E E
t r f E r f o q = + = + x k d x e x

, ( ) ( ) g | = x x dn
n o hm ca hm Lyapunov theo (2-36) s l:

2
( )
c dxn
V EE E E u E q | = = + A x


- 32 -


R rng nu xc nh c
c
u 0 V <

vi 0 E = th h vng kn s n
nh v loi tr c gii hn sai s bm u ra
1
lim
t
e

trong (2-32). T bt
ng thc trn suy ra
( , )sign( )
( )
c
E u E
u
,
|

=
x
x

vi , q < v
1 0
sign( ) 0 0
1 0
E
E E
E
>

= =

<

lun p ng c yu cu ny do:

2
2
2
( ) ( , )
( ) sign( )
( ) 0 0.
c
V E E u E u
E E E E
E E
q |
q ,
q ,
s + +
= +
= < =
x x

(2-37)
Khi vi thnh phn b
c
u nu trn, lut phn hi (2-28) tr thnh:

( )
1 ( )
( ) ( ) ( , )sign( )
n T
c
u u u g r f E u E ,

= + = + x e x x

(2-38)
hay khi 0 , = c th biu din gn li di dng:

( )
1 ( )
( ) ( ) ( , )sign( )
n T
u g r f u E

= x e x x

(2-39)
Tuy nhin kt qu (2-39) c cha thnh phn sign( ) E khng lin tc nn nu
( , ) u x l hm lin tc th c th thay th gn ng sign( ) E bng mt hm lin
tc tn hiu iu khin l lin tc. Sau y xut v phn tch s dng hm
xchma lng cc:

2 1
bsig( , ) 1
1 1
E
E E
e
E
e e
k
k k
k

= =
+ +
(2-40)
trong phng php vi 0 k > l h s gc ti im un 0 E = ca hm. Do
sign( ) limbsig( , ) E E
k
k

= nn vi thnh phn b:

( , )
bsig( , )
( )
c
u
u E k
|
=
x
x

(2-41)
lut iu khin phn hi s lin tc v c dng:
- 33 -



( )
1 ( )
( ) ( ) ( , )bsig( , )
n T
u g r f u E k

= x e x x

. (2-42)
Nu k hiu:

( , ) 1 sign( ) bsig( , )
( , ) ( , )
E E E
E E E
k k
k k
=
=
(2-43)
th 0 1 s s (Hnh 1) v:

2
2
2
sign( ) bsig( , )
( , )
( , )
V E E E E E
E E E
E E
q k
q k
q k
s +
= +
= +

(2-44)

Hnh 1 : Hm ( , ) 1 sign( )bsig( , ) E E E k k =
Bit rng hm xchma lng cc bsig( , ) bsig( , ) E E k k = l hm l nn
suy ra ( , ) E k l hm chn khng m v do ( , ) ( , ) E E k k = cng l hm
chn khng m (Hnh 2). Nh vy tm cc i ca hm ( , ) E k ta ch cn xt
hm ( , ) ( , ) E E k k
+
= vi | ) 0, Ee v 0 k > tm (cc) im cc tr ca
hm
+
, t suy ra (cc) im cc tr cn li ca ( , ) E k i xng qua trc
ta tung v xc nh gi tr cc i.
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
E
c
c(k,E) = 1 - sign(E)bsig(k,E)
k = 5
k = 10
k = 100
- 34 -



Hnh 2 : Hm ( , ) ( , ) E E E k k =
T ( ) ( , ) 1 bsig( , ) 2
1
E
E
Ee
E E E
e
k
k
k k

+

= =
+
, tnh o hm ca
+
theo E ta
c
( )
( )
2
2
( , ) 1
1
E
E
E
d e
E E e
dE
e
k
k
k
k k

= +
+
hay hm
+
c cc tr (cng l
cc i) ti
m
E E = l nghim ca phng trnh:
1
E
E e
k
k

= . (2-45)
gii phng trnh (2-45), ta dng B 2 sau:
B 2 : Nghim ca phng trnh
x
x b a + = vi 0 a > l
( )
w ln( )
ln( )
b
a a
x b
a

= vi w( ) x l hm Lambert v ln( ) a l logarit c s t

nhin ca a .
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
0
0.02
0.04
0.06
0.08
0.1
0.12
E

(k,E) = |E|.c(k,E)
k = 5
k = 10
k = 100
0.1114
0.0557
0.0056
- 35 -


C th chng minh B 2 t nh ngha hm Lambert ([85]) vi
ln( )
b
x a a

= v lu
1/ln( ) a
e a = .

p dng B 2 vi 1/ a e = , 1 b = thu c nghim ca phng trnh
(2-45) l 1 w(1/ )
m
E e k = + vi w(1/ ) e l hm Lambert ca 1/ e (Hnh 3) v:

1 w(1/ )
1 w(1/ )
1 w(1/ ) 1.2785
0.5569
( , ) 2 2
1 1
m
m
m
E e
m
m m
E e
e
E
E e e
E E
e e
k
k
k k
k
k

+

+
= ~
= = ~
+ +
(2-46)

Hnh 3 : Hm Lambert
w( )
w( )
x
x e x =
Nh vy ( , ) E k nhn gi tr cc i ti cc im
m
E E = . V d gi tr cc
i ca hm ( , ) E k trong cc trng hp minh ha trn Hnh 2 tng ng s l
(5, 0.2557) 0.1114 ~ , (10, 0.1278) 0.0557 ~ v (100, 0.0128) 0.0056 ~ .
Thay (2-46) vo (2-44) thu c:

2
0.5569
( , ) 2 .
m
V E E V q k q
k
s + ~ +

(2-47)
-1 0 1 2 3 4 5
-1
-0.5
0
0.5
1
1.5
x



w
(
x
)
w(x)e
w(x)
=x
e 1/e
0.2785
-1/e
Lambert W Function
- 36 -


Kt qu (2-47) cho thy 0 V <

khi
0.5569

2
V
qk
> hay
0.5569
E
qk
> v p
dng B 2.1 ([57]) vi
1
2 m q = ,
2
0.5569
m
k
= u dn n:

( )
( )
2 2 2
2 2 2 *
* *
0.5569
1 (0)
2
0.5569
1 (0)
0.5569
lim lim .
t t
t t
H
H
t t
V e V e
E e E e E
E E
q q
q q
qk
qk
qk

s +
s + =
= ~ u
(2-48)
Tm li, cc kt qu trn cho thy nu xc nh c hm ( , ) u x sao cho
2
( , ) ( , )
0.5569
dxn
u u E
qk
A s < x x vi eO
x
x ,
u
u eO th h vng kn s n
nh; nu
2
( , )
0.5569
u E
qk
> x th nghim ca h sai s lun b chn theo (2-48).

Trng hp ( , ) u W = x , lut iu khin phn hi v gii hn nghim ca h
sai s s l:

( )
1 ( )
* *
( ) ( ) bsig( , )
0.5569
lim .
n T
H
t
u g r f W E
E E W
k
qk

=
= ~
x e x

(2-49)
Khi t cc kt qu (2-25), (2-49) dn n:

*
* *
0.5569
0.5569
lim
H
t
H
E E
E E
E E W
k
q
k

~
= ~
(2-50)
- 37 -


hay vi lut iu khin phn hi (2-49) c cha thnh phn b b chn, gii hn
ca h sai s trong ch xc lp lun nh hn so vi trng hp khng c
thnh phn b (
*
E E

< ) nu h s gc k c chn tha mn:

0.5569
0.5569
W E
q
k

> = . (2-51)
Tnh bn vng ca h vng kn i vi c tnh khng r trong h sai s
Cc kt qu (2-48), (2-50) cho thy bng cch a thm thnh phn b phn
hi trong h vng kn c th b tr nh hng ca sai s xp x do php c
lng gy nn. Nh vy phng php ny cng c th p dng i vi thnh
phn khng r xut hin trong phng trnh ng hc ca h sai s c dng:

( )
( , ) ( ) ( , )
( , ) ( ) ( ) ( , )
u dxn
dxn u
E t u t
t u t
o |
o | |
= + + A A
= + A + A
x x x
x x x x

(2-52)
vi ( , )
u
t A x l thnh phn khng r.
Trng hp thnh phn khng r ( , ) 0
u
t A x , cc kt qu (2-23), (2-47)
trn cho thy lun tn ti lut iu khin phn hi u u = h vng kn n nh
c nghim b chn nh phng php phn tch s dng hm Lyapunov xc nh
dng
2
1
2
V E = o hm theo qu o ng hc (2-52) ca h sai s tha
mn
1 2
V mV m s +

vi
1 2
0, 0 m m > > .
Gi thit rng ( , ) ( )
u
t A s I x x vi 0 > l hng s cha bit b chn v
( ) :
n
I 9 9 x l hm lin tc khng m b chn bit, khi s dng lut
iu khin phn hi trng thi:
u u u
A
= + (2-53)
vi u
A
l thnh phn b dn n:
( ) ( , ) ( ) ( ) ( , )
dxn u
E t u t u o | |
A
= + A + A + x x x x

- 38 -



( )
( )
1 2
1 2
dxn u
u
V EE E Eu E E u
mV m E u
mV m E Eu
o | |
|
| |
A
A
A
= = + A + A +
s + + A +
s + + I +


(2-54)
Kt qu (2-54) cho thy nu bit trc , th tng t nh phng php
trnh by trn, vi thnh phn b ( )sign( ) u E
A
= I x c th loi tr hon
ton tc ng ca thnh phn khng r ( , )
u
t A x do:

( )
1 2
2
1 2
1 2
sign( )
1 sign ( )
.
V mV m E E E
mV m E E
mV m
| |
|
s + + I I
= + + I
= +

(2-55)
Trng hp s dng thnh phn b lin tc:
( ) bsig( , ) u E k
A
= I x (2-56)
vi 0 k > l h s gc ca hm bsig( , ) E k ti 0 E = , o hm:

( )
1 2
1 2
1 2
sign( ) bsig( , )
1 sign( ) bsig( , )
( , )
V mV m E E E E
mV m E E E
mV m E
| | k
| k
| k
s + + I I
= + + I
= + + I

(2-57)
vi ( , ) ( , ) E E E k k = nh (2-43). p dng kt qu (2-46) cho thy:

1 2
1 2
( , )
0.5569
m
V mV m E
mV m
| k
|
k
s + + I
~ + + I

(2-58)
hay nu chn k cng ln th c th gim c tng ng mc tc ng ca
thnh phn khng r.
Tuy nhin do khng bit nn bng phng php s dng thnh phn b
2
V
u
E
,|
A
c
= I
c
vi 0 , > nh xut trong [57] dn n:
- 39 -



2 2 2
1 2
2
2
1 2
2
1 2
2 4
.
4
V mV m E E
mV m E
mV m
| ,|

, |
, ,

,
s + + I I
| |
= + I +
|
\ .
s + +

(2-59)
Kt qu (2-59) cho bit c th gim tc ng ca thnh phn khng r bng
cch cho , nhn gi tr ln, tuy nhin phng php ny kh p dng trong thc
t v thnh phn b to dao ng ln trong tn hiu iu khin khi E i du.
Sau y lun n xut s dng thnh phn b c dng:
bsig( , ) u E , k
A
= I (2-60)
nh trnh by trong phn trn, khi :

1 2
1 2
1 2
sign( ) bsig( , )
sign( ) bsig( , ) .
V mV m E Eu
mV m E E E E
mV m E E E
| |
| | , k

| , k
,
A
s + + I +
= + + I I
| |
= + + I
|
\ .

t 0

,
= > v:
( ) ( , , ) sign( )bsig( , )
E
E E E E k k = (2-61)
dn n
0.5569
( , , ) ( 1) ( 1)
E
E E E k
k
= + s +

hay nu tm c
, > 1 s th khng nhng c th gim c tc ng ca thnh phn
khng r m sai s do thnh phn khng r gy nn b chn khng ph thuc
vo do:

1 2
1 2
0.5569
( 1)
0.5569
.
V mV m E
mV m
|, |,
k
| ,
k
s + + I + I
s + + I

(2-62)
- 40 -


Ngoi ra c th tnh ton chnh xc gi tr ln nht ca hm ( , , )
E
E k
bng phng php gii trn MATLAB nh B 3 sau:
B 3 : Hm ( , , )
E
E k nh ngha nh (2-61) vi 0 1 < s , 0 k > c gi
tr ln nht bng
_ max
( , ) 0
E
k > ti hai im i xng ( , )
m
E k xc nh
bi:
_ max
( , ) ( , , ) 0
E E m
E k k = > , 0
m
m
x
E
k
= > (2-63)
vi
m
x l nghim duy nht ca phng trnh
2
( 1) 2( ) 1 0
x x
e x e

+ + + = .
Chng minh
Phng php chng minh v chng trnh tnh ton gi tr ln nht trn
MATLAB c tc gi trnh by trong mc 5.3 trang 139 phn Ph lc.
Lu l vi 1 = th (1, , ) ( , )
E
E E k k = theo (2-43) nn kt qu (2-46) l
trng hp ring ca B 3 v
1.2785 1.2785 0.5569
( , ) (1, , )
E
k k
k k k
= ~ .
Ngoi ra x E k = v vi mi gi tr xc nh trong khong (0, 1] v 0 k > ,
hm ( , , )
E
E k t cc i v cng l ln nht bng
_ max
( , )
E
k ti cc
im ( , )
m
E k l cc hm s ca v k .

Hnh 4 biu din hm ( , , )
E
E k trong cc trng hp 5 k = , 10 k = v gi
tr c chn trong mi trng hp l 1, 0.9 v 0.5. Kt qu tnh trong cc
trng hp trn Hnh 4 nh sau:

(1.0, 5, 0.2557) 0.1114 (1.0, 10, 0.1278) 0.0557
(0.9, 5, 0.2154) 0.0879 (0.9, 10, 0.1077) 0.0440
(0.5, 5, 0.1046) 0.0256 (0.5, 10, 0.0523) 0.0128
E E
E E
E E
= =
= =
= =
(2-64)
- 41 -



Hnh 4 : Hm ( ) ( , , ) sign( )bsig( , )
E
E E E E k k =

Hnh 5 : Hm ( , )
m
E k v
_ max
( , ) ( , , )
E E m
E k k =
-1 -0.5 0 0.5 1
-0.04
-0.02
0
0.02
0.04
0.06
0.08
0.1
0.12
E

E
k = 5
= 1
= 0.9
= 0.5
0.1114
0.0879
0.0256
-0.5 -0.25 0 0.25 0.5
-0.02
-0.01
0
0.01
0.02
0.03
0.04
0.05
0.06
E

E
k = 10
= 1
= 0.9
= 0.5
0.0557
0.0440
0.0128
0 0.2 0.4 0.6 0.8 1
0
0.2
0.4
0.6
0.8
1
1.2
1.4
k = 1

E
m

E_max
0.5
0.1278
0.5
0.5229
0.9
0.4396
0.9
1.0769
1.2785
0.5569
0 5 10 15 20
0
0.1
0.2
0.3
0.4
= 1
k
E
m

E_max
0.1114
0.2557
0.0557
0.1278
- 42 -


Hnh 5 biu din th ca
_ max

E
trong cc trng hp c bit 1 k = v
1 = . Ngoi ra c th c lng ta im cc i t th bn tri trn
Hnh 5 ( 1 k = ). V d tnh im cc i ca hm vi 0.9 = v 5 k = , t
th Hnh 5 bn tri suy ra:

(0.9,1) 1.0769
(0.9,5) 0.2154
5
m
m
E
E
k

= = =

_ max
_ max
(0.9,1)
0.4396
(0.9,5) 0.0879
5
E
E
k
= = =
Nh vy so vi (2-62) ta thu c kt qu mnh hn nh sau:

1 2 _ max
( , )
E
V mV m |, k s + + I

. (2-65)
Tng hp cc kt qu trn, trong trng hp h sai s (2-52) c cha thnh
phn khng r b chn ( , ) ( )
u
t A s I x x vi 0 > l hng s b chn cha bit
v ( ) :
n
I 9 9 x l hm lin tc khng m b chn cho trc, dn n pht
biu ca B 4 di y.
B 4 : Nghim ca phng trnh ng hc h sai s (2-52) b chn ti hn
u (uniformly ultimately bounded) bi lut iu khin phn hi u u u
A
= + vi
u
A
l thnh phn b lin tc theo (2-60) v u l thnh phn iu khin n nh
nu
1 2
V mV m s +

vi
2
1
2
V E = ,
1 2
0, 0 m m > > khi 0
u
A = v , > .
Chng minh
chng minh nghim ca h sai s vng kn b chn ti hn u ta cn ch
ra cc hm s
1 2
( ), ( ) E E K

e v
3
( ) E K e xc nh trn | ) 0, tha
mn:

1 2
3
( ) ( ) ( )
( ) ( )
E V E E
V
V E E E
E

s s
c
= s
c

(2-66)
- 43 -


vi E R > v ( ) V E l hm s kh vi lin tc xc nh trn E R > .
Sau y chn
2
1
1 2
2
( ) ( ) ( ) E E V E E = = = l cc hm lp K

v t
(2-65) bin i tip nh sau:

1 2 _ max
1 1 2 _ max
1 1 1 2 _ max
( )
(1 )
( ) (1 )
E
E
E
V E mV m
mV mV m
m E mV m
|,
c c |,
c c |,
s + + I
= + + I
= + + I

vi 0 1 c < < . t
3 1 1
( ) ( ) E m E K c = e suy ra
3
( ) ( ) V E E s

khi E R >
vi
( )
2 _ max
1
2
(1 )
E
m
R
m
|,
c
+ I
=

v B 4 c chng minh.
Ngoi ra lu l trng hp ( ) V E

tng qut ta c
( )
2 _ max
1
1
1
2
(1 )
E
m
R
m
|,

| |
+ I
|
=
|

\ .
.
- 44 -


2.3. iu khin n nh cc h thng kh tuyn tnh ha phn hi vo-ra
bng phng php thay th c lng hm trng thi
2.3.1. Bi ton iu khin v c s ton hc
Trong phn trc, mc 2.2 trnh by v phn tch phng php thay th
c lng hm trng thi trong iu khin cc h kh tuyn tnh ha phn hi
trng thi (khng c thnh phn h con phi tuyn ni ng hc q). Sau y lun
n phn tch kh nng p dng phng php thay th c lng hm trng thi
trong iu khin n nh cc h thng kh tuyn tnh ha phn hi vo-ra c
phng trnh ng hc v u ra bin i c v dng chun tc (2-3) vi Gi
thit 2 nh sau:
Gi thit 2: H (2-3) c:
1) bc tng i n v h con ( , ) = q x q l n nh u vo-trng thi
(ISS) vi x l u vo;
2) ( , ) f x q , ( , ) g x q l cc hm s thc b chn v ( , ) 0 g > x q vi mi ( , ) x q
trong min hp l ng
n d +
O c9
xq
;
3) cc trng thi ( , ) x q ca h o c.
Bi ton t ra l cn iu khin n nh (2-3) sao cho u ra ca h bm
theo tn hiu mu ( ) r t vi gi thit ( ) r t v cc o hm ca tn hiu mu n
bc n b chn v o c. Vn l mc d h con q khng c tc ng ti
u ra ca h, tuy nhin cho d xc nh c b iu khin n nh ng hc
ca h con tuyn tnh ha x th vn c th xy ra q nu ng hc ca h
con (phi tuyn) ( , ) = q x q khng n nh. Nh vy gii quyt bi ton, cn
thit phi bit c c tnh ng hc ca h con phi tuyn. Nhm n gin ha
tnh ton m khng lm mt i tnh thc t nn phng php gii trong phn
ny lun gi thit rng h con phi tuyn ( , ) = q x q l n nh u vo-trng
thi vi x l u vo.
- 45 -


Theo nh ngha, h ( , , ) t = x f x u vi
| ) : 0, , ,
n m n
9 9 9 f lin tc phn
on (piecewise continuous) i vi t v Lipschitz cc b i vi x v u c
gi l n nh u vo-trng thi nu tn ti hm KL e (hm lp KL) v
K e (hm lp K) vi bt k trng thi ban u
0 0
( ) t = x x v u vo b
chn ( ) t u no, lun tn ti nghim ( ) t x vi mi
0
t t > v tha mn:

( )
0
0 0
( ) ( ) , sup ( )
t t
t t t t
t
| t
s s
| |
s + |
|
\ .
x x u . (2-67)
Bt ng thc (2-67) cho thy nu h l ISS th lun m bo rng vi bt k
u vo ( ) t u b chn no, trng thi ( ) t x ca h cng b chn. Ngoi ra khi t
tng dn th trng thi ( ) t x s b chn cui (ti hn) bi hm K e do khi
( )
0 0
( ) , 0 t t t | x v nu ( ) t u hi t v 0 khi t th ( ) t x cng hi t v
0. Mt tnh cht khc ca h ISS l khi ( ) t u 0 th do bt ng thc (2-67) rt
gn thnh
( )
0 0
( ) , t t t | s x x nn suy ra h khng cng bc ( , , ) t = x f x 0 c
gc ta l n nh tim cn u.
Cc B 13.1 v 13.2 trong [50] cho bit trong trng hp h con x c th
n nh c (dng lut iu khin phn hi trng thi) v dng ( )
T
= x A bk x
hay
T
= k x trong (2-5) c chn sao cho ( )
T
A bk l Hurwitz th c th
kt lun c c tnh n nh i vi im gc ta | |
; = x q 0 ca h (2-3)
tng ng nh sau: Gc ta ca h (2-3) l n nh tim cn nu gc ca h
con ( , ) = q 0 q (im = q 0) n nh tim cn v gc ca h (2-3) l n nh
tim cn ton cc nu h con ( , ) = q x q l n nh u vo-trng thi (ISS) vi
x l u vo. Ngoi ra cc kt qu trn cn xut pht t tnh cht ca cc h
lin kt tng (cascade) c trnh by trong [50], [51] v c tng hp li nh
di y:
H lin kt tng phi t tr (nonautonomous):
- 46 -



1 1
2 2
: ( , , )
: ( , )
t
t
E =
E =
q f q x
x f x

(2-68)
vi | )
1
: 0,
m n m
9 9 9 f v | )
2
: 0,
n n
9 9 f l lin tc phn on
i vi t v Lipschitz cc b i vi | |
; q x . Nu h
1
E vi x l u vo l
n nh u vo-trng thi v im gc ca h
2
E l n nh tim cn u ton
cc (globally uniformly asymtotically stable) th gc ta ca h lin kt tng
(2-68) cng n nh tim cn u ton cc.
i vi trng hp h lin kt tng t tr (autonomous):

1 1
2 2
: ( , )
: ( , )
E =
E =
q f q x
x f x u

(2-69)
nu h
1
E vi x l u vo l n nh u vo - trng thi (cc b/ton cc)
v im gc ca h
2
E l n nh tim cn (cc b/ton cc) th gc ta ca
h lin kt tng (2-69) cng l n nh tim cn (cc b/ton cc).

