CHNG 1: NHNG KHI NIM C BN

CA IU KHIN S

1.1 nh ngha h thng iu khin s

H thng iu khin lin tc: tt c cc tn
hiu truyn trong h thng u l cc tn
hiu lin tc.
H thng iu khin s: c t nht mt tn
hiu truyn trong h thng l tn hiu
xung, s.

V d h thng iu khin lin tc

iu khin tc Ml
PI
lin tc

R
(-)

uk

S khi h thng iu khin lin tc

x(t)

e(t)

u(t)

TBK

TK

y(t)

(-)

S khi h thng iu khin s

e*

x*
(-)

TBK
s

u*

D/A

y*
A/D
my tnh

TK

y(t)
TBK s: phn mm
My tnh: h thng
vi x l, vi iu
khin, PC,

H thng iu khin s Ml

D/A

uk

A/D

e*

x*
(-)

TBK
s

u*

D/A

y*(t)
A/D
my tnh

TK

y(t)

H thng iu khin lin tc Ml

PI
lin tc

uk

(-)

x(t)

e(t)
(-)

TBK

u(t)

TK

y(t)

 H thng iu khin lin tc: phn cng. S

nguyn l ca h thng v s khi tng t nh
nhau.
H thng iu khin s: phn mm. S khc nhau
gia nguyn l ca h thng v s khi. Nhc n
h thng iu khin s l ni n c phn cng v phn
mm.
Chc nng ca my tnh: tnh ton, xc nh cc tn
hiu x l tn hiu s
e*

x*
(-)

TBK
s

u*

D/A

y*(t)
A/D
my tnh

TK

y(t)

1.2 Ly mu (lng t ha) tn hiu

3 nguyn tc lng t ha
1. Lng t ha theo thi gian: Ly mu tn hiu vo nhng thi im
nh trc, cch u nhau mt chu k ly mu T. Gi tr thu c l
nhng gi tr ca tn hiu ti thi im ly mu.
f(t)

0T

V d: o mc nc sng.
o ma kh. o ma nc
dng

1T

2T

3T

4T

5T

6T

7T

2. Lng t ha theo mc: Lng t ha tn hiu khi tn hiu t nhng gi tr

nh trc.
f(t)

t
V d: o mc nc sng theo mc bo ng

3. Lng t ha hn hp: Ly mu tn hiu vo nhng thi im nh

trc, cch u nhau mt chu k ly mu T. Gi tr thu c bng
mc nh trc, c sai s b nht so vi gi tr thc ca tn hiu ti
thi im ly mu.

f(t)

V d c s o

0T

1T

2T

3T

4T

5T

6T

7T

Trong k thut, i a s cc trng hp u

s dng phng php lng t ha theo thi
gian.
Ch xt n lng t ha theo thi gian
vi chu k ly mu T

1.3 Nguyn l cu trc cc b bin i tn hiu

1. B bin i D/A
Chc nng: bin i tn hiu s thnh tn hiu lin tc

4 bit

0
1
0
1

f*

D/A

Nguyn l cu trc

4R

2R

2n R
u2

u1

ur

un
-uref

a1

a2

an

ui = -aiuref
n au
ui
i ref
ur = R i = i
2
i =1 2 R
i =1
uref
uref n
n i
= n ( a1 2n 1 + a2 2n 2 + + an 1 21 + an 20 )
= n ai 2
2
2 i =1
n

 S lng bit n.
Gi tr cc i in p u ra urmax
phn gii
tuyn tnh
Tn s lm vic

uref
2n

ur max = uref

2n 1
2n

2. B bin i A/D
Chc nng: bin i tn hiu lin tc thnh tn hiu s

A/D

f*

Nguyn l cu trc
CLK

B m
a1
an
D/A
Tnh phc tp
-

Tc

+
f

Gi thnh

1.4 Vn chuyn i tn hiu

1. A/D
f

f(t)
f*

A/D

f*
f

f*

0T

1T

2T

3T

4T

5T

6T

7T

Nhc li hm bc thang n v v xung Dirac

0 t < 0
1(t ) =
1 t 0

d1(t )
(t ) =
dt
0 t 0
(t ) =
t = 0

(t)

(t)

S(t) = 1
1

SK(t) = K
K

f(t)

f2
f1
0T

1T

2T

3T

4T

5T

6T

7T

nh l Nyquist: Chu k ly mu T ca b bin i A/D phi c gi tr

1
T
2 f max
trong fmax l tn s cc i ca sng iu ha hnh sin tn hiu u vo.

V d: f(t) = cos2(100t)

Tmax = ?

1 + cos(2.100 t )
cos 100 t =
1
1
f max = 100[ Hz ] Tmax =
= 0.005[ s ]
200
2

T=0.01

0.8

0.6

0.4

0.2

0.005

0.01

0.015

0 .0 2

Cho tn hiu
f(t)
1
Tmax = ?
0

0.5

1.0

1.5

2.0

1
4
f (t ) = +
sin[(2n 1)2 t ]
2 n =1 (2n 1)

1
=0
n 2( 2n 1)

Tmax = lim

!!!!!

 Lc tn hiu

f(t)

B lc thng thp

fL(t)

A/D

Nmax

1 Nmax
4
sin [ (2n 1)2 t ]
f (t ) = +
2 n =1 (2n 1)

Tmax =
Sai s ???

1
2(2 N max 1)

fL*(t)

2.5

2.5

1.5

1.5

0.5

0.5

-0.5
0

0.2

0.4

0.6

0.8

1.2

Nmax = 40

1.4

1.6

1.8

-0.5
0

0.2

0.4

0.6

0.8

1.2

1.4

Nmax = 50

1.6

1.8

V d: ng c in mt chiu

K
c p +1

X(p)

Modun
Pha

Y(p)

Y*(p)

K
K c
=
A( ) = G ( j ) =
c j + 1
2 + (1 / c2 )

( ) = arctg( c )
L()=20lgA()
[dB]
20lgK

-20dB/dec

fc = 1/2c

lg [dec]

f max =

Tmax = 0

2 f c < f max < 10 f c

1
1
< Tmax <
20 f c
4 fc

c
1
fc =
=
2 2 c

10

c < Tmax < c

2

!!!!!!!!

Tm tt
B bin i A/D lm chc nng ca mt khu ly mu
thay b bin i A/D bng mt khu ly mu.
nh l Nyquist.

2. D/A
f*

f*

D/A

Khu lu gi
bc 0 (H0)

f*

0T

1T

2T

3T

4T

5T

Khu lu gi bc khng l mt khu lin tc hay s ???

6T

7T

x(t)
x(t) =(t)

y(t)

H0(p)

y(t) =

1(t)

=
T

- 1(t-T)
-

X ( p ) = L{x(t )} = L{ (t )} = 1
1 e Tp
Y ( p ) = L{ y (t )} = L{1(t ) 1(t T )} =
p
p
Y ( p ) 1 e Tp
H 0 ( p) =
=
X ( p)
p

nh l Shannon: B bin i D/A ch c th ti to li cc tn hiu lin tc

c tn s b hn 1/2T, trong T l chu k ly mu ca b bin i.

Tm tt
B bin i D/A c thay bng khu ly mu ni tip vi khu lu
gi bc khng, c hm truyn t:

1 e Tp
H 0 ( p) =
p
nh l Shannon

CHNG 2: PHP BiN I Z

2.1 Tn hiu xung
f(t)

0T

1T

2T

3T

4T

5T

6T

7T

f (t ) [ f (k ) ] = f (kT ) (t kT )
k =0

2.2 nh ngha
Php bin i Laplace ca tn hiu lin tc

f (t ) F ( p ) = L{ f (t )} = f (t )e pt dt
0

Php bin i Laplace ca tn hiu ri rc

L

[ f (k )] F * ( p)

= L {[ f (k ) ]} = [ f (k ) ] e pt dt
0

= f (kT ) (t kT )e pt dt
0 k =0

= f (kT ) (t kT )e pt dt
k =0 0

k =0

= f (kT ) (t kT )e pt dt

F ( p)
*

= f (kT )L { (t kT )}
k =0

= f (kT )e kTp
k =0

Z {[ f (k ) ]} = F ( z ) = F * ( p )

1
p = ln z
T

= f (kT ) z k
k =0

:= Z { f (t )}

f (t ) [ f (k ) ] F ( z )

:= Z { F ( p )}

F ( p) f (t ) [ f (k ) ] F ( z )

V d: Xc nh php bin i Z ca hm 1(t)

k =0

k =0

Z {[1(k ) ]} = 1(kT ) z k = z k

= z 0 + z 1 + z 2 +

1 1
= 1 + + 2 +
z z
=

1
z
=
1 z 1 z 1

2.3 Tnh cht ca php bin i Z

1. Tuyn tnh

Z {a. f1 (k ) + b. f 2 (k )} = aF1 ( z ) + bF2 ( z )

2. Dch tri

Z { f (k m)} = z m F ( z )
3. Dch phi

Z { f (k + m)} = z

4. Gi tr u

1
F ( z ) f (iT ) z
i =0

f (0T ) = lim F ( z )
z

5. Gi tr cui

lim f (kT ) = lim( z 1) F ( z )

k

z 1

2.4 Tnh cht ca F*(p)

1. Dng biu din khc ca F*(p)

1 +
f (0)
F ( p ) = F ( p + jns ) +
T n =
2
*

2. Tun hon: F*(p) tun hon theo p vi chu k js. Trong s = 2/T

F ( p + jms ) = f (kT )e kT ( p + jms )

