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Bi ging mn l thuyt iu
khin t ng v Matlab
5
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BI GING MN L THUT IU KHIN T NG .............................................................. 16
Phn m u ......................................................................................................................................... 16
Mc ch mn hc: ............................................................................................................................... 16
Nhim v mn hc: ............................................................................................................................... 16
Ni dung mn hc: bao gm hai phn .................................................................................................. 16
Phn 1: L THUYT IU KHIN TUYN TNH ........................................................................ 17
CHNG 1: NHP MN .................................................................................................................. 17
1.1 NI DUNG BI TON IU KHIN ......................................................................................... 17
nh ngha: ........................................................................................................................................... 17
V d : ................................................................................................................................................... 17
Bi ton iu khin h thng ............................................................................................................... 17
1.2 NHNG CU TRC C BN CA H THNG IU KHIN.............................................. 17
1.2.1 Cc khi nim c bn ................................................................................................................... 17
Cc khi nim tn bin c nh ngha nh sau : ............................................................................ 17
1.2.2 H thng iu khin h ................................................................................................................ 18
1.2.3 iu khin phn hi trng thi .................................................................................................... 18
1.2.4 iu khin phn hi tn hiu ra ................................................................................................... 19
1.4 NI DUNG C BN CA L THUYT IU KHIN T NG ......................................... 20
CU HI N TP CHNG 1 ......................................................................................................... 21
Cu hi 2: Phn bit khi nim iu khin h v khi nim iu khin phn hi .................................... 21
CHNG 2: IU KHIN LIN TC TRONG MIN PHC ...................................................... 22
2.1 CC CNG C TON HC ....................................................................................................... 22
2.1.1 Hm bin phc (t c 25-30)...................................................................................................... 22
2.1.2 Php bin i Fourier................................................................................................................... 22
1. nh Fourier ca tn hiu tun hon ..................................................................................................... 22
2. nh fourier ca tn hiu khng tun hon ........................................................................................... 22
2.1.3 Php bin i laplace.................................................................................................................... 22
2. Php bin i ngc ......................................................................................................................... 22
3. ng dng : S dng php bin i Laplace gii phng trnh vi phn ......................................... 23
Tra bng ta c Error! Objects cannot be created from editing field codes. ........................................ 23
2.1.4 Tn hiu ........................................................................................................................................ 23
1. Phn loi tn hiu.............................................................................................................................. 23
Hnh 1.1 trang 2 LTKTT th hin trc quan 4 dng tn hiu trn .......................................................... 23
2. Mt s tn hiu in hnh ................................................................................................................. 23
2.2 XY DNG M HNH TON HC ........................................................................................... 24
CC DNG M HNH TON HC CA H SISO : ..................................................................... 24
2.2.1 Phng trnh vi phn (differential equation) ............................................................................... 24
Trong u(t) l tn hiu vo (tn hiu kch thch), y(t) l tn hiu ra (tn hiu p ng) ........................... 25
2.2.2 M hnh truyn t TF (transfer function) .................................................................................. 25
V d: Bi tp 19 trang 222 : xc nh hm truyn t ca cc mch in ........................................ 26
3. M hnh im khng - im cc ZPK (zero pole gain) ................................................................... 26
2.2.3 S cu trc v i s s khi .............................................................................................. 27
T y ta c s cu trc mch nh sau .............................................................................................. 27
2.2.4 S tn hiu v cng thc Mason (t c trang 74-80) ............................................................. 28
2.2.5 C TNH NG HC ............................................................................................................ 28
Cc phng php xy dng hm qu ............................................................................................ 28
A.Tnh h(t) thng qua nh L ca n .................................................................................................... 28
B. Dng cc lnh Matlab ...................................................................................................................... 29
L p ng ca h khi h ang trng thi o v u vo c kch thch bi xung dirac ........................ 29
Cc phng php xy dng hm trng lng .................................................................................... 29
A.Tnh g(t) thng qua nh L ca n .................................................................................................... 29
B. Dng cc lnh Matlab ...................................................................................................................... 29
Cc phng php xy dng ng cong Nyquist ............................................................................... 29
2)Dng cc lnh Matlab ....................................................................................................................... 30
6
3
V d 2.36 trang 84 : Xy dng ng cong Nyquist cho h c HT : G s ...................... 30
s 1 2s
3 ............................................................................................................................................................ 30
ng cong pha di biu din tn s bin thin t 0 ra v cng .......................................................... 30
2)ng c tnh tn logarith - th bode.......................................................................................... 30
Cc bc xy dng ng cong Bode nh sau :................................................................................. 30
S dng lnh Matlab ta c ...................................................................................................................... 31
110......................................................................................................................................................... 31
2.2.6 Quan h gia phn thc v phn o ca hm c tnh tn - ton t Hillbert ............................. 32
2.2.7 Xy dng m hnh ton hc ca cc khu c bn ....................................................................... 32
3. KHU QUN TNH BC NHT PT1 ........................................................................................... 33
4 KHU QUN TNH BC HAI PT2 ................................................................................................ 33
V d : xy dng cc c tnh ng hc ca h c hm truyn t nh sau : Error! Objects cannot be
created from editing field codes. .......................................................................................................... 33
5 KHU DAO NG BC 2 .............................................................................................................. 34
V d : Xy dng c tnh ca hm : Error! Objects cannot be created from editing field codes. ...... 34
V d : ng ng nc, cc bng chuyn, cc h thu lc .................................................................... 35
2.3 PHN TCH H THNG ............................................................................................................. 37
2.3.1 Nhng nhim v c bn ca cng vic phn tch h thng ......................................................... 37
2.3.2 Xc nh tnh n nh ca HT t a thc c tnh ..................................................................... 37
Khi nim v tnh n nh :.................................................................................................................. 37
T y ngi ta a ra cc tiu chun xt n nh ca h .................................................................. 37
V d : 2.50 trang 125 : A( s) 5 16s 18s 2 8s 3 s 4 .......................................................................... 38
4 2 3 5
Thay s j ta c : A j ( 10 9) j 64 20 ................................................... 39
2.3.3 Phn tch cht lng h thng kn t hm truyn t h h........................................................ 39
A.Phn tch n nh ........................................................................................................................ 40
B.Xc nh d tr bin (Gain Margin) ................................................................................ 40
Gi a l khong cch t im m pha bng 180 n -1 th ........................................................... 41
V d ta tnh a =4.6, s dng Matlab ta thy ng Nyquist ca h h i qua -1 .................................... 41
C. Phase Margin ............................................................................................................................. 41
D.Kt lun ............................................................................................................................................ 41
3.Phn tch cht lng h kn t th bode h h ............................................................................ 42
Ta c.................................................................................................................................................. 42
Nguyn tc kim tra n nh ca h theo ng cong bode nh sau : .............................................. 43
2. Gii thng (bandwidth frequency) .............................................................................................. 43
Tn hiu ra bng 1/10 tn hiu vo nh d on v pha gn nh ngc ................................................... 44
A.Cng thc tnh sai s trng thi xc lp ................................................................................... 44
H thng c th bin i tng ng................................................................................................ 44
B.Sai s xc lp ph thuc dng tn hiu v o .................................................................................. 45
Ta c th xc nh sai s trng thi xc lp i vi nhiu bc nhy : 45

Chuyn i mt cht ta c ..................................................................................................................... 45
C.Dng h thng v sai s trng thi xc lp ................................................................................ 46
D.S dng Matlab tnh sai s trng thi xc lp........................................................................... 46
Step Input ........................................................................................................................................... 47
Sai s trng thi xc lp l khng i ............................................................................................... 47
Ramp Input ........................................................................................................................................ 47
Parabolic Input ................................................................................................................................... 48
Trong G(s) is: 1 .............................................................................................................................. 48
Step Input ............................................................................................................................................. 48
Ramp Input ........................................................................................................................................ 49
Parabolic Input ................................................................................................................................... 49
3)Type 2 Systems .................................................................................................................................. 49
7
Step Input ........................................................................................................................................... 50
Ramp Input ........................................................................................................................................ 50
Parabolic Input ................................................................................................................................... 51
10
V d 1 : cho h kn c hm h h : Gh s ............................................................................. 53
0.2s 1
10........................................................................................................................................................... 53
2 s + 10 .................................................................................................................................................. 53
Nhn vo p ng ta thy Td=0.01s; Ts=0.05s v khng c qu iu chnh ............................................ 54
10........................................................................................................................................................... 54
Thng s ca qu trnh qu : Td=0.8s; Ts=3s v qu iu chnh l 15%............................................. 54
2.3.4 Quan h gia cht lng h thng vi v tr im cc im khng ca HT.............................. 54
2.Phn tch bng phng php qu o nghim s ............................................................................ 55
Cc lnh Matlab c s dng lnh rlocus, rlocfind .............................................................................. 55
10 s 4
S s 1 k 0 . S dng lnh Matlab ta c ................................................... 55
s s 2 6 s 10 0.15s 1
10 s + 40 ................................................................................................................................................ 56
2.3.5 Phn tch tnh bn vng (Sinh vin t nghin cu ti liu) .......................................................... 56
2.4 THIT K B IU KHIN ....................................................................................................... 56
2.4.1 Xc nh tham s cho b iu khin PID .................................................................................... 56
R(s)=Kp(1+1/(Tis) +TDs) ...................................................................................................................... 57
Hoc ...................................................................................................................................................... 57
Khu t l (proportional) c tc dng l m gim thi gian tng Tr (rise time) v sai s trng thi
xc lp (steady state error) (khng bao gi kh c sai s). khu tch phn (integral) kh c sai
s trng thi xc lp nhng c th l m xu ng cong p ng. Khu vi phn (derivative) c tc
dng tng tnh n nh ca h thng, gim qu iu chnh v ci tin dng ng cong p ng. 57
3.Phng php Ziegler-Nichols ........................................................................................................... 57
A.Phng php th nht :....................................................................................................................... 57
nm bt c phng php ta xt v d sau : ............................................................................... 57
10
Cho i tng iu khin l mt khu qun tnh bc nht c tr G s e 3s .............................. 57
0.5s 1
0.5 s + 1 ................................................................................................................................................. 58
B.Phng php th 2 : ........................................................................................................................... 58
10 s 4
V d : cho h c i tng K : S s 2
........................................................ 58
s s 6 s 10 0.15s 1
20.4 s + 81.6 .......................................................................................................................................... 59
3.06 s^5 + 51 s^4 + 308 s^3 + 816 s^2 + 816 s ....................................................................................... 59
T p ng ta xc nh c Tth=1.2s ................................................................................................... 59
A.Yu cu h ti u theo nhiu, h kn khng c qu iu chnh ............................................................ 59
B.Yu cu ti u theo nhiu, h kn c qu iu chnh khng vt qu 20% .......................................... 59
C.Yu cu ti u theo tn hiu t trc, h kn khng c qu iu chnh ............................................... 59
D.Yu cu ti u theo tn hiu t trc, h kn c qu iu chnh khng vt qu 20% ........................ 60
12
V d cho h c i tng S s 5
........................................................................................ 60
0.2s 1
12........................................................................................................................................................... 60
-Nu Error! Objects cannot be created from editing field codes. ....................................................... 60
6.Phng php ti u ln ............................................................................................................... 61
A.i tng iu khin l khu qun tnh bc nht : .............................................................................. 61
-Nu Error! Objects cannot be created from editing field codes. ....................................................... 61
B.iu khin i tng qun tnh bc 2 .................................................................................................. 61
C.iu khin i tng qun tnh bc 3 .................................................................................................. 62
A. tng phng php : ....................................................................................................................... 62
B.iu khin i tng tch phn-qun tnh bc nht .............................................................................. 62
-Tnh Error! Objects cannot be created from editing field codes. ...................................................... 63
8
Ta chn a=2 ta c kp=1,18 v TI=0.6 ...................................................................................................... 63
C.iu khin i tng tch phn-qun tnh bc hai ................................................................................ 63
2.4.2 Phng php iu khin cn bng m hnh ................................................................................ 63
1.Thit k b iu khin cn bng hm truyn t h h................................................................... 63
2.4.3 S dng Matlab xc nh tham s b PID ................................................................................... 63
Ta c s cu trc h thng nh sau.................................................................................................. 63
J=3.2284E-6;.......................................................................................................................................... 64
K=0.0274; .............................................................................................................................................. 64
R=4;....................................................................................................................................................... 64
L=2.75E-6;............................................................................................................................................. 64
Vi yu cu cht lng iu khin nh sau ........................................................................................ 64
J=3.2284E-6;.......................................................................................................................................... 64
K=0.0274; .............................................................................................................................................. 64
R=4;....................................................................................................................................................... 64
L=2.75E-6;............................................................................................................................................. 64
2)a b iu khin l khu t l th phn ng ca h thng ....................................................... 64
3)S dng b iu khin l b PI..................................................................................................... 65
Kho st h bng on lnh : ........................................................................................................... 65
J=3.2284E-6;.......................................................................................................................................... 65
K=0.0274; .............................................................................................................................................. 65
R=4;....................................................................................................................................................... 65
L=2.75E-6;............................................................................................................................................. 65
4)S dng b iu khin PID v chnh nh thng s ca n ........................................................... 66
Vy b iu khin PID thu c l ..................................................................................................... 69
Cc bc tin h nh thit k b PID ................................................................................................. 69
2.4.4 Thit k b iu khin dng QNS (Root Locus) ........................................................................ 70
2 Xc nh K ca b iu khin s dng qu o nghim s (root locus) ......................................... 70
Cho i tng iu khin c h m truyn t ...................................................................................... 70
2) Chn gi tr ca K t qu o nghim s sao cho tha mn yu cu cht lng ca h. ............. 71
T cng thc ..................................................................................................................................... 71
...................................................................................................................... 71
Trong ................................................................................................................................................ 71
Vi yu cu qu iu chnh khng vt qu 5% ta tnh c h s suy gim phi ln hn
0.7;..................................................................................................................................................... 71
Thi gian tng khng vt qu 1s ta c tn s t nhin Wn phi ln hn 1.8 rad/s . ..................... 71
Ta s dng cc lnh Matlab sau v cc ng h s suy gim v tn s t nhin trn mt phng
s ......................................................................................................................................................... 71
2.4.5 Thit k b iu khin s dng p ng tn s (frequency response) - th Bode ..................... 73
Ta c th kim tra li bng hm qu .................................................................................................. 75
Ta xc nh c Ts*Wbw ~ 21v ta c Wbw = 12 rad/s vi Ts<1.75 s ................................................. 75
CU HI N TP V BI TP CHNG 2 .................................................................................. 78
a. Cu hi n tp .................................................................................................................................. 78
b. Bi tp .............................................................................................................................................. 78
Bi 1:..................................................................................................................................................... 78
d3y d2y dy
5 6 5 vi cc iu kin u bng khng ...................................................................... 78
dt dt dt
Bi 3:..................................................................................................................................................... 78
Gi : .................................................................................................................................................... 79
Bi 4:..................................................................................................................................................... 79
9
Gi : .................................................................................................................................................... 80
Khi tnh hm truyn t khng c nhiu th ta xa tn hiu nhiu trong s cu trc ............................ 80
Bi 6:..................................................................................................................................................... 80
Bi 7:..................................................................................................................................................... 80
Gi : .................................................................................................................................................... 80
Bi 8:..................................................................................................................................................... 81
Gi : .................................................................................................................................................... 81
Bi 9:..................................................................................................................................................... 81
S dng tiu chun ROUTH hoc HURWITZ xt tnh n nh cc h thng c a thc c tnh sau ...... 81
Bi 10: ................................................................................................................................................... 81
Bi 11: ................................................................................................................................................... 82
p n: th thu c nh hnh v...................................................................................................... 82
Bi 12: ................................................................................................................................................... 82
Bi 13: ................................................................................................................................................... 82
Bi 14: ................................................................................................................................................... 82
3
b) ng vi a=4 ............................................................................................................ 82
2 s 1 s 1 3s
CHNG 3: IU KHIN LIN TC TRONG MIN THI GIAN ............................................ 83
3.1 CNG C TON HC ................................................................................................................. 83
3.1.1 Nhng cu trc i s c bn ...................................................................................................... 83
3.1.2 i s ma trn .............................................................................................................................. 83
Ngi ta cn k hiu Error! Objects cannot be created from editing field codes. .............................. 83
-Ma trn ct l mt vc t n phn t Error! Objects cannot be created from editing field codes. ....... 83
2.Php tnh ma trn ............................................................................................................................. 83
Mt ma trn vung nxn c gi l khng suy bin nu Rank(A)=n ...................................................... 84
5.Ma trn nghch o ........................................................................................................................... 84
6.Vt ca ma trn ................................................................................................................................. 84
7.Ma trn l mt nh x tuyn tnh ..................................................................................................... 84
Error! Objects cannot be created from editing field codes. trong Error! Objects cannot be created from
editing field codes. ................................................................................................................................. 84
3.2 XY DNG M HNH TON HC ........................................................................................... 84
3.2.1 Phng trnh trng thi ............................................................................................................... 84
x1 t y t x1 y
Trc ht ta t bin : dy t dx1 t ........................................................................ 85
x2 t x1 x2
dt dt
dx2 b a 1
S dng nh lut Newton ta c : Fc Fm Fd u x1 x2 u .................................... 86
dt m m m
2.Quan h gia m hnh khng gian trng thi v m hnh HT ...................................................... 86
100......................................................................................................................................................... 86
Error! Objects cannot be created from editing field codes.v ............................................................ 86
V d : ................................................................................................................................................... 86
100......................................................................................................................................................... 86
3.2.2 Qu o trng thi ........................................................................................................................ 87
2.Khi nim ma trn hm m v cch xc nh ................................................................................. 87
-nh ngha : Ma trn hm m Error! Objects cannot be created from editing field codes.l gi tr ti
hn ca chui Error! Objects cannot be created from editing field codes. ......................................... 87
3.Nghim ca phng trnh trng thi c tham s khng ph thuc thi gian ................................. 87
5.Qu trnh cng bc v qu trnh t do .......................................................................................... 87
3.3 PHN TCH H THNG ............................................................................................................. 87
3.3.1 Nhim v c bn ca cng vic phn tch .................................................................................... 87
3.3.2 Phn tch tnh n nh.................................................................................................................. 88
a thc c tnh : Error! Objects cannot be created from editing field codes. ................................... 88
T y ngi ta a ra h qu Lyapunov nh sau : .......................................................................... 89
2.Cc tiu chun xt tnh iu khin c cho h tham s hng........................................................ 89
10
3.3.4 phn tch tnh quan st c ........................................................................................................ 89
2.Mt s kt lun chung ....................................................................................................................... 90
3.3.5 Phn tch tnh ng hc khng (Sinh vin t nghin cu) ............................................................ 90
3.4 THIT K B IU KHIN ....................................................................................................... 90
3.4.1 B iu khin phn hi trng thi gn im cc ......................................................................... 90
i tng c m hnh : Error! Objects cannot be created from editing field codes. .......................... 91
THUT TON TM B R : .................................................................................................................. 91
59.0000 49.0000 15.0000 ................................................................................................................... 92
-3.553e-015 s^2 - 2.842e-014 s + 1 ........................................................................................................ 92
2 5 ...................................................................................................................................................... 93
15........................................................................................................................................................... 93
3.4.2 iu khin tch knh ................................................................................................................... 94
-ma trn Error! Objects cannot be created from editing field codes................................................... 94
-ma trn Error! Objects cannot be created from editing field codes................................................... 95
Vi cc im cc Error! Objects cannot be created from editing field codes.l c chn trc cho
knh th i ............................................................................................................................................... 95
Trong v d ta c .................................................................................................................................... 95
3)Tnh ma trn F,L ri tnh M,R ......................................................................................................... 95
Ma trn Error! Objects cannot be created from editing field codes. ....................................................... 96
T y ta tnh Error! Objects cannot be created from editing field codes. ......................................... 96
3.4.3 iu khin phn hi trng thi ti u .......................................................................................... 96
1. Bi ton :........................................................................................................................................... 96
3.0000 2.0000 ..................................................................................................................................... 97
3.0000 2.0000 ..................................................................................................................................... 97
Thut ton tm R nh sau : R F 1BT L .................................................................................................. 97
3.4.4 iu khin bm bng phn hi trng thi (tracking control)....................................................... 98
3.4.5 iu khin phn hi trng thi thch nghi .................................................................................. 98
3.4.6 iu khin phn hi tn hiu ra ................................................................................................... 99
100
V d 2 : cho h c i tng : S s 2
. Thit k b iu khin ....................................... 100
s 2s 100
1)xc nh im cc ca b quan st v ca khu iu khin .......................................................... 100
3.Thit k b quan st Kalman .......................................................................................................... 101
3)Tm L thay vo ta c b quan st Kalman ......................................................................................... 101
L = ma trn khuych i b quan st Kalman .................................................................................. 102
P = ma trn phng sai sai lch tnh ................................................................................................. 102
Q = ma trn trng lng ca cc bin trng thi.............................................................................. 102
3 4 .................................................................................................................................................... 102
4 12 ................................................................................................................................................... 102
R = ma trn trng lng ca bin u vo ....................................................................................... 102
3.4.7 Loi b sai lch tnh bng b tin s l ...................................................................................... 103
Gi s ta c i tng c m t : Error! Objects cannot be created from editing field codes. ...... 103
3.4.8 S dng Matlab thit k b iu khin (State space ) ................................................................. 104
1. M hnh khng gian trng thi..................................................................................................... 104
B = [0................................................................................................................................................... 105
Kt qu ta c .................................................................................................................................... 105
31.3050 ................................................................................................................................................ 105
C mt nghim nm bn phi mt phng nn h h khng n nh ................................................... 105
Nh vy khong cch gia vin bi v cun dy ng y c ng tin ra v cng ..................................... 106
T cng thc ................................................................................................................................... 106
....................................................................................................................................... 106
11
.................................................................................................................... 106
4. Thit k b quan st trng thi (observer design) ........................................................................ 109
CU HI N TP V BI TP CHNG 3 ................................................................................ 111
Cu hi 3: Mi quan h gia m hnh hm truyn t v m hnh khng gian trng thi....................... 111
Cu hi 9: Trnh by bi ton iu khin tch knh .............................................................................. 111
Vi k=40 h c quan st c hay khng ............................................................................................. 112
CHNG 4: IU KHIN H KHNG LIN TC ..................................................................... 113
4.1 CNG C TON HC ............................................................................................................... 113
4.1.1 Dy v chui s .......................................................................................................................... 113
2.Chui s ........................................................................................................................................... 113
4.1.2 Ton t Fourier khng kin tc ................................................................................................. 113
4.1.3 Php bin i Z thun ................................................................................................................ 113
4.1.4 Php bin i Z ngc................................................................................................................ 113
Hoc ta dng phng php phn tch chui ..................................................................................... 113
V d : Error! Objects cannot be created from editing field codes. tra bng ta c hm nh .......... 113
4.1.5 Quan h gia ton t Z v Laplace : trang 384-386 ................................................................... 114
4.2 XY DNG M HNH TON HC ......................................................................................... 114
4.2.1 Khi nim h khng lin tc....................................................................................................... 114
Gin ca cc dng tn hiu trn th hin nh hnh v.................................................................. 114
5. B lu gi bc khng ................................................................................................................... 115
4.2.2 M hnh trong min phc........................................................................................................... 117
2. HT xy dng t phng trnh sai phn ...................................................................................... 117
G(z) = [bo + b1 z-1 + + bmz-m]/[ao + a1z-1 + + anz-n] ..................................................................... 117
G(s) = Error! Objects cannot be created from editing field codes. ........................................................ 117
5.Cc dng biu din ca m hnh ..................................................................................................... 117
Mt h thng c m t bi ............................................................................................................... 118
2.M hnh trng thi .......................................................................................................................... 118
-M hnh khng lin tc : Error! Objects cannot be created from editing field codes. ................... 119
n gin ta chn b0 1; b1 b2 b3 ...br 0 .................................................................................. 119
0.9048 0 ....................................................................................................................................... 120
4.2.4 Chuyn i m hnh khng lin tc ca h SISO ...................................................................... 120
2.Chuyn t m hnh HT sang m hnh trng thi ........................................................................ 120
4.3 PHN TCH H KHNG LIN TC ....................................................................................... 120
4.3.1 Phn tch tnh n nh................................................................................................................ 120
4.3.2 Tnh iu khin c v quan st c ..................................................................................... 121
4.3.3 Phn tch cht lng h thng trong qu trnh qu .............................................................. 121
Phn tnh sai s c chng trnh tnh sau .............................................................................................. 122
2.Qu trnh qu ............................................................................................................................. 122
4.4.1 Chn tham s cho b PID s ...................................................................................................... 123
Vi ki=kp/Ti; kD=kp*TD .................................................................................................................... 124
4.4.2 Thit k b iu khin trong khng gian trng thi ................................................................ 124
4.4.2.1 B iu khin phn hi trng thi gn im cc .................................................................... 124
gii quyt bi ton trn, trc ht ta c s nh hnh v ............................................................... 124
4.4.2.2 B iu khin c b quan st trng thi .................................................................................. 125
2.Gii bi ton .................................................................................................................................... 126
Vi sai lch quan st : e y y H x x ........................................................................................ 126
Phng php thng qua v d sau : ................................................................................................... 126
12
x1 0 1 x1 0
u
x2 0 0 x2 1
Cho h lin tc c m t nh sau : ......................................................... 127
x1
y 1 0
x2
L = ....................................................................................................................................................... 127
19.6694 ................................................................................................................................................ 127
4.4.3 S dng Matlab thit k b iu khin ....................................................................................... 128
1. Chuyn i h m truyn t t lin tc sang ri rc ............................................................... 128
M=1; .................................................................................................................................................... 128
2. Chuyn i m hnh khng gian trng thi .............................................................................. 128
M=1; .................................................................................................................................................... 129
B=[ 0; ................................................................................................................................................. 129
C=[1 0]; ............................................................................................................................................... 129
D=[0]; .................................................................................................................................................. 129
F = ....................................................................................................................................................... 129
G = ...................................................................................................................................................... 129
H = 1 0................................................................................................................................................. 129
J = 0 ..................................................................................................................................................... 129
3.Dng bn ccPhn tch cht lng h thng ......................................................................... 129
Hnh di th hin bn h s suy gim zeta v tn s t nhin Wn trn mt phng Z ............... 129
Gi s ta c h m truyn t ............................................................................................................... 130
Dng qu o nghim s ri rc xc nh h s K ...................................................................... 131
G(z) l b b ca b iu khin Hzoh(z) l h m truyn ca i tng iu khin ......................... 131
CU HI N TP V BI TP CHNG 4 ................................................................................. 133
a. Cu hi n tp ............................................................................................................................... 133
b. B i tp............................................................................................................................................ 133
a) .............................. 134
Gi : tng t b i trn .................................................................................................................... 134
c) ........... 134
- Bin i v a v dng chnh tc ca h m truyn ri rc W (Z ) ................................................ 135
1/ 3 1 0 0
b) x k 1 0 0 1 xk 0 uk ; va; yk 1 0 0 x k ........................................................................ 136
0 0 1 1
Phn 2: L THUYT IU KHIN PHI TUYN........................................................................... 138
5.1 M HNH TON CA H PHI TUYN ................................................................................... 138
5.1.1 Tnh khng tho mn nguyn l xp chng .............................................................................. 138
13
u1 t
Cho mt h thng c vc t tn hiu vo r phn t : u t . ...................................................... 138
ur t
5.1.2 Cc khu phi tuyn c bn........................................................................................................ 138
5.1.3 M hnh trng thi v qu o trng thi ................................................................................ 140
5.2 PHN TCH H PHI TUYN .................................................................................................... 141
5.2.1 im cn bng v im dng ca h thng .............................................................................. 142
5.2.2 Tnh n nh ti mt im cn bng ......................................................................................... 142
5.2.3 Tnh iu khin c ti mt im trng thi ......................................................................... 142
5.2.4 Tnh quan st c ti mt thi im ...................................................................................... 142
5.2.5 Dao ng iu ho heteronom v autonom .............................................................................. 142
5.2.6 Tp gii hn v hin tng hn lon (Sinh vin t nghin cu ti liu) .................................... 142
5.2.7 H phn nhnh (Sinh vin t nghin cu ti liu) ...................................................................... 142
5.2.8 Tiu chun n nh Lyapunov .................................................................................................. 143
T y ngi ta a ra h qu Lyapunov nh sau (dng cho h tuyn tnh) : ................................. 143
5.3 H SISO C KHU PHI TUYN C BN .............................................................................. 143
5.3.1 Gii thiu h thng ..................................................................................................................... 143
5.3.1.1 S khi ............................................................................................................................... 143
5.3.1.2 M hnh NL v LN ................................................................................................................. 144
5.3.2 Phng php phn tch mt phng pha ..................................................................................... 144
5.3.2.1 H vi khu hai v tr .............................................................................................................. 144
1 dx
2 , neu, kx T 0
d x T dt
T y ta c : 2 .......................................................................................... 145
dt 1 dx
, neu, kx T 0
T dt
Da vo qu o pha ta c kt lun nh sau : ................................................................................. 146
5.3.2.2 H vi khu hai v tr c tr ................................................................................................... 146
sgn e , khi, e 1
Vi khu phi tuyn : q de .................................................................................. 146
sgn , khi, e 1
dt
2. Vng q=-1 khi : ................................................................................................................................ 147
Kt lun : ............................................................................................................................................ 147
5.3.2.3 H vi khu ba v tr ............................................................................................................... 147
Nh vy quan h vo ra ca b iu khin nh sau .............................................................................. 147
T qu o trng thi ca h ta rt ra kt lun ng hc ca h : .................................................. 148
5.3.2.4 H c khu khuych i bo ho ........................................................................................... 148
5.3.2.5 H c khu ba v tr c tr ...................................................................................................... 149
1, neu , e 1
1, neu , e 1
de
1, neu ,1 e 0.5 & 0
Vi y dt .............................................................................................. 149
de
1, neu , 0.5 e 1& 0
dt
0, neu , e 0.5
5.4 PHNG PHP CN TUYN TNH V THIT K B IU KHIN .............................. 150
5.4.1 Tuyn tnh ho trong ln cn im lm vic .............................................................................. 150
5.4.1.1 Tuyn tnh ha m hnh trng thi ........................................................................................ 150
x1
Trong x x2 . H c im cn bng l nghim ca ...................................................................... 150
x3
14
5.4.1.2 Phn tch h thng .................................................................................................................. 151
5.4.1.3 Thit k b iu khin ............................................................................................................ 151
5.4.2 K thut Gain-scheduling........................................................................................................... 152
5.4.3 iu khin tuyn tnh hnh thc ................................................................................................ 153
dx
f x, u , t
Mt h phi tuyn c m t dt ..................................................................................... 153
y g x, u , t
5.4.4 K thut iu khin b phi tuyn................................................................................................ 153
5.4.4.1 Bi ton iu khin b phi tuyn ........................................................................................... 153
5.4.4.2 Nhn dng thnh phn phi tuyn .......................................................................................... 154
dn t
Vn t
n t vi dt ................................................................................................................ 154
n x t Hn t
5.4.4.3 B iu khin b phi tuyn .................................................................................................... 154
CU HI N TP V BI TP CHNG 5 ................................................................................ 155
a. Cu hi n tp ................................................................................................................................ 155
b. Bi tp ............................................................................................................................................ 155
- Xt h khi cha b kch thch u 0 ................................................................................................. 156
CC THI THAM KHO ............................................................................................................ 158
Hc sinh khng c cha xa, lm bn phiu thi ................................................................................ 158
Hc sinh khng c cha xa, lm bn phiu thi................................................................................ 159
15
BI GING MN L THUT IU KHIN T NG
Phn m u
Mc ch mn hc:
Mn hc l thuyt iu khin t ng cung cp cc phng php nghin cu h thng t
ng, bao gm cc phng php thit lp m hnh ton ca h thng, phn tch nh
gi cht lng h thng cng nh thit k b iu khin.
Nhim v mn hc:
Sau khi mn hc kt thc, sinh vin phi nm c phng php xy dng cc dng m
hnh ton t mt h thng vt l c th (cc phng php m t h thng), t vi cc
tiu chun, c tnh ng hc c hc phn tch, nh gi c cht lng ca h
thng v thc hin bi ton tng hp (thit k b iu khin).
Ni dung mn hc: bao gm hai phn

1. L thuyt iu khin tuyn tnh
2. L thuyt iu khin phi tuyn
16
Phn 1: L THUYT IU KHIN TUYN TNH
CHNG 1: NHP MN
1.1 NI DUNG BI TON IU KHIN
nh ngha:
H thng t ng l mt tp hp cc thit b nhm thc hin mt mc ch no ca con ngi.
V d :
H thng iu khin tc ng c, iu khin chuyn dch t v tr ny xang v tr khc...
Mt h thng s c m t bng mt m hnh ton hc. M hnh ny biu din mi quan h ca
y1 t
vc t tn hiu ra (c s phn t) y t . (p ng ca h thng) ph thuc vo vc t tn hiu vo
ys t
u1 t
(c r phn t) u t . (tn hiu kch thch h thng) v trng thi ca h thng c biu din
ur t
x1 t
bng vc t trng thi (c n phn t) x t .
xn t
Bi ton iu khin h thng

Bi ton iu khin h thng c hiu l bi ton can thip vo i tng iu khin hiu chnh,
bin i sao cho n c cht lng ng hc mong mun. Ta phi tin hnh cc bc sau :
Xc nh loi tn hiu vo ra
Xy dng m hnh ton hc
Phn tch h thng
Xc nh tn hiu iu khin (xc nh lut iu khin hoc thit k b iu khin)
nh gi cht lng h thng
Thit k li b iu khin
1.2 NHNG CU TRC C BN CA H THNG IU KHIN
1.2.1 Cc khi nim c bn
Mt h thng iu khin t ng dng n gin nht thng c s khi sau : bao gm i tng
iu khin v b iu khin vi cc bin vo, ra, v cc bin trng thi.
Cc khi nim tn bin c nh ngha nh sau :

