‫ﺗﺌﻮري ﺗﺤﻘﻖ‬

‫ﻋﻠﻲ ﺧﺎﻛﻲ ﺻﺪﻳﻖ‬

‫ﮔﺮوه ﻛﻨﺘﺮل‪-‬ﺑﻬﻤﻦ ‪1390‬‬

‫‪1‬‬

‫‪ ‬ﻃﺮح ﻣﺴﺎﻟﻪ‬

‫• ﻧﻤﺎﻳﺶ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ )رﻓﺘﺎر ورودي‪-‬ﺧﺮوﺟﻲ( ﺑﺎ ﻛﺎرﺑﺮدﻫﺎي ﻃﺮاﺣﻲ‬

‫ﻚ و ﻣﻘﺎوم‬
‫ﻛﻼﺳﻴﻚ‬
‫ﻛﻼﺳ‬
‫• ﻧﻤﺎﻳﺶ ﻓﻀﺎي ﺣﺎﻟﺖ )رﻓﺘﺎر داﺧﻠﻲ ﺳﻴﺴﺘﻢ( ﺑﺎ ﻛﺎرﺑﺮدﻫﺎي ﻃﺮاﺣﻲ ﻣﺪرن‬
‫ﺣﻮزه ﻓﻀﺎي ﺣﺎﻟﺖ‬
‫• دو ﻧﻤﺎﻳﺶ ﺳﻮدﻣﻨﺪ ﻣﻜﻤﻞ ﻳﻜﺪﻳﮕﺮ در ﺗﺤﻠﻴﻞ و ﻃﺮاﺣﻲ ﺳﻴﺴﺘﻢ ﻫﺎي‬
‫ﻛﻨﺘﺮل‪:‬‬
‫‪Realization‬‬

‫ﻧﻤﺎﻳﺶ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬ ‫ﻧﻤﺎﻳﺶ ﻓﻀﺎي ﺣﺎﻟﺖ‬

‫‪Reconstruction‬‬ ‫‪2‬‬

‫‪1‬‬
 ‫• ﺗﻌﺮﻳﻒ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺗﺤﻘﻖ ﭘﺬﻳﺮ‬
‫• دو ﺳﻮال ﻣﻬﻢ‪ :‬وﺟﻮد ﺗﺤﻘﻖ ؟‬
‫ﻳﻜﺘﺎ ﺑﻮدن ﺗﺤﻘﻖ ؟‬

‫• ﻧﻤﺎﻳﺶ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‪:‬‬

‫‪G (s )  Gˆ (s )  lim G (s )  Gˆ (s )  D‬‬
‫‪s ‬‬

‫‪‬‬
‫) ‪x (t )  Ax (t )  Bu (t‬‬
‫) ‪y (t )  Cx (t‬‬
‫‪3‬‬

‫• ﻗﻀﻴﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺗﺤﻘﻖ ﭘﺬﻳﺮ اﺳﺖ اﮔﺮ و ﻓﻘﻂ اﮔﺮ ﺳﺮه ﻳﺎ اﻛﻴﺪا ﺳﺮه‬
‫ﺑﺎﺷﺪ‪.‬‬
‫اﺛﺒﺎت ﻣﺮﺟﻊ‬

‫• ﻳﻚ وﻳﮋﮔﻲ ﻣﻬﻢ‪ :‬ﺗﺤﻘﻖ ﻣﻲ ﻧﻴﻤﺎل ﻳﺎ ﻛﺎﻫﺶ ﻧﺎﭘﺬﻳﺮ‬

‫• وﻳﮋﮔﻲ ﻣﻬﻢ دﻳﮕﺮ‪ :‬ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل‬

‫‪4‬‬

‫‪2‬‬
 ‫‪ ‬ﺗﺤﻘﻖ ﻣﻲ ﻧﻴﻤﺎل‬

‫• ﺗﻌﺮﻳﻒ ﭘﺎراﻣﺘﺮﻫﺎي ﻣﺎرﻛﻮف‪:‬‬

‫‪D ,CA‬‬ ‫‪b , i  1, 2,‬‬

‫‪i 1‬‬

‫‪ ‬ﻣﺤﺎﺳﺒﻪ ﭘﺎراﻣﺘﺮﻫﺎي ﻣﺎرﻛﻮف از ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬

‫‪ ‬ﻳﻚ ﺧﺎﺻﻴﺖ ﻣﻬﻢ‪ :‬ﭘﺎراﻣﺘﺮﻫﺎي ﻣﺎرﻛﻮف ﻳﻜﺘﺎ ﻫﺴﺘﻨﺪ‬
‫‪ ‬ﭘﺎراﻣﺘﺮﻫﺎي ﻣﺎرﻛﻮف و ﭘﺎﺳﺦ ﺿﺮﺑﻪ ﺳﻴﺴﺘﻢ‬
‫‪ ‬ﻣﺎﺗﺮﻳﺲ ﻫﺎﻧﻜﻞ‬

‫‪5‬‬

‫• ﻗﻀﻴﻪ اﮔﺮ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻳﻚ ﺗﺤﻘﻖ ﻛﻨﺘﺮل ﭘﺬﻳﺮ و روﻳﺖ ﭘﺬﻳﺮ دارد ﻫﺮ ﺗﺤﻘﻖ‬
‫ﻫﻢ ﻣﺮﺗﺒﻪ دﻳﮕﺮ ﺑﺎﻳﺪ ﻛﻨﺘﺮل ﭘﺬﻳﺮ و روﻳﺖ ﭘﺬﻳﺮ ﺑﺎﺷﺪ‪.‬‬
‫اﺛﺒﺎت‬
‫‪g (s )  c (sII  A ) 1b  c 0 (sII  A 0 ) 1b 0‬‬

‫‪i 1‬‬
‫‪cA i 1b  c 0 A 0 b0‬‬ ‫)‪(i  1, 2,‬‬

‫‪6‬‬

‫‪3‬‬
   c 0b0 c 0 A 0 b0 
n 1
 cb cAb  cA n 1b c 0 A 0b0 
   
 cAb cA b
2
 cA n b 2
   c 0 A 0b0 c 0 A 0 b0
n
 c 0 A 0 b0 
           
 n 1  
2 n 2 
cA b cA b
n
 cA b  c 0 A 0 b0 c 0 A 0 n b0
n 1
 c 0 A 0 b0 
2 n 2

 c   c0 
 cA   cA 
Ab  A b   
0 0 
  b n 1
b A 0b0  A 0 b 0 
n 1

      0
 n 1   n 1 
cA  c 0 A 0 

‫• ﻗﻀﻴﻪ ﺗﺤﻘﻖ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﻲ ﻧﻴﻤﺎل اﺳﺖ اﮔﺮ ﺗﺤﻘﻖ ﻛﻨﺘﺮل ﭘﺬﻳﺮ و روﻳﺖ‬
.‫ﭘﺬﻳﺮ ﺑﺎﺷﺪ‬
‫اﺛﺒﺎت ﻣﺮﺟﻊ‬

:‫• ﻗﻀﻴﻪ ﺗﺤﻘﻖ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﻲ ﻧﻴﻤﺎل اﺳﺖ اﮔﺮ و ﻓﻘﻂ اﮔﺮ‬
det(sI  A ), cAdj(sI  A )b Relatively Prime
‫اﺛﺒﺎت ﻣﺮﺟﻊ‬

‫• ﻗﻀﻴﻪ دو ﺗﺤﻘﻖ ﻣﻲ ﻧﻴﻤﺎل از ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﺎ ﺗﺒﺪﻳﻞ ﻫﻤﺎﻧﻨﺪي ﺑﻪ ﻫﻢ ﻣﺮﺗﺒﻂ‬

