Chuong7 CSTD

Mon hoc Mon hoc
C S T ONG C S T ONG
Bin son: TS. Hunh Thi Hong
B mn iu khin t ng
Khoa in in T
i hc Bch Khoa TPHCM
Email: hthoang@hcmut.edu.vn
Homepage: www4.hcmut.edu.vn/~hthoang/
Ging vin: HTHong, NVHo, NHong, BTHuyn, HHPhng, HMTr
9 September 2011 H. T. Hong - HBK TPHCM 1
Chng 7 Chng 7
MO TA TOAN HOC MO TA TOAN HOC
HE THONG IEU KHIEN RI RAC HE THONG IEU KHIEN RI RAC
9 September 2011 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 2
Khai niem
Noi dung chng 7 Noi dung chng 7
Khai niem
Phep bien oi Z
Ham truyen
Ph h h i Phng trnh trang thai
Khai niem Khai niem
He thong ieu khien dung may tnh so He thong ieu khien dung may tnh so
May tnh so D/A oi tng
r(kT) y(t)
u(kT)
u
R
(t)
A/D
c
ht
(kT)
Cam bien
May tnh so = thiet b tnh toan da tren c s ky thuat vi x
ly (vi x ly vi ieu khien may tnh PC DSP ) ly (vi x ly, vi ieu khien, may tnh PC, DSP,).
u iem cua he thong ieu khien so:
Li h h t Linh hoat
De dang ap dung cac thuat toan ieu khien phc tap
h h i khi hi i l
May tnh so co the ieu khien nhieu oi tng cung mot luc
He thong ieu khien ri rac He thong ieu khien ri rac
X ly ri rac Khau gi oi tng
r(kT) y(t)
u(kT)
u
R
(t)
Lay mau
c
ht
(kT)
Cam bien
He thong ieu khien ri rac la he thong ieu khien trong o co He thong ieu khien ri rac la he thong ieu khien trong o co
tn hieu tai mot hoac nhieu iem la (cac) chuoi xung.
Lay mau d lieu Lay mau d lieu

x(t)
x
*
(t)
Lay mau la bien oi tn hieu lien tuc theo thi gian thanh tn hieu
ri rac theo thi gian.
T
x(t)
Bieu thc toan hoc mo ta qua
trnh lay mau:
t
0
+
=
=
0
*
) ( ) (
k
kTs
e kT x s X
x
*
(t)
t
f f 2
1
>
nh ly Shannon
0
t
c
f
T
f 2 > =
Neu co the bo qua c sai so lng t hoa th cac khau chuyen
q g y
oi A/D chnh la cac khau lay mau.
Khau gi d lieu Khau gi d lieu
Khau gi d lieu la khau chuyen tn hieu ri rac theo thi gian
thanh tn hieu lien tuc theo thi gian
x
*
(t) x
R
(t)
ZOH
x
*
(t)
Khau gi bac 0 (ZOH): gi tn
hieu bang hang so trong thi
i i h i l l
( )
0
t
gian gia hai lan lay mau.
kh i b 0
x
R
(t)
t
Ham truyen khau gi bac 0.
e
s G
Ts
ZOH
=
1
) (
0
t
s
ZOH
Neu co the bo qua c sai so lng t hoa th cac khau chuyen
q g y
oi D/A chnh la cac khau gi bac 0 (ZOH).
Phep bien oi Z Phep bien oi Z
nh ngha phep bien oi Z nh ngha phep bien oi Z
Cho x(k) la chuoi tn hieu ri rac bien oi Z cua x(k) la:
{ }

+
= =
k
z k x k x z X ) ( ) ( ) ( Z
Cho x(k) la chuoi tn hieu ri rac, bien oi Z cua x(k) la:
Trong o:
(s la bien Laplace)
Ts
e z
{ }

= k
k x k x ) ( ) ( ) (
(s la bien Laplace)
X(z) : bien oi Z cua chuoi x(k). Ky hieu:
e z =
) ( ) ( z X k x
Z
{ }

+
= = ) ( ) ( ) (
k
z k x k x z X Z
Neu x(k) = 0, k < 0:
Mien hoi tu (Region Of Convergence ROC)
{ }

=0
) ( ) ( ) (
k
ROC la tap hp tat ca cac gia tr z sao cho X(z) hu han.
Y ngha cua phep bien oi Z Y ngha cua phep bien oi Z
Gi (t) l t hi li t t i thi i l (t) Gia s x(t) la tn hieu lien tuc trong mien thi gian, lay mau x(t)
vi chu ky lay mau T ta c chuoi ri rac x(k) = x(kT).

