Bo Quan Sat Kalman

Chng 4 : iu khin bn vng
Trang 411

Chng 4

IU KHIN BN VNG

4.1 Gii thiu
4.1.1 Khi nim iu khin bn vng
H thng iu khin bn vng lm cho cht lng ca sn phm lun n
nh, khng ph thuc vo s thay i ca i tng cng nh ca nhiu tc
ng ln h thng. Mc ch ca iu khin bn vng l thit k cc b iu
khin K duy tr n nh bn vng khng ch vi m hnh danh nh ca i
tng (P
0
) m cn tha vi mt tp m hnh c sai s so vi m hnh
chun (

P ).

P
0
:M hnh chun (m hnh danh
nh)
P :M hnh thc t vi sai lch

so vi m hnh chun

Hnh 4.1 : M hnh iu khin bn vng

Cho tp m hnh c sai s
P v mt tp cc ch tiu cht lng, gi s

P
0

P l m hnh danh nh dng thit k b iu khin K.H thng

hi tip vng kn c gi l c tnh :
- n nh danh nh: nu K n nh ni vi m hnh danh nh P
0

- n nh bn vng: nu K n nh ni vi mi m hnh thuc
P
- Cht lng danh nh: nu cc mc tiu cht lng c tha i vi m
hnh danh nh P
0

Trang 412
- Cht lng bn vng: nu cc mc tiu cht lng c tha i vi mi
m hnh thuc
P
Mc tiu bi ton n nh bn vng l tm b iu khin khng ch n nh
m hnh danh nh P
0
m cn n nh mt tp cc m hnh c sai s
P
4.1.2 Chun ca tn hiu
4.1.2.1 Khi nim chun
Trong iu khin ni ring cng nh trong cc cng vic c lin quan n
tn hiu ni chung,thng thng ta khng lm vic ch ring vi mt tn hiu
hoc mt vi tn hiu in hnh m ngc li phi lm vic vi mt tp gm
rt nhiu cc tn hiu khc nhau. Khi phi lm vic vi nhiu tn hiu khc
nhau nh vy chc chn ta s gp bi ton so snh cc tn hiu chn lc
ra c nhng tn hiu ph hp cho cng vic.
Cc khi nim nh tn hiu x
1
(t) tt hn tn hiu x
2
(t) ch thc s c ngha
nu nh chng cng c chiu theo mt tiu chun so snh no . Cng
nh vy nu ta khng nh rng x
1
(t) ln hn x
2
(t) th phi ch r php so
snh ln hn c hiu theo ngha no, x
1
(t) c gi tr cc i ln hn ,
c nng lng ln hn hay x
1
(t) cha nhiu thng tin hn x
2
(t)..Ni mt
cch khc ,trc khi so snh x
1
(t) vi x
2
(t) chng ta phi gn cho mi mt
tn hiu mt gi tr nh gi tn hiu theo tiu chun so snh c la chn .
nh ngha: Cho mt tn hiu x(t) v mt nh x x(t) ||x(t)|| R
+
chuyn
x(t) thnh mt s thc dng ||x(t)||.S thc dng ny s c gi l chun
ca x(t) nu n tha mn:
a. ||x(t)|| 0 v ||x(t)|| = 0 khi v ch khi x(t) =0 (4.1)
b. ||x(t)+y(t)|| ||x(t)|| + ||y(t)|| x(t), y(t) (4.2)
c. ||ax(t)|| = |a|.||x(t)|| x(t) v R a . (4.3)
4.1.2.2 Mt s chun thng dng trong iu khin cho mt tn hiu x(t):
- Chun bc 1: dt t x t x

= | ) ( | || ) ( ||
1
(4.4)
- Chun bc 2:

= dt t x t x
2
2
| ) ( | || ) ( || . (4.5)
Trang 413
Bnh phng chun bc hai chnh l gi tr o nng lng ca tn hiu x(t).
-Chun bc p:
p
p
p
dt t x t x

= | ) ( | || ) ( || vi p N (4.6)
- Chun v cng: | ) ( | sup || ) ( || t x t x
t
=
(4.7)
y l bin hay nh ca tn hiu
Khi nim chun trong nh ngha trn khng b gii hn l ch cho mt tn
hiu x(t) m cn c p dng c cho c vector tn hiu gm nhiu phn
t v mi phn t li l mt tn hiu.
Xt mt vector tn hiu:
x(t) =
|
|
|
\
|
) (
) (
1
t x
t x
n
M
- Chun 1 ca vector x:

=
=
n
i
i
x x
1
1
(4.8)
- Chun 2 ca vector x:

=
=
n
i
i
x x
1
2
2
(4.9)

- Chun v cng ca vector x:

n i
i
x x
,..., 2 , 1
max
=
= (4.10)
4.1.2.3 Quan h ca chun vi nh Fourier v nh Laplace:
phc v mc ch s dng khi nim chun vo iu khin ,ta cn quan
tm ti mi lin quan gia chun tn hiu x(t) l ||x(t)|| vi nh Fourier
X(j ) cng nh nh Laplace X(s) ca n.

Trang 414
nh l 4.1: (Parseval) Chun bc hai ca mt tn hiu x(t) v nh Fourier
X(j ) ca n c quan h :

d j X dt t x t x
2 2 2
| ) ( |
2
1
| ) ( | || ) ( ||
2

= = (4.11)
Cho tn hiu nhn qu causal x(t). Gi X(s) l nh Laplace ca n .Gi s
rng X(s) c dng thc -hu t vi bc ca a thc t s khng ln hn bc
a thc mu s ,tc l:

n
n
m
m
s a s a a
s b s b b
s A
s B
s X
+ + +
+ + +
= =
.....
.....
) (
) (
) (
1 0
1 0
vi m < n (4.12)
nh l 4.2: Xt tn hiu nhn qu causal x(t) c X(s) dng (4.12) . chun
bc 1 ca x(t) l mt s hu hn ||x(t)||
1
= K < th iu kin cn v l tt
c cc im cc ca X(s) phi nm bn tri trc o (c phn thc m) .
4.1.3 i s ma trn
4.1.3.1 Mt s ma trn thng gp:
- Mt ma trn A=(a
ij
) c s hng bng s ct c gi l ma trn vung.
ng cho ni cc phn t a
ii
trong ma trn vung c gi l ng cho
chnh .ng cho cn li c gi l ng cho ph.
A =
(
(
(
(
nn n n
n
n
a a a
a a a
a a a
L
M M M M
L
L
2 1
2 22 21
1 12 11
(4.13)
- Mt ma trn vung A=(a
ij
) c a
ij
= 0 khi i j ,tc l cc phn t khng
nm trn ng cho chnh u bng 0, c gi l ma trn ng cho. Ma
trn ng cho c k hiu bi:
A =
(
(
(
(
nn
a
a
a
L
M M M M
L
L
0 0
0 0
0 0
22
11
= diag(a
ij
) (4.14)
Trang 415
- Ma trn ng cho I = diag(1) =
(
(
(
(
1 0 0
0 1 0
0 0 1
L
M M M M
L
L
gi l ma trn n v.
- Ma trn vung A=(a
ij
) c a
ij
= 0 khi i > j (hoc i < j) c gi l ma trn
tam gic
+ Ma trn tam gic di
A=
(
(
(
(
nn n n
a a a
a a
a
L
M M M M
L
L
2 1
22 21
11
0
0 0
(4.15)
+ Ma trn tam gic trn
A=
(
(
(
(
nn
n
n
a
a a
a a a
L
M M M M
L
L
0 0
0
2 22
1 12 11
(4.16)
4.1.3.2 Cc php tnh v ma trn:
- Php cng / tr: Cho hai ma trn A=(a
ij
) v B=(b
ij
) cng c m hng v n
ct .Tng hay hiu A B = C =(c
ij
) ca chng c nh ngha l mt ma
trn cng c m hng v n ct vi cc phn t
c
ij
= a
ij
+ b
ij
i=1,2,..,m v j=1,2,..,n.
- Php nhn vi s thc: Cho ma trn A=(a
ij
) c m hng v n ct v mt s
v hng thc(phc) x ty .Tch B = xA = Ax = (b
ij
) c hiu l ma trn
cng c m hng v n ct vi cc phn t

B
ij
= x.a
ij
i=1,2,.m v j=1,2,..,n
- Php chuyn v: Ma trn chuyn v ca ma trn A=(a
ij
) vi m hng v n ct
l ma trn A
T
= (a
ji
) c n hng v m ct c to t ma trn A qua vic hon
chuyn hng thnh ct v ngc li ct thnh hng.
- Php nhn ma trn: Cho ma trn A=(a
ik
) c m hng v p ct v ma trn
B=(b
kj
) c p hng v n ct ,tc l :
Trang 416
+ A=(a
ik
) i=1,2,....,m v k=1,2,.,p
+ B=(b
kj
) k=1,2,.,p v j=1,2,..,n
Tch AB = C =(c
ij
) ca chng l mt ma trn c m hng v n ct vi cc
phn t
C
ij
=
=
p
k
kj ik
b a
1

Mt ma trn vung A
n n
R

c gi l ma trn trc giao nu A
T
A=AA
T
=I
4.1.3.3 Hng ca ma trn:
Cho n vector v
i
i=1,2,,n Chng s c gi l c lp tuyn tnh nu ng
thc a
1
v
1
+a
2
v
2
+.+a
n
v
n
=0 trong a
i
l nhng s thc (hoc phc) s
ng khi v ch khi a
1
= a
2
= ..=a
n
= 0
Xt mt ma trn A=(a
ij
) bt k c m hng v n ct .Nu trong s m vector
hng c nhiu nht p m vector c lp tuyn tnh v trong s n vector ct
c nhiu nht q n vector c lp tuyn tnh th hng ma trn c hiu l:
Rank(A) = min{p,q}
Mt ma trn vung A kiu (nn) s c gi l khng suy bin nu
Rank(A)=n .Ngc li nu Rank(A) <n th A c ni l ma trn suy bin
Hng ma trn c cc tnh cht sau:
- Rank(A) = min{p,q} (4.17)
- Rank(AB) rank(A) v rank(AB) rank(B) (4.18)
- Rank(A + B) rank(A) + rank(B) (4.19)
- Nu B khng suy bin th rank(AB) = rank(B) (4.20)
4.1.3.4 Ma trn nghch o:
Cho ma trn A=(a
ij
),i=1,2,,m ; j=1,2,,n,trong a
ij
l nhng s thc
(hoc phc),ni cch khc A R
mn
(hoc A C
mn
).Nu tn ti mt ma
trn B tha mn :
AB = BA = I (ma trn n v) (4.21)
Th ma trn B c gi l ma trn nghch o ca A v k hiu l B = A
-1
.
Trang 417
Do phi tn ti c hai php nhn AA
-1
v A
-1
A cho ra kt qu c cng kiu
nn ma trn A phi l mt ma trn vung,tc l phi c m = n.Hn na do
det(I) = 1 0 nn:
det(A)det(A
-1
) 0 => det(A) 0 v det(A
-1
) 0. (4.22)
Vy A phi l ma trn khng suy bin.
Ma trn nghch o A
-1
ca A c tnh cht sau:
- Ma trn nghch o A
-1
ca A l duy nht (4.23)
- Tp hp tt c cc ma trn vung cng kiu v khng suy bin cng vi
php nhn ma trn to thnh mt nhm (khng giao hon). (4.24)
- Nghch o ma trn kiu (22):
(
=
(
a c
b d
A d c
b a
A
) det(
1
1
(4.25)
- (AB)
-1
= B
-1
A
-1

(4.26)
- (A
-1
)
T
= (A
T
)
-1
(4.27)
- Nu A = diag(a
i
) v khng suy bin th A
-1
= diag
(
i
a
1
(4.28)
- A
-1
=
) det(A
A
adj
(4.29)
trong A
adj
l ma trn c cc phn t a
ij
= (-1)
i+j
det(A
ij
) vi A
ij
l ma trn
thu c t A bng cch b i hng th j v nh ct th i.
- Cho ma trn A R
nn
khng suy bin . Nu U R
nm
v V R
nm
l
hai ma trn lm cho (I+V
T
A
-1
U) cng khng suy bin th
(A+UV
T
)
-1
= A
-1
A
-1
U(I+V
T
A
-1
U)
-1
V
T
A
-1
(4.30)
- Cho ma trn vung A =
(
4 3
2 1
A A
A A
khng suy bin,trong A
1
,A
2
,A
3
,A
4

cng l cc ma trn.
Nu A
1
khng suy bin v B = A
4
A
3
A
1
-1
A
2
cng khng suy bin th

(
+
=
(
1 1
1 3
1
1
2
1
1
1
1 3
1
2
1
1 1
1
1
4 3
2 1 1
B A A B
B A A A A B A A A
A A
A A
A (4.31)
Trang 418
Nu A
4
khng suy bin v C = A
1
A
2
A
4
-1
A
3
cng khng suy bin th
(
=
(
1
3 2
1
3
1
4
1
4
1
3
1
4
1
4 2
1 1
1
4 3
2 1 1
A A C A A A AC A A
A A C C
A A
A A
A (4.32)
4.1.3.5 Vt ca ma trn:
Cho ma trn vung A=(a
ij
) ,i,j=1,2,,n kiu (nxn).Vt ca A c hiu
l tng gi tr cc phn t trn ng cho chnh ca A v c k hiu
bng trace(A):
trace=
=
m
i
ii
a
1
(4.33)
Vt ca ma trn c cc tnh cht:
a. trace(AB) = trace(BA) (4.34)
b. trace(S
-1
AS) = trace(A) vi S l ma trn khng suy bin bt k (4.35)
4.1.3.6 Gi tr ring v vector ring:
S thc c gi l gi tr ring v vector x c gi l vector ring bn
phi ng vi gi tr ring ca A tha mn:
Ax = x x (4.36)
(A - I)x = 0 x (4.37)
Gi tr ring v vector ring ca ma trn A c nhng tnh cht sau:
a. Hai ma trn tng ng A v S
-1
AS lun cng gi tr ring, ni cch
khc gi tr ring ca ma trn bt bin vi php bin i tng ng:
det(A- I)=det(S
-1
AS- I) (4.38)
b. Cc gi tr ring ca ma trn bt bin vi php chuyn v, tc l:
det(A- I)=det(A
T
- I) (4.39)
c. Nu A khng suy bin th AB v BA c cng cc gi tr ring ,tc l:
det(AB- I)=det(BA- I) (4.40)
d. Nu A l ma trn i xng (A
T
=A) th cc vector ring ng vi nhng gi
tr ring khc nhau s trc giao vi nhau
Trong Matlab ,s dng hm eig(A) tm ma trn ring v vector ring.
Trang 419
4.1.3.7 Tnh ton ma trn:
Cho ma trn X = (x
ij
) C
mn
l mt ma trn thc (hoc phc) v F(X) C
l mt v hng thc hoc phc ca X .o hm ca F(X) i vi X c
nh ngha

(
(
) ( ) ( X F
x
X F
X
ij
(4.41)
Cho A v B l nhng ma trn phc vi khng gian tng thch .Mt s cng
thc o hm :

( )
( )
( )
1
(4.42)
( ) (4.43)
2 ( ) (4.44)
( ) (4.45)
( ) (4.46)
= =
= +
T T
k k T
T T
T T
T
Trace AXB A B
X
Trace X k X
X
Trace XBX XB B B
X
X AX AX A X
X
Trace AX B BA
X

4.1.3.8 Chun ca ma trn:
Ngi ta cn n chun ca ma trn l nhm phc v vic kho st tnh gii
tch ca n.C nhiu chun khc nhau cho mt ma trn A=(a
ij
)
,i=1,2,,m;j=1,2,,n.
Nhng chun thng thng c s dng:
- Chun 1 ca ma trn A

