Chng 1

L THUYT IU KHIN
PHI TUYN
Khu r le hai v tr Khu r le ba v tr
y=Y
m
sgn(u)
m
Y u n u |u| D
y
0 n u |u| D
>
=

<

sgn( )

Khu khuch i bo ha
m
Y u n u |u| D
y
Ku n u |u| D
>
=

s

sgn( )

Khu khuch i c vng cht

K[u D u ] n u |u| D
y
0 n u |u| D
>
=

<

sgn( )

Khu r le hai v tr
c tr
Khu r le ba v tr c tr
m
m
Y u n u |u| D
y
Y u n u |u| D
>

=

<

sgn( )
sgn( )

Khu khuch i bo ha c tr
V d 1
V d 2
V d 3
V d 1. H bn cha
Phng trnh vi phn m t h
t bin trng thi: x
1
(t) = y(t)
h(x(t),u(t)) = x
1
(t)
V d 2. Cnh tay my
Phng trnh vi phn m t h
t bin trng thi:
Xt h phi tuyn c m t bi h phng trnh trng thi phi tuyn
V d:
Gii:
V d1:
V d1:
V d 2:
V d 2:
V d 2:
Khu r le hai v tr
Khu r le ba v tr
Khu khuch i bo ha
Khu khuch i bo ha
Khu khuch i c vng cht
Khu khuch i c vng cht
Khu r le hai v tr c tr:
Khu r le hai v tr c tr:
Do hm m t ca khu r le hai v tr c tr:
V d:
V d:
Gii:
V d:
V d:
V d:
V d:
S dng phng php tuyn tnh ha Lyapunov, hy cho
bit tnh n nh ca h thng ti cc im cn bng.
2
1
1 2
1
sin 1
( ( ), ( )) 5
5
( ( ), ( ))
x
x
f x t u t
x x u
h x t u t x
t
| |

=
\ .

=
Cho h thng phi tuyn c m t bi phng trnh trng
thi sau:
Trong :
Gii: tm im cn bng ta cho u(t) = 0 v gii h phng
trnh sau: 2
1 1
2 1 2
x
x =x sin -1 =0
5
x =5x -x =0
| |
|
\ .

1a
2a
x 0
x 0
=
=
1b
2b
x =0.5
x =2.5
H phng trnh c hai nghim, do vy h phi tuyn c 2 im
cn bng a v b nh sau:
Xc nh m hnh ton hc tuyn tnh ha ca h thng ti im cn
bng s dng phng php tuyn tnh ha ca Lyapunov.
- V d
H tuyn tnh ha c dng:
- V d
1 1
2 2
1 2 1
2 2
,
1 2
,
1
sin 1 cos
5 5 5
5 1
x x u u
x x u u
f f
x x
x x x
f f
x x
t t
t
= =
= =
c c
(
(
| |
(
c c
| (
(
= =
\ .
(
c c (
(
(
c c

A
1
2
,
0
1
x x u u
f
u
f
u
= =
c
(
(
(
c
= =
(
(
c
(
(
c
B | |
1 2
,
1 0
x x u u
h h
x x
= =
(
c c
= =
(
c c

C
1
1 ,
0
x x u u
h
u
= =
c
= =
c
D
H thng ny c cc h s B, C, D khng ph thuc vo cc im
cn bng
Ti im cn bng a : ma trn A c dng:
- V d
2 2
1
x=0,u=0
x x 1
sin -1 x cos -1 0
A== = 5 5 5
5 -1
5 -1
(
| |
(
| (
\ .
(
(

(

0
, 0
0
| |
(
|
(

\ .
Vy m t ton hc tuyn tnh ha ti im cn bng a l:
| |
-1 0 0
x= x+ u
5 -1 1
y= 1 0 x
( (
( (

( )
2
1 0 -1 0 s+1 0
det sI-A =det s - =det =s +2s+1
0 1 5 -1 -5 s+1
| |
( ( (
|
( ( (

\ .
a thc c trng ca h tuyn tnh ha:
H tuyn tnh ha n nh nn h phi tuyn n nh tim cn ti im a
Ti im cn bng b : ma trn A c dng:
- V d
0, 5
, 0
2, 5
| |
(
|
(

\ .
Vy m t ton hc tuyn tnh ha ti im cn bng a l:
| |
0 0 0
x= x+ u
5 -1 1
y= 1 0 x
( (
( (

a thc c trng ca h tuyn tnh ha:
(*) c mt nghim bng 0 nn h tuyn tnh ha bin gii n nh.
Theo Lyapunov, khng kt lun c tnh n nh ca h phi tuyn.
2 2
1
0,5
x= ,u=0
2,5
x x 1
sin -1 x cos 0 0
A= = 5 5 5
5 -1
5 -1 (
(

(
| |
(
| (
\ .
(
(

(

( )
2
1 0 0 0 s 0
det sI-A =det s - =det =s +s (*)
0 1 5 -1 -5 s+1
| |
( ( (
|
( ( (

\ .