*

k =0

jkTms

=e

j 2 km

=1

F * ( p + jms ) = f (kT )e kTp = F * ( p )

k =0

3. im cc: Nu F(p) c im cc ti p = p1 th F*(p) s c cc im cc ti

p = p1 + jm s ; m = 0,1,2,

4. Sao ca sao
*

F * ( p) = F * ( p)
5. Sao ca u ra
X*(p)

G(p)

Y(p)

Y ( p ) = X * ( p).G ( p )
1 + *
Y ( p ) = X ( p ).G ( p ) = X ( p + jns )G ( p + jns )
T n =
*

Do

X * ( p + jns ) = X * ( p)

Nn

1 + *
Y ( p ) = X ( p + jns )G ( p + jns )
T n =
*

1 + *
= X ( p )G ( p + jns )
T n =
1 +
= X ( p ) G ( p + jns )
T n =
*

= X * ( p )G* ( p )
*

Y ( p ) = X ( p )G ( p ) = X * ( p )G* ( p )
*

Ch :

[ X ( p)G( p)]

X * ( p)G* ( p)

CHNG 3: HM TRUYN T CA
H THNG IU KHIN S

3.1 H thng h
Cho h thng h:

X*(p)

T
G1(p)

G2(p)

Xc nh hm truyn t ca h thng cho

Y ( z)
G( z) =
X ( z)

Y(p)

T Y*(p)

X*(p)

[X*(p)]*
X*(p)

G1(p)

G2(p)

T Y*(p)

Y(p)

Y ( p ) = X * ( p ).G1 ( p ).G2 ( p )
G1G2 ( p ) := G1 ( p ).G2 ( p )

Y ( p ) = X * ( p ).G1G2 ( p )

Y ( p) = X ( p).G1G2 ( p )
*

Y * ( p) = X * ( p).G1G2* ( p)

G1G ( p) = [G1 ( p ).G2 ( p)] G1* ( p).G2* ( p )

*
2

Y * ( p ) = X * ( p ).G1G2* ( p )
Y * ( p)

1
p = ln z
T

= X * ( p)

1
p = ln z
T

. G1G2* ( p )

1
p = ln z
T

Y ( z ) = X ( z ).G1G2 ( z )
G1G2 ( z ) = Z{G1G2 ( p )} = Z{G1 ( p ).G2 ( p )} G1 ( z ).G2 ( z )

Y ( z)
G( z) =
= G1G2 ( z )
X ( z)
X(z)

G1G2 ( z )

Y(z)

V d

1
G1 ( p ) = G2 ( p ) =
p
1
G1G2 ( p ) = G1 ( p ).G2 ( p ) = 2
p
G1G2 ( z ) = Z {G1G2 ( p )}
= Z {G1 ( p ).G2 ( p )}
1
T .z
= Z 2 =
2
p
(
z

1)

T .z
G( z) =
( z 1) 2

H thng iu khin s
X*(p)

E*(p)

(-)

TBK
s

U*(p)

D/A

GP(p)

Y*(p)
A/D
My tnh

Ly phn bn ngoi my tnh

U*(p)

D/A

GP(p)

Y(p)

A/D

Y*(p)

Y(p)

U*(p)

GP(p)

D/A

Y(p)

A/D

Y*(p)

Thay b bin i A/D bng khu ly mu

Thay b bin i D/A bng khu ly mu ni tip vi khu lu gi bc khng

U*(p)

T [U*(p)]*
U*(p)

H0(p)

GP(p)

Y(p)

T Y*(p)

U*(p)

U*(p)

GP(p)

H0(p)

T Y*(p)

Y(p)

Y ( p ) = U * ( p ).H 0 ( p ).GP ( p )
Y ( p ) = U * ( p ).H 0GP ( p )

Y ( p) = U ( p).H 0GP ( p)
*

Y * ( p) = U * ( p).H 0GP* ( p)

Y * ( p)

1
p = ln z
T

= U * ( p)

1
p = ln z
T

. H 0GP* ( p )

1
p = ln z
T

Y ( z ) = U ( z ).H 0GP ( z )
Y ( z)
G( z) =
= H 0 GP ( z )
U ( z)

H 0GP ( z ) = ???

H 0GP ( z ) = Z { H 0GP ( p )} = Z { H 0 ( p ).GP ( p )}

GP ( p )
Tp GP ( p )
1 e Tp

= Z
GP ( p ) = Z
Z e

p
p

GP ( p ) 1 GP ( p )
z 1 GP ( p )
Z
= Z
z Z
=

z
p
p
p
z 1 GP ( p )
H 0GP ( z ) =
Z

z
p

S khi ca
ng c in mt chiu kch t c lp
u
(-)

1/ R
T p + 1

C 3 u vo:

Mc (-)

1
Jp

K
ukt

1
wkt p

(-)
Rktikt
Rkt

ikt = f 1 ( )

Hnh 1.3: S khi ng c in mt chiu kch t c lp

-in p phn ng
-in p mch kch t
-Moment cn
C 2 u ra:
-Tc ng c
-Moment in t ca ng c
c tnh c: l mi
quan h gia moment
in t ca ng c M
v tc ??
trng thi xc lp

S khi ca
ng c in mt chiu kch t c lp
vi kch t nh mc

Km
Mc
u
(-)

1/ R
T p + 1

Km

(-)

1
Jp

Km

Mc = 0

1/ R
1
K m
T p + 1
Jp
G c ( p) =
1/ R
1
2
1+
( K m )
T p + 1
Jp

1/ R
1
K m
T p + 1
Jp
G c ( p ) =
1/ R
1
2
( K m )
1+
T p + 1
Jp
G c ( p ) =

G c ( p ) =

G c ( p ) =

K m

R (T p + 1) Jp + ( K m )

K m

T R Jp + R Jp + ( K m )
2

1
K m

R J

( K m )

p +
2

R J

( K m )

p +1

G c ( p ) =

1
K m

R J

( K m )
K =
Tc =

p2 +

( K m )

1
K m

p +1

H s khuych i ca ng c

R J

( K m )

R J

K
G c ( p ) =
T Tc p 2 + Tc p + 1

Hng s thi gian c

Do T << Tc nn c th gn ng coi:

K
G c ( p )
Tc p + 1

Hm truyn t ca b chnh lu (k c b pht

xung iu khin chnh lu)
i lng u ra: Ud
i lng u vo: uk
uk << Ud (k c ln ln cng sut)
B chnh lu c th coi nh l mt
khu khuych i
Gcl ( p ) = K CL

B chnh lu c tnh tr
Nguyn tc iu khin thng ng tuyn tnh

ub
uk

Do hm truyn ca b chnh lu s l
Gcl ( p ) = K cl e Tp
Trong :

T=

1
2 pf

Vi p: s xung p mch ca s
f: tn s in p li

Tp (Tp )
Tp
e = 1+
+
+
1!
2!
Tp
1+
= 1 + Tp
1!
2

Gcl ( p ) = K cl e

Tp

K cl

Tp + 1

Vi p= 6, f= 50 ... T=1/600=0.0017 [s]

Gcl ( p ) = K cl

Hm truyn t ca h T-
K cl K c
K
GP ( p ) = Gcl ( p ).Gc ( p )
=
Tc p + 1 p + 1

Trong :

K = K cl .K c

= Tc

U*(p)

D/A

Trong :

GP(p)

GP ( p ) =

Y(p)

A/D

Y*(p)

K
p + 1

Thay b bin i A/D bng khu ly mu

Thay b bin i D/A bng khu ly mu ni tip vi khu lu gi bc khng

U*(p)

[U*(p)]*
U*(p)

H0(p)

GP(p)

Y(p)

T Y*(p)

U*(p)

U*(p)

GP(p)

H0(p)

T Y*(p)

Y(p)

Y ( p ) = U * ( p ).H 0 ( p ).GP ( p )
Y ( p ) = U * ( p ).H 0GP ( p )

Y ( p) = U ( p).H 0GP ( p)
*

Y * ( p) = U * ( p).H 0GP* ( p)

Y * ( p)

1
p = ln z
T

= U * ( p)

1
p = ln z
T

. H 0GP* ( p )

1
p = ln z
T

Y ( z ) = U ( z ).H 0GP ( z )

Y ( z)
G( z) =
= H 0GP ( z )
U ( z)

K
z 1 GP ( p ) = z 1 Z

H 0GP ( z ) =
Z

z
z
p ( p + 1)
p
1

= K .Z
Z

= Z

1
p( p + 1)
p( p + )
p( p + 1 )

z 1 e

=K
T

( z 1) z e

Y ( z)
G( z) =
= H 0GP ( z )
U ( z)

=K

1 e

z e
t:

a1 = e ;

a2 = K (1 a1 )

a2
Y ( z)
G( z) =
=
U ( z ) z a1

PI
lin tc

uk

(-)

3.2 H
thng c
mt mch
vng kn

D/A

A/D

uk

HT ca h thng c mt mch vng kn

T
X*(p)

(-)

Y(p)

U*(p)

E*(p)
GC*(p)

Y*(p)

D/A

GP(p)

Ym(p)
A/D
My tnh
H thng c mt mch vng kn

M(p)

Bc 1: Khai trin s khi

V li s khi.
Thay b bin i A/D bng
khu ly mu.
Thay b bin i D/A bng
khu ly mu ni tip vi khu
lu gi bc khng c hm
truyn t l H0(p)=(1-e-Tp)/p
T
X*(p)

(-)