Do phng php xy dng trong lun n da trn c s lp h sai s tha
mn Gi thit 1 vi cc thnh phn khng r nn c th dng nh l 6.1 trong
[57] chng minh cc kt qu ca lun n. Pht biu ca nh l ny nh sau:
Gi ( , ) t E x l h sai s tha mn Gi thit 1. Gi thit rng tn ti b iu
khin ( ) u v = z v hm Lyapunov ( ) V E sao cho ( ) ( ) V s
E
E E vi K

e
E
v
0 V s

theo qu o (2-3) khi

r
V V > vi mi
d
e9 q ,
n
e9 x v t
+
e9 . Nu h
con ( , ) = q x q vi u vo x l n nh u vo-trng thi (ISS) th b iu
khin ( ) u v = z m bo rng x v q b chn u.
Lu rng nu h con q l n nh u vo-trng thi (ISS) cng c ngha
l tn ti hm xc nh dng V
q
:

1 2
3
( ) ( ) ( )
( ), ( )
V
V


s s
s >
q q q
q q
q q q
q q x

(2-70)
- 47 -


vi
1 2
, K

e
q q
,
3
, K e
q
.
nh l 6.1 ([57]) cho bit nu b iu khin c thit k n nh ng
hc x th ng hc q cng s n nh nu tha mn iu kin (2-70). Ngoi ra
t nh l 6.1 ([57]) c th suy ra h qu mnh hn ca nh l trong trng
hp V kV s

th = E 0 l im cn bng n nh theo hm s m trong khi c

th q ch b chn. Lu l khi = x 0 th iu kin i vi V
q
trong (2-70) tr
thnh
3
( ) V s
q q
q

vi mi q dn n nghim ca ng hc khng
( , ) = q 0 q l n nh tim cn ton cc v h l pha cc tiu (minimum phase).
Vi cc c s ton hc nh trnh by trn, phn tip theo ca lun n
cho thy bng phng php lp h sai s v thay th c lng hm trng thi
i vi cc thnh phn khng r tng t nh trong trng hp h kh tuyn
tnh phn hi u vo-trng thi (mc 2.2) v vi gi thit h con phi tuyn l
ISS th vn iu khin trong trng hp ny lun gii quyt c.
2.3.2. iu khin n nh bng phng php thay th c lng hm trng
thi
Trng hp 1
Trng hp ( , ) f x q , ( , ) g x q xc nh, t = e x r vi
( 1)
, , ,
T
n
r r r

(
=

r
th t phng trnh (2-4) suy ra:

| |
| |
( )
( , ) ( , )
( , ) ( , )
( , ) ( , )
n
f g u
f g u
f g u r
=
= + +
= + + +
(
= + +

e x r
Ax b x q x q r
Ae Ar r b x q x q
Ae b x q x q

(2-71)
nn nu chn lut iu khin phn hi tnh theo [50]:

( )
1 ( )
( , ) ( , )
n T
u g f r

= + x q x q k e (2-72)
vi k c chn sao cho ( )
T
A bk l Hurwitz th h vng kn tr thnh:
- 48 -



( , )
( )
.
T
T
y
= +
=
+
(
=
(

q e r q
e A bk e
e r
c
q

(2-73)
p dng tnh cht ca h lin kt tng v do gi thit ban u h con
( , ) = q x q l n nh u vo-trng thi (ISS) vi = + x e r l u vo b chn
do
M
r s r b chn suy ra im gc ta ca (2-73) l n nh ton cc.
Ngoi ra bng phng php lp h sai s c th gii quyt bi ton nh sau
([57]). nh ngha h sai s:

( )
( 1)
( , , ) ,1
T T T n
E E E n
E t x r

(
= = = +

x q k e k e k d (2-74)
vi ,1
T T
E
(
=

k k ,
| |
1 1
, ,
T
E n
k k

= k ,

( 2)
1 2 1
, , ,

n
E n
x r x r x r

(
=

d ,
= e x r v
1 2
1 1
n n
n
s k s k

+ + + l Hurwitz. Khi h sai s (2-74) tha

mn Gi thit 1 v phng trnh ng hc ca h sai s c dng:
( , , ) ( , ) E t u o | = + x q x q

(2-75)
vi
( )
( , , ) ( , )
T n
t r f o = +
E E
x q k d x q

, ( , ) ( , ) g | = x q x q .
Chn hm Lyapunov
2
1
2
V E = v s dng lut iu khin phn hi tnh:
( )
1
( , ) ( , , ) u t E | o q

= x q x q (2-76)
vi 0 q > dn n E E q =

v
2
V E q =

. Do gi thit h con ( , ) = q x q l n
nh u vo-trng thi (ISS) vi x l u vo nn p dng h qu ca nh l
6.1 ([57]) suy ra 0 E = l im cn bng n nh theo hm m ca h sai s.
Trng hp 2
Trng hp ( , ) f x q , ( , ) g x q c cha cc thnh phn khng r, gi thit rng
t s liu o v hiu bit v h thng ta c th tm c cc hm s
- 49 -


( , ) ( , ) ( , )
f
f f = + A x q x q x q

, ( , ) ( , ) ( , )
g
g g = + A x q x q x q thay th ( , ) f x q ,
( , ) g x q tnh gn ng c
n
x nh sau:
( , ) ( , ) ( ) ( , , )
n n dxn
x f g u x u = + = + A x q x q z x q

(2-77)
vi ( , , ) ( , ) ( , ) ( )
dxn n n f g
u x x u A = = A + A x q x q x q z

l sai s gia tn hiu xp

x
n
x

vi tn hiu
n
x v
dxn
W A s , 0 W > cho trc vi mi , x q trong min
hp l
,
n d +
O c9
x q
v
u
u eO .
nh ngha h sai s nh (2-74) khi :
( , , ) ( , )
dxn
E t u o | = + A x q x q

(2-78)
vi
( )
( , , ) ( , )
T n
t r f o = +
E E
x q k d x q

, ( , ) ( , ) g | = x q x q .
S dng lut iu khin phn hi trng thi tnh:

( )
( )
1
1 ( )
( ) ( , ) ( , , )
( , ) ( , )
T n
u u t E
g r f E
| o q
q

= =
= +
E E
z x q x q
x q k d x q

(2-79)
vi
1
, ,
T T T n d
t
+ +
(
= e9

z x q v 0 q > th phng trnh ng hc ca h sai s
vng kn tr thnh:
( , , )
dxn
E E u q = A x q

. (2-80)
Dng hm Lyapunov
2
1
2
V E = dn n:

( )
2
2
2
2
1
2 2
2
dxn
V EE E E
W
V W E
W
V
q
q q
q q
q
q
= = A
s +
s +

(2-81)
hay 0 V <

khi
2
2
2
r
W
V V
q
> = . Khi theo nh l 6.1 ([57]) ta c x, q b chn
u v tng t nh trong trng hp h l kh tuyn tnh ha phn hi u
- 50 -


vo-trng thi, p dng B 2.1 ([57]) vi
1
m q = ,
2
2
2
W
m
q
= dn n V b
chn v do E cng b chn theo biu thc sau:

( )
( )
2 2 2
2 2 2
2
2
2
(0) 1 (0)
2 2 2
1 (0) .
t t t
H
t t
H
W W W
V V e e V e V
W
E e E e E
q q q
q q
q q q
q


| |
s + = + =
|
|
\ .
s + =
(2-82)
hay:

( ) ( )
( )
0
0
0 max ,
max ,
V V V E
E E E

s s
s
(2-83)
vi
0
(0) E E = , lim
H
t
W
E E
q

= = v
2
0 0
1
2
V E = .
Lu l do
T T
E q = +
E E
e k d

vi
| |
1 1 2 1
, , ,
T
n
k k k k q q q

= + + nn lut
iu khin (2-79) c th vit nh sau:

( )
1 ( )
( , ) ( , )
n T
u u g r f

= = x q e x q

(2-84)
v iu kin sai s xp x chung cn c th biu din di dng:

( ) n T
dxn n
r x W A = s e (2-85)
Kt qu trn cho thy nh hng ca sai s xp x do php thay th c
lng cc hm trng thi gy nn trong trng hp h kh tuyn tnh ha phn
hi vo-ra tha mn Gi thit 2 cng c th gim tr c bng cch a thm
thnh phn b phn hi vo h vng kn ging nh trng hp h kh tuyn
tnh phn hi u vo-trng thi nhng vi iu kin h con phi tuyn l ISS.
Phn tip theo cho thy cng vi gi thit ny phng php hon ton p dng
tng t c trong trng hp h c cha thnh phn khng r trn u vo
ca phng trnh ng hc.
- 51 -


2.3.3. Tnh bn vng ca h vng kn i vi thnh phn khng r trong
phng trnh ng hc
Xt h c phng trnh ng hc v u ra sau:

( )
1 2
1
1
( , )
( , ) ( , ) ( , , )
n n
n u
x x
x x
x f g u t
y x

=
=
=
= + + A
=
q x q
x q x q x q

(2-86)
trong ( , , )
u
t A x q l thnh phn khng r v ( , , ) ( , )
u
t A s I x q x q vi 0 >
l hng s cha bit b chn, ( , ) :
n + +
I 9 9 9 x q l hm khng m bit.
H con ( , ) = q x q l ISS vi x l u vo, cc hm ( , ) f x q , ( , ) g x q c cha
cc thnh phn khng r b chn v ( , ) 0 g > x q vi mi ( , ) x q trong min iu
khin c
n d +
O c9
xq
nh Gi thit 2.
Trng hp thnh phn khng r ( , , ) 0
u
t A x q , tip tc vi gi thit rng t
s liu o ta c th tm c cc hm thay th c lng tnh gn ng c
n
x nh (2-77) th bng phng php lp h sai s (2-74) v s dng lut iu
khin phn hi u u = nh (2-84) dn n x, q b chn u nh phng php
phn tch s dng hm Lyapunov xc nh dng
2
1
2
V E = o hm theo
qu o ng hc (2-80) ca h sai s tha mn
1 2
V mV m s +

vi
1 2
0, 0 m m > > .
Vi thnh phn khng r ( , , )
u
t A x q tha mn gi thit nu trn, tng t
nh trnh by trong phn trc ta c th s dng thnh phn b u
A
a vo
u iu khin u u u
A
= + n nh h sai s trong :
( , )bsig( , ) u E , k
A
= I x q (2-87)
- 52 -


vi bsig( , ) E k l hm xchma lng cc nh ngha nh (2-40), 0 , > v 0 k >
l h s gc ca hm bsig( , ) E k ti 0 E = .
Khi ng hc ca h sai s s l:
( ) ( , , ) ( , ) ( , ) ( , , )
dxn u
E t u t u o | |
A
= + A + A + x q x q x q x q

(2-88)
v o hm ca hm Lyapunov theo qu o ng hc ca h sai s phn tch
c thnh:

( )
( )
1 2
1 2
1 2
1 2 E
1 2 E_max
sign( ) bsig( , )
sign( ) bsig( , )
( , , )
( , ).
dxn u
u
V EE E Eu E E u
mV m E u
mV m E E E E
mV m E E E
mV m E
mV m
o | |
|
| | , k

| , k
,
|, k
|, k
A
A
= = + A + A +
s + + A +
s + + I I
| |
= + + I
|
\ .
= + + I
s + + I


(2-89)
vi 1 0

,
> = > v
E
( , , ) E k nh ngha nh (2-61) t gi tr ln nht bng
E_max
( , ) k c th xc nh nh B 3 trang 40 hay nu tm c , > th
theo nh l 6.1 ([57]) ta c x, q b chn u v sai s do thnh phn khng r
gy nn b chn khng ph thuc vo . Nh vy trong trng hp ny kt qu
(2-89) cng c dng ging nh kt qu (2-65) trong trng hp h tuyn tnh
ha phn hi trng thi.
Tng hp li dn n pht biu tng qut ca nh l 2 nh sau:
nh l 2 : H (2-86) c x v q b chn u (uniformly bounded) bi lut iu
khin phn hi u u u
A
= + vi u v u
A
c nh ngha nh (2-84) v (2-87)
hay:
( )
1 ( )
( , ) ( , ) ( , )bsig( , )
n T
u g r f E , k

= I x q e x q x q

(2-90)
- 53 -


nu , > trong ( , ) 0 g > x q , ( , ) f x q

l cc hm lin tc b chn tha mn

( ) n T
n
r x W s e vi mi
( ) ,
n d +
eO c9
xq
x q ,
u
u eO v 0 W > cho trc.
Chng minh
Chng minh nh l 2 t cc kt qu nu trn v nh l 6.1 ([57]).
Sau y chn
2
1
1
2
( ) ( ) E V E E = = l hm lp K

th t (2-89) bin i
tng t nh trong chng minh 0 s cho kt qu:

1 1 1 2 _ max
( ) ( ) (1 )
E
V E m E mV m c c |, s + + I

vi 0 1 c < < nn suy ra o hm ca hm Lyapunov
1 1
( ) ( ) V E m E c s

khi
E R > vi
( )
2 _ max
1
2
(1 )
E
m
R
m
|,
c
+ I
=

.
Kt qu trn tng ng 0 V s

khi ( )
r
V V V R > = vi mi
( ) ,
n d +
eO c9
xq
x q nn theo nh l 6.1 ([57]), vi gi thit h con
( , ) = q x q l n nh u vo-trng thi (ISS) vi x l u vo suy ra lut iu
khin (2-90) m bo rng x v q b chn u v nh l 2 c chng minh.

Mt im cn lu l cc kt qu trn ca phng php xut pht t gi
thit ton b trng thi ca h o c. Tuy nhin cng c th p dng phng
php trong cc trng hp c bit khi mt s trng thi ca h khng o c
nh v d sau. Xt h c phng trnh ng hc v u ra:

( )
1 2
1
1
( , )
( ) ( ) ( , , )
n n
n u
x x
x x
x f g u t
y x

=
=
=
= + + A
=
q x q
x x x q

(2-91)
- 54 -


trong ( , ) = q x q l ISPS (Input-to-State Practically Stable) vi x l u vo,
( , , )
u
t A x q l thnh phn khng r c iu kin rng buc nh trong nh l 2
v ( , ) I x q khng gim dn i vi q , ngoi ra gi thit rng ch cc trng thi
x ca h l o c, cc trng thi q khng o c.
Tip tc p dng phng php trn vi gi thit t s liu o ta c th thay
th c cc hm s ( ) f x , ( ) g x tnh gn ng
n
x vi sai s ( , )
dxn
u W A s x
vi mi
n
eO c9
x
x ,
u
u eO v 0 W > cho trc. Khi vi h sai s nh
ngha nh (2-74), nu x, q o c v nu tm c , > th theo nh l 2
h (2-91) c x, q b chn u. Tuy nhin do gi thit trng thi q ca h khng
o c nn ta cn xc nh u
A
khng ph thuc vo q.
Bit rng h con phi tuyn ( , ) = q x q l ISPS vi x l u vo nn theo
iu kin cn v ca h ISPS ([51], [57]) tn ti hm xc nh dng ( ) V
q
q
:

1 2
( ) ( ) ( )
( , ) ( )
V
V
cV d

s s
c
s + +
c
q q q
q
q
q q q
x q x
q
(2-92)
vi
1 2
, , K

e
q q
v 0 c > , 0 d > .
T (2-92) nh ngha ( ) c d q q = + + x v chn (0) ( ) V q >
q
0 V q >
q
th
1 1
1 1
( ) ( ) V q

s s
q q q
q . Do vy nu chn
( )
1
1
, ( ) bsig( , ) u E , q k

A
= I
q
x v
s dng lut phn hi u u u
A
= +

th bin i nh trn cng dn n
1 2 _ max

E
V mV m |, s + + I

nn suy ra x v q b chn u.
- 55 -


2.4. Tng hp thit k b iu khin tnh n nh
Tm li, cc kt qu trnh by trong chng c th tng hp li thnh cc
bc tng hp b iu khin tnh n nh theo phng php thay th c lng
hm trng thi nh sau:
1. Biu din phng trnh ng hc v u ra ca h dng tuyn tnh ha
phn hi trng thi phng trnh (2-6) hoc tuyn tnh ha phn hi
vo-ra phng trnh (2-3). Xc nh cc thnh phn khng r v cc
gii hn.
2. Xc nh tn hiu mu cn bm, nh ngha h sai s v chn hm
Lyapunov V . S dng lut iu khin phn hi tnh theo (2-28) hoc
(2-84)
1 2
V mV m s +

. Xc nh gi tr 0 W > cn t cht lng

h vng kn tha mn yu cu thit k.
3. T cc d liu o v hiu bit v h thng tm cch xc nh cp hm
thay th f

v g ph hp sao cho sai s xp x

n
x tha mn
( ) n T
n
r x W s e vi mi x trong min ng O
x
v
u
u eO . Trng
hp iu kin sai s xp x khng tha mn th c th s dng thnh phn
b m nron trong phng php thay th c lng (chi tit trnh by
trong Chng 3) b sai s do php thay th c lng gy nn.
4. Thit k thnh phn b lin tc bsig( , ) u E , k
A
= I a thm vo u
iu khin nhm nng cao tnh bn vng ca h i vi cc thnh phn
khng r (nu c) xut hin trn u vo ca h. S dng cc cng thc
(2-51), (2-65) v B 3 (trang 40) tnh ton cc tham s thnh phn
b lin tc p ng sai lch cho php theo yu cu thit k.


- 56 -


2.5. Kt lun
Chng 2 trnh by cc c s ton hc hnh thnh phng php mi tng
hp b iu khin n nh tnh (khng thch nghi) cc h thng kh tuyn tnh
ha phn hi trng thi dng (2-6) v kh tuyn tnh ha phn hi vo-ra dng
(2-3) c cha cc thnh phn khng r b chn trong cc hm trng thi f v g
ca phng trnh ng hc.
gii quyt bi ton bm theo tn hiu mu cho trc, khng nh cc
phng php tm cch xp x gn ng cc hm trng thi f v g cha bit,
phng php mi xut xy dng trn c s gi nh rng c th tm c cp
hm f

v g thay th c lng (khng cn chnh xc) cc hm trng thi cha

bit sao cho sai s xp x
n
x tha mn iu kin sai s trong min trng thi hp
l (Chng tip theo ca lun n s gii quyt vn khi iu kin xp x khng
tha mn). Khi bng cch lp h sai s thch hp (B 1 trang 23) v s
dng lut iu khin phn hi cha cp hm thay th tm c s m bo
nghim ca h sai s c lp b chn ti hn u v do sai s bm u ra
cng nh trng thi ca h b chn (nh l 1 trang 29).
Mt khc nhm phn tch tnh bn vng ca h vng kn trong phng php
i vi thnh phn khng r b chn xut hin trn u vo ca h (nh sai s
xp x, nhiu u vo, ...), phng php ch ra rng bng cch a thm thnh
phn b lin tc da trn hm xchma lng cc (2-40) vo lut iu khin phn
hi ( tn hiu iu khin cng lin tc) c th gim tr c tc ng ca
thnh phn khng r gy nn. Vi c s ton hc c tc gi xy dng v
chng minh l B 3 (trang 40) dng xc nh chnh xc gi tr ln nht
ca hm ( , , )
E
E k (nh ngha nh (2-61)) bng phng php gii trn
MATLAB, tc gi ch ra cng thc tnh ton tc ng ny ln h sai s v t
cho php xc nh c tc ng ln sai s bm u ra (B 4 trang 42 v
nh l 2 trang 52). Cc kt qu ny c ngha quan trng trong thit k b
- 57 -


iu khin p dng trong thc t v l c s gii quyt vn b sai s khi
iu kin xp x khng c tha mn trong cc chng tip theo.
Tm li Chng 2 a ra c s ton hc v xut mt phng php mi
thit k b iu khin n nh tnh cc h thng kh tuyn tnh ha phn hi
trng thi v kh tuyn tnh ha phn hi vo-ra c cc thnh phn khng r
trong phng trnh ng hc cho lp bi ton iu khin bm tn hiu mu l
dng bi ton thng dng trong cc ng dng cng nghip. Cc bc tng
hp b iu khin n nh tnh theo phng php c trnh by trong mc 2.4.
Mc tiu ca phng php hng ti n gin ha qu trnh thit k v tm
cch trnh c nhng vn thng gp trong cc phng php hin nay cng
nh c th p dng trn cc h thng iu khin cng nghip (PLC, IPC).
Tuy nhin phng php c tnh ng dng cng nh c phn tch y
, trong chng tip theo tc gi tip tc pht trin phng php gii quyt
cc vn trong thit k lut iu khin phn hi tnh khi iu kin xp x
khng c tha mn trong min hp l ca x v u cng nh phn tch, xc
nh tham s iu khin p ng cc iu kin rng buc i vi qu o
trng thi v u vo iu khin ca h phi tuyn. tng ca phng php l
xy dng thm thnh phn b phi tuyn trong lut iu khin phn hi sao cho
vi lut iu khin phn hi mi, h sai s b chn nh trong trng hp iu
kin xp x c tha mn (hay tng ng nh khi xc nh c cc hm
thay th tha mn). thc hin tng ny phng php c xy dng theo
hng ng dng iu khin m nron do nhng u im ca h m v mng
nron trong nhn dng c tnh phi tuyn ca i tng.

- 58 -


CHNG 3
PHNG PHP THAY TH C LNG HM TRNG
THI DNG B XP X M NRON
3.1. t vn v c s l thuyt xy dng phng php
3.1.1. Gii thiu chung
Mt trong nhng vn ca phng php thay th c lng hm trng thi
l t s liu o v hiu bit v h thng phi xc nh c cc hm s c
lng thay th sao cho sai s xp x
n
x lun p ng yu cu thit k. Cc kt
qu trong nh l 1 (trang 29) v nh l 2 (trang 52) u gi thit rng c th
tm c cc hm s lin tc, b chn f

v 0 g > sao cho sai s xp x

n
x tha
mn
dxn
W A s vi eO
x
x ,
u
ueO . Tuy nhin nu iu kin xp x khng
c p ng hay ni cch khc nu khng tm c cc hm c lng thay
th tha mn yu cu th r rng khng th p dng phng php.
Ngoi ra mt vn khc cn xem xt l vic xc nh tham s iu khin
(nu tn ti) b iu khin n nh tnh p ng c cc iu kin rng
buc i vi qu o trng thi v u vo trong sut qu trnh hot ng, v d
nh cn gi x v u tng ng lun nm trong min hp l O
x
v
u
O . Vn
ny c ngha quan trng nu xt gc ng dng tr li cho cu hi l
nu ch xc nh c cc hm s thay th tha mn iu kin xp x trong mt
min no khng bao ph min hp l th c th thit k b iu khin n
nh tnh tha mn yu cu thit k hay khng.
Nh vy m rng phm vi ng dng v pht trin phng php, cc vn
trn cn c xem xt v gii quyt. y cng l mc tiu t ra trong
Chng 3 ny ca lun n.
Nh nu, do nhng u im ca h m v mng nron trong nhn dng
c tnh phi tuyn ca i tng m phng php c xy dng theo hng
ng dng iu khin m nron xy dng thnh phn b phi tuyn trong lut
- 59 -


iu khin phn hi tnh. Phn sau ca lun n s cho thy vn ny c gii
quyt nh cc b xp x vn nng (universal approximators) trong l thuyt xp
x hm s. Lu l cc nghin cu v xut trong chng ny ch yu tp
trung gii quyt tip cc vn cn tn ti ca phng php trong thit k b
iu khin n nh tnh. Vn xy dng lut iu khin phn hi ng (hay
thch nghi) s c pht trin trong chng tip theo.
3.1.2. B xp x vn nng
Sau y k hiu ( , ) F x l b xp x vi
p
e9 l vect tham s chnh nh
c v
p
F
O c9 l tp hp ca ton b cc gi tr tham s hp l ca b xp
x. Nu gi
{ }
( , ) : , 0
p
F
F p Z = eO c9 > x l lp hm cha ton b cc hm
c dng ( , ) F x ,
F
c O vi 0 p > bt k, khi khi nim xp x u hay
xp x n tr (uniformly approximation) c nh ngha nh sau:
nh ngha 1 : Hm : f D9 c th xp x u (hay xp x n tr) trn
n
D _9 bi cc hm thuc lp Z nu vi 0 c > lun tn ti ( ) F eZ x
sup ( ) ( )
D
F f c
e
<
x
x x .
Lu l nh ngha trn cho bit vic chn ( ) F x c th ph thuc vo c v
gi tr 0 p > trn l s lng tham s cn thit ca ( ) F x m bo sai s
xp x b chn hay sup ( ) ( )
D
F f c
e
<
x
x x . Ngoi ra k hiu ( ) F x rt gn ch
vect tham s xc nh v khng phi l i tng cn quan tm.
Trong l thuyt xp x hm s, b xp x vn nng c vai tr quan trng do
chng cho bit c th xp x lp hm s no vi chnh xc bt k. nh
ngha b xp x vn nng c pht biu da trn khi nim xp x u nh sau:
nh ngha 2 : Cu trc lp hm
1
Z c gi l b xp x vn nng i vi cc
hm thuc lp hm
2
Z nu mi hm
2
f eZ u c th xp x u bi
1
Z .
- 60 -


Nu k hiu ( , )
c
n D Z l tp hp ca ton b cc hm s lin tc v hng
nh ngha trn min ng
n
De9 , khi c th s dng mt trong s cc b
xp x vn nng thng dng sau ([34], [44], [57], [66], [76], [91]) xp x cc
hm lin tc:
- Cc hm nh ngha lp hm bc nhy; mng nron 2 lp vi cc nt n c
hm kch hot theo ngng hoc hm kch hot xchma | | : 0,1 9 v nt
u ra tuyn tnh u l cc b xp x vn nng cc hm lin tc v hng
(1, )
c
f D eZ , | | , D a b = c9.
- Cc a thc nh ngha lp hm
0 1
0
( ) : , , , , 0
p
i
p i p
i
g x a x a a a p
=

Z = = e9 >
`
)

vi : g D9, D _9
(nh l Weiertrass); cc hm nh ngha lp hm
1
( ) cos( ) : , ,
m
T n
a i i i i i i
i
g a c a c
=

Z = = + e9 e9
`
)

x b x b ; h m vi hm lin
thuc Gauss, phng php gii m im trng tm COG; mng nron 2 lp
vi cc nt n c hm kch hot xchma v nt u ra tuyn tnh u l cc
b xp x vn nng cc hm lin tc v hng ( , )
c
f n D eZ ,
n
Dc9 .
Vic chng minh cu trc ca mt lp hm l b xp x vn nng i vi cc
hm thuc lp hm khc thng thng theo nh ngha, tuy nhin c mt cng
c chng minh hu hiu l s dng kt qu ca nh l Stone-Weierstrass c
th tham kho trong cc ti liu [43], [57], [66], [74].
3.1.3. C s ton hc xy dng cc b xp x dng h m v mng nron
Nh trnh by, cc b xp x vn nng vi s lng tham s chn ln
c th xp x bt k hm lin tc no vi chnh xc ty trn tp compac
(compact set), ngoi ra do kh nng chnh nh trc tuyn (on-line) m chng
cn c dng trong cc b iu khin thch nghi. Cc nghin cu dng b xp
x lm b iu khin thch nghi ch yu theo hng dng h m ([52], [57],
- 61 -


[73], [98], [104]), dng mng nron ([54], [57], [91], [92], [104], [108]) hoc
kt hp dng h m v mng nron ([44], [55], [66], [86]).
Mc d v l thuyt c th s dng bt k b xp x no tha mn yu cu
trong phng php v d nh cc b xp x m vi hm lin thuc Gauss,
phng php gii m COG; mng nron 2 lp vi cc nt n c hm kch hot
xchma v nt u ra tuyn tnh hoc mng thch nghi ANFIS. Tuy nhin khng
d dng ch ra cu trc b xp x ti u trong tng trng hp do ph thuc vo
s liu o c c, c tnh phi tuyn ca i tng v cc iu kin gii hn.
Thng thng vic thit k b xp x vn nng c kch c cu trc nh nht
tha mn yu cu v sai s xp x cng cn nhiu thi gian th v kim
nghim do vi cu trc b xp x vn nng cho trc ch m bo rng sai s
xp x b chn bi 0
F
W > cn khng th xc nh c gi tr
F
W ny nh
chng no. Tuy nhin c iu chc chn rng cn phi tng kch c cu trc ca
b xp x v la chn tham s iu chnh cho ph hp t c sai s xp x
nh ty .
Ngoi ra nhng vn v nghin cu la chn gia b xp x tuyn tnh hay
phi tuyn i vi tham s c cng kch c cu trc (hay s lng tham s), vn
v phng php chnh nh tham s trong b xp x phi tuyn hay xc nh
cu trc b xp x tt nht u l nhng ch ang c nghin cu ([57]) v
nm ngoi phm vi nghin cu ca lun n ny. Tuy nhin do nhng u im
ca h m v mng nron trong x l phi tuyn v chnh nh tham s trc
tuyn m lun n ch xem xt cc b xp x c xy dng da trn h m v
mng nron. Phn sau s cho thy cc b xp x m nron c th dng trong c
b iu khin n nh tnh v b iu khin n nh ng (thch nghi) v l c
s gii quyt vn iu khin n nh trong phng php xut. Di
y trnh by biu din ton hc mt s cu trc h m v mng nron c
dng lm cc b xp x vn nng cng nh mt s vn v s dng v ti u
ha cc b xp x m nron.
- 62 -


Biu din ton hc b xp x m
Xt h m MISO l nh x phi tuyn t vect u vo | |
1
, ,
T
n
n
x x = e9 x
ti u ra ye9 (Hnh 6). Trong l thuyt logic m v tp m ([34], [47], [86]),
php m ha cc u vo s dng ton t m ha c chc nng chuyn cc d
liu r thnh cc tp m v c s lut m vi gi thit gm p lut m c
biu din di dng tp hp ca cc m t m (fuzzy implications) sau:
i
R : (
1
1
i
j
A V
2
2
i
j
A V ... V
ni
n
j
A )
ki
B
(3-1)
vi 1.. i p = . K hiu A B ch m t m hay pht biu iu kin NU A TH
B v ,
i
j k
A B l cc tp m c nh ngha nh sau:

( ) { }
, ( ) :
, ( ) :
i
j
k
i
j i i i
A
k B
A x x x
B y y y

| |
= e9
` |
\ . )
= e9

vi | |
, 0,1
i
k
j
B
A
e tng ng l cc hm lin thuc th j v th k ca u
vo
i
x v u ra y .
Vn cn bn ca h m nm trong c ch suy din m (fuzzy inference)
v phng php gii m (defuzzification) dng tnh ton u ra r ca h m
khi u vo r cho trc trn c s lut m bit. C ch suy din m ny
c xy dng trn lut hp thnh ca suy din. tnh v u trong (3-1) ta c
th s dng bt k t-norm ([86]) no nh t-norm nh nht
( , ) min{ , }
MIN
T a b a b = , tch i s ( , )
PAND
T a b ab = , hm Lukasiewicz
( , ) max{ 1, 0}
LAND
T a b a b = + , ... Trng hp s dng t-norm nh nht
MIN
T
khi m t m (3-1) c th vit di dng tch cc
( )
1 2
1 2
i i ni
n
j j j ki
A A A B v v u ca (3-1) c tnh nh sau:

1 2 1 2
1 2 1 2
1 2
( ) min ( ), ( ), , ( )
n n
j j j j j j
i i ni i i ni
n
A A A A A A
x x x


=
`
)
x

.
- 63 -











Hnh 6 : H m MISO
tnh m t m ca mi lut hay u ra ca mi lut c th dng cc ton
t m t m (t-norm hoc t-conorm) ([86]). Mt s ton t m t m thng
dng gm Zadeh max{1 , min{ , }} x y x x y = , Lukasiewicz
min{1, 1 } x y x y = + , Mamdani min{ , } x y x y = v Larsen x y xy =
([28], [76], [86]). Trng hp s dng ton t m t m Mamdani th u ra ca
lut th i (
i
R ), k hiu l
( ) { }
, ( , ) : ,
i
n
i C
C y y y = e9 e9 x x c xc nh
nh sau:

1 2 1 2
1 2 1 2
( , ) ( , ) min ( ), ( )
n n
i ki
ki
j j j j j j
i i ni i i ni
C B
A A A B A A A
y y y


= =
`
)
x x x


Cui cng tnh u ra ca h m ta c th s dng mt phng php gii
m nh gii m im trng tm COG (Center Of Gravity) sau:

1
1
( , )
( , )
( , )
i
i
p
i C
i
z
p
C
i
z
c z dz
y F
z dz

=
=
= =

}

}
x
x
x
(3-2)
x
1
x
2
x
n
y

u vo r
(crisp inputs)
u ra r
(crisp output)
C s lut m
(Fuzzy Rule-Base)
u vo
m ha
Kt lun
m
.