=
*
) ( ) (
kTs
e kT x s X
Bieu thc lay mau tn hieu x(t)
=0
) ( ) (
k
e k x s
Bieu thc bien oi Z chuoi x(k) = x(kT).
+
=
=
0
) ( ) (
k
k
z k x z X
Do nen ve phai cua hai bieu thc lay mau va bien oi Z
la nh nhau, do o ban chat cua viec bien oi Z mot tn hieu
Ts
e z =
chnh la ri rac hoa tn hieu o .
Tnh chat cua phep bien oi Z Tnh chat cua phep bien oi Z
Cho (k) a (k) la hai ch oi tn hie ri rac co bien oi Z la: Cho x(k) va y(k) la hai chuoi tn hieu ri rac co bien oi Z la:
{ } ) ( ) ( z X k x = Z
{ } ) ( ) ( z Y k y = Z
Tnh tuyen tnh:
{ } ) ( ) ( ) ( ) ( z bY z aX k by k ax + = + Z
Tnh di trong mien thi gian:
{ } ) ( ) (
0
X k k
k
Z
Tnh di trong mien thi gian:
{ } ) ( ) (
0
0
z X z k k x
k
= Z
T le trong mien Z:
{ } ) ( ) (
1
z a X k x a
k
= Z { }
ao ham trong mien Z:
{ }
dz
z dX
z k kx
) (
) ( = Z
nh ly gia tr au:
) ( lim ) 0 ( z X x
z
=
) ( ) 1 ( li ) (
1
X
nh ly gia tr cuoi: ) ( ) 1 ( lim ) (
1
1
z X z x
z
=
Bien oi Z cua cac ham c ban Bien oi Z cua cac ham c ban
Ham dirac:
= 0 1
) (
k
k
neu
o
o(k)
1
=
=
0 0
) (
k
k
neu
o
0
k
{ } 1 ) ( = k o Z
u(k)
Ham nac n v:
u(k)
<
>
=
0 0
0 1
) (
k
k
k u
neu
neu
k
1
< 0 0 k neu
0
k
{ } ) (
z
k u Z
{ }
1
) (
=
z
k u Z
Bien oi Z cua cac ham c ban Bien oi Z cua cac ham c ban
r(k)
Ham doc n v:
> 0 T
) (
k k
k
neu
k
1
r(k)
{ } ) (
Tz
k
<
=
0 0
) (
k
k r
neu
0
k
{ }
( )
2
1
) (
=
z
Tz
k u Z
Ham mu:
x(k)
>
=
0 0
0
) (
k
k e
k x
-akT
neu
x(k)
k
1
< 0 0 k neu
0
k
{ }
z
k x = ) ( Z
{ }
aT
e z
k x
= ) ( Z
Ham truyen cua he ri rac Ham truyen cua he ri rac
Tnh ham truyen t phng trnh sai phan Tnh ham truyen t phng trnh sai phan
(k) (k)
He ri rac
y(k) u(k)
Quan he vao ra cua he ri rac co the mo ta bang phng trnh
= + + + + + + +

) ( ) 1 ( ... ) 1 ( ) (
1 1 0
k y a k y a n k y a n k y a
n n
g p g
sai phan
1 1 0
y y y y
n n
) ( ) 1 ( ... ) 1 ( ) (
1 1 0
k u b k u b m k u b m k u b
m m
+ + + + + + +

trong o n>m, n goi la bac cua he thong ri rac
Bien oi Z hai ve phng trnh tren ta c:
trong o n>m, n goi la bac cua he thong ri rac
= + + + +

) ( ) ( ... ) ( ) (
1
1
1 0
z Y a z zY a z Y z a z Y z a
n n
n n
) ( ) ( ) ( ) (
1
U b U b U b U b
m m
+ + + +

) ( ) ( ... ) ( ) (
1 1 0
z U b z zU b z U z b z U z b
m m
+ + + +

Tnh ham truyen t phng trnh sai phan Tnh ham truyen t phng trnh sai phan
Lap t so Y( )/U( ) ta c ham tr en c a he ri rac: Lap t so Y(z)/U(z) , ta c ham truyen cua he ri rac:
m m
m m
b z b z b z b z Y
z G
+ + + +
= =

1
1
1 0
... ) (
) (
n n
n n
a z a z a z a z U
z G
+ + + +
= =
1
1
1 0
... ) (
) (
Ham truyen tren co the bien oi tng ng ve dang:
n
n
n
n
m
m
m
m
m n
z a z a z a a
z b z b z b b z
z U
z Y
z G
+