D/A
U*(p)
U*(p)

E*(p)
GC*(p)

Ym*(p)
My tnh

T
T

Y*(p)
Y(p)

H0(p)

Ym(p)

A/D
H thng c mt mch vng kn

GP(p)

M(p)

Bc 2: Vit cc biu thc m t mi quan h

gia cc tn hiu trong h thng Chuyn cc
biu thc thnh biu thc *
E * ( p ) = X * ( p ) Ym* ( p )

U * ( p ) = E * ( p ).GC* ( p )

(1)

(2)

Y ( p ) = U * ( p ).H 0GP ( p )
Y * ( p ) = U * ( p ).H 0GP* ( p )

(3)

Ym ( p ) = U * ( p ).H 0GP M ( p )
Ym* ( p) = U * ( p ).H 0GP M * ( p ) (4)

Bc 3: Chuyn cc biu thc * thnh cc biu

thc theo Z

Thay p =

1
ln z vo cc biu thc *
T
E(z) = X(z) Ym(z)

(1)

U(z) = E(z).GC(z)

(2)

Y(z)=U(z).H0GP(z)

(3)

Ym(z) = U(z).H0GPM(z)

(4)

Bc 4: V li s khi theo php bin i Z

X(z)

E(z)
(-)

GC(z)

Ym(z)

H0GPM(z)

U(z)

Y(z)
H0GP(z)

Bc 5: Bin i s khi, xc nh hm truyn t

X(z)

E(z)
(-)

GC(z)

U(z)

Y(z)
H0GP(z)

Ym(z)

H0GPM(z)

X(z)

GC ( z )
1 + GC ( z ).H 0GP M ( z )

U(z)

H0GP(z)

Y(z)

X(z)

GC ( z ).H 0 GP ( z )
1 + GC ( z ).H 0 GP M ( z )

Y(z)

GC ( z ).H 0GP ( z )
Y ( z)
G( z) =
=
X ( z ) 1 + GC ( z ).H 0GP M ( z )

T
X*(p)

(-)

Y(p)

U*(p)

E*(p)
GC*(p)

Y*(p)

D/A

GP(p)

Ym(p)
A/D

M(p)

My tnh
H thng c mt mch vng kn

M(p) = K
E(z) = X(z) Ym(z)

(1)

U(z) = E(z).GC(z)

(2)

Y(z) = U(z).H0GP(z)

(3)

Ym(z) = U(z).H0GPM(z)
=K.U(z).H0GP(z)

(4)

X(z)

E(z)
(-)

GC(z)

U(z)

Ym(z)

Y(z)
H0GP(z)

X(z)

GC ( z ).H 0 GP ( z )
1 + K .GC ( z ).H 0 GP ( z )

Y(z)

GC ( z ).H 0GP ( z )
Y ( z)
=
G( z) =
X ( z ) 1 + K .GC ( z ).H 0GP ( z )

V d
T
X*(p)

(-)

E*(p)

PI s
GC*(p)

Y*(p)
Y(p)

U*(p)
D/A

GP(p)

Ym(p)
A/D

M(p)

My tnh
H thng c mt mch vng kn

A0 z + A1
GC ( z ) =
z 1
KT
A0 = K P + I
2
KT
A1 = K P + I
2

GP ( p ) =

K
p +1

M(p) = 1
KP: Hng s t l
KI: hng s tch phn

Bc 1: Khai trin s khi

V li s khi.
Thay b bin i A/D bng
khu ly mu.
Thay b bin i D/A bng
khu ly mu ni tip vi khu
lu gi bc khng c hm
truyn t l H0(p)=(1-e-Tp)/p
M(p) = 1 Khng cn v
T
X*(p)

(-)

D/A
U*(p)
U*(p)

E*(p)
GC*(p)

Y*(p)
My tnh

T
T

Y*(p)
Y(p)

H0(p)

Y(p)

A/D
H thng c mt mch vng kn

GP(p)

Bc 2: Vit cc biu thc m t mi quan h gia cc tn hiu trong

h thng Chuyn cc biu thc thnh biu thc *

E * ( p) = X * ( p) Y * ( p)

U * ( p ) = E * ( p ).GC* ( p )

(1)

(2)

Y ( p ) = U * ( p ).H 0GP ( p )
Y * ( p ) = U * ( p ).H 0GP* ( p )

(3)

Bc 3: Chuyn cc biu thc * thnh cc biu

thc theo Z

Thay p =

1
ln z vo cc biu thc *
T
E(z) = X(z) Y (z)

(1)

U(z) = E(z).GC(z)

(2)

Y(z)=U(z).H0GP(z)

(3)

Bc 4: V li s khi theo php bin i Z

X(z)

E(z)
(-)

Y(z)

GC(z)

U(z)

Y(z)
H0GP(z)

Bc 5: Bin i s khi Xc nh hm truyn t

GC ( z ).H 0GP ( z )
Y ( z)
=
GZ =
X ( z ) 1 + GC ( z ).H 0GP ( z )

X(z)

G(z)

Y(z)

z 1
z 1
K

H 0GP ( z ) =
KZ
Z
=

1
z
z
( p + 1) p
p( p + )

Tra bng php bin i Z cho chng ta c:

z 1
H 0 GP ( z ) =
z

K (1 e

)z

( z 1)( z e

K (1 e
(z e

trong T l chu k ly mu

z 1 K (1 e ) z
K (1 e )
H 0GP ( z ) =
=
T
T
z

( z 1)( z e ) ( z e )
a1 = e

a2 = K (1 a1 )

a2
H 0 GP ( z ) =
z a1

A z + A1
a2
0
H 0GP ( z )GC ( z )
( z a1 )
z 1
Y ( z)
=
=
A0 z + A1
a2
X ( z ) 1 + H 0GP ( z )GC ( z )

1+
z 1
( z a1 )

a2 ( A0 z + A1 )
Y ( z)
=
X ( z ) ( z a1 )( z 1) + a2 ( A0 z + A1 )

a2 ( A0 z + A1 )
Y ( z)
= 2
X ( z ) z (1 + a1 a2 A0 ) z + ( a2 A1 + a1 )
a thc c tnh:

( z ) = z 2 (1 + a1 a2 A0 ) z + ( a2 A1 + a1 )

3. 3 Hm truyn t ca h thng c hai mch vng kn

H thng c mt mch vng kn

PI
lin tc

R
(-)

uk

H thng c hai mch vng kn

PI

*
(-)

Imax

PI

i *

uk

R
(-)

M hnh ca ng c in mt
chiu c mch vng dng in

K
Jp

T Tc p 2 + Tc p + 1 K m

K
T Tc p 2 + Tc p + 1

K m
Jp

H thng c hai mch vng kn

Y*(p)
X*(p)

(-)

E2*(p)

GC* 2 ( p )

X1*(p) E1*(p)

GC* 1 ( p)

U*(p)

GP1 ( p )

D/A

(-)
Y1m*(p)

Ym*(p)

A/D

A/D

Y1m(p)

Ym(p)

M1(p)

M2(p)

Y1(p)

GP 2 ( p )

Y(p)

Bc 1: Khai trin s khi

Y*(p)
X*(p)

(-)

E2*(p)

*
C2

G ( p)

X1*(p) E1*(p)

*
C1

G ( p)

U*(p)

(-)
Y1m*(p)

Ym*(p)

H0(p)
T

Y1m(p)

Ym(p)

GP1 ( p )
M1(p)

M2(p)

Y1(p)

GP 2 ( p )

Y(p)

Bc 2: Vit cc biu thc m t mi quan h

gia cc tn hiu trong h thng
Y ( p ) = U * ( p ).H 0GP1GP 2 ( p )
E2* ( p ) = X * ( p ) Ym* ( p )

Y ( p ) = U ( p ).H 0GP1GP 2 ( p )
*

(1)

X 1* ( p) = E2* ( p).GC* 2 ( p)

(2)

E1* ( p) = X 1* ( p ) Y1*m ( p )

(3)

U * ( p ) = E1* ( p ).GC* 1 ( p )

(4)

Y * ( p ) = U * ( p ).H 0GP1GP* 2 ( p )

(5)

Y1m ( p ) = U * ( p ).H 0GP1M 1 ( p )

Y ( p ) = U ( p ).H 0GP1M 1 ( p )
*
1m

Y1*m ( p ) = U * ( p ).H 0GP1M 1* ( p )

(6)

Ym ( p ) = U * ( p ).H 0GP1GP 2 M 2 ( p )
Y ( p ) = U ( p ).H 0GP1GP 2 M 2 ( p )
*
m

Ym* ( p ) = U * ( p ).H 0GP1GP 2 M 2* ( p )

(7)

Bc 3: Chuyn cc biu thc * sang biu thc

Z

1
Thay p = ln z vo cc biu thc *
T
E2(z) = X(z) Ym(z)
E2* ( p) = X * ( p ) Ym* ( p )
(1)

(1)

X 1* ( p) = E2* ( p ).GC* 2 ( p)

(2)

X1(z) = E2(z).GC2(z)

(2)

E1* ( p ) = X 1* ( p ) Y1*m ( p )

(3)

E1(z) = X1(z) Y1m(z)

(3)

U * ( p) = E1* ( p).GC* 1 ( p )

(4)

U(z) = E1(z).GC1(z)

(4)

Y * ( p) = U * ( p).H 0GP1GP* 2 ( p )

(5)

Y(z) = U(z).H0GP1GP2(z)

(5)

Y1*m ( p ) = U * ( p ).H 0GP1M 1* ( p )