BIN C IU KHIN (controled variable): l mt thng s, hay mt iu kin c
o v c iu khin. Thng thng l tn hiu ra y(t)
17
BIN IU KHIN (Manipulated variable): l mt thng s, hay mt iu kin c thay
i bi b iu khin. Hay n l tn hiu vo ca i tng iu khin u(t)
B IU KHIN (CONTROLLER) : vi tn hiu vo l sai lch iu khin e(t), tn hiu
ra l u(t) a n iu khin i tng
I TNG IU KHIN (plant or object) : l mt vt th vt l c iu khin v d
nh ng c in, l nhit, ng c i gien
THIT B O LNG V PHN HI (feed back): l thit b o tn tn hiu ra a tr
v b iu khin nhm gim sai lch tn hiu ra so vi tn hiu iu khin w(t) hoc Uo(t)
hoc R(t)
IU KHIN (control): o gi tr ca bin c iu khin ca h thng a tc ng ln
bin iu khin nhm hiu chnh hoc gim bt sai lch ca i lng ra so vi chun
NHIU (DISTURBANCE) : l tn hiu tc ng ngc tr li h thng. C nhiu do bn
thn h gy ra l nhiu ni, nhiu ngoi tc ng vo l nhiu ngoi coi nh tn hiu vo
IU KHIN PHN HI (FEEDBACK CONTROL) : dng tn hiu phn hi hiu
chnh nhm gim sai lch tn hiu ra so vi mt vi tn hiu no m ta mun
H THNG IU KHIN PHN HI (FEEDBACK CONTROL SYSTEM) : l h
thng duy tr mi quan h gia tn hiu ra vi mt s tn hiu chun no v s dng s sai
lch ny tc ng iu khin
H THNG IU CHNH XC V (SERVO SYSTEM) : y thc cht l h iu
chnh v tr, tc hoc gia tc. thng thng c cu iu khin l ng c xc v
H THNG T NG IU CHNH (AUTOMATIC REGULATING SYSTEM) : l
h thng iu khin phn hi duy tr tn hiu ra thc t gi tr mong mun khi b nhiu
tc ng
H THNG IU KHIN QU TRNH (PROCESS CONTROL SYSTEM) : l h
thng t ng m tn hiu ra l bin
H THNG IU KHIN THCH NGHI (ADAPTIVE CONTROL SYSTEM) : theo
thi gian, di tc ng ca nhiu, c tnh ng hc ca cc phn t, i tng thay i, h
thng c kh nng thch nghi c nhng thay i ny. l kh ngng t sa, t chinh
theo nhng thay i khng d on trc c
H THNG IU KHIN THNG MINH (LEARNING CONTROL SYSTEM) : l
h thng c kh nng t hc v tch lu kinh nghim.
1.2.2 H thng iu khin h
-S cu trc ca h thng iu khin nh hnh :

V d nh mun iu khin tu thy i theo mt qu o y(t), thy th phi lun b li mt gc w(t)
to ra mt gc bnh li u(t).
w(t) u(t y(t)

CONTROLLER ) PLANT
-V bn cht, y l bi ton iu khin mt chiu v cht lng iu khin ph thuc chnh xc

ca m hnh ton m t i tng v gi thit trong qu trnh lm vic h thng khng b nhiu tc ng
1.2.3 iu khin phn hi trng thi
-S cu trc nh hnh : Vi s ny b iu khin nm mch chnh
18
w(t) CONTRO u(t) y(t)
LLER PLANT
-S cu trc ca h c b iu khin nm mch phn hi :
w(t) u(t) y(t)

PLANT
CONTRO x
LLER
-Nguyn tc iu khin phn hi trng thi l b iu khin s dng vc t trng thi x(t ) ca i
tng to thnh tn hiu vo mong mun u(t) cho i tng. V tr ca b iu khin c th l mch
truyn thng hoc mch hi tip
-H thng iu khin phn hi trng thi c kh nng gi c n nh cht lng mong mun cho
i tng, mc d trong qu trnh iu khin lun b nhiu tc ng
1.2.4 iu khin phn hi tn hiu ra
-S cu trc nh hnh 1.9 (24) : Vi s ny b iu khin nm mch chnh
w(t) CONTRO u(t) y(t)

LLER PLANT
-S cu trc ca h c b iu khin nm mch phn hi
w(t) u(t) y(t)

PLANT
CONTRO
LLER
- phng php trn cho ta cht lng iu khin rt tt, nhng ta s gp kh khn trong vic xc
nh vc t trng thi x(t ) , bi khng phi lc no ta cng o c chng, do vy ngi ta thay s dng
x(t ) bng tn hiu ra y t to ra tn hiu iu khin u t cho i tng iu khin.
-V tr b iu khin c th l mch truyn thng hoc mch hi tip. V ngy nay nguyn l iu
khin ny c gii quyt trit nh phn hi trng thi v quan st trng thi.
19
1.3 PHN LOI CC H THNG T NG
HTK tuyn tnh v phi tuyn : tnh xp chng ng cho tuyn tnh v khng ng cho phi
tuyn
u1 t y1 t
u2 t y2 t
au1 t bu2 t y t ay1 t by2 t
HTK dng v khng dng : h s ca phng trnh m t l hng s, p ng ra khng
ph thuc thi im xut hin tn hiu vo h khng dng c mt vi thng s thay i
theo thi gian, p ng ra ph thuc vo thi im xut hin tn hiu vo
HTK lin tc HTK ri rc
H SISO MIMO (single input single output) : h mt chiu -multy input multy output : h
nhiu chiu
H iu khin thng s tp trung Thng s phn b
H tin nh ngu nhin
1.4 NI DUNG C BN CA L THUYT IU KHIN T NG
Mn hc nghin cu cc nguyn tc chung xy dng h thng t ng, cc phng php kho

st chng m khng ph thuc vo bn cht vt l ca cc qu trnh. L c s thit k cc h t ng.
N c hai nhim v chnh
1.phn tch h thng : kho st nguyn l hot ng ca cc phn t cng nh h thng vi cu trc
v thng s cho cng vi tc ng u vo khc nhau. Ni cch khc thng qua m hnh c c ta
kho st tnh n nh, nh gi cht lng tnh, ng ca h thng
2.Tng hp b iu khin : t i tng iu khin, t yu cu cht lng ca h ta phi chn c
cc khu hiu chnh, b iu chnh cng cc thng s ca n tho mn cc yu cu trn.
20
CU HI N TP CHNG 1
Cu hi 1: M hnh ton hc ca mt h thng t ng l g? Mc ch ca vic thit lp m hnh

ton hc ca mt h thng t ng.
Cu hi 2: Phn bit khi nim iu khin h v khi nim iu khin phn hi
Cu hi 3: So snh phng php iu khin phn hi trng thi v iu khin phn hi tn hiu ra.
Cu hi 4: Trnh by cc phng php phn loi h thng t ng.
21
CHNG 2: IU KHIN LIN TC TRONG MIN PHC
2.1 CC CNG C TON HC
2.1.1 Hm bin phc (t c 25-30)

2.1.2 Php bin i Fourier
y l cng c hu hiu kho st c tnh tn s ca mt tn hiu x(t). N gip ta biu din x(t)
thng qua tp cc dao ng ca n. Trong mi dao ng li l mt tn hiu iu ho c trng cho x(t)
ti mi im tn s nht nh.
1. nh Fourier ca tn hiu tun hon
Cho tn hiu tun hon : x(t ) A cos( ot ) vi tn s dao ng o ta c th bin i thnh :
T
j ot
j ot 1 jn o t
x(t ) ce ce cn e cn x(t )e jn ot dt v n=...-1,0,1,...
n T0
2. nh fourier ca tn hiu khng tun hon
Cho mt tn hiu x(t) hp l vi php bin i fourier th ta c th biu din nh sau :
nh (hay ph) fourier X ( j ) F x(t ) x(t )e j t

dt
1
V hm gc x(t ) F 1
X ( j )e j t d
x(t )
2
Ton t fourier c 8 tnh cht quan trng c trnh by trang 32
3.Php bin i Fourier l mt php lc tn cao. Ta gi s c tn hiu x (t ) x(t ) n(t ) trong n(t)
l thnh phn tn hiu nhiu cao tn ln vo. ta c th lc x(t) ra khi x (t ) bng cch tnh nh Fourier ca
hm x (t ) , sau b i tt c cc thnh phn tn s cao hn g trong
X ( j ) theo cng thc :
1,
X j
X j W ,;,W
g
ri chuyn ngc li ta c x(t)
0, g
2.1.3 Php bin i laplace
y l cng c hu hiu cho vic phn tch mt h thng k thut vi cc tn hiu thng gp l tn
hiu causal (tn hiu c tnh cht nhn qu)
1.Php bin i thun
Nu c mt hm thi gian x(t) hp l vi ton t Laplace th tn ti nh L l x(s)
X(s)= L x(t ) x(t )e st dt

0
c j
1
V x(t ) L 1
X ( s) X ( s)e st ds vi s=c+j
2 jc j
Cc nh l quan trng : c trnh by trang 10-11

1.nh l tr : hm x(t-T) c nh L: x(s)e-Ts
2.nh l o hm : dx(t)/dt c nh L : sx(s) x(0)
3.nh l tch phn : tch phn ca x(t) c nh L : (1/s)x(s)
x 0 lim sX s
s
4.nh l ti hn :
x lim sX s
s 0
2. Php bin i ngc
thc hin php bin i ngc, ta c th s dng nhiu cch, n gin nht l ta dng phng
php bin i ngc hm hu t :
Phn tch hm thnh tng cc phn thc ti gin
Tra bng nh dch v thnh tng cc hm gc c bn
Tnh tng cc hm gc tm c
22
1 1 1 1
V d : cho hm nh X ( s)
s (1 s) 1 s s s 2
2
Tra bng nh ta tm c hm gc x(t ) (e t 1 t )1(t )

3. ng dng : S dng php bin i Laplace gii phng trnh vi phn
d2y dy
Cho phng trnh 2 5 y 3 vi iu kin u bng khng. Chuyn qua nh L ta c
dt dt
3 3 3.2 3( s 1)
Y ( s) 2 2 2
s( s 2s 5) 5s 10 ( s 1) 2 5 ( s 1) 2 22
3 3 t 3
Tra bng ta c y(t ) e sin(2t ) cos(2t )
5 10 5
2.1.4 Tn hiu
Tn hiu x(t) l mt hm s ph thuc thi gian mang thng tin v cc thng s k thut c quan
tm trong h thng, c truyn ti bi cc i lng vt l. Ni cch khc tn hiu l mt hnh thc biu
din thng tin.
V d : ta mun iu khin mc nc trong mt ci bnh lun cao khng i, th mc nc
trong bnh l mt thng s chng ta cn quan tm. mc nc ny c o bi sensor p in, tc gi tr
tc thi ca mc nc c biu din thng qua mt hm in p u(t) vi n v l mv. Th ta ni u(t) l
tn hiu mang thng tin v mc nc.
Trong mt h thng c nhiu tn hiu : x1 (t ), x2 (t )...xn (t ) c quan tm cng mt lc th n to
thnh mt vc t tn hiu c k hiu :
x1 (t )
T
x(t ) . x1 (t ) . xn (t )
xn (t )
1. Phn loi tn hiu
Tn hiu lin tc-tng t - Tn hiu khng lin tc-tng t
Tn hiu lin tc- ri rc-Tn hiu khng lin tc ri rc : tn hiu s
Hnh 1.1 trang 2 LTKTT th hin trc quan 4 dng tn hiu trn
2. Mt s tn hiu in hnh
Trong iu khin tuyn tnh ta thng s dng mt s dng tn hiu sau (cc tn hiu ny c c tnh
chung l c tnh nhn qu : tnh causal tc l x(t)=0 khi t<0)
23
1)Tn hiu bc thang (hm heaviside) c nh ngha nh sau :
1, khi t 0
1(t )
0, khi t 0
2)Tn hiu tng dn u c xc nh nh sau (RAMP) :
t , khi t 0
x(t ) t 1(t )
0, khi t 0
3)Tn hiu xung vung
1
ra (t ) 1(t ) 1(t Ta ) )
Ta
4)Tn hiu dirac (cn gi l hm m rng delta)
d 1
(t ) 1(t ) lim 1(t ) 1(t Ta
dt Ta
Ta 0
Hnh 1.2 v 1.3 trang 4 &5 th hin dng ca bn tn hiu.
2.2 XY DNG M HNH TON HC
M HNH (model) l hnh thc biu din li nhng hiu bit ca ta v h thng mt cch khoa
hc, v mi quan h gia tn hiu vo u(t) v tn hiu ra y(t) nhm phc v mc ch m phng, phn
tch, v tng hp b iu khin cho h thng
Vic xy dng m hnh gi l m hnh ho. C hai phng php m hnh ho : thc nghim v l
thuyt
A.phng php l thuyt :
L phng php thit lp m hnh da trn cc nh lut c sn v quan h vt l bn trong v quan
h giao tip vi mi trng bn ngoi ca h thng. Cc quan h ny c m t theo theo quy lut l
ho, quy lut cn bng di dng nhng phng trnh ton hc. v d : m t my in bng phng
trnh cn bng in p, phng trnh cn bng m men
B.phng php thc nghim (nhn dng) :
Trong trng hp chng ta hiu bit v cc v quan h l ho bn trong v quan h giao tip vi
mi trng bn ngoi ca h thng khng c y xy dng hon chnh m hnh h thng nhng
thng tin khoanh vng cc m hnh thch hp, sau ta dng phng php thc nghim xy
dng tip m hnh. Tc l ta tm c mt m hnh thuc vng cc m hnh thch hp trn da trn c s
quan st tn hiu vo ra sao cho sai lch gia n vi nhng m hnh khc l nh nht y l phng php
nhn dng h thng.
CC DNG M HNH TON HC CA H SISO :
1)Phng trnh vi phn m t quan h u(t) v y(t)
2)Hm truyn t G(s)
3)Hm c tnh tn G( j )
2.2.1 Phng trnh vi phn (differential equation)

Da trn cc nh lut c sn v quan h vt l bn trong v quan h giao tip vi mi trng bn
ngoi ca h thng cc quan h ny c m t theo theo quy lut l ho, quy lut cn bng to ra h
24
phng trnh vi phn m t bn cht ng hc ca cc phn t, h thng. y l m hnh gc ng vi
bn cht thc. N c dng tng qut nh sau :
dy dny du d mu
a0 y a1 .. an n b0u b1 .. bm m
dt dt dt dt
Trong cc h s ai , b j c xc nh t cc phn t cu thnh h thng. chng c th l hng s
hoc tham s ph thuc thi gian hoc cc yu t khc.
v d : cho mch in nh hnh 2.17 trang 56
C L
u(t) y(t)
R1 R2
S dng cc nh lut v mch in nh Kirchoff ta s xy dng c phng trnh vi phn m t

quan h gia tn hiu ra v tn hiu vo nh sau :
d 2 y(t ) dy(t ) du(t )
CLR1 2
(CR1R2 L) ( R1 R2 ) y(t ) CR1R2
dt dt dt
Trong u(t) l tn hiu vo (tn hiu kch thch), y(t) l tn hiu ra (tn hiu p ng)
2.2.2 M hnh truyn t TF (transfer function)

1.Hm truyn t :
Xut pht t PTVP dng tng qut m t quan h vo ra ca h :
dy dny du d mu
a0 y a1 .. an n b0u b1 .. bm m
dt dt dt dt
x t X s
dx t
Qua php bin i Laplace sX s vi gi thit iu kin u bng 0 ta c :
dt
dnx t
n
sn X s
dt
(ao+a1s ++ans )Y(s) =( bo + b1s ++ bmsm)U(s) . T ta c
n
Y s b0 b1 s ... bm s m
G s l hm truyn t
U s a0 a1 s ... a n s n
Vy hm truyn t l t s ca nh Laplace tn hiu ra chia cho nh Laplace tn hiu vo ng
vi iu kin u bng khng
Xc nh HT ca mch in sau : v d 2.17 trang 56
C L
R1 R2
U(t) y(t
Vit phng trnh cho cc linh kin :

duc t
ic (t ) C Ic s CsU c s ;
dt
diL t
uL (t ) L IL s LsI L s ;
dt
R1iR t uR t R1 I R s UR s ;
R2iL t y t R2 I L s Y s ;
Thay vo cc phng trnh kirchoff ta c :
25
y t uL t y t d uL t y t du t
CR2 CR1 dt dt
CR1R2 sU s [CLR1s 2 CR1R2 L s R1 R2 ]Y s
T y ta c :
Y s CR1 R2 s
G s 2
U s [CLR1s CR1R2 L s R1 R2 ]
2.Thng tin t m hnh
T HT ta c th tm c m hnh ZPK (zero pole gain) : bit c v tr cc im cc,
im khng trn mt phng S.
Ta bit c cc c tnh ng hc Hm qu h(t), hm trng lng g(t), hm truyn t
tn s
nh gi cht lng h
V d: Bi tp 19 trang 222 : xc nh hm truyn t ca cc mch in
R1 R L
C C
C
R2 L
RESISTOR
1uH
RESISTOR
u1 ic R1
cduc
ic
dt
cR2 duc
u2 ic R2 u2
dt
cR2 duc
y (t ) uc u2 uc Y s U c s (1 cR2 s ) Uc s Y s /(1 cR2 s )
dt
Ic csU c s csY s /(1 cR2 s )
R1cs (1 cR2 s )
U s U1 s Y s R1csY s /(1 cR2 s ) Y s Y s
(1 cR2 s )
Y s (1 cR2 s )
G s
U s R1cs (1 cR2 s )
T1 R1c
T2 R2 c
1 T2 s
G s
1 T1 T2 s
3. M hnh im khng - im cc ZPK (zero pole gain)

( s z1 )...( s z m 1 )(s z m )
y l mt dng ca hm truyn t G(s)=k
( s p1 )...( s p n 1 )(s p n )
Trong k: h s khuych i, zi l im khng pj l im cc
vi m hnh ny, ta dng thit k b iu khin hc phn sau
khai bo m hnh ZPK trong Matlab :
26
h=zpk(z,p,k)
2.2.3 S cu trc v i s s khi
1.Khi nim
Mt h thng tuyn tnh, sau khi c m hnh ho n c s khi nh sau :
G(s)
1(t), (t),u(t) h(t), g(t),y(t)
S cu trc bao gm nhiu khi c bn c ni vi nhau theo chiu tn hiu, mi khi c hm

truyn t c trng cho quan h vo ra
Thc cht l ta phn h thng ln thnh nhiu h thng con c ni vi nhau theo chiu tn hiu
-Xy dng s cu trc t hm truyn t : ta c th xy dng s cu trc bng cch phn tch
hm ny thnh tng hoc tch cc hm c bn
-Xy dng s cu trc t m hnh SS : Cn c s lng bin trng thi, ta xc nh c s
lng khu tch phn, t qua h cc phng trnh ta xy dng c s cu trc.
V d : cho mch in nh hnh v
5V
+V
Rs
C
L
Ta c phng trnh cho tng phn t :

du t 11
ic (t ) C c I c s CsU c s ; U c s Ic s
dt Cs
di t 11
uc uL (t ) L L U L s LsI L s ; I L s UL s
dt Ls
Rs iR t uR t Rs I s s U R s ;
Phng trnh mch vng v nt ta c :

us is Rs uc 0
is iL iC 0
T y ta c s cu trc mch nh sau
2.i s s khi :
l cc php quy i tng ng tnh hm truyn t ca h khi ta bit c s cu trc ca
h. Bao gm :
2 khi mc song song
2 khi mc ni tip
2 khi mc hi tip
Php chuyn nt tn hiu t trc mt khi ra sau mt khi
27
Php chuyn nt tn hiu t sau mt khi ra trc mt khi
Php chuyn nt r nhnhtn hiu t trc mt khi ra sau mt khi
Php chuyn nt r nhnh tn hiu t sau mt khi ra trc mt khi
Php chuyn nt r nhnh t trc mt nt ra sau mt nt
Php chuyn nt r nhnh t sau mt nt ra trc mt nt
v d 2.25, 2.26, 2.27 trang 72, 73 : bin i s khi tnh hm truyn t ca h thng
3.S tn hiu
y l mt dng ca SCT thay mt khi, vi tn hiu vo, ra bng hai im, mt ng cong theo
chiu tn hiu v biu thc hm truyn
4.Matlab : t SCT ta c th chuyn thnh s m phng thng qua th vin Simulink v ta tm
c hm h(t) cng nh cc trng thi m ta mun
2.2.4 S tn hiu v cng thc Mason (t c trang 74-80)
2.2.5 C TNH NG HC
1.p ng thi gian
1)Hm qu
Hm qu c k hiu h(t) (step respone) l p ng ca h thng khi h ang trng thi 0
c kch thch u vo l hm 1(t). Hm h(t) l mt ng cong m t qu trnh h thng chuyn t mt
trng thi xc lp ny xang mt trng thi xc lp khc.
Hm qu c s dng nh gi cht lng ng hc ca h thng trong qu trnh qu .
Thng thng hm qu c dng ng cong sau :
Qu trnh qu ca mt h thng c hiu l qu trnh h thng chuyn t trng thi xc lp c

( h(t)=0 vi t<0) xang trng thi xc lp mi. Thi im xc nh h thng t trng thi xc lp mi l
ng cong qu i vo vng sai s cho php v khng thot ra na.
Qua ng cong qu ngi ta xc nh c 4 ch tiu nh gi cht lng ca h thng
trong qu trnh qu :
1. Thi gian tng (Tr rise time) : c xc nh ti thi im hm h(t) t t 10% n 90%
gi tr xc lp .. N c trng cho kh nng cng kch ca h thng.
2. Thi gian tr (Td delay time) : c xc nh ti thi im h t 50% gi tr xc lp.
3. Thi gian qu (Ts settling time) : l thi im h t trng thi xc lp
4. Qu iu chnh ( : overshoot) : c xc nh bng t l phn trm ca gi tr hm h(t)
t ln nht so vi gi tr xc lp
Cc phng php xy dng hm qu
1)S dng m hnh hm truyn t :
A.Tnh h(t) thng qua nh L ca n
Hm gc h(t) c nh L l 1/s
28
Y s
Gs Y s G s .U s . Vy H(s)=G(s)/s, tra bng ta c h(t)
U s
B. Dng cc lnh Matlab

Trong Matlab khai bo m hnh ta c th dng hai lnh :
sys=tf(num,den)
Hoc s = f('s'); sys=f(s)
Step(sys) %xc nh hm qu
Lsim(sys,y,t,[,xo])%xc nh p ng vi tn hiu bt k
2)Dng phng php thc nghim : xy dng ng cong qu thng qua cc phng php
nhn dng h thng bng thc nghim
2)Hm trng lng g(t) (impulse respone)
L p ng ca h khi h ang trng thi o v u vo c kch thch bi xung dirac
Hm trong lng m t s phn ng ca h thng i vi nhiu. l qu trnh h quay tr v
trng thi xc lp ban u khi b nhiu nh bt khi v tr lm vic.
Mt h thng tuyn tnh, sau khi c m hnh ho n c s khi nh sau :
G(s)
1(t), (t),u(t) h(t), g(t),y(t)
Cc phng php xy dng hm trng lng

1)S dng m hnh hm truyn t :
A.Tnh g(t) thng qua nh L ca n
Hm gc (t) c nh L l 1
Y s
Gs Y s G s .U s . Vy G(s)=G(s), tra bng ta c g(t). Vy nh L ca hm
U s
trng lng chnh l hm truyn t
B. Dng cc lnh Matlab
sys=tf(num,den)
Impulse(sys) %xc nh hm trng lng
2)Dng phng php thc nghim : xy dng ng cong qu thng qua cc phng php
nhn dng h thng bng thc nghim
Thng thng hm g(t) c dng nh sau :
2.p ng tn s (frequency response)
c tnh tn cho php ta kho st h trong min tn s, c ngha khi u vo l tn hiu sin th c
tnh tn cho ta bit quan h gia bin , gc lch pha ca tn hiu ra so vi tn hiu vo ph thuc vo
tn s n ang lm vic nh th no. d dng kho st h ngi ta a ra 3 dng c tnh : TTS bin
pha G(j ), (ng cong Nyquist) TTS logarith bin L( ) v pha ( ) ( th Bode)
p ng tn s ca h thng c th c biu din bng hai cch : ng cong Nyquist v th
Bode. C hai th u cho ta bit cc thng tin nh nhau, nhng cch th hin khc nhau. p ng tn
s l phn ng ca h thng vi tn hiu vo sin, bin thay i l tn s v tn hiu ra c tn s ging tn
hiu vo nhng khc v bin v pha. p ng tn s (frequency response) xc nh s khc nhau gia
bin v pha ca tn hiu ra so vi tn hiu vo.
V d mt thuyn bum chu tc ng ca sng bin x(t)=X msin t, tn hii ra l lc ca thuyn
y(t)=Ymsin( t+ )
1)ng cong Nyquist (The Nyquist Diagram)
ng cong Nyquist xy dng t hm truyn t tn s G(j* w) trong G(s) l hm truyn t h
h, w l vc t tn s bao na mt phng bn phi. ng xanh biu din tn s t 0 n v cng v
ng biu din tn s m.
Cc phng php xy dng ng cong Nyquist
29
1)Dng phng php i s thng thng :
Xut pht t hm truyn G(s) ta thay s= j ta c
G(j ) =Re G(j ) +Im G(j ).
T y ta c bin A( ) v pha ( )
Khi cho chy t 0 n + VC ta c ng TTS bin pha (nyquist)
2)Dng cc lnh Matlab
sys=tf(num,den)
Nyquist(sys) %xc nh ng cong Nyquist
3
V d 2.36 trang 84 : Xy dng ng cong Nyquist cho h c HT : G s
s 1 2s
S dng lnh Nyquist trong Matlab ta c :
s=tf('s')Transfer function:s
>> sys=3/(s*(1+2*s))
Transfer function:
3
---------
2 s^2 + s
>> nyquist(sys)
>> grid on
Ta c kt qu nh sau :
ng cong pha di biu din tn s bin thin t 0 ra v cng

2)ng c tnh tn logarith - th bode
L hnh thc khc biu din mi quan h gia bin v pha ca tn hiu ra so vi tn hiu vo khi
tn s lm vic ca h thng thay i t khng n v cng trn trc log (tn s). th Bode bao gm
hai th con : c tnh TSB v c tnh TSPH
Ch trc tn s theo t l xch lg (dec), trc pha l v trc bin l decibel (db). Decibel c
nh ngha l 20*log10 ( |G(j*w| )
-c tnh TSB c nh ngha l L 20lg G ( j ) c n v l dezibel (dB). C thay i 20
dB tng ng h s khuych i thay i 10 ln, 40 db h s khuych i thay i 100 ln
-Trc honh l lg c n v l dec, c ngha thay i 1 dec tng ng tn s thay i 10 ln, 2
dec tn s thay i 100 ln
-Thc cht y l th thut chn h trc to . Vi vic chn nh th cho php trong khong din
tch nh, ta vn c c th y ca h thng trogn mt di tn s ln. V cng vic xy dng
th ca h thng gm nhiu h thng con mc ni tip d dng hn nh cng cc th con ny.
Cc bc xy dng ng cong Bode nh sau :
1.Phn tch HT tn s thnh hai thnh phn thc o
30
2.Tnh bin A
3.Tnh L 20 lg A dng c tnh khi tn s thay i t 0 n VC
Q
4.Tnh gc arctg dng c tnh pha khi tn s thay i t khng n v cng.
P
Thng tin t p ng tn s : p ng tn s ca h h cho ta bit cht lng ca h thng kn :
C n nh hay khng
d tr n nh l bao nhiu
nh cng hng v rng di thng DC GAIN
V cc thng s khc
110
-V d 2.45 trang 93 : xy dng th Bode ca h G s
s 1 s 11
S dng lnh Matlab ta c
s=tf('s') : Transfer function:s
>> sys=110/((s+1)*(s+11))
Transfer function:
110
---------------
s^2 + 12 s + 11
>> bode(sys)
>> grid on
Mt v d trc quan cho ta thy p ng ca h thng ph thuc vo tn s tn hiu vo nh th no

qua kt qu m phng di y :
w= 0.3;
num = 1;
den = [1 0.5 1 ];
t=0:0.1:100;
u = sin(w*t);
[y,x] = lsim(num,den,u,t);
plot(t,y,t,u)
axis([50,100,-2,2])
w = 3;
num = 1;
31
den = [1 0.5 1 ];
t=0:0.1:100;
u = sin(w*t);
plot(t,y,t,u)
axis([90, 100, -1, 1])
2.2.6 Quan h gia phn thc v phn o ca hm c tnh tn - ton t Hillbert

y l bi ton xc nh hm truyn t ca h thng khi bit c phn thc hoc phn o ca
chng. T c trang 94-100
2.2.7 Xy dng m hnh ton hc ca cc khu c bn
1.PHN LOI CC KHU C BN

Trong mn hc, cc khu ng hc c bn c phn loi nh sau :
1.Khu khuych i
2.Khu qun tnh bc nht
3.Khu qun tnh bc hai
4.Khu dao ng
5Khu tch phn
6Khu vi phn
7.Khu lead/lag
8.Khu tr
9.Khu pha cc tiu
2.KHU KHUYCH I P (PROPOTIONAL)

HT : G(s)= k
1.TSBP : l mt im trn trc thc
2.Tslogarith : l mt ng thng nm ngang
3.Hm qu l mt ng nm ngang
4.Hm trng lng trng vi trc honh
V d : xy dng cc c tnh ng hc ca khu khuych i vi k=100
32
Nu trong mt gii hn hp b qua cc k sinh, phi tuyn ta c th coi cc phn t sau l cc khu
khuych i : chit p, khuych i thut ton, my pht tc, h n by, h vi phun v l chn, cc van
thu lc hay kh
3. KHU QUN TNH BC NHT PT1

HT : G(s)= k/[1 +Ts)
Trong k l h s khuych i ca khu, T hng s thi gian qun tnh, s l ton t Laplace
1.TSBP : l ng trn bn knh r=k/2 tm l [k/2 0]
2.c tnh TS logarith : c tn s gy l 1/T tn s vng ln hn 1/T th c tn s thay i
10 ln bin thay i 20 bd ( nghing -20db/dec)
c tnh pha logarith s chy t 0 n -pi/2 ti tn s gy gc pha s l -pi/4
3.Hm qu l mt ng cong xut pht t 0 xc lp ti k
4.Hm trng lng l mt ng cong xut pht mt im trn trc tung k/T xc lp ti trc
honh theo hm m
V d : xy dng cc c tnh ng hc ca khu G(s)=100/(s+1)
Mch hiu chnh RC, LR, my pht in DC vi u vo l kch t ra l in p, bnh nn kh, l

nhit
4 KHU QUN TNH BC HAI PT2

HT : G(s)= k/(1 +T1 s)(1 +T2s)
Trong k l h s khuych i ca khu, T 1 khc T2 hng s thi gian qun tnh, s l bin
Laplace
1.c tnh TSBP : l ng cong ct trc honh ti k v kt thc ti gc to
2.c tnh TS logarith : c tn s gy l 1/T (y l nh cng hng) tn s vng ln hn
1/T th c thay i 10 ln bin thay i 40 bd ( nghing -40db/dec)
c tnh pha s chy t 0 n -pi
3.Hm qu l mt ng cong xut pht t 0 xc lp ti k dng ch s
4.Hm trng lng l mt ng cong xut pht t gc to vt ln ri trit tiu theo trc
honh theo hm m
10
V d : xy dng cc c tnh ng hc ca h c hm truyn t nh sau : G s
2 s 1 10 s 1
33
5 KHU DAO NG BC 2
HT : G(s)= k/[1 +2DTs + T2s2)
Trong k l h s khuych i ca khu, T hng s thi gian qun tnh, s l bin Laplace, D h
s tt dn (0<D<1 v nu D> 1 n tr thnh khu PT2)
1.c tnh TSBP : c hm truyn t tn s nh sau :
k
G( j ) 2
( j T ) 2 Dj T 1
2.c tnh TS logarith : L ( ) =20lgk khi tn s nh hn 1/T .
L ( ) =20lgk 40lg ( ) khi tn s ln hn 1/T c tn s gy l 1/T (y l nh cng hng)
tn s vng ln hn 1/T th c thay i 10 ln bin thay i 40 bd ( nghing -40db/dec)
c tnh pha s chy t 0 n -pi ti tn s gy gc pha s l -pi/2
3.Hm qu l mt ng cong xut pht t 0 xc lp ti k c dao ng
4.Hm trng lng l mt ng cong xut pht t gc to vt ln ri trit tiu theo trc
honh
Khu dao ng bc hai trong thc t c th l ng c DC kch t c lp, tn hiu vo l in p, ra
l gc quay. H c kh c n hi, trng lng, gim sc
10
V d : Xy dng c tnh ca hm : G( s)
4s 2 2 0.3 2s 1
6.KHU TCH PHN