+ + + +
+ + + +
= =
1
1
1
1 0
1
1
1
1 0
) (
...
] ... [
) (
) (
) (
Tnh ham truyen t phng trnh sai phan Tnh ham truyen t phng trnh sai phan - - Th du Th du
Tnh ham truyen cua he ri rac mo ta bi phng trnh sai phan: Tnh ham truyen cua he ri rac mo ta bi phng trnh sai phan:
) ( ) 2 ( 2 ) ( 3 ) 1 ( 5 ) 2 ( 2 ) 3 ( k u k u k y k y k y k y + + = + + + + +
Giai: Bien oi Z hai ve phng trnh sai phan ta c:
) ( ) ( 2 ) ( 3 ) ( 5 ) ( 2 ) (
2 2 3
z U z U z z Y z zY z Y z z Y z + = + + ) ( ) ( ) ( ) ( ) ( ) (
1 2 ) (
) (
2 3
2
+
= =
z z Y
z G
3 5 2 ) (
) (
2 3
+ + z z z z U
z G
2 1
) 2 ( ) (
) (

+
= =
z z z Y
z G
3 2 1
3 5 2 1 ) (
) (

+ +
= =
z z z z U
z G

Tnh ham truyen cua he ri rac t s o khoi Tnh ham truyen cua he ri rac t s o khoi
Cau hnh thng gap cua cac he thong ieu khien ri rac:
G
C
(z)
Y(s)
+
T
G(s) ZOH
R(s)
Cau hnh thng gap cua cac he thong ieu khien ri rac:
H(s) ( )
Ham truyen kn cua he thong:
) ( ) ( ) (
) (
z G z G z Y
z G
C
k
= =
) ( ) ( 1 ) (
) (
z GH z G z R
C
k
+
trong o:
) (z G
C
: ham truyen cua bo ieu khien, tnh t phng trnh sai phan
`
=

s G
z z G
) (
) 1 ( ) (
1
Z
`
=

s H s G
z z GH
) ( ) (
) 1 ( ) (
1
Z
) (z G
C
: ham truyen cua bo ieu khien, tnh t phng trnh sai phan
)
`
s
) ( ) (
)
`
s
) ( ) (
Tnh ham truyen cua he ri rac t s o khoi. Th du 1 Tnh ham truyen cua he ri rac t s o khoi. Th du 1
Tnh ham truyen kn cua he thong: Tnh ham truyen kn cua he thong:
Y(s)
+
G(s) ZOH
R(s)
5 . 0 = T 5 . 0
2
3
) (
+
=
s
s G
)
`
=

s
s G
z z G
) (
) 1 ( ) (
1
Z
Giai:
)
`
+
=

) 2 (
3
) 1 (
1
s s
z Z
)
s
) )( 1 (
) 1 (
2
3
) 1 (
5 . 0 2
5 . 0 2
1

=
e z z
e z
z
)
+ ) 2 (s s
) )( 1 ( 2 e z z
) 1 (
aT
e z a

Z
368 0
948 . 0
) ( = z G

) )( 1 ( ) (
aT
e z z a s s

=
)
`
+
Z
368 . 0
) (
z
948 . 0
) ( 1
) (
) (
z G
z G
z G
k
+
=
368 0
948 . 0
1
368 . 0
+

=
z
368 . 0 z
948 . 0
) ( = z G
k
580 . 0
) (
+ z
z G
k
Y(s)
+
G(s) ZOH
R(s)
5 0 = T 5 . 0 = T
H(s)
3
3
) (
+
=

s
e
s G
s
(s)
1
1
) (
+
=
s
s H
Biet rang:
3 + s 1 + s
Giai:
H k h h Ham truyen kn cua he thong:
) (
) (
z G
z G
k
=
) ( 1
) (
z GH
z G
k
+

) (
3
s
)
`
= -

s
s G
z z G
) (
) 1 ( ) (
1
Z

) 3 (
3
) (
+
=

s
e
s G
s
)
`
+
=

) 3 (
3
) 1 (
1
s s
e
z
s
Z
) )( 1 (
) 1 (
) 1 (
5 . 0 3
5 . 0 3
2 1

=
e z z
e z
z z
) 223 0 (
777 . 0
) (
2
=
z z
z G
aT
aT
e z z
e z
a s s
a
) )( 1 (
) 1 (
) (

=
)
`
Z
) 223 . 0 (z z
s Ts
e e z
5 . 0
= =

H G ) ( ) (
s
)
`
= -

s
s H s G
z z GH
) ( ) (
) 1 ( ) (
1
Z

3e
s
1
) 3 (
3
) (
+
=

s
e
s G
s
) (
2 1
+ B Az z
)
`
+ +
=

) 1 )( 3 (
3
) 1 (
1
s s s
e
z Z
) 1 (
1
) (
+
=
s
s H
) )( )( 1 (
) (
) 1 ( 3
5 . 0 1 5 . 0 3
2 1