.‫اﻧﺪ‬
‫اﺛﺒﺎت ﻣﺮﺟﻊ‬
8

4
‫• ﻗﻀﻴﻪ ﻣﺮﺗﺒﻪ ﺗﺤﻘﻖ ﻣﻲ ﻧﻴﻤﺎل ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ )ﺑﺎ داﺷﺘﻦ ﭘﺎراﻣﺘﺮﻫﺎي ﻣﺎرﻛﻮف(‬
‫ﻋﺒﺎرت اﺳﺖ از‪:‬‬
‫]) ‪n  max rank [H (n1 , n 2‬‬
‫‪n1 , n 2‬‬
‫اﺛﺒﺎت ﻣﺮﺟﻊ‬

‫‪9‬‬

‫‪10‬‬

‫‪5‬‬
 ‫‪ ‬ﺗﺤﻘﻖ ﺳﻴﺴﺘﻢ ﻫﺎي ﻳﻚ ورودي ﻳﻚ ﺧﺮوﺟﻲ‬

‫‪ ‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﺎ ﭼﻨﺪ ﺟﻤﻠﻪ اي ﻫﺎي ﺻﻮرت و ﻣﺨﺮج ﻧﺴﺒﺖ ﺑﻪ ﻫﻢ اول‬

‫ل ﻛﻛﻨﻨﺪه‬
‫ﻜﺎل ﻛﻛﻨﺘﺮل‬
‫ﻛﺎﻧﻮﻧﻴﻜﺎل‬
‫ﺗﺤﻘﻖ ﻣﻬﻢ‪ :‬ﻛﺎﻧ ﻧ‬ ‫‪ ‬ﺎ‬
‫ﭼﻬﺎر ﺗ ﻘ‬
‫ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﭘﺬﻳﺮي‬
‫ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺘﮕﺮ‬
‫ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺖ ﭘﺬﻳﺮي‬
‫‪ ‬ﺗﺤﻘﻖ ﻫﺎي ﺳﺳﺮي‬
‫ي و ﻣﻮازي‬

‫‪11‬‬

‫‪ ‬ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﻛﻨﻨﺪه‬

‫) ‪b (s‬‬
‫‪Y (s ) ‬‬ ‫) ‪U (s )  b (s )a 1 (s )U (s‬‬
‫) ‪a (s‬‬

‫) ‪ (s‬‬

‫) ‪Y (s )  b (s ) (s‬‬
‫) ‪ u (t )   n (t )  an 1 n 1 (t )    a0 (t‬‬
‫) ‪y (t )  b n 1 n 1 (t )  b n  2 n  2 (t )    b0 (t‬‬

‫‪Define:‬‬
‫) ‪x 1 (t )   (t ), x 2 (t )   1 (t ), , x n (t )   n 1 (t‬‬
‫‪12‬‬

‫‪6‬‬
 Then:
x1 (t )  x 2 (t )
x 2 (t )  x 3 (t )

x n (t )  an 1x n (t )    a1x 2 (t )  a0 x 1 (t )  u (t )
y (t )  b n 1x n (t )  b n  2 x n 1 (t )    b0 x 1 (t )

 0 1 0  0  0 
 0 0 1  0    
  0 
x(t )     x  t      u (t )
   
 0 0 0  1  0 
 a0 a1  a2  an 1   1 
y (t )  b0 b1 b2  bn 1  x(t )
13

.‫ ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﻛﻨﻨﺪه ﻫﻤﻮاره ﻛﻨﺘﺮل ﭘﺬﻳﺮ اﺳﺖ‬

‫ ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﻛﻨﻨﺪه در ﺻﻮرﺗﻴﻜﻪ ﺣﺬف ﻗﻄﺐ ﺑﺎ ﺻﻔﺮ ﻧﺪاﺷﺘﻪ‬
.‫ﭘﺬﻳﺮ ااﺳﺖ‬
‫ﻫﻤﻮاره روﻳﺖ ﺬ‬
‫ﺎﺑﺎﺷﺪ ا‬