HT : G(s)= k/s
1.c tnh TSBP : l mt na trc o pha m
2.c tnh TS logarith : l mt ng thng c nghing -20 db/dec. Khi tn s =1 th bin
bng k db khi tn s =k th bin bng 0db.
c tnh Pha l ng nm ngang pi/2
3.Hm qu l mt ng c dc l k
4.Hm trng lng l ng k
34
V d : tn hiu ra l in p t in, tn hiu vo l dng in np, th t in l mt khu tch phn,
t thng trong cun cm, gc quay ca ng c, mc nc ca kt Khu tch phn c cc c tnh
ng hc nh sau :
7. KHU VI PHN
HT : G(s)=ks
1.c tnh TSBP : l mt na trc o phn dng
2.Tslogarith : l mt ng c dc + 20 db c bin bng k db kh tn s bng 1 dec.
c tnh pha lun vt trc mt gc +pi/2
3.Hm qu l hm dirac
4.Hm trng lng cng l hm dirac
V d : trong thc t t in, vi tn hiu vo l in p t vo t, tn hiu ra l dng in np, th
t in l mt khu vi phn.
Khu vi phn c cc c tnh ng hc nh sau :
y s y s
G s ks y s k y t k t
u s 1/ s
y s y s
G s ks y s ks y t
u s 1
8. KHU TR
HT : w s e s
1.c tnh TSBP : l mt ng trn tm gc to bn knh l 1

2.c tnh TS logarith : l trc honh c ngha bin ra bng vo.
c tnh pha ( )
3.Hm qu ging khu khuych i c k=1 b tr mt khong T
4.Hm trng lng cng ging khu khuych i c k=1 b tr khong T
V d : ng ng nc, cc bng chuyn, cc h thu lc
Cho khu c hm : S s e 1.5s . S dng Matlab ta c
35
9. KHU LEAD/LAG
1 Tt s
HT : W s
1 Tm s
Nu Tt>Tm l khu lead (khu dn qua : u tin cho tn s cao i qua, ct tn thp)
Nu Tt<Tm l khu lag (Khu ct bt : u tin tn thp i qua, ct tn cao)
1.c tnh TSBP : l mt ng cong
2.c tnh TS logarith : nu l lead vng tn thp 0 db cn vng cao 20 db gc lch pha
dng . Nu l lag th vng thp l 0 db cn vng cao -20 db, gc lch pha m
3.Hm qu xut pht t trc tung, tip cn vi 1
4.Hm trng lng, Nu l lead t mt im trn trc tung dng v 0. nu l lag th t m
v khng
V d : trong iu khin y l nhng khu b
36
2.3 PHN TCH H THNG
2.3.1 Nhng nhim v c bn ca cng vic phn tch h thng
Khi c m hnh ton hc, cng vic tip theo ca bi ton iu khin l phi phn tch h
thng rt ra c mt s kt lun c bn v tnh cht, cht lng ng hc ca h thng phc v
vic thit k b iu khin. Bi ton phn tch h thng c nhng nhim v sau :
Hiu bit v tnh n nh ca h thng
Hiu bit v cht lng h thng ch xc lp trong min thi gian
Hiu bit v cht lng h thng ch xc lp trong min tn s
Hiu bit v cht lng h thng ch qu .
Hiu bit v tnh bn vng
2.3.2 Xc nh tnh n nh ca HT t a thc c tnh
1.Cc khi nim

Khi nim v tnh n nh :
T v d v trng thi ca 3 vin bi y h (2), trn mt bng (1) v vin bi gia dc (3) ta c
khi nim v s n nh ca h thng nh sau : h ang trng thi cn bng, b mt kch thch tc ng,
vng ra khi v tr cn bng sau n t tr v trng thi cn bng ban u khi mt kch thch th ta ni h
n nh ti ln cn im cn bng.
Hay ni mt cch khc mt h thng n nh nu QTQ tt dn theo thi gian, khng n nh nu
QTQ tng dn theo thi gian, bin gii n nh nu QTQ khng i hoc dao ng khng tt dn
1
2
Trng thi cn bng : l trng thi h thng ng yn nu khng c lc tc ng no khc ln n

a thc c tnh : a thc di mu ca hm truyn t, c trng cho tnh cht ng hc ca h
nn n c gi l a thc c tnh
Phng trnh c trng : l a thc c trng c v phi bng khng
2. iu kin :
iu kin h n nh th hin s phn b nghim ca phng trnh c trng trn mt phng
nghim s : Nu tt c cc nghim ca phng trnh c trng u nm bn tri mt phng phc th h n
nh. Tc l tt c phn thc ca nghim phi m. Nu c t nht 1 nghim c phn thc dng th h
khng n nh, nu t nht c mt nghim c phn thc bng khng th h bin gii n nh
n nh BIBO : mt h thng c gi l n nh nu khi kch thch h bng tn hiu vo u(t) b
chn u vo th h c p ng u ra cng b chn gi l n nh BIBO (bound inputs-bound outputs)
T y ngi ta a ra cc tiu chun xt n nh ca h
3.Tiu chun Routh :
A s a0 a1s a2 s 2 a3 s 3 ... an s n
a0 a2 a4 ... a2 n
a1 a3 a5 .... a2 n 1
b0 b2 b4 ... b2 n
... ... ... ... ...
...
37
a0 a2 ao a4 a1 a3
a1 a3 a1 a5 b0 b2
b0 ; b2 ; b1
a1 a1 b0
+lp bng routh
+xt du ct mt ca bng routh nu dng c th h n nh
+Tiu chun routh ngoi dng xt h c n nh hay khng ta cn xt n nh ph
thuc tham s nh th no
V d : 2.50 trang 125 : A( s) 5 16s 18s 2 8s 3 s 4
5 18 1
16 8
15,5 1
6,97
1
Da vo ct th nht ca bng ta kt lun h n nh
2k s 4
V d : 2.53 cho h c hm truyn t : G s
2s 5s 4s 2 2k 4 s 8k
4 3
S dng tiu chun Routh xc nh gii hn ca k h n nh

a thc c trng : 2s 4 5s 3 4s 2 2k 4 s 8k
Lp bng Routh :
8k 4 2
2k+4 5
(16-32k)/(2k+4) 2
(k^2+24k-6)/(4k-2)
k>0
k<0.5
k<0.247 suy ra 0<k<0.247
4.Tiu chun Hurwitz :

Cho TT A(s)=a0 + a1s + + ansn
iu kin cn v h n nh l h s a0 v nh thc HURWITZ : H (nxn) ca TT phi
dng
Algorithm :
+lp ma trn H
+Tnh nh thc Di=det(Hi)
a1 a3
a0 a 2 a 4
a1 a3 a5
a2 a4 a6
a3 a5
Xt du : nu Di >0 th h n nh
Nu c t nht mt D <0 th h khng n nh
ng dng : xt h c n nh hay khng , tm nh hng ca tham s i vi tnh n nh ca h v
thng thng ch p dng vi h bc 3
V d : 2.54 trang 128 : cho a thc c tnh : A s 0.5 s 2s 2 3s 3 . S dng tiu chun
Hurwitz xt h c n nh hay khng.
1 3 0
1 3
Lp nh thc H : H 0.5 2 0 H1 1; H 2 ; H3 H .
0.5 2
0 1 3
Tnh nh thc ta c D1 1; D2 0.5; D3 1.5;
38
Kt lun l h n nh
1
V d 2.56 : cho h G s s dng tiu chun Hurwith xc nh k h n nh
3 2s k 2 s2 ks 3
Xc nh a thc c tnh : 3 2s k 2 s2 ks 3
2 k 0
Lp ma trn : 3 k 2 0
0 2 k
Det(H2)=4-k>0 suy ra k<4
Det(h3)=k(4-k)
Kt lun 0<k<4
5.Tiu chun hnh hc : tiu chun Michailov
Tiu chun ny da vo a thc c tnh A(s) = an s s1 s s2 ... s sn vi sk l nghim ca a
thc c tnh . Thay s j vo biu thc ta c
A j an j s1 j s2 ... j sn p jQ
Tiu chun pht biu nh sau : H s n nh nu ng cong A j bao quanh gc to mt
n
gc khi tn s thay i t 0 n v cng
2
V d 2.58 trang 132 : cho a thc c tnh A s 2 3s 3s 2 s 3 . S dng tiu chu Michailov
xt h c n nh hay khng.
T a thc ta c : A j (2 3 2 ) J (3 3
) v ng cong Michailov c v nh sau :
Im A( J )
Re A J
Nhn vo ng cong ta thy h n nh.

+Bi tp 30 trang 225 A s s 5 s 4 20s 3 10s 2 64s 9
4 2 3 5
Thay s j ta c : A j ( 10 9) j 64 20
A s s3 s 2 s 6
2 2
A j (6 ) j 1
2.3.3 Phn tch cht lng h thng kn t hm truyn t h h
1.Khi nim
Hm truyn t h h : l hm truyn t ca h iu khin h
39
Hm truyn t kn : l hm truyn t ca h iu khin phn hi thc, iu khin phn hi
c iu khin v iu khin thc
2.Phn tch cht lng h kn t ng cong nyquist ca h h

A.Phn tch n nh
Xt h thng phn hi m :
Trong K l h s khuych i b iu khin (c th thay i c) v G(s) l hm truyn t ca i

tng iu khin.
Tiu chun Nyquist pht biu nh sau :
1)Nu H h n nh, h kn n nh khi ng cong Nyquist khng bao im (-1 j0)
2)Nu h h c N nghim c phn thc dng (khng n nh), h kn n nh khi ng cong Nyquist
bao im (-1j0) N/2 vng kn
Ta c th s dng ng cong Nyquist tm phm vi thay i h s khuych i m h kn vn n nh.
Trng hp h h n nh ta xt h kn c hi tip m s n nh khi v ch khi TTSBP ca h h

khng i qua v khng bao im -1 +0j khi tn s thay i t 0 n VC. T y ta c quy tc bn tay tri
:
Khi h h n nh, h kn n nh khi v ch khi im -1 +0j lun nm bn tri TTSBP
ca h h theo chiu tng ca tn s t 0 n VC
B.Xc nh d tr bin (Gain Margin)
d tr bin (gain margin) c nh ngha l s thay i h s khuych i h h n gi tr ti hn

lm h thng kn khng n nh. H thng c d tr ln th kh nng thay i cc tham s cng ln
trc khi h mt n. iu c ngha bin khuych i ng nht vi khuych i ti tn s bng
khng trong db.
d tr pha (phase margin) c nh ngha nh s thay i pha ca h h n lc h kn mt n nh.

d tr pha cng o c thi gian tr ca h thng (time delay). Nu thi gian tr ca h thng ln
hn 180Wpc (Wpc l tn s m pha t 180 ) th h kn s khng n nh. Nu thi gian tr nhanh hn
pha th h s khuych i khng b nh hng. Cn thi gian tr c gi tr bng 1 th pha bng W*Td
(rad/s)
Chng ta xc nh c d tr bin t h h t vic xc nh im m pha =180 , thi im h

thng mt n nh.
40
Gi a l khong cch t im m pha bng 180 n -1 th
G(jwgm) = -1/a => a*G(jw) = -1 t ta c
d tr bin GM = 20*log10(a) [dB]
Ta s tm c d tr n nh bin t h h nu ta xc nh chnh xc thi im h thng o

pha, xc nh khong cch a.
1)Xc nh tn s w, ti h thng o pha (phn o bng khng) : Wo

2)S dng lnh polyval(tf,Wo) c lng gi tr a thc ti Wo chnh l gi tr 1/a. a chnh l
h s khuych i m h thng s bin gii n nh.
3)Xc nh d tr bin theo cng thc GM = 20*log10(a) [dB]
V d ta tnh a =4.6, s dng Matlab ta thy ng Nyquist ca h h i qua -1
a = 4.6
nyquist(a*50,[1 9 30 40])
C. Phase Margin
d tr pha c xc nh ti tn s m ng trn n v ct ng cong nyquist nh hnh v
D.Kt lun
T ng cong Nyquist ta c th bit c h l h c khu khuych i nu ti tn s =0,
ng cong xut pht t mt im trn trc thc chnh l h s khuych i, h c bc v
sai tnh bng 0
Nu ng cong xut phat ti gc to vi tn s bng 0 th h c bc v sai tnh <0 v l
h c khu vi phn
Nu ng cong xut pht t VC ti tn s =0 th h c bc v sai tnh >0 v l khu tch
phn.
Ti mt im bt k trn ng cong cho ta bit rng tn hiu ra c bin v gc lch pha
nh th no vi tn hiu vo ng vi tn s ti im .(h h)
Nu ta dng ng trn n v, ta s bit c h kn c n nh hay khng, d tr n
nh v bin cng nh v pha.
Nu ng cong ct ng trn n v ti C mt im duy nht th h kn n nh khi gc
ct nh hn pi
d tr n nh v bin : nu ng cong ct trc honh ti B th d tr n nh
bin c tnh l 1/OB
41
d tr n nh pha : nu ng cong ct ng trn n v ti C th c tnh l gc
ReOC
Lnh Nyquist dng xy dng c tnh tn s bin pha
3.Phn tch cht lng h kn t th bode h h
th Bode th hin bin v pha ca hm G(j*w) (trong vc t w ch nhn gi tr dng). v
th ta dng lnh bode , v d : cho hm
50
---------------------------
s^3 + 9 s^2 + 30 s + 40
bode(50,[1 9 30 40])
Ta c
Ch trc tn s theo t l xch lg, trc pha l v trc bin l decibel (db). Decibel c nh
ngha l 20*log10 ( |G(j*w| )
d tr pha l s sai khc pha gia ng cong pha v ng -180 ti tn s Wgc (Wgc l tn s
m ti h s khuych i bng 0db) v yu cu ng cong bin phi vt qua tn s Wgc.
Tng t nh vy, d tr bin l s sai khc gia ng cong bin v ng 0db ti tn s Wpc
(Wpc l tn s m pha bng -180 ) v ng cong pha phi vt qua tn s Wpc nh hnh v :
42
Nguyn tc kim tra n nh ca h theo ng cong bode nh sau :
Xy dng c tnh L v
Nu TB nm trn trc honh th h c bin >1
im ct ca TTSBP vi ng trn n v l giao ca TB vi trc honh
Gc ti tn s ct l tung ca ti tn s ct
H kn s n nh nu gc ca tn s ct nm trn ng pi
S dng cc lnh Matlab bode v margin v ta bit cht lng ca h thng nh sau :
D tr bin ( Gm) : gi tr o ca bin ti tn s GMF
Tn s GMF (Wcg) : l tn s ti th pha ct ng pi
D tr pha (Pm) : l gc t v tr tn s PMF ti pi
Tn s PMF(Wcp) : l tn s m ng bin ct ng 0db
Ngoi ra ta cn c th bit c ch tiu cht lng h kn :
Cng hng nh Mp : gi tr ln nht ca TTS (1.1-1.5) v tn s cng hng
Gii thng : l tn s m bin gim 3db so vi bin tn s bng 0
Chng ta c th xc nh trc tip d tr v bin v pha bng lnh Matlab sau :
margin(50,[1 9 30 40])
2. Gii thng (bandwidth frequency)
Gii thng c nh ngha l tn s m ti bin p ng ra ca h kn bng -3 db. Bi vy khi

chng ta thit k bng p ng tn s, ta c th d on c hnh vi h kn thng qua p ng ca h
h. minh ha s quan trng ca Wbw (bandwidth frequency), chng ta xem tn hiu ra thay i nh
th no vi cc tn s vo khc nhau.
w= 0.3;
num = 1;
den = [1 0.5 1 ];
t=0:0.1:100;
u = sin(w*t);
43
plot(t,y,t,u)
axis([50,100,-2,2])
Tn hiu ra (mu xanh) bm rt tt tn hiu vo (mu tm). Bi vy, nu tn hiu vo c tn s ln gii

thng, th tn hiu ra b suy gim v mo :
w = 3;
num = 1;
den = [1 0.5 1 ];
t=0:0.1:100;
u = sin(w*t);
plot(t,y,t,u)
axis([90, 100, -1, 1])
Tn hiu ra bng 1/10 tn hiu vo nh d on v pha gn nh ngc
4.nh gi cht lng h thng ch xc lp (Steady-State Error)
Sai s trng thi xc lp Ess c nh ngha l s khc nhau gia tn hiu vo v ra ca h thng
trng thi n nh khi thi gian tin ra v cng (tc l p ng ca h t trng thi xc lp). Sai s
trng thi xc lp ph thuc vo dng tn hiu u vo (bc thang, dc, hay dng khc) cng nh dng h
thng bc khng, bc 1 hay bc hai.
Ch : vic phn tch sai s trng thi xc lp ch c tc dng i vi h thng n nh. Ta phi kim
tra h thng c n nh hay khng mi phn tch sai s trng thi xc lp
A.Cng thc tnh sai s trng thi xc lp
Trc khi ni ti quan h gia sai s trng thi xc lp v dng h thng, chng ta b qua sai s ca
dng h thng hay tn hiu u vo. Chng ta bt u t cng thc c s dng phn tch sai s trng
thi xc lp . sai s trng thi xc lp c th c tnh ton t t hm truyn t ca h h hoc kn vi
phn hi bng 1, nh s sau :
H thng c th bin i tng ng
44
Chng ta c th tnh ton sai s trng thi xc lp nh s dng nh l gi tr cui ( nh l ch ng dng
cho mu s khng c cc bn phi mt phng phc). :
B.Sai s xc lp ph thuc dng tn hiu vo
Vi cc dng tn hiu u vo khc nhau ta c cng thc tnh :
Step Input R(t)=1(t) (R(s) = 1/s):
Ramp Input R(t)=t ; (R(s) = 1/s^2):
Parabolic Input R(t)=t^2/2 (R(s) = 1/s^3):
Khi thit k b iu khin, chng ta thng mun b (compensate) i vi nhiu h thng. S h

thng c nhiu :
Ta c th xc nh sai s trng thi xc lp i vi nhiu bc nhy :
Vi h thng c phn hi :
Chuyn i mt cht ta c
45
C.Dng h thng v sai s trng thi xc lp
Nu ta tham kho cng thc tnh sai s trng thi xc lp ca h phn hi bng 1, ta s xc nh c h
s sai s. H s ny l Kp, sai s v tr, Kv sai s tc v Ka l sai s gia tc. Bit gi tr ca cc h s,
ta bit c dng h thng v d on h thng c tin ti sai s trng thi xc lp hay khng. Ta c h
thng nh hnh v
Sai s trng thi xc lp theo dng h thng v tn hiu vo c tnh nh bng :
Step Input Ramp Input Parabolic Input

Type 0 systems
Steady State Error Formula 1/(1+Kp) 1/Kv 1/Ka
Static Error Constant Kp = constant Kv = 0 Ka = 0
Error 1/(1+Kp) infinity infinity
Type 1 systems Step Input Ramp Input Parabolic Input

Static Error Constant Kp = infinity Kv = constant Ka = 0
Error 0 1/Kv infinity
Type 2 systems Step Input Ramp Input Parabolic Input

Static Error Constant Kp = infinity Kv = infinity Ka = constant
Error 0 0 1/Ka
D.S dng Matlab tnh sai s trng thi xc lp
1)Type 0 systems
Chng ta c h thng :
46
Trong G(s): 1
---------------
(s + 2)(s + 3)
Step Input
num = 1;
den = conv([1 2],[1 3]);
[clnum,clden] = cloop(num,den);
step(clnum,clden)
axis([0,3,0,1.1])
Sai s trng thi xc lp l khng i
Ramp Input
num = 1;
den = conv([1 2],[1 3]);
t = 0:0.1:200;
u = t;
[y,x] = lsim(clnum,clden,u,t);
plot(t,y,t,u)
xlabel('Time(secs)')
ylabel('Amplitude')
title('Input-purple, Output-yellow')
Theo thi gian sai s trng thi xc lp tin ra v cng.

47
Parabolic Input
num = 1;
den = conv([1 2],[1 3]);
t = 0:0.1:200;
u = 0.5*t.*t;
plot(t,y,t,u)
ylabel('Amplitude')
2)Type 1 Systems Examples

Ta c h thng :
Trong G(s) is: 1

-----------------
s (s + 2)(s + 3)
Step Input
num = 1;
den = conv([1 2],[1 3]);
den = conv(den,[1 0]);
step(clnum,clden)
Sai s trng thi xc lp tin ti z r.
48
Ramp Input
num = 1;
den = conv([1 2],[1 3]);
t = 0:0.1:100;
u = t;
plot(t,y,t,u)
ylabel('Amplitude')
Sai s trng thi xc lp khng i.
Parabolic Input
num = 1;
den = conv([1 2],[1 3]);
t = 0:0.1:150;
u = 0.5*t.*t;
plot(t,y,t,u)
ylabel('Amplitude')
3)Type 2 Systems
49
Ta c h thng
Trong G(s) is:
(s + 1) (s + 3)
-------------------
s^2 (s + 2)(s + 3)
ch : h thng c t s khc nhau ta c mt h thng n nh. Ch khng quyt nh ti bc
ca h thng
Step Input
num = conv([1 1],[1 3]);

den = conv([1 2],[1 3]);
step(clnum,clden)
Sai s trng thi xc lp bng khng.
Ramp Input
num = conv([1 1],[1 3]);

den = conv([1 2],[1 3]);
t = 0:0.1:50;
u = t;
plot(t,y,t,u)
ylabel('Amplitude')
50
Sai s trng thi xc lp bng khng.
Parabolic Input
num = conv([1 1],[1 3]);

den = conv([1 2],[1 3]);
t = 0:0.1:20;
u = 0.5*t.*t;
plot(t,y,t,u)
ylabel('Amplitude')
Sai s trng thi xc lp khng i, nhn r, ta thay i t l xch ta c :
axis([10,14,50,100])
k b0 s m ... bm 1 s bn
Nu ta bin i HT v dng : G(s)= th k l h s khuych i , r l
s r a0 s n ... a n 1 s a n
thnh phn tch phn gi l bc v sai tnh ca h. Sai lch tnh ca h ph thuc vo dng tn hiu vo v
51
bc v sai nh sau : kp,kv,ka cc h s khuych i ng vi cc tn hiu 1(t), t v t 2 /2 th ta c bng tng
kt sai s trng thi xc lp ph thuc vo dng tn hiu vo v dng h thng nh sau :
r=0 r=1 r=2
x(t)=1(t) 1/(1+kp) 0 0
X(t)=t VC 1/kv 0
2
X(t)=t /2 Vc Vc 1/ka
5.nh gi cht lng h qu trnh qu

Qu trnh qu l giai on h thng ang chuyn i t trng thi c xang mt trng thi mi
mong mun.
Ch xc lp l ch m h thng t c trng thi mi mong mun.
Thng s (ch tiu) ca qu trnh qu c th hin r nt qua hai c tnh : hm qu h(t) v
hm trng lng g(t). Da vo hai c tnh ny ta tm cc ch tiu cht lng nh :
-Thi gian gi chm T d : c nh ngha l t thi im h thng b kch thch n thi
im h thng t 50% gi tr trng thi mi mong mun
-Thi gian tng Tr : c nh ngha l t thi im h thng t 10% n thi im h
thng t 90% gi tr trng thi mi mong mun.
hmax h
- qu iu chnh denta % 100%
h
-Thi gian qu Ts : c nh ngha l t thi im h thng nm trong khong 5% gi
tr xc lp
-V h thng khi b xung n tr v trng thi u hay khng.
Nh vy ta phi v c hai c tnh trn tnh cc tham s. S dng cc lnh trong Matlab : step,
impulse
Vic xc nh thng s ca qu trnh qu ch yu ta phi da vo hm h(t). Trong mt vi
trng hp ta c th xc nh c nh sau :
k
1)i vi h dao ng bc 2 c dng : G s 2
;0 D 1 ta c th xc nh
1 2TDs Ts
c
52
ln 20 3T
Ts T
D D
D
1 D2
h ke
T
Tmax
1 D2
2)i vi h kn c hm h h dng :
k
Gh s R s S s ; T1 , T2 0
T1s 1 T2 s
va..T1 4T2
Th h kn trn l h dao ng bc hai v cc thng s xc nh nh sau :
T1
4T2 T1
h ke
ln 20 3T
Ts T 6T2
D D
3)i vi h kn c hm h h dng :
T1s
Gh s R s S s 2
; T1 T2
Ts 1 T2 s
biu Bode ca h h ta c tn s ct (ti tn s ny khuych i l 0db) Tc 1 c . Do qu
trnh qu ch xut hin vng tn s cao nn ta c th xp x m hnh v dng :
k
Gh s R s S s ; T2 Tc 4T2
Tc s 1 T2 s
Tham s qu trnh qu c xc nh nh sau :
T1
4T2 Tc
ke h
ln 20 3T
Ts T 6T2
D D
10
V d 1 : cho h kn c hm h h : Gh s
0.2s 1
S dng lnh Matlab ta c :
sys=10/((0.1*s)^2+2*0.1*0.5*s+1)
Transfer function:
10
--------------------
0.01 s^2 + 0.1 s + 1
>> step(sys)
>> step(sys)
>> sys=(10/(0.2*s+1))/(1+10/(0.2*s+1))
Transfer function:
2 s + 10
---------------------
0.04 s^2 + 2.4 s + 11
>> step(sys)
53
Nhn vo p ng ta thy Td=0.01s; Ts=0.05s v khng c qu iu chnh
V d 2 : Transfer function:
10
-----------------------
0.25 s^2 + 0.5 s + 1
step(sys)
Thng s ca qu trnh qu : Td=0.8s; Ts=3s v qu iu chnh l 15%.
6. Ch tiu cht lng hn hp : sai lch bm

y l ch tiu phn nh sai lch iu khin khng nhng ch xc lp m c ch qu .
ng thi n cng phn nh nng lng iu khin. sai lch e(t)=1(t)-h(t)
vc
1.Nu hm h(t) khng c qu iu chnh th ta dng ch tiu j0 e(t )dt min ng vi sai lch
0
tnh v thi gian qu nh nht.
2.Nu hm h(t) c qu iu chnh th ta dng tiu chun tch phn tr tuyt i ca sai lch IAE
vc
j1 e(t ) dt cuctieu : J1 t cc tiu khi thi gian qu , qu iu chnh, sai lch tnh l be nht
0
vc
3.Ch tiu tch phn bnh phng sai lch ISE : j 2 e 2 (t )dt : tiu chun ny thng dng i vi
0
h thch nghi
4.ngoi ra ta cn c cc ch tiu khc
vc
-ITAE : j3 t e(t ) dt
0
vc
-ITSE : j 4 te 2 (t )dt
0
2.3.4 Quan h gia cht lng h thng vi v tr im cc im khng ca HT
1.Mt s kt lun chung

54
Nu mt h SISO c m t di dng m hnh ZPK th ta c th c mt s kt lun chung nh
sau :
Nu tt c cc im cc nm bn tri trc o th h n nh
Cc im cc cng xa trc o v bn tri th qu trnh qu ca h cng ngn tc tnh qun
tnh ca h nh
Nu c mt im khng nm trn trc thc th qu trnh qu c dng dao ng, im cc
cng xa trc thc th tn s dao ng cng ln
Nu c mt im cc l gc to th h cha thnh phn tch phn v do tn hiu ra
lun thay i khi tn hiu vo cn khc khng
H c im khng l gc to th h mang hnh vi vi phn. h ny phn ng rt nhanh vi
s thay i ca tn hiu vo
Nu G(s) l hm hp thc khng cht (n=m) th h(t) khng xut pht t gc to
Nu G(s) l hm hp thc cht (n>m) th h(t) xut pht t gc to
Cn c vo cc im cc, im khng ta c th bit c h c tn ti qu iu chnh hay
khng, khu thng tn hay h pha cc tiu.
2.Phn tch bng phng php qu o nghim s
Ta thy rng mc n nh v c tnh qu ca mt h kn lin quan trc tip n v tr phn b
nghim ca phng trnh c trng. Khi ta thay i thng s ca h th dn n v tr nghim cng thay
i. Do vy mun c v tr phn b nghim thch hp, tc mun c mc n nh v c tnh qu
mong mun th ta phi thay i thng s ca h mt cch thch hp. Phng php qu o nghim s
gip chng ta iu .
Phng php qu o nghim s l phng php phn tch cht lng h kn da trn ng biu
din nghim ca hm sai lch phn hi hay mu ca hm truyn t kn : F s 1 Gh s 1 kS ( s)
Nhng mc ny ta ch qua qu tch nghim xc nh h kn n nh trong khong no ca tham
s b iu khin. Cn phn thit k b iu khin bng phng php qu o nghim s ta nghin cu
mc sau
+Ta xt mt h c TF h h nh sau : G0(s)=R(s)S(s)
vi R(s)=KR(s) : l HT ca b iu khin vi K l tham s thay i
Ta c M hnh h kn G(s)=R(s)S(s)/[1+ R(s)S(s)]
V TT (hm sai lch phn hi) l F(s)= [1+ R(s)S(s)]. Tp hp cc im nghim ca PTT l
qqu o nghim s. Ta c 5 quy tc xy dng qu o nghim s nh sau :
1.QNS c dng i xng qua trc thc
2QNS c n nhnh. Cc nhnh ny u bt u t im cc(p i) ca G0 khi K=0 s c m
nhnh kt thc ti im khng(qi) ca G0 khi K=VC.
3.QNS c n-m nhnh ko ra VC khi K tin ti VC
4. NS c n-m nhnh ko ra VC u c ng tim cn. Cc dng tim cn cng ct
trc thc ti mt im :
n m
1 2l 1`
r0 pi qi v hp vi trc thc mt gc l
n m i1 i 1 n m
5.Giao im ca QNS vi trc o l nghim ca tng cc phn thc =0 v tng cc phn
o bng 0 t y ta xc nh c gii hn ca tham s K
Cc lnh Matlab c s dng lnh rlocus, rlocfind
V d : cho h c s cu trc nh sau :
u y
K S(s)
-
10 s 4
Vi S s 2
, nh vy hm sai lch phn hi l :
s s 6 s 10 0.15s 1
10 s 4
S s 1 k 2
0 . S dng lnh Matlab ta c
s s 6 s 10 0.15s 1
55
sys=10*(s+4)/(s*(s^2+6*s+10)*(0.15*s+1)) Transfer function:
10 s + 40
-----------------------------------
0.15 s^4 + 1.9 s^3 + 7.5 s^2 + 10 s
>> rlocus(sys)
>> rlocfind(sys)
Select a point in the graphics window
selected_point = 0.0533 + 4.1460i
ans : k = 2.2218
Nh vy k<2 th h n nh. V khi k thay i ta cng nh gi c bn cht ng hc ca h thay

i nh th no theo chiu dch chuyn ca qu o nghim s.
2.3.5 Phn tch tnh bn vng (Sinh vin t nghin cu ti liu)
2.4 THIT K B IU KHIN
2.4.1 Xc nh tham s cho b iu khin PID

1.PID l vit tt ca Proportional-Integral-Derivative control
Phn ny s gii thiu c tnh k thut ca cc khu t l (Proportional) P, khu tch phn (integral) I v
khu vi phn (derivative) D. Ta c s khi h thng nh sau :
Plant: i tng iu khin

Controller: b iu khin
T s ta thy bin u vo e l sai s iu khin, hiu ca tn hiu t R v tn hiu ra thc t Y. Sai s

e s c a ti b PID v b iu khin tnh ton c tch phn v vi phn ca tn hiu sai s. Tn hiu ra
ca b iu khin u bao gm Kp (h s khuych i t l) nhn vi ln sai s cng vi Ki (h s
khuych i khu tch phn) nhn vi tch phn sai s cng vi Kd (h s khuych i khu vi phn) vi
vi phn sai s.
Tn hiu u c gi ti iu khin i tng v nhn c tn hiu ra mi. Tn hiu ra mi ny

c phn hi tr v xc nh sai s mi. b PID s dng tn hiu sai s mi ny tnh ton ra tn
hiu u. qu trnh c tip tc. Ni mt cch hnh tng l mt tp th hon ho c 3 c tnh :
-Phc tng v thc hin chnh xc mnh lnh c giao (P)
56
-Lm vic v c tch lu kinh nghim thc hin tt nhim v (I)
-Lun c sng kin v phn ng nhanh nhy vi s thay i tnh hung trong qu trnh thc
hin nhim v (D)
-Hm ton m t b iu khin :
t
1 de(t )
u (t ) kp e(t ) e( ) d TD
TI 0 dt
Trong u(t) l tn hiu ra, e(t) l sai lch iu khin l tn hiu vo, k p l h s khuych i v cc
hng s thi gian tch phn v vi phn
-Nu sai lch e ln th tn hiu ra ln nh b P
-Nu sai lch e nh bin i chm trong thi gian di nh khu tch phn m b iu khin vn pht
hin ra
-Nu tc sai lch ln th b vi phn s phn ng kp thi chng li s thay i .
-Hm truyn t ca b iu khin PID c th c biu din dng sau :
R(s)=Kp(1+1/(Tis) +TDs)
Hoc
Kp = Proportional gain
KI = Integral gain
Kd = Derivative gain
Khu t l (proportional) c tc dng lm gim thi gian tng Tr (rise time) v sai s trng thi xc lp
(steady state error) (khng bao gi kh c sai s). khu tch phn (integral) kh c sai s trng thi
xc lp nhng c th lm xu ng cong p ng. Khu vi phn (derivative) c tc dng tng tnh n
nh ca h thng, gim qu iu chnh v ci tin dng ng cong p ng.
-Nhim v ca bi ton thit k l xc nh cc tham s ca b PID

2.Cc phng php xc nh tham s ca b PID :
Bao gm cc phng php sau :
Phng php Ziegler-Nichols
Phng php Chien-Hrones-Reswick
Phng php tng T ca Kuhl
Phng php ti u ln v ti u i xng
Phng php ti u theo lch bm
3.Phng php Ziegler-Nichols
Ziegler-Nichols a ra hai phng php thc nghim xc nh tham s b PID :
A.Phng php th nht :
y l phng php xc nh tham s b PID cho i tng iu khin l khu qun tnh bc nht
ke Ls
c tr c hm truyn t nh sau : S ( s) .
1 Ts
nm bt c phng php ta xt v d sau :
10
Cho i tng iu khin l mt khu qun tnh bc nht c tr G s e 3s
0.5s 1
Xc nh tham s b PID theo phng php trn.
gii quyt bi ton ta c th xc nh cc thng s ca i tng nh h s khuych i k=10,
hng s thi gian tr 3s v hng s thi gian qun tnh 0.5s t m hnh ton hoc kim nghim trn c
tnh qu ca n.
S dng Matlab xy dng hm h(t) ca i tng iu khin :
h=tf([10],[0.5 1]) Transfer function:
57
10
---------
0.5 s + 1
>> set(h,'IOdelay',3)
>> h=tf(h)Transfer function:
10
exp(-3*s) * ---------
0.5 s + 1
>> step(h)
T ta xc nh tham s b iu khin theo cc gi tr trn