(6)

Y1m(z) = U(z).H0GP1M1(z)

(6)

Ym* ( p ) = U * ( p ).H 0GP1GP 2 M 2* ( p )

(7)

Ym(z) = U(z).H0GP1GP2M2(z)

(7)

Bc 4: V li s khi

X(z)

E2(z)

GC2(z)

X1(z)

E1(z)

GC1(z)

(-)

(-)

Y1m(z)

Ym(z)

H0GP1M1(z)

H0GP1GP2M2(z)

U(z)

H0GP1GP2(z)

Y(z)

Bc 5: Bin i s khi xc nh hm truyn t

X(z)

E2(z)

GC2(z)

X1(z)

GC1(z)

U(z)

H0GP1GP2(z)

Y(z)

(-)

(-)

Y1m(z)

Ym(z)

X(z)

E1(z)

E2(z)

(-)

Ym(z)

H0GP1M1(z)

H0GP1GP2M2(z)

GC2(z)

X1(z)

GC1 ( z )
1 + GC1 ( z ).H 0GP1M 1 ( z )

H0GP1GP2M2(z)

U(z)

H0GP1GP2(z)

Y(z)

Bc 5: Bin i s khi xc nh hm truyn t

X(z)

E2(z)

(-)
Ym(z)

X(z)

GC2(z)

X1(z)

GC1 ( z )
1 + GC1 ( z ).H 0GP1M 1 ( z )

U(z)

H0GP1GP2(z)

Y(z)

H0GP1GP2M2(z)

GC1 ( z ).GC 2 ( z )
1 + GC1 ( z ).H 0GP1M 1 ( z ) + GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 M 2 ( z )

U(z)

H0GP1GP2(z)

Y(z)

Bc 5: Bin i s khi xc nh hm truyn t

X(z)

X(z)

G( z) =

GC1 ( z ).GC 2 ( z )
1 + GC1 ( z ).H 0GP1M 1 ( z ) + GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 M 2 ( z )

U(z)

H0GP1GP2(z)

GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

1 + GC1 ( z ).H 0GP1M 1 ( z ) + GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 M 2 ( z )

Y(z)

Y(z)

GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

Y ( z)
=
X ( z ) 1 + GC1 ( z ).H 0GP1M 1 ( z ) + GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 M 2 ( z )

z 1 GP1 ( p ).GP 2 ( p )
H 0GP1GP 2 ( z ) =
Z

z
p

H 0GP1M 1 ( z ) =

H 0GP1GP 2 M 2 ( z ) =

z 1 GP1 ( p ).M 1 ( p )
Z

z
p

z 1 GP1 ( p ).GP 2 ( p).M 2 ( p )

Z

z
p

Trng hp c bit
M1(p) = K1
M2(p) = K2

H0GP1M1(z) = K1.H0GP1(z)
H0GP1GP2M2(z) = K2.H0GP1GP2(z)

S khi
X(z)

E2(z)

GC2(z)

X1(z)

GC1(z)

U(z)

H0GP1GP2(z)

Y(z)

(-)

(-)

Y1m(z)

Ym(z)

X(z)

E1(z)

E2(z)

(-)

Ym(z)

K1.H0GP1 (z)

K2

GC2(z)

X1(z)

GC1 ( z )
1 + K1.GC1 ( z ).H 0GP1 ( z )

K2

U(z)

H0GP1GP2(z)

Y(z)

E2(z)

X(z)

(-)

Ym(z)

X(z)

GC2(z)

X1(z)

GC1 ( z )
1 + K1.GC1 ( z ).H 0GP1 ( z )

U(z)

H0GP1GP2(z)

Y(z)

K2

GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

1 + K1.GC1 ( z ).H 0GP1 ( z ) + K 2 .GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

Y(z)

GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

Y ( z)
=
G( z) =
X ( z ) 1 + K1.GC1 ( z ).H 0GP1 ( z ) + K 2 .GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

V d: iu khin v tr ng c in mt chiu

iu khin tc :

*
R

uk

(-)

iu khin v tr:
ng dng: iu khin vng quay ca ng c trong iu khin robot

s = v(t )dt

= (t )dt

1
( p) = ( p)
p

iu khin tng t

(-)

uk

(-)

1/p

FT

iu khin s

D/A

uk

A/D
A/D

FT

1/p

Y*(p)
X*(p)

E2*(p)

GC* 2 ( p )

(-)

X1*(p) E1*(p)

GC* 1 ( p)

U*(p)

Ym*(p)

A0 z + A1
GC1 ( z ) =
z 1
KIT
2
KT
A1 = K P + I
2
GC 2 ( z ) = K P 2

D/A

Y1(p)

GP 2 ( p )

Y(p)

(-)
Y1m*(p)

A0 = K P +

GP1 ( p )

A/D

A/D

Y1m(p)

Ym(p)

GP1 ( p) =
KP: Hng s t l
KI: hng s tch phn

M1(p)

M2(p)

K
p +1

GP 2 ( p ) =

M1(p) = 1
M2(p) = 1

1
p

Bc 1: Khai trin s khi

Y*(p)
X*(p)

(-)

E2*(p)

*
C2

G ( p)

X1*(p) E1*(p)

*
C1

G ( p)

U*(p)

(-)
Y1*(p)

Y*(p)

H0(p)
T

Y1(p)

Y(p)

GP1 ( p )

Y1(p)

GP 2 ( p )

Y(p)

Bc 2: Vit cc biu thc m t mi quan h gia cc tn

hiu trong h thng
Y ( p ) = U * ( p ).H 0GP1GP 2 ( p )
E2* ( p ) = X * ( p ) Y * ( p )

(1)

X 1* ( p) = E2* ( p).GC* 2 ( p)

(2)

E1* ( p) = X 1* ( p) Y1* ( p)

(3)

U * ( p ) = E1* ( p ).GC* 1 ( p )

(4)

Y ( p ) = U ( p ).H 0GP1GP 2 ( p )
*

Y * ( p ) = U * ( p ).H 0GP1GP* 2 ( p )

(5)

Y1 ( p ) = U * ( p ).H 0GP1 ( p )
Y ( p ) = U ( p ).H 0GP1
*
1

Y1* ( p ) = U * ( p ).H 0GP*1 ( p )

(6)

Bc 3: Chuyn cc biu thc * sang biu thc Z

Thay

1
p = ln z vo cc biu thc *
T

E2* ( p) = X * ( p ) Y * ( p )

(1)

E2(z) = X(z) Y(z)

(1)

X 1* ( p) = E2* ( p ).GC* 2 ( p)

(2)

X1(z) = E2(z).GC2(z)

(2)

E1* ( p ) = X 1* ( p) Y1* ( p)

(3)

E1(z) = X1(z) Y1(z)

(3)

U * ( p) = E1* ( p).GC* 1 ( p )

(4)

U(z) = E1(z).GC1(z)

(4)

Y * ( p) = U * ( p).H 0GP1GP* 2 ( p )

(5)

Y(z) = U(z).H0GP1GP2(z)

(5)

Y1* ( p ) = U * ( p ).H 0GP*1 ( p )

(6)

Y1(z) = U(z).H0GP1(z)

(6)

S khi
X(z)

E2(z)

GC2(z)

X1(z)

E1(z)

GC1(z)

U(z)

H0GP1GP2(z)

Y(z)

(-)

(-)

Y1(z)

H0GP1 (z)

Y(z)

X(z)

E2(z)

(-)

Y(z)

GC2(z)

X1(z)

GC1 ( z )
1 + GC1 ( z ).H 0GP1 ( z )

U(z)

H0GP1GP2(z)

Y(z)

X(z)

E2(z)

(-)

GC2(z)

X1(z)

GC1 ( z )
1 + GC1 ( z ).H 0GP1 ( z )

U(z)

H0GP1GP2(z)

Y(z)

Y(z)

X(z)

GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

1 + GC1 ( z ).H 0GP1 ( z ) + GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

Y(z)

GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

Y ( z)
=
G( z) =
X ( z ) 1 + GC1 ( z ).H 0GP1 ( z ) + GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )

Thay d liu cho

H 0GP1 ( z ) =
=

z 1
=
z

H 0GP1 ( z )

a1 = e

z 1 GP1 ( p )
Z

z
p

z 1
K
Z

z
p( p + 1)
K (1 e

)z

( z 1)( z e

K (1 e
(z e

a2 = K (1 a1 )

a2
H 0GP1 ( z ) =
z a1

Thay d liu cho

H 0GP1GP 2 ( z ) =

z 1 GP1 ( p )GP 2 ( p )
Z

z
p

z 1 T .z
(1 e ).z
H 0 GP1GP 2 ( z ) = K

T
z ( z 1) 2

( z 1)( z e )

z 1
K

Z 2

z
p ( p + 1)

z 1

=K
Z

1
z
2
p (p + )

T
1

T .z
(1 e ).z

Z
=
T
2
1
2

(
1)
z
p (p + )
( z 1)( z e )

(1 e )
T
=K

T
(
z
1)

( z e )

K [T (1 e

)]z + K [ (1 e

( z 1).( z e
a3 = K [T (1 a1 )]
a4 = K [ (1 a1 ) Ta1 ]

a3 z + a4
H 0GP1GP 2 ( z ) =
( z 1).( z a1 )

) Te

Kt qu hm truyn t
GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z )
Y ( z)
N ( z)
=
=
X ( z ) 1 + GC1 ( z ) H 0GP1 ( z ) + GC1 ( z ).GC 2 ( z ).H 0GP1GP 2 ( z ) ( z )
N ( z) = K P2