.

.

C ch suy din m
(Fuzzy Inference
Mechanism)
G
i

i

m

(
D
e
f
u
z
z
i
f
i
c
a
t
i
o
n
)

M

a

(
F
u
z
z
i
f
i
c
a
t
i
o
n
)

- 64 -


vi
i
c l trng tm ca ( )
ki
B
y i vi lut th i . Thng thng ta chn
( )
ki
B
y i xng qua trc thng ng qua nh
i
c l im gia ca ( )
ki
B
y
. Phng trnh (3-2) chnh l m hnh ca h m Mamdani vi phng php
gii m COG v c dng lm b xp x m ( , ) F x vi
1
, ,
T
p
c c ( =

.
Biu din ton hc b xp x nron
Xt mng nron nhn to truyn thng 1 p > lp vi u ra c hm kch hot
tuyn tnh trong 0,1.. 1, p p ln lt ch s th t t lp u vo, (cc) lp
n (khi 2 p > ) n lp u ra. Nu k hiu:
i
x ,
j
y : tng ng l cc u vo v u ra ca mng vi 1.. i n = , 1.. j m = ;
i
L : l s lng nron trong lp n th i (khi 2 p > ) vi 1.. 1 i p = ;
i
jk
w : l trng s t nt mng th k trong lp 1 i ti nt mng th j
trong lp i vi 1.. i p = ,
1.. 1
1..
i
L i p
j
m i p
s <

=

=

,
1.. 1
1.. 1
i
n i
k
L i p
=

=

< s

;
i
j
u : l gi tr ngng ca nt mng th j trong lp i vi 1.. i p = ,
1.. 1
1..
i
L i p
j
m i p
s <

=

=

;
i
j
o : l hm kch hot nt mng th j trong lp n i vi 1.. 1 i p = ,
1..
i
j L = ;
th u ra ca nron th j trong lp n i (khi 2 p > ), k hiu l
, i j
o vi
1.. 1 i p = , 1..
i
j L = v u ra ca mng
r
y vi 1.. r m = l:
- 65 -



1
1 1 1
1
1
1
1
1 1
i
n
j jk k j
k
i
j
L
i i i i
j jk k j
k
w x i
o
w o i p
o u
o u

| |
+ =
|
\ .

=

| |

+ < s
|
|
\ .

,
1
1 1
1
1
1
1
2
p
n
rs s r
s
r
L
p p p
rs s r
s
w x p
y
w o p
u
u

+ =

+ >

Hnh 7 : Mng nron 2 lp
Hnh 7 biu din mng nron truyn thng 2 lp ( 2 p = ) c n u vo, m
u ra tuyn tnh v L nt n. M hnh ca mng c vit nh sau:

2 1 1 2
1 1
L n
i ij j jk k j i
j k
y w w x o u u
= =
| |
= + +
|
\ .

(3-3)
vi 1.. i m = . Trng hp mng ch c mt u ra ( 1 m = ) vi hm kch hot
xchma
2
1
sig( )
1
x
x
e

=
+
trong lp n th c th dng mng lm b xp x vn
nng cc hm lin tc v hng ( ) :
n
f 9 9 x hay:
i
o : Hm kch hot nt mng
th i trong lp n 1
1
1
u

2
1
u

2
m
u
1
L
u

2
11
w

2
1L
w

2
1 m
w

2
mL
w

1
11
w

1
12
w

1
1n
w

1
1 L
w

1
2 L
w

1
Ln
w

L nt n n u vo
x
n

x
1
x
2
1
1
2
n
L
y
1
1
y
m
m
m u ra
Lp u vo
(Lp 0)
Lp n
(Lp 1)
Lp u ra
(Lp 2)
- 66 -



2 1 1 2
1 1 1
1 1
( , ) sig
L n
j jk k j
j k
F y w w x u u
= =
| |
= = + +
|
\ .

x (3-4)
B xp x m nron
C nhiu kt qu nghin cu nhm kt hp c cc u im ca h m v
mng nron trong xy dng cu trc b xp x ([86]). Mt trong nhng kt qu
nghin cu kh quan l h suy din m da trn mng thch nghi ANFIS
(Adaptive-Network-based Fuzzy Inference System) do Jang xut ([64], [65],
[66], [86]). y l mt cu trc mng nron lai da trn m hnh h m Takagi-
Sugeno c lut m c cho di dng m t m sau:
i
R :
( )
1 2
1 2
( )
i i ni
n
j j j i
A A A g x

Mng ANFIS s dng hm tuyn tnh
1
( )
n
i ij j
j
g a x
=
=

x , hm lin thuc u
vo hnh chung v c chng minh l mt b xp x vn nng cc hm phi
tuyn.
Biu din ton hc cc b xp x tuyn tnh v phi tuyn i vi tham s
Cc b xp x (m nron) c th biu din di dng tuyn tnh hoc phi
tuyn i vi tham s. B xp x c gi l tuyn tnh i vi tham s nu
biu din c di dng:
( , ) ( )
T
F = x x hay
( , )
( )
T
F c
=
c
x
x

(3-5)
trong ( ) x l vct hm ca x v l vct tham s u vo biu din
tuyn tnh trong hm s ca b xp x. V d b xp x m nron tuyn tnh i
vi tham s nh h m theo cng thc (3-2) v mng nron RBN (Radial Basis
NN). Trng hp b xp x dng h m theo (3-2) nu
1
, ,
T
p
c c ( =

th
- 67 -


1
( , )
( ) ( ), , ( )
T
p
F

c
( = =

c
x
x x x

vi
1
( , )
( )
( , )
i
i
C
z
i
p
C
i
z
z dz
z dz

=
=
}

}
x
x
x
nn c th
biu din ( , ) ( )
T
F = x x l dng tuyn tnh i vi tham s.
Trng hp
( , )
( , )
T
F c
=
c
x
x

hay ( , ) x c cha vct tham s nh

trng hp b xp x da trn mng nron a lp biu din trong (3-4), b xp
x c gi l phi tuyn i vi tham s do ( , ) F x l hm phi tuyn ca tham
s :
( , ) ( , )
T
F = x x . (3-6)
Tuyn tnh ha cc b xp x
Cc b xp x phi tuyn i vi tham s thng n gin hn (v kch c v
s lng tham s) so vi cc b xp x tuyn tnh t c chnh xc xp
x tng ng nhau. i vi lut iu khin phn hi tnh trong phng php
thay th c lng hm trng thi, vn s dng b xp x tuyn tnh hay phi
tuyn i vi tham s khng c t ra do ch cn b xp x m bo sai s
cn thit trong min hp l. Tuy nhin chnh nh tham s ca b xp x
trong lut iu khin phn hi ng, vic s dng b xp x tuyn tnh hay phi
tuyn i vi tham s c ngha quan trng. Mc d cc kt qu nghin cu
ca lun n trong chng sau cho php p dng mt trong hai dng b xp x,
tuy nhin cng c th tuyn tnh ha b xp x phi tuyn i vi tham s ty
theo mi ng dng.
Vn tuyn tnh ha b xp x c trnh by trong [57]. Kt qu ny cho
bit nu b xp x l lin tc Lipschitz i vi tham s chnh nh (khng k l
biu din c dng tuyn tnh hay phi tuyn) th u c th vit nh sau:

* *
( , )
( , ) ( , ) ( , ) ( , , )
F
F
F F o
c
A = = +
c

x
x x x x

(3-7)
- 68 -


trong l tham s hin thi,
*
arg min sup ( , ) ( ) F f
eO
eO
| |
=
|
|
\ .

x
x x l tham s
ti u,
*
=

,
*
( , , ) ( ) o o =

x vi
0
( )
lim 0
o

. Ngoi ra
*
( , , ) o x b chn bi
2
*
( , , ) L o s

x vi L l hng s Lipschitz, do vy
nu tm c lut chnh nh gim c
2

th c xu hng tin v
*
v ( , ) F x s tin n
*
( , ) F x . Nh vy nu
2

b chn th sai s xp x
cng b chn. y chnh l c s xy dng lut chnh nh tham s trong
chng tip theo.
Ti u ha cc b xp x m nron
Vn ti u ha cc b xp x m nron ni chung l tm cch ti thiu
ha hm gi tr (cost function)
2
( ) sup ( ) ( , ) J f F
eO
=
x
x
x x vi
p
eO _9

l
vct ca p tham s chnh nh c ca h m hoc mng nron hay cn tm
tham s chnh nh ti u
*
eO

t s liu o
*
arg min ( ) J
eO
=

.
Nh vy sai s xp x nh theo yu cu, s liu o phi ln v bao ph
c ton b min hp l O
x
. Tuy nhin trong thc t a phn khng th la
chn c cch phn b s liu o trong O
x
cng nh khng th thay i s
liu o ci thin chnh xc m ch c th s dng trc tip s lng hu
hn cc s liu o c c. y thc s l vn phc tp v trong nhiu
trng hp phng php ti u ha khng m bo p ng c yu cu v
sai s xp x. Thng thng tm vct tham s chnh nh ti u
*
eO

t
cc s liu o c c c th p dng thut ton bnh phng nh nht (Least
Squares) tuyn tnh (batch, recursive) hoc phi tuyn (gradient, conjugate
gradient, line search, Levenberg-Marquardt) c trnh by trong cc ti liu
[57], [58], [66], [68], [76], [86], [91].
- 69 -


3.2. Thay th c lng hm trng thi
3.2.1. C s ton hc ca phng php
Trng hp h kh tuyn tnh ha phn hi trng thi
Trc tin xt trng hp h kh tuyn tnh ha phn hi trng thi. Khi
phng php thay th c lng hm trng thi trong lun n s dng b xp x
vn nng thay th thnh phn cha bit trong phng trnh trng thi ca h
phi tuyn sao cho sai s xp x
n
x ca h tha mn yu cu
dxn
W A s trong
min hp l ca eO
x
x ,
u
ueO v vi 0 W > cho trc E b chn theo
(2-26) hay
( )
0
max , E E E

s vi
0
(0) E E = v
W
E
q

= .
Xut pht t thc t trong nhiu trng hp dng ca ( ) f x , ( ) g x bit (v
d nh
1 2
( ) ( ) ( ) f f f = + x x x ,
1
( ) ( ) g cg = x x vi
1
( ) f x ,
1
( ) g x l cc hm lin
tc bit;
2
( ) f x v c l hm s v hng s cha bit) hoc c th c lng
c nn phng php xy dng theo hng thay th ( ) f x , ( ) g x tng ng
bi cc hm lin tc ( ) f x

v ( ) 0 g > x b chn bit v tm cch b sai lch

do php thay th gy nn kt qu cui cng sai s E b chn theo (2-26).
Gi s php thay th trn dn n iu kin xp x khng tha mn hay:
( ) ( , ) ( ) ( ) ( ) ( )
dxn
u f f g g u W A = + s x x x x x

(3-8)
vi W W >

trong min eO
x
x ,
u
ueO v u l lut iu khin phn hi theo
(2-28). Khi nh phn tch trong mc 2.2.2 trang 31, nu ta xc nh c
hm
1
( , ) :
n
u
+ +
9 9 x tha mn iu kin ( , )
dxn
u A s u x vi eO
x
x ,
u
ueO th c th b c nh hng ca sai s xp x
dxn
A bng cch s dng
lut iu khin phn hi
c
u u u = + theo (2-39) hoc (2-42) E b chn theo
(2-26).
- 70 -


iu ny cng c ngha l nu xp x c
dxn
A trong min hp l ca x v
u bi b xp x vn nng
1
( , , ) :
n p
F u
+
A
9 9 9 x vi
p
e9 l vct tham
s chnh nh c ca b xp x v tm c vct tham s

tha mn:
( , , ) ( , )
dxn
F u u W
A A
A s x x

(3-9)
vi 0 W
A
> th vn sai s xp x
n
x nu trn cng s c gii quyt bng
cch thay th ( , ) u x bng ( , , ) F u
A
x

trong lut iu khin phn hi (2-39)

hoc (2-42) hay vi thnh phn b:

( , , )
sign( )
( )
c
F u
u E
g
A
=
x
x

hoc
( , , )
bsig( , )
( )
c
F u
u E
g
k
A
=
x
x

(3-10)
c th gim tr c nh hng ca sai s trong php thay th nh phn tch
trong Chng 2.
Nh vy vn xp x
n
x vi sai s W li tr thnh vn xp x
dxn
A vi
sai s W
A
trong phng php. Do
n
x c th tnh c t cc s liu o nn vi
gi thit s liu o y ,
dxn
A theo cng thc (3-8) lun xp x c bi b
xp x vn nng ( , , ) F u
A
x cc hm lin tc v hng thuc lp hm
,
( 1, )
c u
n Z + O
x
trong min ng
1
,
n
u
+
O c9
x
vi sai s bt k. Lu l
dxn
A
cn c th vit nh sau:
( , ) ( ) ( )
dxn n
u f g u x A = + x x x

(3-11)
Tuy nhin do ( , , ) F u
A
x

khng lin tc nn vi thnh phn b (3-10), tn

hiu iu khin cng khng lin tc. gii quyt vn ny tc gi xut s
dng thnh phn b lin tc c dng:

( )
( , , )
bsig , ( , , )
( )
c
F u
u EF u
g
k

A
A
=
x
x
x

(3-12)
vi 0 1 < s , 0 k > v u nh ngha nh (2-28) khi tn hiu iu khin phn
hi c tnh nh sau:
- 71 -



( )
1 ( )
1
( ) ( ) ( , , ) bsig , ( , , )
c
n T
u u u
g r f F u EF u k

A A
= +
| |
=
|
\ .
x e x x x

(3-13)
Pht biu ca nh l 3 di y gii quyt vn cn tn ti ca phng
php trong trng hp ( ) 0 g > x v ( ) f x

thay th khng tha mn iu kin

(2-34) v c gi l nh l 1 m rng trong trng hp iu kin (2-34)
khng c p ng.
nh l 3 : (nh l 1 m rng) iu kin phng trnh ng hc h sai s
(2-20) vi lut iu khin phn hi tnh (3-13) c nghim b chn ti hn u
theo (2-26) l b xp x vn nng
1
( , , ) :
n p
F u
+
A
9 9 9 x

xp x (3-11) vi
sai s W
A
b chn bi:
2
_ max
2
0 ( , )
E
W W
q
k

A
< s
(3-14)
trong min hp l ca eO
x
x v
u
ueO , trong
_ max
( , )
E
k tnh theo
cng thc (2-63) v W l sai s thit k theo (2-34).
Chng minh
chng minh nh l 3 ta cn ch ra rng bng lut iu khin phn hi
(3-13) cha i lng b (3-12) th o hm ca hm Lyapunov cng tha mn
(2-23).
K hiu ( , , ) F F u
A A
= x v ( , , ) F F u
A A
= x

th t phng trnh ng hc
ca h sai s ( ) ( , )
c dxn
E E g u u q = + A x x

suy ra:

( )
2
2
2
( ) ( , )
1
bsig( , )
1
sign( ) bsig( , )
c dxn
dxn
dxn
V E Eg u E u
E EF EF E
E E F E EF
q
q k

q k

A A
A A
= + A
s + A
s + A
x x

- 72 -


Do sign( )sign( ) sign( ) E F EF
A A
=

v
dxn dxn
F F W
A A A
A s A s

hay
dxn
F W
A A
A s +

nn:

( )
( )
( )
2
2
2
2
2
_ max
1
sign( )sign( ) bsig( , )
1
sign( ) bsig( , )
1 1
( , )
2 2
1
( , )
2
E
E
V E E W E F E F EF
E E W EF EF EF
W
V W E EF
W
V
q k

q k

q q k
q q
q k
q
A A A A
A A A A
A
A A
A
s + +
= + +
= + +
s + +

(3-15)
vi ( , , )
E
E k c nh ngha nh (2-61) v
_ max
( , , ) ( , )
E E
E k k s vi
mi tha mn 0 1 < s , 0 k > v Ee9 theo B 3 trang 40.
R rng
( )
0
max , E E E

s nh (2-26), cn c
2
2
W
V V q
q
s +

nh
(2-23) nn t (3-15) suy ra sai s ca b xp x vn nng
dxn
F W
A A
A s cng
nh k phi p ng iu kin:

2
_ max
2
0 ( , )
E
W W
q
k

A
< s ,
2
_ max
( , )
2
E
W
k
q
<
nn nh l 3 c chng minh.
Lu trng hp 1 = , ta c
_ max
1.2785 0.5569
(1, ) (1, , )
E E
k k
k k
= ~
nn iu kin trn tr thnh:

2
1.1138
0 W W
q
k
A
< s ,
2
1.1138
W
q
k >

- 73 -


Trng hp h kh tuyn tnh ha phn hi vo-ra
Tng t nh trn, xt trng hp h l kh tuyn tnh ha phn hi vo-ra
dng (2-4) c h con phi tuyn l ISS v tha mn Gi thit 2. Nu ( , ) f x q

,
( , ) 0 g > x q l cc hm s thay th lin tc b chn cho trc khng tha mn
iu kin (2-85) nhng tha mn:
( ) ( , , ) ( , ) ( , ) ( , ) ( , )
dxn
u f f g g u W A = + s x q x q x q x q x q


vi W W >

trong min
,
( , )
n d +
eO c9
x q
x q ,
u
ueO v u l lut iu khin
phn hi theo (2-84) th c th s dng thnh phn b:

( )
( , , , )
bsig , ( , , , )
( , )
c
F u
u EF u
g
k

A
A
=
x q
x q
x q

(3-16)
vi 0 1 < s , 0 k > vi lut iu khin phn hi tnh
c
u u u = + hay:

( )
( )
1
( , ) ( , , , ) bsig , ( , , , )
( , )
c
n T
u u u
r f F u EF u
g
k

A A
= +

=
e x q x q x q
x q

(3-17)
ta c x , q b chn u theo nh l 6.1 ([57]) tng t nh trnh by trn.
Lu l trong trng hp ny ( , , )
dxn
u A x q c xp x bi b xp x vn
nng
1
( , , , ) :
n d p
F u
+ +
A
9 9 9 x q cc hm lin tc v hng thuc lp hm
, ,
( 1, )
c u
n d Z + + O
x q
trong min ng
1
, ,
n d
u
+ +
O e9
x q
vi
p
e9 l vct
tham s chnh nh c v

l vct tham s cn tm tha mn:

( , , , ) ( , , )
dxn
F u u W
A A
A s x q x q

(3-18)
vi W
A
l sai s cn t tha mn (3-14).
- 74 -


3.2.2. Xc nh tham s b iu khin
Cc kt qu trong phn trc cp n vic chn tham s iu khin
trong mt s trng hp tuy nhin t trc n gi ta lun gi thit rng t cc
s liu o v d liu bit v h thng thit k c b xp x m bo
sai s xp x theo yu cu trong min hp l ca
n
eO c9
x
x v
u
ueO . Tuy
nhin trong thc t min hp l O
x
,
u
O y thc cht l min m b xp x
tm c phi m bo c sai s xp x theo yu cu v do vy cn thit k
b iu khin sao cho x v u khng vt ra ngoi O
x
v
u
O .
Nhm xc nh tham s iu khin v cc iu kin cn trong phng php
m bo cc yu cu b chn trong min hp l ca khng gian trng thi v tn
hiu iu khin, sau y trnh by phng php tnh ton. n gin cc
phng php ch phn tch p dng cho trng hp h kh tuyn tnh ha phn
hi trng thi. Trng hp h kh tuyn tnh ha phn hi vo-ra c th p dng
cc bc tnh ton tng t.
Xc nh tham s iu khin qu o trng thi b chn
Gi thit rng bng phng php thay th c lng nh trn, lut iu
khin phn hi (2-28) m bo sai s
dxn
W A s ch trong min eO
x
x ,
u
ueO
v
{ }
: , 0
n
M M
x x O = e9 s >
x
x x l siu cu cha gc ta . Bi ton t ra
l cn xc nh tham s iu khin | |
1 1 2 1
, , ,
T
n
k k k k q q q

= + + v cc iu
kin gii hn khc qu o trng thi ca h lun nm trong O
x
hay
M
x s x
, 0
M
x > cho trc vi mi 0 t > . Khi cn xc nh c
E
O sao cho khi
E
EeO th eO
x
x .
nh l 1 (trang 29) cho bit nu iu kin sai s c m bo trong min
hp l ca eO
x
x ,
u
ueO th h sai s c nghim b chn bi (2-26). Nh vy
nu nh ngha ( ) { }
0
: max ,
E
E E E E

O = e9 s th
E
O chnh l min cha
- 75 -


ton b qu o ca h sai s E hay
E
EeO vi 0 t > . Do E lun nm trong
E
O nn khng cn thit phi c 0 V s

khi E khng nm trong

E
O hay khi
E
Ee9O .
Mt khc do h sai s c lp tha mn Gi thit 1 (B 1 trang 23) nn
t kt qu chng minh trong mc 5.2 trang 136 phn Ph lc, suy ra x b chn
bi:

1
1
1 ( , )
E
n
M i
i
r E k t E

=
| |
s + + +
|
\ .

d
x
vi
2 2
( )
1 1
0
( , ) e (0) e ( )
E
t
-p t -p t
E
t E p p E d
t
t t

= +
} d
d v
1
p ,
2
p c chn
tha mn
2
1
e e
t -p t
p s
k
A
.
Nu chn
0
0 E = th t (2-26) suy ra E E

s v:

( )
2 2
( )
1 1
1
2 2
0
1
1
2 1
( , ) e 1
1
E
t
-p t p t
n
M i
i
p W p W
t E p E d e
p p
W p W
r k
p
t
t
q q
q q

=
s = s
| |
s + + +
|
\ .
}

d
x

Do vy
M
x s x cn thit chn cc tham s iu khin tha mn:

1
2 1
1
2
1
( )
n
i
i
M M
p p k
W
p x r
q

=
| |
+ +
|
\ .
>

(3-19)
Xc nh tham s iu khin tn hiu u vo iu khin b chn
Sau y xt bi ton iu khin vi iu kin u vo (3-13) cn gi trong
min
{ }
:
u M
u u u O = e9 s , 0
M
u > hay
M
u u s cn m bo vi 0 t > .
Ngoi ra cng gi thit rng 0 ( )
L
g g < s x .
- 76 -


Da theo phng php tnh ton trnh by trong [48] p dng trong trng
hp ny, b sau cho bit iu kin v cng l cch xc nh tham s iu
khin trong phng php thay th c lng hm trng thi lut iu khin
phn hi trong nh l 3 b chn.
B 5 : (Tnh b chn ca lut iu khin) Lut iu khin phn hi (3-13)
m bo
u
ueO vi
{ }
:
u M
u u u O = e9 s nu
M
L
W W
u
g
A
+
>

v iu kin
(3-22) c tha mn.
Chng minh
Nu ( ) f x

, ( ) g x l cc hm lin tc Lipschitz cc b th c th xc nh
c cc hng s
f
K ,
g
K :

( ) ( )
( ) ( )
f
g
f f K
g g K
s
s
x x x x
x x x x




vi , eO
x
x x . Mt khc t (3-13) v do = + x e r nn c th phn tch:

( )
( )
( )
1
( ) ( , , ) bsig , ( , , )
( )
( ) ( ) ( ) bsig( , ) ( )
( ) ( ) ( )
n T
n T
r f F u EF u
u
g
r f f f F EF g
g g g
k

A A
A A

=
+ +
=
+
e x x x
x
e e r r r r
r r e r

Vi gi thit 0 ( )
L
g g < s x tip tc bin i c nh sau:
- 77 -



( )
( )
( )
( )
( ) ( ) ( ) bsig( , )
( ) ( ) ( ) ( )
( ) ( )
1
( )
( )
1
( ) ( ) ( ) ( ) ( )
( )
( )
n T
n
f g
n
f
L L
r f f f F EF
u
g g g g
g g
g
F K K
r f
g g g g g
r f W W
K
g g g
k

A A
A
A
| |
+
s + + + |
|
\ .
+

+
| |
| |

s + + + + |
|
|
+
\ .
\ .
+
s + + +
r r e r e
r r r r
e r r
e r
e e
e
r
r r r r e r
e
r

1
g
L
K
g
| |
| |
+ |
|
|
\ .
\ .
e

do
dxn dxn
F F W F W W
A A A A A
A s A s s +

v W W >

l sai s xp x
thc
n
x do php thay th gy nn theo (3-8).
Nh vy
M
u u s cn thit:

( )
( )
( )
( )
1
n
M
f
L L
g
L
r f u W W
K u
g g g
K
g

A
+
s + =
+
e
r

e
r

(3-20)
T (2-26) ta c
( )
0
max ,
T
E E E

= s k e nn
( )
0
( ) max ,
M
t K E E e

s = e , 0
M
e > . Khi nh ngha:

( )
1
M M
f
M
L L
g
L
u e W W
M K
e
g g
K
g

A
+
= +
+


(3-21)
th M u s v nu 0 M > th iu kin (3-20) lun tha mn. 0 M > cn c:

( )
( )
2
1
0
M M
M g f
L L L
M M
g f f g M
L L L L
e e W W
u K K
g g g
e W W e W W
K K K K u
g g g g

A
A A
| || | +
> + + +
| |
\ .\ .
| | | | + +
+ + + + + <
| |
\ . \ .