T 1
-Nu R s k pthi : k p kp 0.03
kL 10*3
1 0.9T 10
-Nu R s k p 1 thi : k p ; TI L
TI S kL 3
1 1.2T L
-Nu R s kp 1 TD s thi : k p ; TI 2L; TD
TI S kL 2
B.Phng php th 2 :
Phng php ny khng s dng m hnh ton hc ca i tng. N c ni dung nh sau :
-Thay b PID bng b khuych i nh s
w(t) u(t) y(t)

K PLANT
-Tng h s khuych i ti gi tr ti hn sao cho h t trng thi bin gii n nh

-Xc nh gi tr kth ; Tth t y ta xc nh tham s b PID nh sau :
1
-Nu R s k p ; thi : k p kth
2
1
-Nu R s k p 1 ; thi : k p 0.45kth ; TI 0.85kth
TI S
1
-Nu R s kp 1 TD s ; thi : k p 0.6kth ; TI 0.5Tth ; TD 0.12Tth
TI S
10 s 4
V d : cho h c i tng K : S s
s s 2 6 s 10 0.15s 1
58
20.4
S dng Matlab ta tnh c kth 2.04 th h bin gii n nh :
10
sys=20.4*(s+4)/(s*(s^2+6*s+10)*(0.15*s+1))
Transfer function:
20.4 s + 81.6
-----------------------------------
0.15 s^4 + 1.9 s^3 + 7.5 s^2 + 10 s
>> sys1=sys/(1+sys)
Transfer function:
3.06 s^5 + 51 s^4 + 308 s^3 + 816 s^2 + 816 s
--------------------------------------------------------------------------------------------------------
0.0225 s^8 + 0.57 s^7 + 5.86 s^6 + 34.56 s^5 + 145.3 s^4 + 458 s^3 + 916 s^2 + 816 s
>> step(sys1)
T p ng ta xc nh c Tth=1.2s
Vy ta c th chn tham s b PID theo cc cng thc trn.
4.Phng php Chien-Hrones-Reswick
Vi gi thit i tng n nh, hm h(t) khng c dao ng v hnh ch S. v phng php ny
k
thch hp vi cc i tng qun tnh bc cao c HTD S s n
v tho mn b/a>3. phng php
1 sT
a ra 4 cch xc nh tham s b iu khin nh sau :
A.Yu cu h ti u theo nhiu, h kn khng c qu iu chnh
3b
-Nu R s k p ; thi : k p
10ak
1 6b
-Nu R s k p 1 ; thi : k p ; TI 4a
TI S 10ak
1 19b 12a 21a
-Nu R s kp 1 TD s ; thi : k p ; TI ; TD
TI S 20ak 5 50
B.Yu cu ti u theo nhiu, h kn c qu iu chnh khng vt qu 20%
7b
10ak
1 7b 23
-Nu R s k p 1 ; thi : k p ; TI a
TI S 10ak 10
1 6b 21a
-Nu R s kp 1 TD s ; thi : k p ; TI 2a; TD
TI S 5ak 50
C.Yu cu ti u theo tn hiu t trc, h kn khng c qu iu chnh
59
3b
10ak
1 7b 6
-Nu R s kp 1 ; thi : k p ; TI b
TI S 20ak 5
1 3b
-Nu R s kp 1 TD s ; thi : k p ; TI b; TD a / 2
TI S 5ak
D.Yu cu ti u theo tn hiu t trc, h kn c qu iu chnh khng vt qu 20%
7b
10ak
1 5b
-Nu R s k p 1 ; thi : k p ; TI b
TI S 6ak
1 19b 27 47
-Nu R s kp 1 TD s ; thi : k p ; TI b; TD a
TI S 20ak 20 100
12
V d cho h c i tng S s 5
0.2s 1
Ta xc nh hm h(t) ca i tng :
sys=12/(1.2*s+1)^5
Transfer function:
12
------------------------------------------------------
2.488 s^5 + 10.37 s^4 + 17.28 s^3 + 14.4 s^2 + 6 s + 1
>> step(sys)
Da vo p ng ta xc nh tham s ca PID theo cc cng thc trn.
5.Phng php tng T ca Kuhl

-Phng php ny p dng cho cc i tng c hm truyn t dng :
1 T1t s 1 T2t s ... 1 Tmt s
S s k m m m
e sT , m n v h(t) c dng hnh ch S th phi tho mn iu
1 T1 s 1 T2 s ... 1 Tn s
kin h khng c dao ng : T1t T2t ...Tmt ; va; T1m T2m ...Tnm ng thi T1t T1m ; T2t T2m ;...Tmt Tmm .
n m
A
Lc ny ta c : A kT k T jm Ti t T t ta c T v ta xc nh tham s ca b PID
j 1 i 1 k
theo T tng v k nh sau :
1 1 T
-Nu R s kp 1 ; thi : k p ; TI
TI S 2k 2
60
1 1 2
-Nu R s kp 1 TD s ; thi : k p ; TI T ; TD 0.167T
TI S k 3
6.Phng php ti u ln
S s R s
Cho h thng nh s 2.105 trang 181 c HT : G s .
1 S s R s
u t
w(t) y(t)
R s S s
Mong mun p ng ra ca h thng y(t) ging nh tn hiu vo w(t) ti mi im tn s hoc t ra

trong thi gian qu y(t) cng bm w(t) cng tt. Ni mt cch khc nu b iu khin R(s) mang li
cho h thng cht lng : G j 1; voi th gi l b iu khin ti u ln. Trong thc t iu
ny kh tho mn nn ch cn G j 1; trong di tn thp c rng cng ln cang tt, th R(s) c
gi l b iu khin ti u ln. iu c ngha : L 20lg G j 0 trong min tn s ln nht.
Phng php ny ch yu da vo m hnh ton hc ca i tng iu khin.
A.i tng iu khin l khu qun tnh bc nht :
k
HT : S s c b iu khin ti u ln :
Ts 1
1 T
-Nu R s k p ; thi : I 2kT
TI S kp
-V d cho S(s)=2/(1+0.6s) th b iu khin ti u ln s l
2 1
(1 0.6s) 2.4s
R(s)=1/(2.4s) vy hm truyn t ca h thng s l G s s dng
1 2 1
(1 0.6s) 2.4s
Matlab ta c hm h(t) :
B.iu khin i tng qun tnh bc 2

k
HT : S s c b iu khin ti u ln PI :
1 T1s 1 T2 s
1 T1
R s kp 1 ; thi : k p ; TI T1
TI S 2kT2
-V d cho S(s)= 3/((1+2s)(1+0.5s)) c b iu khin l R(s)=0.67(1+1/2s)
61
s c hm h(t) :
C.iu khin i tng qun tnh bc 3

k
HT : S s c b iu khin ti u ln PID :
1 T1s 1 T2 s 1 T3 s
1 T1 T2 TT
1 2
R s kp 1 TD s ; thi : k p ; TI T1 T2 ; TD
TI S 2kT3 T1 T2
7.Phng php ti u i xng

A. tng phng php :
Theo th bode ca h h, ta thy c th chia lm ba vng tn s : thp, trung bnh v cao, rt cao :
-Vng tn s thp c trng cho cht lng h thng lm vic vi tn hiu mt chiu (ch xc
lp) nn ta c th b qua
-Vng tn s rt cao c trng cho cht lng h thng b nh hng ca nhiu nn ta c th b qua
-Vng tn s trung bnh v cao l vng c nh hng quyt nh ti cht lng ng hc ca h
thng. Ngi ta nhn thy rng vng ny c c trng bi tn s ct c , tn s gy I & T ,
nghing ca c tnh trong vng tn s gy v ln khong cch vng tn s gy. V c cht lng
tt nht th th bode trong vng ny phi c : tn s ct phi gia hai tn s gy, khong cch o
1 1
trong h trc to ca th bode l a TI / T1 ; TI ; T1 phi 1<a<4 th h dao ng tt
I 1
dn
B.iu khin i tng tch phn-qun tnh bc nht
k
HT : S s c b iu khin ti u i xng l b PI :
s (T1s 1)
1
R s kp 1 vi tham s xc nh nh sau :
TI S
62
4ln 2 h
-Xc nh a 2
trong h l qu iu chnh c cho trc
ln 2 h
-Tnh TI = aT1
1
-Tnh k p
kT1 a
-V d : cho S(s) = 2/(s(1+0.3s)), b iu khin R(s) = kp(1+1/TIs)
Ta chn a=2 ta c kp=1,18 v TI=0.6
Ta c hm h(t) :
C.iu khin i tng tch phn-qun tnh bc hai

k
HT : S s c b iu khin ti u i xng PID :
s T1s 1 T2 s 1
1 k p 1 TA s 1 TB s
R s kp 1 TD s ; thi : TA TB TI ; TATB TI TD ; va; TA T1
TI S TI s
Tham s b iu khin ti u i xng :
1 T 1 TI 1 T1 aT2
TB aT2 ; va; k p ; hayk p k p I
kT2 a TB kT2 a TB kT2 a aT2
2.4.2 Phng php iu khin cn bng m hnh
1.Thit k b iu khin cn bng hm truyn t h h
-Cho bit trc hm S(s) bit c th bode
-T cht lng h thng theo yu cu ta bit c th bode mong mun
-T hai th ny ta xc nh c th ca R(s) bng cch tr hai th trn cho
nhau LR LG LS
2.Thit k b iu khin cn bng HT h kn : t c trang 200
2.4.3 S dng Matlab xc nh tham s b PID
Cho i tng iu khin c hm truyn t dng :
Ta c s cu trc h thng nh sau
63
Tham s ca i tng iu khin :
J=3.2284E-6;
b=3.5077E-6;
K=0.0274;
R=4;
L=2.75E-6;
Vi yu cu cht lng iu khin nh sau
Settling time less than 0.04 seconds

Overshoot less than 16%
No steady-state error
No steady-state error due to a disturbance
1)Khai bo m hnh bng on lnh sau :
J=3.2284E-6;
b=3.5077E-6;
K=0.0274;
R=4;
L=2.75E-6;
num=K;
den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2) 0];
Hm truyn t ca b PID c th trin khai nh sau :
2)a b iu khin l khu t l th phn ng ca h thng
Ta s dng b iu khin l mt khu t l c h s khuych i

1.7, s dung on lnh ta kho st hm qu ca h thng nh sau :
Kp=1.7;
numcf=[Kp];
dencf=[1];
numf=conv(numcf,num);
denf=conv(dencf,den);
[numc,denc]=cloop(numf,denf);
t=0:0.001:0.2;
step(numc,denc,t)
Kt qu ta c :
64
By gi ta kho st h phn ng vi nhiu nh on lnh sau :
numdcl=conv(numc,1);
dendcl=conv(denc,Kp);
step(numdcl,dendcl,t);
Kt qu ta thy sai s trng thi xc lp tng i tt, nhng thi gian qu , qu iu

chnh cng nh sai s trng thi xc lp khi b nhiu tc ng l tng i ln. ta phi ci
thin vn ny bng cch a thm khu tch phn vo b iu khin
3)S dng b iu khin l b PI
Kho st h bng on lnh :
J=3.2284E-6;
b=3.5077E-6;
K=0.0274;
R=4;
L=2.75E-6;
num=K;
den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2) 0];
65
Kp=1.7;
Ki=20;
numcf=[Kp Ki];
dencf=[1 0];
[numc,denc]=cloop(numf,denf,-1);
t=0:0.001:0.4;
step(numc,denc,t)
Ta c :
S phn ng ca h i vi nhiu :
figure
numdcl=conv(numc,dencf);
dendcl=conv(denc,numcf);
step(numdcl,dendcl,t);
Ta c :
Nh vy khi a khu tch phn vo, ta ci thin c sai s trng thi xc lp khi h
thng b nhiu tc ng, nhng cha ci thin c qu iu chnh v thi gian qu
4)S dng b iu khin PID v chnh nh thng s ca n
66
gim thi gian qu , ta tng h s khuch i Kp=17 v chn Ki =200, kho st lai ta thy :
p ng ca h c nhanh hn, nhng h dao ng mnh ln do Ki ln qu. By gi ta s dng b PID vi

cc tham s nh sau :
Kp=17;
Ki=200;
Kd=0.15;
numcf=[Kd Kp Ki];
dencf=[1 0];
[numc,denc]=cloop(numf,denf,-1);
t=0:0.001:0.1;
step(numc,denc,t)
Kt qu kho st ta c :
67
Kt qu p ng ca h tt hn rt nhiu. nhng phn ng vi nhiu vn cn chm, do ta tng
Ki=600, kho st li ta c kt qu t yu cu :
Settling time less than 0.04 seconds

Overshoot less than 16%
No steady-state error
No steady-state error due to a disturbance
68
Vy b iu khin PID thu c l
Kp=17,
Ki=600,
Kd=.15,
Ch : s tng quan trn c th khng hon ton chnh xc, bi v cc h s Kp, Ki, Kd ph thuc vo
nhau. Thc t, khi thay i gi tr ca mt h s c th lm thay i tc dng ca hai h s kia. Bi vy
bng trn ch l tham kho khi ta tin hnh xc nh gi tr ca cc h s m thi.
CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR

Kp Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Eliminate
Kd Small Change Decrease Decrease Small Change
Cc bc tin hnh thit k b PID
Khi thit k b PID cho h thng, ta tin hnh theo cc bc sau c c p ng mong mun :
1) xy dng p ng h h v xc nh cn ci tin (improved) ci g
2) a khu t l (proportional) vo ci tin thi gian tng Tr (rise time)
69
3) a khu vi phn (derivative) vo ci tin (improved) qu iu chnh (overshoot)
4) a khu tch phn (integral) vo kh (eliminate) sai s (steady state error)
5) Chnh (adjust) Kp, Ki, Kd cho ti khi ta nhn c p ng nh mong mun.
Cui cng, khng nht thit h thng no, b iu khin cng cn y c ba khu. Ty c im ca
h thng m ta c th ch s dng b iu khin vi khu P hoc PI hoc PD hoc PID
2.4.4 Thit k b iu khin dng QNS (Root Locus)
1.Nhc li khi nim (closed loop poles)
Qu o nghim s (root locus) ca h h H(s) l tp hp cc v tr cc ca h kn vi h s khuych

i K nh s cu trc :
Hm truyn t ca h kn (closed loop) :
V cc ca h kn l nghim ca phng trnh 1 + K H(s) = 0.
Nu chng ta vit H(s) = b(s)/a(s), phng trnh trn c th vit :
Nu n = bc ca a(s) and m = bc ca b(s) [bc cao nht ca a thc m n c]. Chng ta ch xt cc gi

tr dng ca K. Vi mi gi tr ca K, h kn c n im cc, qu o nghim s phi c n nhnh, mi
nhnh bt u t im cc v kt thc ti im khng ca H(s). Nu n>m (s im cc ln hn im
khng) th ta ni H(s) c n-m im khng ti v cng. Nh vy ta s c n-m nhnh bt u ti im cc
v kt thc ti v cng. Vi qu o nghim s (root locus) c c, ta c th chn h s khuych i K
sao cho h kn c im cc nh mong mun, thm ch c th thy khu bc mt hoc bc hai ph thuc
vo mt s im cc in hnh.
2 Xc nh K ca b iu khin s dng qu o nghim s (root locus)
nm c phng php, ta xt v d sau :
Cho i tng iu khin c hm truyn t
Ta phi tm c h s khuych i ca b iu khin sao cho cht lng qu phi tha mn qu iu

chnh (overshoot) khng qu 5%, thi gian tng Tr (rise time) khng qu 1s. gii quyt bi ton ny,
ta c th s dng qu o nghim s nh sau :
1)Xy dng qu o cc im cc ca h kn vi h s khuych i K
70
num=[1 7];
den=conv(conv([1 0],[1 5]),conv([1 15],[1 20]));
rlocus(num,den)
axis([-22 3 -15 15])
2) Chn gi tr ca K t qu o nghim s sao cho tha mn yu cu cht lng ca h.
T cng thc
Trong
Wn=Natural frequency (rad/sec)

zeta=Damping ratio
Tr=Rise time
Mp=Maximum overshoot
Vi yu cu qu iu chnh khng vt qu 5% ta tnh c h s suy gim phi ln hn 0.7;
Thi gian tng khng vt qu 1s ta c tn s t nhin Wn phi ln hn 1.8 rad/s .
Ta s dng cc lnh Matlab sau v cc ng h s suy gim v tn s t nhin trn mt phng s
zeta=0.7;
Wn=1.8;
sgrid(zeta, Wn)
71
Ta thy 2 ng thng nt chm to thnh gc 45 0 biu din h s suy gim 0.7 ; pha trong hai
ng l 0.7 ; pha ngoi hai ng 0.7 . Na ng trn nt chm biu din Wn=1.8 rad/s; pha
trong ng trn l Wn<1.8 rad/s v ngoi ng trn l Wn>1.8 rad/s. Nh vy tha mn yu cu
thit k, ta phi chn cc im cc pha ngoi ng trn v pha trong hai ng thng nh sau
[kd,poles] = rlocfind(num,den)
Nhp chut vo vng thch hp ta xc nh c gi tr ca K :
3) Kho st cht lng h thng

Sau khi xc nh c h s khuych i ca b iu khin ta kho st cht lng h thng nh sau
[numCL, denCL] = cloop((kd)*num, den)
step(numCL,denCL)
72
Kt qu nh ta mong mun l qu iu chnh nh hn 5% v thi gian tng nh hn 1s.
2.4.5 Thit k b iu khin s dng p ng tn s (frequency response) - th Bode

1)Nhn xt :
-Phng php p ng tn s (frequency response method) c th t trc quan hn cc phng php
khc, nhng n st vi m hnh vt l. p ng tn s ca h thng c th c biu din bng hai cch :
ng cong Nyquist v th Bode. C hai th u cho ta bit cc thng tin nh nhau, nhng cch th
hin khc nhau. p ng tn s l phn ng ca h thng vi tn hiu vo sin, bin thay i l tn s v
tn hiu ra c tn s ging tn hiu vo nhng khc v bin v pha. p ng tn s (frequency
response) xc nh s khc nhau gia bin v pha ca tn hiu ra so vi tn hiu vo. Trong phn ny,
ta s dng p ng tn s ca h h d on hnh vi ca h kn.
- d on h kn t p tn s h h, ta cn hon thnh cc ni dung sau :
H thng h phi n nh nu dng Bode thit k.

Nu Wgc < Wpc (gain cross over frequency < phase cross over frequency) th h thng kn n
nh
i vi h thng qun tnh bc hai, h s suy gim ca h kn xp x bng d tr pha tr i 100
nu d tr pha t 0-60 .
i vi h thng dao ng bc hai, quan h gia h s suy gim, Wbw, v thi gian qu Ts
nh sau :
c lng gn ng, ta cn chn Wbw xp x bng tn s t nhin Wn.
Cc cng thc thit k c th s dng nh sau :
2)Ni dung thit k th hin qua v d sau :
Cho h thng c s cu trc :
73
Trong Gc(s) l hm truyn t b iu khin, G(s) l hm truyn t ca i tng iu khin :
10
----------
1.25s + 1
Yu cu thit k nh sau :
Zero steady state error.

Maximum overshoot must be less than 40%.
Settling time must be less than 2 secs.
C hai cch gii quyt vn ny : dng th hoc tnh ton. Trong phm vi Matlab th l phng
php ti u :
num = 10;
den = [1.25,1];
bode(num, den)
Cc ch tiu cht lng ng hc ca i tng iu khin ta c th xc nh trc tip t th Bode nh

sau .
1. Wbw = 10 rad/s, gn bng Wn,
2. Thi gian tng 1.8/BW=1.8/10=1.8 seconds xp x 2s.
3. D tr pha xp x 95 ,
4. T xc nh h s suy gim of PM/100=95/100=0.95.
5. T quan h gia h s suy gim v qu iu chnh ta xc nh qu iu chnh l 1%
im quan trng cui cng l xc nh sai s xc lp. Ta c th xc nh trc tip t th Bode ca h

kn. Cc h s Kp, Kv, or Ka c xc nh bi s ct nhau gia ng tim cn vng tn s thp vi
ng w=1 rad/s. ln ca im ny l h s khuych i. Khi th Bode l ng nm ngang ti
vng tn s thp, h c bc v sai bng khng, ta d dng tm c im ct. V d nh th di ta c
sai s trng thi xc lp l 1/(1+Kp)=1/(1+10)=0.091.
74
Ta c th kim tra li bng hm qu
[numc,denc] = cloop(num,den,-1);
step(numc,denc)
Nh ta d on, h thng c Tr=2s; khng c qu iu chnh, sai s trng thi xc lp 9%. Ta

phi chn b iu khin sao cho h thng c cht lng tha mn yu cu thit k. ta chn b PI v n c
th kh sai s trng thi xc lp. ngoi ra b PI c im khng m ta c th t. B PI c hm :
K*(s+a)
Gc(s) = -------
s
T qu iu chnh 40%, ta xc nh c h s suy gim l 0.28 d tr pha xp x 30 . T quan
h Ts*Wbw vs damping ratio plot,
Ta xc nh c Ts*Wbw ~ 21v ta c Wbw = 12 rad/s vi Ts<1.75 s
By gi ta c thng s thit k l d tr pha v gii thng. Nh ta bit i vi h h, gii

thng ti tn s m h s khuych i bng -3 db. Ta cng xem nh hng ca b PI nh th no :
num = [10];
den = [1.25, 1];
numPI = [1];
denPI = [1 0];
newnum = conv(num,numPI);
newden = conv(den,denPI);
bode(newnum, newden, logspace(0,2))
75
D tr pha v gii thng u qu nh. Chng ta thm z r ti 1, dng Matlab kho st li :
num = [10];
den = [1.25, 1];
numPI = [1 1];
denPI = [1 0];
d tr pha ln hn 60 , (thm ch qu iu chnh nh hn yu cu)Wbw = 11 rad/s cho chng ta

p ng tha mn yu cu. Nhng p ng khng hon ton tt nh ta mong mun, tng c Wbw
m khng nh hng ti d tr pha, ta tng h s khuych i ln 5 v kho st li :
num = [10];
den = [1.25, 1];
numPI = 5*[1 1];
denPI = [1 0];
76
c tnh gi tt hn rt nhiu, ta kim tra li :
[clnum,clden] =cloop(newnum,newden,-1);
step(clnum,clden)
Nh ta c th thy, p ng tt hn mong ch. Thng thng ta phi thay i h s khuych i v v tr

cc/zero ti khi tha mn yu cu thit k.
77
CU HI N TP V BI TP CHNG 2
a. Cu hi n tp
Cu hi 1: Trnh by php bin i FURIER, LAPLACE v ng dng ca n trong mn hc
Cu hi 2: Hm truyn t v phng php xy dng
Cu hi 3: c tnh ng hc : cc phng php xy dng v phn tch h thng
Cu hi 4: M hnh im cc-im khng : cc phng php xy dng v ng dng ca n.
Cu hi 5: S khi v i s s khi.
Cu hi 6: Trnh by ni dung bi ton phn tch h thng trong min phc.
Cu hi 7: Xc nh tnh n nh ca h thng t a thc c tnh ca n.
Cu hi 8: Phn tch cht lng h thng kn t c tnh tn s ca h h.
Cu hi 9: Phn tch cht lng h thng ch qu
Cu hi 10: nh gi cht lng h thng ch xc lp.
Cu hi 11: Phn tch h thng bng m hnh im cc-im khng
Cu hi 12: Trnh by v b iu khin PID
Cu hi 13: Xc nh tham s ca b PID i vi i tng iu khin qun tnh bc nht c tr
Cu hi 14: Xc nh tham s ca b PID i vi i tng iu khin qun tnh bc cao c hm
qu hnh ch s
Cu hi 15: Xc nh tham s ca b PID bng phng php thc nghim ti hn
Cu hi 16: Xc nh tham s ca b PID bng phng php tng T ca Kuhn
Cu hi 17: Xc nh tham s ca b PID theo ti u ln.
Cu hi 18: Xc nh tham s ca b PID theo ti u i xng
Cu hi 19: Trnh by phng php thit k b iu khin s dng qu o nghim s
Cu hi 20: Trnh by phng php thit k b iu khin s dng c tnh tn s
b. Bi tp
Bi 1:
Tm tn hiu x(t) c nh Laplace sau:
2s 2 13s 17 s 3 5s 2 9 s 7
X ( s) X ( s)
s 2 4s 3 s 1 s 2
p s : p s :
2*Dirac(t)+7*exp(-3*t)-2*exp(-t) Dirac(3,t)+6*Dirac(2,t)+13*Dirac(1,t)+12*Dirac(t)+2*exp(-t)
5s 2 19s 20
X ( s)
s 4 7s3 17s 2 17s 6
S : -2*exp(-3*t)+2*exp(-2*t)+3*t*exp(-t)
Bi 2:
Gii cc phng trnh vi phn sau:
d3y d2y dy
5 6 5 vi cc iu kin u bng khng
dt dt dt
p s : 5/6-5/2*exp(-2*t)+5/3*exp(-3*t)
Bi 3:
Cho mch in nh hnh 2.124b gm hai in tr v hai t in R1 , R2 , C1 , C2 . Thit lp phng trnh vi
phn m t ng hc v hm truyn t ca mch in.
78
R1 R2
C1 C2
Gi :
S dng cc mi quan h di y thit lp mi quan h vo (u) v ra (y)
i2 sc2 y
i1 c1s R2 c2 s 1 y
i i1 i2
Bi 4:
Xc nh hm truyn t ca h thng c bn im cc -3; -1 im khng 1. Bit G(0)=2. Xy dng
hm qu v phn tch ng hc ca h thng thng qua hm qu cng nh v r cc im cc im
khng. p s :
-6 (s-1)
-----------
(s+3) (s+1)
Bi 5: Cho h thng c s cu trc nh hnh 2.127 a v b
C tn hiu vo u(t), tn hiu ra y(t). n(t) l tn hiu nhiu tc ng vo h thng, e(t) l tn hiu sai lch
iu khin. Chng ln lt c nh Laplace l U(s), Y(s), N(s) v E(s). Hy xc nh :
79
Y s
-Hm truyn t G s ca h khi khng c nhiu
U s n t 0
Y s
-Hm nhy ca h S s
N s u t 0
E s
-Hm truyn t sai lch iu khin E1 s
U s n t 0
Gi :
Khi tnh hm truyn t khng c nhiu th ta xa tn hiu nhiu trong s cu trc
Khi tnh hm truyn t theo nhiu th ta xa tn hiu vo trong s cu trc.
S dng php i s s khi tnh hm truyn t theo nguyn tc bo tn tn hiu v gi tr cng
nh hng i.
Bi 6:
S dng Matlab xy dng c tnh tn v phn tch ng hc cc h thng c hm truyn t sau :
1 1
G s G s
1 0.5s 1 0.5s 1 1.5s
1 1
G s G s k 1 0.25s
s 1 0.75s 1 1.25s 5s
Gi :
S dng lnh nyquist v bode v c tnh tn ca h thng
Bi 7:
Hy xc nh hm truyn t cng nh cc thnh phn khuych i, vi, tch phn trong s khi cc
mch in sau (hnh 2.128)
R1 R3 L2
R2 L1 C3
C1
C2
R4 L4 R6
C6
R5 R7
C5 L5
L3 C7
Gi :
S dng cc nh lut v mch in thit lp phng trnh vi phn, sau xc nh hm truyn t.
S dng mi quan h cc im nt tn hiu thit lp s cu trc mch in t xc nh cc thnh
phn P,I,D ca mch. V d m phng mch in th nht ta c : 3 khu khuych i v 1 khu tch phn
80
Bi 8:
Xc nh hm truyn t cc h thng c s khi sau : (hnh 2.129)
Gi :
S dng php i s s khi tnh hm truyn t theo nguyn tc bo tn tn hiu v gi tr cng
nh hng i.
Bi 9:
S dng tiu chun ROUTH hoc HURWITZ xt tnh n nh cc h thng c a thc c tnh sau
a) 1.1s6 7.25s5 18.6s4 24.84s3 18.2s2 6.69s 1.08
b) 5s5 47s4 140.55s3 168.67s2 82.63s 0.72
c) 25s5 87.5s4 80s3 5.5s2 8.64s 0.72
3 2
d) s 8s 22s 20
e) s4 10s3 38s2 64s 40
Bi 10:
81
S dng tiu chun MICHAILOV xt tnh n nh cc h thng c a thc c tnh sau :
a) s5 s4 20s3 10s2 54s 10
b) s5 s4 25s3 5s2 144s 5
Bi 11:
2
H kn c hm truyn t h h Gh s . S dng Matlab xy dng c tnh tn s v phn tch
s s 2
cht lng ng hc h kn thng qua c tnh tn thu c
p n: th thu c nh hnh v
Nyquist Diagram
8
Imaginary Axis
0
-2
-4
-6
-8
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis
Bi 12:
S dng Matlab v qu o nghim s cho h kn c hm truyn t h h sau v da vo qu o
nghim s bin lun cht lng h kn :
k 2 s
a) 1.5
Root Locus
1 s 1 3s 0.89 0.81 0.7 0.56 0.38 0.2
0.95
k 1 s 3 s 1
b)
s 2 s 4 s 5 s 0.5 0.988
Imaginary Axis
k 1 0.2s 3.5 3 2.5 2 1.5 1 0.5

c) 0
6s 1 0.5s 1 0.33s
-0.5 0.988
-1
0.95
0.89 0.81 0.7 0.56 0.38 0.2

-1.5
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
Qu o nghim s ca bi ton a)
Bi 13:
Xc nh tham s b iu khin I, PI hoc PID cho cc i tng c hm truyn t sau :
1 2
4s 1 0.2 1 3s 1
2 2
5
3s 1 2 s 1 s 1 3s 1 5s 1 0.3s 1
Gi : s dng cc cng thc c hc tnh. Sau kho st li cht lng
Bi 14:
Xc nh tham s ti u i xng cho b iu khin PID cho cc i tng iu khin c hm truyn t
sau v c lng qu iu chnh :
2
a) ng vi a=2
s 1 1.5 s
3
b) ng vi a=4
2 s 1 s 1 3s
2
c) ng vi a=6
s 1 2s 1 6s
Gi : s dng cc cng thc c hc tnh. Sau kho st li cht lng
82
CHNG 3: IU KHIN LIN TC TRONG MIN THI GIAN
3.1 CNG C TON HC
3.1.1 Nhng cu trc i s c bn

1.Nhm
Nhm bao gm mt tp hp V v nh x :V 2 V c k hiu l V ,
Tu thuc vo bn cht ca php nh x m V , c tn gi khc nhau. v d nh nhm cng nu
nh x :V 2 V l php cng, nhm nhn nu :V 2 V l php nhn.
1
Trong nhm bao gi cng tn ti phn t n v e v phn t nghch o x ; cua; x
2.Vnh
Vnh l tp hp V vi hai php nh x cng v nhn : , :V 2 V
3.Trng
Trng l tp hp F vi hai php nh x cng v nhn : , : F 2 F
4.Khng gian vc t
Cho mt nhm Abel (V,+) v mt trng F , , . Nu c nh x c nh ngha F V V tc
l mt phn t ca F nhn vi mt phn t ca V nh x xang V th (V,+) c gi l khng gian vc t
trn trng F , , v c k hiu l V , , F
5.i s
Cho mt khng gian vc t V , , F trn trng F , , v l nh x gia mt phn t x ca V
vi phn t a ca F tho mn mt s iu kin th V , , F c gi l i s V xc nh trn trng F
3.1.2 i s ma trn
1.Khi nim
Ma trn A l mt tp hp hu hn cc phn t c xp xp thnh m hng, n ct . k hiu A(m x n)
vi phn t l aij
a11 a12 . a1n
a21 a22 . a2 n
A
. . . .
am1 a11 . amn
Ngi ta cn k hiu A m n
-Ma trn c n=m th gi l ma trn vung
-ng cho ni cc phn t aii gi l ng cho chnh, cn li l ng cho ph
-Ma trn c cc phn t khng nm trn ng cho chnh bng 0 gi l ma trn ng cho k
hiu A diag (aii )
-Ma trn ng cho I diag (1) c gi l ma trn n v
x1
x2
-Ma trn ct l mt vc t n phn t x

xn
a1 j
a2 j
-Nu mi mt ct l mt vc t m phn t c j th ma trn A c th vit A c1 , c 2 ,
, , cn

amj
2.Php tnh ma trn
1) Php cng, tr hai ma trn :
83
Cho hai ma trn cng kch thc (mxn) ta c th thc hin php tnh cng, tr :
A a ji , B bij , thi, C A B, voi, cij a ji bij
2)php nhn vi mt s thc (phc) :
A aij , thi, B xA, voi, bij xaij
3)php chuyn v : l php chuyn to ra ma trn mi : ta c ma trn A (mxn) th ma trn chuyn v
T
A (nxm) (tc hng thnh ct v ct thnh hng) : A A ' .
Nu A=AT th A L ma trn i xng v n phi l ma trn vung.
Cc phn t trn cng mt ct c gi l vc t hng
4) Php nhn hai ma trn : iu kin thc hin c php nhn : l hai ma trn kch thc hng
ca ma trn th nht (mxp) phi bng hng ma trn th hai (pxn) v ta c ma trn C c kch thc (mxn):
A aik , voi, m p , va, B bkj , voi, p n , thi, C AB cij , voi, m n
p
cij aik bkj
k 1
Tp hp tt c cc ma trn c cng s hng, s ct kt hp vi php nhn to thnh na nhm.
Tp hp tt c cc ma trn vung cng kch thc kt hp vi php cng v php nhn to thnh
mt vnh.
Mt ma trn vung c gi l trc giao nu ATA=AAT=I
Hai vc t a, b c gi l trc giao nu : a T b 0
3.Hng ca ma trn
Ta c th biu din li ma trn A thnh mt ma trn ct gm m vc t hng hoc thnh mt ma trn
hng vi n vc t ct. Ta gi s c nhiu nht p vc t hng c lp tuyn tnh, q vc t ct c lp
tuynd tnh th hng ca ma trn c hiu l Rank(A)=min p, q
Mt ma trn vung nxn c gi l khng suy bin nu Rank(A)=n
4.nh thc ma trn
K hiu det(A)
5.Ma trn nghch o
AB=BA=I th B l ma trn nghc o ca A. k hiu l A -1 v det(A) 0 nn A l ma trn khng
suy bin.
6.Vt ca ma trn
K hiu l trace (A) l tng gi tr cc phn t trn ng cho chnh.
7.Ma trn l mt nh x tuyn tnh
ta c h phng trnh vi phn m phng trnh v n n. Tc n trng thi v c m u ra ta c Ax=y.
Nh vy ma trn A c vai tr nh x tuyn tnh mt im gc x trong khng gian n chiu xang
im nh y trong khng gian m chiu.
a11 x11 a12 x12 ... a1n x1n y1 a11 a12 a1n
a21 x21 a22 x22 ... a2 n x2 n y2 a21 a22 a2 n
Ax y trong A

am1 xm1 am 2 xm 2 ... amn xmn ym am1 am 2 amn
A l nh x mt im n chiu xang nh m chiu
3.2.1 Phng trnh trng thi