=

=
m
i
ij
n j
a A
1
1
1
max (4.47)
- Chun 2 ca ma trn A
) ( max
*
1
2
A A A
i
n i

= (4.48)
- Chun v cng ca ma trn A
Trang 420

=
n
j
ij
m i
a A
1
1
max (4.49)
- Chun Euclide ca ma trn A (chun Frobenius)
) (
2
A A trace a A
T
i j
ij
F
= =

(4.50)
vi
*
A l ma trn chuyn v v ly lin hip. ) (
*
A A
i
l tr ring ca ma
trn A A
*
l mt s thc khng m.
4.1.4 Tr suy bin ca ma trn li chnh(Principal gain)
Tr suy bin ca ma trn A(m x l) c k hiu l ) (A
i
c nh ngha
nh sau:
k i A A A
i i
,... 2 , 1 ) ( ) (
*
= = (4.51)
vi } , min{ l m k = .
Nu chng ta biu din ma trn A di dng A(s) v t j s =
) 0 ( < , th tr suy bin ca ) ( j A l mt hm ca v c gi l
li chnh ca A(s). y chng ta gi s rng
i
c sp xp theo th
t sao cho
1 +
i i
. Nh vy,
1
l tr suy bin ln nht v
k
l tr suy
bin nh nht. K hiu l tr suy bin ln nht v l tr suy bin nh
nht.
Ta c:
) ( max ) ( max ) (
*
A A A A
i i
= =

2
A = (4.52)
vi
2
2
2
sup
x
Ax
A = .
li ca h a bin nm gia li chnh ln nht v nh nht.
Trong Matlab tm tr suy bin ca ma trn A dng lnh svd(A)
V d: Cho ma trn A:
Trang 421
>> A =
(
(
(
7
8
4
2
6
9
;
>> S =svd(A)
S =
[14.9359
5.1883]
S: vector ca cc gi tr suy bin ca ma trn A
(
=
129 98
98 121
* A A
0 6005 250
2
= +
082 . 98 125
2 , 1
+ =
9359 . 14 082 . 223 max ) ( = = A
1883 . 5 918 . 26 ) ( = = A
ngha vt l ca , : vi mi gi tr tn s gi tr suy bin nh nht
phi tha iu kin ca tiu chun ti u LQ: 1 )] ( [ + j KG I

Re
0
1
Biu phn b cc cho tiu chun ti u LQ
[ ] ) ( 1 j KG +
Im
0 =
=
Trang 422

Re
0
1
PM
Xc nh d tr pha ca h a bin
Re
Im
0
1
1 1
60
d tr pha m bo ca LQR
[ ] ) ( 1 j KG +
[ ] ) ( 1 j KG +
Im
= 0 =
Trang 423
4.1.5 n nh ni
n nh ni l yu cu c bn i vi mt h thng hi tip thc. ngha
ca n nh ni l khi u vo h thng bng khng th tt c cc trng thi
h thng u phi v khng t mi gi tr ban u. Mi h thng t ng
u phi bo m n nh ni mi hot ng c.

Hnh 4.2 : S h thng dng phn tch n nh ni

nh ngha :
H hi tip hnh 4.2 c gi l n nh ni nu tt c cc hm truyn t t
w
1
, w
2
n e
1
, e
2
u n nh.
iu kin n nh ni cht hn iu kin n nh da trn hm truyn vo-
ra thng thng, v n trnh vic kh cc cc v zero khng n nh gia
cc khu lin tip nhau. Khi thnh lp hm truyn vo-ra, c th xy ra hin
tng kh cc v zero khng n nh ca cc khu lin tip nhau. Nh vy,
iu kin n nh ni bo m cc tn hiu bn trong h thng u hu hn
khi tn hiu vo l hu hn.
V d, ta kho st iu kin n nh ni ca h thng hnh 4.2:
2
1
1
1
2
2 1 2 1 2 2
2
1
1
1
1
1 2 1 2 1 1
) ( ) (
) ( ) (
w GK I Gw GK I e
GKe Gw w Ge w e
Kw KG I w KG I e
KGe Kw w Ke w e

+ =
+ + = + =
+ =
+ + = + =

G
K
w
1

e
1

e
2

w
2

+
+
+
+
Trang 424
Suy ra:
1 1
1 1
1 1
2 2
( ) ( )
( ) ( )
e w
e w

( ( (
=
( ( (

I KG I KG K
I GK G I GK

iu kin n nh ni ca h l cc hm truyn
1
( )
I KG ,
1
( )
I KG K ,
1
( )
I GK G,
1
( )
I GK u n nh.
4.1.6 nh l li nh (Small Gain Theorem)
Cho h thng c biu din nh hnh 4.3: Gi
i
l tr ring ca G

Hnh 4.3 : H thng hi tip vng kn
nh l li nh c pht biu nh sau:
Gi thit rng G(s) n nh, (G(j)) l bn knh ph ca G(j). H thng
vng kn n nh nu ( ) 1 max )) ( ( < =
i
j G , hoc ( ) 1, G j
<
i vi h SISO th
1 ) ( )) ( ( < = j G j G (4.53)
nh l li nh ch l iu kin xt n nh ca h thng. im
mnh ca nh l ny l n khng yu cu nhng thng tin chi tit v h
thng.V vy n khng ch ng dng c cho h thng tuyn tnh bt bin
theo thi gian m cn ng dng c cho h thng phi tuyn, thay i theo
thi gian.
4.1.7 n nh bn vng
4.1.7.1 nh l n nh bn vng
y l m hnh c bn dng phn tch tnh n nh bn vng ca mt h
thng. Nu h danh nh n nh th M n nh v l sai s c th lm
cho h thng mt n nh. nh l sau thit lp iu kin ca M cho h
thng vn n nh di nh hng ca
G
r y
-
u
Trang 425
K
v

-
G

+
w
M

Hnh 4.4 : S cu trc phn tch n nh bn vng
nh l n nh bn vng:
Gi s M v n nh, h thng vng kn hnh 4.4 s n nh khi v ch khi
biu cc ca ng cong Nyquist det(I-M) khng bao im gc. Khi
h thng vng kn s n nh bn vng vi mi ) 1 ) ( ( nu v ch nu
khi mt trong cc iu kin sau tha mn:
a. ) 1 ( , 0 )) ( ( j M I Det (4.54)
b. ) 1 ( , 1 )) ( ( < j M (4.55)
c. < =
1 )) ( ( j M M (4.56)
4.1.7.2 iu kin n nh bn vng i vi sai s cng:
Vi = 1 )) ( ( ), ( ) ( ) ( j s s s
A A
, (4.57)

Hnh 4.5 : Sai s cng
Ta c: ( ) ( )[ ( ) ( ) ( ) ( )]
A
v s K s s w s G s v s = + (4.58)
v
M

w
Trang 426
hay

1
( ) [ ( ) ( )] ( ) ( ) ( )
A
v s I K s G s K s s w s
= + (4.59)
vy

)] ( ) ( [
) ( ) (
) (
s G s K I
s s K
s M
A
+
=

(4.60)

Kt lun: H thng vng kn hnh 4.5 n nh bn vng khi v ch khi:
) ( j =||M(s)||
=

1
)] ( ) ( [
) ( ) (
<
+
s G s K I
s s K
A
(4.61)

4.1.7.3 iu kin n nh bn vng i vi sai s nhn u ra

Hnh 4.6 : Sai s nhn u ra

Vi = 1 )) ( ( ), ( ) ( ) ( j s s s
O O
, (4.62)
Ta c:
( ) ( ) ( )[ ( ) ( ) ( )]
O
v s G s K s s w s v s = + (4.63)
hay

1
( ) [ ( ) ( )] ( ) ( ) ( ) ( )
O
v s I G s K s G s K s s w s
= + (4.64)
K
v

-
G

+

w
M
Trang 427
vy

) ( ) (
) ( ) ( ) (
s K s G I
s s K s G
M
O
+
=

(4.65)
Kt lun: H thng vng kn hnh 4.6 n nh bn vng khi v ch khi:
1
) ( ) (
) ( ) ( ) (
<
+
s K s G I
s s K s G
O
(4.66)

4.2 Phng php LQG (Linear Quadratic Gaussian)
4.2.1 t vn
Cho h thng

R t
t Dx t z
t v t Cx t y
t w t Bu t Ax t x
=
+ =
+ + =
) ( ) (
) ( ) ( ) (
) ( ) ( ) ( ) ( &
(4.67)
Ng ra y l ng ra hi tip v o c. Ng ra z l iu khin c. Tn
hiu nhiu w l nhiu h thng v v l nhiu o .
Tn hiu v v w l nhng qu trnh nhiu trng .Trng thi ban u ca x(0)
c gi s l mt vector ngu nhin .
Bin trng thi x(t)R
n
, ng ra o c y(t)R
p
v ng ra iu khin c
z(t)R
m
l nhng qu trnh ngu nhin. Biu thc sai s ton phng:
0 ) ( ) ( ) ( ) ( + t t Ru t u t Qz t z
T T
(4.68)
l mt qu trnh ngu nhin.
Vn ca iu khin h thng l gi tr mong i ca tch phn
dt t Ru t u t Qz t z E
T
T T
] ) ( ) ( ) ( ) ( [
0
+ (4.69)
l nh.
Trang 428
y l vn iu khin tuyn tnh nhiu lon. Khong thi gian [0 T] l
xc nh nhng tht s chng ta xem xt trng hp T . Ti bt k thi
gian t ton b tn hiu o c qu kh c gi s c gi tr cho hi
tip. Hnh (4.7) lm r trng hp ny :

Hnh 4.7 : Hi tip LQG
4.2.2 B quan st
Xem xt h thng quan st :

n
( ) ( ) ( )
( ) ( )
( )
x t Ax t Bu t
y t Cx t
x t R
= +
=
&
(4.70)
y l h thng (4.67) nhng khng c nhiu h thng w v nhiu o v.
Trng thi x ca h thng (4.70) khng th s dng c trc tip bi v ch
ng ra y l o c. Xy dng li trng thi vi s chnh xc ty bi vic
kt ni mt b quan st :
R t t x C t y L t Bu t x A t x + + = )] ( ) ( [ ) ( ) ( ) (
&
(4.71)
Tn hiu ) ( t x l mt c lng ca trng thi x(t). N tha mn phng
trnh vi phn trng thi ca h thng (4.70) vi thnh phn thm vo
L )] ( ) ( [ t x C t y . L l ma trn li quan st cn c la chn ph hp. Sai
s quan st y(t) ) ( t x C l s khc nhau gia ng ra o c thc t y(t) v
SYSTEM
CONTROLLER
w
v
u
+
+ y
z
Trang 429
ng ra ) ( ) ( t x C t y = .Thnh phn thm vo L )] ( ) ( [ t x C t y cung cp mt s
iu chnh ch ng ngay khi sai s ca s quan st l khc 0.

Hnh 4.8 : Cu trc ca mt b quan st
Hnh (4.8) cho thy cu trc ca b quan st .nh ngha :
) ( ) ( ) (
~
t x t x t x = (4.72)
l sai s c lng trng thi. Phng trnh vi phn ca x
~
nhn c sau
khi tr (4.70) cho (4.71) :
( ) ( ) ( ) x t A LC x t t R =
&
% % (4.73)
Nu h thng (4.70) c tm thy th tn ti ma trn li L m sai s h
thng (4.73) l n nh. Nu sai s h thng l n nh th
t khi t x 0 ) (
~
cho bt k sai s x
~
(0). V vy
) ( ) ( t x t x
t

(4.74)
Trng thi c lng hi t v trng thi thc.
Trong Matlab dng hai lnh acker v place tnh ma trn L ca khu
quan st trng thi :
L= acker(A
T
,C
T
,p)
L= place(A
T
,C
T
,p)
A
T
: Chuyn v ca ma trn A
C
T
: Chuyn v ca ma trn C
p : Khai bo cc im cc mong mun
SYSTEM
SYSTEM
MODEL
L
y
y
z
x
u
+
-
Trang 430
4.2.3 B lc Kalman
4.2.3.1 t vn :
B lc Kalman l mt b quan st c s dng cho cc ng dng yu cu
xy dng li h phng trnh trng thi khi tnh n nh hng ca nhiu o
c.
Phng trnh trng thi ca i tng :
x& =Ax+Bu+ w (4.75)
y=Cx+v (4.76)
vi trng thi x(t)R
n
,ng vo iu khin u(t)R
m
, v ng ra o lng
y(t)R
p
.Tn hiu w(t) l nhiu qu trnh cha bit trc tc ng lm nhiu
h thng.Tn hiu v(t) l mt nhiu o khng xc nh c , lm suy gim
vic o lng chng hn nh nhiu cm bin.Gi tr ban u x(0), nhiu
w(t) hoc v(t) khng bit c chnh xc.Gi s x(0), w(t) v v(t) u trc
giao qua li vi nhau.

Hnh 4.9 : B quan st trng thi ca Kalman
y
B

L

C
C
A
B
A

y
y
~

x
-
x
x&
x
&

w(t)
v(t)
u
H thng
B lc Kalman
Trang 431
Gi ) ( t x l c lng ca x .
Phng trnh trng thi ca khu lc Kalman :

( )

x Ax Bu L y y
y Cx
= + +
=
&
(4.77)
Mc tiu ca thit k b lc Kalman : Tm li c lng L c s c
lng ti u trong s hin din ca nhiu w(t) v v(t)
Sai s c lng: ) ( ) ( ) (
~
t x t x t x = (4.78)
li L s c chn sao cho gi tr trung bnh ca sai s c lng ton
phng l b nht .
4.2.3.2 C s ton hc:
L thuyt xc sut:
T phng trnh (4.75) c thm vo bi nhiu qu trnh, trng thi x(t)
by gi cng l mt qu trnh ngu nhin nh l y(t). kho st nhng
c tnh thng thng ca qu trnh ngu nhin cn nhc li mt s khi
nim l thuyt xc sut (Papoulis 1984). Mc d w(t) v v(t) l nhng i
lng ngu nhin khng bit c, nhng cn bit mt vi c im h
tr vic thit k cc b iu khin. Chng hn nh c th bit c gi tr
trung bnh hoc tng nng lng ca chng.
Cho vector ngu nhin zR
n
,f
z
( ) l hm mt xc sut (PDF) ca z.
i lng PDF c trng cho xc sut m z ly gi tr bn trong vng vi
phn d t gia .
Gi tr mong mun ca hm g(z) ca vector ngu nhin c xc nh nh
sau :
E{ } ) (z g =

) ( g ( )d (4.79)
Gi tr trung bnh hay mong mun ca z c xc nh nh sau:
E{z}=

z
( )d (4.80)
c k hiu bng z . Ch rng z R
n
.
Trang 432
Hip phng sai ca z c cho bi
P
z
=E{ }
T
z z z z ) )( ( (4.81)
Ch rng P
z
l ma trn hng nn
Phn quan trng ca vector ngu nhin c c trng bi Gaussian hoc
nomal PDF
z
( )=
| | ) 2 (
1
z
n
P
e
2 / ) ( 2 / ) (
1

z P z
T

(4.82)
Trong trng hp v hng 1 n = , (4.82) tr thnh:
z
P z
z
z
e
P
f
2 / ) (
2
2
1
) (

=

(4.83)
c minh ha hnh 4.10 .V vy nhng vector ngu nhin ly gi tr gn
vi z c xc sut ln nht v xc sut s gim khi ly gi tr xa z .Nhiu
bin ngu nhin l Gaussian.
Nu vector ngu nhin l mt hm ca thi gian c gi l mt qu trnh
ngu nhin c tng trng l z(t). Khi PDF c th thay i theo thi
gian v chng ta vit l
z
( ,t). iu c th tng tng rng PDF
hnh 4.10 thay i theo thi gian. Trong tnh hung ny, gi tr mong i v
ma trn hip phng sai l nhng hm thi gian v th chng c th biu
din z (t) v P
z
(t).