+
=
e z e z z
B Az z
z z
0673 0
) 1 ( 3 ) 1 (
5 . 0 5 . 0 3

e e
A
) )( )( 1 (
) (
) )( (
1
e z e z z
B Az z
b s a s s
bT aT

+
=
)
`
+ +

Z
0346 0
) 1 ( ) 1 ( 3
0673 . 0
) 3 1 ( 3
) ( ) (
5 . 0 3 5 . 0 5 . 0 5 . 0 3

=
=

e e e e
B
A
) 1 ( ) 1 (
) (
) 1 ( ) 1 (
e be e ae
a b ab
e a e b
A
aT bT bT aT
bT aT

=

0346 . 0
) 3 1 ( 3
) ( ) (
=
= B
104 . 0 202 . 0
) (
+
=
z
z GH
) (
) 1 ( ) 1 (
a b ab
e be e ae
B
) 607 . 0 )( 223 . 0 (
) (
2

=
z z z
z GH
k h h Ham truyen kn cua he thong:
) ( G
) (
777 . 0
2
) ( 1
) (
) (
z GH
z G
z G
k
+
=
) 607 0 )( 223 0 (
104 . 0 202 . 0
1
) 223 . 0 (
2
2

+
+

=
z z z
z
z z
) 607 . 0 )( 223 . 0 ( z z z
) 607 . 0 ( 777 . 0
) (

=
z
z G
k
777 . 0
) ( = z G
104 . 0 202 . 0 135 . 0 83 . 0
) (
2 3 4
+ + +
=
z z z z
z G
k
104 . 0 202 . 0
) (
) 223 . 0 (
) (
2
2
+
=
z
z GH
z z
z G
) 607 . 0 )( 223 . 0 (
) (
2
z z z
G
G
C
(z)
Y(s)
+
T 0 2
G(s) ZOH
R(s) e(k) u(k)
T=0.2
H(s)
2 . 0
5
) (
e
G
s
1 0 ) ( H
Biet rang:
H(s)
2
5
) (
s
e
s G = 1 . 0 ) ( = s H
Biet rang:
Bo ieu khien Gc(z) co quan he vao ra mo ta bi phng trnh:
) 1 ( 2 ) ( 10 ) ( = k e k e k u
Giai: Giai:
) ( ) ( G G
) ( ) ( 1
) ( ) (
) (
z GH z G
z G z G
z G
C
C
k
+
=
Ta co:
) 1 ( 2 ) ( 10 ) ( = k e k e k u ) ( ) ( ) (
) ( 2 ) ( 10 ) (
1
z E z z E z U

=
1
2 10
) (
) (
) (

= = z
z E
z U
z G
C


s G ) (
2 0 s
)
`
= -

s
s G
z z G
) (
) 1 ( ) (
1
Z

2 . 0
5e
s
2
2 . 0
5
) (
s
e
s G
s
=
2
) 1 ( ) 2 0 ( + z z
) 1 ( 1 0 + z
)
`
=

3
1
5
) 1 (
s
e
z Z
3
1 1
) 1 ( 2
) 1 ( ) 2 . 0 (
) 1 ( 5
+
=

z
z z
z z
2
) 1 (
) 1 ( 1 . 0
) (
+
=
z z
z
z G

s H s G ) ( ) (
)
`
= -

s
s H s G
z z GH
) ( ) (
) 1 ( ) (
1
Z
1 . 0 ) ( = s H
`
s G ) (
) 1 ( 1 0
1
z
z z T
s
3
2
3
) 1 ( 2
) 1 ( 1
+
=
)
`
Z )
`
=

s
s G
z
) (
) 1 ( 1 . 0
1
Z
) 1 ( 01 . 0
) (
+
=
z
z GH

s Ts
e e z
2 . 0
= =
2
) 1 (
) (
=
z z
z GH
k h h Ham truyen kn cua he thong:
) ( ) ( G G
(
+
(

2
) 1 (
) 1 ( 1 . 0
.
2 10 z z
) ( ) ( 1
) ( ) (
) (
z GH z G
z G z G
z G
C
C
k
+
=
(
+
(