1.Cu trc chung
Trng thi ca mt h thng ng hc l mt tp hp nh nht cc bin (bin trng thi) sao cho
vi gi tr cc bin ti t=t 0 (h dng th t=0) v quan h ca vo khi t>=t 0 th ta hon ton xc nh tn
hiu ra khi t>=t0
Bin trng thi : l tp hp nh nht cc bin m chng xc nh trng thi ca h ng lc. N c
th l cc i lng khng o c quan st c. Thng thng c n bin
Vc t trng thi : n bin trng thi m t y p ng ca h thng th n bin ny l n phn t
ca vc t trng thi x
84
Ta xt mt h thng k thut c m tn hiu vo, r tn hiu ra v n bin trng thi nh s khi
H thng k
m tn hiu vo thut c n tn R tn hiu ra
hiu trng thi
N c m t bi phng trnh vi phn dng tng qut nh sau :

dny d n 1y d y
n
an 1 n 1
... a1 a0 y u (t )
dt dt dt
K hiu t bin trng thi h bc phng trnh ta c :
dy d n 1y
x1 y, x2 ,..., xn x1 y, x2 x1..., xn xn 1 t y ta c h phng trnh :
dt dt n 1
x1 0 1 0 0 x1 0 x1
x2 0 0 1 0 x2 0 x
u v y x1 10...0 2 t y ta c

xn a0 a1 an 1 xn 1 xn
th vit dng tng qut ca m hnh khng gian trng thi :

dx
Ax Bu
dt
y Cx Du
trong :
0 1 0 0
0 0 1 0
A l ma trn h thng

a0 a1 an 1
0
0
B l ma trn iu khin

1
C 10...0 ; D 0 l ma trn u ra
Nu cc ma trn A,B,C,D u l nhng ma trn hng th n c gi l m hnh trng thi tham s
hng. ngc li n l m hnh tham s bin i.
M hnh ny thng c dng m t h MIMO (multi input - multi output)
V d 3.5 trang 245 : cho mt h gim xc c bao gm mt l so c cng c, mt vt khi lng
m v b gim chn ng c h s d. Xy dng m hnh trng thi vi tn hiu vo l lc tc ng t bn
ngoi ln vt m, tn hiu ra l qung ng vt m dch chuyn.
x1 t y t x1 y
Trc ht ta t bin : dy t dx1 t
x2 t x1 x2
dt dt
85
Khi c lc tc ng u(t), h s sinh ra lc chng li s chuyn ng : Fc , Fd , Fm do l so, b gim
Fc by (t ) bx1
dy 2 t dx2
chn ng v vt m sinh ra. Ta c h phng trnh : Fm m m
dt dt
dy t
Fd a ax2
dt
dx2 b a 1
S dng nh lut Newton ta c : Fc Fm Fd u x1 x2 u
dt m m m
dx 0 1 0
x u
Tng hp ta c m hnh : dt b
m
a
m
1
m
y 1 0 x
2.Quan h gia m hnh khng gian trng thi v m hnh HT
-Xc nh hm truyn t t m hnh trng thi : quan h gia HT v cc ma trn c m t
1
qua cng thc G s c T sI A b d
cng thc ny c thc hin bi lnh ss2tf : [n,d]=ss2tf(A,B,C,D)
V d :
>>a=[-0.5 -1;1 0] >> b=[1;0] >> c=[0 100] >> d=0
a= b= c= d=
-0.5000 -1.0000 1 0 100 0
1.0000 0 0
>> [n,d]=ss2tf(a,b,c,d)
n=
0 0 100
d=
1.0000 0.5000 1.0000
>> sys=tf(n,d)
Transfer function:
100
---------------
s^2 + 0.5 s + 1
-Xc nh m hnh trng thi chun iu khin t hm truyn t :
b0 b1s ... bn s n
Ta c hm truyn t : G s chuyn qua m hnh trng thi ta c
a0 a1s ... an 1s n 1 s n
x1 0 1 0 0 x1 0
x2 0 0 1 0 x2 0
u v

xn a0 a1 an 1 xn 1
x1
x2
y x1 b0 a0bn ,..., bn 1 an 1bn bnu

xn
cng thc ny c thc hin bi lnh tf2ss : [A,B,C,D]=tfss(n,d)
V d :
>> n=[100]
n=
100
86
>> d=[1 0.5 1]
d=
1.0000 0.5000 1.0000
>> [a,b,c,d]=tf2ss(n,d)
a= b= c= d=
-0.5000 -1.0000 1 0 100 0
1.0000 0 0
3.2.2 Qu o trng thi

1.Khi nim
Qu o trng thi c hiu l nghim ca h phng trnh vi phn
dx
Ax Bu
dt
y Cx Du
ng vi mt kch thch u(t) v mt trng thi u x 0 x0 cho trc.
Qu o trng thi : ti t=t0 ta c vc t trng thi u x(to), khi cho t o chy t 0 n VC x(t o) v
ln mt ng cong theo chiu tng ca t. ng cong ny gi l qu o trng thi.
Vi mi mt trng thi u h thng c mt qu o trng thi.
Tp hp tt c cc qu o trng thi ca h thng c gi l khng gian trng thi v khng
gian trng thi mang y thng tin ng hc ca h thng
2.Khi nim ma trn hm m v cch xc nh
Ma trn hm m c dng xc nh nghim ca h phng trnh vi phn bc nht nn ta phi
nghin cu n.
( At ) k
-nh ngha : Ma trn hm m e At l gi tr ti hn ca chui E (t ) e At
k 0 k!
-Xc nh ma trn hm m ta c th s dng mt trong ba phng php sau dng ton t Laplace,
phng php modal, nh l Cayley-Hamilton (trang 256-259)
3.Nghim ca phng trnh trng thi c tham s khng ph thuc thi gian
t
c xc nh theo cng thc sau : x (t ) e At x (0) e A(t ) Bu ( )d
0
t
y(t ) C[e At x (0) e A(t ) Bu ( )d ] Du
0
4.Nghim ca phng trnh trng thi c tham s ph thuc thi gian
5.Qu trnh cng bc v qu trnh t do
-Qu trnh cng bc l p ng ca h ng vi tn hiu u vo u t v ti thi im kch thch
h c trng thi bng 0 ng vi nghim ca phng trnh ng vi trng thi u x 0 0
-Qu trnh t do c biu din p ng u ra y(t) ca h khi khng b kch thch nhng c trng
thi u khc khng 0 ng vi nghim ca phng trnh vi tn hiu vo u t 0
3.3 PHN TCH H THNG
3.3.1 Nhim v c bn ca cng vic phn tch

Cc nhim v c bn ca cng vic phn tch cht lng ng hc ca h thng l xt tnh n nh,
sai lch tnh, qu iu chnh, thi gian qu , cht lng bn vng ... Nhng m hnh khng gian
dx
Ax Bu
trng thi : dt
y Cx Du
Ta cn phi nghin cu thm :
87
1)Hiu bit v s phn b cc im cn bng ca h thng : l trng thi m nu h khng
chu tc ng t bn ngoi th n ng nguyn ti . Nh vy nu xe l im cn bng h thng th n l
dx
nghim ca phng trnh Ax 0 . Nh vy i vi h tuyn tnh th im cn bng l gc to .
dt
2)Hiu bit v tnh n nh Lyapunov ca h thng. Mt h thng n nh Lyapunov l h thng
c kh nng t tr v ln cn im cn bng xe ban u khi b nhiu nh bt ra khi v tr cn bng. H
khng nhng t tr v ln cn im cn bng xe ban u m cn tin thng ti xe th c gi l n nh
tim cn Lyapunov ti xe . i vi h tuyn tnh th khi nim n nh Lyapunov v n nh BIBO (u
vo chn th u ra cng chn ) l hon ton ng nht.
3)Hiu bit v tnh iu khin c ca h thng ti mt im trng thi cho trc.
4)Hiu bit v tnh quan st c ca h thng ti mt im trng thi cho trc.
3.3.2 Phn tch tnh n nh
1.Phn tch tnh n nh BIBO
1
T mi quan h gia m hnh trng thi v m hnh HT : G s c T sI A b d h n nh
BIBO khi v ch khi ma trn A c tt c cc gi tr ring nm bn tri trc o. iu ny tng ng vi
nghim ca a thc p s det( sI A) nm bn tri trc o.
xt tnh n nh BIBO u tin ta phi xc nh c a thc p s det( sI A) bng lnh
poly(A).
0.5 1
V d : cho ma trn A xc nh a thc c tnh :
1 0
a=[-0.5 -1;1 0]
a=
-0.5000 -1.0000
1.0000 0
>> poly(a)
ans =
1.0000 0.5000 1.0000
a thc c tnh : p s s 2 0.5s 1
Sau ta dng cc tiu chun Routh, Hurwitz, Michailov xt tnh n nh. Ta c th tnh nghim
trc tip ca a thc kt lun tnh n nh BIBO : ta dng lnh roots(p):
p=[1 0.5 1]
p=
1.0000 0.5000 1.0000
>> roots(p)
ans =
-0.2500 + 0.9682i
-0.2500 - 0.9682i
N c 2 nghim c phn thc m ta kt lun h thng ny n nhBIBO
2.Tiu chun n nh Lyapunov-hm lyapunov
Xut pht im ca tiu chun l n nh BIBO khi v ch khi n n nh tim cn Lyapunov tc l
khi v ch khi cc qu o trng thi t do hng v gc to v kt thc ti .
Bn cht ca phng php Lyapunov l gi s bao quanh gc 0 c cc h ng cong v khp kn.
Cc ng cong ny c th coi l bin ca cc ln cn 0 v nu tt c cc qu o trng thi t do ct tt
c cc ng cong thuc h v t ngoi vo trong th ta c th kt lun l cc qu o trng thi ny tin
v gc 0 v kt thc ti . T kt lun tnh n nh Lyapunov ca h.
Nh vy nu t ti hm v x tho mn cc iu kin :
-Kh vi, xc nh dng
dv dv
- 0; l o hm ca v x dc theo qu o trng thi t do
dt dt
Th h n nh tim cn Lyapunov ti gc 0 v hm v x l hm Lyapunov
88
s dng tiu chun Lyapunov ta phi thc hin hai bc :
1)Xy dng h ng cong v khp kn cha gc 0 bn trong
2)Kim tra xem qu o trng thi x(t ) c ct mi ng cong thuc v t ngoi vo trong hay
khng.
T y ngi ta a ra h qu Lyapunov nh sau :
dx
Ax Bu
Cho mt h thng c m t dt . H s n nh nu mt trong hai iu kin sau tha
y Cx Du
mn :
a)Tn ti mt ma trn vung P xc nh dng sao cho ma trn PA AT P xc nh m, tc
PA AT P xc nh dng.
b)Tn ti mt ma trn i xng xc nh dng Q sao cho phng tnh PA AT P Q c
nghim P cng i xng xc nh dng. y l phng trnh Lyapunov
nh l Sylvester l cng c xc nh mt ma trn vung i xng xc nh dng : cho ma trn
q11 q12 . q1n
q21 q22 . q2 n
:Q ; qik qki
. . . .
qn1 qn 2 . qnn
Xc nh dng khi ma trn ng cho c nh thc dng :
q11 q12 q13
q11 q12
q11 0;det 0;det q21 q22 q23 0
q21 q22
q31 q32 q33
3.3.3Phn tch tnh iu khin c
1.Khi nim iu khin c v iu khin c hon ton
Trong bi ton iu khin gm hai phn :
-Xc nh nhng tn hiu iu khin u(t) a h t mt trng thi ban u khng mong mun ti
mt im trng thi mong mun khc
-Xc nh trong s cc tn hiu u(t) mt tn hiu a h t mt trng thi ban u khng mong
mun ti mt im trng thi mong mun khc vi mt cht lng chuyn i mong mun.
Nu thc hin c nh th th gi l h iu khin c hon ton.
Mt h thng tuyn tnh lin tc c gi l iu khin c nu tn ti t nht mt tn hiu iu
khin a c h t mt im trng thi ban u x0 tu v gc to 0 trong mt khong thi gian
hu hn.
Mt h thng tuyn tnh lin tc c gi l iu khin c hon ton nu tn ti t nht mt tn
hiu iu khin a c h t mt im trng thi ban u x0 tu n mt im trng thi ch tu
xT trong mt khong thi gian hu hn.
2.Cc tiu chun xt tnh iu khin c cho h tham s hng
Theo nh l Kalman iu kin cn v h c tnh iu khin c l Rank(Co)=n
-Tnh ma trn iu khin c Co=[B AB A2BAn-1B]
-Nu Co c hng y nh ma trn h thng (=n) th h iu khin c hon ton
- tnh Co(controllability matrix) ta dng lnh Co=ctrb(A,B)
- kim tra hng ma trn ta dng lnh Rank(co)
3.3.4 phn tch tnh quan st c
1.Khi nim quan st c v quan st c hon ton
Mt h thng c tn hiu vo u t v tn hiu ra y t c gi l :
-Quan st c ti thi im t0 nu tn ti t nht mt gi tr hu hn T>t 0 im trng thi
x t x0 xc nh mt cch chnh xc thng qua vic quan st cc tn hiu vo, ra trong khong thi gian
[t0-T]
89
-Quan st c hon ton ti thi im t 0 nu vi mi gi tr hu hn T>t 0 im trng thi
x t x0 xc nh mt cch chnh xc thng qua vic quan st cc tn hiu vo, ra trong khong thi gian
[t0-T]
2.Mt s kt lun chung
Theo nh l Kalman iu kin cn v h c tnh quan st c l Rank(Ob)=n
-Tnh ma trn quan st c Ob(observability matrix) = [C;CA; ; CAn-1]
-Nu ma trn Ob c hng y (=n) nh ma trn h thng th h quan st c hon ton
- tnh ma trn Ob (Observability matrix) ta dng lnh Ob=obsv(A,C)
- kim tra hng ma trn ta dng lnh Rank(Ob)
0 0 2 0 1
dx 1 0 1
v d cho h 1 0 4 x 1 2 u ; va; y x
dt 0 1 1
0 1 3 1 1
xt tnh iu khin c v quan st c ca h :
a=[0 0 -2;1 0 -4;0 1 -3] b=[0 1;1 2;-1 1] c=[1 0 -1;0 1 1] >> d=0
a= b= c= d=
0 0 -2 0 1 1 0 -1 0
1 0 -4 1 2 0 1 1
0 1 -3 -1 1
>> co=ctrb(a,b)
co =
0 1 2 -2 -8 2
1 2 4 -3 -14 2
-1 1 4 -1 -8 0
>> rank(co)
ans =
3
>> ob=obsv(a,c)
ob =
1 0 -1
0 1 1
0 -1 1
1 1 -7
-1 1 1
1 -7 15
>> rank(ob)
ans =3
Kt lun : h c tnh iu khin c v quan st c
3.3.5 Phn tch tnh ng hc khng (Sinh vin t nghin cu)
3.4.1 B iu khin phn hi trng thi gn im cc

1.Bi ton
dx
Ax Bu
Xt h c m hnh khng gian trng thi : dt
y Cx Du
Chng ta thy rng cc im cc ca a thc c tnh chnh l cc gi tr ring ca ma trn A. m
Cht lng h thng ph thuc nhiu vo v tr cc im cc, do c c cht lng h thng mong
mun ngi ta thit k cc b iu khin cn c vo v tr cc im cc cho trc (coi nh cho trc yu
cu cht lng h thng). Phng php thit k b iu khin nh th ngi ta gi l phng php cho
90
trc im cc hay phng php gn im cc (pole placement). Vi phng php ny ta c th thit k
c vc t R (k) /ma trn R (k) phn hi trng thi hoc phn hi tn hiu ra.
Bn cht ca phng php l chn cc tham s ca b iu khin xut pht t mt dng p ng
cho trc (yu cu cht lng iu khin cho trc).
dx
Ax Bu Ax B w Rx
-Nu dng b phn hi trng thi th h thng s c m hnh dt
y Cx Du
trong R (k) l b phn hi trng thi c s nh hnh v :
u dx y
Ax Bu
w dt y
y Cx Du y
_ y
R x
-Nu dng b phn hi tn hiu ra th h thng s c m hnh :

dx
Ax Bu Ax B w Ry Ax B w RCx A BRC x Bw
dt
y Cx Du
vi D=0
y
u dx
w Ax Bu y
dt
y Cx Du
y
_ y
2.Phng php Ackermann
Phng php Ackerman l phng php thit k b iu khin phn hi trng thi cho i tng ch
c mt tn hiu vo.
x1 0 1 0 0 x1 0
x2 0 0 1 0 x2 0
i tng c m hnh : u

xn a0 a1 an 1 xn 1
Th h kn s c A BR m hnh
VIC TA TM MA TRN R (B IU KHIN PHN HI TRNG THI R) DA VO CC

IM CC CHO TRC (GI TR RING CA MA TRN A BR )
THUT TON TM B R :
1.GI S TA C B IU KHIN R
2.XC NH M HNH KN CA HT C B R THAM GIA
3.THAY CC GI TR RING CA MA TRN A-BR VO MA TRN H THNG VA XC
NH
4.NG NHT HA CC H S TA S TM C MA TRN R
dx
Ax Bu Ax B w Rx
dt
y Cx Du
91
hay
x1 0 1 0 0 0 x1 0
x2 0 0 1 0 0 x2 0
[ r1 , r2 ,..., rn ] w

xn a0 a1 an 1 0 xn 1
0 1 0 0 0
0 0 1 0 0
x w

(a0 r1 ) (a1 r2 ) ( an 1 rn ) 1
0 1 0 0
dx
V d : cho h SISO c m hnh : 0 0 1 x 0 u.
dt
1 2 3 1
Tm vc t k h c im cc s1=-3; s2=-4; s3=-5. S dng lnh Matlab ta c :
a=[0 1 0;0 0 1;-1 2 3] >> b=[0;0;1] >> p1=-3 >> p2=-4 >> p3=-5
a= b= p1 = p2 = p3 =
0 1 0 0 -3 -4 -5
0 0 1 0
-1 2 3 1
>> k=place(a,b,[p1 p2 p3]) : xc nh ma trn K phn hi trng thi

k=
59.0000 49.0000 15.0000
M hnh h thng kn khi c b phn hi trng thi K :
>> [a]=(a-b*k) b=[0;0;1] c=[1 0 0] >> d=0

a= b= c= d=
0 1.0000 0 0 1 0 0 0
0 0 1.0000 0
-60.0000 -47.0000 -12.0000 1
n=
0 -0.0000 -0.0000 1.0000
d=
1.0000 12.0000 47.0000 60.0000
>> sys=tf(n,d)
Transfer function:
-3.553e-015 s^2 - 2.842e-014 s + 1
----------------------------------
s^3 + 12 s^2 + 47 s + 60
>> step(a,b,c,d)
92
3.Phng php Roppenecker
Phng php ny ging phng php trn nhng mnh hn ng dng cho c h MIMO.
thit k ta cng dng lnh place
dx 0 1 0
v d : cho i tng c m hnh : x u vi cc im cc cho trc s1=-1; s2=-2.
dt 0 2 1
tm b iu khin R.
a=[0 1;0 2] >> b=[0;1] >> c=[1 0] >> d=[0] >> p1=-1 >> p2=-2
a= b= c= d= p1 = p2 =
0 1 0 1 0 0 -1 -2
0 2 1
>> [k,prec,message]=place(a,b,[p1 p2])

k=
2 5
prec = chnh xc ca v tr Cc ca h mi so vi v tr cc cho trc.
15
>> a=(a-b*k)
a=
0 1
-2 -3
n=
0 0.0000 1.0000
d=
1 3 2
>> sys=tf(n,d)
Transfer function:
8.882e-016 s + 1
----------------
s^2 + 3 s + 2
93
3.4.2 iu khin tch knh
iu khin tch knh l vic can thip s b vo h MIMO h MIMO thnh nhiu h SISO.
y ta gi thit s lng tn hiu vo v tn hiu ra bng nhau v l m : u1 , u2 ,..., um ; va; y1 , y2 ,..., ym . c
dx
Ax Bu
m t dt
y Cx Du
1.B iu khin phn hi trng thi tch knh Falb-Wolovich

Nhim v thit k t ra l phi xc nh hai b iu khin tnh (vc t hoc ma trn hng) M v R
G1 s . 0
ma trn hm truyn t thnh ma trn ng cho : G s . . . vi
0 . Gm s
bi
Gi s
aio ai ,1s ... ai ,ri 1s ri 1
s ri
Thut ton xc nh R v M c th hin v d sau :
Cho i c m t nh sau :
1 1 0 1 0
dx 0 1 0
1 2 1 x 0 0 u; y x
dt 0 0 1
0 1 3 0 1
H ny c m=2 (hai vo hai ra)
1)Xc nh bc tng i ca cc HT thnh phn r1,r2 nh sau :
0; khi;0 k r 2
Theo cng thc c T Ak b . Nh vy ta c thay k =0 vo sau bt u tnh
0; khi; k r 1
c T Ak b , khi no n khc 0 th nhn gi tr k v tnh bc r=k+1
Nh trong v d :
0
-ma trn c1 1 c1T 0,1, 0
0
1 0
Ta tnh vi k 0 T
c AB
1
k
c B 1
T
0,1, 0 0 0 0, 0 nn khng nhn gi tr ny
0 1
1 1 0 1 0
Vi k 1 1
T
c AB k
0,1, 0 1 2 1 0 0 1,1 0 nn nhn k=1 do vy r1=k+1=2
0 1 3 0 1
94
0
-ma trn c2 0 c1T 0, 0,1
1
1 0
Ta tnh vi k 0 T
c AB
1
k T
c B
1 0, 0,1 0 0 0,1 0 nn nhn gi tr ny k=0 do vy
0 1
r2=k+1=1
c1T Ar1 1 B
-Ma trn E . trong v d ta tnh
cmT Arm 1 B
c1T Ar1 1 B c1T A2 1B c1T A B 1 1
E T r2 1 T 1 1 T
c A 2 B c A B
2 c B2
0 1
1 1 1
E
0 1
2)Chn tu cc tham s :
-Chn aik ; voi; i 1, 2...m; k 0,1,...ri 1 c :
ai ,0 ai ,1s1 ... ai ,k s k ... ai ,ri 1s ri 1
s ri
s si ,1 s si ,2 ... s si ,k ... s si ,ri
Vi cc im cc si ,k l c chn trc cho knh th i
-Chn bi ai 0 knh th i khng c sai lch tnh
Trong v d ta c
m=2 nn i=1,2;
r1=2; r2=1
bi : b1 ; b2 b2 a20 3
nn voi / i 1 aik : a10 ; a11 ;(r1 2 r1 1 1) v ta chn a11 1
voi / i 2 aik : a20 ;(r2 1 r2 1 0) b1 a10 2
3)Tnh ma trn F,L ri tnh M,R
r1 1
c1T A r1 a1,k c1T Ak
k 0
-Tnh ma trn F : F . trong v d

rm 1
cmT A rm am ,k cmT Ak
k 0
2
r1 1
1 1 0 1 1 0
T T k
c A 1
r1
a c A
1, k 1 0,1, 0 1 2 1 a10 0,1, 0 a11 0,1, 0 1 2 1
k 0
0 1 3 0 1 3
F .
rm 1 1 1 0
T rm T k
c A m a c A
m ,k m 0, 0,1 1 2 1 a20 0, 0,1
k 0
0 1 3
2 6 4
0 1 0
95
b1 0 0
2 0
Ma trn L 0 bi 0
0 3
0 0 bm
2 3
T y ta tnh M E 1L
0 3
2 5 4
R E 1F
0 1 0
2.B iu khin tch knh nh php bin i Smith-McMillan
3.4.3 iu khin phn hi trng thi ti u
1. Bi ton :
y l bi ton tm b iu khin tnh (vc t hoc ma trn hng) h kn c cht lng l khi b
nhiu nh bt khi v tr cn bng n mt trng thi no , b iu khin s ko h v gc to vi
1
tn hao nng lng ca qu trnh quay tr li : Q x, u xT Ex u T Fu dt min l nh nht. Bi
20
ton ny gi l LQR (linear quadratic regulator). Bn cht ca phng php ny l ta chn cc tham s
ca b iu khin xut pht t qu trnh tm cc tiu ca mt hm cht lng (hm mc tiu) no .
Trong E l ma trn trng lng ca cc bin trng thi v F l ma trn trng lng ca cc bin
u vo. Vi gi thit E l ma trn i xng xc nh khng m v F l ma trn i xng xc nh dng.
Bi ton ny c 2 dng : phn hi ti u trng thi dng v phn hi ti u trng thi m
2.Thit k b iu khin LQR phn hi dng
dx
Ax Bu
Cho h dt .
y Cx Du
C s cu trc :
u dx y
w dt
Ax Bu
y Cx Du
Gi s ta c b iu khin R th lc m hnh trng thi ca h kn :

dx
Ax B w Rx A BR x Bw
dt
y Cx Du
Thut ton tm R nh sau :
1)Gii phng trnh Ricati : KBF 1BT K KA AT K E tm c K
2)Tnh R F 1 BT K u t F 1BT Kx t : l lut iu khin ti u
dx 0 0 1 1 5 0
V d : cho h x u; va; Q [ xT t x u 2 ]dt
dt 1 0 0 20 0 4
Tm b iu khin phn hi dng ti u trng thi R :
a=[0 0;1 0] >> b=[1;0] >> e=[5 0;0 4] >> f=1

a= b= e= f=
0 0 1 5 0 1
1 0 0 0 4
96
>> [k,s,e]=lqr(a,b,e,f) : trong k l ma trn phn hi;S l nghim ca phng trnh Ricati; e l
vt ca (A-B*K)
k = (lut iu khin R)
3.0000 2.0000
s = (nghim ricati)
3.0000 2.0000
2.0000 6.0000
e=
-2.0000
-1.0000
Vy b iu khin R 3 x1 2 x2
3.Thit k b iu khin LQR phn hi m
dx
Ax Bu
Cho h dt .
y Cx Du
u dx y
w dt
Ax Bu
y Cx Du
Gi s ta c b iu khin R th lc m hnh trng thi ca h kn :

dx
Ax B w Rx A BR x Bw
dt
y Cx Du
Thut ton tm R nh sau : R F 1BT L
1)Gii phng trnh Ricati : LBF 1BT L LA AT L E tm c L
2)Tnh R F 1 BT L u t F 1BT Lx t : l lut iu khin ti u
dx 0 2 0 1 3 4
x u va Q [ xT t x u 2 ]dt
dt 1 0 1 20 4 13
a=[0 2;1 0] >> b=[0 ;1] >> e=[3 4;4 13] >> f=1
a= b= e= f=
0 2 0 3 4 1
1 0 1 4 13
>> [R,L,e]=lqr(a,b,e,f)
R = lut iu khin
3.0000 5.0000
L = nghim phng trnh Ricati
3.0000 3.0000
3.0000 5.0000
[a]=[a-b*R]
a=
0 2.0000
-2.0000 -5.0000
>> step(a,b,c,d)
97
3.4.4 iu khin bm bng phn hi trng thi (tracking control)
dx
Ax Bu
Bi ton : cho h SISO c m t bi m hnh dt
y Cx
Ta phi thit k b iu khin R sao cho tn hiu ra y(t) ca n lun bm c theo tn hiu mu
ym(t) mong mun. B R c th l b phn hi trng thi hoc b phn hi tn hiu ra. gii quyt bi
ton ny ta phi thit k b iu khin R c kh nng va gii quyt nhim trn ng thi phi xc nh
tn hiu t um(t) (mu) thch ng u vo.
-S cu trc h thng nh hnh 3.20 trang 343.
wm u dx y
ym B to cc tn Ax Bu
dt
hiu mu y Cx
zm
x
S
aT
Re
_
Trong b to mu vi tn hiu vo l mu tn hiu ra l mu iu khin v mu trng thi. Ma

trn S l ma trn quy chun m hnh t m hnh khng chun v m hnh chun. a T l b phn hi trng
thi v Re l b iu khin sai lch trng thi.
3.4.5 iu khin phn hi trng thi thch nghi
Bi ton : Trong iu khin ta thng gp nhng bi ton m i tng c cha nhng thnh phn
bt nh. Ngun gc ca nhng thnh phn bt nh ny c th l sai lch m hnh, hoc do tc ng ca
dx
Ax B (u G x d
nhiu ngoi (disturbance). M hnh MIMO ca chng nh sau : dt
y Cx
Trong G(x) l ma trn ca cc phn t ph thuc vo trng thi x, d(t) l vc t nhiu (thnh
phn bt nh). Bi ton ny cn gi l bi ton iu khin thch nghi khng nhiu : thit k b iu khin
phn hi trng thi iu khin i tng trn h thng c cht lng nh mong mun khng ph thuc
vo nhiu.
98
H thng c s cu trc nh 3.22b trang 347 :
w u x
I TNG K
B IU KHIN e
_
xm
M HNH MU
Trong
w, u , x, , e , xm : vc t tn hiu vo, tn hiu iu khin, trng thi ca h thng, lut iu khin thch
nghi khng nhiu, sai lch gia m hnh mu v thc, trng thi m hnh mu.
3.4.6 iu khin phn hi tn hiu ra

1.Bi ton
dx
Ax Bu
Cho i tng c m t : dt
y Cx
Ta phi thit k b iu khin R phn hi tn hiu ra sao cho h kn thu c
dx
( A BRC ) x Bw
dt c cc im cc l nhng gi tr cho trc. gii quyt bi ton ny ngi ta
y Cx
thit k cc b quan st trng thi
2.Thit k b quan st Luenberger
dx
Ax Bu
Cho i tng c m hnh : dt
y Cx Du
tng chnh ca phng php l dng khu c m hnh :
dx
Ax Bu L( y y Du )
dt lm b quan st nh hnh 3.26 trang 354.
y Cx
w dx y
u Ax Bu
dt
y Cx Du
x dx
R Ax Bu L y Cx Du
dt
Vn mu cht l xc nh c ma trn L . thut ton tm L theo cc bc sau :