Hnh 4.10 : Gaussian PDF
Z
f
z
( )
Trang 433
Nhiu qu trnh ngu nhin z(t) quan trng c PDF bt bin theo thi gian
l nhng qu trnh tnh, thm ch chng l hm thi gian ngu nhin vn
c tr trung bnh v hip phng sai l hng s.
c trng cho lin h gia hai qu trnh ngu nhin z(t) v x(t), c th s
dng PDF kt hp
zx
( )
2 1
, , , t t , tng trng cho xc xut m (z(t
1
), x(t
2
))
trong vng vi phn d d gia ( , ). Gi s rng cc qu trnh z(t)
v x(t) l lin kt tnh , PDF kt hp khng l hm ca c hai thi gian t
1
v
t
2
nhng n ch da vo sai bit (t
1
-
2
t ).
Trong nhiu trng hp tnh, gi tr mong mun ca hm hai bin g(z,x)
c xc nh bi:
E{ )) ( ), ( (
2 1
t x t z g }=
+

g( , )
zx
( , ,t
1
- t
2
)d d (4.84)
Ma trn tng quan cho c xc nh bi
R
zx
( )=E{ } ) ( ) ( t x t z
T
+ (4.85)
Do , ma trn tng quan cho ca hai qu trnh khng tnh m c xc
nh bi
R
zx
(t, )=E{ } ) ( ) (
T
x t z (4.86)
Xem nh z(t
1
) v z(t
2
) nh l hai qu trnh ngu nhin ca qu trnh tnh,
hm t tng quan z(t) c xc nh nh sau:
R
z
( )=E{ } ) ( ) ( t z t z
T
+ (4.87)
Hm t tng quan em n cho ta vi thng tin quan trng v qu trnh
ngu nhin z(t). Th d nh :
trace[ ] ) 0 (
z
R =trace { } [ ] ) ( ) ( t z t z E
T
=E{ } ) (t z (4.88)
tng ng vi tng nng lng ca qu trnh z(t).
Nu
0 ) ( =
zx
R (4.89)
Trang 434
z(t) v x(t) c gi l trc giao vi nhau.
Nu
R
z
( )=P ) ( (4.90)
trong P l ma trn hng v (t) l xung Dirac, th z(t) l trc giao vi
z(t + ) vi cc gi tr 0. iu ny c ngha l gi tr ca qu trnh z(t)
ti thi im t khng c s lin h vi gi tr ti cc thi im t. V vy
z(t) c gi l nhiu trng .V d nh nhiu nhit mch in nguyn
nhn v s chuyn ng nhit cc electron in tr .
Ch rng P(0) l hip phng sai ca z(t). P c gi l ma trn mt
ph.Thnh thong n cng c xem nh l ma trn hip phng sai
4.2.2.3 Thit k b lc Kalman:
Gi s x(0) c th c thay th bng cc i lng bit trc x
0
(gi tr
trung bnh ca x(0)) v hip phng sai P
0
, c th biu din nh sau :
x (0) (x
0
,P
0
) (4.91)
Nh vy khng th gi s w(t) v v(t) c tr trung bnh bng 0 c. Gi s
rng nhiu qu trnh v nhiu o l nhiu trng, do vy:
R
w
( )=E{ } ) ( ) ( ) ( W t w t w
T
= + (4.92)
R
v
( )=E{ } ) ( ) ( ) ( V t v t v
T
= + (4.93)
Ma trn mt ph W v V s c gi s bit trc.Theo tnh cht ca
hm t tng quan, W v V l bn xc nh dng. Gi s thm rng V l
khng suy bin.Tm li, c th gi s rng :
w(t) (0,W), W0 (4.94)
v(t) (0,V), V>0 (4.95)
Vic gi s w(t) v v(t) l nhiu trng trong mt vi ng dng c th l xu.
Th d nh nhiu tn s thp. Tuy nhin, gi s rng w(t) khng l nhiu
trng, c th xc nh c mt h thng:

Trang 435
.
0
x& =A
w
x
w
+B
w
n (4.96)
w=C
w w
x +D n
w
(4.97)
c nhiu trng ng vo l n(t) v ng ra l w(t). Chng c gi l cc b
lc nn nhiu . Nhng c tnh ng ny c th kt hp vi phng trnh
ca i tng (4.75), (4.76) c c c tnh ng c hiu chnh l:
n
B
D
u
B
x
x
A
C A
x
x
w
w
w w
w
w
(
+
(
+
(
=
(

0 0 &
&
(4.98)
y=[ ] v
x
x
C
w
+
(
0 (4.99)
H thng iu chnh ny c nhiu qu trnh n(t) l nhiu trng. Mt th tc
tng t c th lm theo cc bc nh th nu v(t) khng phi l nhiu
trng. Do , c th m t mt h thng vi nhiu khng phi nhiu trng
di dng mt h thng iu chnh vi nhiu qu trnh v nhiu o lng l
nhiu trng.
Xc nh h thng (4.96), (4.97) miu t nhiu khng phi l nhiu trng
w(t) (hoc v(t)) da trn phn tch mt ph ca nhiu w(t). Chi tit xem
Lewis (1986 )
By gi thit k b c lng cho h thng (4.75), (4.76) di nhng gi s
c lit k. Cho b quan st c dng nh sau:
) ( y y L Bu x A x + + =
&
(4.100)
hoc Ly Bu x LC A x + + = ) (
&
(4.101)
Hm thi gian x (t) l c lng trng thi v
y = E{ }= + v Cx Cx (4.102)
l c lng ca ng ra y(t).
li ca b c lng L phi c chn cung cp c lng ti u
trong s hin din ca nhiu w(t) v v(t). chn L, chng ta s phi xc
nh sai s c lng:
x
~
(t)=x(t)- x (t) (4.103)
Trang 436
S dng( 4.75) v (4.100) sai s h thng l :
x
& ~
=(A-LC) x
~
+ w-Lv
A
0
x
~
+ w-Lv (4.104)
ch rng sai s h thng xy ra khi c s tham gia ca nhiu qu trnh v
nhiu o lng . Ng ra ca sai s h thng c th c cho bi =y- y :
=C x
~
(4.105)
Hip phng sai ca sai s c cho bi:
P(t)=E{ }
T
x x
~ ~
(4.106)
thay i theo thi gian. Do , x
~
(t) l qu trnh ngu nhin khng tnh.
Hip phng sai ca sai s l thc o s khng chc chn trong c lng.
Nhng gi tr cng nh cho P(t) ng ngha vi vic c lung cng tt hn
v nhng sai s c phn b cng gn vi tr trung bnh bng 0 nu P(t) l
nh hn.
Nu b quan st l n nh tim cn v w(t) v v(t) l qu trnh tnh khi
sai s x
~
(t) s thc s tin n trng thi n nh vi tr trung bnh v hip
phng sai l hng s. li L s c chn la lm ti thiu hip
phng sai ca sai s P. V vy, li ti u L s l ma trn hng ca li
b quan st
Trc khi xc nh li ti u L, chng ta s tnh ton gi tr trung bnh v
hip phng sai ca sai s c lng ca x
~
(t). S dng (4.104) v s tuyn
tnh ca php ton mong mun:
E{ } { } { } { } v LE w E x E A x + =
~ ~
0
&
(4.107)
V th
dt
d
E{ } x
~
=A { } x E
~
0
(4.108)
Do , E{ } x
~
l lng bin i theo thi gian tun theo phng trnh vi phn
vi ma trn h thng A
0
.Nu A
0
=A-LC l n nh th E{ } x
~
lun bn vng
ti gi tri tnh zero. Khi
{ } { } { } { } x x E x E x E x E
~
= = (4.109)
Theo trng hp ny c lng x (t) tin ti E{x(t)} .Nh vy c lng
ny c cho l khng lch. Cng nh theo (4.109), gi tr trung bnh ca
Trang 437
sai s ban u x
~
(0) bng vi gi tr zero nu nh b quan st (4.101) c gi
tr u x (0)=
0
x vi
0
x l gi tr trung bnh ca x(0)
Nu nh nhiu qu trnh w(t) hoc nhiu o c v(t) c gi tr trung bnh
khng phi l zero th theo (4.107) gi tr E{ } x
~
ca trng thi tnh cng
khng bng zero. Trong trng hp ny x (t) khng n c n nh tim
cn t c trng thi tht x(t), nhng c c mt khong offset bng
gi tr hng- E{ } x
~
. Khi trng thi c lng l b lch.
xc nh P, ch rng li gii phng trnh (4.104) c cho :
x(t)=e
J A
0
x(0)-
0
( )
0
( )
t
A t
e Lv d
+
0
( )
0
( )
t
A t
e w d
(4.110)
Tm ma trn tng quan cho R
x v
~ (t,t) v R
x w
~ (t,t) s dng (4.110) v gi s
rng x(0) (v c x
~
(0)), w(t) v v(t) l trc giao. Do
R
x v
~ (t,t)=E{ } ) (
~
) ( t x t v
T
=- { }

d e L v t v E
t A T
t
T
T
) (
0
0
) ( ) (

(4.111)
Ch rng
R
v
(t, ) =V ) ( t (4.112)
Nhng tch phn (4.111) c gi tr gii hn trn l t. Xung n v c th
c biu hin nh sau
) (
1
lim ) (
0
T
t
T
t
T
=
(4.113)
y hm xung vung:
= ) (
1
T
t
T
1 ,
2
0 ,
<
T
t
o t h e r w i s e
(4.114)
c t ti trung tm t = 0.
V vy, ta ch xt mt na vng ) ( t ti bn tri =t. Do t (4.111)
c suy ra:
R
T
x v
VL t t
2
1
) , ( ~ = (4.115)
Trang 438
Tng t,
{ } ) (
~
) ( ) , ( ~ t x t w E t t R
T
x w
=
= { }

d e w t w E
t A T
t
T
T
) (
0
0
) ( ) (

hoc
) , ( ~ t t R
x w
=
T
W
2
1
(4.116)
Phng trnh o hm cho P(t)=E{ }
T
x x
~ ~

P
&
(t)=E
)
`
=
)
`
dt
x d
x E x
dt
x d
T
T
~
~ ~
~
(4.117)
Theo (4.104) , (4.115) v (4.116) ta c :
E
T T T
W LVL P LC A x
dt
x d

2
1
2
1
) (
~
~
+ + =
)
`
(4.118)
E
1 1
( )
2 2
T
T T T
dx
x P A LC LVL W
dt

= + +
`
)
%
% (4.119)
T (4.118) v (4.119)

T T T
W LVL PA P A P + + + =
0 0
&
(4.120)
Cho bt k L (A-LC) l n nh ,chng ta gii (4.120) tm P(t) s dng
iu kin u l
0
) 0 ( P P = vi
0
P l hip phng sai ca trng thi u m
n tng trng cho tnh khng chc chn trong c lng u
0
) 0 ( x x =
Thc s nhng li cho kt qu P(t) cng nh th cng tt v sai s x
~
(t)
cng gn vi tr trung bnh bng 0.Do P(t) l thc o cht lng ca b
quan st v ma trn hip phng sai cng nh th b quan st cng tt hn
Chng ta ni rng P l thc o s khng chc chn trong c lng .
P(t) tin ti gi tr trng thi bn vng P khi t ngay khi
0
A l n nh
tim cn.Ti trng thi bn vng th 0 = P
&
, (4.120) tr thnh phng trnh
i s
0=
T T T
W LVL PA P A + + +
0 0
(4.121)
Trang 439
Hip phng sai ca sai s trng thi bn vng l ma trn bn xc nh
dng c xc nh t (4.121). li ca b quan st l hng s, c th
chn la L lm ti thiu ho hip phng sai ca sai s P trng thi bn
vng.
Ta c ch tiu cht lng (PI = Performance Index)
J= ) (
2
1
P trace (4.122)
Do nu P nh th J s nh. chn L sao cho J t c ti thiu phi
tha mn phng trnh (4.121), xc nh hm Hamiltonian
H= ) (
2
1
) (
2
1
gS trace P trace + (4.123)
Trong
g =A
0
P+PA
T
0
+LVL
T
+ W
T
(4.124)
V S l ma trn nn tha s Lagrange khng xc nh
lm ti thiu ho J v tho mn g=0, iu ny c th lm tng ng l
ti thiu H nhng khng cn iu kin no. iu kin cn thit ti thiu
ha c cho bi
0
0 0
= + + + =
T T T
W LVL PA P A
S
H
(4.125)
0
0 0
= + + =
I SA S A
P
H
T
(4.126)
0
2
1
= =
T
SPC SLV
P
H
(4.127)
Nu A
0
=A-LC l n nh v S l xc nh dng .Theo (4.127)
L=PC
T
V
-1
(4.128)
Thay th gi tr L vo phng trnh (4.125)

T T T T T
W CP V PC C V PC A P P C V PC A + + +
1 1 1
) ( ) ( =0 (4.129)

Trang 440
hoc AP+PA
T
+ W
T
-PC
T
V CP
1
= 0 (4.130)
xc nh li b quan st ti u L, chng ta c th gii phng trnh
(4.130) tm hip phng sai ca sai s P v sau s dng (4.128) tnh
ton L. Phng trnh ma trn ton phng (4.130) c gi l phng trnh
Riccati i s. C nhiu cch gii (4.130) tm P. li ti u L xc nh
nh s dng (4.128) gi l li Kalman v b quan st c xy dng gi
l b lc Kalman .Trng thi bn vng y ch n mt s tht rng mc
d li ti uu lm ti thiu ho P(t) l bin i theo thi gian, chng ta
chn la li ti u m n lm ti thiu sai s tng quan trng thi bn
vng t c li quan st l hng s
B lc Kalman vi trng thi bn vng l b c lng tt nht vi cc
li l hng s. Nu nh nhiu qu trnh w(t) v nhiu o c v(t) l nhiu
Gaussian n cng l b c lung trng thi bn vng ti u cho bt k hnh
thc no.
c lng ng ra:
) ( ) ( ) ( ) ( ) (
~
t x C t y t y t y t y = = (4.131)
Gi s (C,A) l c th quan st c v (A, W ) l c th tm c .Khi
ARE tm c ma trn xc nh dng duy nht P .Hn na,sai s h
thng (4.104) s dng li kalman cho bi (4.128) vi P l ma trn xc
nh dng duy nht ca ARE l n nh tim cn.
Mt cch chc rng nhiu h thng s gim.Tuy nhin v tr thc s rt xa
vi so vi thc t.
Tm li:
M hnh h thng: Bu Ax x + = & (4.132)
y=Cx (4.133)
x(0)~(x
0
,P
0
) , w(t) ~(0,W), v(t) ~(0,V)
w(t) v v(t) l nhiu trng qu trnh trc giao vi nhau v vi x(0)
Gi tr u
x (0)=
0
x (4.134)
Phng trnh ARE ca hip phng sai sai s
Trang 441
AP +PA 0
1
= +