14

7
 ‫ ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺘﮕﺮ‬
b (s )
Y (s )  U (s )  b (s )a 1 (s )U (s )
a (s )
 (s )

 (s )  s  nU (s )  an 1s 1 (s )    a0s  n  (s )

0 0 0  a0   b0 
1 0 0   a1  b 
   1 
x(t )     x  t      u (t )
   
0 0 0   an  2  bn  2 
0 0 0   an 1   bn 1 
y (t )   0 0 0  1 x(t ) 15

.‫ ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﻛﻨﻨﺪه دوﮔﺎن ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺘﮕﺮ اﺳﺖ‬

‫ ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺘﮕﺮ ﻫﻤﻮاره روﻳﺖ ﭘﺬﻳﺮ اﺳﺖ و در ﺻﻮرﺗﻴﻜﻪ ﺣﺬف‬
.‫ﻗﻄﺐ ﺑﺎ ﺻﻔﺮ ﻧﺪاﺷﺘﻪ ﺑﺎﺷﺪ ﻫﻤﻮاره ﻛﻨﺘﺮل ﭘﺬﻳﺮ اﺳﺖ‬
:‫ دوﮔﺎﻧﻲ‬

0 0 0 a0   b0   0 1 0  0  0 
1 0 0 a1   b   0 0 1  0  0 
   1     
x(t )     x  t      u (t ) x(t )     x  t      u (t )
       
0 0 0  an  2  bn  2   0 0 0  1  0 
 0 0 0  an 1   bn 1   a0  a1 a2   an 1  1 
y (t )   0 0 0  1 x(t ) y (t )  b0 b1 b2  bn 1  x(t )

16

8
 ‫‪ ‬ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺖ ﭘﺬﻳﺮي‬

‫‪ 0‬‬ ‫‪1‬‬ ‫‪0 ‬‬ ‫‪0 ‬‬ ‫‪  n 1 ‬‬

‫‪ 0‬‬ ‫‪0‬‬ ‫‪1 ‬‬ ‫‪0 ‬‬ ‫‪‬‬ ‫‪ ‬‬
‫‪‬‬ ‫‪‬‬ ‫‪ n2 ‬‬
‫‪x(t )   ‬‬ ‫) ‪ x  t      u (t‬‬
‫‪‬‬ ‫‪‬‬ ‫‪‬‬ ‫‪‬‬
‫‪ 0‬‬ ‫‪0‬‬ ‫‪0 ‬‬ ‫‪1 ‬‬ ‫‪ 1 ‬‬
‫‪ a0 a1 a2   an 1 ‬‬ ‫‪  0 ‬‬
‫) ‪y (t )  1 0 0  0 x(t‬‬

‫‪  n 1   1‬‬ ‫‪0‬‬ ‫‪‬‬ ‫‪0‬‬ ‫‪0  b n 1 ‬‬

‫‪    a‬‬ ‫‪1‬‬ ‫‪‬‬ ‫‪0‬‬ ‫‪0  b n  2 ‬‬
‫‪ n  2   n 1‬‬
‫‪   ‬‬ ‫‪  ‬‬
‫‪‬‬ ‫‪ ‬‬ ‫‪‬‬ ‫‪‬‬
‫‪ 1   0‬‬ ‫‪0 ‬‬ ‫‪1‬‬ ‫‪0   b1 ‬‬
‫‪  0   a1‬‬ ‫‪a2  an 1‬‬ ‫‪1   b0 ‬‬
‫‪17‬‬

