Mai Nhật Thông - 2112380 - BTVN 08

j) 1 (t)
PTTT
] u
:
=

xi2(t)
A B
& CITI Ch LUG :

= =

1]28] , ] In Ia N
+

Q R

* S ricati :

PA + ATP + Q -

PBRBTP = 0

=
= % <] [ 2 ] 2887 [ ]
.
+ + -
.
1
[01 (p = o

=> (0-2027 +
o -20 ps] [08] -
+

-
[2 P32]
p P1 -292 P2P3 O
>
-
-

- =

p -

2 P2-P2Ps 2- 2P3 -

4
=> 2 -
P22 = 0

P1-202-P2Py = 0 =
E = Rthe => p=
[1695 8 ]
22 -
43 -
P = 0

& TI TROUG Hi

B
[15 o] [v
+
f = B P = 1 .
20 1] => k = 0, 613]

* Lut Di fi To vin :

u ) =
-

xH) =
-

[ 0 61][] = , = -ECU) -OC

 S ,] [i] [
* + :
= +

A B

* CHITIN CH LYONG :

5 =

51][ [i] + A) de

Q R

* Ricatti :

PA + ATP + Q - PBR" BTp = 0

-
] [ ] ] +
1) -

[ ] ] .

= 03]
.

- ] [P 0] + 1]
+
- [ spus -
)
=
P2 + 492 + 1 P1 -

02 + 203 + 1 -

EP2P3
O
=

203 + P1 Pz
-
+ 1 -

2 P2Rs 202 -Ps + 5 -

8p

S
fp
=> + 40 + 1 = 0

↑
P1 = 3, 1693

P1 -

02 +
23 + 1 =
BP3 = 0
=> Pz
P3
=

=
1 , 09

1, 06
=> p =

13,169310 ]
- ps + 20 -

2Pz + 5 = 0

* Tre Ha :

k = A BTP = f =

1 [03]
,193 109] =
[ 65
,
15

* L A I Qu :

= kx() [1 635
159](7 = U = 1, 645 - 1, 59
- -

=
,
 * OTT
<(A)
y(t)
=

=
AR
(12(7)
+

+
Bu
v(t)
+ wh

A =

[ 20 ! ] =
[i] c = [10]

* L TRANG T :

E
(H) = ARA) + Bu() +
L(y() -

[())

(t) = 22(t)

L = ACT RJ

* I L im gi s Ricarti

A + NAT +
ON - π CTRCH = O

[ ] +

] ,
, ] 18 ] [i][]
+ -
= O

[ J [ 2002]
- P3 2
-P2 =
2Pe- Ps P3

=
-
31 +

S
34, 22 5 (1)
=> + 0, 0
-
=

-
201 -

P2 + 3
-

33 , 3 P10c = 0 (2)
-

492 -

293 -
33, 3827 + 0, 2 = 0(3)

(2) & (3) => -

29 -
P2 +
E -
40 -

33, 3827 + 0, 2) -
33, 300 = 0

(7)
-

201 -

382
- P22 + 011 -
33, 3 PP2

Ha(H =) -

2 + 3
+ 2 +

0- ) =

0/ 02
=> P1 =
9
, 1174 => p = => p3 =
/ 1333
0
 [0 00 3]
+ / 1124 -

=> =

- 0
,02

* 182 Kalman :

L = +CTP =

[0 es] [b] os
=> =

[3101057]
* TRANG THAT :

(H) =
E2 ! ](A) +
[9]uA) [] WA +

() = [10] (H)

U(s)
4 1 X (3) > ( Xc(s) X1(s) + U(s)
-
= = =
+
.

3+ 1
2x 1(s)
X 2(3) = => s X 2(b) = 2X +(b) -
3x 2/B
S+ 3

=>

[i] E]] [] A =

A
+

2() = 50
,
1][,]
4 1 .

Aπ + IAT -

CTRCH + QN = 0

=>
[2 = ]i] +
] ] [ ] [] or - 17
[ ] =

[ J E= -3-
=)
-

P1 -
P2 +
201 -

3P2 2P2 -

3P3

[ 2 P1 100 2
J
201 492 20 Py 0
=>
- -

=
-
-

2P1 -

482
-

2002 P3 47
-

63 -

20 P32

E
2

!
> -

21 -

200 - = O
=
2

201
-

482 -

20P2P = 0

4 P -

683 -
20p , =0
 1) &(2) = >
-
20072 -
3P2-20PLPs = 0
14
1) () = 0
. POP" + 60 , /2 -

EOB2 +
6 P3) -

2003 (2003) +
60s) =0

F
=0
>)
=
13 = 0 => Pl = 0 => 1

=> =
188] => 1= πCT R =

98]
H
B
v
LOC

Lus
VALUAN

hai
↑ RC L6 :
=

[ ]P( +
[JuH
(H) =
[01] P CH

4
+ =

/D [8] ↑
d+

Q R

PA + ATP + Q -
PBRTP = 0

=>

E =] 50 3 +
] +

18 ; ] [ ] %] -
. < .
O]] =

=>
E :] E + +
- -

[*] = 0

=>
F 201 + 42 P 492 + 23 PMP2
1] 0
- -

=
- -

42 +
29y -
PlP2 -

69 -
p +

S z(1 P-7)
Y
=
-

21 + 402 P12 = 0 (1) (2)(B) = > -

482 + -
-
P- Pc = 0(4)

3
-

4 Pz +
2P3 PIP -
=0

63 Pz + 0 (1) & (4) > 201 P12 +

111 - (2) P
(MED
- -

=
- -

= -
.

I
=> P1 = 0
, 1486 0
=

P1 =
0
, 0798
0 / 1656
p =

=> D =

[ 06
=> k =
[0, 1486 00798]

( [0, 1306
0790]] 13061-0, 0790 <A
=> = - =
-
0 -0,
, =