CP V PC W
T T T
(4.135)
li Kalman
L=PC
1
V
T
(4.136)
c tnh ng hc c lng:
) ( x C y L Bu x A x + + =
&
(4.137)
B lc Kalman cn thit gi s rng V>0 khi nhiu o s lm sai lch tt
c tn hiu o. Nu c mt vi tn hiu nhiu o t do th mt b lc phc
tp c bit n nh b lc Deyst c s dng gii quyt vn ny.
Hn na gi s rng (A, ) W tm c c ngha l nhiu qu trnh kch
thch tt c cc trng thi
Trong Matlab s dng lnh Kalman tnh khu lc Kalman lin tc t m
hnh sys ca i tng:
[kest,L,P] = kalman(sys,W,V[,N,sensor,known])
W,V l cc ma trn hip phng sai m t c im nhiu h thng v nhiu
o lng.
N :mc nh bng 0
Hai vector sensor,known :cha ch s ca cc bin ra o c v cc u
vo ta bit.
Kt qu tnh kest :chnh l m hnh trng thi ca khu lc Kalman
Ma trn L :ma trn b lc Kalman phn hi sai lch quan st.
P :l ma trn hip phng sai ca sai lch tnh
4.2.4 Gii thut thit k LQG
B iu chnh ton phng tuyn tnh (LQR) v b lc Kalman cng c
s dng vi nhau thit k b iu chnh ng. Th tc ny c gi l
thit k b tuyn tnh ton phng Gaussian (LQG). iu thun li quan
trng ca vic thit k LQG l cu trc ca b hiu chnh c cho bi th
tc m khng cn phi bit trc. iu ny lm cho vic thit k cc b
LQG rt c ch trong iu khin cc h thng hin i phc tp (v d nh
iu khin khng gian v hng khng ) khi cu trc b hiu chnh khng
bit trc c.
Trang 442
Gi s phng trnh o lng ng ra c cho bi
w Bu Ax x + + = & (4.138)
y = Cx+v (4.139)
vi x(t)R
n
, u(t) l b iu khin ng vo, w(t) l nhiu qu trnh, v v(t) l
nhiu o. Gi s phng trnh hi tip trng thi y
u = -Kx+r (4.140)
c thit k, vi r(t) l ng vo chun. li trng thi hi tip l K
c chn bi mt s k thut chng hn nh k thut LQR .Nu phng
trnh iu khin (4.140) c thay vo (4.138) th h thng iu khin
vng kn c tm thy nh sau:
w Br x BK A x + + = ) ( & (4.141)
Thit k hi tip trng thi y rt c quan tm nu cc iu kin
c gi n nh th h thng vng kn m bo s n nh.Hn na,s
dng hi tip trng thi tt c cc nghim cc ca phng trnh (A-BK) c
th t tu nh mong mun .Kt qu cc phng trnh thit k ca hi tip
trng thi n gin hn phng trnh cho hi tip ng ra . Tuy nhin lut
iu khin (4.140) khng th thc hin khi tt c cc trng thi khng th o
c.
Gi s b quan st hoc b lc Kalman
Ly Bu x LC A x + + = ) ( (4.142)
c thit k. l li L ca b lc c tm ra bng nhng k thut
tho lun nhm cung cp cc c lng trng thi. Khi tt c cc
trng thi khng th o v iu khin (4.140) khng th thc hin trong thc
t, gi s rng c lng hi tip ) ( t x thay th cc trng thi thc x(t), lut
iu khin hi tip l
u = -Kx +r (4.143)
Nu K c chn s dng phng trnh Riccati LQR v L c chn bi
s dng b lc Kalman. Th tc ny c gi l thit k LQG.
iu quan trng ca cc kt qu ny l trng thi hi tip ca K v li
ca b quan st L c th c thit k ring bit.

Trang 443
4.2.5 V d:
M hnh con lc ngc (xem v d 1.8 chng 1)
Chng ta s vit chng trnh m phng c tnh ng ca i tng
Chng ta thy rng h con lc ngc l h phi tuyn, c th iu khin h
con lc ngc bng phng php LQG chng ta cn tuyn tnh ha m hnh
h thng. Gi s gc nh c th xp x sin bng 0,cos bng 1 v
cng gi s nh 0
2
.Vi cc iu kin trn,chng ta c th tuyn

tnh ho cc phng trnh phi tuyn:

mg ml x m
u ml x m M
= +
= + +

) (

t cc bin trng thi:
=
=
=
=
x x
x x
x
x
4
3
2
1
(4.144)
Kt hp vi hai phng trnh trn ta suy ra h phng trnh bin trng thi
nh sau:

+ =
=
+
=
=
u
M
gx
Ml
m
x
x x
u
Ml
gx
Ml
m M
x
x x
1
1
1
4
4
3
1
2
2
1
(4.145)
Vit li di dng ma trn

(
(
(
(
(
(
(
+
(
(
(
(
(
(
(
(
(
(
(
+
=
(
(
(
(
(
(
(
M
Ml
x
x
x
x
g
M
m
g
Ml
m M
x
x
x
x
1
0
1
0
0 0 0
1 0 0 0
0 0 0
0 0 1 0
4
3
2
1
4
3
2
1
o
u (4.146)
Trang 444
Phng trnh ng ra,chng ta gi s hai trng hp:

(
(
(
(
(
(
(
(
=
4
3
2
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
x
x
x
x
y (4.147)
Nu ch o c hai bin trng thi (v tr x v gc lch )th :

(
(
(
(
=
4
3
2
1
0 1 0 0
0 0 0 1
x
x
x
x
y (4.148)
Chng ta s kho st h con lc ngc c cc thng s nhsau:M=1kg,l=1m
Ly gi tr gia tc trng trng g=9.8m/s
2

Phng trnh (4.146) tr thnh:
u
x
x
x
x
x
x
x
x
(
(
(
(
+
(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
(
1
0
1
0
0 0 0 98 . 0
1 0 0 0
0 0 0 78 . 10
0 0 1 0
4
3
2
1
4
3
2
1
(4.149)
Thit k LQG:
Lc Kalman:
- B quan st:
Nu khng c ng phn hi qua L th x
~
khng tim cn v x c v
vy L c chn sao cho x
~
x
B quan st c thit k theo gi thuyt
Gi s ta c h thng:
+ =
+ + =
Cx y
Bu Ax x
, : nhiu (4.150)
, v l cc nhiu trng c phn b gaussian vi
{ }
{ } 0 .
0 .
> =
> =
W E
V E
T
T

Trang 445
{ } , 0 . =
T
E c lp nhau
B quan st c phng trnh trng thi:
=
+ + =
x C y
y y L Bu x A x

) (
&
(4.151)

Hnh 4.12 B lc Kalman

L x LC A x
x C L x A x
x C Cx L x A x x x x
+ =
+ =
+ + = =
~
) (
~
)
~
(
~ ~
) (
~ ~
~
&
&
&
(4.152)
Lc Kalman c xy dng trn c s:xc nh L sao cho k vng ton
{ } x x E
T
cc tiu.
1
= V PC L
T
(4.153)
Trong P l nghim ca phng trnh Riccati
1
0
{ . }
{ . }
T T T
T
T
PA AP W PC V CP
W E
V E v v

+ + =
=
=
(4.154)

B

v Du Cx y
Bu x x
+ + =
+ + =
C
A
L
+
+
-
+
+
y
u y
Trang 446
B iu khin LQG (Linear Quadratic Gaussian):
Trong b iu khin LQ ta hi tip trng thi tuy nhin trong thc t nhiu
khi ta phi quan st ly c bin trng thi c lng (do khng o
c) v hi tip trng thi c lng => LQG

Hnh 4.13: B iu khin LQG

iu khin LQG l kt hp iu khin LQR vi lc Kalman .
Bc 1:Thit k iu khin LQR=>K
C

Bc 2:Thit k b lc Kalman =>L

4.3 iu khin bn vng H

4.3.1 Biu Bode a Bin (Multivariable Bode Plot)

Bin ca ma trn hm truyn ton phng ) H(j ti bt k mt tn s
j no, ph thuc vo hng tn hiu kch thch u vo.Bin ca ma
-

A
L
C
u
y
+
+
+
+
-
B
K
c

Cx y
Bu Ax x
=
+ + =

-
Trang 447
trn hm truyn H( j ) c bao pha trn bi gi tr suy bin cc i, k
hiu )) ( ( j H , pha di bi gi tr suy bin cc tiu ca n, k hiu
)) ( ( j H . Chnh v vy,chng ta cn tnh ton hai gi tr rng buc ny.

V d: Biu Bode Bin H MIMO:
Gi s h thng a bin:
(4.155)
Cx x y =
(
=
0 0 0 0
0 0 0 1
,
c hm truyn h MIMO 2 2 l:
) ( ) ( ) ( ) (
1 1
s D s N B A sI C s H

= =
Vi: 165 176 90 8 ) (
2 3 4
+ + + + = s s s s s D

(
+
(
+
(
+
(
=
15 0
0 73
15 0
0 79
5 0
0 7
1 0
0 1
) (
2 3
s s s s N .
Hm H(s) l ma trn 2 2 , n c hai gi tr suy bin. Ch rng gi tr suy
bin l lin tc, ngai tr ga tr suy bin cc i v cc tiu. Nhng gi tr
suy bin c th giao nhau , c minh chng bng hnh hc.

Bu Ax u x x + =
(
(
(
(

(

+
(
(
(
(

(

=
0 0
1 0
0 0
0 1
3 8 0 0
8 3 0 0
0 0 1 2
0 0 2 1
&
Hnh 4.14 Biu Bode Bin h MIMO ca gi tr suy bin
trong min tn s

Trang 448
Trong Malab dng hm sigma(H)

V d:
minh ha s khc bit gia th tr suy bin h MIMO v gin
Bode h SISO ring bit, xt h thng sau. Hm truyn ca h thng ny l
ma trn vung c hng 2. Hm truyn h SISO ring bit trong h thng
vng h 2 ng vo/2 ng ra l:
) 2 . 20 )( 615 . 3 )( 0163 . 0 (
8 . 14
) (
11
+ + +
=
s s s s
s H
] 063 . 3 ) 4225 . 0 )[( 2 . 20 )( 615 . 3 )( 1 )( 0163 . 0 (
] 49 . 2 ) 55 . 0 )[( 237 . 2 ( 9 . 36
) (
2 2
2 2
12
+ + + + + +
+ + +
=
s s s s s
s s s
s H
] 063 . 3 ) 4225 . 0 )[( 2 . 20 )( 615 . 3 )( 0163 . 0 (
) 283 . 2 )( 573 . 2 ( 65 . 2
) (
2 2
21
+ + + + +
+
=
s s s s s
s s s
s H
] 063 . 3 ) 4225 . 0 )[( 2 . 20 )( 615 . 3 )( 1 )( 0163 . 0 (
] 446 . 0 ) 139 . 0 [( 79 . 0
) (
2 2
2 2
22
+ + + + + +
+ +
=
s s s s s
s
s H

Hnh 4.15: Biu Bode Bin h thng SISO
Mc khc, hnh 4.16 l cc gi tr tr suy bin ca h a bin. Ch rng,
theo th ny khng th d dng bng trc quan tc thi nhn thy cch
lin kt th ca h SISO hnh 4.15 .Nhng ng bao bo m s bn
Trang 449
n
y
G
u

u e
r
-
+ +
+
K

G

d
i

d
vng c a ra trong h thng h MIMO di dng gi tr tr suy bin
cc tiu l ln ti tn s thp ( cho cht lng bn vng) v gi tr tr suy
bin cc i l nh ti tn s cao (cho n nh bn vng ). S khng tng
thch gia hai th 4.15 v 4.16 ch ra rng ng bao c tnh tn s ca
h MIMO khng c th han tan m t ng nhng biu Bode ca h
SISO ring bit.

Hnh 4.16:Cc gi tr tr suy bin ca h thng
4.3.2 Hm nhy v hm b nhy
Kho st c tnh ca h thng hi tip in hnh, t a ra tng thit
k tha hip gia mc tiu cht lng v iu khin bn vng nhm tha
mn cc yu cu thit k.
Xt h thng hi tip m nh hnh 4.17, trong
i
d l nhiu u vo, d l
nhiu u ra, n l nhiu o.

Hnh 4.17: S h thng hi tip m
Trang 450
Lu : lin h vi phn l thuyt iu khin kinh in, trong mc ny ta
phn tch s iu khin hi tip m, vi b iu khin l K
( K
= -K m
hnh hi tip dng)
Cc quan h truyn t ca h thng vng kn c th hin qua cc biu
thc sau:
y = d
K G
d
K G
G
n
K G
K G
r
K G
K G
i
1
1
+
+
+
+
+
+

u = d
K G
K
d
K G
K G
n
K G
K
r
K G
K
i
+

G
u = d
K G
K
d
K G
n
K G
K
r
K G
K
i
1
1
+
+
+
+

e = d
K G
d
K G
G
n
K G
r
K G
i
1
1
1
1
1
1
+
+

nh ngha cc hm nhy, hm b nhy v li vng nh sau:
- Hm nhy :
K G
S
1
1
+
=
- Hm b nhy :
K G
K G
T
+
=
- li vng: K G L
=
Cc ng thc trn c vit gn li:
Sd GSd Tn Tr y
i
+ + = (4.156)
Sd K Td Sn K Sr K u
i

= (4.157)

G i
u KSr KSn Sd KSd = + (4.158)
Sd GSd Sn Sr e
i
= (4.159)
Trang 451
T (4.156) (4.159), ta c th rt ra cc mc tiu cht lng ca h thng
vng kn.T phng trnh (4.156) ta thy rng:
- gim nh hng ca nhiu u ra d ln u ra y, hm nhy S cn phi
nh.
- gim nh hng ca nhiu o n ln u ra y, hm b nhy T cn phi
nh. Tng t, t phng trnh (4.158), lm gim nh hng ca nhiu
u vo d
i
, hm nhy S cn phi nh.
Nhng t nh ngha ,hm nhy v hm b nhy c quan h rng buc nh
sau:
S + T = 1 (4.160)
Do , S v T khng th ng thi nh. gii quyt mu thun ny,
ngi ta da vo c tnh tn s ca cc tn hiu nhiu. Nhiu ti d, d
i
tp
trung ch yu vng tn s thp, cn nhiu o n tp trung ch yu vng
tn s cao.
Nh vy, h t b nh hng bi d, th S v GS cn phi nh trong
vng tn s m d tp trung, c th l vng tn s thp. Tng t, iu kin
h t nhy i vi nhiu d
i
l |S| v |
| S K nh trong vng tn s m d
i
tp
trung, c th l vng tn s thp.
Ta c:
1 |
| |
1 | 1 |
| + + K G K G K G
Suy ra:

1 |
|
1
1
1
1 |
|
1
+ K G K G K G
, nu | K G
|>1
hay:

1
1
1
1

+ L
S
L
,nu L >1
T , ta thy:
Trang 452
S <<1 L >>1
Hn na, nu L >> 1, th:
GS
|
|
1
1 K K G
G
+
=
|
| S K
G
K G
K 1
+
=
Nh vy, i vi u ra y:
- gim thiu nh hng ca d, li vng L phi ln (ngha l |L|>> 1)
trong vng tn s m d tp trung;
- gim thiu nh hng ca d
i
, bin b iu khin phi ln K
1 >>
trong vng tn s m d
i
tp trung.
Tng t, i vi u vo (u
G
)

- gim thiu nh hng ca d
i
, L phi ln (ngha l |L|>> 1) trong vng
tn s m d
i
tp trung.
- gim thiu nh hng ca d, bin i tng (khng thay i c
trong thit k iu khin) phi ln (|G|>> 1) trong vng tn s m d tp
trung.
Tm li, mt trong nhng mc tiu thit k l li vng (v c li ca
b iu khin, nu c) phi ln trong vng tn s m d v d
i
tp trung, c
th l vng tn s thp.
Sau y, ta xt nh hng ca sai lch m hnh ln h thng hi tip. Gi
s m hnh i tng c sai s nhn l (I + )G, vi n nh, v h
thng kn n nh danh nh (n nh khi =0). H thng kn c sai s m
hnh s n nh nu:
det ( ) K G
1 ( 1 + + )=det
(
(
|
|
\
|
+
+ +
K G
K G
K G
1 )
1 ( =det(1+ K G
)det(1+ ) T
Trang 453
khng c nghim na phi mt phng phc. Ta thy rng, iu ny s
c tha nu nh T nh, hay |T| phi nh vng tn s m tp
trung, c th l vng tn s cao.
rng, nu |L| rt ln th |T| 1 v |S| 0. Do , t (4.156) ta thy
nu nh ( ) L j ln trong mt di tn s rng, th nhiu o n cng s
truyn qua h thng trong vng tn s , ngha l:
y= Sd GSd Tn Tr
i
+ + (r - n)
v rng nhiu o n tp trung ch yu vng tn s cao. Hn na, nu li
vng ln ngoi vng bng thng ca G, ngha l ( ) L j >>1 trong khi
( ) G j <<1, th c th lm cho tn hiu iu khin qu ln, gy bo ha
c cu chp hnh. iu ny c th c l gii t (4.157) nh sau:
u=
i
Td d n r S K ) (

i
d d n r
G
) (
| |
1

Phng trnh trn cho thy nhiu ti v nhiu o s c khuych i ln
khi m vng tn s m n tp trung vt ra ngoi phm vi bng thng ca
G, v i vi di tn s m ( ) G j <<1 th
( ) j G
1
>>1.
Tng t, bin ca b iu khin, | K
|, khng c qu ln trong vng

tn s m li vng nh nhm trnh lm bo ha c cu chp hnh. V l
khi li vng nh ( ( ) L j <<1), th
u=
i i
d T d n r S K ) (
( ) K r n d
Do , mt iu cn lu khi thit k l | K
| khng c ln qu khi li
vng nh.
T nhng iu trnh by trn, ta tng kt li cc tng thit k sau y:
- m bo mc tiu cht lng trong mt vng tn s no , c th l
vng tn s thp (0,
l
), h thng cn phi c:
1 |
| >> K G , |
| K >>1
Trang 454
- m bo tnh bn vng v c kh nng trit nhiu o tt trong mt
vng tn s no , c th l vng tn s cao ( ,
h
),h thng cn phi c :
1 |
| << K G , |
| K M
trong M c tr s khng qu ln.
Nhng tng thit k ny c minh ha trong hnh 4.18. Nhng tn s
h l
, c xc nh ty thuc vo tng ng dng c th, v nhng thng
tin v c tnh ca nhiu ti, nhiu o, sai lch m hnh.

