Nguyn Don Phc

l thuyt
iu khin tuyn tnh
(In ln th t, c sa i v b sung)

Nh xut bn Khoa hc v K thut

H Ni 2009

Author: Nguyen Doan Phuoc

Assoc. Prof. of Department of Automatic Control, Hanoi University of Technology.
Title:

Theory of Linear Control

This book aims to provide basic knowledges of linear control. It presents the conceptual steps to
carry out a linear control problem such as modelling, analysis and controller design. Many
examples are given in the book to illustrate the theory.
This book is the product of several courses given by the author at the Hanoi University of
Technology (HUT). It is written for control engineering students and master students in
Universities as a course and self study textbook.

Chu trch nhim xut bn:

Bin tp:
Trnh by v ch bn:
V ba:

PGS. TS. T ng Hi
Nguyn ng
Tc gi
Trn Thng

In 1000 cun kh 1624 cm ti xng in NXB Vn ha dn tc. Giy php xut bn s

150604/2/2005. In xong v np lu chiu thng 7/2005.

Li ni u

Sau ln xut bn u tin nm 2002, tc gi nhn c rt nhiu ng gp t

pha bn c c c ni dung vi cht lng tt hn cho nhng ln xut bn sau ny
ny. Tc gi hy vng vi s sa i , cc bn sinh vin ang theo hc cc ngnh iu
khin t ng, o lng v Tin hc cng nghip, T ng ha, hc vin cao hc, nghin
cu sinh thuc cc ngnh lin quan, s c c mt ti liu vi cht lng tt hn h tr
cho vic t hc, cng nh cho vic hiu k, hiu su bi ging.
L thuyt iu khin tuyn tnh l phn nn tng c bn v quan trng nht ca L
thuyt iu khin ni chung. Rt nhiu cc pht trin mi v khi nim cng nh
phng php ca iu khin nng cao nh n nh u, n nh theo hm m, n nh
ISS, iu khin tuyn tnh ha chnh xc, iu khin thch nghi khng nhiu ... u c
c s gi v t tng t L thuyt iu khin tuyn tnh. Nm vng v lm ch L
thuyt iu khin tuyn tnh s gip ta c c mt kin thc c bn chc chn t tin
tin su hn vo cc lnh vc khc ca iu khin.
So vi ln xut bn th nht, ln xut bn th t ny, quyn sch c b cc li
hon ton bng vic phn chia cc chng theo ch tng dng m hnh m t h
thng c s dng. C th l:

Chng 1 c dnh cho phn nhp mn L thuyt iu khin tuyn tnh, cc

bc c bn cn phi thc hin khi phi gii quyt mt bi ton iu khin.

Chng 2 trnh by cc bc thc hin bi ton iu khin khi m hnh ton hc

ca i tng l m hnh trong min phc (min tn s).

Chng 3 l ni dung cc bc thc hin bi ton iu khin ng vi m hnh

trng thi ca i tng (iu khin trong khng gian trng thi).

Chng 4 l ni dung tng bc thc hin bi ton iu khin khi i tng c m

hnh khng lin tc, c xem nh phn nhp mn ca iu khin s.

trong , tng chng 2, 3 v 4 li c trnh by theo ng th t thc hin cc bc

mt bi ton iu khin, nh: 1. Cng c ton hc cn thit, 2. Xy dng m hnh m t
i tng, 3. Phn tch i tng v 4. Thit k b iu khin.
Cng so vi ln xut bn th nht, cc ln ti bn sau ny, tc gi a thm
mt s ni dung c cho l cn thit ca iu khin nng cao, nhng c lin quan n
m hnh tuyn tnh ca i tng. Cc phn c b sung thm bao gm:

Phn tnh tnh bn vng ca h tuyn tnh c m hnh ton hc ca i tng l

hm truyn.

Thut ton thit k b iu khin theo m hnh mu.

Phng php tham s ha Youla, phng php thit k b iu khin n nh

mnh v n nh song hnh iu khin n nh bn vng i tng tuyn tnh
(nguyn l iu khin a m hnh).

Thit k b iu khin tuyn tnh theo nguyn l bm tn hiu mu (tracking

control).

Thit k b iu khin b bt nh cho i tng tuyn tnh.

Thit k b lc Kalman.