1)Chn n gi tr im cc tng ng vi thi gian quan st T : cng xa trc o v tri th T cng
nh, sai s quan st cng nhanh tin v 0
2)Dng phng php thit k b phn hi trng thi bng gn cc xc nh LT vi n im cc
dx
cho i tng : AT x C T u
dt
3)Xc nh li L
4)Thng thng b quan st trng thi bao gi cng i km b phn hi trng thi R
99
Ni cch khc bi ton xc nh b quan st Luenberger chnh l bi ton thit k b iu khin cho
trc im cc ng vi h i ngu ca i tng cho.V d : cho i tng c m t
100
S s 2
.Thit k b quan st.
s 2s 100
sys=ss(tf([100],[1 2 100]))
a= b= c= d=
x1 x2 u1 x1 x2 u1
x1 -2 -3.125 x1 2 y1 0 1.563 y1 0
x2 32 0 x2 0
> po=3*real(pole(sys))+imag(pole(sys))/3*i xc nh cc ca b quan st

po = cc ca b quan st
-3.0000 + 3.3166i
-3.0000 - 3.3166i
>> L=place(sys.a',sys.c',po)' : xc nh ma trn sai lch quan st L
>> est=estim(sys,L) : xc nh m hnh b quan st
a= b= c= d=
x1 x2 u1 x1 x2 u1
x1 -2 -0.375 x1 -1.76 y1 0 1.563 y1 0
x2 32 -4 x2 2.56 y2 1 0 y2 0
y3 0 1 y3 0
100
V d 2 : cho h c i tng : S s 2
. Thit k b iu khin
s 2s 100
1)xc nh im cc ca b quan st v ca khu iu khin
sys=ss(tf([100],[1 2 100])
a= b= c= d=
x1 x2 u1 x1 x2 u1
x1 -2 -3.125 x1 2 y1 0 1.563 y1 0
x2 32 0 x2 0
>> po=10*real(pole(sys))+imag(pole(sys))/10*i : im cc ca b quan st

po =
-10.0000 + 0.9950i
-10.0000 - 0.9950i
>> pc=5*real(pole(sys))+imag(pole(sys))/5*i : im cc ca b iu khin
pc =
2)Xc nh ma trn sai lch quan st v ma trn phn hi trng thi
L=place(sys.a',sys.c',po).: xc nh ma trn sai lch quan st L
L=
-0.7002
11.5200
>> k=place(sys.a,sys.b,pc) : xc nh ma trn iu khin phn hi trng thi
k = 4.0000 -1.1100
3)xc nh b quan st v b iu khin phn hi trng thi
>> est=estim(sys,L) : xc nh b quan st
a= b= c= d=
x1 x2 u1 x1 x2 u1
x1 -2 -2.031 x1 -0.7002 y1 0 1.563 y1 0
x2 32 -18 x2 11.52 y2 1 0 y2 0
y3 0 1 y3 0
>> rsys=reg(sys,k,L) : xc nh m hnh b iu khin khi c c b quan st
100
a= b= c= d=
x1 x2 u1 x1 x2 u1
x1 -10 0.1891 x1 -0.7002 y1 -4 1.11 y1 0
x2 32 -18 x2 11.52
Kt qu ta thu c qu trnh qu :
ng xanh l cy l p ng ca i tng. ng xanh da tri l p ng ca h thng kn c b

quan st v iu khin. Nh vy v ng hc h thng c ci thin rt nhiu, khng c qu iu
chnh, thi gian qu ngn, nhng sai s xc lp ln.
Sai lch tnh ln c th l do s thay i hm truyn t ca mch kn. khc phc hin tng ny
thng thng ngi ta s dng khu iu khin trng thi c thm khu tch phn u vo hoc b tin s
l.
3.Thit k b quan st Kalman
dx
Ax Bu nx
Cho i tng c m hnh : dt vi nx, ny l nhiu tc ng
y Cx Du ny
dx
Ax Bu L( y y Du )
tng chnh ca phng php l dng khu c m hnh : dt lm b
y Cx
quan st nh hnh 3.28 trang 359.
nx ny
dx y
w u Ax Bu
dt
y Cx Du
R
x dx
Ax Bu L y Cx Du
dt
Vn mu cht l xc nh c ma trn L . Thut ton tm L :

1)Xc nh hai ma trn Nx, Ny l hai ma trn hm h tng quan ca nx t ; ny t (phng sai ca
tp m).
2)Thit k b iu khin ti u phn hi trng thi LT phn hi m cho i tgn i ngu
dx 1
AT x C T u vi phim hm mc tiu Qk xT N x x u T N y u dt min
dt 20
3)Tm L thay vo ta c b quan st Kalman
1000
V d cho h thng c i tng c m t : S s 2
. Thit k b quan st
s 10s 1000
Kalman.
101
sys=ss(tf([1000],[1 10 1000]))
a= b= c= d=0
x1 x2 u1 x1 x2
x1 -10 -15.63 x1 4 y1 0 3.906
x2 64 0 x2 0
>> Qn=1 : phng sai tp m

Qn =
1
>> Rn=1 : phng sai tp m
Rn =
1
>> [kest,L,P]=kalman(sys,Qn,Rn)
a= b= c= d=
x1_e x2_e y1 x1_e x2_e y1
x1_e -10 -18.9 x1_e 0.8381 y1_e 0 3.906 y1_e 0
x2_e 64 -20.47 x2_e 5.24 x1_e 1 0 x1_e 0
x2_e 0 1 x2_e 0
L = ma trn khuych i b quan st Kalman

0.8381
5.2403
P = ma trn phng sai sai lch tnh
0.4297 0.2145
0.2145 1.3415
>> Q=[3 4;4 12]
Q = ma trn trng lng ca cc bin trng thi
3 4
4 12
>> R=1
R = ma trn trng lng ca bin u vo
1
>> [k]=lqr(sys.a,sys.b,Q,R) : ma trn phn hi ti u trng thi
k=
4.6639 1.3147
>> rlqg=lqgreg(kest,k) : m hnh b iu khin dng lc Kalman
a= b=0 c= d=0
x1_e x2_e x1_e x2_e
x1_e -13.91 -20 y1 -4.664 -1.315
x2_e 39.56 -27.36
4.Kt lun
-Thit k b iu khin s dng khu quan st Luenberger xc nh theo nguyn tc cho
trc im cc, tc l da vo dng p ng cho trc.
-Thit k b iu khin s dng khu quan st Kalman xc nh theo cc tiu phim hm
mc tiu.
-Khu quan st trng thi Luenberger v Kalman khng lm thay i v tr cc im cc c
ca det sI A BR 0 , n ch a thm vo h cc im cc mi l nghim ca
det sI A LC 0 . iu ny cho thy h tuyn tnh, vic thit k b iu khin phn
hi tn hiu ra c th c coi l hai bi ton ring bit gm bi ton thit k b phn
hi trng thi v bi ton thit k b quan st trng thi (nguyn l tch).
102
3.4.7 Loi b sai lch tnh bng b tin s l
Loi b sai lch tnh l vn m ngi thit k rt quan tm. Ta thy rng sai lch tnh vn c th
tn ti ngay c khi h kn n nh. Nht l i vi nhng h iu khin phn hi trng thi. loi b sai
lch tnh, thng thng tin hnh mt trong hai gii php :
1)To cho h h c thnh phn tch phn. Gii php ny thng c p dng cho h SISO. Gii
php ny tuy n gin nhng c nguy c lm thay i v tr cc ca h thng tc lm thay i cht lng
h thng.
2)S dng thm b tin s l. Gii php ny thng p dng cho h MIMO, n th hin r u vit
ca mnh i vi h iu khin c thit k theo phng php gn im cc.
Ta c bi ton nh sau :
dx
Ax Bu
Gi s ta c i tng c m t : dt
y Cx Du
i tng c iu khin bi hi tip trng thi hoc tn hiu ra .
H thng c s khi nh sau :
e x , hoac, y
w u
V I TNG K
q
R
Ta c c b tin s l V(s) loi b sai lc tnh nh sau :
1
V [C BR A ] 1, x
1 1
V [C BRC A ] Y
V d cho h c i tng c m t :
a=[0 1 0;0 0 1;-1 2 3] b=[0;0;1] c=[1 0 0] d=0 p1=-3 p2=-4 p3=-5

a= b= c=
0 1 0 0 1 0 0 D= p1 = p2 = p3 =
0 0 1 0
-1 2 3 1 0 -3 -4 -5
>> k=place(a,b,[p1 p2 p3])

k=
59.0000 49.0000 15.0000
>> [a]=(a-b*k)
a=
0 1.0000 0
0 0 1.0000
-60.0000 -47.0000 -12.0000
>> [aa]=(b*k-a)
aa =
0 -1.0000 0
0 0 -1.0000
119.0000 96.0000 27.0000
>> [aaa]=inv(aa)
aaa =
0.8067 0.2269 0.0084
-1.0000 0 0
0 -1.0000 0
>> [cc]=(c*aaa)
cc =
103
0.8067 0.2269 0.0084
>> [ccc]=(cc*b)
ccc =
0.0084
>> [v]=inv(ccc)
v=
119.0000
(>> [v]=rscale(a,b,c,d,k)
v=
60.0000 )
>> [a]=(a-b*k)
a=
0 1.0000 0
0 0 1.0000
-60.0000 -47.0000 -12.0000
>> [sys]=ss(a,b,c,d)
a= b= c= d=
x1 x2 x3 u1 x1 x2 x3 u1
x1 0 1 0 x1 0 y1 1 0 0 y1 0
x2 0 0 1 x2 0
x3 -60 -47 -12 x3 1
>> step(v*sys); hold

>> step(sys)
Nhn vo p ng h(t) ta thy khi cha c b tin s l, gi tr xc lp l 0,02 (tc sai lch tnh qu ln).
Khi c b tin s l V tham gia ta thy gi tr xc lp l 0.97, chnh xc ci thin vt bc.
Ch : b tin s l ch ci thin sai lch tnh, cn cht lng ng hc h thng do b phn hi trng
thi quyt nh.
3.4.8 S dng Matlab thit k b iu khin (State space )
1. M hnh khng gian trng thi
M t h tuyn tnh bng m hnh khng gian trng thi nh sau :
104
Trong x l vc t m t trng thi ( thng thng l v tr v tc trong h c kh); u l hm v
hng tn hiu vo (thng l lc hoc m men), y l tn hiu ra v hng. Ma trn A (nxn); B(nx1);
C(1xn) xc nh quan h gia trng thi v bin vo /ra. M hnh c c nh n phng trnh vi phn m
t ng hc ca h. Thng thng m hnh khng gian trng thi dng m t h MIMO, trong v d ta
nghin cu h SISO.
gii thiu phng php thit k khng gian trng thi, ta nghin cu h gm bi treo bng lc in t
nh hnh v. Dng in chy trong cun dy to ra lc in t, cn bng vi trng lc ca vin bi.
Phng trnh vi phn m t h nh sau :
Trong h l chiu cao ca vin bi, i l dng in chy trong cun dy, v l in p ngun, M l khi
lng vin bi, g l gia tc trong trng, L l d t cm, R l in tr, k l h s xc nh lc tc dng ln
vin bi. n gin ta chn M=0.05Kg, K = 0.0001; L=0.1H; R=1ohm; g=9,81m/s2. H s cn bng khi
Ki 2
h . Chng ta tuyn tnh ha phgn trnh ti h=0.01m (dng in khong 7 A), ta c :
Mg
Trng thi ca h c ba bin :
U l tn hiu vo, y l tn hiu ra ta c cc ma trn
A=[ 0 1 0
980 0 -2.8
0 0 -100];
B = [0
0
100];
C = [1 0 0];
tm c cc ca h thng ta s dng lnh sau :
poles = eig(A)
Kt qu ta c
poles =
31.3050
-31.3050
-100.0000
C mt nghim nm bn phi mt phng nn h h khng n nh
105
t = 0:0.01:2;
u = 0*t;
x0 = [0.005 0 0];
[y,x] = lsim(A,B,C,0,u,t,x0);
h = x(:,2); %Delta-h is the output of interest
plot(t,h)
Nh vy khong cch gia vin bi v cun dy ngy cng tin ra v cng
2. Thit k b iu khin bng gn cc (pole placement)
H thng y , b iu khin c thit k bng phng php gn cc c s nh sau :
T cng thc
Trong
Wn=Natural frequency (rad/sec)

zeta=Damping ratio
Tr=Rise time
Mp=Maximum overshoot
106
Vi yu cu cht lng h thng : Ts<0.5s;qu iu chnh <5%; ta xc nh c h s suy gim phi ln
hn 0.7 v tn s t nhin ln hn 10 rad/s; Da vo rlocus nh hnh v ta xc nh c vng thit k
v c th chn ba im cc -50 v -10+/-10i v t ta tm vc t phn hi trng thi k nh sau :
p1 = -10 + 10i;
p2 = -10 - 10i;
p3 = -50;
K = place(A,B,[p1 p2 p3]);
lsim(A-B*K,B,C,0,u,t,x0);
Ta c qu o nghim s ca h nh sau :
p ng ca h c :
qu iu chnh qu ln, (c th do z ro gy ra) ta chn li cc im cc dch xang tri :
p1 = -20 + 20i;
p2 = -20 - 20i;
p3 = -100;
K = place(A,B,[p1 p2 p3]);
lsim(A-B*K,B,C,0,u,t,x0);
107
3. Xc nh vc t K ca b tin s l (Introducing the reference input)
By gi, ta xc nh p ng h thng vi tn hiu vo bc nhy nh :

t = 0:0.01:2;
u = 0.001*ones(size(t));
lsim(A-B*K,B,C,0,u,t)
Nh vy h thng bm tn hiu vo khng c tt, m chng ta khng th ly tn hiu ra b cho tn hiu

vo c bi ta o tt c cc trng thi ca h thng phn hi tr v thng qua vc t K. y khng
phi l nguyn nhn hy vng K*x ging tn hiu ra mong mun. kh vn ny ta tm vc t Nbar
sao cho Nbar*u cn bng vi K*x trng thi xc lp. S h thng nh sau :
Nbar=rscale(A,B,C,0,K)
Kho st ta c kt qu : H thng bm u vo hp l.
lsim(A-B*K,B*Nbar,C,0,u,t)
108
4. Thit k b quan st trng thi (observer design)
Khi chng ta khng th o c tt c cc trng thi ca h (thng thng l khng o c ht), ta c

th xy dng b quan st (observer) c lng chng, khi ch o c y=cx. i vi v d ta c s
khi sau :
B quan st (observer) c bn ging i tng iu khin, n c cng u vo, phng trnh vi phn gn
ging v c bit n so snh tn hiu ra thc o c vi tn hiu ra c lng, l c s c lng
trng thi gn ging vi trng thi thc. Sai s ng hc ca b quan st c xc nh bi cc ca (A-
L*C).
u tin ta cn chn vc t khuych i b quan st L. Yu cu ng hc ca b quan st phi nhanh hn

h thng, cn thit t nht cc ca n xa v bn tri nm ln so vi cc ca h thng. Nh trong v d, th
ta phi chn :
op1 = -100;
op2 = -101;
op3 = -102;
L = place(A',C',[op1 op2 op3])';

Kt hp c h thng v b quan st ta c sai s trng thi e = x - v phn hi trng thi v iu khin l
u = -K . bin i i s phng trnh sai s, phn hi v b quan st ta c ma trn h thng :
At = [A - B*K B*K
zeros(size(A)) A - L*C];
Bt = [ B*Nbar
zeros(size(B))];
Ct = [ C zeros(size(C))];
S dng lnh sau xc nh p ng h thng vi iu kin u khc khng, u vo bng khng, vi
gi thit iu kin u b quan st bng khng, nh vy sai s ban u chnh l iu kin u ca trng
thi h thng.
109
lsim(At,Bt,Ct,0,zeros(size(t)),t,[x0 x0])
Ta c p ng ca h nh sau :
C th ta c th xc nh c cc p ng :
ng xanh l cy lin l v tr ca vin bi ;
ng xanh l cy chm l v tr ca vin bi c c lng bi b quan st ;
ng xanh da tri lin t tc ca vin bi ;
ng xanh da tri chm l tc ca vin bi c c lng bi b quan st ;
ng v chm l dng in v .
110
a. Cu hi n tp
Cu hi 1: Ma trn v ng dng trong vic xy dng m hnh ton hc trong khng gian trng thi.
Cu hi 2: M t vic thit lp m hnh khng gian trng thi t phng trnh trng thi h thng
Cu hi 3: Mi quan h gia m hnh hm truyn t v m hnh khng gian trng thi
Cu hi 4: M t ng hc h thng thng qua Qu o trng thi
Cu hi 5: Trnh by nhim v c bn ca bi ton phn tch h thng s dng m hnh khng gian
trng thi
Cu hi 6: Trnh by bi ton phn tch tnh n nh h thng qua m hnh khng gian trng thi
Cu hi 7: S dng m hnh khng gian trng thi phn tch tnh iu khin c v quan st c
ca h thng.
Cu hi 8: Trnh by bi ton thit k b iu khin phn hi trng thi bng hng php gn im
cc
Cu hi 9: Trnh by bi ton iu khin tch knh
Cu hi 10: Trnh by bi ton iu khin phn hi trng thi ti u.
Cu hi 11: Trnh by bi ton iu khin bm bng phn hi trng thi.
Cu hi 12: Trnh by bi ton iu khin phn hi tn hiu ra bng b quan st LUENBERGER
Cu hi 13: Trnh by bi ton iu khin phn hi tn hiu ra bng b quan st KALMAN
Cu hi 14: Trnh by bi ton iu khin c s dng b tin s l loi b sai lch tnh.
b. Bi tp
Bi tp 1: Phn tch tnh iu khin c v quan st c ca h c m hnh khng gian trng thi
sau:
20 25 0 0
dx
a) 16 20 0 x 3 u; va; y 0 3 1 x
dt
3 4 1 1
p s:
co = ob =
0 -75 0 0 3 -1
3 60 0 45 56 -1
1 13 28 -7 -9 -1
0 0 2 0 1
dx 1 0 1
b) 1 0 4 x 1 2 u; va; y x
dt 0 1 1
0 1 3 1 1
p s:
co = ob =
1 0 -1
0 1 2 -2 -8 2 0 1 1
1 2 4 -3 -14 2 0 -1 1
-1 1 4 -1 -8 0 1 1 -7
-1 1 1
1 -7 15
Bi tp 2: Cho h m t bi:
111
0 1 0 0 0
dx 0 0 1 0 0
x u; va; y 1 10 10 0 x u
dt 0 0 0 1 0
6 k 11 5 1
Vi k=40 h c quan st c hay khng
p s:
ob = rank(ob)
1 10 10 0
0 1 10 10 ans = 4
-60 -400 -109 -40
240 1540 40 91
Bi tp 3: Cho i tng c m hnh khng gian trng thi :

dx 0 1 0
x u; va; y 0 1 x
dt 4 0 1
a)Thit k b phn hi trng thi sao cho h thng kn c hai im cc s1 1; s2 2
p s: k = 6 3
b)Thit k b quan st LUENBERGER vi hai im cc cho trc 1 4; 2 5 .
p s: m hnh b quan st :
L= a= b= c= d=
6.0000 x1 x2 u1 x1 x2 u1
9.0000 x1 0 -5 x1 6 y1 0 1 y1 0
x2 4 -9 x2 9 y2 0
y3 0
M hnh b iu khin
a= b= c= d=
x1 x2 u1 x1 x2 u1
x1 0 -5 x1 6 y1 -6 -3 y1 0
x2 -2 -12 x2 9
c)Xy dng s cu trc ca h vi hai b iu khin trn. Kho st qu trnh qu ca h ng

vi hai b iu khin.
Bi tp 4: Cho i tng c m hnh:
dx 0 2 0
x u.
dt 1 0 1
Thit k b iu khin LQR sao cho h tha mn phim hm mc tiu :
T 2 1 1 2
Q x x u dt min
0
3 5 4
p s: k = [- 3.2361 -5.7397]
112
CHNG 4: IU KHIN H KHNG LIN TC
4.1 CNG C TON HC

4.1.1 Dy v chui s
1.Dy s
-nh ngha : Mt tp con m c gm cc phn t xk ; k 1, 2... thuc khng gian X, c
xp xp theo mt th t nht nh c gi l dy s v k hiu xk
- biu din dy s ngi ta c hai cch
S dng nh x K v c th vit xk f k
Vit di dng dy cng : xk xk 1 a vi a l hng s
Vit di dng dy nhn : xk axk 1
2.Chui s
-nh ngha : Cho dy s xk , chui c hiu l xk . V chui cng c hiu l dy
k 1
n
sn vi mi phn t sn xk
k 1
4.1.2 Ton t Fourier khng kin tc
Cho tn hiu x(t) v dy xk , k 0,1,2...N 1 vi mi phn t xk x kTa ; Ta : l chu k ct mu.
Th nh Fourier ca x(t) l X j x t e j t
dt v nh ca xk DFT (discrete Fourier transformation)
N 1
c nh ngha nh sau : X j X a j Ta xk e j kTa
k 0
Hm X a j c gi l nh Fourier khng lin tc ca tn hiu x(t). gia X j & X a j c s

sai lch nh.
4.1.3 Php bin i Z thun
1.nh ngha :
Ta c dy xung xk . Gi X*(s) l nh L ca xk th :
skTa
X *( s) xk e xk z k : X ( z )
k 0 k 0
C nh X(z) vi z e sTa
. Nh vy mi phn t xk l h s nh ca X(z) vi mt bc tr tng
ng.
2.Tnh cht : c 13 tnh cht trang 377-378
-Tnh tuyn tnh
-php dch tri : php bin i z ca mt chui tr n bc
-Php dch phi : bin i z ca mt chui vt trc n bc
-nh ca tn hiu tin
-nh ca tn hiu li
4.1.4 Php bin i Z ngc
thc hin php bin i ngc, ta c th s dng nhiu cch, n gin nht l ta dng phng
php bin i ngc hm hu t :
-Phn tch hm thnh tng cc phn thc ti gin
-Tra bng nh dch v thnh tng cc hm gc c bn
-Tnh tng cc hm gc tm c
Hoc ta dng phng php phn tch chui
3s 1 3 2
V d : X (s) 2
tra bng ta c hm nh
(s 2) s 2 ( s 2) 2
3 z 2 3, 42 z
X ( z)
( z 1, 22) 2
113
4.1.5 Quan h gia ton t Z v Laplace : trang 384-386
4.2.1 Khi nim h khng lin tc
1.Khi nim h khng lin tc

H lin tc kn c bn c th hin nh hnh v. hu nh tt c cc b iu khin c th s dng linh
kin bn dn tng t.
B iu khin lin tc D(s) c th c thay th bng b iu khin s, nh hnh di, chc nng tng
t nh b iu khin lin tc. S khc nhau c bn ca hai b iu khin l h thng s lm vic vi tn
hiu ri rc nhiu hn tn hiu lin tc.
Gin ca cc dng tn hiu trn th hin nh hnh v
Mc ch ca phn ny cho ta bit hm truyn t, khng gian trng thi ca h ri rc v thit k h

thng s
2.B bin i A/D (Analog-Digital)
114
B A/D l b chuyn i tn hiu tng t thnh tn hiu s. V d nh tn hiu vo in p c chuyn
thnh tn hiu ra l s.
B A/D thc hin ba chc nng : ly mu (lng t ha theo thi gian), lng t ha theo mc v m ha
thnh nh phn.
3.B vi s l (G(z))
B vi s l thc hin cc thut ton nh dch chuyn, cng, nhn, lu gi ... to nn mt tn hiu iu
khin uk a1uk 1 a2uk 2 ... aquk q b0ek b1ek 1 ... bp ek p vi cc h s ai , b j cho ta p ng ca h
thng c cht lng nh mong mun.
Ch thi gian ly mu phi ln so vi thi gian tnh u kt (khong 20 ln). Nu thi gian ly mu
T qu ln lm h mt n nh, nu T qu b th thnh h lin tc
4.B chuyn i D/A (Digital - analog)
B chuyn i s - tng t bin i chui s u(kT) thnh tn hiu lin tc u(t) iu khin h thng.
y chhnh l b lu gi bc khng, tn hiu vo l chui xung u(kT), tn hiu ra l u (t )
5. B lu gi bc khng
Trong gin ca h thng s trn, ta thy h thng bao gm c ri rc v mt phn lin tc. Khi chng
ta thit k h thng s, ta cn phi chuyn phn lin tc xang ri rc v phi nh gi ng vai tr ca n
so vi phn ri rc ca h thng. V k thut, chng ta s xem xt h thng v c b tr nh sau :
Phn c nh du, ta c th v li nh sau : Hzoh(z) c gi l b lu gi bc khng.
ng h c ni n b bin i D/A v A/D cung cp xung sau mi thi gian T, cc b A/D v D/A
gi tn hiu khi xut hin xung. Mc ch l b Hzohch cho tn hiu ra y(k) khi c tn hiu vo u(k), nh
vy Hzoh thc s l mt hm ri rc
Chng ta cn tm mt hm ri rc H zoh(z) lm vic vi tn hiu uhat(t) v gi nguyn tn hiu u(k) khi

chuyn t kT xang (k+1)T th H zoh(z) c gi l b lu gi bc khng
115
B lu gi bc khng Hzoh(z) khi tn hiu uhat(t) i qua H2(s) cho tn hiu ra y(k) nh u(t) qua H(s) cho
ra y(t)
Vi Hzoh(z), h thng c v li nh sau :
6.Cc khi nim khc

1.Lng t ho : l qu trnh bin i tn hiu t lin tc thnh gin on (continuous
discrete)
2.Lng t ho theo thi gian : l phng php ly tn hiu ti cc thi im nht nh.
Thng thng cch nhau mt khong thi gian l chu k ct mu.
3.Lng t ho theo mc : l phng php ly tn hiu cc mc m tn hiu t c.
Thng thng cch nhau mt i lng q
4.H xung s l h lm vic vi tn hiu xung s
5.Tn hiu xung s : l tn hiu c lng t ho c theo mc v thi gian.
6.Phn loi h ri rc : tu thuc vo dng lng t ho m h ri rc c phn lm ba loi
:
-H xung : t nht mt trong cc i lng c trng cho trng thi ca h c lng t ho theo
thi gian
-H r le : t nht c lm vic vi tn hiu c lng t ho theo mc
-H xung s : H lm vic vi tn hiu c lng t ho theo hn hp
116
4.2.2 M hnh trong min phc
1.Dy trng lng

Mt h thng c tn hiu vo v ra l uk & yk vi Ta l chu k trch mu th ta c th vit :
k
yk g k mum ; g k : l dy trng lng thu c bng cch trch mu g(t)
m 0
1 t 0.5t
G s g (t ) e e
1 2s 1 s
v d cho
k k
Ta k 0.5Ta k Ta ( k m ) 0.5Ta ( k m )
gk e e yk g k m um e e um
m 0 m 0
2.M hnh hm truyn t TF (transfer function)
1.M hnh hm truyn t c xy dng theo nh ngha :
Theo nh ngha, mt dy xung {xk} c nh laplace : X*(s) = X ke skTa
Hm truyn t ca h ri rc m t theo ton t laplace : G*(s) = Y*(s)/U*(s)

Nh vy mun tm c G* ta phi tm c nh Y* ca dy xung {yk} v X* ca {xk}
V xy dng c m hnh ny ta phi bit trc c tn hiu vo v p ng ra ca h
thng
S dng cng thc z=e-skT thay vo G*(s) = Y*(s)/U*(s) ta c G(z)=Y(z)/U(z)
vy Hm truyn t G(z)=Y(z)/U(z) : l t s nh z ca tn hiu ra {y k} v tn hiu vo {uk}
2. HT xy dng t phng trnh sai phn
T phng trnh sai phn : s dng php dch ca php bin i z
yk c nh Y(z) th yk-1 c nh z-1Y(z)
yk-nc nh z-nY(z) tng t ta s c hm truyn khng lin tc
G(z) = [bo + b1 z-1 + + bmz-m]/[ao + a1z-1 + + anz-n]
3-Xc nh HT khi bit trc HT lin tc G(s) :
phn tch G(s) thnh tng tuyn tnh ca nhng thnh phn n gin
G(s) = a i Gi ( s )
i
Tra bng nh c aiGi(z) t tnh c G(z)
4-Xc nh hm truyn t ca h c b lu gi bc 0 ZOH:
H xung s thng lm vic vi my tnh nn phi c b lu gi bc khng ZOH (zero order
holding) bi trong khong thi gian ca chu k ct mu T s my tnh lm vic vi tn hiu khng i. Ta
c s nh sau :
GZOH(s) G(s)
u(t) {Uk} U(t) y(t) yk
u(t) : tn hiu vo
{Uk} : tn hiu khng lin tc c lng t ho
U(t) : tn hiu lin tc ri rc
Y(t) tn hiu ra lin tc
{Yk} tn hiu ra ri rc
GZOH(s)=[1- esTs]/s do HT lin tc l G*(s)= [1- esTs] G(s)/s
HT ri rc G(z) = [1-z-1] Z[ G(s)/s]
Ngoi ra ta cn thu c cc m hnh ri rc khc do dng xung
5.Cc dng biu din ca m hnh
1).m hnh TF (transfer function) : systf=tf(n,d,Ts)
2).M hnh ZPK (zero pole gain) syszpk=zpk(n,d,Ts)
3).M hnh DSP(digital signal processing) h=filt(n,d,Ts)
117
2s 11 7 9
G s 2
s 3s 2 s 2 s 1
v d 4.14 : cho h c
7z 9z 2 z 2 0.9
G z
z 0.8 z 0.9 z 2 1.7 z 0.72
3.i s s khi h khng lin tc
1.Hai khi ni tip
G1(s) G2(s) G1(s) G2(s)
u(t) uk x(t) xk y(t) yk u(t) uk x(t)

y(t) yk
G(z)=L{G1(s)} L{G2(s)} G(z)=L{G1(s)G2(s)}

2.Hai khi mc song song
G1(s)
G2(s)
G(z)= G1(z) + G2(z)

3.H hi tip
G1(s) G1(s)
G2(s) G2(s)
G(z)=[L{G1(s)]/[1+L{G1(s)}L{G2(s)}] G(z)=[L{G1(s)]/[1+L{G1(s)G2(s)}]
4.2.3M hnh trong min thi gian
1.Phng trnh sai phn

Mt h thng c m t bi
-Dy xung {yk}l dy xung tn hiu ra
-{uk} l dy xung tn hiu vo vi t=kTa ta c phng trnh m t ng hc ca h thng
nh sau :
yk + a1 yk-1 + + an yk-n = bo uk + b1 uk-1 + + bn uk-n
l phng trnh sai phn. phng trnh ny dng m t h xung s . N cho php ta xc nh
n
c gi tr y k ti thi im t Ta k theo cng thc truy hi sau : yk b0uk (bi uk i ai yk i ) t n+1 gi
i 1
tr vo v n gi tr ra trc n
2.M hnh trng thi
Xt mt h thng MIMO c dng tn hiu vo dng lin tc ri rc nh hnh 4.14 v tn hiu ra dng
khng lin tc. H thng ny c th c m t bi m hnh lin tc hoc m hnh khng lin tc nh
hnh 4.15 trang 398
dx
Ax Bu
-M hnh lin tc : dt ; voi; u (t ) : l tn hiu vo dng lin tc ri rc
y Cx Du
118
xk
Ax
Bu
1 k k
-M hnh khng lin tc :
y Cxk Duk
M hnh ny ta c th trin khai thnh dng chnh tc vi iu khin nh sau :
n gin ta chn b0 1; b1 b2 b3 ...br 0
x1 k y k
x2 k y k 1 x1 k 1 x2 k
V bin trng thi ta chn :
............................................................
xn k 1 y k n 1 xn 1 k 1 xn k
T y ta c th xc nh c cc ma trn ca m hnh di dng chnh tc i vi iu khin :
0 1 . 0
A 0 0 . 0
. . . .
an an 1 . a1
0
0
B
.
1

C 1 0 . 0

D 0
Trin khai di dng s khi nh sau :
U(k) Xn(k+1) Xn(k) Xn-1(k) X2(k) X1(k)

T T T T
a1 a2 an-1 an
-Cc phng php tnh cc ma trn ca m hnh khng lin tc t m hnh lin tc :
Ta
+Theo nh ngha : A e ATa ; B e At Bdt

0
+Theo m hnh xp x :
dx xk xk z 1
1)M hnh loi 1 : thay 1
;s vo m hnh lin tc tnh m hnh khng lin tc
dt Ta Ta
trong Matlab dng lnh
[A,B,C,D]=c2dm(a,b,c,d,Ts,zoh); [nd,dd]=c2dm(n,d,Ts,zoh)
dx xk xk 1 z 1
2)M hnh loi 2: thay ;s vo m hnh lin tc tnh m hnh khng lin tc
dt Ta Ta z
trong Matlab dng lnh
[A,B,C,D]=c2dm(a,b,c,d,Ts,foh); [nd,dd]=c2dm(n,d,Ts,foh)
2( z 1)
3)M hnh Tustin thay s vo m hnh lin tc tnh m hnh khng lin tc. trong
Ta ( z 1)
Matlab dng lnh
119
[nd,dd]=c2dm(n,d,Ts,tustin)
-Khai bo trong Matlab : sys=ss(A,B,C,D,T s)

dx 1 0 1
V d : cho m hnh lin tc x u (t ); y 1 1 x.
dt 0 2 1
Tnh m hnh khng lin tc :
a=[-1 0;0 -2] >> b=[1;1] >> c=[1 1] >> d=0

a= b= c= d=
-1 0 1 1 1 0
0 -2 1
>> [A,B,C,D]=c2dm(a,b,c,d,0.1)
A= B= C= D=
0.9048 0 0.0952 1 1 0
0 0.8187 0.0906
4.2.4 Chuyn i m hnh khng lin tc ca h SISO

