1.

Ta có :

x 1+ T p 1 x˙1=K p 1( x 2−x 7 −d 1)

−1 K p1 K p1 K p1
x˙1= x 1+ x 2− x 7− d
T p1 T p1 T p1 T p1 1

2. Ta có :

x 2+ T t 1 x˙2=x 3

−1 1
x˙2= x 2+ x
Tt 1 T t1 3

3. Ta có :

1
x 3+ T g 1 x˙3= x +u
R1 1 1

−1 1 1
x˙3= x 1− x3 + u
R1 T g 1 T g1 T g1 1

4. Ta có :

x 4 +T p 2 x˙4 =K p 2 (x 5+ x 7−d 2)

−1 K p2 K p2 K p2
x˙4 = x4 + x5 + x 7− d
T p2 T p2 T p2 T p2 2

5. Ta có :

x 5+ T t 2 x˙5=x 6

−1 1
x˙5= x+ x
Tt 2 5 T t2 6

6. Ta có :

−1
x 6 +T g 2 x˙6= x +u
R2 2 2

−1 1 1
x˙6= x4 − x6 + u
R2 T g 2 T g2 T g2 2

7. Ta có :

x˙7=2 π T 0 x 1−2 π T 0 x 4

8. Ta có :

x˙8=B1 x 1 + x 7
 9. Ta có :

x˙9=B2 x 4−x 7

Suy ra :

−1 K p1 K
0 0 0 0− p 1 0 0

[ ]
T p1 T p1 T p1
1 1
0− 000000
Tt 1 T t1
−1 1
0− 00000
R1 T g 1 T g1
1 K p2 K p2
0 0 0− 0 00
A= T p2 T p2 T p2
1 1
0 00 0− 000
Tt 2 T t2
1 1
0 0 0− 0− 000
R2 T g 2 T g2
2 π T 0 0 0−2 π T 0 0 0 0 0
B1 0 0 0 0 0 10 0
0 0 0 B2 0 0−1 0 0

00

[]
00
1
0
T g1
00
B= 0 0
1
0
T g2
00
00
00
 −K p 1
0

[]
T p1
00
00
K p2
F= 0−
T p2
00
00
00
00
00