+
(
=
2
2
) 1 (
) 1 ( 01 . 0
.
2 10
1
) 1 (
z z
z
z
z
z z z

(
) 1 (z z z
2 . 0 8 . 0
) (
2
+
=
z z
z G
1
) 1 ( 1 . 0
) (
2 10 ) (
+
=

z
G
z z G
C
02 . 0 08 . 0 1 . 1 2
) (
2 3 4
+ +
=
z z z z
z G
k
2
) 1 ( 01 . 0
) (
) 1 (
) (
) (
+
=
=
z
z GH
z z
z G
2
) 1 (
) (
=
z z
z GH
Phng trnh trang thai Phng trnh trang thai
Khai niem Khai niem
Phng trnh trang thai (PTTT) cua he ri rac la he phng trnh Phng trnh trang thai (PTTT) cua he ri rac la he phng trnh
sai phan bac 1 co dang:
) ( ) ( ) 1 ( k k k B A
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k y
k r k k
d
d d
x C
B x A x
trong o:
(
(
n
a a a .
1 12 11
(
(
b
b
1
g
(
(
) (
) (
1
k
k x
(
(
(
(
=
n
d
a a a
. . .
.
2 22 21
A
(
(
(
(
=
d
b
b
.
2
B
(
(
(
(
=
) (
) (
) (
2
k
k x
k
.
x
(
nn n n
a a a .
2 1
(
n
b
| | c c c = C
(
) (k x
n
| |
n d
c c c .
2 1
= C
Thanh lap PTTT t phng trnh sai phan (PTSP) Thanh lap PTTT t phng trnh sai phan (PTSP)
Trng Trng hp hp 11:: Ve phai cua PTSP khong cha sai phan cua tn Trng Trng hp hp 11:: Ve phai cua PTSP khong cha sai phan cua tn
hieu vao
) ( ) ( ) 1 ( ... ) 1 ( ) (
0 1 1 0
k u b k y a k y a n k y a n k y a = + + + + + + + ) ( ) ( ) 1 ( ... ) 1 ( ) (
0 1 1 0
k u b k y a k y a n k y a n k y a
n n
+ + + + + + +

at bien trang thai theo qui tac:
Bi i b hi Bien au tien at bang tn hieu ra;
Bien th i (i=2..n) at bang cach lam sm bien th i1 mot
chu ky lay mau y y
) 1 ( ) (
) ( ) (
1 2
1
+ =
=
k x k x
k y k x
) 1 ( ) (
2 3
+ = k x k x
.
) 1 ( ) (
1
+ =

k x k x
n n
Thanh lap PTTT t PTSP Thanh lap PTTT t PTSP
Trng hp 1 (tt) Trng hp 1 (tt)
+ = +
) ( ) (
) ( ) ( ) 1 (
k k
k r k k
d d
C
B x A x
Phng trnh trang thai:
= ) ( ) ( k k y
d
x C
trong o:
(
(
(
(
(
0 1 0 0
0 0 1 0
. . . .
.
.
(
(
(
(
0
0
.
(
(
(
) (
) (
1
k x
k x
(
(
(
(
=
1 2 1
1 0 0 0
a a a a
n n n
d
.
. . . .
A
(
(
(
(
=
0
0
b
d
.
B
(
(
(
=
) (
) (
) (
2
k x
k x
k
.
x
(
(

0
1
0
2
0
1
0
a a a a
n n n
.
(
(
0
0
a
| | 0 0 0 1 C

) (k x
n
| | 0 0 0 1 . =
d
C
Th du trng hp 1 Th du trng hp 1 Th du trng hp 1 Th du trng hp 1
Viet PTTT mo ta he thong co quan he vao ra cho bi PTSP sau:
) ( 3 ) ( 4 ) 1 ( 5 ) 2 ( ) 3 ( 2 k u k y k y k y k y = + + + + + +
+ =
=
) 1 ( ) (
) ( ) (
1 2
1
k x k x
k y k x
at cac bien trang thai:
+ = ) 1 ( ) (
2 3
k x k x
+ = + ) ( ) ( ) 1 ( k r k k
d d
B x A x
(
(
(
(
(
=
(
(
(
(
= 0
0
0
0
B
trong o:

= ) ( ) ( k k y
d
x C
(
(
(
=
(
(
(
(
(
=
5 0 5 2 2
1 0 0
0 1 0
1 0 0
0 1 0
1 2 3
a a a
d
A
(
(
=
(
(
(
(
=
5 . 1
0 0
0
0
a
b
d
B
(

(
(

5 . 0 5 . 2 2
0
1
0
2
0
3
a a a
| | 0 0 1 =
d
C
Trng Trng hp hp 22:: Ve phai cua PTSP co cha sai phan cua tn hieu Trng Trng hp hp 22:: Ve phai cua PTSP co cha sai phan cua tn hieu
vao
= + + + + + + +

) ( ) 1 ( ... ) 1 ( ) (
1 1 0
n n
) ( ) 1 ( ... ) 2 ( ) 1 (
1 2 1 0
k u b k u b n k u b n k u b
n n
+ + + + + + +
Bien au tien at bang tn
) ( ) (
1
k y k x =
g
hieu ra
Bien th i (i=2..n) at bang
cach lam sm bien th i1
) ( ) 1 ( ) (
) ( ) 1 ( ) (
2 2 3
1 1 2
k r k x k x
k r k x k x
+ =
+ =
|
|
cach lam sm bien th i 1
mot chu ky lay mau va tr 1
lng t le vi tnh hieu vao
) ( ) 1 ( ) (
1 1
k r k x k x
n n n
+ = |
.
+ = +
) ( ) (
) ( ) ( ) 1 (
k k
k r k k
d d
C
B x A x
= ) ( ) ( k k y
d
x C
trong o:
(
0 0 1 0
(
(
(
(
0 1 0 0
0 0 1 0
. . . .
.
.
(
(
(
(
|
|
2
1
(
(
(
) (
) (
2
1
k x
k x
(
(
(
(
(