Hnh 4.18: li vng v cc rng buc tn s thp v tn s cao.
Nhng iu phn tch trn y l c s cho mt k thut thit k iu khin:
l th tc thit k nn dng vng (LSDP_Loop Shaping Design
Proceduce). Mc tiu nn dng vng l tm ra mt b iu khin sao cho
li vng |L| trnh c cc vng gii hn (xem hnh 4.18) ch nh bi cc
iu kin v cht lng v bn vng.
4.3.3 Thit k bn vng H

4.3.3.1 M t khng gian H
v RH

Khng gian vector Hardy c chun v cng, k hiu l H
, l khng gian
cc hm phc G(s) ca bin phc s (s C) m trong na h mt phng phc
bn phi (min c phn thc ca bin s ln hn 0) tha mn:
Trang 455
- l hm gii tch (phn tch c thnh chui ly tha), v
- b chn, tc tn ti gi tr M dng no ( ) s M G c phn thc
dng.
Tp con c bit ca H
m trong iu khin bn vng rt c quan tm l

tp hp gm cc hm G(s) thc - hu t (real-rational) thuc H
, tc l cc
hm hu t phc G(s) H
vi cc h s l nhng s thc dng

0 1
1
( )
1
m
m
n
n
b b s b s
s
a s a s
+ + +
=
+ + +
G
L
L

trong a
i
,b
j
R, k hiu l RH
.
Trong l thuyt hm phc, ngi ta ch ra c rng: mt hm thc hu t
G(s) bt k s thuc RH
khi v ch khi
- lim ( )
s
s
< G , hay ( ) G b chn (khi mn),c gi l hm hp thc v

- G(s) khng c cc trn na kn mt phng phc bn phi. Ni cch khc
G(s) khng c im cc vi Re(s) 0.Mt hm G(s) c tnh cht nh vy
gi l hm bn.
Nu hm truyn hp thc G(s) khng nhng na h bn phi mt phng
phc b chn khi s m cn tha mn (khi m<n)
0 | ) ( | lim =

s G
s

Chun H
ca mt h thng SISO G(s) RH
c nh ngha nh sau:

{ }
sup ( ) G j
= G (4.161)
Nh vy, chun v cng G
chnh l khong cch ln nht t tm ta

mt phng phc ti mt im trn ng c tnh tn bin pha ca G(j).
4.3.3.2 Sai s m hnh phn tch coprime
Phn ny trnh by mt s kt qu v phn tch coprime bn tri LCF (Left
Coprime Factorization). Ta cng c th suy ra kt qu tng t i vi
phn tch coprime bn phi nh vo tnh i ngu.

Trang 456
nh ngha 1:
Cc ma trn hm truyn t N
%
, M
%
RH
to thnh mt phn tch coprime

bn tri ca G nu v ch nu:
a. M
%
vung, v det( ) 0 M
%
(4.162)
b.
1
= G M N
% %
(4.163)
c. V, U RH
sao cho: + = MV NU I
% %
(4.164)
nh ngha 2:
Nu N
%
, M
%
l phn tch coprime bn tri ca G ng thi tha:

+ = NN MM I
% %
(4.165)
th c gi l phn tch coprime bn tri chun.
Mt i tng G c th c v s phn tch coprime bn tri, nhng ch c
mt phn tch coprime bn tri chun
Xc nh phn tch coprime bn tri chun
Phn tch coprime bn tri chun c th c xc nh t m hnh trng thi
ca G v nghim ca phng trnh Riccati. Gi s A, B, C, D l m hnh
trng thi ca G, k hiu l:

(
=
D C
B A
G (4.166)
trong :
1
( ) ( ) s sI

= + G C A B D. xc nh phn tch coprime bn tri,
trc tin ta cn phi tm nghim ca phng trnh Riccati sau:
1 1 1 1
( ) ( ) ( ) 0

+ + = A BD R C Z Z A BD R C ZC S CZ B I D R D B
(4.167)
trong
*
DD I R + . Phng trnh ny c tn l Phng trnh Riccati lc
tng qut (GFARE Generalized Filter Algebraic Riccati Equation). Sau
p dng nh l 3.3 tnh N
%
, M
%
.
nh l 4.3: Cho
(
=
(

A B
G
C D
. Phn tch coprime bn tri chun ca G
c xc nh nh sau:
Trang 457

1 2 1 2
+ + (
=
(

A HC B HD
N
R C R D
%
;
1 2 1 2
+ (
=
(

A HC H
M
R C R
%
(4.168)
trong Z l nghim xc nh dng duy nht ca GFARE,
= + R I DD ,
v
1
( )

= + H ZC BD R .
Sai s m hnh phn tch coprime bn tri
Sau y, ta nh ngha sai s m hnh phn tch coprime bn tri. Gi s G
l m hnh i tng, ( N
%
, M
%
) l mt phn tch coprime bn tri ca G. H
c sai s m hnh phn tch coprime bn tri chun c nh ngha nh
sau:

1
( ) ( )
M N
= + + G M N
% %
(4.169)
trong
N
,
M
RH
l cc hm truyn cha bit th hin phn sai s

trong m hnh danh nh. H m hnh c sai s l mt tp

G nh ngha
nh sau:
[ ]
{ }
1
( ) ( ) : ,
M N M N

= + + < M N
% %
G (4.170)

Hnh 4.19: Biu din sai s m hnh phn tch coprime bn tri

Mc tiu ca iu khin bn vng l tm b iu khin K n nh ha khng
ch m hnh danh nh G, m c h m hnh
G .
u im ca cch biu din sai s m hnh trn y so vi biu din sai s
cng v sai s nhn l s cc khng n nh c th thay i do tc ng ca
sai s m hnh
N
%

N

+
-
1
M
%

+
M

+
Trang 458
4.3.3.3 Bi ton n nh bn vng H
:
Xt h hi tip hnh 4.20

Hnh 4.20: S phn tch n nh bn vng vi m hnh c sai s LCF

nh l 4.4:
1
= G M N
% %
l m hnh danh nh;
1
( ) ( )
M N
= + + G M N
% %
l m hnh
c sai s; ( M
%
, N
%
) l phn tch coprime bn tri ca G; M
%
, N
%
,
M
,
N

RH
. H n nh bn vng vi mi [ ]
M N
tha
[ ]
1
M N

< nu v ch nu:
a.H (G, K) n nh ni, v
b.
1 1
( )

(

(

K
I GK M
I
%
(4.171)
nh l 4.4 c th pht biu mt cch tng ng di dng mt bi ton
ti u nh sau:
nh l 4.5:
i tng
1
( ) ( )
M N
= + + G M N
% %
, vi
[ ]
1
M N

< , n nh
ha bn vng c nu v ch nu:
N
%

K
w
u
y
d
+
+
+
1
M
%

N

+
+
+
Trang 459

1 1
inf ( )

(

(

K
K
I GK M
I
%
(4.172)
trong infimum c thc hin trong tt c cc b iu khin K n nh
ha G.
Bi ton n nh bn vng
Cho trc gi tr , tm b iu khin K (nu tn ti) n nh ha i tng
danh nh G, v tha:

1 1
( )

(

(

K
I GK M
I
%
(4.173)
trong ( N
%
, M
%
) l phn tch coprime bn tri ca G. V theo nh l 4.4,
nu tm c b iu khin K, th K s n nh ha i tng c sai s G
,
vi
[ ]
1
M N

= < .
Nu pht biu di dng mt bi ton ti u H
(i vi h thng hnh 4.20)

th ta c bi ton ti u H
nh sau:
Bi ton ti u H

Tm b iu khin K (nu tn ti) n nh ha i tng danh nh G v
cc tiu ha chun H
sau y:

1 1
( )

(

(

K
I GK M
I
%
(4.174)
trong ( N
%
, M
%
) l phn tch coprime bn tri ca G.
Bi ton ti u H
phc tp ch phi thc hin cc tiu ha chun (4.174)

trong iu kin tn ti b iu khin K n nh ha h thng. gii quyt
vn ny, thng thng ngi ta gii bi ton n nh bn vng vi mt
gi tr cho trc, ri sau thc hin qu trnh lp tm gi tr
min
.
Glover v McFarlane s dng bi ton m rng Nehari (Nehari
extension problem), v dng phn tch coprime chun ca m hnh i
tng tm ra li gii khng gian trng thi cho bi ton ti u H
m
khng cn phi thc hin qu trnh lp tm
min
. Hn na, t cch tip
Trang 460
cn ny, tc gi c th tnh c d tr n nh cc i
max
( =
min
1 )
mt cch chnh xc.
Phn sau y ch trnh by mt s kt qu chnh m Glover v McFarlane
thc hin.
nh l 4.6: B iu khin K n nh ha h thng v tha

1 1
( )

(

(

K
I GK M
I
%
(4.175)
nu v ch nu K c mt phn tch coprime bn phi:
1
= K UV vi U, V
RH
tha

( )
1 2
2
1
( (
+
( (

U N
V M
%
%
(4.176)
nh l 4.7:
a. Li gii ti u ca bi ton n nh bn vng i vi m hnh phn tch
coprime bn tri chun cho kt qu:

{ }
1 2
2
1 1
inf ( ) 1
H
(
( =
(

K
K
I GK M N M
I
% % %
(4.177)
trong infimum c thc hin trong tt c cc b iu khin n nh ha
h thng.
b. d tr n nh cc i l

{ }
1 2
2
max
1 0
H
( = >

N M
% %
(4.178)
c. Cc b iu khin ti u u c dng:
1
= K UV , vi U, V RH
tha

H
( (
( + =
( (

U N
N M
V M
%
% %
%
(4.179)
Cc nh l trn cho ta nhng nhn xt sau:
- d tr n nh cc i c th c tnh trc tip t cng thc (4.178)
Trang 461
- Vic xc nh b iu khin ti u H
c th c thc hin thng qua bi

ton m rng Nehari (Nehari extension).
Bi ton ti u con
d tr n nh cc i cho ta mt cn di ca , l
min
= 1/
max
.
Vic gii bi ton ti u H
vi >
min
cho kt qu l mt tp cc b iu
khin n nh ha K sao cho

1 1
( )

(

(

K
I GK M
I
%
(4.180)
y chnh l bi ton ti u con (suboptimal problem). Li gii dng khng
gian trng thi ca bi ton ny c xc nh theo cc bc nh sau :
Bc 1: Gii hai phng trnh Riccati GCARE v GFARE.
Phng trnh GCARE (Generalized Control Algebraic Riccati Equation)
c dng:
1 1 1 1
( ) ( ) ( ) 0

+ + = A BS D C X X A BS D C XBS B X C I DS D C
(4.181)
trong : D D I S

+ = .
Phng trnh GFARE l phng trnh trnh by trn.
1 1 1 1
( ) ( ) ( ) 0

+ + = A BD R C Z Z A BD R C ZC S CZ B I D R D B
trong
+ = DD I R .
Bc 2: Tnh gi tr nh nht c th t c.
1 2
min max
(1 ( )) = + ZX
trong ( )
max
l tr ring ln nht, X v Z ln lt l nghim ca
GCARE v GFARE.
Bc 3: Chn
min
> . Thng thng, chn ln hn
min
mt cht; chng
hn,
min
1.05 = .
Bc 4: B iu khin trung tm c biu din trng thi c xc nh nh
sau
Trang 462
2 1 2 1
1 1
0
( )

( + + +
=
(
(

A BF W ZC C DF W ZC
K
B X D
(4.182)
trong X v Z l ln lt l nghim ca cc phng trnh GCARE v
GFARE,
1
( )

= + F S D C B X , v
2
1
( ) = + W I XZ I .
Cng thc tnh
min
bc 2 c dn ra t cng thc (4.177) trong nh l
4.7. Nu ( N
%
, M
%
) coprime bn tri chun th
H
(

N M
% %
c th c
xc nh t nghim ca hai phng trnh Riccati GCARE v GFARE nh
sau:

( )
2
1
max
( )
H

( = +

N M XZ I ZX
% %
(4.183)
T ta suy ra gi tr
min
:

1 1 2
min max max
(1 ( ))
= = + ZX
y chnh l cng thc tnh
min
bc 2.
Ta thy rng i vi bi ton n nh bn vng cho m hnh phn tch
coprime bn tri chun, ta ch cn tm nghim ca cc phng trnh GFARE
v GCARE l tnh c gi tr
min
m khng cn phi thc hin th
tc lp .
Trong bc 3, ta chn
min
> nhm bo m s tn ti ca b iu
khin c kh nng n nh ha h thng.
Trong trng hp bi ton ti u,
min
= , th ma trn W
1
trong (4.182) suy
bin. V do , (4.182) s khng p dng c. Tuy nhin nu ta chn
gn
min
(v d
min
1.05 = ) th kt qu bi ton ti u con v bi ton ti
u s khc nhau khng ng k.
4.3.4 Nn dng vng H

4.3.4.1 Th tc thit k nn dng vng
H :
(LSDP Loop Shaping Design Procedure)
Trang 463
Nn dng vng
H (

H loop shaping) l mt k thut thit k do
McFarlane v Glover xut nm 1988. K thut thit k ny kt hp
tng nn dng vng (phn hm nhy v hm b nhy) v bi ton n nh
bn vng
H . Nn dng vng thc hin s tha hip gia mc tiu cht

lng v mc tiu n nh bn vng, trong khi bi ton ti u
H m bo
tnh n nh ni cho h vng kn.
K thut thit k gm hai phn chnh:
a. Nn dng vng: ch nh dng hm truyn h ca i tng danh nh.
b. n nh bn vng
H : gii bi ton n nh bn vng
H dng phn
tch coprime cho i tng c nn dng trn.
Th tc thit k nn dng vng (LSDP)
Gi s m hnh danh nh ca i tng G, b iu khin cn tm l K
Bc 1: Chn cc hm nn dng W
1
,W
2
. Tnh G
s
: G
s
= W
2
GW
1.