- 78 -


l dng bt phng trnh bc hai
2
0 Az Bz C + + < vi
( )
0
g f
A K K = + > ,
0
f g
L
W W
B K K
g
A
+
= + + >

,
M
L
W W
C u
g
A
+
=

v 0
M
L
e
z
g
= > . Gi
1 2
z z < l
hai nghim ca a thc bc hai nu trn th bt phng trnh c nghim
1 2
z z z < < .
Do nu 0 C > th a thc bc hai trn c hai nghim thc khng dng nn
cn thit 0 C < hay
M
L
W W
u
g
A
+
>

a thc c mt nghim dng. Khi :

( )
2
0 2
4
0 max ,
2
L
K B B AC
z E E z
g A

+
< = < =
v nh vy 0 M > cn chn:

( )
2
0
4
max ,
2
L
B B AC g
E E
A K

+
< v
( )
( )
( )
n
r f
M
g

s
r
r

(3-22)
tn hiu iu khin lun nm trong
u
O hay
M
u u s .
Kt qu trn chng minh cho pht biu ca B 5. Lu l B 5 khng
ch cho php tnh ton tham s ca b iu khin (nu tn ti) tn hiu iu
khin b chn trong
u
O m cn l c s kt lun c th iu khin bm theo
tn hiu mu cho trc vi sai s thit k v cc iu kin ban u c chn
ca h sai s hay khng.

- 79 -


3.2.3. M phng iu khin tay rbt
minh ha sau y l mt v d p dng phng php trong iu khin tay
rbt theo qu o nh trc. n gin, xt m hnh n thanh ni (flexible
single-link) c phng trnh ng lc hc nh sau ([50]):

1 1 1 2
2 1 2
sin ( ) 0
( )
Iq MgL q k q q
Jq k q q u
+ + =
=

(3-23)
vi
1
q ,
2
q tng ng l v tr gc quay ca thanh ni v trc ng c; I , J l
mmen qun tnh ca thanh ni v trc ng c; k l h s n hi; g l gia tc
trng trng; M l khi lng thanh ni; L l khong cch t trc ti trng
tm ca thanh ni v u l lc quay u vo ca motor. Cc s liu cho trc
gm:
2
0.04Nms /rad I J = = , 0.8Nm/rad k = , 0.1m L = , 6kg M = ,
2
9.8m/s g =
. Bi ton t ra l cn iu khin v tr gc quay
1
q hay
1
y q = theo qu o r
nh trc.
Phng trnh ng lc hc (3-23) v u ra c th chuyn v dng tuyn tnh
ha phn hi trng thi sau (xem chi tit trong mc 5.4 trang 143 phn Ph lc):

( )
( )
1 2
2 3
3 4
2
4 2 1 1 3
1
sin cos
x x
x x
x x
x a x c x a x b c x bdu
y x
=
=
=
= + + +
=

(3-24)
vi
MgL
a
I
= ,
k
b
I
= ,
k
c
J
= ,
1
d
J
= chnh l dng quen thuc (2-6) vi
( )
( )
2
2 1 1 3
( ) sin cos f a x c x a x b c x = + + x v ( ) g bd = x .
Sau y gi thit rng cc trng thi ca h (3-24) o c, trong khi ( ) f x ,
( ) g x cha bit y . Ta cn iu khin v tr gc quay ca thanh ni theo qu
o nh trc ( ) sin(0.5 ) cos(0.1 )
3
r t t t
t
= vi trng thi ban u (0) = x 0.
- 80 -


m phng phng php xut, sau y thay th cc hm trng thi cha
bit bng cc hm s
2 2 1 2 2 2 3
( ) sin ( ) f a c x a b c x = + x

v
2 2
( ) g b d = x vi
2
a a = ,
2
0.9 b b = ,
2
1.1 c c = ,
2
1.3 d d = . Php thay th trn dn n sai s ln
trong iu khin bm theo tn hiu mu nh kt qu m phng trn Hnh 8. Cc
th trn Hnh 8 ny, theo th t biu din th theo thi gian sai lch ca
php thay th ( ) ( )
f
f f A = x x

, ( ) ( )
g
g g A = x x ; tn hiu u vo iu khin
u (khi khng c thnh phn b); tn hiu mu ( ) r t v p ng u ra.
thit k thnh phn b trong phng php, m phng s dng b xp x
m nron ANFIS vi 5 u vo (bao gm vct trng thi x v u vo iu
khin u). Nh vy cng vi gi thit s liu o l y , b xp x m nron
ANFIS lun xp x c
dxn
A vi sai s nh ty . Tuy nhin kch c b xp
x khng qu ln v tc m phng nhanh hn, ta c th chp nhn sai s xp
x ln hn bng cch mi u vo ANFIS ch s dng 2 hm lin thuc dng
hnh chung (hm gbellmf trong MATLAB V6.5) xp x ( , )
dxn
u A x v s
chn cc tham s k v cht lng iu khin p ng c yu cu thit
k.
Hnh 9 v Hnh 10 tng ng biu din kt qu m phng iu khin khi s
dng thnh phn b l b xp x m nron ANFIS luyn nu trn trong lut
iu khin phn hi tnh (3-13) vi 1 k = , 1.0 = v 1 k = , 0.8 = . Tng t
nh trng hp m phng khng c thnh phn b, cc th trong Hnh 9 v
Hnh 10 theo th t biu din th thi gian ca sai lch do php thay th gy
ra; tn hiu u vo iu khin
c
u u u = + c cha thnh phn b; tn hiu mu
( ) r t v p ng u ra trong mi trng hp. Cht lng iu khin tt hn
trong trng hp 0.8 = so vi trng hp 1.0 = minh ha cho vic s dng
hm
_ max
( , )
E
k phn tch gii hn b chn ca h sai s trong phng
php.
C th tham kho ton b m code chng trnh m phng vit trn Matlab
V6.5 trong mc 5.4 trang 143 phn Ph lc.
- 81 -





Hnh 8 : M phng trong trng hp khng s dng thnh phn b
0 5 10 15 20 25 30 35 40 45 50
-300
-200
-100
0
100
200
300
k = 0
t [s]
A
f
(
x
)
,

A
g
(
x
)
A
f
(x)
+A
g
(x)
0 5 10 15 20 25 30 35 40 45 50
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
k = 0
t [s]
u
0 5 10 15 20 25 30 35 40 45 50
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
k = 0
t [s]
r
,

y
Reference signal
Plant's output
- 82 -





Hnh 9 : M phng s dng thnh phn b tnh vi 1 k = v 1.0 =
0 5 10 15 20 25 30 35 40 45 50
-300
-200
-100
0
100
200
300
k = 1, = 1.0
t [s]
A
f
(
x
)
,

A
g
(
x
)
A
f
(x)
+A
g
(x)
0 5 10 15 20 25 30 35 40 45 50
-3
-2
-1
0
1
2
3
4
5
k = 1, = 1.0
t [s]
u
0 5 10 15 20 25 30 35 40 45 50
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
k = 1, = 1.0
t [s]
r
,

y
Reference signal
Plant's output
- 83 -





Hnh 10 : M phng s dng thnh phn b tnh vi 1 k = v 0.8 =
0 5 10 15 20 25 30 35 40 45 50
-300
-200
-100
0
100
200
300
k = 1, = 0.8
t [s]
A
f
(
x
)
,

A
g
(
x
)
A
f
(x)
+A
g
(x)
0 5 10 15 20 25 30 35 40 45 50
-3
-2
-1
0
1
2
3
4
5
6
7
k = 1, = 0.8
t [s]
u
0 5 10 15 20 25 30 35 40 45 50
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
k = 1, = 0.8
t [s]
r
,

y
Reference signal
Plant's output
- 84 -


3.3. Thay th c lng hm trng thi m rng trong iu khin n
nh cc h kh tuyn tnh ha phn hi cht
3.3.1. Phng php cun chiu
Phng php thay th c lng hm trng thi c th p dng trong trng
hp h kh tuyn tnh ha phn hi cht (strict-feedback system) c phng
trnh ng hc v u ra dng:

1 1 1 1 1 2
1 1 1 1 1 1 1
1
( ) ( )
( , , ) ( , , )
( ) ( )
n n n n n n
n n n
x f x g x x
x f x x g x x x
x f g u
y x

= +

= +

= +

x x

(3-25)
trong | |
1
, ,
T
n
x x = x l cc trng thi o c ca h;
i
f ,
i
g ( 1.. i n = ) l
cc hm trn lin tc b chn v 0
i
g = vi eO
x
x .
Dng biu din phn hi cht c th gp trong phn tch phn ln cc h
chuyn ng hn lon (chaotic systems) nh trong cng nghip ha cht iu
khin nng pha trn ca cc thnh phn ha hc hoc cc chuyn ng dng
chy. Mt s v d v cc m hnh chuyn ng hn lon v phng php iu
khin gm Duffling oscillator ([96]), van der Pol oscillator ([50]), Brusselator
([107]) v Lorenz ([37], [87]).
Phng php thit k b iu khin n nh tnh u ra ca h lun bm
theo tn hiu mu ( ) r t b chn cho trc trong trng hp cc hm trng thi
i
f
,
i
g bit (trng hp 1) da trn phng php cun chiu (integrator
backstepping) c trnh by chi tit trong [51], [57]. Theo bng cch lp h
sai s cho cc h con ln lt t h con
1
x hnh thnh nn h sai s chung
ca ton h | |
1
, ,
T
n
E E = E vi
1 1
E x r = v
1 i i i
E x u

= , 2.. i n = trong
:

1 1 1 i i i i i
i
i
f u g E E
u
g
q

+
=

, 0 q >
- 85 -


th phng trnh ng hc ca h sai s c th chuyn v dng tng qut sau:
( , ) ( ) t u = + E x x

vi
1 1 2
2 2 1 1
1
( , )
( )
n n n n n
n n
E g E
t
g E E g E
u f
q
q

+
(
(
(
=
+ (
(
+

x
x

v
0
( )
0
( )
n
g
(
(
(
=
(
(

x
x

.
S dng lut iu khin phn hi
1 1 1
( )
( )
n n n n n
n
f u E g E
u
g
q

+
=
x
x

v
chn hm Lyapunov
2
1
1
2
n
n i
i
V E
=
=

s dn n 2
n n
V V q =

nn suy ra = E 0 l
im cn bng n nh theo hm s m v E b chn. Ngoi ra do h sai s
c lp tha mn Gi thit 1 nn E b chn cng c ngha l x b chn nn
bi ton bm trong trng hp 1 c gii quyt.
3.3.2. Phng php thay th c lng hm trng thi khi h cha cc
thnh phn khng r
Trng hp iu kin sai s xp x tha mn
Sau y xt trng hp tng qut khi cc hm trng thi ( )
i i
f x , ( )
i i
g x (
1.. i n = ) u cha thnh phn cha bit (trng hp 2) nhng vi gi thit rng
t cc s liu o v hiu bit v h thng ta c th xc nh c cc cp hm
( )
i i
f x

, ( )
i i
g x thay th tng ng sao cho sai s xp x
i
x tha mn:
( ) ( , ) ( ) ( ) ( ) ( )
dxi i i i i i i i i i i i i
u f f g g u W A = + s x x x x x

(3-26)
vi eO
x
x ,
i
i u
u eO v 0
i
W > cho trc, trong k hiu
1
[ , , ]
T
i i
x x = x ,
1.. i n = v
n
= x x . Khi tip tc p dng phng php cun chiu nh trong
trng hp 1, ta c th ln lt nh ngha cc h con hnh thnh h sai s
chung ca ton h nh sau:
- 86 -


H con
1
x :

1 1 1 1 1 1 1 1 1 1
( ) ( ) ( ) ( )
dx
x f x g x u f x g x u = + = + A

nh ngha h sai s cho h con
1
x l
1 1
E E x r = = , khi ng hc ca
h sai s s l
1 1 1 1 1 1
( ) ( )
dx
E f x g x u r = + A

vi
2
u x = l u vo o. Chn
hm Lyapunov
2
1 1
1
2
V V E = = v s dng lut iu khin phn hi o:

( )
1
1 1 1 1
u u g r f E q

= =

dn n
1 1 1 dx
E E q = A

v o hm ca V theo qu o ng hc ca h sai
s c th bin i nh sau:

( )
( )
1 1 1 1 1 1 1
2
1 1 1
2
2
1
1 1 1
2
1
1
( ) ( ) ( )
1
2 2
2
dx
dx
V E E f x g x u r
E E
W
V W E
W
V
q
q q
q q
q
q
= + A
= A
s +
s +



nn p dng B 2.1 ([57]) vi
1
m q = ,
2
1
2
2
W
m
q
= dn n
1
V V = b chn v
do
1
E E = cng b chn.
H con
2
x :

1 1 1 1 1 2 1 1 1 1 2 1
2 2 1 2 2 1 2 2 1 2 2 1 2 2
( ) ( ) ( ) ( )
( , ) ( , ) ( , ) ( , )
dx
dx
x f x g x x f x g x x
x f x x g x x u f x x g x x u
= + = + A

= + = + A

nh ngha h sai s cho h con
2
x l | |
1 2
,
T
E E = E vi
1 1
E x r = ,
2 2 1
E x u = ,
3
u x = l u vo o mi, khi :
- 87 -



( )
1 1 1 2 1 1 1
1 1 1 1 1 2
1 1 2 1
dx
dx
dx
E f g x u u r
f g u r g E
E g E q
= + + A
= + A +
= + A

Chn hm Lyapunov
2
2
1 1 2 2
1
1
( ) ( ) ( )
2
i
i
V V E V E E
=
= + =

E th:

( ) ( )
( )
( )
1 2
1 2
1 2
1 1 1 2 1 2 2 1
1 1 1 2 2 2 2 2 1
2
1
1 1 1 2 2 2 2 2 1
( )
( )
2
dx
dx
dx
V V
V E E
E E
E E g E E x u
V E g E E E f g u u
W
V g E E E f g u u
q
q
q
c c
= +
c c
= + A +
= + + + A
s + + + + A
E

S dng lut phn hi:

( )
1
2 2 2 1 1 1 2
u u g f u g E E q

= = +

dn n
2 2 2 2 1 1 1 2 2 dx dx
E f g u u g E E q = + A = A

v:

( )
2
2
1
1 2 2 2
2 2
2
1 2
1 2 2 2
2
2
1
( )
2
1
2 2 2
1
2
dx
i
i
W
V V E E
W W
V V W E
V W
q q
q
q q q
q q q
q
q
=
s + A
s + +
s +

E

nn theo B 2.1 ([57]) vi
1
m q = ,
2
2
2
1
1
2
i
i
m W
q
=
=

s c ( ) V E b chn v do
E cng b chn.
- 88 -


H
n
x :

1 1 1 1 1 2 1
2 2 1 2 2 1 2 3 2
1 1 1 1 1 1 1 ( 1)
1
( ) ( )
( , ) ( , )
( , , ) ( , , )
( ) ( )
dx
dx
n n n n n n dx n
n n n dxn
x f x g x x
x f x x g x x x
x f x x g x x x
x f g u
y x

= + A

= + A

= + A

= + A

x x

(3-27)
Bng cch lp v tnh ton ln lt tng h con dn n h sai s cho ton h
c lp nh sau:

1 1
2 2 1
1 n n n
E x r
E x u
E x u

( (
( (

( (
= =
( (
( (

E

(3-28)
vi
1 1
, ,
n
u u

l cc u vo o ca cc h con
1
x n
1 n
x

s c nh ngha
sau. Chn hm Lyapunov
2
2
1 1
1 1
( )
2 2
n n
i i
i i
V V E
= =
= = =

E E th o hm ca V
theo qu o ng hc ca h sai s s l
1 1
( )
n n
i
i i i
i i i
V
V E E E
E
= =
c
= =
c

E

v c th
bin i tip nh sau:

( )
( )
( )
( )
( )
( )
1 1 1 2 1 1 1
1
1 1
2
1
1 1 1 1 1 1 1 2
1
1 1
2
1
( ) ( )
( )
dx
n
i i i i i i dxi i
i
n n n dxn n
dx
n
i i i i dxi i i i i
i
n n n dxn n
V E f g x u u r
E f g x u u u
E f g u u
E f g u r g E E
E f g u u g E E
E f g u u

+
=

+
=

= + + A
+ + + A
+ + A
= + A +
(
+ + A +

+ + A

- 89 -


S dng lut phn hi:

( )
( )
( )
( )
1
1 1 1 1 1
1
2 2 2 2 1 1 1 2
1
1 1 1 1 2 2 2 1
1
1 1 1
n n n n n n n n
n n n n n n n
u u g f r E
u u g f u g E E
u u g f u g E E
u u g f u g E E
q
q
q
q

= = +
= = +
= = +
= = +

(3-29)
dn n phng trnh ng hc ca h sai s:

1 1 2 1
1 1 2 2 3 2
2 2 1 1 ( 1)
1 1
dx
dx
n n n n n dx n
n n n dxn
E g E
g E E g E
g E E g E
g E E
q
q
q
q


+ A
(
(
+ A
(
( =
(
+ A
(
(
A

E

(3-30)
v o hm ca V theo qu o ng hc ca h sai s:

( )
( )
2
1
2
2
1
2
2
1
( )
1
2 2
1
2 2
n
i i dxi
i
n
i
i i i
i
n
i
i
V E E
W
V W E
V W V
q
q q
q q
q q
q q
=
=
=
= A
(
s +
(
(

s + = +

E
W

(3-31)
vi | |
1
, ,
T
n
W W = W l vct sai s xp x cho php.
p dng B 2.1 ([57]) vi
1
m q = ,
2
2
2
m
q
=
W
s c ( ) V E b chn v do
E cng b chn:
- 90 -



( )
( )
2
2
2
2
2
1 (0)
2
1 (0)
t t
H
t t
H
V e V e V
e e E
q q
q q
q
q


s + =
s + =
W
W
E E
(3-32)
Ngoi ra trong ch xc lp:

2
2
lim
2
H
t
V V
q

= =
W
, lim
H
t
E E
q

= =
W
(3-33)
v tng t nh kt qu (2-26), ta cn c th biu din (3-32) nh sau:

( ) ( )
( )
0
0
0 max ,
max ,
V V V E
E

s s
s E E
(3-34)
vi mi 0 t > ,
0
(0) = E E l gi tr ban u ca h sai s ti 0 t = v
2
0 0
1
2
V = E
.

Lu l tnh
n
u u = cn thc hin ln lt cc php tnh:

1 1 1 2 2 2 1 1 1
, , ,
n n n n n
E u u E u u E u u E u u

=


v phng trnh ng hc (3-30) ca h sai s cn c th vit dng ma trn v
vct sau:

1
1
2
1 2
( 1)
2 1
1
0 0
0
0
0 0
dx
dx
dx n
n n
n
dxn
d
g
g g
g g
g
q
q
q
q

A
(
(
(
(
A

(
(
( = (
(
(
A

(
(
(
(
A


=
x
E E
GE

(3-35)
trong G

l ma trn i xng lch,

dx
l vct sai s xp x cc o hm
trng thi ca h.
- 91 -


Trng hp iu kin sai s xp x khng tha mn
Xt trng hp tng qut khi ton b sai s xp x
i
x khng tha mn iu
kin (3-26) hay gi thit:
( ) ( , ) ( ) ( ) ( ) ( )
dxi i i i i i i i i i i i i
u f f g g u W A = + s x x x x x

(3-36)
vi eO
x
x ,
i
i u
u eO l cc lut iu khin phn hi theo (3-29) v
i i
W W >

,
1.. i n = . Khi tn ti cc b xp x vn nng
1
( , , ) :
i
p i
i i i i
F u
+
A
9 9 9 x
xp x c ( , )
dxi i i
u A x b chn vi sai s bt k trong min hp l ca
i
x
v
i
u . Sau y k hiu ( , , )
i i i i i
F F u
A A
= x , ( , , )
i i i i i
F F u
A A
= x

,
i

l cc
vct tham s ca cc b xp x vn nng tha mn:
( , , ) ( , )
i i i i dxi i i i
F u u W
A A
A s x x

(3-37)
vi 0
i
W
A
> l sai s xp x ca cc b xp x vn nng nu trn v 1.. i n = .
Tip tc lp h sai s nh (3-28) v p dng kt qu ca nh l 3 (trang 71)
bng cch s dng cc thnh phn b c dng:
bsig( , )
( )
i
ic i i
i i
F
u E F
g
k

A
A
=
x

(3-38)
vi 0 1
i
< s , 0 k > trong lut iu khin phn hi
i i ic
u u u = + trong bsig
l hm xchma lng cc nh ngha nh (2-40) dn n:

( )
( )
( )
1
1 1 1 1 1 1 1 1
1
1 1 1
1
1 1 1
c c
i i ic i i i i i i i ic
n nc n n n n n n n nc
u u u g f r E g u
u u u g f u g E E g u
u u u g f u g E E g u
q
q
q

= + = + +
= + = + +
= + = + +

(3-39)
Khi phng trnh ng hc ca h sai s s l:
- 92 -



1 1 2 1 1 1
1 1 2 2 3 2 2 2
2 2 1 1 ( 1) 1 ( 1)
1 1
dx c
dx c
n n n n n dx n n n c
n n n dxn n nc
E g E g u
g E E g E g u
g E E g E g u
g E E g u
q
q
q
q


+ A +
(
(
+ A +
(
( =
(
+ A +
(
(
A +

E

(3-40)
v o hm ca V theo qu o ng hc ca h sai s:

( )
( )
2
1
2
1
( )
1
sign( ) bsig( , )
n
i i dxi i i ic
i
n
i i i dxi i i i i
i i
V E E E g u
E E F E E F
q
q k

=
A A
=
= A +
(
s + A
(

Do
dxi i i dxi i dxi i i
F F W F W
A A A A A
A s A s A s

nn:
( )
2
1
1
( ) sign( ) bsig( , )
n
i i i dxi i i i i
i i
V E E F E E F q k

A A
=
(
s + A
(

E



vi ( , , )
E i
E k c nh ngha nh (2-61) v
_ max
( , , ) ( , )
E i E i
E k k s
vi 0 1
i
< s , 0 k > v Ee9 (B 3 trang 40) hay:

2
E_max
1
( , )
2
n
i
i i
V V
k
q
q
A
=
s + +

(3-41)
trong k hiu | |
1
, ,
T
n
W W
A A A
= W l vct sai s xp x ca cc b xp x
vn nng
i
F
A

nh (3-37).

( )
0
max , E

s E E nh (3-34) ta cn c
2
2
V V q
q
s +
W

theo (3-31)
nn t (3-41) suy ra:

2 2
E_max
1
( , )
2 2
n
i
i i
k
q q
A
=
+ s

W W

hay sai s ca cc b xp x vn nng
A
W v k cn chn phi p ng cc iu
kin sau:
- 93 -



2 E_max
1
( , )
2
n
i
i i
k
q

A
=
s

W W (3-42)
v
2
E_max
1 1
( , )
2
n n
i i
i i
k
q
= =
<

W

vi | |
1
, ,
T
n
W W = W l vct sai s xp x theo thit k.