( z 1) 2 ( z a1 )

K P 2 A0 a3 z 2 + K P 2 ( A0 a4 + A1a3 ) z + K P 2 A1a4
( z 1) 2 ( z a1 )

( z ) = 1 +

( A0 z + A1 )(a3 z + a4 )

A0 z + A1 a2
A z + A1
a3 z + a4

+ KP2 0

z 1 z a1
z 1 ( z 1)( z a1 )

( z 1) 2 ( z a1 ) + a2 ( z 1)( A0 z + A1 ) + K P 2 ( A0 z + A1 )(a3 z + a4 )
( z 1) 2 ( z a1 )

Kt qu hm truyn t
( z ) =

( z 1) 2 ( z a1 ) + a2 ( z 1)( A0 z + A1 ) + K P 2 ( A0 z + A1 )(a3 z + a4 )

t:

( z 1) 2 ( z a1 )

d1 = A0 ( a2 + K P 2 a3 ) 2 a1
d 2 = 1 + 2a1 + K P 2 a2 ( A1 A0 )( A1a3 + A0 a4 )

d 3 = K P 2 A1a4 A1a2 a1

( z ) =

z 3 + d1 z 2 + d 2 z + d3
( z 1) 2 ( z a1 )

Hm truyn t ca h thng cho

X(z)

G(z)

Y(z)

Y ( z ) K P 2 A0 a3 z 2 + K P 2 ( A0 a4 + A1a3 ) z + K P 2 A1a4
=
G( z) =
X ( z)
z 3 + d1 z 2 + d 2 z + d3

CC BC XC NH HM TRUYN T
CA H THNG IU KHIN S
1. Khai trin s khi. Thay cc b bin i A/D
bng khu ly mu. Thay b bin i D/A bng
khu ly mu ni tip vi khu lu gi bc khng
H0(p)
2. Vit cc biu thc m t mi quan h gia cc tn
hiu trong h thng. Chuyn thnh cc biu thc *
3. Chuyn cc biu thc * thnh cc biu thc theo Z
4. V li s khi theo php bin i Z
5. Bin i s khi. Xc nh hm truyn t

Bin i s khi
W4(p)
X(p)

(+)
W1(p)

W2(p)

W3(p)

Y(p)

(-)

W4(p)
(+)
X(p)

W1(p)

W2(p)
(-)

W3(p)

Y(p)

Chuyn tn hiu ra t trc ra sau mt khi

X(p)

W(p)

Y(p)

X(p)

X(p)

W(p)

Y(p)

1/W(p)
X(p)

W4(p)
X(p)

(+)
W1(p)

W2(p)
(-)

W3(p)

Y(p)

W4(p)
X(p)

(+)
W1(p)

(-)

W4(p)
X(p)

(+)
W1(p)

(+)
W1(p)

W2(p)

W3(p)

1/W3(p)

W2 ( p )W3 ( p )
1 + W2 ( p )W3 ( p )
W4(p)

X(p)

1/W3(p)

1/W3(p)

W2 ( p )W3 ( p )
1 + W2 ( p )W3 ( p )

Y(p)

W4(p)
X(p)

(+)
W1(p)

1/W3(p)

W2 ( p )W3 ( p )
1 + W2 ( p )W3 ( p )
W4 ( p )
W3 ( p )

(+)

W1 ( p )W2 ( p )W3 ( p )
1 + W2 ( p)W3 ( p )

W1 ( p )W2 ( p )W3 ( p )
1 + W2 ( p )W3 ( p ) W1 ( p )W2 ( p )W4 ( p )

Bin i s khi
W4(p)
X(p)

(+)
W1(p)

W2(p)

W3(p)

Y(p)

(-)

W4(p)
(+)
X(p)

W1(p)

W2(p)
(-)

W3(p)

Y(p)

Chuyn tn hiu ra t sau ra trc mt khi

X(p)

W(p)

Y(p)

Y(p)

X(p)

W(p)

Y(p)

W(p)
Y(p)

W4(p)
X(p)

(+)
W1(p)

W2(p)
(-)

W3(p)

Y(p)

W4(p)
X(p)

(+)
W1(p)

W2(p)

W3(p)

Y(p)

(-)
W3(p)
W4(p)
X(p)

(+)
W1(p)

W2 ( p )
1 + W2 ( p )W3 ( p )

W3(p)

W4(p)
X(p)

(+)

W1 ( p )W2 ( p )
1 + W2 ( p )W3 ( p )

W3(p)

Y(p)

Y(p)

W4(p)
X(p)

X(p)

(+)

W1 ( p )W2 ( p )
1 + W2 ( p )W3 ( p )

W3(p)

W1 ( p )W2 ( p )
1 + W2 ( p )W3 ( p ) W1 ( p )W2 ( p )W4 ( p )

X(p)

W1 ( p )W2 ( p )W3 ( p )
1 + W2 ( p )W3 ( p ) W1 ( p )W2 ( p )W4 ( p )

Y(p)

W3(p)

Y(p)

Y(p)

Hon v, kt hp hai b cng

X(p)
Z1(p)

Y(p)

(+)

(+)
Z2(p)

X(p)

Y(p)

X(p)

(+)
Z1(p)

(+)
Z2(p)

Y(p)

(+)
Z2(p)

Z1(p)

(+)
Y(p) = [X(p) + Z2(p)] + Z1(p)

Y(p) = [X(p) + Z1(p)] + Z2(p)

Z2(p)

X(p)
Z1(p)

(+)

Y(p)

(+)

Y(p) = X(p) + Z1(p) + Z2(p)

(+)

Y(p) = X(p) + [Z1(p) + Z2(p)]

Chuyn tn hiu vo t trc ra sau mt khi

X(p)

W(p)

Y(p)

Z(p) (+)

X(p)

W(p)

Y(p)

W(p)
Z(p)

W4(p)
X(p)

(+)
W1(p)

W2(p)
(-)

W3(p)

Y(p)

W1(p) W4(p)
(+)

X(p)

W1(p)

W2(p)

W3(p)

Y(p)

(-)

X(p)

W1(p)
(-)

W2 ( p )
1 W1 ( p )W2 ( p )W4 ( p )

W3(p)

Y(p)

X(p)

W1(p)
(-)

X(p)

W1(p)

X(p)

W2 ( p )W3 ( p )
1 W1 ( p )W2 ( p )W4 ( p )

Y(p)

Y(p)
W2 ( p)W3 ( p )
1 + W2 ( p)W3 ( p) W1 ( p)W2 ( p)W4 ( p)

W1 ( p )W2 ( p )W3 ( p )
1 + W2 ( p )W3 ( p ) W1 ( p )W2 ( p )W4 ( p )

Y(p)

Chuyn tn hiu vo t sau ra trc mt khi

X(p)

W(p)

X(p)

Y(p)

(+)

W(p)
(+)

Z(p)

1/W(p)
Z(p)

W4(p)
X(p)

(+)
W1(p)

W2(p)
(-)

W3(p)

Y(p)

Y(p)

W4(p)
(+)

X(p)

W1(p)

W2(p)

W3(p)

Y(p)

(-)
1/W1(p)

X(p)

(-)

W1 ( p )W2 ( p)
1 W1 ( p )W2 ( p )W4 ( p)
1/W1(p)

W3(p)

Y(p)

X(p)

(-)

W1 ( p )W2 ( p )W3 ( p)
1 W1 ( p )W2 ( p )W4 ( p)

Y(p)

1/W1(p)

X(p)

W1 ( p )W2 ( p )W3 ( p )
1 + W2 ( p )W3 ( p ) W1 ( p )W2 ( p )W4 ( p )

Y(p)

3.4 Hm truyn t ca h thng c b

B nhiu

B tn hiu u vo

S khi h thng iu khin

c b tn hiu u vo

*
f

G ( p)

U *f ( p )
T

Y*(p)

(+)

E*(p)

X*(p)
(-)

(+)

GC* ( p )

U*(p)
GP(p)

D/A
U C* ( p )

Ym* ( p )
My tnh

A/D

Ym(p)

M(p)

Y(p)

Bc 1
Khai trin s khi. Thay cc b bin i A/D bng
khu ly mu. Thay b bin i D/A bng khu ly mu
ni tip vi khu lu gi bc khng H0(p)

G *f ( p )
*

E (p)
X*(p)

(-)

U *f ( p )
T
(+)

D/A
(+)
U*(p)
U*(p)

GC* ( p )
*
C

H0(p)

GP(p)

U ( p)
Ym* ( p )
My tnh

Ym(p)
M(p)

A/D

Y*(p)

Y(p)

Bc 2
Vit cc biu thc m t mi quan h gia cc tn hiu trong h thng.
Chuyn thnh cc biu thc *

E * ( p ) = X * ( p ) Ym* ( p )

(1)

U C* ( p) = E * ( p).GC* ( p)

(2)

U *f ( p) = X * ( p).G *f ( p )

(3)

U * ( p ) = U C* ( p) + U *f ( p )

(4)

Y ( p ) = U * ( p).H 0GP ( p )
Y ( p ) = U ( p ).H 0GP ( p )
*

Y * ( p ) = U * ( p ).H 0GP* ( p )

(5)

Ym ( p ) = U * ( p).H 0GP M ( p )
Y ( p ) = U ( p ).H 0GP M ( p )
*
m

Ym* ( p ) = U * ( p ).H 0GP M * ( p ) (6)