1.Chuyn t m hnh trng thi sang HT
xk 1 Ax
bu
k k
Mun chuyn m hnh t dng T
xang m hnh hm truyn t c lin h bi
y c xk duk
Y z 1
cng thc sau : G z c T zI b d
A
U z
2.Chuyn t m hnh HT sang m hnh trng thi
Dng cng thc h bc tnh m hnh trng thi dng chun quan st
4.3 PHN TCH H KHNG LIN TC
4.3.1 Phn tch tnh n nh

nh gi tnh n nh ca h ta c rt nhiu cc tiu chun v tn s cng nh i s. Trong gii
hn chng trnh ta ch xt hai tiu chun i s : l lp bn phn b nghim ca a thc c trng,
sau xt v tr nghim v chuyn t min nh Z ca h gin on xang min nh P ca h lin tc sau
dng cc tiu chun ca h lin tc xt.
1. Phn tch nghim ca a thc c trng trn mt phng Z v dng qu o nghim s nh
gi tnh n nh ca h thng
+H MIMO c tn hiu vo lin tc ri rc v tn hiu ra dng ri rc vi m hnh khng gian trng
thi. H s n nh khi tt c cc gi tr ring ca ma trn A nm bn trong ng trn n v. C ngha l
det(zI-A) =0 c nghim nm trong ng trn n v
+H SISO c tn hiu vo ra khng lin tc vi hm truyn G(z). h s n nh khi tt c cc im
cc nm bn trong ng trn n v
+Dng Matlab xt nghim :
-M t h thng
-Tm nghim bng lnh Root(sys)
+Dng Matlab xy dng qu o nghim s phn tch tnh n nh ca h nh h lin tc
2.S dng cc tiu chun n nh ca h lin tc :
Chuyn t nh Z xang P : Z=(p+1)/(p-1) : php chuyn i t mt im Z nm trong ng trn
in v thnh mt im P nm bn tri trc o. A(z)=a 0 + a1z ++ anz c nghim trong ng trn n
v khi
(p-1)nA*(p)= a0 (p-1)n +a1(p-1)n-1 (p+1) +a2(p-1)n-2 (p+1)2++an(p+1)n c nghim nm bn tri mt
phng phc. Dng cc lnh Matlab nh sau :
-Nhp a thc A(z)
-Thay bin z bng bin p : subs(A,{z},{p})
120
-Bin i bng expand
-Ly t v mu : numden(k)
-Dng tiu chun routh xt n nh i vi t s
4.3.2 Tnh iu khin c v quan st c
1.Phn tch tnh iu khin c
x
Ax
Bu
Cho h c m t : k 1 k k
vi tn hiu vo dng lin tc ri rc u (t ) . H c gi l :
y Cxk Duk
-iu khin c : nu ng vi mi im trng thi u cho trc ta cng tm c dy gm N gi
tr tn hiu [u0 ... un-1] tn hiu vo a h t X0 v gc to
-t ti c : nu ng vi mi im trng thi cui xn cho trc bao gi ta cng tmc dy gm
N gi tr tn hiu [u0 ... un-1] tn hiu vo a h t gc to ti c xn
-iu khin c hon ton : nu ng vi mi im trng thi u v mi im trng thi cui x n
cho trc ta cng tm c dy gm N gi tr tn hiu [u0 ... un-1] tn hiu vo a h t X0 v ti xn. c
ngha rng h phi c tnh diu khin c v t ti c
-Ma trn iu khin c (controllabiliti matrix) ca h c n trng thi :
Co = [B AB A2B ... An-1B]
tnh c Co ta dng lnh Co = ctrb(A,B) hoc Co = ctrb(sys) . nu Co c hng y nh ma
trn h thng th h iu khin c hon ton.
-kim tra iu kin tnh iu khin c hon ton l hng ca Co c bng n hay khng. nu bng
th h iu khin c hon ton. thc hin nh lnh rank(Co)=n
2.Phn tch tnh quan st c
-Gi s ti thi im k=0 h ang trng thi x0 no . Nu thng qua vic quan st(o) cc tn
hiu vo ra trong mt khong thi gian hu hn ta xc nh c trng thi x0 th h c gi l quan st
c
-N: H vi bc n c gi l uan st c nu im trng thi xo ca n cos th xc nh mt cch
chnh xc thng qua hu hn cc gi ttr tn hiu vo ra [u0 ... un-1] , [y0 ... yn-1]
-Ma trn quan st c ca h bc n (observabiliti matrix) Ob = [C;CA; ; CAn-1]
-Nu ma trn Ob c hng y (=n) nh ma trn h thng th h quan st c hon ton
- tnh ma trn Ob (Observability matrix) ta dng lnh Ob=obsv(A,C)
- kim tra hng ma trn ta dng lnh Rank(Ob)
4.3.3 Phn tch cht lng h thng trong qu trnh qu

1.Ch xc lp
Vic nh gi sai s xc lp ca h xung tu thuc vo v tr ca cc b ly mu. y ta gii hn
vic kho st vi c cu ly mu t trc khu so snh.
Ta c s nh sau :
u t uk ek u t y t yk
GZOH s G s
u t : tn hiu vo
ek uk yk : tn hiu khng lin tc c lng t ho
u t : tn hiu lin tc ri rc
y t : tn hiu ra lin tc
yk : tn hiu ra ri rc
121
1 e Ts 1 e Ts
GZOH s do ta c HT lin tc G s *
G s vy HT dng ri rc :
s s
G s
G z 1 z1
s
Chui uk c nh U(z), yk c nh Y(z) chuyn qua min z ta c s khi nh sau :
u z e z
y z
G(z)
Chng ta c th tnh ton sai s trng thi xc lp nh s dng nh l gi tr cui ( nh l ch ng dng

cho mu s khng c cc bn phi mt phng phc). :
U z
e* lim 1 z 1
z 1 1 G z
Vi cc dng tn hiu u vo khc nhau ta c cng thc tnh :
Step Input R(t)=1(t) (R(s) = 1/s):
U z 1 1 1
e* lim 1 z 1
lim
z 1 1 G z z 1 1 G z 1 limG
z 1
z 1 kp
Ramp Input R(t)=t ; (R(s) = 1/s^2):
Tz 2
* 1 U z 1 z 1 1
e lim z 1
1 z
1 G z lim z 1
1 z
1 G z T lim
z 1
1 z G z
Parabolic Input R(t)=t^2/2 (R(s) = 1/s^3):
T 2z z 1
U z 2 z 1
3
1 2
Ta c kt
* 1 1
e lim
z 1
1 z
1 G z lim
z 1
1 z
1 G z T2 lim
z 1
z 1 G z
qu sau :
Kp=limG(z) Kv=(1/T)lim(z-1)G(z) Kv=(1/T2)lim(z-1)2 G(z)

x(t)=1(t) 1/(1+kp) 0 0
X(t)=t VC 1/kv 0
X(t)=t2/2 Vc Vc 1/ka
Phn tnh sai s c chng trnh tnh sau

2.Qu trnh qu
Cc tiu chun nh gi cht lng ca h qu trnh qu ging nh h lin tc.
Qu trnh qu l giai on h thng ang chuyn i t trng thi c xang mt trng thi mi
mong mun.
122
Ch xc lp l ch m h thng t c trng thi mi mong mun.
Thng s (ch tiu) ca qu trnh qu c th hin r nt qua hai c tnh : hm qu h(t) v
hm trng lng g(t). Da vo hai c tnh ny ta tm cc ch tiu cht lng nh :
Thi gian gi chm Td : c nh ngha l t thi im h thng b kch thch n thi im
h thng t 50% gi tr trng thi mi mong mun
Thi gian tng Tr : c nh ngha l t thi im h thng t 10% n thi im h thng
t 90% gi tr trng thi mi mong mun.
hmax h
qu iu chnh denta % 100%
h
Thi gian qu Ts : c nh ngha l t thi im h thng nm trong khong 5% gi
tr xc lp
V h thng khi b xung n tr v trng thi u hay khng.
4.4.1 Chn tham s cho b PID s

1.Cu trc b iu khin PID s
xc nh cu trc b PID s ta cn c t phng trnh vi phn :
t
1 de t
u (t ) k p e t e d TD ta s dng mt trong ba loi m hnh xp x ta thu c m hnh
Ti 0 dt
ca b PID s :
Ta k 1 TD ek ek 1
1)Loi 1 : uk ek ei s dng lnh Matlab
TI i 0 Ta
[dencz,numcz]=c2dm([1 0],[Kd Kp Ki],Ts,'zoh');
Ta k TD ek ek 1
2)Loi 2 : uk ek ei s dng lnh Matlab
TI i 1 Ta
[dencz,numcz]=c2dm([1 0],[Kd Kp Ki],Ts,'foh');
Ta k ei 1 ei TD ek ek 1
3)Loi 3 : uk ek s dng lnh Matlab
TI i 1 2 Ta
[dencz,numcz]=c2dm([1 0],[Kd Kp Ki],Ts,'tustin');
123
1
Mun s dng cc lnh ny ta phi chuyn R s kp 1 TD s thnh
TI S
Vi ki=kp/Ti; kD=kp*TD
2.Xc nh tham s b PID
Tng t nh lin tc ta c th xc nh cc tham s ca b iu khin t ng cong qu hoc
t gi tr ti hn.
+Xc nh t ng cong qu h(t). gi s i tng iu khin c hm qu nh hnh 4.20
trang 421
-Xc nh t L nu T/L<12 th L / 5 Ta L / 2
T
-Xc nh t T Ta
10
T95% T95%
-Xc nh t T95% : Ta . Ni chung nu tho mn Ta 2 L th c th chn tham s b
20 10
PID nh sau
4.4.2 Thit k b iu khin trong khng gian trng thi
4.4.2.1 B iu khin phn hi trng thi gn im cc

1.Bi ton :
x k Fx k 1 G e k 1
Cho h c m hnh :
y k 1 Hx k 1 J e k 1
Yu cu thit k b iu khin c cht lng cho trc tha mn c cc v tr cc cho trc. iu
X1
ny c ngha ta phi tm c mt lut iu khin : u KX K1 K 2 .. X 2 h thng c cc im
.
cc trng vi cc im cc cho trc (cht lng h thng tha mn yu cu).
gii quyt bi ton trn, trc ht ta c s nh hnh v

X (k ) FX (k 1) G ( e k 1 KX (k 1))
Phn tch theo sai phn li ta c
X (k ) ( F KG ) X (k 1) G e k 1
T y ta xc nh c phng trnh c trng ca h c vc t K l : det zI F Gk 0 phi
c nghim trng vi im cc cho trc.
Nh vy bi ton a v vic xc nh ki c nghim z i mong mun.
Vic thm vc t K vo mch hi tip lm thay i i lng ring ca ma trn F bng cc i
lng ring ca ma trn F-GK
2.Gii bi ton
Ta c th s dng phng php Ackerman thit k b iu khin. Phng php gii quyt bi
ton thng qua v d sau :
124
x1 0 1 x1 0
u
x2 0 0 x2 1
Cho h lin tc c m t nh sau :
x1
y 1 0
x2
x1 k 1 T x1 k 1 T2 /2
u k 1
x2 k 1 0 x2 k 1 T
Sau khi chuyn qua gin on ta c :
x1 k
y k 1 0
x2 k
Vi T= 01.s, s dng cc lnh Matlab ta c kt qu nh sau :
>> f=[1 0.1;0 1]
f=
1.0000 0.1000
0 1.0000
>> g=[0.1^2/2;0.1]
g=
0.0050
0.1000
>> z1=0.8+j*0.25
z1 =
0.8000 + 0.2500i
>> z2=0.8-j*0.25
z2 =
0.8000 - 0.2500i
>> k=place(f,g,[z1 z2])
k=
10.2500 3.4875
x k
u 10 3.5 1
x2 k
4.4.2.2 B iu khin c b quan st trng thi
tng hp c b iu khin phn hi trng thi nh bi ton trn, ta phi hiu r i tng iu
khin, c ngha phi xc nh c tt c cc trng thi ca h. Trong trng hp c nhng trng thi ta
khng o c th ta s dng phng php c lng ton b trng thi theo i lng o c i vi
mt trong cc thnh phn trng thi.
B quan st kinh in l s dng mt m hnh tng ng vi i tng iu khin v mt ma
trn L phn hi sai lch gia tn hiu ra tht ca h thng v tn hiu ra quan st, ma trn L ny c nhim
125
v hiu chnh c tnh ca m hnh tng ng ph hp vi c tnh ca i tng tht. c ngha l phi
lm sao gim sai lch quan st.
uk x k Fx k 1 Gu k 1 yk
y k 1 Hx k 1 Ju (k 1)
G H
x k
F
u y
y
est x
1.Bi ton :
Cho h thng c m t nh hnh v. Ta phi thit k b quan st c im cc ca h thng cho
trc
2.Gii bi ton
T s khi ta c th vit phng trnh trng thi ca b quan st nh sau
x k F x k 1 Gu k 1 Le k 1
y k 1 H x k 1 Ju k 1
Vi sai lch quan st : e y y H x x
Ta c phng trnh trng thi mi ca b quan st
u k 1
x k ( F LH ) x k 1 G LJ L
y k 1
hoc m hnh ca b quan st c m t di dng :
y k 1 H
x k 1
x k 1 I
x k F x k 1 L y k 1 H x k 1
y k 1 H
x k 1
x k 1 I
gii quyt bi ton ta dng phng php Ackerman thit k b quan sat tc xc nh ma
trn quan st L.
Phng php thng qua v d sau :
126
x1 0 1 x1 0
u
x2 0 0 x2 1
Cho h lin tc c m t nh sau :
x1
y 1 0
x2
x1 k 1 T x1 k 1 T2 /2
u k 1
x2 k 1 0 x2 k 1 T
Sau khi chuyn qua gin on ta c :
x1 k
y k 1 0
x2 k
Vi T= 01.s, s dng cc lnh Matlab ta c kt qu nh sau :
sys=ss([1 0.1;0 1],[0.1^2/2;0.1],[1 0],0,0.1)
a=
x1 x2
x1 1 0.1
x2 0 1
b=
u1
x1 0.005
x2 0.1
c=
x1 x2
y1 1 0
d=
u1
y1 0
>> z1=0.8+j*0.25
z1 =
0.8000 + 0.2500i
>> z2=0.8-j*0.25
z2 =
0.8000 - 0.2500i
>> po1=3*real(z1)+imag(z1)/3*i
po1 =
2.4000 + 0.0833i
>> po2=3*real(z2)+imag(z2)/3*i
po2 =
2.4000 - 0.0833i
>> l=place(sys.a',sys.c',[po1 po2])'
L=
-2.8000
19.6694
T y ta tnh m hnh b quan st bng lnh estim nh sau :
est=estim(sys,L)
a=
x1 x2
x1 3.8 0.1
x2 -19.67 1
b=
u1
x1 -2.8
x2 19.67
127
c=
x1 x2
y1 1 0
y2 1 0
y3 0 1
d=
u1
y1 0
y2 0
y3 0
4.4.3 S dng Matlab thit k b iu khin
1. Chuyn i hm truyn t t lin tc sang ri rc
Gi s ta c hm truyn t h lin tc nh sau :
M = 1 kg
b = 10 N.s/m
k = 20 N/m
F(s) = 1
Gi s tn s gii thng h kn ln hn 1 rad/s, chn thi gian ct mu T =1/100s ta to file trong Matlab
nh sau :
M=1;
b=10;
k=20;
num=[1];
den=[M b k];
Ts=1/100;
[numDz,denDz]=c2dm(num,den,Ts,'zoh')
Chy chng trnh, ta c hm truyn t ri rc ca h nh sau :
numDz =
1.0e-04 *
0 0.4837 0.4678
denDz =
1.0000 -1.9029 0.9048
2. Chuyn i m hnh khng gian trng thi
Ta c m hnh khng gian trng thi h lin tc nh sau :

128
To file trong Matlab nh sau :
M=1;
b=10;
k=20;
A=[0 1;
-k/M -b/M];
B=[ 0;
1/M];
C=[1 0];
D=[0];
Ts=1/100;
[F,G,H,J] = c2dm (A,B,C,D,Ts,'zoh')
F=
0.9990 0.0095
-0.1903 0.9039
G=
0.0000
0.0095
H=10
J=0
M hnh khng gian trng thi ri rc ca h :
3.Dng bn ccPhn tch cht lng h thng
i vi h lin tc, v tr cc trn mt phng S cho ta bit hnh vi ca h thng. i vi h ri rc ta cng

bit cht lng h thng thng qua v tr cc trn mt phng Z. Mt phng Z c th thay th mt phng S
thng qua biu thc
T = thi gian ct mu (sec/sample)

s = v tr trong mt phng s
z = v tr trong mt phng z
Hnh di th hin bn h s suy gim zeta v tn s t nhin Wn trn mt phng Z
129
Trn mt phng Z h bin gii n nh nu c mt im cc nm trn ng trn n v, n nh nu
tt c nm trong ng trn, khng n nh nu c mt nghim nm ngoi ng trn n v.
Phn tch tnh khng nhy bc ca p ng t v tr cc trn mt phng Z , ta c th p dng ba cng thc
tnh ca h lin tc nh sau :
Trong :
zeta = h s suy gim

Wn = tn s t nhin (rad/sec)
Ts = thi gian qu
Tr = thi gian tng
Mp = qu iu chnh max
Gi s ta c hm truyn t
To file v chy chng trnh, ta c h s suy gim v tn s t nhin :
numDz=[1];
denDz=[1 -0.3 0.5];
pzmap(numDz,denDz)
axis([-1 1 -1 1])
zgrid
130
T bn ta thy v tr im cc xp x tn s 9pi/20T (rad/sample) v h s suy gim 0.25. Gi s ta
c thi gian ct mu 1/20s (iu dn ti Wn=28.2rad/s), s dng cng thc trn ta xc nh Tr=0.6s;
Ts=0.65s v qu iu chnh Max = 45%. iu ny ta c th kim tra li nh p ng qu ca h thng
qua on lnh sau :
[x] = dstep (numDz,denDz,51);

t = 0:0.05:2.5;
stairs (t,x)
Nh vy, ta c th s dng bn v tr cc im cc v ba cng thc trn phn tch cht lng h

ch qu
Dng qu o nghim s ri rc xc nh h s K
Qu o nghim s l qu tch cc im nghim ca phng trnh c tnh khi c mt h s khuych i

c thay i t khng ra v cng. Phng trnh c tnh ca h kn nh sau :
G(z) l b b ca b iu khin Hzoh(z) l hm truyn ca i tng iu khin
Gi s ta c h thng:
131
Yu cu xc nh h s khuych i K sao cho h c cht lng l h s suy gim ln hn 0.6; tn s t
nhin ln hn 0.4 rad/sample (t y a c th s dng cc cng thc trn xc nh thi gian ct mu ).
Vit trong Matlab nh sau :
numDz=[1 -0.3];
denDz=[1 -1.6 0.7];
rlocus (numDz,denDz)
axis ([-1 1 -1 1])
zeta=0.4;
Wn=0.3;
zgrid (zeta,Wn)
Da vo hnh v, ta c th thy r h thng n nh v tt c cc im cc u nm pha trong ng trn

n v. hai ng nt chm l ng h s suy gim v tn s t nhin. Tn s t nhin ln hn 0.3 nm
ngoi ng chm, vng c h s suy gim ln hn 0.4 nm trong ng chm. trong v d ta c ng
qu o nghim nm trong vng thit k. Do vy ta c th chn K t mt trong cc qu tch trn u tha
mn yu cu thit k.
132
a. Cu hi n tp
Cu hi 1: Khi nim v h thng khng lin tc v cu trc chung ca n
Cu hi 2: Trnh by phng php m t khng lin tc mt h thng iu khin bng dy trng
lng
Cu hi 3: M t ton hc h khng lin tc dng phng trnh sai phn
Cu hi 4: M hnh khng gian trng thi ca h khng lin tc, cho v d
Cu hi 5: Khi nim v php bin i Z v ng dng trong vic m t v phn tch h thng
khng lin tc
Cu hi 6: Nu cc tnh cht ca php bin i Z
Cu hi 7: Trnh by v m hnh hm truyn t ca h khng lin tc
Cu hi 8: i s s khi h khng lin tc
Cu hi 9: Trnh by mi quan h gia vic m t lin tc v m t khng lin tc mt h thng
iu khin
Cu hi 10: Trnh by phng php Tustin chuyn i hm truyn lin tc sang hm truyn s
Cu hi 11: Phn tch tnh n nh v iu kin n nh ca h khng lin tc
Cu hi 12: Tiu chun n nh i s p dng cho h khng lin tc, cho v d
Cu hi 13: Phn tch cht lng iu khin trong qu trnh qu cng nh xc lp ca mt h
khng lin tc bng m hnh khng lin tc ca n.
Cu hi 14: Phn tch tnh iu khin c v quan st c ca h khng lin tc
Cu hi 15: Trnh by cc phng php xc nh tham s ca mt b PID s.
Cu hi 16: Trnh by bi ton thit k b iu khin s bng phng php gn im cc
Cu hi 17: Thit k b iu khin s c b quan st trng thi.
b. Bi tp
Bi tp 1: Xc nh hm truyn t khng lin tc ca h c s khi sau:
Vi i tng S(s) :
1 1 2s 1 s
S s S s S s 2
0.2 s 1 s 1 3s 1 5 s 1 3s 2s 3s 4
Gi : tnh hm truyn t lin tc i vi b lu gi bc khng v i tng sau chuyn

qua m t ri rc ta c hm cn tm.
Bi tp 2: Xc nh hm truyn t khng lin tc cho cc h c s khi sau:
133
a)
T2 z
Gi : mi quan h T2 v T3 s dng cng thc G z ; T4 v T5 ni tip
1 Z (T2 s T3 s )
lin tc sau c ri rc; T1 v khi tng ng 1 ri rc c lp.
b)
Gi : tng t bi trn
c)
Bi tp 3: Cho h iu khin ri rc c miu t bng phng trnh sai phn sau:

a0 y (i 3) a1 y (i 2) a2 y (i 1) a3 y (i ) u (i )
trong u(i) - tn hiu ri rc vo, y(i) - tn hiu ri rc ra ca h. Xc nh m hnh trng thi ca h.
Hng dn gii:
- t cc bin trng thi cho h ri rc bc 3, chng hn:
x1 (i ) y (i ); x2 (i ) y (i 1); x3 (i ) y (i 2).
- S dng phng trnh sai phn ban u, bin i vit ra h gm 3 phng trnh trng thi cho
3 bin trng thi trn, sau chuyn sang vit dng chnh tc theo php ton ma trn.
- i vi u ra ca h, t cch t bin trng thi th nht chuyn sang vit dng ma trn s thu
c phng trnh u ra ca m hnh trng thi.
p s:
M hnh trng thi ca h ri rc c dng sau:
134
x1 (i 1) 0 1 0 x1 (i ) 0
x2 (i 1) 0 0 1 x2 (i ) 0 u (i )
x3 (i 1) a3 / a0 a2 / a0 a1 / a0 x3 (i ) 1 / a0
x1 (i )
y (i ) 1 0 0 x2 (i ) 0 u (i )
x3 (i )
Bi tp 4: Cho h iu khin lin tc c m hnh trng thi sau:
x1 (t ) 0 1 x1 (t ) 0
u (t )
x2 (t ) 0 0.1 x2 (t ) 0.01
x1 (t )
y (t ) 1 0
x2 (t )
Chuyn i h cho sang h ri rc tng ng.
Hng dn gii:
- p dng phng php tnh o hm gn ng bng cch thay th:
x(i 1) x(i)
x (t )
T
trong T - bc ct mu.
- Bin i m hnh trng thi ban u s dng php thay th trn thu c cng thc tng qut ca
m hnh trng thi h ri rc nh sau:
x(i 1) (TA I) x(i) TBu (i)
y (i) C x(i) Du (i)
trong A, B, C, D Cc ma trn h s ca m hnh trng thi ban u.
- Chn bc ct mu c th tnh ra cc ma trn h s ca m hnh trng thi ri rc.
p s:
Vi bc ct mu T=0.5 (s) thu c m hnh trng thi ri rc nh sau:
x1 (i 1) 1 0.5 x1 (i ) 0
u (i )
x2 (i 1) 0 0.95 x2 (i ) 0.005
x1 (i )
y (i ) 1 0
x2 (i )
Bi tp 5: Cho h iu khin lin tc c hm truyn t nh sau:
k
G( s) 2
s as k
Tm hm truyn t v phng trnh sai phn ca h ri rc tng ng.
Hng dn gii:
2Z 1
- p dng phng php Tustin thay ton t Laplace s vo biu thc ca hm truyn
TZ 1
lin tc cho
- Bin i v a v dng chnh tc ca hm truyn ri rc W (Z )
- T hm truyn t W (Z ) chuyn i ra phng trnh sai phn ca h ri rc
p s:
AZ 2 2 AZ Ak
Hm truyn ri rc: W ( Z ) 2
, trong :
BZ CZ D
A kT 2 ; B 4 2aT kT 2 ; C 2kT 2 8; D kT 2 4 2aT .
135
Phng trnh sai phn: By(i 2) Cy(i 1) Dy(i) Au(i 2) 2 Au(i 1) Au(i) , trong :
u(i) - tn hiu ri rc vo, y(i) - tn hiu ri rc ra ca h.
Bi tp 6: Cho h iu khin ri rc c hm truyn t:
Z 1
W (Z )
3Z 2 Z 1
Xc nh tnh n nh ca h.
Hng dn gii:
- a ra phng trnh c tnh ca h ri rc t a thc mu s ca hm truyn Z
- Gii phng trnh c tnh bc 2
- Xt cc nghim ca phng trnh c tnh so vi vng trn n v trn mt phng phc kt
lun v tnh n nh ca h
p s:
1 j 11
Hai nghim ca phng trnh c tnh: Z1,2 c Z1,2 1 , c 2 nghim u nm bn
6
trong vng trn n v. Nh vy h ri rc cho n nh.
Bi tp 7: Xt tnh iu khin c v quan st c ca h khng lin tc c m hnh khng

gian trng thi sau:
0.5 1 1 0
a) x k 1 0 1 2 xk 0 uk ; va; yk 1 0 0 xk
0 0 0 0.5
p s :
co = ob =
0 0.5000 1.2500 1.0000 0 0
0 1.0000 1.0000 0.5000 1.0000 1.0000
0.5000 0 0 0.2500 1.5000 2.5000
1/ 3 1 0 0
b) x k 1 0 0 1 xk 0 uk ; va; yk 1 0 0 xk
0 0 1 1
p s :
co = ob =
0 0 1 1.0000 0 0
0 1 1 0.3333 1.0000 0
1 1 1 0.1111 0.3333 1.0000
136
Bi tp 8: Xc nh tham s ca b iu khin PID s i vi h thng c s khi nh sau:
Vi cc i tng sau:
3 2
b) S ( s ) c) S ( s )
1 1,5s 1 3s 1 2s 1 6s
Gi :
1.Chn m hnh ri rc loi zoh;foh hay tustin
2.Xy dng hm qu ca i tng iu khin
3.S dng cc cng thc trang 421 xc nh tham s b PID
V d: s dng Matlab ta xc nh c L=0.5; T=6 i vi i tng th nht
Step Response
2
1.8
1.6
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2 L=0.5 T=6
0
0 2 4 6 8 10 12 14 16 18
Time (sec)
137
Phn 2: L THUYT IU KHIN PHI TUYN
CHNG 5: H PHI TUYN
5.1 M HNH TON CA H PHI TUYN
5.1.1 Tnh khng tho mn nguyn l xp chng
u1 t
Cho mt h thng c vc t tn hiu vo r phn t : u t .
ur t
y1 t x1 t
c s tn hiu ra : y t . v c n bin trng thi x t .
ys t xn t
S khi nh sau :
H thng k
r tn hiu vo thut c n tn s tn hiu ra
hiu trng thi
i vi h phi tuyn, m hnh ton hc m t quan h gia vc t tn hiu vo u t v vc

t tn hiu ra y t c vit nh sau : y t T u t . Trong T c gi l nh x (ton
t : operator)
H thng phi tuyn l h thng khng tho mn tnh xp chng, ngha l nu u vo c hai
vc t u1 t , u2 t i tng cho hai vc t tn hiu ra tng ng : y1 t , y2 t . Nhng khi
u vo l mt vc t au1 t bu2 t th n hiu ra khc ay1 t by2 t . Phn ln i tng
iu khin trong t nhin l phi tuyn.
H thng phi tuyn thng thng cha mt hay nhiu cc khu phi tuyn c bn.
5.1.2 Cc khu phi tuyn c bn

Trong k thut ta thng gp mt s thnh phn phi tuyn c trng ph bin, chng c xp vo
thnh cc khu c bn :
1.Khu hai v tr
Thc cht l mt khu r le. N c m t nh sau :
c tnh vo ra biu din nh sau:
a
a, khi, u 0
y y a.sgn u
u a, khi, u 0
-a
138
Trong thc t khu hai v tr c dng rt nhiu v d nh b iu khin nhit, b iu khin ti u
tc ng nhanh
2.Khu khuych i bo ho
L khu SISO phi tuyn tnh, c c tnh vo ra nh hnh v.
a a.sgn u , khi u b
-b y a
u , khi u b
u b
b
-a
Trong khong b, p ng ca khu l tuyn tnh. Ngoi khong ny, p ng bng a khng i.
Nh vy nu b rt nh th khu khuch i bo ha tr thnh khu r le.
3.Khu ba v tr
c tnh vo ra nh hnh v
a.sgn u , khi u b
a y
-b 0, khi u b
u
b
-a
Vi nhng h s dng b iu khin hai v tr c nhiu nh, ngi ta thng dng khu ba v tr
thay cho khu hai v tr loi nhiu.
4.Khu khuych i c min cht
Thc cht y l khu khuych i c vng khng nhy. c tnh nh hnh v, m hnh ton nh
sau :
a tan a u b.sgn u , khi u b

-b y
u 0, khi u b
b
139
5.Khu c hai v tr c tr
y l b iu khin r le thc t, th hin tnh qun tnh ca thit b. M hnh ton m t nh sau :
y
a.sgn u , khi u b
a y du
-b a.sgn , khi u b
dt
u du
b y a.sgn u b.sgn
-a dt
6.Khu khuych i bo ho c tr
Quan h vo ra ca khu nh hnh v. N c m t nh sau :
a.sgn u , khi u b
y
F u a
u , khi u b
b
a
du
-b F u b , khi 0
dt
u y
du
b F u b , khi 0
-a dt
7.Khu ba v tr c tr
y
1 q
a.sgn u , khi u b
a F u 2
-b 1 q
0, khi u b
2
u
1 q du
b F u b , khi 0
-a 2 dt
y
1 q du
F u b , khi 0
2 dt
5.1.3 M hnh trng thi v qu o trng thi
a.M hnh trng thi :

Ging nh m hnh trng thi ca h tuyn tnh , n l h phng trnh bao gm vc t u vo, ra
v cc bin trng thi ca h :
dx
f x, u , t
dt
y g x, u , t
140
u1 t
Trong vc t u t . l tn hiu vo;
ur t
y1 t
y t . l vc t tn hiu ra
ys t
x1 t
v x t . l vc t trng thi ca h thng.
xn t
T y ta c cc khi nim :
dx
f x, u
Nu h m t c dng nh sau dt
y g x, u
th gi l m hnh trng thi tng minh autnom
dx
f x, u , t
y g x, u , t
th gi l m hnh trng thi tng minh khng autnom
dx
f , x, u , t 0
g x, u , y , t 0
th gi l m hnh trng thi khng tng minh khng autnom
b,Qu o trng thi
Vi mt h thng, khi c mt tn hiu vo u t cho trc, vi mt im trng thi ban u cho

trc x0 x o , theo thi gian trng thi h thng thay i di s kch thch ca tn hiu u vo. S
thay i ny vch trong khng gian mt ng cong : qu o trng thi.
Nh vy mi trng thi u ta c mt ng cong, tt c cc trng thi u di tc ng mt tn
hiu vo ta s c nhiu ng cong : h cc qu o trng thi
c. Khng gian trng thi

Nu h thng c trng thi l vc t n chiu th khng gian c xc nh bi n trc tng ng n
bin trng thi gi l khng gian trng thi
d. Qu o pha v cch xy dng

Do dng qu o trng thi (khng gian trng thi c hai trc gi l khng gian pha) ni ln rt
nhiu tnh cht ng hc ca h thng nn ta phi tm cch xy dng h cc qu o trang thi ca h ng
vi tn hiu vo u t 0 . Ch da vo dng qu o ta c th bit :
im cn bng xe s l im m ti tc ca cc qu o trng thi bng 0
H n nh ti xe nu tt c cc qu o trng thi u hng v xe v kt thc ti .
H c dao ng Autonom nu tn ti mt dng qu o khp kn....
xy dng qu o pha ta c rt nhiu phng php nh phng php ng ng t, phng
php tch bin.
5.2 PHN TCH H PHI TUYN
141
5.2.1 im cn bng v im dng ca h thng
a.nh ngha im cn bng : Mt im trng thi xe c gi l im cn bng nu h ang xe

v khng c mt tc ng no t ngoi vo th h nm nguyn ti . Nh vy xe s l nghim ca
dx
phng trnh : f x, u, t u 0 0
dt
Mt h phi tuyn c th c nhiu im cn bng hoc khng c khc vi h tuyn tnh bao gi cng
cn bng ti gc to .
b.nh ngha im dng : Mt im trng thi c gi l im dng xd nu h ang xd , vi
tc ng u vo u t ud khng i th h nm nguyn ti xd . Nh vy xd s l nghim ca phng
dx
trnh : f x, u , t u u 0
dt d
5.2.2 Tnh n nh ti mt im cn bng
Mt h thng c gi l n nh (tim cn) ti im cn bng xe nu nh c mt tc ng tc thi

nh nhiu chng hn nh bt h ra khi xe v a ti im xo ln cn ca xe th sau h c kh nng
t quay tr v im cn bng xe .
Ch : tnh n nh ca h phi tuyn ch c ngha khi i cng vi im cn bng xe . C th h n
nh vi im cn bng ny m khng n nh vi im cn bng khc. H mun n nh ti im cn
bng xe th mi ng qu o trng thi th xut pht t xo u kt thc ti xe .
5.2.3 Tnh iu khin c ti mt im trng thi
dx
f x, u , t
Cho cc im trng thi xo & xT . H thng : dt c gi l iu khin c hon
y g x, u , t
ton ti im trng thi xo : Nu vi im ch xT bt k cho trc, tn ti mt tn hiu u t c ng
qu o trng thi x t tng ng xut pht t xo kt thc ti xT trong mt khong thi gian hu hn.
5.2.4 Tnh quan st c ti mt thi im
dx
f x, u , t
Cho h thng dt c gi l Quan st c hon ton ti thi im t o : Nu vi mi
y g x, u , t
gi tr thi gian T> t o im trng thi xo lun xc nh c mt cch chnh xc t vic quan st vc t
cc tn hiu vo u t v vc t tn hiu ra y t trong khong thi gian hu hn [T- t o ].
5.2.5 Dao ng iu ho heteronom v autonom
Dao ng iu ho he te ro nom: l dao ng iu ho cng bc c ngha l h dao ng iu

ho khi c tn hiu tc ng u vo.
Dao ng iu ho au to nom l h c kh nng t dao ng iu ho khi tn hiu vo bng 0
Nh vy qu o trng thi ca h dao ng iu ho l ng cong kn. Dao ng iu ha
(Heteronom hoc Autonom) c gi l n nh nu b tc ng tc thi nh bt ra khi ch dao
ng a ti vng ln cn no ca qu o th n t quay c tr v ch dao ng iu ha ny.
5.2.6 Tp gii hn v hin tng hn lon (Sinh vin t nghin cu ti liu)

5.2.7 H phn nhnh (Sinh vin t nghin cu ti liu)
142
T m hnh m t h thng, ta phi phn tch rt ra mt s kt lun c bn v tnh cht ng hc ca
h thnng. Tt nhin khng phi l tt c, ta thng nht cn hiu bit h thng nhng im nh sau :
a. Hiu bit v s phn b cc im cn bng ca h thng.
b. Hiu bit v tnh n nh ca h thng ti im cn bng cho trc
c. Hiu bit v tnh iu khin c ca h thng ti mt im trng thi cho trc.
d. Hiu bit v tnh quan st c ca h thng ti mt thi im
e. Hiu bit v kh nng tn ti dao ng heteronom hoc autonom trong h
f. Hiu bit v kh nng c hay khng hin tng hn lon (chao) trong h
g. Hiu bit v kh nng phn nhnh trong h
5.2.8 Tiu chun n nh Lyapunov
Bn cht ca phng php Lyapunov l gi s bao quanh gc 0 c cc h ng cong v khp kn.