Lu l nu chn
i
= vi 1.. i n = th (3-41) c th rt gn:

2
E_max
( , )
2
n
V V q k
q
A
s + +
W

v iu kin (3-42) tr thnh:

2
E_max
2
( , )
n q
k

A
s W W v
2
E_max
( , )
2 n

k
q
<
W
.
3.4. Tng hp v kt lun
Chng 3 pht trin phng php thay th c lng hm trng thi gii
quyt vn cn tn ti trong nh l 1 (trang 29) khi iu kin sai s xp x
(2-34) khng c tha mn. Phng php dng b xp x vn nng m nron
xp x sai s gy nn bi php thay th trong min hp l ng ca khng
gian trng thi v u vo, t s dng thnh phn b lin tc (3-12) da trn
hm xchma lng cc (2-40) a vo lut iu khin phn hi nhm gim tr
tc ng ca sai s v bo m nghim ca h sai s vng kn b chn ti hn
u theo yu cu thit k (nh l 3 trang 71).
Mt khc nhm xc nh tham s iu khin v cc iu kin cn trong
phng php m bo cc yu cu b chn trong min hp l ca khng gian
trng thi v tn hiu iu khin, lun n a ra phng php tnh ton trong
mi trng hp trnh by di dng cng thc (3-19) v B 5 (trang 76).
- 94 -


Ngoi ra lun n cng ch ra rng vi mt s iu kin rng buc c th p
dng phng php thay th c lng hm trng thi thit k b iu khin
n nh tnh cc h chuyn ng hn lon (chaotic systems) thng gp trong
cng nghip ha cht nh iu khin nng pha trn ca cc thnh phn ha
hc hoc cc chuyn ng dng chy c phng trnh ng hc dng tuyn
tnh ha phn hi cht (kt qu (3-38), (3-39) v (3-42)).
Phng php thay th c lng xut c cc c im sau:
- B iu khin tnh c c tnh bn vng v tn hiu iu khin lin tc nn
c th p dng trong iu khin cng nghip.
- Qu trnh thit k khng cn phi xy dng m hnh phc tp hoc xp x
chnh xc tng hm trng thi khng r trong phng trnh ng hc do
phng php ch xp x chung cc i lng khng r da trn tri thc
bit v h thng.
- C th gim tr c tc ng ca nhiu hoc ng hc cha bit khc trong
phng trnh ng hc nh phng php b sai lch c xp x trong min
hp l ca khng gian trng thi v u vo.
- Khng phi gii quyt vn ( ) 0 g = x (nh nhiu phng php nu trong
phn tng hp u Chng 2) do c th chn ( ) g x trc trnh trng
hp ny ngay t ban u.
- S lng u vo b xp x vn nng c xc nh trc, ln nht l 1 n +
vi n l s trng thi ca h.
Cc kt qu trnh by trong chng ny c th tng hp li thnh cc bc
tng hp b iu khin n nh tnh theo phng php thay th c lng hm
trng thi khi iu kin xp x khng tha mn nh sau:
1. Da trn cc s liu o v hiu bit v h, tm cch lp cc hm trng thi
lin tc b chn ( ) f x

, ( ) 0 g > x tt nht c th thay th ( ) f x , ( ) g x cha

cc thnh phn khng r. Xc nh cc iu kin rng buc v trng thi
v u vo cn p ng theo yu cu thit k, s dng cc kt qu (3-19)
- 95 -


v B 5 xc nh
E
O sao cho khi
E
EeO th lun c eO
x
x v
u
ueO .
2. La chn cu trc b xp x m nron
1
( , , ) :
n p
F u
+
A
9 9 9 x ph
hp xp x ( ) ( )
dxn n
f g u x A = + x x

vi
p
e9 l vct tham s
chnh nh, u l lut iu khin phn hi khng cha thnh phn b nh
(2-28) v chun b c s d liu o cn thit dng luyn ngoi tuyn
b xp x m nron trong min hp l ca x v u .
3. Chnh nh ngoi tuyn b xp x m nron ( , , ) F u
A
x , xc nh tham s

ca b xp x m nron p ng iu kin ( , , )
dxn
F u W
A A
A s x

vi
sai s cn t tha mn (3-14) trong min hp l ca eO
x
x v
u
ueO
(hay trong min hp l ca
E
EeO , lu iu kin sai s xp x khng
cn p ng ngoi min hp l). Trng hp b xp x khng p ng
c yu cu thit k, cn thit quay li cc bc 1, 2 trn thay i
li php chn cc hm f

, g v/hoc m rng cu trc (hay s lng

tham s chnh nh c) ca b xp x m nron.
4. S dng b xp x m nron tm c tha mn yu cu lm thnh phn
b trong lut iu khin phn hi (3-13).
Nh vy, nhng kt qu t c trong Chng 3 thit k b iu
khin n nh tnh cho bi ton nu. Tuy nhin do b iu khin l tnh nn
lut iu khin phn hi ch m bo sai s b chn theo yu cu thit k v do
vy trong nhiu trng hp, khi phi thit k b iu khin bn vng hn nh
yu cu sai s gim dn v 0 trong ch xc lp, ta cn thit phi p dng lut
iu khin ng (thch nghi). Vn m rng phng php theo hng p dng
lut iu khin thch nghi cho yu cu thit k ny l mc tiu gii quyt trong
chng tip theo ca lun n.
- 96 -


CHNG 4
IU KHIN THCH NGHI TRC TIP DNG H M
NRON TRONG PHNG PHP THAY TH C LNG
HM TRNG THI
4.1. Gii thiu chung
4.1.1. S cn thit pht trin b iu khin thch nghi
Phn trc ca lun n trnh by cc kt qu nghin cu v iu khin n
nh (tnh) cc h thng kh tuyn tnh ha phn hi trng thi (khi h c bc
tng i y ) v kh tuyn tnh ha phn hi vo-ra (khi h c bc tng
i thiu) bng phng php thay th c lng cc hm trng thi trong cc
trng hp nghim ca h sai s b chn theo yu cu. Phng php c
xy dng da trn c tnh bn vng ca h sai s bng cch a thm thnh
phn b lin tc vo lut iu khin phn hi nhm loi tr cc thnh phn
khng r xut hin trn u vo ca h v h sai s vng kn b chn ti hn
u. Ngoi ra lu l lut iu khin phn hi trong cc trng hp phn tch
trn (nh l 1 trang 29 v nh l 3 trang 71) l tnh (khng thch nghi) v bao
gm thnh phn tuyn tnh ha v thnh phn n nh.
Tuy nhin trong nhiu ng dng thc t, xu hng thit k thay th lut iu
khin tnh bng lut iu khin thch nghi ngy cng tng cho d vic thay th
c phc tp hn. L do l mc d lut iu khin tnh c th nng cao tnh bn
vng ca h vng kn nhng do dng h s khuch i phn hi ln nn c th
dn n ti hn ca c cu chp hnh hoc kch thch ng hc cha bit khc
gy ra mt n nh ca h. Mt khc cc kt qu trong phn trn cn cho thy
vic s dng lut iu khin tnh khng m bo rng h sai s 0 E .
Nhm tip tc m rng phm vi p dng ca phng php, trong chng
ny lun n i vo xy dng m hnh ton hc ca lut iu khin phn hi
ng (thch nghi) da trn lut iu khin phn hi tnh (3-13) s dng b xp
- 97 -


x m nron trong phng php thay th c lng hm trng thi (nh l 3
trang 71). Hng iu khin thch nghi cho php pht trin b iu khin bn
vng hn so vi b iu khin khng thch nghi trnh by trong chng trc.
Nh chng ta bit, mc tiu ca iu khin thch nghi l iu khin n
nh cc h thng c cc c tnh khng r. Mc d c nhiu nh ngha khc
nhau, tuy nhin trong lun n ny h iu khin thch nghi c hiu theo nh
ngha sau ([68]): H iu khin thch nghi l h iu khin c cc tham s c
th chnh nh c cng nh c mt c ch chnh nh cc tham s ny.
Nh vy theo cch nh ngha trn c th hiu h iu khin thch nghi gm hai
vng phn hi, mt vng phn hi thng thng v mt vng dng chnh
nh tham s, trong vng chnh nh tham s c th p ng chm hn so vi
vng phn hi thng thng.
Thc t lut iu khin thch nghi c xy dng theo mt trong hai phng
php: trc tip hoc gin tip. i vi phng php iu khin thch nghi trc
tip, cc tham s trong lut iu khin c thay i trc tip trong qu trnh
iu khin to thnh h vng kn n nh cn trong phng php iu khin
thch nghi gin tip, thnh phn lut iu khin n nh c c lng trc
(ty theo dng ca cc thnh phn khng r trong h) v sau mi kt hp li
to thnh lut iu khin chung.
Nhm pht trin phng php thay th c lng hm trng thi cho php
tng hp b iu khin thch nghi trc tip da trn b iu khin tnh xy
dng trong cc chng trc, chng ny ca lun n s i vo phn tch cc
vn xc nh lut iu khin thch nghi v chnh nh tham s ph hp
cho gii quyt bi ton bm nu trn. Phn ln da trn l thuyt iu
khin thch nghi trc tip phn tch dng h sai s c trnh by trong ti liu
[57], cc kt qu trong chng ny l tng hp cc c s ton hc c th xy
dng b iu khin thch nghi trc tip ph hp trong phng php thay th c
lng hm trng thi s dng b xp x m nron.
- 98 -


4.1.2. Vn v c s ton hc xy dng b iu khin thch nghi trc tip
i vi iu khin thch nghi trc tip, phng php thit k xut pht t c
s ton hc chung ([57]) dng gii quyt lp bi ton quy c v dng n
nh h sai s ( , ) E t x c phng trnh ng hc:
( , ) ( , ) ( ) E t t u = + x x x

(4-1)
vi x l vct trng thi ca h v vi gi thit rng tn ti lut iu khin tnh
( )
s
u u = z c z o c vi hm Lyapunov ( , )
s
V t E gim dn, khng b
chn theo tia (radially unbounded) lun c
1 2 s s
V mV m s +

,
1
0 m > ,
2
0 m >
theo qu o (4-1). Lu l dng tng qut ca h sai s (4-1) bao trm ton b
cc h sai s c lp trong bi ton bm ca h kh tuyn tnh ha phn hi
trng thi v kh tuyn tnh ha phn hi vo-ra phn tch trong phn trc
do trong mi trng hp vct trng thi x trong phng trnh (4-1) c xem
tng ng l x v ,
T
T T
(

x q .
Vi gi thit trn, vn t ra trong phng php ca lun n l cn tm
lut iu khin phn hi ng (hay lut iu khin thch nghi)
( )

, ( )
a s d
u u u t = + z vi
s
u l lut iu khin phn hi tnh,
( )

, ( )
d
u t z l
thnh phn b ng v

( ) t l tham s chnh nh c ca h thch nghi cng

nh xc nh c c ch chnh nh tham s

( , , , ) t u = u x

vi thnh phn
b ng
d
u , lut iu khin thch nghi
a
u s m bo h sai s vng kn n
nh. T c th xc nh c b iu khin thch nghi E v , x b
chn. Lu k hiu lut iu khin phn hi tnh
s
u trong mi trng hp ca
phng php (theo nh l 1 trang 29 v nh l 3 trang 71) tng ng s l
s
u u = nh (2-28) hoc
s c
u u u = + nh (3-13).
Tuy nhin do thnh phn b lin tc
c
u theo (3-12) cha b xp x
( , , ) F u
A
x

c tham s chnh nh c nn c th dng lm thnh phn b

ng
d
u trong c hai trng hp nu xc nh c lut chnh nh tham s ph
- 99 -


hp. Khi lut iu khin thch nghi ca phng php thay th c lng hm
trng thi s l
a d
u u u = + .
Trong l thuyt iu khin thch nghi trc tip, mt trong nhng phng
php thit k l s dng b xp x tuyn tnh i vi tham s v chnh nh o (
o -modification) hoc chnh nh c (c -modification) c trnh by trong [57],
[32]. Cc kt qu ny cng cho thy nu tn ti b iu khin tnh n nh th
cng tn ti b iu khin thch nghi n nh nu tn ti min tham s ca b
xp x xp x c
a
u vi chnh xc cn thit. Nh vy lun tn ti b
iu khin thch nghi trc tip n nh nu tn ti b iu khin tnh n nh v
la chn c cu trc b xp x ph hp.
Ngoi ra m bo rng cc qu o trng thi nm trong min hp l m
php xp x c thit lp hay eO
z
z , ta c th s dng nh l 7.1 trong
[57] phn tch. nh l 7.1 ([57]) cho bit nu :
p q
V 9 9 9 l hm kh
vi lin tc tha mn:

1 1 2 2
( ) ( ) ( , ) ( ) ( ) V + s s +
E E
E E E (4-2)
vi
1 1 2 2
, , , K

e
E E
v gi thit rng vi h sai s c lp, tn ti lut
iu khin u v = c thit lp sao cho khi b >
E
E v/hoc b >

u c
0 V s

th B e
E
E vi t , trong k hiu
( ) ( )
{ }
1
1 0
: max ,
p
r
B V V

= e9 s
E E
E E ,
0
V l gi tr ban u hay
0
(0) V V = v
2 2
( ) ( )
r
V b b = +
E E
.
nh l 7.1 ([57]) c chng minh nh sau:
Nu
r
V V > th t
2 2 2 2
( ) ( ) ( ) ( ) V b b + > > +
E E E
E suy ra
b >
E
E v/hoc b >

nn theo gi thit dn n 0 V s

. Xt cc trng hp
i vi
0
V : Nu
0 r
V V s th do V l hm xc nh dng v khng th tng ln
hn
r
V nn 0 ( )
r
V t V s s vi t . Trng hp
0 r
V V > th 0 V s

cho n khi
- 100 -


r
V V s do vy ( )
0
0 ( ) max ,
r
V t V V s s vi t . Mt khc t (4-2) bit rng
( )
1 0
( ) ( ) max ,
r
V t V V s s
E
E nn suy ra ( ) ( )
1
1 0
max ,
r
V V

s
E
E .
Nh vy nh l 7.1 ([57]) c dng phn tch min hp l m trong
qu o ca E v x c php di chuyn khi s dng b iu khin thch nghi.
p dng trong trng hp h sai s, t Gi thit 1 do ( , ) t s
x
x E vi
( , ) t
x
E l hm khng gim dn i vi E nn eO
x
x vi t , trong :
( ) ( )
( )
1
1 0
: sup , max ,
n
r
t
t V V


O = e9 s
`
)
x x E
x x . (4-3)

Ngoi ra trong phn tch lut iu khin thch nghi, thng thng hm
Lyapunov c chn c dng chnh phng cha ma trn i xng xc nh
dng (Lu l ma trn s thc i xng lun c cc gi tr ring thc). B
6 di y (c tng hp t cc ti liu [38], [70]) cho thy cc tnh cht ca
ma trn i xng xc nh dng nn c th s dng lp v phn tch ma trn
i xng xc nh dng dng trong dng chnh phng ca hm Lyapunov v
trong lut chnh nh tham s.
B 6 :
1) Nu A l ma trn i xng xc nh dng th A c th phn tch duy nht
thnh
T T
= = A U DU C C vi
1 2 /
= C D U, U l ma trn tam gic trn v D
l ma trn cho c cc phn t trn ng cho dng.
2) Nu A l ma trn i xng xc nh dng c cc gi tr ring phn bit th
A c th phn tch thnh
T T
= = A U DU C C vi
1 2 /
= C D U trong U l
ma trn unita v D l ma trn cho cha cc gi tr ring ca A.
Chng minh
Chng minh B 6 c th tham kho mc 5.6 trang 152 phn Ph lc.

- 101 -


4.2. iu khin m nron thch nghi trc tip cc h thng kh tuyn
tnh ha phn hi
4.2.1. H kh tuyn tnh ha phn hi trng thi
i vi trng hp h kh tuyn tnh phn hi trng thi nh trnh by
trn, vn t ra l vi lut iu khin thch nghi
a d
u u u = + trong u nh
ngha nh (2-28) v:

( )

( , , )

bsig , ( , , )
d
F u
u EF u
g
k

A
A
=
x
x

(4-4)
l thnh phn b ng,

l vct tham s iu chnh hay:

( )
1 ( )
1

( ) ( ) ( , , ) bsig , ( , , )
n T
a
u g r f F u EF u k

A A
| |
=
|
\ .
x e x x x

(4-5)
ta cn tm lut chnh nh tham s

( , , , ) t u = u x

h sai s vng kn n nh.

Sau y k hiu:
( , , ) F F u
A A
= x , ( , , ) F F u
A A
= x

,

( , , ) F F u
A A
= x (4-6)
v gi thit tn ti min vct tham s O

tha mn F
A
xp x ( , )
dxn
u A x vi
sai s b chn bi (3-14) vi eO
x
x ,
u
ueO v eO

trong eO

l
vct tham s tt nht tm c ca b xp x m nron c dng trong lut
iu khin tnh (3-13). Ngoi ra cng gi thit rng vi cc iu kin rng buc
i vi trng thi v u vo ca h, ta c th xc nh c
E
O sao cho khi
E
EeO th lun c eO
x
x v
u
ueO (phng php xc nh nh trnh by
trong Chng 3).
Khi nu F
A
l b xp x tuyn tnh i vi tham s th p dng phng
php chnh nh o v s dng lut chnh nh tham s nh trong [57] dn n
pht biu ca nh l 4 di y v lut iu khin thch nghi trong phng
php thay th c lng hm trng thi h sai s vng kn n nh.
- 102 -


nh l 4 : (iu khin thch nghi vi b xp x tuyn tnh) Lut iu khin
thch nghi v chnh nh tham s sau:
( )
1 ( )
1

bsig( , )

n T
a
T
u u g r f F EF
F
E
k

A A
A
| |
= =
|
\ .
| |
| | c
|
= +
|
c |
\ .
\ .
e
A

vi 0 1 < s , 0 o > , A l ma trn i xng xc nh dng,
F
A
l b xp x tuyn tnh i vi tham s,
(4-7)
bo m nghim ca phng trnh ng hc h sai s (2-20) b chn bi
E
E B e vi
E
B nh ngha nh (4-10).
Chng minh
Thay lut iu khin (4-7) vo phng trnh ng hc (2-20) dn n:
( ) ( , )
d dxn
E E g u u q = + A x x

Chn hm Lyapunov:

1
1
2
T
a s
V V

= +

A (4-8)
vi

,
2
1
2
s
V E = , A l ma trn i xng xc nh dng th:

( )
( )
( )
( )
( )
1
2 1
2
1
2
1

bsig ,

1

sign( ) bsig( , )

T
a s
T
d dxn
dxn
T
T
V V
E Egu E F F F F
EF
E EF E F EF
E F F
E E W EF EF EF
E F F
q
q k

q k

A A A A
A
A A A

A A
A A A A

A A
= +
= + + A + +
s + A +
+ +
s + +
+ +




A
A
A
A

- 103 -


Do gi thit F
A
l b xp x tuyn tnh i vi tham s nn theo (3-5) c th
vit

( , )
T
F F u
A A
=

x vi

( , )
T
F
u
A
c
=
c
x

, ngoi ra do

nn o hm
ca hm Lyapunov theo qu o ng hc ca h sai s bin i c tip nh
sau:

( )
( )
( )
( )
2
1
2
2
2
2
_ max
1

( , )

1 1 1

( , )
2 2 2

( , )
2
a E
T T
T
E
T T
T T
T
s E
V E E W EF
F F
E E
W
E W E EF
F F
E E
W
V
q k

o
q q k
q q
o
q k o
q
A A

A A
A
A A
A A
A
s + +
| |
| | | | c c
|
+ +
| |
c c |
\ . \ .
\ .
= + +
| | | | c c
+
| |
c c
\ . \ .
s + +

A A

Mt khc ta c:

( ) ( )
( )
( )
2
2
2
2
2
2

1
2
2 2 2
2 2
T T
T
= +

= + + +

s +

nn suy ra:

2
2
2
_ max
2
1
( , )
2 2 2
2
a s E
s
W
V V
V m
q k o o
q
q o
A

s + + +
= +

(4-9)
- 104 -


vi
2
2
_ max
( , )
0
2 2
E
W
m
k
o
q
A

= + + >

.
Chn
( )
2
1
1 min
( )

=

A ,
( )
2
1
2 max
( )

=

A v
1 2
( ) ( ) ( )
E E s
E E V E = = l cc hm thuc lp K

th:

( )
1 1 2 2
( ) ( ) , ( ) ( )
E a E
E V E E + s s +


Khi 0
a
V <

khi
2
0
2
E
m q + < v/hoc
2
0
2
m o <

hay khi
1
1
2
E E
m
E b
q

| |
> =
|
\ .
v/hoc
2m
b
o
> =

nn p dng nh l 7.1 ([57])
suy ra
E
E B e vi t , trong :

( ) ( )
{ }
( )
1
1
2 2
1 1
2 1 max
: max (0),
( ) ( )
2
E E a r
r E E
E E
B E E V V
V b b
m m

q o

= e9 s
= +
| |
= +
|
\ .

A
(4-10)
vi (0)
a
V l gi tr ban u nn nh l 4 c chng minh.

Kt qu ca nh l 4 cho thy
r
V c th thit lp nh ty bng cch chn
q, o v A thch hp nn nu chn (0)
a
V nh th c th m bo chn c
E E
B _O theo yu cu. Nh vy khi
E
E B e th cng lun c eO
x
x v
u
ueO . Lu
( )

l thnh phn nng cao tnh bn vng ca h vng kn

trong lut chnh nh tham s (4-7).
Ngoi ra mt vn trong p dng phng php chnh nh o l khi E
nh th thnh phn
( )

c tc ng quyt nh n lut chnh nh tham s

trong (4-7) v do

c xu hng tin n

. Nh vy nu

khng phi l
- 105 -


vct tham s ti u tm c th E c th tng tr li. Vn ny c th gii
quyt bng phng php chnh nh c trnh by trong [32], [57]. p dng
phng php trong trng hp ny, lut iu chnh tham s (4-7) c th vit:

( )

( )
T
F
E E c
A
| |
c
| |
= + |
|
|
c
\ .
\ .
A

(4-11)
vi ( ) 0 E c > l thnh phn nng cao tnh bn vng cho h vng kn. V d nu
chn ( ) E E c o = vi 0 o > th khi E nh c th gim c nh hng ca
thnh phn bn vng trong lut chnh nh tham s nu trn.

Trng hp b xp x F
A
khng tuyn tnh i vi tham s, ta c th p
dng phng php trnh by trong [57] b sung thnh phn n nh vo lut
iu khin thch nghi trong phng php thay th c lng hm trng thi
b sai lch do c tnh phi tuyn ca b xp x gy nn nh pht biu ca B
7 di y.
B 7 : (iu khin thch nghi vi b xp x phi tuyn) Lut iu khin thch
nghi v chnh nh tham s sau:
( )
4
1 ( )
1

bsig( , )

n T
a
T
u u g r f F EF E
F
E
k ,

A A
A
| |
= =
|
\ .
| |
| | c
|
= +
|
c |
\ .
\ .
e
A

vi 0 1 < s , 0 o > , 0 , > , A l ma trn i xng xc nh dng,
F
A
l b xp x phi tuyn i vi tham s,
(4-12)
bo m nghim ca phng trnh ng hc h sai s (2-20) b chn bi
E
E B e vi
E
B nh ngha nh (4-15).
- 106 -


Chng minh
Thay lut iu khin (4-12) vo phng trnh ng hc (2-20) dn n
phng trnh ng hc ca h sai s vng kn:

4

( ) ( , )
d dxn
E E g u E u q , = + A x x

. (4-13)
Tip tc chn hm Lyapunov nh (4-8) th o hm theo qu o ng hc
h sai s (4-13) s l:

1
4
2 2 1

T
a s
T
d dxn
V V
E Egu E E q ,

= +
= + A +


A
A

Do gi thit b xp x l phi tuyn i vi tham s nn theo (3-7) c th vit

F
F F o
A A
c
= +
c

vi
2
L o s

, 0 L > l hng s Lipschitz. Bit rng
2 2 2
2 2 x y x y + s + nn:

2 2
2
2

2 2 L L L L o s = + s +

( )
2
2

2
F
E F F E L E
A A
c
| |
s + +
|
c \ .

.
Ngoi ra do:

2
2 2
4 2 2
2

2
L L L
E L E E , ,
, , ,
| |
+ = + s
|
\ .



v
( )
2
2

2 2
T

s +

suy ra o hm ca hm Lyapunov c th
bin i nh sau:
- 107 -



( )
( )
( )
( )
4
2 2 1
4
2 2
2
2
2
2
2
2
2
1

( , )

1

( , )

2
2
1 1
2
2 2 2
1

( , )
T
a E
E
T
T T
E
V E E W EF E E F F
F
E E W EF E E
F
L E E
W L
E W L E
EF E
q k ,

q k ,

o
q q
q q
k ,

A A A A
A
A A
A
A
A
A
s + + + +
c
s + + +
c
| | c
| |
+ +
| |
c \ .
\ .
+
= + +
+

2
2
4 2
2

2
2 2
L E o o

+ +

hay:

( )
2
2
_ max
2
2
2
2
2
1
( , )
2
2 2
2
a s E
s
W L
V V
L
V m
q k
q
o o
,
q o
A
+
s + +

+ +
= +

(4-14)
vi
( )
2
2
2
2
_ max
2
( , )
0
2 2
E
W L
L
m
k
o
q ,
A
+

= + + + >

.
Khi tng t nh trng hp b xp x tuyn tnh i vi tham s, p
dng nh l 7.1 ([57]) trong trng hp ny suy ra
E
E B e vi t , trong :

( ) ( )
{ }
( )
1
1
1 1
2 2 2 1 max
: max (0),
2
( ) ( )
E E a r
r E E E E
B E E V V
m m
V b b

q o

= e9 s
| |
= + = +
|
\ .

A
(4-15)
vi (0)
a
V l gi tr ban u nn B 7 c chng minh.