Bc 3
Chuyn cc biu thc * thnh biu thc theo php bin
i Z
E * ( p ) = X * ( p ) Ym* ( p)

(1)

E(z) = X(z) Ym(z)

(1)

U C* ( p) = E * ( p).GC* ( p)

(2)

UC(z) = E(z).GC(z)

(2)

U *f ( p) = X * ( p).G *f ( p )

(3)

Uf(z) = X(z).Gf(z)

(3)

U * ( p ) = U C* ( p) + U *f ( p )

(4)

U(z) = UC(z) + Uf(z)

(4)

Y * ( p ) = U * ( p ).H 0GP* ( p )

(5)

Y(z) = U (z).H0GP(z)

(5)

Ym(z) = U (z).H0GPM(z)

(6)

Ym* ( p ) = U * ( p ).H 0GP M * ( p ) (6)

Bc 4

Xy dng s khi theo php bin i Z

Gf(z)

Uf(z)
(+)

E(z)

X (z)

(+)

GC(z)

U (z)

UC(z)

(-)

Ym(z)

H0GPM(z)

H0GP(z)

Y(z)

Bc 5

Xy dng s khi theo php bin i Z

Gf(z)

Uf(z)
(+)
(+)

X (z)

GC(z)

H0GP(z)

Y(z)

UC(z)

(-)

Ym(z)

G f ( z)

U (z)

H0GPM(z)

Uf(z)

GC ( z )

(+)

X (z)

GC(z)

U (z)

H0GP(z)

(-)

Ym(z)

H0GPM(z)

H thng c mt vng kn

Y(z)

G f ( z)

Uf(z)

GC ( z )

(+)

X (z)

GC(z)

U (z)

H0GP(z)

Y(z)

(-)

Ym(z)

X (z)

1+

G f ( z)
GC ( z )

H0GPM(z)

GC ( z )
1 + GC ( z ).H 0GP M ( z )

H0GP(z)

Y(z)

X (z)

GC ( z ) + G f ( z )
GC ( z )

X (z)

GC ( z ).H 0GP ( z )
1 + GC ( z ).H 0GP M ( z )

GC ( z ) + G f ( z ) .H 0GP ( z )
1 + GC ( z ).H 0GP M ( z )

GC ( z ) + G f ( z ) .H 0GP ( z )
G( z) =
1 + GC ( z ).H 0GP M ( z )
Khi M(p) = K

GC ( z ) + G f ( z ) .H 0GP ( z )
G( z) =
1 + K .GC ( z ).H 0GP ( z )

Y(z)

Y(z)

V d
*
f

G ( p)

U *f ( p )
T

Y*(p)

(+)

E*(p)

X*(p)
(-)

(+)

GC* ( p )

U*(p)
GP(p)

D/A

Y(p)

U C* ( p )
Ym* ( p )

A/D

Ym(p)

M(p)

My tnh

A z + A1
GC ( z ) = 0
z 1
KIT
2
KIT
A1 = K P +
2

A0 = K P +

G f ( z) = K P

KP: Hng s t l
KI: hng s tch phn

GP ( p ) =

K
p +1

M (p) = 1

Bc 1
Khai trin s khi. Thay cc b bin i A/D bng
khu ly mu. Thay b bin i D/A bng khu ly mu
ni tip vi khu lu gi bc khng H0(p)

G *f ( p )
*

E (p)
X*(p)

(-)

U *f ( p )
T
(+)

D/A
(+)
U*(p)
U*(p)

GC* ( p )
*
C

U ( p)
Y * ( p)
My tnh

T
A/D

H0(p)

GP(p)

Y*(p)

Y(p)

Bc 2
Vit cc biu thc m t mi quan h gia cc tn hiu trong h thng.
Chuyn thnh cc biu thc *

E * ( p) = X * ( p) Y * ( p)
U C* ( p) = E * ( p).GC* ( p)
U ( p) = X ( p).G ( p )
*
f

*
f

U ( p) = U ( p) + U ( p)
*

*
C

*
f

(1)
(2)

Y ( p ) = U * ( p).H 0GP ( p )

(3)

Y ( p ) = U ( p ).H 0GP ( p )
*

(4)

Y * ( p ) = U * ( p ).H 0GP* ( p )

(5)

Bc 3
Chuyn cc biu thc * thnh biu thc theo php bin
i Z
E * ( p) = X * ( p) Y * ( p)

(1)

E(z) = X(z) Y(z)

(1)

U C* ( p) = E * ( p).GC* ( p)

(2)

UC(z) = E(z).GC(z)

(2)

U *f ( p) = X * ( p).G *f ( p )

(3)

Uf(z) = X(z).Gf(z)

(3)

U * ( p ) = U C* ( p) + U *f ( p )

(4)

U(z) = UC(z) + Uf(z)

(4)

Y * ( p ) = U * ( p ).H 0GP* ( p )

(5)

Y(z) = U (z).H0GP(z)

(5)

Bc 4

Xy dng s khi theo php bin i Z

Gf(z)

Uf(z)
(+)

X (z) E(z)
(-)

(+)

GC(z)
UC(z)

U (z)

H0GP(z)

Y(z)

Bc 5

Xy dng s khi theo php bin i Z

Gf(z)

Uf(z)
(+)
(+)

X (z)

GC(z)

U (z)

H0GP(z)

UC(z)

(-)

Y(z)

G f ( z)

Uf(z)

GC ( z )

(+)

X (z)

GC(z)
(-)

Y(z)

U (z)

H0GP(z)

Y(z)

Y(z)

G f ( z)

Uf(z)

GC ( z )
X (z)

(+)

E(z)

GC(z)

U (z)

H0GP(z)

(-)

Y(z)

X (z)

1+

G f ( z)
GC ( z )

GC ( z ).H 0GP ( z )
1 + GC ( z ).H 0GP ( z )

Y(z)

Y(z)

X (z)

G( z) =

H 0 GP ( z ) =

z 1
z

K (1 e

G f ( z)

1+

GC ( z ).H 0GP ( z )
1 + GC ( z ).H 0GP ( z )

GC ( z )

GC ( z ) + G f ( z )
GC ( z )

)z

( z 1)( z e

K (1 e
(z e

GC ( z ).H 0GP ( z )
1 + GC ( z ).H 0GP ( z )

Y(z)

a1 = e

H 0GP ( z ) =

a2 = K (1 a1 )

a2
( z a1 )

A0 A1
KP =
2
A0 z + A1
KP
GC ( z ) + G f ( z )
( A0 K P ) z + A1 + K P

1
z
=
=
A0 z + A1
GC ( z )
A0 z + A1
z 1

A0 A1
A0 A1
( A0
) z + A1 +
2
2
=
A0 z + A1

1 ( A0 + A1 )( z + 1)
=
2
A0 z + A1

GC ( z ) + G f ( z ) H 0GP ( z ).GC ( z )
Y ( z)
=

1 + H 0GP ( z ).GC ( z )
X ( z)
GC ( z )

A0 z + A1
a2

z 1
1 ( A0 + A1 )( z + 1) z a1
=

A0 z + A1
a2
2
A0 z + A1

1+
z a1
z 1

a2 ( A0 z + A1 )
1 ( A0 + A1 )( z + 1)
=

2
( z a1 )( z 1) + a2 ( A0 z + A1 )
A0 z + A1
( A0 + A1 )a2 ( z + 1)
1
G( z) = 2
2 z (1 + a1 a2 A0 ) z + a2 A1 + a1

G( z) =

( A0 + A1 ) a2 ( z + 1)
1
2
2 z (1 + a1 a2 A0 ) z + a2 A1 + a1

Phng trnh c tnh ging phng trnh

c tnh ca h thng c mt vng kn
(khng c b)

C.5: TNH N NH
CA H THNG IU KHIN S

N LI KHI NIM V N NH
Phn bit s khc nhau gia trng thi
xc lp ca h thng v tnh n nh ca
h thng

5.1. nh ngha
H thng n nh l h thng c qu trnh
qu tt dn theo thi gian.
H thng khng n nh l h thng c
qu trnh qu tng dn theo thi gian.
H thng bin gii n nh l h thng
c qu trnh qu khng i hoc dao
ng khng tt dn.

 Mun xc nh tnh n nh ca h thng

th phi xc nh hm qu : gii phng
trnh vi phn.

5.2. IU KIN CN V V TNH N NH

CA H THNG LIN TC TUYN TNH
iu kin cn v h thng lin tc tuyn
tnh n nh l tt c cc nghim ca phng
trnh c tnh u c phn thc m.
iu kin cn v h thng lin tc tuyn
tnh khng n nh l c t nht mt nghim ca
phng trnh c tnh c phn thc dng.
iu kin cn v h thng lin tc tuyn
tnh bin gii n nh l c t nht mt nghim
ca phng trnh c tnh c phn thc bng
khng v tt c cc nghim cn li u c phn
thc m.