‫‪ ‬ﻣﻲ ﺗﻮان ﻧﺸﺎن داد ﻛﻪ‪:‬‬

‫‪ n 1  h1 ,  n  2  h2 , ,  0  hn‬‬

‫ﻣﺎﺗﺮﻳﺲ‬
‫ﻫﻤﺎن ﺎ‬
‫ﭘﺬﻳﺮي ﺎ‬ ‫ﻣﺎﺗﺮﻳﺲ روﻳﺖ ﺬ‬‫ﭘﺬﻳﺮي ﺎ‬ ‫‪ ‬در ﺗﺤﻘﻖ ﻛﺎ ﻜﺎل‬
‫ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺖ ﺬ‬
‫واﺣﺪ اﺳﺖ‪.‬‬
‫‪ ‬در ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺖ ﭘﺬﻳﺮي ﻣﺎﺗﺮﻳﺲ ﻛﻨﺘﺮل ﭘﺬﻳﺮي ﻫﻤﺎن ﻣﺎﺗﺮﻳﺲ‬
‫ﻫﺎﻧﻜﻞ اﺳﺖ و در ﺻﻮرﺗﻴﻜﻪ ﺣﺬف ﻗﻄﺐ ﺑﺎ ﺻﻔﺮ ﻧﺪاﺷﺘﻪ ﺑﺎﺷﺪ ﻫﻤﻮاره‬
‫ﻛﻨﺘﺮل ﭘﺬﻳﺮ اﺳﺖ‪.‬‬

‫‪18‬‬

‫‪9‬‬
 ‫‪ ‬ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﭘﺬﻳﺮي‬
‫‪0‬‬ ‫‪0 0 ‬‬ ‫‪a0 ‬‬ ‫‪1 ‬‬
‫‪1‬‬ ‫‪0 0  a1 ‬‬ ‫‪‬‬ ‫‪0 ‬‬
‫‪‬‬ ‫‪‬‬ ‫‪ ‬‬
‫‪x(t )   ‬‬ ‫) ‪ x  t      u (t‬‬
‫‪‬‬ ‫‪‬‬ ‫‪ ‬‬
‫‪0‬‬ ‫‪0 0  an  2 ‬‬ ‫‪0 ‬‬
‫‪ 0‬‬ ‫‪0 0  an 1 ‬‬ ‫‪0 ‬‬
‫) ‪y (t )    n 1  n  2  n 3   0  x(t‬‬

‫‪ ‬ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﭘﺬﻳﺮي دوﮔﺎن ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺖ ﭘﺬﻳﺮي اﺳﺖ‪.‬‬
‫ﻣﺎﺗﺮﻳﺲ ا ﺪ‬
‫واﺣﺪ‬ ‫ﭘﺬﻳﺮي ﺎﺗ‬
‫ﻛﻨﺘﺮل ﺬ‬ ‫ﭘﺬﻳﺮي ﺎﺗ‬
‫ﻣﺎﺗﺮﻳﺲ ﻛﻨﺘ ل‬ ‫ل ﺬ‬
‫ﻛﻨﺘﺮل‬
‫ﻜﺎل ﻛﻨﺘ‬
‫ﻛﺎﻧﻮﻧﻴﻜﺎل‬ ‫‪ ‬ددر ﺗ ﻘﻖ‬
‫ﺗﺤﻘﻖ ﻛﺎﻧ ﻧ‬
‫اﺳﺖ‪.‬‬
‫‪ ‬در ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﭘﺬﻳﺮي ﻣﺎﺗﺮﻳﺲ روﻳﺖ ﭘﺬﻳﺮي ﻣﺎﺗﺮﻳﺲ ﻫﺎﻧﻜﻞ اﺳﺖ‬
‫و درﺻﻮرﺗﻴﻜﻪ ﺣﺬف ﻗﻄﺐ ﺑﺎ ﺻﻔﺮ ﻧﺪاﺷﺘﻪ ﺑﺎﺷﺪ ﻫﻤﻮاره روﻳﺖ ﭘﺬﻳﺮ اﺳﺖ‪.‬‬
‫‪19‬‬