- 108 -


Lu l kt qu (4-15) c dng ging nh kt qu (4-10) nhng thnh phn
m trong hai trng hp khc nhau. Ngoi ra kt qu trn cng cho thy c th
chn cc gi tr q, o , , v A thch hp
r
V nh ty nn nu (0)
a
V chn
nh th c th tm c
E E
B _O theo yu cu sao cho khi
E
E B e th lun
c x, u nm trong min hp l ca eO
x
x v
u
ueO .
Mt ghi ch khc, nu chn A l ma trn i xng xc nh dng c cc
gi tr ring phn bit th theo B 6, A cn c th phn tch thnh
T T
= = A U DU C C vi
1 2 /
= C D U trong U l ma trn unita v D l ma trn
cho cha cc gi tr ring phn bit ca A. Tnh cht ny cho php lp ma trn
A cng nh tnh ton gi tr ring ln nht ca
1
A n gin theo cng thc
( )
( )
1 1
max min


= A D xc nh
E
B trong cc kt qu (4-10) v (4-15).
4.2.2. H kh tuyn tnh ha phn hi vo-ra
Xt trng hp h kh tuyn tnh phn hi vo-ra c dng (2-3) tha mn
Gi thit 2 v gi thit tn hiu mu ( ) r t v cc o hm ca tn hiu mu n
bc n b chn v o c. Nu tn ti O

sao cho b xp x tuyn tnh i vi

tham s ( , , , ) F u
A
x q xp x ( , , )
dxn
u A x q vi sai s b chn bi (3-14) vi
,
( , ) eO
x q
x q ,
u
ueO v eO

trong eO

l vct tham s tt nht tm

c ca b xp x m nron c dng trong lut iu khin tnh (3-17), khi
tng t nh trng hp h kh tuyn tnh ha phn hi trng thi v p
dng phng php chnh nh o vi lut chnh nh tham s xut trong [57]
suy ra lut iu khin v chnh nh tham s thch nghi sau:

( )
1 ( )
1

( , ) ( , ) bsig( , )

n T
a
T
u g r f F EF
F
E
k

A A
A
| |
=
|
\ .
| |
| | c
|
= +
|
c |
\ .
\ .
x q e x q
A

- 109 -


vi k hiu

( , , , ) F F u
A A
= x q s m bo nghim ca h sai s (2-78) b chn
hay E lun nm trong
E
B nh ngha nh (4-10).
Trng hp s dng b xp x phi tuyn i vi tham s, p dng B 7
dn n lut iu khin thch nghi v chnh nh tham s:

( )
4
1 ( )
1

( , ) ( , ) bsig( , )

n T
a
T
u u g r f F EF E
F
E
k ,

A A
A
| |
= =
|
\ .
| |
| | c
|
= +
|
c |
\ .
\ .
x q e x q
A

vi 0 , > s m bo nghim ca h sai s (2-78) b chn nm trong
E
B nh
ngha nh (4-15). Lu l trong c hai trng hp, nu (0)
a
V chn nh th
cng c th chn cc gi tr q, o , , v A thch hp
E E
E B e _O v do
m bo c x, u lun nm trong min hp l ca eO
x
x ,
u
ueO .
- 110 -


4.3. Tng hp thit k b iu khin thch nghi trc tip n nh
Tm li, cc bc tng hp b iu khin thch nghi trc tip n nh trong
phng php thay th c lng hm trng thi nh sau:
1. p dng nh l 3 v theo phng php chnh nh o , xc nh b iu
khin n nh tnh m bo rng tn ti O

b xp x m nron F
A

thay th F
A

trong lut iu khin phn hi (3-13) (trng hp h kh

tuyn tnh ha trng thi) hoc (3-17) (trng hp h kh tuyn tnh ha
vo-ra) tha mn iu kin ca nh l 3 vi eO

. Chn vct tham

s tt nht

lm gi tr tham s khi to ban u.

2. Xc nh cc iu kin gii hn v trng thi v u vo ca h, t xc
nh
E
O sao cho khi
E
EeO th qu o trng thi v u vo lun nm
trong min hp l ca eO
x
x v
u
ueO (phng php xc nh nh
trnh by trong Chng 3).
Xc nh lut iu khin thch nghi v chnh nh tham s theo nh l 4
(trng hp s dng b xp x tuyn tnh i vi tham s) hoc theo B 7
(trng hp b xp x phi tuyn i vi tham s). Chn cc tham s tham s
iu khin ban u ph hp trong mi trng hp
E E
B _O v do cng
m bo rng eO
x
x v
u
ueO .
Lu l ch c th thit k b iu khin thch nghi trc tip n nh nu tn
ti b iu khin tnh n nh tha mn iu kin ca nh l 3. Ngoi ra do c
im ca phng php thay th c lng hm trng thi l xp x sai lch do
php thay th (v cc thnh phn bt nh khc) gy nn bng b xp x m
nron duy nht trong mi phng trnh ng hc trng thi ca h phi tuyn nn
thch hp s dng iu khin thch nghi trc tip pht trin b iu khin
ng. Vic pht trin b iu khin thch nghi gin tip l khng cn thit v
lm lut iu khin thch nghi phc tp hn do phi s dng cng lc nhiu b
xp x v kt hp li trong lut iu khin chung (trong mi phng trnh ng
hc trng thi ca h phi tuyn).
- 111 -


4.4. M hnh iu khin thch nghi trn h thng iu khin cng nghip
4.4.1. Gii thiu chung
Nh mc tiu t ra ban u ca lun n, nhm a ra kh nng p dng ca
phng php xut trn h thng iu khin cng nghip in hnh, sau y
trnh by mt s b phn mm pht trin m nron v vn trong xy dng
m hnh phn mm iu khin thch nghi trn h thng iu khin cng nghip.
C th thy, cc hng t ng ha ln trn th gii hin nay nh Siemens
(c), Rockwell Automation (Hoa K), Schneider Electric (Php), Omron
(Nht Bn), ... u cung cp cc b phn mm pht trin h m v mng nron
cho cc sn phm ca ring mnh. im mnh ca cc phn mm ny l cc
mun phn mm thi gian thc (runtime) c ti u ha cao, kim tra cht
ch v d dng kt ni, trao i d liu trc tuyn vi cc mun phn mm
khc do hng pht trin. Tuy nhin do thit k ng nn a phn ch cho php
thc hin cc cu trc iu khin c bn vi mt s ty chn trn chng loi
thit b c th. in hnh nh NeuroSystems ca Siemens ([89], [90]) ch h tr
cc kiu mng cng nh MLP, RBF v NFN di dng cc khi hm v khi
d liu cho cc b iu khin h SIMATIC S7-300, S7-400 hoc th vin phn
mm thi gian thc cho WinCC ca hng. Ngoi ra cc chc nng tnh ton, m
phng v ha nhn chung cn cha c tt.
Trong khi nhiu hng chuyn v phn mm li cung cp cc sn phm
phn mm h tr thit k linh hot h m v mng nron cho nhiu chng loi
thit b iu khin kh trnh (PLC) v vi iu khin khc nhau. Mt s b phn
mm in hnh nh FuzzyTech ca Inform GmbH (http://www.fuzzytech.com),
NeuroSolutions v NeuroSolutions for Matlab ca NeuroDimension Inc. ([58],
http://www.neurosolutions.com), Matlab ca MathWorks
(http://www.mathworks.com), VisSim ca Visual Solutions
(http://www.vissim.com) l cc cng c phn mm mnh v thit k, tnh ton,
giao din ha v m phng. Tuy nhin thit k ng dng iu khin cng
nghip trn cc b phn mm nu trn khng n gin do thiu cng c tr gip
- 112 -


tnh ton, kim tra hot ng trc tuyn cng nh ngi dng c th gp phi
mt s vn v kh nng h tr m lnh CPU v mc hon chnh ca trnh
bin dch.
Mt phng php nhm p dng cc m hnh hoc thut ton iu khin
phc tp trn cc h thng iu khin cng nghip l s dng cc b phn mm
mnh nu trn tnh ton, m phng hot ng ca thit k v t chuyn
sang lp trnh ng dng ph hp trn thit b c chn. V d nh i vi
phng php xut trong lun n, thc hin cu trc iu khin m nron
da trn iu khin m Sugeno (m hnh ANFIS) hoc kt hp vi cu trc
iu khin thch nghi xy dng trong lun n i hi phi xy dng c cc
mun phn mm thi gian thc ring ph hp vi chng loi PLC c s
dng. Ngoi ra do cc h thng iu khin cng nghip tin tin hin nay c cu
trc phn cp nn cn thit phi xy dng mt m hnh phn mm ng dng cho
php thc hin cu trc iu khin xut trong lun n trn m hnh phn cp
ny cng nh tr gip qu trnh ly s liu o phc v thit k, tnh ton tham
s iu khin.
Phn tip theo trnh by cu trc phn mm ng dng iu khin m nron
(lut iu khin tnh v ng) cho h thng t ng ha SIMATIC S7 vi cc
mun phn mm h tr chy trn nn SIMATIC WinCC ca hng Siemens.
tn dng cc u im ca cc b phn mm tnh ton, m phng mnh
nu trn cng nh rt ngn thi gian thit k h thng, vic chnh nh ngoi
tuyn, xc nh tham s iu khin ban u lun n xut s dng cc cng c
tr gip trong Matlab v NeuroSolutions. Cc kt qu c nhm tc gi
thc hin trong mt s ti cp b do nghin cu sinh lm ch nhim ti
([12], [14]).
- 113 -


4.4.2. M hnh phn mm ng dng v kh nng p dng trn h thng iu
khin cng nghip
M hnh chung
Hnh 11 trnh by m hnh iu khin thch nghi xy dng trn h thng iu
khin cng nghip in hnh ca hng Siemens vi cc thnh phn gm:
- IPC-Server: trong h thng phn cp, IPC-Server c dng l my tnh
cng nghip c nhim v qun l v x l cc d liu nhn v t cc h
thng iu khin (PLC/IPC) cng nh cung cp d liu (theo yu cu, thng
qua cc dch v) cho cc my tnh trm (PC-Clients). thc hin truyn
thng trong cc phn cp, IPC-Server c h tr cc dng truyn thng qua
fieldbus (nh IE, Profibus hoc MPI) kt ni vi PLC. Trong m hnh
thch nghi c xy dng, IPC-Server cn c nhim v gim st, thu thp d
liu phc v qu trnh chnh nh tham s ngoi tuyn (off-line) xc nh
cc tham s ban u ca b xp x trc khi np xung thit b iu khin
thi gian thc PLC (hoc Soft-PLC). Phn mm SCADA s dng trn IPC-
Server l SIMATIC WinCC ca hng Siemens.
- PLC/Soft-PLC: PLC l thit b iu khin kh trnh thi gian thc cc qu
trnh cng nghip thng qua cc u vo/ra (I/O) trong khi Soft-PLC l mt
dng PLC mm (phn mm gi hot ng PLC trn IPC) cho php thc
hin v x l cc tc v nh mt PLC thc th. Trong c hai trng hp,
mun phn mm iu khin thch nghi trn PLC/Soft-PLC nhn cc tham
s ban u t IPC-Server v thc hin thut ton iu khin thch nghi vi
chc nng chnh nh trc tuyn c kch hot bi IPC-Server trong qu
trnh hot ng. PLC trong m hnh thit k l dng SIMATIC S7-300/400
cn Soft-PLC c dng l b phn mm WinAC RTX ca hng Siemens.
- I/O: l cc mun u vo/ra s/tng t, trong Central I/O l cc mun
u vo/ra trung tm c kt ni trc tip vi bus ni b ca PLC v DP-I/O
l cc mun vo /ra phn tn c kt ni vi PLC/Soft-PLC thng qua bus
trng (nh Profibus-DP/PA).
- 114 -


- Processes/Plants: cc qu trnh, thit b, my mc cn gim st, iu khin
trong dy chuyn cng ngh.

Hnh 11 : iu khin thch nghi trong h thng iu khin cng nghip
Truyn thng v trao i d liu trong m hnh
Truyn thng trong m hnh c th phn thnh 2 nhm sau:
- Truyn thng gia IPC-Server vi PLC/Soft-PLC: y l ng truyn trong
phn cp vng (cell level) c chu k vng qut chm, khong 100ms. Cc
bus trng c th s dng trong thit k l Industrial Ethernet (IE), Profibus
(PB) hoc MPI (Multi-Point Inteface) ca Siemens.
- Truyn thng gia PLC/Soft-PLC vi DP-I/O: s dng ng truyn trong
phn cp trng (field level) c chu k vng qut nhanh di 10ms. Bus
trng thit k s dng trong phn cp ny l Profibus-DP/PA.
Fieldbus (IE/PB/MPI)
Mng cng nghip phn
tn (Profibus-DP/PA)
IPC-Server

Phn mm
SCADA v chnh
nh tham s
ngoi tuyn
(Offline)
PLC/Soft-PLC

iu khin
(m nron) v
chnh nh
tham s trc
tuyn (Online)
DP
I/O

DP
I/O

DP
I/O

Processes/Plants
Central I/O

Cc module
vo/ra
s/tng t
- 115 -


Hot ng ca m hnh phn mm iu khin thch nghi
Hot ng ca phn mm iu khin thch nghi trn h thng iu khin
cng nghip c minh ha thng qua vic xc lp b xp x m nron (NF)
trong lut iu khin tnh hoc thch nghi. Hnh 12 m t cc thnh phn chnh
v ng i ca d liu trong qu trnh thit lp cc tham s lm vic ca h
thng, theo gm cc bc sau:

Hnh 12 : S ng i d liu trong m hnh iu khin thch nghi
- Xc nh cc trng thi (o c) ca qu trnh iu khin (cc u vo/ra).
Xc nh cu trc NF s s dng (trong thit k s dng cu trc ANFIS),
phng php to d liu phc v luyn mng cng nh thi gian ly mu.
- Thc hin qu trnh thu lu d liu phc v qu trnh hc ngoi tuyn bng
cch PLC/Soft-PLC to cc tn hiu u vo qu trnh theo phng php
nh v thu cc p ng (cc u ra) ca qu trnh. Cc d liu ny c ly
mu theo chu k t v chuyn vo vng d liu nh m tm thi (buffer)
truyn v c s d liu (CSDL) trn IPC-Server.
PLC/Soft-PLC



IPC-Server

Processes/Plants

iu khin thch nghi
Tham s,
ch /k
Phn mm SCADA
Chnh nh
ngoi tuyn

Chnh nh
trc tuyn
iu khin
i tng

Tham s thit k,
ch iu khin

C s d liu
(WinCC
UserArchive)



B m d
liu tm thi
- 116 -


- Thc hin qu trnh hc ngoi tuyn bng s liu thu c trong qu trnh
trc nhm xc nh c cc tham s hot ng ca h thng cng nh c
th m phng hot ng ca qu trnh. Cc tham s sau khi luyn p ng
cc iu kin thit k s c np xung PLC/Soft-PLC khi to h thng
NF.
- Trong qu trnh hot ng, h thng NF chuyn t ch tnh (lut iu
khin tnh) sang ch ng (lut iu khin thch nghi) cho php t ng
chnh nh trc tuyn cc tham s.
Cu trc v hot ng chung ca cc mun phn mm h thng NF
Vi m hnh h thng NF thit k, phn mm h thng NF c th phn thnh
cc mun chnh sau (Hnh 13):
- PC-NF Manager: Mun phn mm qun l v iu khin hot ng ca
cc mun phn mm khc trn IPC-Server.
- PLC-NF Manager: Mun phn mm qun l v iu khin hot ng ca
cc mun phn mm trn PLC/Soft-PLC.
- Process I/O Data Acquisition: Mun phn mm trn IPC-Server c nhim
v iu khin qu trnh trao i, cp nht d liu qu trnh cn thit t
PLC/Soft-PLC v lu tr vo CSDL (Process Data) nhm cung cp cho qu
trnh hc ngoi tuyn (offline learning) xc nh cc trng s ban u ca
h NF.
- Process I/O Data Transmission: Mun phn mm trn PLC/Soft-PLC c
nhim v cp nht d liu qu trnh theo chu k vo Temporary Buffer v
cung cp cho IPC-Server lu tr. Hot ng ca mun phn mm ny do
IPC-Server (Mun Process I/O Data Acquisition) iu khin.
- NF Offline Learning: Mun luyn ngoi tuyn trn IPC-Server c cu trc
da trn h m v mng nron (trong th nghim s dng cu trc ANFIS)
v tng ng vi cu trc xy dng trong NF Online (trn PLC) nhm xc
nh cc tham s ban u ca h thng NF (NF Data). Mun c pht
- 117 -


trin trn mi trng Matlab v c th tch hp vo h thng NF chy trn
nn WinCC.
- NF Online: Mun NF iu chnh tham s trc tuyn c cu trc da trn h
m v mng nron (ANFIS) vi cc tham s ban u do IPC-Server thit
lp.

Hnh 13 : Cc mun phn mm chnh trong m hnh h thng NF
- NF Data Transmit: Mun iu khin qu trnh cp nht s liu thit lp h
thng NF (bn PLC/Soft-PLC).
PLC

IPC-Server

Process I/O
Data
Acquisition
Module

Proc.
Data

PC-NF Manager

Common
DB (UA)

NF Offline
Learning
Module
NF
Data

Process I/O
Data
Transmission
Module

Temp.
Buffer

PLC-NF Manager

System
DB (DB1)

NF Controller

NF
Online
Process
Model

NF
Data

NF Data
Update

NF Data
Transmit
Chiu trao i d liu gia
cc mun chng trnh
qua mng PB v ni b

Chiu truy cp CSDL ca
cc mun phn mm

K hiu:
DP-I/O
PI

- 118 -


- NF Data Update: Mun thc hin qu trnh cp nht, trao i v nhn cc
tham s iu khin t IPC-Server.
- Process Model: Mun phn mm m phng qu trnh cn iu khin phc
v th nghim hot ng ca h thng NF.
Cc mun phn mm xy dng trn IPC-Server c thit k lp trnh bng
ngn ng C-Script trong SIMATIC WinCC V5. Cc mun phn mm trn
PLC/Soft-PLC c xy dng trn ngn ng SCL (Structured Control
Language) trong b phn mm SIMATIC STEP7 Professional V5.2.
C th tham kho mt s cu trc mun phn mm nh mun cung cp d
liu qu trnh (Process I/O Data Transmission) v mun ANFIS trn
PLC/Soft-PLC trong mc 5.7 trang 155 phn Ph lc.
Kh nng p dng trn cc h thng iu khin cng nghip
Nhm nh gi kh nng v a ra cc xut khi p dng m hnh iu
khin thch nghi ca lun n trn cc h thng iu khin cng nghip, lun n
sau y trnh by kt qu chy th mun ANFIS xy dng trong lun n v so
snh vi cc mun phn mm runtime FUZZY_20K v NEURO_20K ca
hng Siemens. Mun phn mm FUZZY_20K v NEURO_20K tng ng
nm trong cc b phn mm FuzzyControl++ ([88]) v NeuroSystems ([89]) do
hng Siemens cung cp cho php thc hin cc tnh ton thng minh trn c s
h m v mng nron trn chng loi PLC SIMATIC S7 ca hng.
Vic la chn mun ANFIS phn tch v so snh vi cc mun runtime
ca hng Siemens l do cc nguyn nhn sau:
- Mun ANFIS l mun quan trng thc hin vai tr b xp x vn nng F
A

hoc

F
A
trong cc lut iu khin tnh (3-13) v lut iu khin ng (4-7)
ca lun n.
- Mun ANFIS l mun tnh ton phc tp hn c trong lut iu khin, i
hi thi gian x l v b nh ln. Thng s hot ng ca mun ANFIS
quyt nh tnh thi gian thc ca h iu khin.
- 119 -


- Cc mun phn mm runtime FUZZY_20K v NEURO_20K ca hng
Siemens c th thay th c mun ANFIS nu c s dng nh mt b
xp x vn nng tha mn iu kin sai s xp x b chn trong lun n (nh
l 3 trang 71).
Bng di y tng hp cc thng s hot ng chnh ca cc mun phn
mm runtime v c th s dng tnh ton thi gian thc ca ng dng iu
khin NF trn PLC SIMATIC S7-400:
Mun m
nron runtime
Thng s cu hnh
IN: u vo, OUT: u ra,
MF: hm lin thuc, R: s
lut
B nh cn thit
Thi gian thc
hin (ms) trn
SIMATIC S7-
400
Chng
trnh
D
liu
FUZZY_20K
(Siemens Fuzzy
Control++ V5.0)

H m: max. 8 IN (7MF), 4
OUT (9MF), 2000 R.
1.206
bytes
20.516
bytes
22ms - 154ms
ty thuc vo
s lng I/O v
s lut.
NEURO_20K
(Siemens
NeuroSystems)

Mng NFN: max. 8 IN
(7MF), 4 OUT (9MF),
2000 R.
Mng MLP: max. 100 IN,
10 OUT, 2 lp n (50
nron/lp n).
Mng RBF: max. 100 IN,
10 OUT, 50 nron/lp n.
2.210
bytes
20.612
bytes
3,3ms - 260ms
ty thuc vo
s lng I/O v
s lut.
FB_NeuroFuzzy
(Mun ANFIS
th nghim
trong lun n)
Mng ANFIS: max. 8 IN, 1
OUT, 7MF, 1500R.
4.448
bytes
61.006
bytes
nh hn 10ms
ty thuc vo
s lng I/O v
s lut.

Mun ANFIS trong lun n hin ch p dng cho h c nhiu nht 8 u
vo, 1 u ra vi 1500 lut do gii hn 64kB mt khi d liu trong SIMATIC
S7. Tuy nhin c th m rng s lng cc u vo/ra, s hm lin thuc trn
mi u vo/ra v s lut bng cch thit k trn nhiu khi d liu. So snh vi
- 120 -


cc mun ca hng Siemens cho thy vic s dng mun ANFIS yu cu b
nh ln hn do cu trc mng ANFIS i hi vic tnh ton phc tp hn. Do
trong trng hp c th thay th mng ANFIS bng cu trc h m hoc cc
mng nron khc n gin hn ta c th s dng cc mun ca Siemens nu
trn. u im ca mng ANFIS l c th gii quyt tt cc trng hp tng
qut, thiu tri thc v ng hc phi tuyn ca i tng iu khin.
Cc thng s hot ng ca cc mun trn cho thy p dng m hnh
iu khin thch nghi trn h thng iu khin cng nghip cn phi gii quyt
cc hn ch sau:
- Yu cu b nh ln (c bit l b nh d liu) so vi b nh thng thng
ca cc PLC hin nay. Cc ng dng NF ln i hi vic lp trnh phc tp
do phi gii quyt cc hn ch v b nh v t chc d liu thnh nhiu
khi.
- Thi gian thc hin ph thuc vo tc thc thi ca mi loi PLC, m
bo tnh thi gian thc trong mi ng dng cn tnh ton c thi gian ny
v gii quyt c trong trng hp chu k x l khng p ng.
Do vy p dng mun NF trong ng dng iu khin thch nghi cn thit
phi s dng PLC mnh c tc x l nhanh v b nh ln (v d nh i
vi PLC ca Siemens, t nht l SIMATIC S7-400 CPU 414 tr ln c b nh
RAM 1.4MB, thi gian x l lnh l 45ns i vi cc lnh thng thng v
135ns i vi lnh tnh ton du phy ng). Tuy nhin Soft-PLC (v d nh
WinAC RTX 2008 ca hng Siemens) l s la chn tt hn c do khng phi
gii quyt vn v thiu b nh (ch gii hn bi b nh ca PC) trong khi
thi gian x l nhanh (thi gian x l lnh trong WinAC RTX 2008 trn my
tnh c b x l Pentium IV, 2.4GHz l 3-4ns).
Tm li, kt qu th nghim trn cng cho thy lut iu khin tnh v ng
xut trong lun n hon ton c kh nng p dng c trn cc h thng
iu khin cng nghip vi chu k x l c th tnh ton v p ng c yu
cu thi gian thc ca mi ng dng.
- 121 -


4.5. Kt lun
Chng 4 tip tc php trin phng php thay th c lng hm trng thi
theo hng p dng lut iu khin thch nghi da trn lut iu khin tnh
c xy dng trong cc chng trc. gii quyt vn trn, tc gi la
chn xy dng b iu khin thch nghi trc tip v p dng phng php chnh
nh o vi lut chnh nh tham s trnh by trong [57] cho thnh phn b ng
dng b xp x m nron xut trong phng php. Da trn gi thit tn ti
lut iu khin tnh cha b xp x m nron tha mn iu kin ca nh l 3
v trong min vct tham s O

, lun n cho bit cng tn ti lut iu khin

ng trn c s b xp x nu v bng lut chnh nh tham s xut s
m bo h sai s vng kn n nh.
Nhm la chn b xp x m nron tuyn tnh hay phi tuyn i vi tham s
trong lut iu khin thch nghi, lun n cng xem xt v ch ra phng php
gii quyt trong mi trng hp. Cc kt qu ny c trnh by di dng
nh l 4 trang 102 v B 7 trang 105 trong trng hp h kh tuyn tnh
ha phn hi trng thi (i vi trng hp h kh tuyn tnh ha phn hi vo-
ra cng cho kt qu tng t). Theo ta c th la chn cc tham s iu
khin ph hp h sai s E lun nm trong
E
B nh ty v do vy trong
trng hp cn m bo gii hn ca trng thi v u vo, ta c th chn
E E
B _O qu o trng thi v u vo ca h lun nm trong min hp l
tha mn yu cu thit k. Cc kt qu v iu khin thch nghi trc tip trong
phng php c tc gi tng hp thnh cc bc trnh by trong mc 4.3.
Ngoi ra do c im tch hp cao ca cc h thng iu khin thng dng
trong cng nghip, lun n cng xut m hnh phn mm cho php xy dng
v p dng lut iu khin tnh v ng trn h thng t ng ha SIMATIC
ca hng Siemens. Tm li cc kt qu trong Chng 4 cho php phn tch v
thit k b iu khin thch nghi trc tip n nh trong phng php cng nh
phn tch kh nng p dng trn cc h thng iu khin cng nghip tin tin.
- 122 -