Phng trnh c tnh:

a0 p n + a1 p n1 + + an1 p + an = 0

Nghim ca phng trnh c tnh:

pi = i + j i ;

i = 1,..., n

iu kin cn v v tnh n nh ca
h thng iu khin lin tc tuyn tnh

H thng n nh

i < 0

H thng khng n nh

! i > 0

H thng bin gii n nh

! i = 0 j

j i

<0

Nu th hin nghim s ca
phng trnh c tnh ln
mt phng phc c
gi l mt phng p th cc
nghim s c phn thc
m nm bn tri mt
phng phc; cc nghim
s c phn thc dng
nm bn phi mt phng
phc; cn cc nghim c
phn thc bng khng
nm trn trc o. Nh vy
bn tri mt phng phc
l min n nh, bn phi
mt phng phc l min
khng n nh, trc o l
bin gii.

n nh

Khng n nh

Bin gii n
nh

C th pht biu li k cn v
iu kin cn v h thng lin tc tuyn
tnh n nh l tt c cc nghim ca phng
trnh c tnh u nm bn tri mt phng phc.
iu kin cn v h thng lin tc tuyn
tnh khng n nh l c t nht mt nghim ca
phng trnh c tnh nm bn phi mt
phng phc.
iu kin cn v h thng lin tc tuyn
tnh bin gii n nh l c t nht mt nghim
ca phng trnh c tnh nm trn trc o v
cc nghim khc nm bn tri mt phng
phc.

Cc tiu chun n nh
nh ngha
iu kin cn v

Cc tiu chun n nh

1. Tiu chun n nh i s:
- Tiu chun n nh Routh
- Tiu chun n nh Hurwitz
2. Tiu chun n nh tn s:
- Tiu chun n nh Mikhailov
- Tiu chun n nh Nyquist: ch dnh cho h thng kn

5.3. iu kin cn v v tnh n nh ca h

thng iu khin s
1
p = ln z z = e pT
T
pi = i + ji

zi = e piT = e(

i + j i )T

zi = eiT .e jiT = zi e jiT

zi = eiT
i < 0 |zi| < 1
i > 0 |zi| > 1
i = 0 |zi| = 1

 iu kin cn v h thng iu khin s

n nh l tt c cc nghim ca phng trnh
c tnh u c modun nh hn 1.
iu kin cn v h thng iu khin s
khng n nh l c t nht mt nghim ca
phng trnh c tnh c modun ln hn 1.
iu kin cn v h thng iu khin s
bin gii n nh l c t nht mt nghim ca
phng trnh c tnh c modun bng 1 v tt
c cc nghim cn li u c modun nh hn 1.

Nu th hin nghim s ca
phng trnh c tnh ln
mt phng phc c
gi l mt phng z th cc
nghim s c modun nh
hn 1 nm bn trong
ng trn n v; cc
nghim s c modun ln
hn 1 nm bn ngoi
ng trn n v; cn
cc nghim c modun
bng 1 nm trn ng
trn n v. Nh vy bn
trong ng trn n v l
min n nh, bn ngoi
ng trn n v l min
khng n nh, ng
trn n v l bin gii.

Khng n nh

-1

n nh

Bin gii
n nh

V d

H thng c hm truyn t:
Cc cc ca G(z) l:
1. z1 = e-T |z1| = e-T < 1
2. z2 = e-2T |z2| = e-2T < 1

H thng c hm truyn t:
Cc cc ca G(z) l:
1. z1 = j2 |z1| = 2 > 1
2. z2 = -j2 |z2| = 2 > 1

1 e T
G( z) =
( z eT )( z e2T )
H thng cho n nh

1
G( z) = 2
z +4
H thng cho khng n nh

p v

Khng n nh

n nh

Khng n nh

-1

n nh

Bin gii
n nh

Bin gii n
nh

z 1
v=
;
z +1

v +1
z=
v + 1

Php bin i lng tuyn tnh

Kt lun 1
Sau khi thc hin php bin i lng
tuyn tnh, iu kin cn v v tnh n
nh ca h thng iu khin s cng
ging nh iu kin cn v v tnh n
nh ca h thng iu khin lin tc. Mt
phng v cng chnh l mt phng p

Kt lun 2
nh ngha ging nhau
iu kin cn v - ging nhau
Cc tiu chun n nh ging nhau

Sau khi thc hin php bin i

lng tuyn tnh, c th s dng cc
tiu chun n nh ca h thng iu
khin lin tc xt tnh n nh ca h
thng iu khin s

V d

Xt tnh n nh ca h thng c
hm truyn t:

a thc c tnh:

1
G( z) = 2
z + z + 0.5

( z ) = z 2 + z + 0.5

Thc hin php bin i lng tuyn tnh:

2

v +1
v +1
( z ) z = v +1 =
+
+ 0.5

v +1
v + 1 v + 1
0.5v 2 + v + 2.5
=
2
(1 v )

(v) = 0.5v 2 + v + 2.5

 (v) = 0.5v + v + 2.5

2

Lp bng Routh:

0.5 2.5
1
2.5

H thng cho n nh

i vi h thng c a thc c tnh bc

mt hoc bc hai, iu kin cn cng
chnh l iu kin h thng cho
n nh

5.4. TIU CHUN N NH JURY

H thng c a thc c tnh bc 2:
(z) = a0z2 + a1z + a2

( z ) z =1 > 0

( z ) z =1 > 0

a2 < a0

 H thng c a thc c tnh bc 3:

(z) = a0z3 + a1z2 + a2z + a3

( z ) z =1 > 0

( z ) z =1 < 0

a3 < a0

a32 a02 > a1a3 a0 a2

V d
G( z) =

1
z 2 + z + 0.5

(z) = z2 + z + 0.5

( z ) z =1 = 2.5 > 0

( z ) z =1 = 0.5 > 0

0.5 < 1

H thng cho n nh

V d
1
G( z) = 3
z 3 z 2 + 3.25 z 0.5
(z) = z3 - 3z2 + 3.25z - 0.5

( z ) z =1 = 1 3 + 3.25 0.5 = 0.75 > 0

( z ) z =1 = 1 3 3.25 0.5 = 7.75 < 0 9

0.5 < 1

( 0.5) 12 < ( 0.5) .( 3) 3.25.1

H thng cho khng n nh

C.6: CHT LNG IU KHIN

H THNG IU KHIN S

6.1. SAI LCH TNH

nh ngha: Sai lch gia i lng u

vo v i lng u ra trng thi xc
lp.

6.2. Kiu (loi) hm truyn t

Kiu (loi) hm truyn t bng s lng im cc bng 1.

A1 z + A0
G1 ( z ) =
z 1

kiu 1

A1 z + A0
G2 ( z ) =
z

kiu 0

A1 z + A0
G3 ( z ) =
( z 1)( z 0.5)

kiu 1

A1 z + A0
G3 ( z ) = 3
z 2.5 z 2 + 2 z 0.5

A1 z + A0

( z 1) ( z 0.5)
2

kiu 2

6.3. H thng c mt vng kn

X(z)

E(z)
Gh(z)
x(kT) (-) e(kT)

Y(z)
y(kT)

st = lim e(kT )
k

z 1
= lim
E( z)
z 1
z
z 1 X ( z)
= lim

z 1
z 1 + Gh ( z )

nh ngha cc hng s
Hng s bc thang

K bt = lim Gh ( z )
z 1

1
= lim ( z 1) Gh ( z )
T z 1

Hng s bc mt

K bm

Hng s bc hai

1
2
K bh = 2 lim ( z 1) Gh ( z )
T z 1

Tn hiu u vo
x(kT ) = .1(kT )

Tn hiu u vo
l hm bc thang:

X ( z) =

z
z 1

z 1 X ( z)
z 1

z
st = sbt = lim

= lim

1
z 1
z
z 1 + Gh ( z )
z 1 + Gh ( z ) z 1

sbt = lim
z 1

1 + Gh ( z )
sbt =

1 + lim Gh ( z )
z 1

1 + K bt

Tn hiu u vo
Tn hiu u vo
l hm t l bc
mt vi thi gian:
st = sbm = lim
z 1

sbm = lim
z 1

x(kT ) = .(kT )

X ( z) =

zT

( z 1)

z 1 X ( z)
z 1

zT

= lim

z 1 + Gh ( z ) z 1 z 1 + Gh ( z ) ( z 1)2

1
1
( z 1) + ( z 1)Gh ( z )
T
T
sbm =

K bm

1
lim( z 1)Gh ( z )
T z 1

Tn hiu u vo
Tn hiu u vo
l hm t l bc
hai vi thi gian:

x(kT ) =

X ( z) =

.(kT ) 2

z ( z + 1)T 2
2

( z 1)

z 1 X ( z)
z 1
1
z ( z + 1)T 2
st = sbh = lim

= lim

z 1
z
z 1 + Gh ( z )
z 1 + Gh ( z ) 2 ( z 1)3
sbh = lim
z 1

( z + 1)
1
1

2
2 2 ( z 1) + 2 ( z 1) 2 Gh ( z )
T
T

sbh =

K bh

1
2
z
Gh ( z )
lim(
1)

2 z 1
T

Hm truyn t Gh(z)

Gh(z) kiu 0: Gh ( z ) =

M ( z)
;
( z z1 )( z z2 ) ( z zn )
M ( z)
z 1 ( z z )( z z ) ( z z )
n
1
2

K bt = lim Gh ( z ) = lim
z 1

M (1)
= const
K bt =

1
z
1
z
1
z
( 1 )( 2 ) ( n )

sbt =

1 + K bt

= const

zi 1; i = 1, 2,..., n

Hm truyn t Gh(z)

Gh(z) kiu 0: Gh ( z ) =

K bm =
K bm

M ( z)
;
( z z1 )( z z2 ) ( z zn )

zi 1; i = 1, 2,..., n

1
1
( z 1).M ( z )
lim( z 1)Gh ( z ) = lim
T z 1
T z 1 ( z z1 )( z z2 ) ( z zn )

1
0.M (1)
=
=0
T (1 z1 )(1 z2 ) (1 zn )
sbm =

K bm

Hm truyn t Gh(z)