(Lu l chn W
1
,W
2
sao cho

G
S
khng cha cc ch n (zero cc
khng n nh kh nhau))
Bc 2: Tm nghim X
s
,Z
s
ca GCARE v GFARE ng vi G
S
.
Tnh ( ) ( )
2 / 1
max min
1
S S
X Z + = , trong
max
(.) l tr ring ln nht
Nu
min
qu ln th tr v bc 1. (Thng thng 1<
min
<5 th chp nhn
c)
Bc 3: Chn >
min
, tng hp b iu khin
K sao cho

(Vic xc nh
K c trnh by phn 4.3)

Bc 4: B iu khin K cn tm c tnh theo cng thc:
K = W
1

K W
2

(
~
1 1
) (
s s
M K G I
I
K
Trang 464

Th tc thit k c minh ha trong hnh 4.21

Hnh 4.21: Th tc thit k
H loop shaping
Nhn xt:
-Khc vi phng php thit k nn dng vng c in (nn dng hm S
v T), y ta khng cn quan tm n tnh n nh vng kn, cng nh
thng tin v pha ca i tng danh nh, v iu kin n nh ni c
m bo trong bi ton n nh bn vng
H bc 3.
- Th tc thit k s dng thch hp cho cc i tng n nh, khng n
nh, cc tiu pha, khng cc tiu pha; i tng ch cn tha mn yu cu
ti thiu cho mi thit k l khng c cc ch n. C th l nu i tng
1
W
G
2
W
1
W
2
W G
K
s
G
G
1
W
2
W
K
K
Trang 465
khng cc tiu pha th cc hn ch v cht lng iu khin vn th hin
trong th tc thit k qu gi tr ca
min
.
4.3.4.2 S iu khin:
Trn y ta ch quan tm n vng iu khin, khng quan tm n v tr
tn hiu t c a vo vng iu khin nh th no. Thng thng, tn
hiu t a vo vng iu khin nh hnh 4.22 vi hi tip n v.

Hnh 4.22: S iu khin hi tip n v
Nu b iu khin K t c t th tc nn dng vng
H , th
K v cc
hm nn dng W
1
, W
2
c th c tch ra ring r, v nh ta c th c
cc s iu khin khc nhau.
Hnh 4.23 l s iu khin vi b iu khin thit k theo th tc LSDP.
Ta c th thay i s ny mt cht nh hnh 4.24, m khng lm thay i
dng vng L.

Hnh 4.23: S iu khin hi tip n v vi b iu khin t c
t LDSP

G
K
y
r
-
+
y
W
2
r
-
+
K
W
1 G
Trang 466

Hnh 4.24: S iu khin ci tin vi b iu khin t c t
LDSP
Khi tn hiu t c a vo h thng ti v tr gia hai khi
K v W
1
, ta
cn b sung mt b tin b chnh m bo li tnh bng 1 (hnh 4.24).
Hm truyn vng kn t tn hiu t r n u ra y tr thnh:
y(s)= ) ( ) 0 ( ) 0 (
) ( ) ( 1
) ( ) (
2
1
s r W K
s K s G
s W s G
(4.184)
trong :
) ( ) ( lim ) 0 ( ) 0 (
0
2
s W s K W K
s
s

= (4.185)
Theo kinh nghim, iu khin theo s hnh 4.24 s cho p ng qu
tt hn; iu khin theo s hi tip n v nh hnh 4.23 thng cho p
ng qu , c vt l ln. Nguyn nhn l trong s 4.24 tn hiu t
khng trc tip kch thch c tnh ng ca
K . Theo th tc thit k
LSDP,
K li c xc nh qua li bi ton n nh bn vng, trong ta

khng th trc tip can thip vo v tr im cc zero c, m mi c
tnh mong mun ta ch c th a vo h thng thng qua cc hm nn dng
W
1
v W
2.
4.3.4.3 La chn cc hm nn dng W
1
,W
2
:
Vic la chn cc hm nn dng trong th tc thit k LSDP ni chung l
da vo kinh nghim ca ngi thit k. Tuy nhin, i vi tng i tng
c th, ngi ta thng a ra cc hng chn hm nn dng thch hp.
Thng thng, W
2
c chn c dng ma trn ng cho vi cc phn t
trn ng cho l cc hng s nhm t trng s ln cc tn hiu ra ca i
tng. W
1
thng l tch ca hai thnh phn: W
P
v W
A
; trong , W
A
l b
tch knh (decoupler), W
P
c dng ng cho c chn sao cho tha hip
y
) 0 ( ) 0 (
2
W K
K
r
2
W
1
W
G
+
Trang 467
cc mc tiu cht lng v n nh bn vng ca h thng, v thng c
cha khu tch phn m bo sai s xc lp bng 0.
i vi h SISO, vic la chn cc hm nn dng n gin hn: W
2
thng
c chn bng 1, v W
1
c chn sao cho tha hip c cc mc tiu
cht lng v n nh bn vng ca h thng.
4.4 Thit k ti u H
2

4.4.1 t vn
Xt h thng n nh

R t
t Cx t y
t Bw t Ax t x
=
+ =
) ( ) (
) ( ) ( ) ( &
(4.186)
H thng c ma trn hm truyn H(s) = C(sI-A)
-1
B. Gi s rng tn hiu w
l nhiu trng vi hip phng sai { } ) ( ) ( ) ( W t w t w E
T
= + .Ng ra y ca
h thng l mt qu trnh nhiu tnh vi ma trn mt ph.
) ( ) ( ) ( j WH j H S
T
= (4.187)
Do tr trung bnh ng ra ton phng :
{ } d j H W j H trace d S trace t y t y E
T
) (
~
) (
2
1
) (
2
1
) ( ) (

+

+

=
= (4.188)
y ta k hiu ) (
~
j H =H
T
(- j )
Ta c :

= d j H j H trace H ) (
~
) (
2
1
2
(4.189)
Gi l chun H
2
ca h thng .Nu nhiu trng w c mt W = I th tr
trung bnh ca ng ra ton phng )} ( ) ( { t y t y E
T
tng ng vi bnh
phng ca chun H
2
ca h thng

4.4.2 Ti u H
2

Vn ti u H
2
c th hin di dng ma trn chuyn i. Chng ta gi
s rng Q = I, v R = I, phim hm cht lng LQG l
Trang 468
)] ( ) ( ) ( ) ( [ lim t u t u t z t z E
T T
t
+

(4.190)
S gi s ny khng lm mt i tnh tng qut bi v bng cch bin i
thang t l cc thng s z v u ch tiu cht lng lun c th chuyn thnh
hnh thc ny .
Cho h thng vng h :
w Bu Ax x + + = & (4.191)
Dx z = (4.192)
v Cx y + = (4.193)
C ma trn chuyn i
u B A sI D w A sI D z
s G s G
4 4 3 4 4 2 1 4 43 4 42 1
) (
1
) (
1
12 11
) ( ) (

+ = (4.194)
v u B A sI C w A sI C y
s G s G
+ + =

4 4 3 4 4 2 1 4 43 4 42 1
) ( ) (
1
22 21
1 ) ( ) ( (4.195)
Kt ni h thng nh hnh (4.25) vi mt b iu khin C
e
chng ta c cn
bng ca tn hiu :

Hnh 4.25 : H thng hi tip vi ng vo v ng ra nhiu lon

v C G C I w G C G C I u
v u G w G C y C u
s H
e e
s H
e e
e e
4 4 4 3 4 4 4 2 1 4 4 4 3 4 4 4 2 1
) (
1
22
) (
21
1
22
22 21
22 21
) ( ) (
) (

+ + =
+ + = =
(4.196)
T u G w G z
12 11
+ = ta c :
v C G C I G w G C G C I G G z
s H
e e
s H
e e
4 4 4 3 4 4 4 2 1 4 4 4 4 4 3 4 4 4 4 4 2 1
) (
1
22 12
) (
21
1
22 12 11
12 11
) ( ) (

+ + = (4.197)
Hay
e
C
G
y
v
+
+
u
w
-
z
Trang 469

(
=
(
v
w
s H s H
s H s H
u
z
s H
4 4 4 3 4 4 4 2 1
) (
22 21
12 11
) ( ) (
) ( ) (
(4.198)
T (4.198) theo ta c :

2
2
) (
~
) (
2
1
)
) (
) (
) (
) (
( lim )) ( ) ( ) ( ) ( ( lim
H
d j H j H trace
t u
t z
t u
t z
E t u t u t z t z E
T
t
T T
t
=
=
(
= +
(4.199)
V vy gii quyt vn LQG l cc tiu ho chun H
2
ca h thng vng
kn hnh (4.25) vi (w,v) nh ng vo v (z,u) nh ng ra.
Cu hnh ca hnh (4.25) l trng hp c bit ca cu hnh hnh (4.26).
hnh (4.26) v l ng vo m rng (w v v trong hnh (4.25)).Tn hiu z l tn
hiu sai s (l tng bng 0)(z v u trong hnh (4.25)).Thm vo u l ng
vo iu khin v y l ng ra quan st .G l i tng tng qut v C
e
l b
iu khin .
Hnh 4.26: Vn chun H
2

4.4.3 Vn chun H
2
v li gii ca n
Vn ti u chun H
2
l la chn b iu khin K hnh (4.26) :
a. n nh vi h thng vng kn v
b. Cc tiu ho chun H
2
ca h thng vng kn (vi v l vo, z l ng ra)
S hnh 4.26 c m t bi h phng trnh trang thi sau:
) ( ) ( ) ( ) (
2 1
t u B t v B t Ax t x + + = & (4.200)
G
e
C
z v
y u
Trang 470
) ( ) ( ) ( ) (
12 11 1
t u D t v D t x C t z + + = (4.201)
) ( ) ( ) ( ) (
22 21 2
t u D t v D t x C t y + + = (4.202)
Vn ti u H
2
c th c gii quyt bi vic dn ti vn LQG. Gii
quyt vn ti u H
2
nh th l vn LQG. l , cc tiu ho :
{ } ) ( ) ( t z t z E
T
(4.203)
Gi s rng v l nhiu trng ng vo vi ma trn mt V=I.
Hi tip trng thi:
u tin, xem xt li gii vi hi tip trng thi .Kho st hai phng trnh :
) ( ) ( ) ( ) (
2 1
t u B t v B t Ax t x + + = & (4.204)
) ( ) ( ) ( ) (
12 11 1
t u D t v D t x C t z + + = (4.205)
Nu D
11
0 th ng ra z c thnh phn nhiu trng . iu ny c th lm cho
trung bnh ng ra ton phng (4.203) khng xc nh. V vy chng ta gi
s rng D
11
= 0 . Di s gi s ny chng ta c :
[ ] [ ]
(
=
(
= + =
) (
) (
) (
) (
) ( ) ( ) (
0
12
1
12 12 1
t u
t z
D I
t u
t x C
D I t u D t x C t z (4.206)
vi z
0
(t) = C
1
x(t). Do

[ ]
0
0 12
12
12 0
0
12 12 12
( )
{ ( ) ( )} ( ) ( )
( )
( )
( ) ( )
( )
T T T
T
T T
T T
I z t
E z t z t E z t u t I D
D u t
I D z t
E z t u t
D D D u t
( (
( =
( (

( (
( =
( (

(4.207)
y l vn b iu chnh tuyn tnh vi thnh phn cho ng ra v ng
vo .N c li gii nu h thng ) ( ) ( , ) ( ) ( ) (
1 0 2
t x C t z t u B t Ax t x = + = & l n
nh v tm c, ma trn trng lng
(
12 12 12
12
D D D
D I
T T
(4.208)
Trang 471
L xc nh dng. iu kin cn v cho (4.208) l
12 12
D D
T
khng suy
bin .Li gii ca vn iu chnh l lut hi tip trng thi:
) ( ) ( t Kx t u = (4.209)
Hi tip ng ra :
Nu trng thi l khng c gi tr cho hi tip th cn c c lng vi
mt b lc Kalman. Xem xt hai phng trnh :
) ( ) ( ) ( ) (
2 1
t u B t v B t Ax t x + + = & (4.210)
) ( ) ( ) ( ) (
22 21 2
t u D t v D t x C t y + + = (4.211)
Phng trnh th hai c th tr thnh dng chun cho b lc Kalman nu
coi y(t) D
22
u(t) nh l bin quan st hn l y(t).Nu biu th nhiu s quan
st l ) ( ) (
21
t v D t v = th :
) ( ) ( ) ( ) (
2 1
t u B t v B t Ax t x + + = & (4.212)
) ( ) ( ) ( ) (
2 22
t v t x C t u D t y + = (4.213)
Xc nh mt h thng nhiu vi nhng thnh phn nhiu tng quan cho
chng ta c:

[ ] [ ]
) (
) ( ) ( ) ( ) (
) (
) (
21 21 21
21
21
21

=
+
(
=
(
+
+
T
T
T T T T
D D D
D I
D I t v t v
D
I
E t v t v
t v
t v
E
(4.214)
Gi s rng h thng ) ( ) ( , ) ( ) ( ) (
2 1
t x C t y t v B t Ax t x = + = & l n nh v tm
c , v ma trn mt

(
T
T
D D D
D I
21 21 21
21
(4.215)
xc nh dng. iu kin cn v cho(4.215) l
T
D D
21 21
khng suy bin
Khi s tn ti mt b lc Kalman :
)] ( ) ( ) ( [( ) ( ) ( ) (
22 2 2
t u D t x C t y L t u B t x A t x + + =
&
(4.216)
Ma trn li L c tm t th tc thit k b lc Kalman. Vn hi tip
ng ra c ly :
) ( ) ( t x K t u = (4.217)
K ging nh li hi tip trng thi (4.209)
Trang 472
Xem xt vn ti u H
2
cho i tng tng qut :
) ( ) ( ) ( ) (
2 1
t u B t v B t Ax t x + + = & (4.218)
) ( ) ( ) (
12 1
t u D t x C t z + = (4.219)
) ( ) ( ) ( ) (
22 21 2
t u D t v D t x C t y + + = (4.220)
Gi s :
H thng ) ( ) ( , ) ( ) ( ) (
2 2
t x C t y t u B t Ax t x = + = & l n nh v tm c
.
Ma trn
(

21 2
1
D C
B sI A
c hng y cc hng ngang cho mi
j s = v D
21
c hng y cc hng ngang
Ma trn
(

12 1
2
D C
B sI A
c hng y cc ct cho mi j s = v
D
12
c hng y cc ct

Di nhng gi s ny b iu khin hi tip ng ra ti u l
)] ( ) ( ) ( [ ) ( ) ( ) (
22 2 2
t u D t x C t y L t u B t x A t x + + =
&
(4.221)
) ( ) ( t x K t u = (4.222)
Ma trn li hi tip trng thi v b quan st l :
1 1
12 12 2 12 1 2 1 21 21 21
( ) ( ) , ( )( )
T T T T T T
K D D B X D C L YC B D D D

= + = + (4.223)

Ma trn i xng X,Y l nghim xc nh dng duy nht ca phng trnh
i s Riccati:

0 ) ( ) )( (
0 ) ( ) )( (
1 21 2
1
21 21 21 1 2 1 1
1 12 2
1
12 12 12 1 2 1 1
= + + + +
= + + + +
T T T T T T
T T T T T T
B D Y C D D D B YC B B AY AY
C D X B D D D C XB C C XA X A

(4.224)

4.5 ng dng trong MABLAB
4.5.1 LQG h l xo m
Xt h thng l xo m nh hnh v sau:
Trang 473

Vi cc thng s ca h thng nh sau:
M=1 m=0.1
b=0.0036 k=0.091
Bin trng thi ca h thng: [ ]
T
x d d y y =
&
&
Phng trnh Bin Trng Thi ca h lin tc:
x Ax Bu
y Cx Du
= +
= +
&

vi ma trn Bin Trng Thi c cho nh sau:
0 1 0 0
0 0 0 1
k b k b
m m m m
A
k b k b
M M M M
(
(

(
(
=
(
(

(
(

;
0
0
0
1
B
M
(
(
(
=
(
(
(
(

1 0 0 0
0 0 1 0
0 0 0 0
C
(
(
=
(
(

;
0
0
1
D
(
(
=
(
(

Thi gian ly mu: T=0.4(s)
Trang 474
Kho st h thng trn dng phng php LQG.
S khi ca mt b iu khin LQG nh sau:

T s khi trn, ta thy rng cu trc ca b iu khin LQG chnh l b
iu khin LQR kt hp vi b c lng Kalman v c xt n nhiu qu
trnh w(k) v nhiu o lng v(k).
Phng trnh Bin Trng Thi ca h ri rc khi c xt n nhiu nh sau:
( 1) ( ) ( ) ( )
( ) ( ) ( ) ( )
x k x k u k w k
y k Cx k Du k v k
+ = + +
= + +

vi lut iu khin: ( ) ( ) u k Kx k =
S m phng h thng:

Trang 475
KT QU: p ng ca h thng

Trang 476

x
0

x
y
y
0

1
2
3
0
4.5.2 Thit k H

cnh tay mm do
Xt thanh ng cht, khi lng phn b u, chiu di l L. Thanh c
chia thnh 3 phn t c di bng nhau 3 L h = .