=
1 2 1
1 0 0 0
a a a a
n n n
d
.
. . . .
A
(
(
(
(
=
n
d
|
|
1
. B
(
(
(
=
) (
) (
) (
2
k x
k x
k
n
.
x
(
(
0 0 0 0
a a a a
.
(
n
|
| | 0 0 0 1 C

) (
n
| | 0 0 0 1 . =
d
C
Trng hp 2 (tt) Trng hp 2 (tt) Trng hp 2 (tt) Trng hp 2 (tt)
Cac he so | trong vector B
d
xac nh nh sau:
b
0
0
1
b
a
b
|
| =
0
1 1 1
2
a a b
a
a b
| |
|
|

=
0
1 2 2 1 2
3
a
a a b | |
|

=
.
0
1 1 2 2 1 1 1
a
a a a b
n n n n
n
| | |
|

=
.
.
0
a
Th du trng hp 2 Th du trng hp 2 Th du trng hp 2 Th du trng hp 2
Viet PTTT mo ta he thong co quan he vao ra cho bi PTSP sau:
) ( 3 ) 2 ( ) ( 4 ) 1 ( 5 ) 2 ( ) 3 ( 2 k u k u k y k y k y k y + + = + + + + + +
+ =
=
) ( ) 1 ( ) (
) ( ) (
1 1 2
1
k r k x k x
k y k x
|
at cac bien trang thai:
+ = ) ( ) 1 ( ) (
2 2 3
k r k x k x |
+ = + ) ( ) ( ) 1 ( k u k k
d d
B x A x
(
(
(
(
1
|
trong o:

= ) ( ) ( k k y
d
x C
(
(
(
=
(
(
(
(
(
=
5 0 5 2 2
1 0 0
0 1 0
1 0 0
0 1 0
1 2 3
a a a
d
A (
(
(
=
3
2
|
|
d
B
(

(
(

5 . 0 5 . 2 2
0
1
0
2
0
3
a a a
| | 0 0 1 =
d
C
Th du trng hp 2 (tt) Th du trng hp 2 (tt) Th du trng hp 2 (tt) Th du trng hp 2 (tt)
Cac he so cua vector B
d
xac nh nh sau:
1 b

= = =
5 0 1 0
5 . 0
2
1
0
0
1
a b
a
b
|
|
=

=

=
=
= =
375 0
5 . 0 5 ) 25 . 0 ( 1 3
25 . 0
2
5 . 0 1 0
1 2 2 1 2
0
1 1 1
2
a a b
a
a b
| |
|
|
|
= = = 375 . 0
2
0
3
a
|
(
5 0
(
(
(
=
375 0
25 . 0
5 . 0
d
B
(
375 . 0
Thanh lap PTTT t PTSP dung phng phap toa o pha Thanh lap PTTT t PTSP dung phng phap toa o pha
Xet he ri rac mo ta bi phng trnh sai phan Xet he ri rac mo ta bi phng trnh sai phan
= + + + + + + +

) ( ) 1 ( ... ) 1 ( ) (
1 1 0
n n
) ( ) 1 ( ... ) 1 ( ) (
1 1 0
k u b k u b m k u b m k u b
m m
+ + + + + + + ) ( ) ( ) ( ) (
1 1 0 m m
Bien trang thai au tien la nghiem cua phng trnh:
) ( ) ( ) 1 ( ) 1 ( ) (
1
0
1
0
1
1
0
1
1
k u k x
a
a
k x
a
a
n k x
a
a
n k x
n n
= + + + + + + +

) 1 ( ) (
1 2
+ = k x k x
Bien th i (i=2..n) at bang cach lam sm bien th i1 mot
chu ky lay mau:
) ( ) (
) 1 ( ) (
2 3
+ =
k k
k x k x
.
) 1 ( ) (
1
+ =

k x k x
n n
Thanh lap PTTT t PTSP dung phng phap toa o pha Thanh lap PTTT t PTSP dung phng phap toa o pha
+ + ) ( ) ( ) 1 ( k k k B A
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k y
k u k k
d
d d
x C
B x A x
trong o:
(
(
0 0 1 0 .
(
(
0
(
) (k
(
(
(
(
=
0 1 0 0
d
. . . .
.
A
(
(
(
(
=
0
.
d
B
(
(
(
(
=
) (
) (
) (
2
1
k x
k x
k
.
x
(
(
(
(