Gh(z) kiu 0: Gh ( z ) =

M ( z)
;
( z z1 )( z z2 ) ( z zn )

zi 1; i = 1, 2,..., n

1
1
( z 1) 2 .M ( z )
2
K bh = 2 lim( z 1) Gh ( z ) = 2 lim
T z 1
T z 1 ( z z1 )( z z2 ) ( z zn )
K bh =

1
0.M (1)
=0
2
T (1 z1 )(1 z2 ) (1 zn )
sbh =

K bh

Hm truyn t Gh(z)

Gh ( z ) =

Gh(z) kiu 1:

M ( z)
; zi 1; i = 2,3,..., n
( z 1)( z z2 ) ( z zn )
M ( z)
z 1 ( z 1)( z z ) ( z z )
n
2

K bt = lim Gh ( z ) = lim
z 1

M (1)
=
K bt =
0. (1 z2 ) (1 zn )
sbt =

1 + K bt

=0

Hm truyn t Gh(z)

Gh(z) kiu 1:

K bm =
K bm

Gh ( z ) =

M ( z)
; zi 1; i = 2,3,..., n
( z 1)( z z2 ) ( z zn )

1
1
( z 1).M ( z )
lim( z 1)Gh ( z ) = lim
T z 1
T z 1 ( z 1)( z z2 ) ( z zn )

1
M (1)
=
= const
T (1 z2 ) (1 zn )
sbm =

K bm

= const

Hm truyn t Gh(z)

Gh(z) kiu 1:

Gh ( z ) =

M ( z)
; zi 1; i = 2,3,..., n
( z 1)( z z2 ) ( z zn )

1
1
( z 1) 2 .M ( z )
2
K bh = 2 lim( z 1) Gh ( z ) = 2 lim
T z 1
T z 1 ( z 1)( z z2 ) ( z zn )
K bh =

( z 1) .M (1) = 0
1
T 2 (1 z2 ) (1 zn )
sbh =

K bh

Hm truyn t Gh(z)

Gh(z) kiu 2:

Gh ( z ) =

M ( z)

( z 1) ( z z3 ) ( z zn )
2

K bt = lim Gh ( z ) = lim
z 1

K bt =

z 1

M ( z)

( z 1) ( z z3 ) ( z zn )
2

M (1)
=
0. (1 z3 ) (1 zn )
sbt =

1 + K bt

=0

zi 1; i = 3,..., n

Hm truyn t Gh(z)

Gh(z) kiu 2:

Gh ( z ) =

M ( z)

( z 1) ( z z3 ) ( z zn )
2

zi 1; i = 3,..., n

K bm =

1
1
( z 1).M ( z )
lim( z 1)Gh ( z ) = lim
T z 1
T z 1 ( z 1)2 ( z z3 ) ( z zn )

K bm =

1
M (1)
=
T 0. (1 z3 ) (1 zn )
sbm =

K bm

=0

Hm truyn t Gh(z)

Gh(z) kiu 2:

Gh ( z ) =

M ( z)

( z 1) ( z z3 ) ( z zn )
2

zi 1; i = 3,..., n

1
1
( z 1) 2 .M ( z )
2
K bh = 2 lim( z 1) Gh ( z ) = 2 lim
T z 1
T z 1 ( z 1)2 ( z z3 ) ( z zn )
K bh =

1
M (1)
= const
2
T (1 z3 ) (1 zn )
sbh =

K bh

= const

TNG KT
0

sbt

const

sbm

const

sbh

const

Kiu

st

Gim sai lch tnh

Tng hng s thi gian
H thng c kh nng b mt n nh

Tng kiu (loi) ca hm truyn t

Tng s lng khu tch phn trong h thng h

6.4. SAI LCH TNH CA H THNG BT K

H thng bt k c
hm truyn t G(z)
Chuyn h thng
cho v dng h thng
kn

B( z )
G( z) =
A( z )

X(z)

E(z)
Gh(z)
x(kT) (-) e(kT)

Gh ( z )
B( z )
Gk ( z ) =
= G( z) =
1 + Gh ( z )
A( z )

Y(z)
y(kT)

Gk ( z ) =

Gh ( z )
B( z )
= G( z) =
1 + Gh ( z )
A( z )

Xc nh hm truyn Gh(z)

B( z )
Gh ( z ) =
A( z ) B ( z )

C.7: CC B IU KHIN
PID S

7.1. KHI NIM CHUNG

Cc b PID s cng lm chc nng tng
t nh cc b PID lin tc
P: Khu t l
I: Khu tch phn
D: Khu vi phn

7.2. B IU KHIN P
y(t) = KP. x(t)
y(kT) = KP.x(kT)
GCP(z) = KP

7.3. B IU KHIN I
t

y (t ) = K I x(t )dt
0

kT

y (kT ) = K I

x(kT )dt
0

( k 1)T

y (kT ) = K I

kT

x( kT ) dt + K I

x( kT ) dt

( k 1)T

kT

y (kT ) = y[(k -1)T ] + K I

( k 1)T

x(kT )dt

Xp x tch phn
x
x(kT)

kT

KI

x(kT )dt

( k 1)T

x[(k-1)T]

(k-1)T
kT

kT

K IT
K I x(kT )dt
{ x(kT ) + x[(k -1)T ]}
2
( k 1)T

kT

y (kT ) = y[(k -1)T ] + K I

x(kT )dt

( k 1)T

K IT
y (kT ) = y[(k -1)T ] +
{ x(kT ) + x[(k -1)T ]}
2
K IT
y (kT ) y[(k -1)T ] =
{ x(kT ) + x[(k -1)T ]}
2
K T

Z { y (kT ) y[(k -1)T ]} = Z I { x(kT ) + x[(k -1)T ]}

2

K IT
X ( z ) + z 1 X ( z )
Y ( z) z Y ( z) =
2
1

K IT
X ( z ) + z 1 X ( z )
Y ( z) z Y ( z) =
2
1

Y ( z) K IT z + 1
GCI ( z ) =
=

X ( z)
2 z 1
K IT
y (k ) = y (k -1) +
[ x(k ) + x(k 1)]
2

7.4. B IU KHIN D
dx(t )
y (t ) = K D
dt
dx(kT )
y (kT ) = K D
dt
y (kT )

x
x(kT)
x[(k-1)T]

KD
x(kT ) x [ (k 1)T ]}
{
T

(k-1)T

Z { y (kT )} = Z D { x(kT ) x [ (k 1)T ]}

T

KD
X ( z ) z 1 X ( z )
Y ( z) =
T

kT

KD
X ( z ) z 1 X ( z )
Y ( z) =
T

Y ( z) K D z 1
=

GCD ( z ) =
X ( z) T
z

y (k ) =

KD
[ x(k ) x(k 1)]
T

7.5. B IU KHIN PI
Gm c b iu khin
P v b iu khin I
GCPI ( z ) = GCP ( z ) + GCI ( z )
mc song song vi
nhau
GCPI ( z ) = K P +
A z + A1
GCPI ( z ) = 0
z 1

K IT z + 1

2 z 1

K IT
A0 = K P +
;
2

y (k ) = y (k 1) + A0 x(k ) + A1 x(k 1)

K IT
A1 = K P +
2

7.6. B IU KHIN PD
Gm c b iu khin
P v b iu khin D
GCPD ( z ) = GCP ( z ) + GCD ( z )
mc song song vi
nhau
GCPD ( z ) = K P +
A z + A1
GCPD ( z ) = 0
z

y (k ) = A0 x(k ) + A1 x(k 1)

KD z 1

T
z

KD
A0 = K P +
;
T

KD
A1 =
T

7.7. B IU KHIN PID

Gm c b iu khin P,
b iu khin I v b iu
khin D mc song song
vi nhau

GCPID ( z ) = K P +

GCPID ( z ) = GCP ( z ) + GCI ( z ) + GCD ( z )

K IT z + 1 K D z 1

z
2 z 1 T

K IT K D
2
A
z
+ A1 z + A2
;
A0 = K P +
+
0
GCPID ( z ) =
2
T
z ( z 1)
K IT
KD
;
A1 = K P +
2
2
T
KD
y (k ) = y (k 1) + A0 x(k ) + A1 x(k 1) + A2 x(k 2)
A2 =
T

Bng bin i Laplace v bin i Z

f(t)

F(p)

F(z)

(t )

1
p

z
z1

1
p2

T. z

1 2
t
2

1
p3

e at

1
p+a

( z 1)

T 2 .z. ( z + 1)
2 ( z 1)

T.z. B

( p + a)

1 2 at
t .e
2

( p + a)

1 e at

a
p. ( p + a )

1
at 1 + e at )
(
a

a
p .( p + a)

(1 at )

z
; B = e aT
zB

t. e at

at

(z B)

1 2
z. B 2
T .(z + B)
3
2
(z B)

( 1 B ) .z
( z 1)( z B )

( 1 B ) .z + z.T
a ( z 1)( z B ) ( z 1) 2
z 2 zB ( 1 + aT )

( p + a)

(z B)

sinat

a
p + a2

z.sin aT
z 2z cos aT + 1

cosat

p
p + a2

z 2 z.sin aT
z 2 2z cos aT + 1

e at sin ct

e at cos ct

( p + a)

+c

z. B.sin cT
z 2z. B.cos cT + B 2
2

p+a

( p + a)

+c

z. ( z B.cos cT )
2

z 2z. B.cos cT + B 2
2