Hnh 4.27 : Thanh mm do c chia thnh 3 phn t
Chiu di thanh: l = 0.98 m, khi lng thanh: m = 0.35 kg, cng bin
dng: EI = 72.2 N.m
2
, qun tnh trc ng c: I
H
= 0.025 kg.m
2

Dng phng php phn t hu hn v phng trnh Euler-Lagrange m
hnh ha cnh tay mm do.
M hnh biu din trng thi ca i tng (n=3) c dng nh sau:
12 13 14 11
22 23 24 21
32 33 34 31
42 43 44 41
0 0 0 0 1 0 0 0 0
0 0 0 0 0 1 0 0 0
0 0 0 0 0 0 1 0 0
0 0 0 0 0 0 0 1 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
T
u u u u
u u u u
u u u
u u u u
( (
( (
( (
( (
( (
( (
= +
( (
( (
( (
( (
( (
( (

x x &
[ ]
3
0 0 1 0 0 0 0 y l = x
Trang 477
Vect trng thi c nh ngha:

1 2 3 1 2 3
T
q q q q q q ( =

x
&
& & &
trong : : gc quay ca trc motor,
dt
d
=
&

q
i
: chuyn v ( bin dng) ca nt I,

dt
dq
q
i
i
= &
Hm truyn t ca i tng:
D B A sI C s G + =
1
0
) ( ) (
0
2 2 2 2
990679.4792 (s+598.2) (s-598.2) (s+167.2) (s-167.2)
( )
s (s + 1.309e004) (s + 1.215e005) (s + 93.16s + 8.678e005)
s = G
Thng thng ,trc khi a m hnh vo s dng ,cn phi sa i m
hnh da trn biu Bode.
2 2 2 2
990679.4792 (s+598.2) (s-598.2) (s+167.2) (s-167.2)
(s+1e-006) (s + 11.44s + 1.309e004) (s + 34.86s + 1.215e005) (s + 93.16s + 8.678e005)
( ) s = G

Ta s dng G(s) lm m hnh danh nh v s dng th tc LSDP thit k
b iu khin
S m phng:

Trang 478
Ch thch cc khi trong s :
Step Khi to tn hiu t l hm nc thang n v.
Gain B tin x l, h s khuch i = -
2
(0) (0)
K W .
W1, W2 Cc hm nn dng ch nh trong th tc LSDP
Kinf B iu khin
K t c sau bc 3 ca th tc
LSDP.
Flexible Link

Khi gi lp i tng iu khin. L ra khi ny
ch c mt u vo mt u ra, nhng phn hot
hnh (animation) cn ly trng thi ca i tng
v, nn khi ny cn c cc u ra ph q
(chuyn v nt) v Theta (gc quay ca trc).
Disturbance Khi to nhiu ti, pht tn hiu c dng hm nc
m.
Noise Khi to nhiu o.
Load Np d liu t file loaddata.m m phng.
Design W1 (Raw) Kch hot cng c h tr thit k s b hm nn
dng W
1
.
Design W1 (Fine) Kch hot cng c h tr thit k cho php tinh
chnh hm nn dng W
1
.
Plot G/W1/Gs/L/ST Khi nhp kp chut vo nhng khi ny, Matlab s
v biu Bode cc hm tng ng.
Info Hin th thng tin h thng ln Workspace.

Trang 479
Cng c h tr thit k
Design W
1
(Raw)
Cng c ny c sa li t cng c shapemag.m ca MATLAB cho tin s
dng vi phn m phng iu khin trong lun n ny. Design W1 (Raw) c
giao din nh sau:

S dng: Ngi thit k ch nh cc im gy (im ch nh), cc im
ny s t ng c ni vi nhau bng cc on thng to nn dng ch
nh, sau in bc mong mun ca W
1
vo Bc ca W1, v nhn nt
Xp x MATLAB pht sinh W
1
. Sau khi c c W
1
, ngi thit k cn
phi tinh chnh li hm ny bng cng c Design W1 (Fine).

Trang 480
Design W
1
(Fine)
Cng c ny c xy dng da trn giao din ha ca JF Whidborne v
SJ King. Design W1 (Fine) c th c s dng c lp, hoc s dng
tinh chnh dng ca W
1
t c sau khi s dng Design W1 (Raw). Design
W1 (Fine) c giao din nh sau:

S dng: Nu Design W1 (Fine) c s dng c lp, th lc khi ng W
1

= 1; nu c s dng sau Design W1 (Raw), th W
1
s tha k kt qu t
c t Design W1 (Raw). Ngi thit k c th thm/bt cc-zero, dch
chuyn cc-zero thm/bt khu tch phn, hay thay i li ca W
1
bng
cc cng c bn phi giao din. Sau cng, ngi thit k nhn nt Tnh
Kinf tng hp b iu khin. Hp thoi xut hin sau khi nhn nt Tnh
Trang 481
Kinf cho bit thng tin v gi tr
min
t c, v a ra 3 la chn cho
ngi dng chn.

Nhn nt Tr v quay li giao din Design W1 (Fine) hiu chnh W
1
.
Nhn nt p ng nc nu mun xem p ng vi u vo hm nc thang
n v ca i tng danh nh. Nhn nt M phng, kt qu thit k (K
inf
,
W
1
) s c chuyn vo Workspace chy m phng.
Load
Khi nhp kp chut ln khi Load, Simulink s gi loaddata.m. Tp ny
cha ton b thng s thit k ca h thng. Ngi thit k c th t hm
nn dng W
1
vo tp ny nu mun thit k bng s
Sau bc thit k, K
inf
v W
1
c np vo Workspace di dng m hnh
trng thi. chy m phng, nhn nt .
Kt qu m phng:
Chn hm nn dng:
2
1
2
150.51 (s + 0.9)
( )
s (s + 10) ( 2)
s
s
=
+
W
Kt qu thit k:
Trang 482
Gi tr nh nht:
min
= 3.68.
Chn
min
1.05 = = 3.86
B iu khin t c:
2
2 2
-131.7524 (s+10.17) (s+9.817) (s+2.146) (s + 1.103s + 0.4046)
(s+35.13) (s+16.61) (s + 1.799s + 0.8091) (s + 11.61s + 96.32)
= K
p ng ca h thng:
r(t) l tn hiu t, y(t) v tr u mt, u(t) l in p iu khin, q(t) l
dch chuyn ngang ca u mt.

Hnh 3.28: p ng qu ca h thng

Trang 483
4.5.3 iu khin bn vng H

vi bi ton bn nc
Xt h thng c s nh hnh v vi i tng iu khin l bn nc.

Hnh 1: M hnh bn nc

Quan h gia chiu cao h v in p iu khin van u l : h = Pu (1)
Trong : P = [1 + W
m
]P
nom
=
s
Ke
S
1
(2)

Hnh 2: S h thng kn phn hi -1 n v

Hm truyn gm 3 thnh phn cha bit l : li K, thi gian tr v
thi hng . Khi ta thay i 3 gi tr ny th hm truyn ca i tng
b thay i.
Yu cu ca bi ton l: tm gi tr ca W
m
v P
nom
.
Mc ch ca bi ton khng ch dng li vic tm W
m
v P
nom
m l
tm mt b iu khin C(s) sao cho h thng danh nh vng kn (khng
tnh ) n nh ng thi h thng vng kn cng n nh di tc ng
ca sai s m hnh .

Trang 484
Phn tch bi ton:
M t bn nc trn theo s khi h h l :

P = [(1 + W
m
)P
nom
] Vi ||||
1 (3)
Trong :
s
Ke
P
S
+
=
1
(4)
Chn tm gii hn ca K, v .
Gi s ta tm c: K [K
min
, K
max
], [
min
,
max
], [
min
,
max
]
nh ngha :
(5)
Chn P
nom
l :
s
e K
P
S
nom
+
=
1
(6)
Ta tip tc nh ngha :
(7)
Ta c :
1 , ) (
) (
) ( ) (
=
s W
s P
s P s P
m
nom
nom
(8)
Chun :
) (
) (
) ( ) (

j W
j P
j P j P
m
nom
nom
(9)
V :
1

Nn :
) (
) (
) ( ) (

j W
j P
j P j P
m
nom
nom
(10)
p dng vo bi ton ta c :

) ( 1
) (
) (
j W
j P
j P
m
nom
(11)
Trang 485

+
+
) ( 1
) 1 (
) 1 (
j W
e K s
s Ke
m
S
S
(12)
M chun ||G||
chnh l khong cch ln nht t tm ta mt phng

phc ti mt im trn ng c tnh tn bin pha ca G(s).
V bi ton ta ang xt l h SISO nn ta c : ) ( sup j G G =

Suy ra :
( )
1
1
1
) (
|
|
\
|
+ +
+
|
|
|
\
|
+
S
m
e
s
s
K
K K
s W

(13)
M rng ca bi ton (s hnh 2):
B iu khin C(s) c th l b iu khin PID hay cc khu sm tr
pha.
Sai s m hnh (s) c xem nh n nh nhng khng bit r rng.
Gi s (s) b chn nh sau :
) , 0 [ , ) ( ) ( s W S
m
(14)
W
m
(s) l hm chn trn ca (s), n nh v bit trc.
Kt qu n nh bn vng cho thy rng nu b iu khin C(s) c
chn sao cho h danh nh vng kn (khng tnh (s)) trong hnh trn n
nh tim cn v tha mn bt ng thc sau :
1
) ( 1
) ( ) ( ) (
<
+
s C P
S W s C s P
nom
m nom
) 15 (
th h thng vng kn cng n nh di tc ng ca sai s m hnh
(s). Bt ng thc (15) chnh l iu kin n nh bn vng (chun H
)
ca h thng.
Nh vy, mc tiu ca bi ton tng hp b iu khin C(s) tha mn
iu kin rng buc n nh bn vng (15).
Gii:
Trc tin ta tm khong gii hn ca li K, thi gian tr v thi
hng .
K [1, 599] , [1, 143] , [1, 1439]
Ta c :
300 = K 72 = 720 =
299 = K 71 = 719 =
T biu thc (13 ) :

( )
1
1
1
) (
|
|
\
|
+ +
+
|
|
\
|
+
S
m
e
s
s
K
K K
s W

Trang 486
V biu bode bin cho v phi v tm gi tr chn trn ca n cho
ra ng bao ca biu bode bin khi cc gi tr K , , ln lt
chy, tc l t cc gi tr trung bnh ta ta ra xung quanh tm tm gii
hn ca n.
Vi cc thng s c chn nh trn, qua nhiu ln th nghim, kt qu
W
m
chn trn khi cc thng s K , , chy l :
08 . 0
) 035 . 0 ( 2 . 3
+
+
=
s
s
W
m
(16)
By gi ta thit k b iu khin C(s) iu khin bn vng n nh vng
kn. n gin, chn b hiu chnh sm pha c dng:
1
) (
) (
+
+
=
cs
b s a
s C (17)
Chn:
0014 . 0 720 / 1 / 1 = = = b , v thi hng l 720 giy ln, chn b
trit tiu thi hng ny.
c = 10 : c lc ny l thi hng mi nn ta ch cn chn nh.
a =1/ K =1/300: V ta xt iu kin vng kn khi 0 = ( m hnh
danh nh ) c n nh khng v ng thi iu kin n nh bn
vng phi tho. y thit k ca chng ta da vo biu
Nyquist xem xt tnh n nh, t tm ra a. Khi a cng ln
th cng lm cho chun v cng ca biu thc iu kin bn
vng vt xa 1, khng tho vi iu kin.
Lc ny, iu kin n nh vng kn c tha. Vy :

1 10
) 0014 . 0 ( 0033 . 0
) (
+
+
=
s
s
s C
S m phng:
Trc tin, ta m phng kt qu tm
m
W . Cho =0.0001:0.2:100
Trang 487
Khi chy, kt qu nh sau:

Hnh 3: c tnh bin tn ca ) ( j W
m
v
( )
1
1
1
|
|
\
|
+ +
+
|
|
|
\
|
+
S
e
s
s
K
K K
,
vi = 1:719, 299 = K , 71 = .

08 . 0
) 035 . 0 ( 2 . 3
+
+
=
s
s
W
m
(ng mu ) . Gi tr ny khng nhng tha trong
trng hp ny m cn tha trong cc trng hp khi K , chy. C th
l :

Trang 488
m
v
( )
1
1
1
|
|
\
|
+ +
+
|
|
|
\
|
+
S
e
s
s
K
K K
,
vi 71 : 1 , 719 , 299 = = = K .

m
v
( )
1
1
1
|
|
\
|
+ +
+
|
|
|
\
|
+
S
e
s
s
K
K K
,
vi 71 : 1 , 1 , 299 = = = K .

m
v
( )
1
1
1
|
|
\
|
+ +
+
|
|
|
\
|
+
S
e
s
s
K
K K
,
vi 71 , 1 , 299 : 1 = = = K
Trang 489
Biu Nyquist ca m hnh i tng :

Hnh 7: Biu Nyquist ca
P vi 1 : 1 . 0 : 0 = .

Khi cng ln ( gn 1) th vng khng chc chn ca h thng cng
tng, ng vi nhng ng cong Nyquist pha ngoi. iu cng ni
ln c rng s thay i ca chnh l s thay i ca i tng.
Biu Nyquist ca (15) v p ng ng ra ca h thng:

Hnh 8: Biu Nyquist ca iu kin bn vng v p ng nc ca
h thng khi 0 = .
Trang 490

h thng khi 5 . 0 = .

h thng khi 3 . 0 = .
Trang 491

h thng khi 1 = .

h thng khi c nhiu.

Nhn vo biu Nyquist ca iu kin bn vng ta nhn thy r rng gi
tr sup ca biu thc (15) c tho v p ng ng ra h thng xung quanh
gi tr khi =0. Ta ni rng h thng n nh bn vng.