Cui cng, quyn sch c vit vi s gip , chia s rt to ln ca nhng

thnh vin trong gia nh tc gi l v Ng Kim Th, con gi Nguyn Phc My v hai
chu ngoi Bng, Bo. Khng c h chc chn quyn sch khng th hon thnh c.
Quyn sch cn c hon thnh nh s c v, khuyn khch v to iu kin thun li
ca cc ng nghip trong B mn iu khin T ng, Trng i hc Bch khoa, ni
tc gi ang cng tc. Tc gi xin c gi ti gia nh v cc bn li cm n chn
thnh.
Mc d rt n lc, song chc khng th khng c thiu st. Do tc gi rt
mong nhn c nhng gp sa i, b sung thm ca bn c hon thin. Th gp
xin gi v:
Trng i hc Bch khoa H Ni
Khoa in, B mn iu khin T ng
phuocnd-ac@mail.hut.edu.vn
H Ni, ngy 29 thng 10 nm 2009

Mc lc
1

Nhp mn

1.1 Ni dung bi ton iu khin

11
11

1.1.1 Bi ton c tn hiu tin nh (iu khin tin nh)........................................................ 14

Khi nim tn hiu ......................................................................................................... 14
Phn loi tn hiu tin nh ........................................................................................... 15
Mt s tn hiu tin nh in hnh ................................................................................ 17
Chun ca tn hiu (hay hm s).................................................................................. 19
1.1.2 Bi ton c tn hiu ngu nhin (iu khin ngu nhin) ............................................... 21
Khi nim qu trnh ngu nhin.................................................................................... 21
Qu trnh ngu nhin dng v ngu nhin egodic........................................................ 22
1.2 Nhng cu trc c bn ca h thng iu khin

23

1.2.1 Phn loi h thng .......................................................................................................... 23

1.2.2 Xc nh tn hiu iu khin thch hp ............................................................................ 24
1.2.3 S dng b iu khin .................................................................................................... 25
iu khin h................................................................................................................ 25
iu khin phn hi trng thi...................................................................................... 26
iu khin phn hi tn hiu ra ..................................................................................... 26
Cu hi n tp v bi tp

27

29

iu khin lin tc trong min phc

2.1 Cc cng c ton hc

29

2.1.1 L thuyt hm bin phc ................................................................................................. 29

nh ngha, khi nim hm lin tc, hm gii tch ........................................................ 29
Tch phn phc v nguyn l cc i modulus............................................................. 30
Hm bo gic (conform) ............................................................................................... 32
2.1.2 Chui Fourier v php bin i Fourier .......................................................................... 34
Chui Fourier (cho tn hiu tun hon) ......................................................................... 34
Php bin i Fourier ................................................................................................... 38
2.1.3 Php bin i Laplace..................................................................................................... 46
Php bin i Laplace cho tn hiu lin tc .................................................................. 46
Php bin i Laplace cho tn hiu khng lin tc (bin i Z).................................... 48
2.1.4 Php bin i Laplace ngc.......................................................................................... 49
Bin i ngc hm hu t ........................................................................................... 49
Phng php residuence.............................................................................................. 52
2.1.5 Mt ng dng ca php bin i Laplace: Gii phng trnh vi phn ............................ 55
2.2 Xy dng m hnh ton hc

57

2.2.1 Phng trnh vi phn m t quan h vora................................................................... 60

2.2.2 Hm truyn, hm trng lng v hm qu ................................................................ 63
2.2.3 Php bin i s khi (i s s khi) .................................................................. 71
Hai khi song song ....................................................................................................... 71
Hai khi ni tip ............................................................................................................ 72

H c hai khi ni hi tip............................................................................................. 72

Chuyn nt ni tn hiu t trc ra sau mt khi .......................................................... 73
Chuyn nt ni tn hiu t sau ti trc mt khi ......................................................... 73
Chuyn nt r nhnh tn hiu t trc ra sau mt khi................................................. 74
Chuyn nt r nhnh tn hiu t sau ti trc mt khi ................................................ 74
Chuyn nt r nhnh t trc ra sau mt nt ni ......................................................... 74
Chuyn nt r nhnh t sau ti trc mt nt ni ........................................................ 75
2.2.4 S tn hiu v cng thc Mason................................................................................. 77
2.2.5 th c tnh tn binpha ........................................................................................... 83
Khi nim hm c tnh tn .......................................................................................... 83
Xy dng hm c tnh tn bng thc nghim ............................................................. 85
th c tnh tn binpha ......................................................................................... 86
2.2.6 th c tnh tn logarith th Bode ......................................................................... 90
2.2.7 Quan h gia phn thc v o ca hm c tnh tnTon t Hilbert ........................... 96
Bi ton th nht: Xc nh hm truyn t phn thc hm c tnh tn....................... 97
Bi ton th hai: Xc nh hm truyn t phn o hm c tnh tn............................ 99
Ton t Hilbert: Trng hp tng qut........................................................................ 100
2.2.8 Xy dng m hnh ton hc ca cc khu ng hc c bn bng thc
nghim ch ng........................................................................................................... 102
Khu qun tnh bc nht............................................................................................. 103
Khu tch phnqun tnh bc nht ............................................................................ 104
Khu tch phnqun tnh bc n ................................................................................. 105
Khu qun tnh bc hai ............................................................................................... 107
Khu qun tnh bc cao .............................................................................................. 109
Khu (b) Lead/Lag .................................................................................................... 111
Khu dao ng bc hai............................................................................................... 114
Khu chm tr (khu tr) ............................................................................................ 115
2.2.9 Ma trn hm truyn cho h MIMO ................................................................................ 117
2.3 Phn tch h thng