‫‪ ‬ﺗﺤﻘﻖ ﻫﺎي ﻣﻮازي و ﺳﺮي‬

‫‪b (s ) b n 1s n 1  b n  2s n  2    b 0‬‬

‫‪g (s ) ‬‬ ‫‪‬‬
‫) ‪a (s‬‬ ‫‪s n  an 1s n 1    a0‬‬

‫‪b (s ) n g i‬‬
‫‪‬‬
‫‪a (s ) i 1 s  i‬‬

‫‪1‬‬ ‫‪0‬‬ ‫‪ b1 ‬‬

‫‪‬‬
‫‪‬‬
‫‪z (t )  ‬‬ ‫‪‬‬ ‫‪ ‬‬
‫‪‬‬ ‫) ‪ z (t )     u (t‬‬ ‫‪bi c i  g i‬‬
‫‪ 0‬‬ ‫‪n ‬‬ ‫‪bn ‬‬
‫) ‪y (t )   c1  cn  z (t‬‬
‫‪20‬‬

‫‪10‬‬
21

22

11
23

24

12
 ‫‪25‬‬

‫‪ ‬ﺗﺒﺪﻳﻞ ﻫﺎي ﻫﻤﺎﻧﻨﺪي ﺑﻴﻦ ﺗﺤﻘﻖ ﻫﺎ‬

‫‪ ‬آﻳﺎ ﻫﺮ دو ﺗﺤﻘﻘﻲ از ﻳﻚ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺗﻮﺳﻂ ﻣﺎﺗﺮﻳﺲ ﺗﺒﺪﻳﻞ ﻫﻤﺎﻧﻨﺪي ﺑﻪ‬

‫ﺗﺒﻂ اﻧﺪ؟‬
‫ﻫﻢ ﻣﻣﺮ ﺗ ﻂ‬
‫ﺑ‪‬ﻌﺪ ﻳﻜﺴﺎن‬
‫ﻣﻌﺎدﻟﻪ ﻣﺸﺨﺼﻪ ﻳﻜﺴﺎن‬

‫‪ ‬دو ﺗﺤﻘﻖ از ﻳﻚ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﺎ ﺑﻌﺪﻫﺎي ﻣﺘﻔﺎوت؟‬

‫‪ ‬دو ﺗﺤﻘﻖ از ﻳﻚ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﺎ ﺑﻌﺪﻫﺎي ﻳﻜﺴﺎن و ﻣﻌﺎدﻟﻪ ﻫﺎي ﻣﺸﺨﺼﻪ‬
‫ﻣﺘﻔﺎوت؟‬

‫‪26‬‬

‫‪13‬‬
 ‫‪27‬‬

‫• ﻗﻀﻴﻪ‬
‫) ‪g (s‬‬

‫) ‪( A1 , b1 , c1‬‬ ‫) ‪(A 2 , b 2 , c 2‬‬

‫ﺗﺒﺪﻳﻞ ﻫﻤﺎﻧﻨﺪي ﻳﻜﺘﺎ ﺑﻴﻦ‬
‫دو ﺗﺤﻘﻖ وﺟﻮد دارد اﮔﺮ ‪:‬‬

‫) ‪det((sI  A1 )  det((sI  A 2‬‬

‫و‬
‫ﻫﺮدو ﺗﺤﻘﻖ ﻛﻨﺘﺮل ﭘﺬﻳﺮ ﻳﺎ روﻳﺖ ﭘﺬﻳﺮ ﺑﺎﺷﻨﺪ‪ .‬ﺗﺒﺪﻳﻞ ﻫﻤﺎﻧﻨﺪي ﻣﻨﺎﺳﺐ در‬
‫ﺻﻮرت وﺟﻮد ﻋﺒﺎرت اﺳﺖ از‪:‬‬
‫) ‪T  c (A1 , b1 )c1 (A 2 , b 2‬‬ ‫‪or‬‬ ‫) ‪T  o1 (c1 , A1 )o (c 2 , A 2‬‬
‫‪28‬‬