KT LUN V KIN NGH
Cc kt qu ca lun n c th tng hp li nh sau:
1. Thit lp c s ton hc ca phng php thay th c lng hm trng
thi da trn lp h sai s tha mn Gi thit 1:
a. H sai s (2-20) c nghim b chn ti hn u theo (2-26) nu xc nh
c cc hm thay th c lng tha mn iu kin (2-34) (nh l 1).
b. Hm ( , , )
E
E k nh ngha nh (2-61) c gi tr ln nht xc nh bi
cng thc (2-63) (B 3) dng phn tch tnh bn vng ca h vng
kn i vi thnh phn khng r b chn xut hin trn u vo ca h.
c. Thnh phn b lin tc (2-60) v (2-87) da trn hm xchma lng cc
trong lut iu khin phn hi cho php gim tr tc ng ca cc thnh
phn khng r trn u vo ca h ln h sai s (B 4 v nh l 2).
2. a ra lut iu khin s dng b xp x m nron trong trng hp tng
qut gii quyt vn iu khin n nh tnh trong phng php:
a. Lut iu khin tnh (3-13) cha thnh phn b lin tc (3-12) vi sai s
b xp x m nron tha mn (3-14) bo m nghim ca h sai s vng
kn (2-20) b chn ti hn u (nh l 3).
b. iu kin qu o trng thi ca h lun nm trong min hp l ca
khng gian trng thi l tham s iu khin (nu tn ti) tha mn (3-19).
iu kin tn hiu iu khin lun nm trong min hp l ca tn hiu
u vo l biu thc (3-22) c tha mn (B 5).
c. iu kin lut iu khin tnh (3-39) cha thnh phn b lin tc
(3-38) iu khin n nh cc h chuyn ng hn lon (chaotic systems)
c phng trnh ng hc dng tuyn tnh ha phn hi cht (3-25) l
iu kin xp x (3-42) c tha mn.
3. Pht trin b iu khin thch nghi trc tip da trn phng php chnh
nh o chnh nh tham s ca b xp x m nron (l thnh phn b
- 123 -


ng trong phng php) trong hai trng hp b xp x tuyn tnh v phi
tuyn i vi tham s:
a. Lut iu khin thch nghi v chnh nh tham s (4-7) vi b xp x
tuyn tnh bo m nghim ca phng trnh ng hc h sai s (2-20) b
chn bi
E
E B e vi
E
B nh ngha nh (4-10) (nh l 4).
b. Lut iu khin thch nghi v chnh nh tham s (4-12) vi b xp x phi
tuyn bo m nghim ca phng trnh ng hc h sai s (2-20) b
chn bi
E
E B e vi
E
B nh ngha nh (4-15) (B 7).
4. Phn tch kh nng p dng phng php trn cc h thng iu khin cng
nghip vi PLC mnh, c bit l Soft-PLC.
Ngoi vic tng hp mt s kt qu nghin cu trnh by di dng cc b
(B 1, B 2, B 6), lun n xy dng v chng minh c 04
nh l (nh l 1, nh l 2, nh l 3, nh l 4), 04 b (B 3, B 4,
B 5, B 7) v mt s cng thc tnh ton lm c s khoa hc cho vic
xy dng thut ton v m hnh iu khin trong phng php. Cc kt qu lin
quan n lun n c tc gi v cc cng s cng b trong 04 bi bo ti
cc Hi ngh chuyn ngnh trong c 01 bi bo quc t.
Mt s vn tn ti v hng nghin cu, hon thin tip ca lun n t ra
c v mt l thuyt v thc tin ng dng trong cng nghip nh sau:
- M rng phng php cho kiu iu khin phn hi u ra (output-feedback
control) khi ch c u ra v mt s trng thi o c, cc trng thi cn li
khng o c.
- Phn tch h trong min thi gian ri rc cho php p dng phng php trn
cc h iu khin thi gian thc c tc x l tnh ton v ly mu chm.
- Nghin cu cc phng php chn hm thay th sai s xp x b chn (l
iu kin cn p dng c phng php).
- M rng phng php cho cc h MIMO v h phi tuyn bin i theo thi
gian (time-variant).
- 124 -


CC CNG TRNH CNG B LIN QUAN CA TC GI


[1] Nguyn Duy Hng (2002), Mt s phng php hc trong mng nron v xy
dng m hnh nghin cu ng dng cho cc h thng iu khin cng nghip,
Tuyn tp cc bo co khoa hc Hi ngh ton quc ln th V v T ng ha,
H Ni, tr.163168.
[2] Nguyn Duy Hng (2005), Phng php xy dng h phn mm iu khin
Neurofuzzy cho h thng SIMATIC S7, Tuyn tp cc bo co khoa hc Hi
ngh ton quc ln th VI v T ng ha, H Ni, tr.282286.
[3] Nguyn Duy Hng, Nguyn Th Hng Lan, Nguyn Tun Nam, Trnh Hi
Thi (2005), C ch iu phi hot ng trao i d liu gia cc cp trong
mng phn tn Profibus-DP, Thng bo khoa hc Hi ngh ton quc ln th
VI v T ng ha, H Ni, tr.129134.
[4] Nguyen Duy Hung and Nguyen Thi Huong Lan (2007), An Estimated
Replacement Approach for Stable Control of a Class of Nonlinear Systems
with Unknown Functions of States, Lecture Notes in Engineering and
Computer Science, World Congress on Engineering and Computer Science
WCECS 2007, San Francisco, USA, pp.822827.


- 125 -


TI LIU THAM KHO
Ting Vit
[1] Nguyn Thy Anh, Hong Minh, Nguyn Ngc San (2008), c lng tham
s m hnh h ng hc, Nh xut bn Khoa hc v K thut, H Ni.
[2] V Lm Chng, L Hoi Quc (2005), Xy dng b iu khin da trn lut
ng x cho robot t hnh, Tuyn tp cc bo co khoa hc Hi ngh ton
quc ln th VI v T ng ha, tr.76-81.
[3] Phm Hu c Dc, Nguyn Cng Hin (2005), ng dng ca b iu khin
nron m trong iu khin thch nghi v tr ng c mt chiu, Tuyn tp cc
bo co khoa hc Hi ngh ton quc ln th VI v T ng ha, tr.101106.
[4] Phm Hu c Dc, Nguyn Cng Hin (2005), Nghin cu ng dng mng
nron m iu khin thch nghi rbt hai khu, Tuyn tp cc bo co khoa
hc Hi ngh ton quc ln th VI v T ng ha, tr.107112.
[5] L B Dng (1998), Mt thut ton chnh nh b iu khin m s dng
mng neuron, Tuyn tp cc bo co khoa hc Hi ngh ton quc ln th III
v T ng ha, tr.8591.
[6] L B Dng (2005), Mng nron thch nghi m cho nhn dng h iu khin,
Tuyn tp cc bo co khoa hc Hi ngh ton quc ln th VI v T ng
ha, tr.119124.
[7] Nguyn Th Phng H, Trn ng Long (2005), iu khin m thch nghi
trc tip ng c in mt chiu, Tuyn tp cc bo co khoa hc Hi ngh
ton quc ln th VI v T ng ha, tr.150155.
[8] ng Xun Hoi (1998), iu khin thch nghi tp m i vi h phi tuyn
trn c s xp x tuyn tnh ha vo-ra, Tuyn tp cc bo co khoa hc Hi
ngh ton quc ln th III v T ng ha, tr.175184.
[9] Nguyn Quang Hoan (1996), Mt s thut hc ca mng nron, Tuyn tp
cc bo co khoa hc Hi ngh ton quc ln th II v T ng ha, tr.220
229.
[10] Hunh Thi Hong, Nguyn Th Phng H, Nguyn Thc Loan (2002),
Nhn dng h h phi tuyn dng logic m, Tuyn tp cc bo co khoa hc
Hi ngh ton quc ln th V v T ng ha, tr.137143.
[11] Hunh Thi Hong, Nguyn Thc Loan, Nguyn Phng H (2005), iu
khin m thch nghi trc tip h phi tuyn MIMO c c tnh ng hc khng,
Tuyn tp cc bo co khoa hc Hi ngh ton quc ln th VI v T ng
ha, tr.239244.
- 126 -


[12] Nguyn Duy Hng (ch nhim ti) v cc cng s (2001), Nghin cu, thit
k h iu khin m xy dng trn c s PLC ng dng trong cng nghip,
Bo co k thut ti cp b (B cng nghip), H Ni.
[13] Nguyn Duy Hng, Phm Hng Cng, Nguyn Nam Hi (2002), H thng
iu khin thi gian thc trn nn my tnh PC v trin vng ng dng, Tuyn
tp cc bo co khoa hc Hi ngh ton quc ln th V v T ng ha,
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- 134 -


PH LC
5.1. Mt s thut ng ting Anh
class K (hm lp K): ( ) E K e nu : D
+
9 ng bin cht trn
| ) 0, D r = vi
r
+
e9 v (0) 0 = .
class K

(hm thuc lp K

): ( ) E K e

nu K e vi
| ) 0, D = v
lim ( ) E
E
=

.
class KL (hm thuc lp KL ): Hm lin tc :
n
|
+ +
9 9 9 thuc lp KL nu
( , ) t K | e x vi mi t khng i v gim dn i vi t khi x khng i v
( , ) t K | e x khi t .
compact set/space (tp compac): Tp compac
n
O c9
x
l tp con ng (closed) v b
chn.
decrescent function (hm gim dn): Hm lin tc ( , ) : V t B
h
+
9 9 x ,
{ }
:
n
B h
h
= e9 < x x (hoc ( , ) :
n
V t
+
9 9 9 x ) c gi l gim dn nu
tn ti hm K e nh ngha trn
| ) 0, r vi 0 r > nh ngha trn
| ) 0, sao cho
( , ) ( ) V t s x x vi 0 t > v B
h
e x , 0 h > (hoc
n
e9 x ). Ngoi ra ( , ) V t x gim
dn khi v ch khi tn ti hm xc nh dng trn B
h
(hoc trn
n
9 )
( , ) w( ) V t s x x vi mi B
h
e x (hoc
n
e9 x ) v 0 t >
diffeomorphism (php bin i vi ng phi): Php bin i T :
n n
Oe9 9 c
gi l vi (ng) phi nu tn ti php bin i ngc
1
T

vi T ,
1
T

l cc hm
trn (smooth).
globally uniformly asymtotically stable (n nh tim cn u ton cc): Gc ca h
(2-68)
e
= x 0 l n nh tim cn u (hoc n tr) ton cc nu l n nh u
ton cc v vi mi 0 c > v 0
0
t > lun tn ti 0
0
o > khng ph thuc vo
0
t
v c , ( ) 0 T c > khng ph thuc vo
0
t cho ( , , )
0 0
t t
e
c s x x x vi mi
( )
0
t t T c > + khi ( )
0 e
o c < x x .
- 135 -


Lambert w function (hm Lambert w): ([84]) Hm Lambert w( ) x l nghim ca
phng trnh
w( )
w( )
x
x e x = . Trong MATLAB hm c gi nh sau
lambertw( ) Y X = .
radially unbounded (khng b chn tia): Hm lin tc ( , ) :
n
V t
+
9 9 9 E c gi
l khng b chn theo tia nu ( , ) 0 V t = 0 vi 0 t > v tn ti hm K

e
( , ) ( ) V t > E E vi 0 t > v
n
e9 E .
Rayleigh-Ritz (bt ng thc Rayleigh-Ritz): Nu : n n P l ma trn i xng v
n
e9 x th ( ) ( )
min max
T T T
s s P x x x Px P x x .
relative degree (bc tng i): ([50], [51]) H (2-1) c bc tng i n ti
0
nu
2
( ) ( ) ( ) 0
n
L h L L h L L h

= = = =
g g f g f

vi trong ln cn ca
0
v
1 0
( ) 0
n
L L h

=
g f

, trong k hiu ( ) L h
f

l o hm Lie hay cn gi l
o hm ca ( ) :
n d
h D
+
c9 9 theo ( ) :
n d n d
D
+ +
c9 9 f

v
c nh ngha nh sau:
( )
( ) ( )
h
L h
c
=
c

f
f

,
1
( ) ( )
k k
L h L L h
| |

=
|
\ .

f f f

vi
2 k > . ngha ca bc tng i l s ln phi ly o hm ca u ra theo qu
o ng hc ca h u vo xut hin r hay nh x u vo-u ra l tuyn
tnh.
state feedback linearization (tuyn tnh ha phn hi trng thi): ([50], [51]) H (2-1)
l kh tuyn tnh ha phn hi trng thi nu tn ti php bin i ( ) = x T xc
nh trn U (cha gc ta ) v ( ) = T 0 0 chuyn h sang dng thc
( ) ( ) ( ) f g u = + + x Ax b x x vi ( , ) A b l cp iu khin c ([49]).
uniformly bounded (tnh b chn u)

( , , )
0 0
t t x x c gi l b chn u hay b chn
n tr nu vi mi 0 o > v 0
0
t > lun tn ti ( ) 0 | o > (khng ph thuc vo
0
t )
0
o < x th ( , , ) ( )
0 0
t t | o s x x vi mi 0
0
t t > > .
uniformly ultimately bounded (b chn ti hn u): Nghim ( , , )
0 0
t t x x c gi l b
chn ti hn u nu tn ti 0 B >

v vi mi 0 o > , 0
0
t > lun tn ti ( ) 0 T o >
(khng ph thuc vo
0
t )
0
o < x th ( , , )
0 0
t t B < x x vi mi ( )
0
t t T o > + .
unitary matrix (ma trn unita): U l ma trn unita nu
1 *
= U U vi k hiu
*
U l
chuyn v lin hp phc ca U. Trng hp ma trn s thc th
1 T
= U U .
- 136 -


5.2. B 1 trang 23
chng minh h sai s (2-16) tha mn Gi thit 1 ta cn ch ra hm s
( , ) : t E
+ +
9 9 9
x
c tnh cht b chn vi E b chn v khng gim dn i
vi E
+
e9 khi t khng i ( , ) t E s
x
x vi mi t .
T nh ngha h sai s (2-16):
( )
( 1)
( , )
T n
E E n
E t x r

= + x k d vi | |
1 1
, ,
T
E n
k k

= k
v

( 2)
1 2 1
, , ,

n
E n
x r x r x r

(
=

d ta c:

( )
2 2
( 1)
( 2) ( 2)
1 1
( 1)
1 2 1
0

0
1
0 0

0 0
1
T n
E E E n n n
n n
n T
n E E
E
n
x r x r
x r
x r x r
x r
E
k k k

( (
(
( (
(
( (
(
= = + +
( (
(
( (
(
( (

( (
( (
( (
= +
( (
( (


d k d
k d
I
d

t
1 2 1
0
0
n
k k k

(
(
(
=
(
(


k
I
A

v
1
0
0
1
n
(
(
(
= e9
(
(

b

dn n phng trnh ng
hc i vi
E
d nh sau:

E E
E = +
k
d A d b

(5-1)
vi
k
A l Hurwitz do
1 2
1 1
n n
n
s k s k

+ + + l Hurwitz.
Bit nghim ca phng trnh vi phn tuyn tnh (5-1) l:

( )
0
( ) e (0) e ( )
t
t t
E E
t E d
t
t t

= +
}
k k
A A
d d b (5-2)
Do
k
A l Hurwitz nn lun tm c cc s dng
1
p v
2
p
2
1
e e
t -p t
p s
k
A

bng phng php sau:
- 137 -


Phng trnh trng thi (5-1) khi 0 E = c nghim l ( ) e (0)
t
E E
t =
k
A
d d . t
( )
T
E E
V t = d Pd vi P l ma trn i xng xc nh dng tha mn
( )
T
+ =
k k
PA A P I th
2
( )
T T T
E E E E E
V = + = =
k k
d PA A P d d d d

.
p dng bt ng thc Rayleigh-Ritz vi
min max
( ), ( ) P P tng ng l cc gi tr
ring nh nht v ln nht ca P :

min max
min max
( ) ( )
( ) ( )
T T
T
E E E E
E E
V V
V


s s
s s
d Pd d Pd
d d
P P
P P

Gii bt phng trnh v phi
max
( )
V
V

s
P

ta c
max
/ ( )
(0)
t
V V e

s
P
, mt khc
thay vo bt ng thc v tri s c:

( )
max
max
2
/ ( )
min min
/ 2 ( )
min
(0)
( ) ( )
(0) (0)
( )
t
E
T
t
E E
E
V V
e
e

s s
s
P
P
d
P P
d Pd
d
P

Do vy nu chn
1
min
(0) (0)
( )
T
E E
p

=
d Pd
P
v
2
max
1
2 ( )
p

=
P
th
2
1
e e
t -p t
p s
k
A
.
T kt qu trn v (5-2) suy ra:

2 2
( )
1 1
0
( ) e (0) e ( ) ( , )
E
t
-p t -p t
E E d
t p p E d t E
t
t t

s + =
}
d d (5-3)
Mt khc t nh ngha h sai s c th vit:

( 1)
E E E
n T T
n E E E E
x r E E

( ( (
= = = +
( ( (


d d d
x r x r
k d k d

Do r s r v t (5-3) nn ta xc nh c hm
x
cn tm ( , ) t E s
x
x nh
sau:
- 138 -



( )
1
1
1
1 ( , ) ( , )
E
E
T
E E
T
E E E
T
E E E
T
E E
n
i
i
E
r E
r E
r E
r E k t E t E

=
s +

s + +
s + + +
s + + +
| |
s + + + =
|
\ .
d x
d
x r
k d
d k d
d k d
k d
(5-4)
R rng l ( , ) t E
x
tm c trong (5-4) tha mn tnh cht l hm s b chn khi
E b chn v khng gim dn i vi E
+
e9 khi t khng i nn B 1 c
chng minh.

- 139 -


5.3. B 3 trang 40 v kt qu (2-64)
Do
( ) ( , , ) sign( ) bsig( , )
E
E E E E k k = vi 0 1 < s l hm chn nn ta ch
cn xt hm
( ) ( , , ) bsig( , )
E
E E E k k
+
= vi 0 E > hay:

1 ( 1)
( , , )
1
E
E
E
e
E E
e
k
k

k

+

+ +
=
+

Tnh o hm ca ( , , )
E
E k
+
theo E thu c:

( )
( )
| |
( )
| |
( )
( )
2
2
2
2
2
2
2
( 1) 1 ( 1) (1 )

1
1 ( 1)
1
( 1) ( 1) ( 1)
1
( 1) ( 1) ( 1) ( 1) 1

1
( 1) 2( ) 1
1
E E E
E
E
E E
E
E
E
E
E
E E
E
e E e e
d
dE
e
e E e
e
E E e
e
E E e
e
e E e
e
k k k
k
k k
k
k
k
k
k
k k
k
k
k
k k
k k
k

+

(
+ + + + +

=
+
(
+ +

+
+
+ + + + +
=
+
+ + + + + +
+
+
+ + +
=
+
=
( )
2
( , )
1
x
f x
e

+

trong k hiu
2
( , ) ( 1) 2( ) 1
x x
f x e x e

= + + + v x E k = .
tm cc tr ca
E+
cn thit gii phng trnh:
( , ) 0 f x = (5-5)
vi 0 1 < s . Phng php kho st hm s ( , ) f x di y chng minh rng
phng trnh (5-5) trn lun c nghim duy nht.
T o hm:
- 140 -



2
( , ) 2( 1) 2 ( )
2 ( 1) ( 1)
x x x
x x
d
f x e e x e
dx
e x e




(
= + +

(
= + +


cho thy ( , ) 0
d
f x
dx
= khi v ch khi x l nghim ca phng trnh:
( 1) ( 1)
x
x e

+ + = + (5-6)
gii phng trnh (5-6), ta s dng kt qu ca B 8 di y:
B 8 : Nghim ca phng trnh
x
x b ae + = vi 0 a = l w( )
b
x b ae

=
vi w( ) x l hm Lambert.
Chng minh B 8 t bin i
/
( )
x a x a
x b
x b ae e
a a
+ = + = v p dng B 2
(trang 34) nh sau:

( ) ( )
( )
/
w ( ) log( ) w
log( )
w .
a b a a b
a
b
e e ae
x b b
a a a a e
x b ae

= =
=
(5-7)

Thay ( 1) a = + , 1 b = + dn n nghim ca phng trnh (5-6) l:

( )
( )
( 1)
0
( 1)
0
( 1) w ( 1)
1 w ( 1) 1 w(p)
x x e
x e

+
+
= = + +
= + + + = + +
(5-8)
trong k hiu
( 1)
p ( 1)e

+
= + . Do
( 1)
p
(2 ) 0
d
e
d

+
= + < nn p lun gim
dn i vi ( |
0,1 e v p(1) p( ) p(0) s < hay
)
2
p 2 ,1 e e

.
Khi ( , ) f x ch c mt im cc tr duy nht (kt qu phn tch di y cho
thy l im cc tiu) ti ( )
0 0
, x f vi
0
x xc nh theo (5-8) v:
- 141 -



( )
| |
( )
( )
0 0
0 0
2
0
2
2( 1) ( 1)
w(p) w(p)
2
2( 1) ( 1)
( 1) ( 1)
2 2
,
( 1) 2( ) 1
1 1
( 1) 2 ( 1) w(p) 1
w(p) w(p)
( 1) 2 1 w(p) 1
( 1) ( 1)
w (p) w(p) w (p)
2 1 w(p) 1
1 1
x x
f f x
e x e
e e
e e
e e
e e

+ +
+ +
+ +
=
= + + +
| |
= + + + +
|
\ .
(
= + + +
(
+ +

= + + =
+ +
( )
2
2
2
2w(p) 1
1
w(p) 1
.
1

+
+
+
=
+

Do hm Lambert l ng bin cht trn
| ) 1 e, nn
2
w(2 ) w(p) w(1 ) e e s < ,
suy ra
0
1 x > v
0
0 f < . Mt khc ( , 0) 4 0 f = > , ( , ) 1 0 f = s nn ( , ) f x
lun ct trc honh ch ti mt im
m
x nm trong khong ( )
0
0, x v
0
f l gi tr cc
tiu ca hm s ( , ) f x . Lu l
( )
2
( , )

1
E
x
d f x
dE
e

=
+
nn kt qu trn cng cho
php suy ra ti
m
m
x
E
k
= ,
E+
t gi tr ln nht bng
_max
( , ) ( , , )
E E m
E k k
+
= ,
ngoi ra do
_max
( , , 0) 0 ( , , ) ( , )
E E m E
E k k k
+ +
= < = nn gi tr ln nht l
dng.
tnh gi tr ln nht ny ta c th s dng phng php gii trn MATLAB.
Di y l m code chng trnh vit trn m-file to ra th ( , , )
E
E k trong
cc trng hp 5 k = , 10 k = v gi tr c chn trong mi trng hp l 1, 0.9
v 0.5 (Hnh 4 trang 41):

% mu_E_max; VIELINANDH, 2006
function mu_E_max()
clear all
global xm ym
step=0.01; xmax=2;
a=0; rho1=1; rho2=0.9; rho3=0.5;

kappa=5; subplot(1,2,1); plot_mu(xmax, step, a, rho1, rho2, rho3, kappa);
kappa=10; subplot(1,2,2); plot_mu(xmax, step, a, rho1, rho2, rho3, kappa);

function Y=bsig(K,A,E)
Y=(2/(1+exp(-K*(E-A))) - 1);
- 142 -



function Y=f_mu(K,A,B,E)
Y=abs(E)*(B-sign(E)*bsig(K,A,E));

function Y=f_mu_em(K,B)
str=sprintf('(%4.2f+1)*exp(-2*x)+2*(%4.2f-x)*exp(-x)+%4.2f-1=0',B,B,B);
Y=solve(str)/K;

function plotf_mu(kappa, a, rho, w, color)
global xm ym
em=double(f_mu_em(kappa,rho)); %E_m
fe=f_mu(kappa,a,rho,em); %mu_E_max
s=sprintf('\\fontsize{10}\\it%5.4f',fe);
text(xm(1)-0.03,fe,s, 'Color', color, 'HorizontalAlignment', 'Right');
line([xm(1),em],[fe,fe], 'LineStyle', '-.', 'Color', color);
sprintf('mu(%f,%i,%5.4f)\t= %5.4f',rho,kappa,em,fe) % prints mu_E_max

function plot_mu(xmax, step, a, rho1, rho2, rho3, kappa)
global xm ym
x=[-xmax:step:xmax]';
for i=1:size(x,1)
y1(i)=f_mu(kappa,a,rho1,x(i));
y2(i)=f_mu(kappa,a,rho2,x(i));
y3(i)=f_mu(kappa,a,rho3,x(i));
end;
handle=plot(x,y1,'-r',x,y2,'-b',x,y3,'-k','LineWidth',1);
xlabel('\fontsize{10}\it\bfE'); ylabel('\fontsize{15}\bf\mu\fontsize{10}_{E}');
grid on;

if kappa==5
xlim([-1 1]); ylim([-0.04 0.12]); set(gca,'XTick',[-1:0.5:1]);
x1=0.52; x2=0.56; x3=0.25;
title('\fontsize{15}\bf\it\kappa\fontsize{10}\rm\bf = 5');
else if kappa==10
xlim([-0.5 0.5]); ylim([-0.02 0.06]); set(gca,'XTick',[-0.5:0.25:0.5]);
x1=0.26; x2=0.28; x3=0.125;
title('\fontsize{15}\bf\it\kappa\fontsize{10}\rm\bf = 10');
end
end
text(x1,f_mu(kappa,a,rho1,x1),'\fontsize{10}\leftarrow \it\rho\rm\fontsize{9} = 1', 'Color','r');
text(x2,f_mu(kappa,a,rho2,x2),'\fontsize{10}\leftarrow \it\rho\rm\fontsize{9} = 0.9',
'Color','b');
text(x3,f_mu(kappa,a,rho3,x3),'\fontsize{10}\leftarrow \it\rho\rm\fontsize{9} = 0.5',
'Color','k');

e=exp(1); w=1+lambertw(1/e); xm=xlim; ym=ylim;

plotf_mu(kappa, a, rho1, w, 'r')
plotf_mu(kappa, a, rho2, w, 'b')
plotf_mu(kappa, a, rho3, w, 'k')
- 143 -


5.4. Tuyn tnh ha phng trnh ng lc hc (3-23)
t | | | |
1 4 1 1 2 2
,.., , , ,
T
q q q q = = , khi phng trnh ng lc hc (3-23) v u
ra c th vit di dng:

1 2
2 1 1 3
3 4
4 1 3
1
sin ( )
( )
a b
c du
y

=
=
=
= +
=

(5-9)
vi
MgL
a
I
= ,
k
b
I
= ,
k
c
J
= v
1
d
J
= hoc:

( ) ( )
( )
u
y h
= +
=

f g

(5-10)
vi
2
1 1 3
4
1 3
sin ( )
( )
( )
a b
c

(
(

(
=
(
(

f ,
0
0
( )
0
d
(
(
(
=
(
(

g v
1
( ) h = .
H (5-10) c im cn bng ti = 0 v c bc y 4 n = do t:

| |
| |
| |
| |
2
2
1 1 3
2
3
1 2 1 2 4
3
4
2 1 1
2
2 1
( )
( ) 1, 0, 0, 0
( )
( ) 0,1, 0, 0 sin ( )
( )
( ) cos , 0, , 0 cos ( )
( )
( ) sin , cos , 0,
sin cos
h
L h
L h
L h a b
L h
L h a b b a b
L h
L h a a b b
a a

c
= = =
c
c
= = =
c
c
= = =
c
c
= =
c
= +

f
f
f
f
f
f
f

f f

f f

f f

f f

( )( )
1 1 1 3 1 3
sin ( ) ( ) b a b bc + + +

ta c:
- 144 -



| |
| |
| |
| |
2
2
1
3
3
2 1 1
( )
( ) 1, 0, 0, 0 0
( )
( ) 0,1, 0, 0 0
( )
( ) cos , 0, , 0 0
( )
( ) sin , cos , 0, 0
h
L h
L h
L L h
L h
L L h a b b
L h
L L h a a b b bd

c
= = =
c
c
= = =
c
c
= = =
c
c
= = = =
c

g
f
g f
f
g f
f
g f

g g

g g

g g

g g

Nh vy c th s dng php bin i vi ng phi | |
1 4
( ) T ( ), , T ( )
T
= T vi
( )
1
= T x xc nh:

1 1 1
2 2 2
2
3 3 1 1 3
3
4 4 2 1 2 4
( )
T
( )
T
( )
T sin ( )
T cos ( )
( )
h
x
L h
x
L h
x a b
x a b
L h

(
( ( (
(
( ( (
(
( ( (
= = = = (
( ( (
(
( ( (
(


(

f
f
f

( )( )
( )
( )
( )
4 2
2 1 1 1 1 3 1 3
2
2 1 1 3 1 3 1 1
2
2 1 1 3
3
( ) ( ) sin cos sin ( ) ( )
1
sin cos ( sin )
sin cos
( ) ( )
f L h a a b a b bc
ax x a x b x bc x x a x bx
b
a x c x a x b c x
g L L h bd
= = + + + +
| |
= + + + +
|
\ .
= + +
= =

f
g f
x
x

v biu din h dng tuyn tnh ha phn hi trng thi chun tc:

( )
( )
1 2
2 3
3 4
2
4 2 1 1 3
1
sin cos
x x
x x
x x
x a x c x a x b c x bdu
y x
=
=
=
= + + +
=

(5-11)
Kt qu trn cho thy nu gi thit l vct trng thi o c th x cng tnh
c qua php bin i ( ) = x T nu trn.
- 145 -


5.5. Chng trnh m phng v d iu khin tay rbt trang 79
% Robot Link Control Simulation; VIELINANDH, 2006
%function RobotSim1()
clear all;
global T_min T_step T_max fig a b c d a2 b2 c2 d2
nlStateFeedback_siso = ...
struct('Name','Nonlinear State-feedback Linearizable SISO Model', ...
'N', 0, 'CTRMode', '', ... % Control Mode
'fx', [], 'gx', [], 'hx', [], ... % Plant Model parameters
'fxa', [], 'gxa', [], 'hxa', [], ... % Plant Model Approximation
'FX', [], 'X',[],'W', [], 'Dg',[], 'Df', [], ... % Neural Network Approximator
'Fdxn', [], ... % Neural Network Approximator
'SatLim', 1, 'uLow', -1, 'uHigh', 1, ... % Saturation limiter
'RateLim', 1, 'duLow', -1, 'duHigh', 1, ... % Rate limiter
'K', [], 'eta', 1, 'ETA', [], 'kappa', [], ...
'alpha', 0, 'rho', 0, 'theta', 0, ... % Control parameters
'tempData', [], 'tempData2', []); % Testing data templates
% Nonlinear state-feedback linearizable SISO plant model:
% dx1/dt = x2
% dx2/dt = x3
% dx[N-1] = xN
% dxN/dt = f(x) + g(x)*u
% y = h(x)
% where x = [x1; x2; ...; xN] (state vector)
% u: plant input; y: plant output
% Parameters:
% N: Number of continuous states
% fx, gx, hx: f(x), g(x), h(x) respectively
% fxa, gxa, hxa: known functions for replacement of f(x), g(x), h(x) respectively

RefModel_siso = struct( 'Name','SISO Reference Model','Formula', '');
% Simulation Settings --------------------------------------------------
T_min=0; T_max=50; T_step=0.01;
T=T_min:T_step:T_max; % Simulation time interval, fix step
T_Ref=[T_min:T_step/5:T_max]; % Reference signal's sampling time interval
flag='';
options = odeset('RelTol',1e-3,'AbsTol',1e-4);

% Plant Model Definition -----------------------------------------------
nlPlant=nlStateFeedback_siso; % Defines Plant Model
nlPlant.N=4; % Number of states (x)
nlPlant.fx='(a*(x(:,2).^2-c).*sin(x(:,1))-a*(cos(x(:,1))+b+c).*x(:,3))';
nlPlant.gx='b*d';
nlPlant.hx='x(:,1)';
- 146 -



nlPlant.K=poly([-0.5 -0.8 -1]);
nlPlant.eta=200;
nlPlant.ETA(1)=nlPlant.eta*nlPlant.K(1);
for i=2:nlPlant.N
nlPlant.ETA(i)=nlPlant.K(i-1)+nlPlant.eta*nlPlant.K(i);
end
nlPlant.kappa=0; % static feedback control law applies

I=0.04; J=0.04; k=0.8; L=0.1; M=6; g=9.8;
a=M*g*L/I; b=k/I; c=k/J; d=1/J;

% Reference Signal Definition -------------------------------------------------------
RefSignal='FORMULA'; % Defines Reference Signal Type
fig=0;
RefModel=RefModel_siso;
RefModel.Formula='pi*sin(0.5*t).*cos(0.1*t)/3'; % Reference signal
Ref=fRefGen(RefModel.Formula, T_Ref'); % Ref=[t Ref(t)]
s=sprintf('r(t)=%s',RefModel.Formula);

dr = fDeriv(Ref(:,1:2), nlPlant.N+1); % Reference data & its derrivatives
r = [Ref(1:size(dr,1),1:2) dr(:,2:nlPlant.N+1)];
% R = [t r(t) dr(t)/dt..d^(N)r(t)/dt^N]
rt=fxt(r,0,'approx'); % rt=[t r dr/dt ...]
X0=[0 0 0 0];

% Trains approximator ---------------------------------------------------------------
nlPlant.u='5.15*sin(0.25*t)-0.95*sin(t)'; % u for testing (maybe varies)
nlPlant.fxa='(-a2*c2.*sin(x(:,1))-a2*(b2+c2).*x(:,3))';
nlPlant.gxa='b2*d2';
nlPlant.hxa=nlPlant.hx;
nlPlant.X='[x uxa]';
a2=a; b2=b*0.9; c2=1.1*c; d2=1.3*d;

T1=T;
nlPlant = fStateFeedback2(T1, X0, options, 'train', nlPlant, r);
nlPlant.W
save data;

% Tests the trained controller -------------------------------------------------------
%function RobotSim2()
clear all;
load data;

T2=T;
- 147 -


nlPlant.kappa=1;
nlPlant.rho=1; % 0<rho<=1
nlPlant = fStateFeedback2(T2, X0, options, 'approx', nlPlant, r);
Error=[nlPlant.W; nlPlant.Df; nlPlant.Dg]
pause

nlPlant.kappa=1;
nlPlant.rho=0.8; % 0<rho<=1
nlPlant = fStateFeedback2(T2, X0, options, 'approx', nlPlant, r);
Error=[nlPlant.W; nlPlant.Df; nlPlant.Dg]

% ----- Backstepping ----------------------------------------------------------------
function [y]= fStateFeedback2(T, X0, options, flag, Plant, r)
% flag={'exact','approx','learn'}
global T_min T_step T_max fig a b c d a2 b2 c2 d2
stime='\fontsize{12}\itt\rm [s]';
sk=sprintf('\\fontsize{15}\\it\\kappa\\rm\\fontsize{12} = %.0f',Plant.kappa);
if Plant.kappa~=0
sk=sprintf('%s, \\fontsize{15}\\it\\rho\\rm\\fontsize{12} = %.1f',sk,Plant.rho);
end

N=Plant.N; s='';
t=[]; x=[]; y=[]; z=[];
[t,x] = ode45(@fdx_statefb2, T, X0(1:N), options, {flag, 'deriv'}, Plant, r); % x=[x1..xN]

for i=1:length(t)
y(i,:) = feval(@fdx_statefb2, t(i), x(i,:), {flag, 'output'}, Plant, r); % y=[h(x) ufb E e1..eN]
if strcmp(flag,'train')
z(i,:) = feval(@fdx_statefb2, t(i), x(i,:), {flag, 'trndata'}, Plant, r);
end
end

Plant.tempData=[t y(:,1) y(:,2) x]; % Saves data for later testing [t h(x) ufb x]
ufb=y(:,2);

fig=fig+1; figure(fig); clf;
plot(t,y(:,3),'-r', t,y(:,4),'-b') % Plots E, e1
if N>1
hold on;
plot(t,y(:,5),'-g') % Plots e2
hold off;
end
%s=sprintf('\\fontsize{12}Error system - \\bf%s\\rm mode', flag);
title(sk); xlabel(stime); ylabel('\fontsize{12}\itE');

- 148 -


fig=fig+1; figure(fig); clf;
plot(t(:,1),x(:,1),'-r', t(:,1),x(:,2),'-b', t(:,1),x(:,3),'-g', t(:,1),x(:,4),'-m') % Plots r(t), y(t)
title(sk); xlabel(stime); ylabel('\fontsize{12}\bfx');

fig=fig+1; figure(fig); clf;
plot(r(:,1),r(:,2),'-r', t,y(:,1),'-b') % Plots r(t), y(t)
rt=fxt(r,t,'approx'); % rt=[t r dr/dt ...]
title(sk); xlabel(stime); ylabel('\fontsize{12}\itr\rm, \ity');
ylim([-1.2 1.2]);
s1='\fontsize{11}\leftarrowReference signal';
text(r(3.9/T_step*5,1),r(3.9/T_step*5,2),s1,'Color','r');
s2='\fontsize{11}\leftarrowPlant''s output'; text(t(1.8/T_step),y(1.8/T_step,1),s2,'Color','b');

fig=fig+1; figure(fig); clf; plot(t,y(:,2),'-r') % Plots ufb
%s=sprintf('\\fontsize{12}Control signal - \\bf%s\\rm mode', flag);
title(sk); xlabel(stime); ylabel('\fontsize{12}\itu');

switch flag
case 'train' % Sets and trains approximators

Plant.Fdxn=[]; trData=[]; X=[]; Y=[]; Z=[];
MF_No=2; MF_Type='gbellmf'; Epoch_No=10;
uxa=y(:,2); X=eval(Plant.X);
Z=z(:,2); % Z=dxN/dt
trData=[X Z];

crAnfis=genfis1(trData, MF_No, MF_Type)
% Generates an FIS structure from data used as initial conditions for anfis training
Plant.Fdxn = anfis(trData, crAnfis, Epoch_No)
% Training routine for Sugeno-type FIS

Y=evalfis(X, Plant.Fdxn);
Plant.W=[norm(Z-Y) abs(max(Z-Y))]; % abs(max(Z-Y));
fig=fig+1; figure(fig); clf;
plot(t,Z,'-r',t,Y,'-b') % Plots u(t)=uN
s1='\fontsize{15}\Delta\fontsize{11}_{dxn}';
s=sprintf('\\fontsize{11}Trained ANFIS Approximator - %s',s1);
title(s); xlabel(stime); ylabel(s1);

case 'approx'
uxa=y(:,2); X=eval(Plant.X);
fx=eval(Plant.fx); fxa=eval(Plant.fxa);
Plant.Df=[norm(fxa-fx) abs(max(fxa-fx))];
gx=eval(Plant.gx); gxa=eval(Plant.gxa);
Plant.Dg=[norm(gxa-gx) abs(max(gxa-gx))];
- 149 -


Delta_f=fxa-fx; Delta_g=gxa-gx;

fig=fig+1; figure(fig); clf;
plot(t,Delta_f,'-r',t,Delta_g,'-b') % Plots u(t)=uN
s1='\fontsize{13}\Delta\fontsize{12}\it_{f}\rm(\bfx\rm)';
s2='\fontsize{13}\Delta\fontsize{12}\it_{g}\rm(\bfx\rm)';
title(sk); xlabel(stime); ylabel(sprintf('%s, %s',s1,s2));
s=sprintf('\\leftarrow%s',s1); text(t(6/T_step),Delta_f(6/T_step),s,'Color','r');
s=sprintf('\\downarrow%s',s2); text(15,Delta_g+10,s,'Color','b');
end

y=Plant;

% ----- Nonlinear Plant Model ---------------------------------------------------------
function [y] = fdx_statefb2(t, x, flag, Plant, rData)
% rData=[t r dr/dt .. (d^N)r/dt^N]: Reference database
% flag meanings:
% 'exact' & 'deriv': exact model states derivative
% 'exact' & '
% ALL VECTORS MUST BE ROW VECTORS !!!
% MATRIX ROW : indicates one record of variable(s)
% MATRIX COLUMN: indicates one variable in time steps
global a b c d a2 b2 c2 d2

N=Plant.N; ETA=Plant.ETA(:)'; K=Plant.K(1:N); K=K(:);
u=[]; y=[]; t=t(:);x=x(:)';
rt=fxt(rData,t,'approx');
e=x-rt(:,2:N+1); E=e*K;

fx=eval(Plant.fx); gx=eval(Plant.gx); hx=eval(Plant.hx);
fxa=eval(Plant.fxa); gxa=eval(Plant.gxa); hxa=eval(Plant.hxa);
[t E]
switch flag{1} % Control mode
case 'exact'
ufb = (rt(:,N+2)-e*ETA'-fx)./gx; % Feedback control law
case 'approx'
uxa = (rt(:,N+2)-e*ETA'-fxa)./gxa; % Approx. control law
X=eval(Plant.X); Phi=(evalfis(X, Plant.Fdxn));
Edxn=E*Phi;
if (0)
ufb = uxa-abs(Phi)*bsig(Plant.kappa,E,0)./gxa; % Feedback control law
else
ufb = uxa-Phi*bsig(Plant.kappa,Edxn,0)/Plant.rho./gxa; % Feedback control law
end
case 'test' % Testing model with tempData
- 150 -


ut=fxt(Plant.tempData,t,'approx'); ufb=ut(:,3);
case 'train' % Archiving data for approximator trainning
uxa = (rt(:,N+2)-e*ETA'-fxa)./gxa; % Approx. control law
ufb=uxa;
otherwise
error(['Unhandled Control Type = ', flag{1}]);
end

switch flag{2}
case 'deriv' % y=[dx1/dt..dxN/dt]
y=[x(:,2:N) fx+gx.*ufb]';
case 'output' % y=[h(x) ufb E e1..eN delta_dxn]
if strcmp(flag{1},'approx')
y=[hxa ufb E e (fxa-fx+(gxa-gx).*uxa)];
else
y=[hx ufb E e (fxa-fx+(gxa-gx).*ufb)];
end
case 'trndata' % y=[r delta_dxn]
y=[rt(:,2) (fxa-fx+(gxa-gx).*uxa)];
otherwise
error(['Unhandled Return Type = ', flag{2}]);
end

% ----- Reference r(t) signal Generator ------------------------------------------------
function [Ref] = fRefGen(RefSignal, tRef)
% Reference signal r(t) Generator
% Ref = [tRef yRef] ; max(size(Ref))=2
t=tRef;
Ref = [tRef eval(RefSignal)];

% ----- Derrivative calculation ----------------------------------------------------------
function [y] = fDeriv(xData, p)
% Calculates derrivatives up to p power of xData
% xData=[t x1 .. x(N-1)]: xdata matrix (M rows, N columns)
% y = [t dx1/dt..dx(N-1)/dt ... (d^p)x1/dt^p..(d^p)x(N-1)/dt^p];
% size(y)=[M-p 1+(N-1)*p]
[M N]=size(xData);
t=xData(:,1); dt=diff(t); x=[]; %x=xData(:,2:N);
for i=1:p
k=(i-1)*(N-1);
for j=1:N-1
x(1:M-i,k+j)=diff(xData(1:M,j+1),i) ./ (dt(1:M-i).^i);
end
end
y = [t(1:M-p) x(1:M-p,:)];
- 151 -



% ----- Function values calculation -----------------------------------------------------
function [y] = fxt(xData, t, flag)
% Calculation of x1(t)..xN(t) based on specification data stored in xData (t>=0)
% t: time (row or column vector) for calculation of xi(t)
% xData=[t x1(t) .. xN(t)]: xdata matrix
% y = [t x1~(t) .. xN~(t)]; max(size(Ref))=N+1
% flag: mode of calculation (now works with 'approx' only)
[M N] = size(xData); K=length(t); t=t(:);
for i=1:K
ti=t(i); j=1;
while (xData(j,1)<=ti & j<M) j=j+1; end
if (j==M) k=j; else k=j-1; end
xt=xData(k,:); dt=ti-xt(1,1);
if dt>0
switch flag % currently works with 'approx' only
case 'approx'
for j=2:N-1
xt(1,j)=xt(1,j)+xt(1,j+1)*dt;
end
otherwise
;
end
end
y(i,:)=[ti xt(2:N)];
end

% ----- bipolar sigmoidal function calculation -----------------------------------------
function f=bsig(kappa,E,A)
kappa=kappa(:); E=E(:); A=A(1);
f=2./(1+exp(-kappa.*(E-A))) - 1;



- 152 -


5.6. B 6 trang 100
Trng hp 1
Do A l ma trn xc nh dng nn theo [38] lun tn ti php phn tch LU (LU
factorization) duy nht = A LU vi:

21
1 2
1 0 0
1 0
1
n n
l
l l
(
(
(
=
(
(

L

,
11 12 1
22 2
0
0 0
n
n
nn
u u u
u u
u
(
(
(
=
(
(

U

tng ng l cc ma trn tam gic di (lower triangular matrix) v ma trn tam gic
trn (upper triangular matrix); 0, 1..
ii
u i n > = .
Mt khc c th phn tch:

11 12 11 1 11
22 2 22
0 0 1 / /
0 0 0 1 /
*
0 0 0 0 1
n
n
nn
u u u u u
u u u
u
( (
( (
( (
=
( (
( (

U




nn nu k hiu li
12 11 1 11
2 22
1 / /
0 1 /
0 0 1
n
n
u u u u
u u
(
(
(
=
(
(

U

v ( )
11 22
diag , , ,
nn
u u u = D th
A c th phn tch thnh = A LDU vi cc ma trn tam gic L, U u c cc s
hng trn ng cho bng 1 v D l ma trn cho.
Bit A i xng nn t
T
= A A suy ra
T T T T T
= = = A LDU U D L U DL . Do php
phn tch trn l duy nht nn
T
= L U hay
T T
= = A U DU LDL .
Ma trn cho D c cc gi tr trn ng cho dng nn A c th phn tch:

( ) ( )
1 2 1 2
1 2 1 2
T T / /
T
/ /
T
= =
=
=
A U DU U D D U
D U D U
C C

vi
( )
1/2
11 22
diag , , ,
nn
u u u = D v
1 2 / T
= =
1/2
C D U D L l ma trn tam gic trn.
- 153 -


Trng hp 2
Nu A c cc gi tr ring phn bit th ngoi phng php phn tch chung nh
trn cn c th phn tch theo phng php ng cho ha ma trn A bng php
bin i

=
1
P AP D vi
1
2
0 0
0 0
0 0
n

(
(
(
=
(
(

D

, 0: 1..
i
i n > = l cc gi tr ring
phn bit v
| |
11 12 1
21 22 2
1 2
n
n
n n nn
p p p
p p p
p p p
(
(
(
= =
(
(

1 2 n
P P P P

l tp hp y cc
vct ring c lp tuyn tnh ca A . Mt khc ta c:



= = =
= =
=
1 T T T
1 T T 1
A PDP P DP A
D P P DP P QDQ
DQ QD 0

vi
( )
1

= = =
T 1 T T
Q P P P P Q l ma trn i xng.
t
11 12 1
21 22 2
1 2
n
n
n n nn
q q q
q q q
q q q
(
(
(
=
(
(

Q

vi | , 1..
ij ji
q q i j n = = , dn n:

1 11 1 12 1 1 1 11 2 12 1
2 21 2 22 2 2 1 21 2 22 2
1 2 1 1 2 2
1 2 12 1 1
2 1 21 2 2
1 1 2
0 ( ) ( )
( ) 0 ( )
( ) ( )
n n n
n n n
n n n n n nn n n n nn
n n
n n
n n n n
q q q q q q
q q q q q q
q q q q q q
q q
q q
q q






( (
( (
( (
=
( (
( (



=

DQ QD

2
0
(
(
(
(
(

= 0

Do Q i xng nn biu thc trn ch ng khi 0
ij
q = vi i j = , ngoi ra do:
- 154 -



| |
11
22
1/ 0 0
0 1/ 0
0 0 1/
nn
q
q
q
(
(
(
=
(
(
(

(
(
(
(
(
(
= =
(
(
(
(
(


T
1
T
T 2
1 2 n
T
n
T T T
1 1 1 2 1 n
T T T
2 1 2 2 2 n
T T T
n 1 n 2 n n
P
P
P P P P P
P
P P P P P P
P P P P P P
P P P P P P

nn , 1.. i n =
i
P cng l cc vect trc giao. Nh vy nu chn 1 =
T
i i
P P hay =
T
P P I
v chn =
T
U P th do 0: 1..
i
i n > = nn c th bin i A nh sau:

( ) ( )
T
= =
=
=
T T 1/ 2 1/ 2
1/ 2 1/ 2
T
A U DU U D D U
D U D U
C C

vi = =
1/2 1/2 T
C D U D P ,
( )
1/2
1 2
diag , , ,
n
= D v U l ma trn unita.


- 155 -


5.7. Mt s mun phn mm trong m hnh phn mm ng dng
Mun phn mm cung cp d liu qu trnh cho IPC-Server
Hnh 14 cho bit hot ng ca mun phn mm cung cp d liu qu trnh
(Process I/O Data Transmission) v cu trc vng b nh m vi 2 nhim v chnh
l lu d liu qu trnh vo b m (kch hot bi ngt thi gian theo chu k ly mu)
v cung cp d liu trong b m theo yu cu cho PC-Server (iu khin bi PC-
Server thng qua giao thc truyn thng). Ngoi ra mun cn bo m qun l c
vng b nh m, x l cc trng hp y trn vng nh.

Hnh 14 : Cu trc b m v d liu qu trnh cung cp cho PC-Server
Mun phn mm c xy dng tng qut cho php mi ln thc hin truy cp
vo buffer c th vit hoc c nhiu bn ghi (records) vi mi bn ghi cha t nht 1
gi tr qu trnh (dng s thc 4 byte).
nh x
I/O Process
Image
Current Plant Record will
be written to the Buffer
at sampling times
Data
available
for PC
reading
Rec i
pRecRd
Current Plant
Record

B m (FIFO)

.
REAL n
REAL 1
.
REAL n
REAL 1
.
REAL n
REAL 1
.
REAL n
.
.
Rec 1
Header
Rec m
pRecWr
Unused
Note:
n: Number of related I/Os (all in real
number format) of the plant(s)
have to be stored at sampling
times.
m: Max. number of records available
in the Buffer for temporary
storage of plant data.
pRecRd: Pointer to the record for next
reading from the Buffer.
pRecWr: Pointer to the next record for next
writting to the Buffer.

REAL n
.
REAL ...
REAL 1
.
.
.
- 156 -


Mun phn mm ANFIS trn PLC
y l mun phn mm c bn trong m hnh h thng NF da trn m hnh
mng ANFIS. Mun phn mm cho php ty chn cc tham s/kiu hm trong cc
lp mng vi cc ty chn nh sau:
Lp 1: (Tnh ton cc u ra hm lin thuc) Mun phn mm h tr 2 dng
hm lin thuc u vo chnh l hm lin thuc dng hnh chung (Bell) v hm
Gauss. S lng cc trng s c th iu chnh trong qu trnh hc ca mi hm
ny tng ng l 3 v 2 (k hiu t w
0
n w
2
) nh ng thc sau:

1
2
0
2
1
2
0
1 1
( ) , ( ) exp
2
1
Bell Gauss
w
x w
A x B x
w
x w
w
(
| |
( = =
|
(
\ .

+

Lp 2: (Tnh v u ca cc lut) C th la chn cc dng t-norm v t-conorm
khc nhau cho tnh ton nh sau (mc nh t-norm=MIN v t-conorm=MAX)
t-norm:
+ MIN: MIN(a,b) = min(a,b)
+ Lukasiewicz LAND: LAND(a,b) = max(a+b1,0)
+ Probabilistic PAND: PAND(a,b) = ab
t-conorm:
+ MAX: MAX(a,b) = max(a,b)
+ Lukasiewicz LOR: LOR(a,b) = min(a+b,1)
+ Probabilistic POR: POR(a,b) = a+bab
Lp 3: (Chun ha u ra v u ca cc lut) Php chun ha u ra cc lut
c tnh nh sau:

1
, 1, ,
i
i
N
j
j
i N
o
|
o
=
= =

Lp 4: (Tnh u ra ca cc lut) u ra ca mi lut c tnh l tch ca mc
tc ng c chun ha ca mi lut (theo c ch lut ca Sugeno) vi u ra
v u ca mi lut. Cc trng s trong lp ny c th iu chnh trong qu trnh
hc.
Lp 5: (Tnh u ra ca ANFIS) Mi u ra ca ANFIS c tnh trong lp ny
v l tng ca ton b u ra ca cc lut.
Mun phn mm ANFIS c thit k cho dng PLC SIMATIC S7-400 hoc
WinAC RTX hin cho php thc hin 8 u vo vi mi u vo m c th c nhiu
nht ti 7 hm lin thuc (dng Bell hoc Gauss). S lng u ra ln nht cho php
ca h thng ANFIS l 1 u ra tuy nhin c th m rng khi cn.
- 157 -




Hnh 15 : Cc khi mun phn mm trn giao din STEP7 V5