Trang 492
Kt lun:
Nh vy, vn ca bi ton iu khin bn vng l xc nh cho c gi
tr chn trn ca ) (s chnh l s thay i ln nht ca i tng. Mt khi
xc nh c ri th vn cn li ca chng ta l vic thit k b iu
khin tho iu kin bn vng. V b iu khin ch iu khin bn vng
c trong mt vng chn trc ca cc gi tr thay i l K, , . Vt ra
ngoi phm vi gii hn th s n nh bn vng l khng chc chn hay
ni cch khc l h thng khng cn bn vng na. C nhiu cch thit k
b iu khin C(s) nh dng phng php GA ca iu khin thng minh
thit k b C(s) PID chng hn. y, ta thit k b hiu chnh sm pha
v n n gin. Kt qu t c kh tt v ta gii quyt c yu cu
ca bi ton t ra.

4.5.4 ng dng thut ton GA thit k b iu khin PID ti u H
2
/H

1. Gii thiu:
Bi ton kt hp iu khin H
2
/H

bao gm vic thit k mt b iu khin
n nh ni sao cho cc tiu phim hm cht lng H
2
v tha mn rng
buc n nh bn vng H

. Trong v d ny mt th tc c ngh thit
k b iu khin PID nhm t c cht lng ti u H
2
/H
.
Bc u tin da theo tiu chun n nh Routh-Hurwitz, xc nh iu
kin i vi cc thng s ca b iu khin PID h thng vng kn n
nh. Bc th hai, xc nh min n nh ca b iu khin PID, ng thi
tha mn rng buc H
. Trong bc ba, bi ton thit k tr thnh bi ton

tm mt im trong khng gian tm c bc hai, tm cc tiu phim
hm H
2
. Thng th cn phi xem xt bi ton cc tiu mt hm c tnh phi
tuyn cao, v tn ti nhiu im cc tiu cc b.
2. M t bi ton
Cho h thng iu khin PID nh trong Hnh 1. i tng P(s) chu tc
ng ca nhiu l
0
(s), b iu khin PID c dng nh sau:
s k s k k s C
3 2 1
/ ) ( + + = (1)

Hnh 1: H thng iu khin PID vi sai s nhn u ra
C(s) r y
-
[1+
0
(s)]

P
0
(s)
+ e u
Trang 493
Nhiu i tng
0
(s) c xem nh n nh nhng khng bit r rng.Gi
s
0
(s) b chn nh sau:
, ) ( ) (
0 0
j j < ), , 0 [ (2)
0
(j) l hm chn trn ca
0
(j), n nh v bit trc.
Kt qu n nh bn vng cho thy rng nu b iu khin C(s) c chn
sao cho h thng danh nh vng kn (khng tnh
0
(s)) trong Hnh 1 n
nh tim cn v tha mn bt ng thc sau:
1
) ( ) (
) ( ) ( ) (
<
+
s C s P I
s s C s P
O
O O

(3)
th h thng vng kn trong Hnh 1 cng n nh di tc ng ca sai s
m hnh
0
(s). Bt ng thc (3) chnh l iu kin n nh bn vng (chun
H
) ca h thng, t nh ngha chun H
:
) ( sup ) (
) , 0 (
j A s A

(4)
iu kin n nh bn vng (3) c vit li nh sau:
)) ( ) ( 1 ))( ( ) ( 1 (
) ( ) ( ) ( ) ( ) ( ) (
sup
) ( ) ( 1
) ( ) ( ) (
0 0
0 0 0 0
) , 0 [
0
0 0

j C j P j C j P
j j j C j C j P j P
s C s P
s s C s P
+ +

=
+

) , 0 [
) (
) (
sup

=

) (
) (
sup
) , 0 [

= 1 < (5)
Vic qut trong [0,) tm gi tr ln nht ca ()/() trong (5)
khng phi l cng vic d dng. Thc t, gi tr ln nht ca ()/() ch
xy ra nhng im tha mn phng trnh sau:
0
) (
) (
) (
) (
) (
) (
) (
2
=
d
d
d
d
d
d
(6)
Trang 494
Do , ch cn tm nghim
i
ca phng trnh:
=
= =
n
i
i
d
d
d
d
1
0 ) (
) (
) (
) (
) (

(7)
Vi kt qu trn, rng buc n nh bn vng (3) tng ng vi:
1
) (
) (
max <
i
i
i

(8)
Tuy nhin, trong nhin trong nhiu trng hp nu ch n nh bn vng
khng th cht lng ca h thng khng t yu cu. V vy vic hiu
chnh ti u trong nhiu ng dng thc t l cn thit. V d ny cp n
phng php hiu chnh ti u c thc hin trn phim hm H
2
:

0
2
) ( min dt t e
C
(9)
vi e(t) l sai s iu chnh trong h thng Hnh 1.

) ( ) ( 1
) (
) (
0
s C s P
s R
s E
+
= (10)
Theo nguyn l Parseval, chng ta c:
=
0
2
) ( min dt t e J
C

1 2 3
, ,
1
min ( ) ( )
2
j
k k k
j
E s E s ds
j
=
j
j
k k k
ds
s A s A
s B s B
j ) ( ) (
) ( ) (
2
1
min
3 2 1
, ,
(11)
A(s) v B(s) c th c biu din nh sau:
=
=
m
k
k
k
s a s A
0
) ( ,
=
=
1
0
) (
m
k
k
k
s b s B ; phng trnh (11) c vit li nh sau:
Trang 495

= =
=
|
\
|
|
\
|
|
\
|
|
\
|
=
j
j
m
k
k
k
m
k
k
k
m
k
k
k
m
k
k
k
m
ds
s a s a
s b s b
j
k k k J
0 0
1
0
1
0
3 2 1
) (
) (
2
1
) , , (
(12)
Phng trnh (12) c th c gii nh l thuyt thng d, gi tr ca
J
m
(k
1
,k
2
,k
3
) c th tm c trong Newton, 1957.
Phim hm H
2
c dng nh sau:
) , , ( min
3 2 1
, ,
3 2 1
k k k J J
m
k k k
m
= (13)
J
m
(k
1,
k
2,
k
3
) l hm s ca cc thng s PID (k
1,
k
2,
k
3
), m l bc i tng.
T s phn tch trn, bi ton thit k b iu khin PID, kt hp H
2
/H
tr
thnh bi ton xc nh b iu khin PID cc tiu (13) di rng buc
n nh bn vng (8). Mt phng php hiu qu t c li gii tan
cc trong bi tan kt hp H
2
/H

vn ang c nhiu ngi quan tm.
Trong phn tip theo chng ta s xem xt thut tan di truyn, v ng dng
thut tan ny gii quyt bi tan iu khin tch hp H
2
/H

.
3. Phng php thit k
Phn ny s trnh by phng php xc nh cc thng s (k
1,
k
2,
k
3
) ca b
iu khin PID cho hai bi ton trn bng thut ton di truyn, sao cho t
c gi tr cc tiu ca phim hm H
2
, ng thi tha mn rng buc n
nh bn vng H
.
3.1. Biu din nhim sc th
Thut ton di truyn lm vic trn cc nhim sc th (nhng chui s), ch
khng phi chnh bn thn thng s . Mi tp thng s (k
1,
k
2,
k
3
) ca b
iu khin PID s c m ha v ghp li thnh mt nhim sc th. Vic
m ha c th c thc hin bng nhng chui s nh phn hoc thp phn.
Trong v d ny, s dng phng php m ha thp phn.
3.2. Hm thch nghi v hm nh gi
Hm nh gi c nh ngha nh sau:
Trang 496
), , , ( ) , , (
3 2 1 3 2 1
k k k J k k k E
m
= D k k k
3 2 1
, , (14)
V phi ca (14) l phim hm H
2
m chng ta mun cc tiu, hm nh gi
ch c xc nh trong min n nh (D) ca h thng.
Mc tiu ca chng ta l tm (k
1,
k
2,
k
3
) trong D cc tiu (14). Tng ng
vi mi nhim sc th ta s c c mt gi tr ca hm nh gi E(k
1
,k
2
,
k
3
). Sau gi tr nh gi c nh x thnh gi tr thch nghi F(k
1
,k
2
, k
3
)
cho ph hp vi thut ton di truyn (tm kim gi tr cc i). Qu trnh
tm kim gi tr nh nht ca J
m
(k
1,
k
2,
k
3
) tng ng vi qu trnh tm kim
gi tr ln nht ca F(k
1
, k
2
, k
3
). Nhim sc th c J
m
(k
1,
k
2,
k
3
) nh hn s c
gi tr thch nghi ln hn.
Mi lin h gia hm thch nghi v hm nh gi c biu din nh sau:

<
+
=
1
) (
) (
max
1
) (
) (
max
0
) , , (
) , , (
3 2 1
3 2 1
i
i
i
i
i
i
khi
khi
b k k k E
k k k F

(15)
y du tr c s dng chuyn bi ton cc tiu thnh bi ton cc
i, gi tr ca b c chn sao cho gi tr ca hm thch nghi lun lun
dng. i vi cc nhim sc th khng tha mn iu kin (8), gi tr ca
hm thch nghi s c gn bng 0 (gi tr nh nht), v vy cc nhim sc
th ny s khng tn ti trong th h sau.
3.3. Cc bc thc hin
T s phn tch trn, qu trnh thit k bao gm cc bc sau:
(1) Bc 1: p dng tiu chun Routh-Hurwitz, xc nh iu kin ca cc
h s PID h thng vng kn n nh.
(2) Bc 2: Xc nh min n nh (D) ca ba thng s (k
1
, k
2
, k
3
).
(3) Bc 3: Thit lp cc thng s ca thut ton di truyn: xc sut lai, xc
sut t bin, kch thc qun th, s th h ti a, iu kin dng,
(4) Bc 4: Khi to qun th, m ha nhim sc th.
Trang 497
(5) Bc 5: Tnh
i
t phng trnh (7).
(6) Bc 6: Tnh gi tr thch nghi cho tng c th theo biu thc (15).
(7) Bc 7: Thc hin cc php ton di truyn.
(8) Bc 8: Kim tra iu kin dng, nu iu kin dng cha tha mn th
quay li bc 5.
4. V d minh ho
Cho h thng iu khin nh hnh 1, i tng P
0
(s) c hm truyn nh sau:

) 2 (
8 . 1
) (
2
0
+
=
s s
s P
Sai lch m hnh
0
(s), b chn nh sau:
10 1 . 0
1 . 0
) (
2
0
+ +

s s
s
Vi ng vo l hm nc, ta c th d dng tnh c e(s), ( ) v ( ) .
Trong v d ny ta c m = 4, v vy phim hm H
2
ca h thng l J
4
:
) ( 2
) ( ) 2 ( ) 2 ( ) (
3 2 1 4
2
1
2
3 0 4 0
4 3 2
2
4 1
2
0 4 3 0 2 0
2
1 4 1 0 3 1
2
2 2 1 0 3
2
0
2
3
4
a a a a a a a a a
a a a a a b a a a b b b a a a b b b a a a a a b
J
+
+ + + + +
=
1 3 2
2
1 3 1 2
1.8 2 4
7.2 3.6 8
k k k
k k k k
+
=

Thut ton di truyn bt u bng vic to ngu nhin mt qun th bao
gm 200 nhim sc th, sau 15 th h, tm c b iu khin PID thch hp
vi cc thng s nh sau, k
1
= 3, k
2
= 0.1, k
3
= 30.

Hnh 2: Chun H
2

Trang 498

Hnh 3: p ng nc ca h thng.
S hi t ca phim hm H
2
c trnh by trong Hnh 2. p ng nc ca
h thng c trnh by cho hai trng hp: h danh nh v h thng c sai
s m hnh (hnh 3). Kt qu cho thy b iu khin c thit k c th
iu khin thnh cng h thng chu tc ng ca nhiu.
5. Kt lun:
V d trn gii thiu mt phng php thit k b iu khin PID, kt
hp vi iu khin H
2
/H

bng thut ton di truyn. Vic ti u ha ton
cc gn nh t c bng cc php ton di truyn ti sinh, t bin v lai.
Kt qu thy rng c th p dng phng php ny thit k b iu khin
PID ti u H
2
/H
mt cch n gin, trong trng hp h thng chu tc

ng ca nhiu.

Trang 499
CU HI N TP V BI TP

1. Khi nim iu khin bn vng
2. Chun tn hiu
3. Chun ma trn
4. nh ngha vt ma trn ,tnh cht, tr suy bin ca ma trn- li
chnh.
5. Khi nim n nh ni , n nh bn vng v nh l li nh
6. iu khin bn vng LQG (S nguyn l , b quan st,b lc
Kalman , gii thut thit k)
7. Biu Bode cho h a bin
8. Hm nhy v b nhy
9. Sai s m hnh phn tch coprime
10. Thit k bn vng
H
11. Nn dng vng
H
12. Thit k ti u H
2

13. Cho h thng:

i tng G(s) c m t:

x z u x x
(
=
(
(
(
+
(
(
(
=
1
0
0
0
0
1
,
1 0
0 1
0 0
0 0 0
0 3 0
0 1 0
&
V b iu khin K(s)=2I
2

a. Tm li vng a bin GK(j )
b. Tm hm nhy v hm b nhy
c. Tm hm truyn vng kn t r(t) n z(t) v cc cc ca vng
kn
14. Thit k LQG dng Matlab m phng m hnh con lc ngc
K
r(t)
z(t)
-
G
+ +
+
+
+
n(t)
d(t)
u(t) s(t)
Trang 500
15. Cho h thng nh hnh v:

Vi:
1
7 6
8 7
2
2
0
0
1
1
7 6
8 7

(
(
(
(
+
+
(
=
s
s
G
a. V ng cong Nyquist vi gi tr ring ca G.
b. Chng minh rng G c mi lin h trng thi sau:
u x x
(
+
(
=
14 12
8 7
2 0
0 1
& , x y
(
=
7 6
8 7

c. Bng cch nh gi tuyn tnh ca det(sI A BKC), vi

Chng minh rng 3 50k
2
+ 47k
1
> 0 l iu kin cn h thng n
nh.
Ch : n gin ho php tnh, ta t + = k k
1
v = k k
2
.
16. Thit k LQG cho h thng sau:
u
x
x
x
x
(
+
(
+
(
=
(
1
0
0 1
0 1
1 0
1 1
2
1
2
1

&
&

(
+
=
u
x x
z
) (
2 1

[ ] [ ] 1 0 0 1
2
1
+
(
=
x
x
y
a. Chng minh rng b iu khin ti u c cho bi:

+ + + +
=
1 ) 2 (
) 2 1 (
2
s s
s
k
Vi: + + = 4 2 ; + + = 4 2
b. Ch tiu cht lng ti u l g? Ch tiu cht lng ti u thay i
nh th no vi v ?

y

d
K
G

u

(
=
2
1
0
0
k
k
K

Bo Quan Sat Kalman

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Chng 4 : iu khin bn vng

P :M hnh thc t vi sai lch

P v mt tp cc ch tiu cht lng, gi s

P l m hnh danh nh dng thit k b iu khin K.H thng

.Vi cc iu kin trn,chng ta c th tuyn

|, khng c qu ln trong vng

m trong iu khin bn vng rt c quan tm l

vi cc h s l nhng s thc dng

< G , hay ( ) G b chn (khi mn),c gi l hm hp thc v

ca mt h thng SISO G(s) RH

chnh l khong cch ln nht t tm ta

to thnh mt phn tch coprime

l cc hm truyn cha bit th hin phn sai s

(i vi h thng hnh 4.20)

phc tp ch phi thc hin cc tiu ha chun (4.174)

c th c thc hin thng qua bi

H . Nn dng vng thc hin s tha hip gia mc tiu cht

H : gii bi ton n nh bn vng

K c trnh by phn 4.3)

K li c xc nh qua li bi ton n nh bn vng, trong ta

chnh l khong cch ln nht t tm ta mt phng

. Trong bc ba, bi ton thit k tr thnh bi ton

) ca h thng, t nh ngha chun H

mt cch n gin, trong trng hp h thng chu tc

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