‫‪14‬‬
 ‫ ﺗﺤﻘﻖ ﺳﻴﺴﺘﻢ ﻫﺎي ﻏﻴﺮ اﺳﻜﺎﻟﺮ‬

:‫ اﻧﻮاع ﺳﻴﺴﺘﻢ ﻫﺎ‬

SISO SIMO,
SISO, SIMO MISO,
MISO MIMO

: SIMO ‫ ﺳﻴﺴﺘﻢ‬

 n1 (s ) 
 a (s ) 
 1 
 n 2 (s ) 
G (s )   a2 (s ) 
  
 
 n l (s ) 
 al (s )  29

 n1 (s ) 
 a (s ) 
 1  b1 (s ) 
 n 2 (s )   
G (s )   a2 (s ) 
1 b 2 (s ) 
G (s ) 
a (s )   
    
  b l (s ) 
 n l (s ) 
 al (s ) 

a (s )  s n  an 1s n 1    a0
bi (s )  b n 1s n 1  b n  2s n  2    b 0 (i  1, , l )

bi (s )
‫ﺗﺤﻘﻖ ﻫﺎي اﺳﻜﺎﻟﺮ‬ g i (s )  (i  1, , l )
a (s )
30

15
 :‫ﺗﺤﻘﻖ ﻧﻬﺎﻳﻲ ﺑﻪ ﺻﻮرت ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﻛﻨﻨﺪه‬

 0 1 0  0  0 
 0 0 1  0  0 
   
x (t )     x t      u (t )
   
 0 0 0  1  0 
 a0 a1 a2  an 1  1 
b10 b11  b1n 1 
b b 21  b 2 n 1 
y (t )   20 x (t )
 
 
bl 0 bl 1  bln 1 

‫ ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل ﻛﻨﺘﺮل ﭘﺬﻳﺮي‬

‫ ﺧﻮاص ﺗﺤﻘﻖ؟‬
31

32

16
 : MISO ‫ ﺳﻴﺴﺘﻢ‬
 n (s ) n 2 (s ) n m (s ) 
G (s )   1  
 a1 (s ) a2 (s ) am (s ) 

1
G (s )  b1 (s ) b2 (s )  b m (s )
a (s )

a (s )  s n  an 1s n 1    a0
bi (s )  b n 1s n 1  b n  2s n  2    b 0 (i  1, , m )

bi (s )
‫ﺗﺤﻘﻖ ﻫﺎي اﺳﻜﺎﻟﺮ‬ g i (s )  (i  1, , m )
a (s )
33

:‫ﺗﺤﻘﻖ ﻧﻬﺎﻳﻲ ﺑﻪ ﺻﻮرت ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺖ ﮔﺮ‬

0 0 0  a0 
1  b10 b 20  b m 0 
0 0  a1  b
  b 21  b m 1 
x (t )     x t    11 u (t )
    
0 0 0  an  2   
0 0 0  an 1  bln 1 b 2 n 1  b mn 1 

y (t )   0 0 0  1 x (t )

‫ ﺗﺤﻘﻖ ﻛﺎﻧﻮﻧﻴﻜﺎل روﻳﺖ ﭘﺬﻳﺮي‬

‫ ﺧﻮاص ﺗﺤﻘﻖ؟‬
34

17
 35

‫ﺑﺎزﺳﺎزي ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ از ﻣﻌﺎدﻻت ﻓﻀﺎي ﺣﺎﻟﺖ‬ 

G (s )  C (sI  A )1 B  D

I n sII n  A  (sII n  A )Adj (sII n  A )

s n  an 1s n 1    a0 B n 1s n 1  B n  2s n  2    B 0

1
ak   tr (AB k ) B n 1  I n  B k  AB k 1  ak 1I n
n k

(sI  A )1
36

18