0
1
0
2
0
1
0
1 0 0 0
a
a
a
a
a
a
a
a
n n n
.
.
(
(
(
1
0
(
(
) (k x
n
.
0 0 0 0
(
(
=

0 0
0 1
b b b
m m
d
C
(
0 0
0 0 0
. .
a a a
d
C
Th du thanh lap PTTT t PTSP dung PP toa o pha Th du thanh lap PTTT t PTSP dung PP toa o pha
Viet PTTT mo ta he thong co quan he vao ra cho bi PTSP sau: Viet PTTT mo ta he thong co quan he vao ra cho bi PTSP sau:
) ( 3 ) 2 ( ) ( 4 ) 1 ( 5 ) 2 ( ) 3 ( 2 k u k u k y k y k y k y + + = + + + + + +
at bien trang thai theo phng phap toa o pha ta c phng at bien trang thai theo phng phap toa o pha, ta c phng
trnh trang thai:
+ = +
) ( ) (
) ( ) ( ) 1 (
k k
k u k k
d d
C
B x A x
(
trong o:
= ) ( ) ( k k y
d
x C
(
(
(
=
(
(
(
(
(
=
5 0 5 2 2
1 0 0
0 1 0
1 0 0
0 1 0
1 2 3
a a a
d
A
(
(
(
=
1
0
0
d
B
(

(
(

5 . 0 5 . 2 2
0
1
0
2
0
3
a a a
(
1
| | 5 0 0 5 1
0 1 2
(
(
b b b
C
| | 5 . 0 0 5 . 1
0
0
0
1
0
2
=
(
=
a a a
d
C
Thanh lap PTTT he ri rac t PTTT he lien tuc Thanh lap PTTT he ri rac t PTTT he lien tuc
Thanh lap PTTT mo ta he ri rac co s o khoi: Thanh lap PTTT mo ta he ri rac co s o khoi:
y(t)
+
G(s) ZOH
r(t)
T
e
R
(t) e(kT) e(t)
T
Bc 1: Thanh lap PTTT mo ta he lien tuc (h):
y(t) e
R
(t)

+ = ) ( ) ( ) ( t e t t B Ax x
`
y( )
G(s)
R
( )
=
+
) ( ) (
) ( ) ( ) (
t t y
t e t t
R
Cx
B Ax x
Bc 2: Tnh ma tran qua o Bc 2: Tnh ma tran qua o
)] ( [ ) (
1
s t u = u

L
( )
1
) (
-
s s A I = u
vi
Thanh lap PTTT he ri rac t PTTT he lien tuc Thanh lap PTTT he ri rac t PTTT he lien tuc
Bc 3: Ri rac hoa PTTT mo ta he lien tuc (h):
G(s) ZOH
e(kT) y(kT)
G(s) ZOH
u = A
d
T) (
vi
=
+ = +
) ( ) (
) ( ) ( ] ) 1 [(
kT kT y
kT e kT T k
d
R d d
x C
B x A x
u =
}
B
T
d
d
Bd
0
) (
) (
t t
= C C
d
Bc 4: Viet PTTT mo ta he ri rac kn (vi tn hieu vao la r(kT)) Bc 4: Viet PTTT mo ta he ri rac kn (vi tn hieu vao la r(kT))
| |
+ = + ) ( ) ( ] ) 1 [( kT r kT T k
d d d d
B x C B A x
= ) ( ) ( kT kT y
d
x C
Th du thanh lap PTTT he ri rac t PTTT he lien tuc Th du thanh lap PTTT he ri rac t PTTT he lien tuc
Thanh lap PTTT mo ta he ri rac co s o khoi: Thanh lap PTTT mo ta he ri rac co s o khoi:
y(t)
+
ZOH
r(t)
T
e
R
(t) e(kT) e(t)
1 1
K
x
2
x
1
T
s a s +
Vi a = 2, T = 0.5, K = 10
Gi i
y(t) e
R
(t)
s
1
2
1
+ s
10
x
2
x
1
Bc 1:
Giai:
s
s X
s X
) (
) (
2
1
=
) ( ) (
2 1
s X s sX =
) ( ) (
2 1
t x t x = `
2
) (
) (
2
+
=
s
s E
s X
R
) ( ) ( ) 2 (
2
s E s X s
R
= +
) ( ) ( 2 ) (
2 2
t e t x t x
R
+ = `
) (
1
0
) (
) (
2 0
1 0
) (
) (
2
1
2
1
t e
t x
t x
t x
t x
R
(
+
(
=
(
_
`
`