Cc ng cong ny c th coi l bin ca cc ln cn 0 v nu tt c cc qu o trng thi t do ct tt
c cc ng cong thuc h v t ngoi vo trong th ta c th kt lun l cc qu o trng thi ny tin
v gc 0 v kt thc ti . T kt lun tnh n nh Lyapunov ca h.
Nh vy nu t ti hm v x tho mn cc iu kin :
-Kh vi, xc nh dng
dv dv
- 0; l o hm ca v x dc theo qu o trng thi t do
dt dt
Th h n nh tim cn Lyapunov ti gc 0 v hm v x l hm Lyapunov
s dng tiu chun Lyapunov ta phi thc hin hai bc :
1)Xy dng h ng cong v khp kn cha gc 0 bn trong
2)Kim tra xem qu o trng thi x(t ) c ct mi ng cong thuc v t ngoi vo trong hay
khng.
T y ngi ta a ra h qu Lyapunov nh sau (dng cho h tuyn tnh) :
dx
Ax Bu
Cho mt h thng c m t dt . H s n nh nu mt trong hai iu kin sau tha
y Cx Du
mn :
a)Tn ti mt ma trn vung P xc nh dng sao cho ma trn PA AT P xc nh m, tc
PA AT P xc nh dng.
b)Tn ti mt ma trn i xng xc nh dng Q sao cho phng tnh PA AT P Q c
nghim P cng i xng xc nh dng. y l phng trnh Lyapunov
nh l Sylvester l cng c xc nh mt ma trn vung i xng xc nh dng : cho ma trn
q11 q12 . q1n
q21 q22 . q2 n
:Q ; qik qki
. . . .
qn1 qn 2 . qnn
Xc nh dng khi ma trn ng cho c nh thc dng :
q11 q12 q13
q11 q12
q11 0;det 0;det q21 q22 q23 0
q21 q22
q31 q32 q33
5.3 H SISO C KHU PHI TUYN C BN
5.3.1 Gii thiu h thng
5.3.1.1 S khi
143
Thng gp trong thc t cc h phi tuyn l h SISO, tnh phi tuyn ca chng thng ch quy t
mt khu n gin duy nht. Nh hnh v
w e S1 s z u f z u S2 s y
_
R s
Tnh phi tuyn th hin mt trong hai c im :

Gi tr ca tn hiu vo u t ph thuc vo tn hiu vo z cng thi im t tc l u f z .
Trong f z l hm i s khng c thnh phn vi tch phn, u t ph thuc tnh vo tn
hiu z t gi l cc khu phi tuyn tnh.
H thng c cc khu phi tuyn c bn cp.
5.3.1.2 M hnh NL v LN
M hnh m khu phi tuyn tnh ng trc khu tuyn tnh c gi l m hnh Hammerstein hay
NL (nonlinear-linear) :
w e u f e u G s y
M hnh m khu phi tuyn tnh ng sau khu tuyn tnh c gi l m hnh Wiener hay LN
(linear-nonlinear) :
w e G s u u f e y
5.3.2 Phng php phn tch mt phng pha
mc ny ta s dng phng php mt phng pha phn tch nhng h thng phi tuyn m tnh
phi tuyn ca n nm mt khu c bn duy nht. Nguyn tc chung c c qu o pha l ta dng
phng php phn im mt phng pha. Ta chia mt phng pha thnh nhng vng sao cho trong mi
vng , khu phi tuyn c thay th bng mt khu khuych i hoc mt gi tr hng s tn hiu ra.
5.3.2.1 H vi khu hai v tr
Ta thy rng cht lng ca h hai v tr khng ch ph thuc vo cu trc, m cn ph thuc vo s

lng, loi khu tuyn tnh. Do ta khng th a ra kt lun chung c, m thng qua v d c th ta
nm bt c phng php phn tch h m thi. Ta xt v d sau :
H thng c s cu trc nh sau :
1
R s l thnh phn tuynn tnh ca b iu khin
s
1
S s l i tng iu khin
Ts
M(s) = k l b phn hi. Ta c s cu trc h thng nh sau :
144
1, neu, e 0
Nh vy ta c y ;
1, neu, e 0
d 2x
T y
dt 2
t
dx
e u z ydt kx T
0
dt
1 dx
2 , neu, kx T 0
d x T dt
T y ta c :
dt 2 1 dx
, neu, kx T 0
T dt
dx
Nh vy, trong mt phng pha vi trc tung l x v trc honh l x, ng thng
dt
dx k dx
kx T 0 x x s phn mt phng pha lm hai min : min trn ng vi kx T 0 c gia
dt T dt
d 2x 1 dx
tc khng i m bng 2
v min di ng vi kx T 0 c gia tc khng i dng bng
dt T dt
d 2x 1
.
dt 2 T
Xt min trn ca mt phng pha :
d 2x 1 dx t
2
c1
dt T dt T
2
t2 T t Tc 21
x c1t c2 c1 c2
2T 2 T 2
2
T dx
k1
2 dt
Trong k1 l hng s ph thuc vo trng thi u.
Kt lun :
T 2
Quan h x x k1 l mt h parabol nt lin, ph thuc vo cc trng thi u khc nhau nh
2
hnh v.
T 2
Tng t min di ca mt phng pha, ta c quan h x x k1 l mt h parabol nt t, ph
2
thuc vo cc trng thi u khc nhau nh hnh v.
Khi qu o pha xut pht t mt trng thi u no ng nt lin, qua ng phn cch
chuyn xang ng nt ri, ri li qua ng phn cch v nt lin, c nh th, n c xu hng tin v
gc ta v n nh ti .
145
x
x
A
Da vo qu o pha ta c kt lun nh sau :

H c mt im cn bng l gc to trong mt phng pha x, dx/dt
H khng c dao ng iu ho, khng c hin trng hn lon
H n nh ti gc to
H c min n nh l ton b mt phng pha
Ngoi ra h cn c hin tng trt hay cn gi l bang bang.
Ta quy nh ng qu o bn di l nt ri, trn l nt lin. Hin tng trt xy ra khi qu o
pha i vo ng phn im nt ri khng cn nm bn di cng nh nt lin khng cn nm bn trn
nh hnh v v lc ny h s i t trng thi u n ng phn cch v trt dch dc theo ng phn
cch v gc ta . Da vo hin tng ny ngi ta thit k b iu khin trt lm n nh tuyt i
i tng. Ta xc nh don EF nh sau : lc ny EF c gi l khong trt. Ta xt h ang trng
thi u no nh hnh v, n tin ti don EF v trt v khng nh hnh v th gi l hin trng trt.
dc T/K ca ng phn im quy dnh di khong trt. T/K cng ln th khong trt cng di.
ng trt cng trn khi thi gian chuyn i bng khng
x
E
x
A
5.3.2.2 H vi khu hai v tr c tr
Ging nh lm vi h hai v tr, ta nm bt phng php phn tch thng qua v d c th

H thng c s cu trc nh hnh v.
sgn e , khi, e 1
Vi khu phi tuyn : q de
sgn , khi, e 1
dt
146
1
Khu tuyn tnh c : G s vi tn hiu vo bng khng.
s s 1
d 2 y dy
V q nn mt phng pha ta chn trc honh l y v v trc tung l y . Do c y=-e nn
dt 2 dt
by gi ta chia mt phng pha thnh tng vng ring bit vi cc gi tr q khng i :
1.Vng q=1 khi :
a) e 1 y 1 (vng I)
de dy
b)hoc hoc e 1& 0 y 1& 0 (vng 2)
dt dt
2. Vng q=-1 khi :
a) e 1 y 1 (vng 3)
de dy
b)Hoc e 1& 0 y 1& 0 (vng 4)
dt dt
nh vy mt phng pha c phn thnh hai min : vng 1,2 vi q=1 v vng 3,4 vi q=-1 nh hnh
v :
y
I
II
IV y
A
III
d2y dy
-Xt vng 1,2 1 y y ln y 1 k
dt 2 dt
d 2 y dy
-Tng t vng 3,4 ta c 2 1 y y ln y 1 k
dt dt
Trong k c xc nh t iu kin u
Kt lun :
-H c dao ng iu ho autonom
-Dao ng l n nh. Min n nh l ton b mt phng pha
5.3.2.3 H vi khu ba v tr
lm quen vic phn tch kho st h phi tuyn c khu ba v tr ta xt v d sau :

1
Cho i tng l khu bc nht c hm truyn t : G s b iu khin bao gm khu phi
Ts 1
tuyn ba v tr v khu tch phn : 1/s
Nh vy thnh phn tuyn tnh gp li l : 1/s(Ts+1)
Khu phi tuyn l khu ba v tr . S cu trc h thng :
Nh vy quan h vo ra ca b iu khin nh sau
147
t
dx
e v ydt x (T x)
0
dt
Mt phng pha c nh ngha trc tung l x v trc honh l x. Mt phng pha c chia lm ba
dx
T (km 1) x b
dt
min : I; II; III bi hai ng thng
dx
T (km 1) x b
dt
d 2 x dx
V T 2 a trong min I;
dt dt
d 2 x dx
T 2 a trong min III;
dt dt
d 2 x dx
T 2 0 trong min II;
dt dt
T qu o trng thi ca h ta rt ra kt lun ng hc ca h :
H c im cn bng l ton b on trc honh nm gia hai ng phn cch
H khng n nh ti bt c im cn bng no v khi b nh bt khi v tr cn bng n c
xu hng v mt im cn bng khc trong khu vc ln cn.
Mi qu o pha khc u c xu hng kt thc ti mt im cn bng.
5.3.2.4 H c khu khuych i bo ho

Cho h phi tuyn c s cu trc :
1
Trong i tng iu khin S s ; khu khuych i bo ha c m t :
s2
sgn e , khi e 1
y sat e
e , khi e 1
Ta cng nh ngha mt phng pha gm trc tung l x v trc honh l x. Mt phng pha c chia
x x 1
lm ba min bi hai ng thng :
x x 1
x 2
Trong min 1 h c m t : x k
2
x 2
Trong min 3 h c m t : x k
2
x 0 1 x
Trong min 2 h c m t :

x 1 1 x
Qu o pha ca h t mt im trng thi u c v nh sau :
148
x
III
II
I
Cn c theo dng cc ng qu o pha thu c ta c nhng kt lun v cht lng h

thng :
H c mt im cn bng duy nht l gc ta
H n nh ti im cn bng v c min n nh l ton b mt phng pha.
H khng cn hin tng trt.
5.3.2.5 H c khu ba v tr c tr
Xt h thng c s cu trc :
u 0 e y 1 x
s2
1, neu , e 1
1, neu , e 1
de
1, neu ,1 e 0.5 & 0
Vi y dt
de
1, neu , 0.5 e 1& 0
dt
0, neu , e 0.5
1
i tng iu khin l khu tch phn bc hai : S s . Tn hiu vo bng khng nn e=-x. Mt
s2
1, neu , x 1
1, neu , e 1
de
dx d 2x 1, neu ,1 e 0.5 & 0
phng pha vi trc tung l x ; trc honh l x th ta c : 2 dt
dt dt
de
1, neu , 0.5 e 1& 0
dt
0, neu , e 0.5
Nh vy mt phng pha b chia lm ba min:
x 2
-Min I : qu o pha c dng x k
2
149
x 2
2
Qu o pha c dng nh sau :
1 0.5 0.5 1 x
Cn c theo dng cc ng qu o pha thu c ta c nhng kt lun v cht lng h

thng :
H c im cn bng l ton b trc honh nm gia hai ng chuyn i
H khng n nh ti bt c im cn bng no
Mi qu o pha u xoay quanh gc ta v ngy cng tin ra xa v cng, tc h c bin
dao ng ngy cng tng
5.4 PHNG PHP CN TUYN TNH V THIT K B IU KHIN
Trong thc t, kh nhiu trng hp, khi iu kin cho php, ngi ta thng tm cch chuyn th
gn ng m hnh phi tuyn sang mt m hnh tuyn tnh xp x tng ng phn tch v iu khin.
Phng php ny, trong mt khun kh no ngi ta gi l phng php cn tuyn tnh.
5.4.1 Tuyn tnh ho trong ln cn im lm vic
5.4.1.1 Tuyn tnh ha m hnh trng thi
V bn cht l ta xp x m hnh phi tuyn thnh m hnh tuyn tnh trong ln cn im trng thi
cn bng hoc dng ca n, ging nh ta thay mt on ng cong trong ln cn xo bng mt on
thng tip xc vi ng cong ti xo . nm bt c phng php ta xt v d sau : cho h :
3 x1 x2 u1
dx
x1 26 x3 x2
dt
x1 x2 x3 u2
x1
Trong x x2 . H c im cn bng l nghim ca
x3
3 x1 x2 0
dx
0 u u0 0 x1 26 x3 x2 0
dt
x1 x2 x3 0
0 5 5
xe1 0 ; xe 2 5 ; xe3 5 ;
0 25 25
T phng trnh trng thi ta c ma trn JACOBI :
150
f1 f1 f1
x1 x2 x3
3 3 0
f f2 f2 f2
26 x1 1 x1
x x1 x2 x3
x2 x1 1
f3 f3 f3
x1 x2 x3
f1 f1
u1 u2
1 0
f f2 f2
0 0
u u1 u2
0 1
f3 f3
u1 u2
Thay cc gi tr im cn bng xei ta c cc m hnh tuyn tnh gn ng ti cc ln cn ca cc
im cn bng xei :
3 3 0 1 0
dx
1)Trong ln cn im cn bng xe1 , uo : 26 1 0 x 0 0 u
dt
0 0 1 0 1
Vi x x xe1 ; u u uo
3 3 0 1 0
dx
2)Trong ln cn im cn bng xe 2 , uo : 1 1 5 x 0 0 u
dt
5 5 1 0 1
Vi x x xe 2 ; u u uo
3 3 0 1 0
dx
3)Trong ln cn im cn bng xe3 , uo : 1 1 5 x 0 0 u
dt
5 5 1 0 1
Vi x x xe3 ; u u uo
5.4.1.2 Phn tch h thng
Vi m hnh tuyn tnh tng ng trong ln cn im lm vic xv , uo , ta c th s dng l

thuyt iu khin tuyn tnh nghin cu h thng. Mi kt lun v cht lng h thng t vic phn tch
u ng trong vng ln cn im lm vic. Tuy nhin vic xc nh c cc hin tng hn lon, chao ...
hay khng th khng xt c.
dx
f x, u
Cho h phi tuyn dt vi im cn bng xe c m hnh tuyn tnh
y g x, u
dx
Ax Bu
dt tng ng trong ln cn xe . Gi s ma trn A khng c gi tr ring nm
y Cx Du
trn trc o, khi h phi tuyn n nh tim cn ti xe khi v ch khi tt c cc gi tr ring
ca A nm bn tri trc o.
5.4.1.3 Thit k b iu khin
151
dx dx
f x, u Ax Bu
H phi tuyn c dng : dt v c m hnh tuyn tnh tng ng dt trong
y g x, u y Cx Du
ln cn xe . Nu h phi tuyn iu khin c trong ln cn xe v b iu khin phn hi m trng thi R
lm cho h tuyn tnh tng ng ca n ti xe l n nh th n cng lm cho h phi tuyn n nh tim
cn ti xe
Nh vy ta c th s dng cc phng php thit k b iu khin phn hi trng thi ca l thuyt
iu khin tuyn tnh thit k b iu khin phn hi trng thi cho h phi tuyn ti ln cn xe
5.4.2 K thut Gain-scheduling
Phng php tuyn tnh ha im lm vic cho ta ti mi im lm vic ca h thng l mt b iu

khin v ngi ta a ra tng ghp tt c cc b iu khin thnh mt b thng nht chung, khi h
thng lm vic im no th dng chuyn mch chuyn n lm vic b iu khin tng ng.
Nhng vn ny n c nhng nhc im sau :
Mun thc hin bng chuyn mch, h thng phi thm b quan st trng thi, lm h thng
phcc tp rt nhiu.
Khng th s dng cho h thng c nhiu im lm vic.
khc phc nhc im nay, ngi ta ngh ti vic xc nh mt b iu khin R thng nht
chung c c tnh nh sau :
Gi s ta c h phi tuyn, ti im lm vic xv v , uo v c m hnh tuyn tnh tng ng v
c b iu khin tuyn tnh Rv v tng ng. Ti im lm vic ny, b iu khin chung nht R, sau
khi c tuyn tnh ha ti im lm vic xv v , uo v cng l Rv v . K thut iu khin h phi
tuyn nh th gi l k thut Gain-scheduling.
Cc bc thc hin k thut Gain-scheduling :
Xc nh tt c cc im lm vic xv v , uo v cng nh tt c cc tham s khc
S dng LTTT xc nh cc b iu khin tuyn tnh Rv v ng vi mi im lm vic
Xc nh b R(v) sao cho m hnh tuyn tnh tng ng ca n ti mi im lm vic
chnh l Rv v
Thay quan h (quan h tham s ha im lm vic) v v z , x , w,y vo R v ta c b
iu khin R x , u , y .
B iu khin Gain-scheduling l b iu khin phi tuyn thu c t h cc b iu khin tuyn
tnh. Yu t quyt nh cht lng cng vic ny l cng thc tham s ha im lm vic ca i
tng. Vic tham s ha im lm vic c thc hin theo kinh nghim l chnh.
K thut Gain-scheduling ch tp trung quan tm ng hc ca h thng ti ln cn im lm vic
ring l, ch khng quan tm ti s thay i trng thi h thng khi chuyn im lm vic, nn cc kt
lun v bn cht ng hc h thng c b iu khin Gain-scheduling ch ng trong ln cn im lm
vic.
Vic chn hnh thc tham s ha im lm vic nh hng rt ln n cht lng h thng. Tham
s ha im lm vic l xc nh quan h phn t ca vc t im lm vic vi cc thng s u vo,
bin trng thi, tn hiu ra :
dx
Quan h v v , x, w, y phi m bo :
dt
Vc t tham s v phi phn nh tng i y mc phi tuyn ca h thng.
dx
Cc i lng , x, w, y c mt trong quan h tham s ha im lm vic phi l nhng
dt
i lng bin i chm theo thi gian
152
5.4.3 iu khin tuyn tnh hnh thc
dx
f x, u , t
Mt h phi tuyn c m t dt
y g x, u , t
u1 t
Vi vc t tn hiu vo c r phn t u t . ;
ur t
y1 t
Tn hiu ra s phn t : y t . ;
ys t
x1 t
Vc t trng thi n bin x t . .
xn t
dx
A x, u , t x B x , u , t u
Nu bin i c v dng : dt trong cc ma trn
y C x, u , t x
A x, u , t n n
B x, u , t n r l cc ma trn thch hp (kch thc phi ph hp) c phn t l hm s ca x, u, t .
C x, u , t s n
M hnh ny gi l m hnh tuyn tnh hnh thc (formal linear) v khi cc ma trn trn c lc no
khng ph thuc vo x , u th n tr thnh m hnh tuyn tnh khng dng A t , B t , C t
dx f x
f x H x u
Hoc c th bin i m hnh h thnh dt trong H x l nhng ma trn
y g x g x
hm gii tch th c gi l m hnh gii tch tuyn tnh (analytic linear) c th cn c tn ALI
(analytic linear inputs). T y ta c bi ton iu khin tuyn tnh hnh thc nh sau : l bi ton iu
khin, tm cch can thip vo h thng c m hnh tuyn tnh hnh thc v d nh thit k b iu khin
phn hi trng thi h c cht lng nh mong mun.
5.4.4 K thut iu khin b phi tuyn
5.4.4.1 Bi ton iu khin b phi tuyn
Bi ton ny c p dng ch yu cho cc i tng c thnh phn phi tuyn tng i yu c

dx
A x Pn x Bu
m t nh c m hnh : dt
y Cx
153
u1 t y1 t
Vi vc t tn hiu vo c r phn t u t . ; Tn hiu ra s phn t : y t . ; Vc t
ur t ys t
x1 t
trng thi n bin x t . .
xn t
Nhim v ca bi ton l thit k b iu khin h u , y sao cho h kn c cht lng mong mun
v cht lng ny hon ton khng ph thuc vo thnh phn phi tuyn n x t .
Gii quyt bi ton theo hai bc :
Nhn dng thnh phn phi tuyn bng mt m hnh tuyn tnh
Thit k b h u , y loi b thnh phn phi tuyn trong h kn v mang li cho h mt
cht lng mong mun.
5.4.4.2 Nhn dng thnh phn phi tuyn
Gi s ta c thnh phn phi tuyn khng bit trc n x t , sau mt khong thi gian ln T,
thng qua vc t u ra
dn t
Vn t
n t vi dt
n x t Hn t
ca b quan st Luenberger ta s xc nh c thnh phn phi tuyn n x t Hn t
5.4.4.3 B iu khin b phi tuyn
Sau khi nh b quan st luenberger, thnh phn phi tuyn n x t c trong m hnh ca i tng
c xc nh bi vc t tn hiu ra n x t Hn t . T y ta c th thit k b iu khin phn hi
trng thi R nh s cu trc :
w e u dx y
A x Pn x Bu
dt
y Cx
Rn LUEN
Rx
n BERGER
x
B iu khin Rx l b iu khin phn hi trng thi thnh phn tuyn tnh
B iu khin Rn l b iu khin phn hi trng thi thnh phn phi tuyn
154
a. Cu hi n tp
Cu hi 1: Khi nim v h iu khin phi tuyn, cho v d
Cu hi 2: Trnh by v m hnh tnh v cc khu phi tuyn in hnh
Cu hi 3: M hnh trng thi ca h iu khin phi tuyn
Cu hi 4: Qu o trng thi ca h phi tuyn
Cu hi 5: Khi nim v im dng v im cn bng ca h phi tuyn
Cu hi 6: Mt phng pha v qu o pha ca h iu khin phi tuyn
Cu hi 7: Tnh n nh ca h iu khin phi tuyn
Cu hi 8: Tiu chun n nh Lyapunov cho h phi tuyn
Cu hi 9: H phi tuyn SISO vi khu hai v tr
Cu hi 10: H phi tuyn SISO vi khu khuych i bo ha
Cu hi 11: Tng hp b iu khin n nh h phi tuyn theo phng php Modal
Cu hi 12: Tng hp b iu khin b phi tuyn.
b. Bi tp
Bi tp 1: Cho h iu khin phi tuyn c miu t bng phng trnh trng thi sau:
x1 x1 2 x13 x2
x2 x2
Xc nh tnh n nh ca h.
Hng dn gii:
- p dng tiu chun n nh Lyapunov chn hm nng lng dng ton phng:
V ( x) x TQ x
x1
trong x - vc t trng thi ca h.
x2
- p dng tiu chun Sylvester nu Q l ma trn vung xc nh dng, chng hn c th chn
q1 0
Q , q1, q2 0 th V (x) 0 vi x.
0 q2
- S dng phng trnh trng thi ban u tnh o hm ca hm nng lng V (x )
- Nu V (x) 0 vi x th h phi tuyn cho n nh, t xc nh iu kin n nh ca h.
p s:
H phi tuyn cho n nh a phng ti gc ta vi min n nh:
S x x2 1 / 2 x12
Bi tp 2: Cho h iu khin phi tuyn c s khi nh sau:
u e 1 x2 1 x1 y
F (e)
s 1 s
trong F (e) l khu phi tuyn tnh c dng:

- F (e) l hm l: F (e) F ( e)
155
- b chn: k1 F (e) / e k2
Xc nh min k1, k2 h n nh.
Hng dn gii:
- T s khi vit ra phng trnh trng thi ca h phi tuyn bc 2
- Xt h khi cha b kch thch u 0
- Chn hm nng lng Lyapunov dng ton phng:
V ( x) x TQ x
x1
trong x - vc t trng thi ca h.
x2
- p dng tiu chun Sylvester chn Q l ma trn i xng xc nh dng, chng hn:
3 1
Q th V (x) 0 vi x.
1 2
- S dng phng trnh trng thi ban u tnh o hm ca hm nng lng V (x ) , bin i a
v dng ton phng i vi bin k F ( x1 ) / x1 .
- Nu V (x) 0 vi x th h phi tuyn cho n nh, t xc nh min thay i ca k h
n nh.
p s:
H phi tuyn cho n nh ti gc ta vi k thay i trong min: 0.38 F (e) / e k 2.62
Bi tp 3: Cho h iu khin phi tuyn c phng trnh trng thi sau:
x1 x2
x2 x2 ( x1 2) u
Tng hp b iu khin Modal n nh ha h phi tuyn.
Hng dn gii:
- Tuyn tnh ha h phi tuyn trong ln cn gc ta bng cch b i hm phi tuyn x2 x1 , vit ra
phng trnh trng thi dng ma trn ca h tuyn tnh ha:
x Ax Bu
- a ra vc t cc h s phn hi trng thi K k1 k2
- Xc nh phng trnh c tnh ca h kn mi theo cng thc:
det(sI A c ) 0
vi A c A BK
- Chn cc im cc mong mun cho h kn mi sao cho cc im cc ny u nm bn tri trc
o trn mt phng phc. Khi phng trnh c tnh mong mun c dng:
( s s1 )(s s2 ) 0
- ng nht 2 phng trnh c tnh trn s tm c cc h s phn hi trng thi lm n nh
ha h phi tuyn.
p s:
Vi cc im cc mong mun l: s1 1, s2 2 th b iu khin modal c cc h s phn hi
trng thi l: k1 2, k2 5.
Bi tp 4: Cho h phi tuyn c s khi nh sau:
156
u 1 x1 1 x2
s 1 s
Tng hp b iu khin Modal n nh ha h phi tuyn vi cc im cc ca h tuyn tnh ha l

. s1 2, s2 3 . V s ca h thng.
Hng dn gii:
- T s khi vit ra phng trnh trng thi ca h phi tuyn s dng php bin i Laplace
ngc
- Tuyn tnh ha h phi tuyn trong ln cn gc ta bng cch b i thnh phn phi tuyn, vit
ra phng trnh trng thi dng ma trn ca h tuyn tnh ha:
x Ax Bu
- a ra vc t cc h s phn hi trng thi K k1 k2
- Xc nh phng trnh c tnh ca h kn mi theo cng thc:
det(sI A c ) 0
vi A c A BK
- Xc nh phng trnh c tnh mong mun c dng:
( s s1 )(s s2 ) s 2 5s 6 0
- ng nht 2 phng trnh c tnh s tm c cc h s phn hi trng thi lm n nh ha h
phi tuyn.
p s:
k1 6, k2 6 .
S khi ca h iu khin modal nh sau:
u 1 x1 1 x2
s 1 s
157
CC THI THAM KHO
PHIU THI S 1 Ch k
T trng b mn
Mn hc: L thuyt iu khin t ng
Lp:
Cu 1: Nhng cu trc c bn ca h thng iu khin (4 im)
Cu 2: M hnh trng thi ca h khng lin tc, cho v d (3 im)
Cu 3: Cho h KT c s khi nh sau:
G3
u y
G1 G2
H1
Tm hm truyn tng ng ca h (3 im).

Hc sinh khng c cha xa, lm bn phiu thi
PHIU THI S 2 Ch k
T trng b mn
Lp:
Cu 1: Trnh by v cc php bin i s khi (4 im)
Cu 2: Qu o trng thi ca h phi tuyn (3 im)
Cu 3: Tm hm truyn s G(Z) v phng trnh sai phn ca h KT c hm truyn Laplace

nh sau: (3 im)
s 1
G ( s) 2
s (2 s 1) 2
158
PHIU THI S 3 Ch k
T trng b mn
Lp:
Cu 1: Cu trc ca b iu khin PID (3 im)
Cu 2: Trnh by v m hnh tnh v cc khu phi tuyn in hnh (4 im)
Cu 3: Cho h KT c s khi nh sau:
u 1 x1
3
s 1
x2 1
2s 1
Xc nh tnh iu khin c v quan st c ca h (3 im).

PHIU THI S 4 Ch k
T trng b mn
Lp:
Cu 1: Tnh n nh v tiu chun n nh Gerschgorin ca h thng lin tc tuyn tnh trong

min thi gian (3 im)
Cu 2: Khi nim v php bin i Z v cc tnh cht ca n (4 im)
Cu 3: Cho h KT c hm truyn t nh sau:
2s 3 s 2 s 1
G ( s)
s 6 2s 5 3s 4 2s 3 s 2 2s 1
Xc nh tnh n nh ca h (3 im).
159
PHIU THI S 5 Ch k
T trng b mn
Lp:
Cu 1: nh gi sai lch tnh ca h thng iu khin (3 im)
Cu 2: Khi nim v iu khin ti u v phng php ti u dng ton phng (4 im)
Cu 3: Cho h iu khin phi tuyn c s khi nh sau:
u 2 x1 1 x2 1 x3
s 1 s 2 s
Thit k b iu khin Modal n nh ha h phi tuyn vi cc im cc ca h tuyn tnh ha

mi l s1=-1, s2=-2, s3=-3.
V s ca h thng (3 im).
160

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Bi ging mn l thuyt iu

Ta c th xc nh sai s trng thi xc lp i vi nhiu bc nhy : 45

Ni dung mn hc: bao gm hai phn

1.1 NI DUNG BI TON IU KHIN

Bi ton iu khin h thng

1.2 NHNG CU TRC C BN CA H THNG IU KHIN

1.2.1 Cc khi nim c bn

Cc khi nim tn bin c nh ngha nh sau :

1.2.2 H thng iu khin h

-S cu trc ca h thng iu khin nh hnh :

w(t) u(t y(t)

-V bn cht, y l bi ton iu khin mt chiu v cht lng iu khin ph thuc chnh xc

1.2.3 iu khin phn hi trng thi

-S cu trc nh hnh : Vi s ny b iu khin nm mch chnh

-S cu trc ca h c b iu khin nm mch phn hi :

w(t) u(t) y(t)

1.2.4 iu khin phn hi tn hiu ra

-S cu trc nh hnh 1.9 (24) : Vi s ny b iu khin nm mch chnh

w(t) CONTRO u(t) y(t)

-S cu trc ca h c b iu khin nm mch phn hi

w(t) u(t) y(t)

1.4 NI DUNG C BN CA L THUYT IU KHIN T NG

Mn hc nghin cu cc nguyn tc chung xy dng h thng t ng, cc phng php kho

Cu hi 1: M hnh ton hc ca mt h thng t ng l g? Mc ch ca vic thit lp m hnh

2.1 CC CNG C TON HC

2.1.1 Hm bin phc (t c 25-30)

nh (hay ph) fourier X ( j ) F x(t ) x(t )e j t

2.1.3 Php bin i laplace

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

Cc nh l quan trng : c trnh by trang 10-11

Tra bng nh ta tm c hm gc x(t ) (e t 1 t )1(t )

Tn hiu lin tc- ri rc-Tn hiu khng lin tc ri rc : tn hiu s

Hnh 1.2 v 1.3 trang 4 &5 th hin dng ca bn tn hiu.

2.2 XY DNG M HNH TON HC

2.2.1 Phng trnh vi phn (differential equation)

S dng cc nh lut v mch in nh Kirchoff ta s xy dng c phng trnh vi phn m t

2.2.2 M hnh truyn t TF (transfer function)

Vit phng trnh cho cc linh kin :

3. M hnh im khng - im cc ZPK (zero pole gain)

2.2.3 S cu trc v i s s khi

S cu trc bao gm nhiu khi c bn c ni vi nhau theo chiu tn hiu, mi khi c hm

Ta c phng trnh cho tng phn t :

Phng trnh mch vng v nt ta c :

Qu trnh qu ca mt h thng c hiu l qu trnh h thng chuyn t trng thi xc lp c

B. Dng cc lnh Matlab

Cc phng php xy dng hm trng lng

ng cong pha di biu din tn s bin thin t 0 ra v cng

Mt v d trc quan cho ta thy p ng ca h thng ph thuc vo tn s tn hiu vo nh th no

2.2.6 Quan h gia phn thc v phn o ca hm c tnh tn - ton t Hillbert

2.2.7 Xy dng m hnh ton hc ca cc khu c bn

1.PHN LOI CC KHU C BN

2.KHU KHUYCH I P (PROPOTIONAL)

3. KHU QUN TNH BC NHT PT1

Mch hiu chnh RC, LR, my pht in DC vi u vo l kch t ra l in p, bnh nn kh, l

4 KHU QUN TNH BC HAI PT2

6.KHU TCH PHN

1.c tnh TSBP : l mt ng trn tm gc to bn knh l 1

2.3.1 Nhng nhim v c bn ca cng vic phn tch h thng

2.3.2 Xc nh tnh n nh ca HT t a thc c tnh

1.Cc khi nim

Trng thi cn bng : l trng thi h thng ng yn nu khng c lc tc ng no khc ln n

S dng tiu chun Routh xc nh gii hn ca k h n nh

4.Tiu chun Hurwitz :