B
A
_
| |
(
(
= =
) (
0 10 ) ( 10 ) (
1
1
t x
t x t y
| |
(
) (
0 10 ) ( 10 ) (
2
1
t x
t x t y
_
C
Bc 2: Tnh ma tran qua o Bc 2: Tnh ma tran qua o
( )
1 1
1
2 0
1
2 0
1 0
1 0
0 1
) (

|
|
.
|
\
|
(
=
|
|
.
|
\
|
(
= = u
s
s
s s s
-
A I
. \

. \

(
(
(
+
=
(
+
=
1
) 2 (
1 1
0
1 2
) 2 (
1
s s s
s
(
(
(
+
(
+
2
1
0
0 ) 2 (
s
s s s
(
`

(
1 1
1 1
1 1
L L
(
(
(
(
)
`
)
`
+
)
`
(
(
(
(
+
= u = u

1
0
) 2 (
1 1
2
1
0
) 2 (
1 1
)] ( [ ) (
1
1 1
1 1
s s s
s s s
s t
L
L L
L L
(
)
`
+
2
2
s
s
(
(
(

= u
t
e
t
2
) 1 (
2
1
1
) (

(
(
u
t
e
t
2
0
2
) (
Bc 3: Ri rac hoa

+ = + ) ( ) ( ] ) 1 [( kT e kT T k B x A x
Bc 3: Ri rac hoa
PTTT cua he lien tuc

=
+ = +
) ( ) (
) ( ) ( ] ) 1 [(
kT kT y
kT e kT T k
d
R d d
x C
B x A x
( (
1 1
(
=
(
(

=
(
(

= u =

=
368 . 0 0
316 . 0 1
0
) 1 (
2
1
1
0
) 1 (
2
1
1
) (
5 . 0 2
5 . 0 2
2
2
e
e
e
e
T
T t
t
t
d
A
} } }
(
(
(
(

= u =
T T T
d
d
e
e
d
e
e
d
0
2
2
0
2
2
0
) 1 (
2
1
1
0
0
) 1 (
2
1
1
) ( t t t t
t
t
t
t
B B

e e 0
(
(
(
(
(
|
|
.
|
\
|
+
(
(
(
|
|
.
|
\
|
+

092 . 0
2
1
2 2
5 . 0
2 2
2 2
5 . 0 2
2
2
e e
T
t
t
(
=
(
(
(
+
. \
=
(
(
(

. \
=

316 . 0
2
1
2
2 2 2
2
2 2
5 . 0 2
0
2
e e
t
| | 0 10 = = C C
d
Bc 4: PTTT ri rac mo ta he kn Bc 4: PTTT ri rac mo ta he kn
| |
+ = +
) ( ) (
) ( ) ( ] ) 1 [(
kT kT
kT r kT T k
d d d d
x C
B x C B A x
= ) ( ) ( kT kT y
d
x C
| | | |
(
(
(
(
(
(
316 . 0 080 . 0
0 10
092 . 0 316 . 0 1
C B A
vi
| | | |
(
=
(
=
368 . 0 160 . 3
0 10
316 . 0 368 . 0 0
d d d
C B A
vi
) (
092 . 0 ) ( 316 . 0 080 . 0 ) 1 (
1 1
k
k x k x
(
(
(
(
(
(
(
(
+
Vay phng trnh trang thai cua he ri rac can tm la:
) (
316 . 0 ) ( 368 . 0 160 . 3 ) 1 (
2
1
2
1
k r
k x k x
(
+
(
=
(
+
| |
(
(
) (
0 10 ) (
1
k x
k y
| |
(
=
) (
. 0 10 ) (
2
k x
k y
Tnh ham truyen t PTTT Tnh ham truyen t PTTT
Cho he ri rac mo ta bi PTTT Cho he ri rac mo ta bi PTTT
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k y
k u k k
d d
x C
B x A x
= ) ( ) ( k k y
d
x C
Ham truyen cua he ri rac la: Ham truyen cua he ri rac la:
d d d
z
U
z Y
z G B A I C
1
) (
) (
) (
) (

= =
z U ) (
Th du tnh ham truyen t PTTT Th du tnh ham truyen t PTTT
Tnh ham truyen cua he ri rac mo ta bi PTTT Tnh ham truyen cua he ri rac mo ta bi PTTT
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k y
k u k k
d
d d
x C
B x A x
) ( ) ( k k y
d
x C
(
=
1 0 7 0
1 0
d
A
(
=
2
0
d
B
| | 0 1 =
d
C
Giai: Ham truyen can tm la
(
1 . 0 7 . 0
(
2
d d d
z z G B A I C
1
) ( ) (

=
| |
(
(
|
|
|
|
(
(
(
(
=

0 1 0 0 1
0 1
1
z | |
(
|
|
.
\
(
=
2 1 . 0 7 . 0 1 0
0 1 z
2
) ( G

7 . 0 1 . 0
) (
2
+ +
=
z z
z G

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