118

2.3.1 Nhng nhim v c bn ca cng vic phn tch ......................................................... 118

2.3.2 Xc nh tnh n nh t a thc c tnh ...................................................................... 120
Mi lin h gia v tr cc im cc v tnh n nh ca h thng .............................. 120
Tiu chun i s th nht: Tiu chun Routh........................................................... 122
Tiu chun i s th hai: Tiu chun Hurwitz .......................................................... 127
Tiu chun i s th ba: Tiu chun LienardChipart.............................................. 129
Tiu chun hnh hc: Tiu chun Michailov ............................................................... 131
2.3.3 Phn tch cht lng h kn t hm truyn ca h h................................................... 134
Xt tnh n nh: Tiu chun Nyquist.......................................................................... 134
Kim tra tnh n nh h kn nh biu Bode........................................................... 140
nh gi sai lch tnh ................................................................................................. 142
Thng s c trng ca qu trnh qu : qu iu chnh v thi gian qu .... 144
Thng s c trng ca qu trnh qu : Sai lch bm............................................ 147
2.3.4 Quan h gia cht lng h thng vi v tr im cc v im khng ca hm
truyn............................................................................................................................. 150
Mt s kt lun chung................................................................................................. 150
iu kin tn ti qu iu chnh ............................................................................ 151
Khu thng tn v h pha cc tiu ............................................................................. 154

Phn tch bng phng php qu o nghim s ...................................................... 156

2.3.5 Phn tch tnh bn vng................................................................................................. 161
nh gi cht lng bn vng nh hm nhy............................................................ 162
nh gi tnh n nh bn vng vi sai lch m hnh khng c cu trc ................... 163
H va c tnh n nh bn vng va c nhy nh ............................................... 164
Tnh n nh bn vng ca h bt nh c cu trc: Tiu chun Kharitonov ............. 165
Bi ton m................................................................................................................. 169
2.4 Thit k b iu khin

170

2.4.1 Chn tham s cho b iu khin PID ........................................................................... 170

Hai phng php xc nh tham s PID ca ZieglerNichols .................................... 172
Phng php ChienHronesReswick....................................................................... 174
Phng php tng T ca Kuhn................................................................................... 176
Phng php ti u ln.......................................................................................... 177
Phng php ti u i xng...................................................................................... 183
Chn tham s PID ti u theo sai lch bm ............................................................... 191
2.4.2 Phng php iu khin cn bng m hnh ................................................................. 193
Thit k b iu khin cn bng hm truyn ca h h (loop shaping) .................... 193
Thit k b iu khin cn bng hm truyn ca h kn............................................ 196
iu khin theo nguyn l m hnh ni (IMC) ............................................................ 199
Thit k b iu khin d bo Smith cho i tng c tr ......................................... 201
2.4.3 Thit k b iu khin theo m hnh mu..................................................................... 202
Thut ton tm nghim phng trnh Euclid................................................................ 204
Thut ton thit k hai b iu khin theo m hnh mu ........................................... 205
2.4.4 Tp cc b iu khin lm n nh i tng v khi nim n nh mnh, n
nh song hnh.............................................................................................................. 207
Mt s khi nim c bn............................................................................................. 207
Ni dung phng php tham s ha Youla ................................................................ 208
Kh nng iu khin n nh mnh (strongly stable) ................................................. 212
B iu khin n nh song hnh (simultane stable).................................................. 213
2.4.5 iu khin tch knh..................................................................................................... 216
Tch knh trong ton b min thi gian ..................................................................... 216
Tch knh trong ch xc lp ................................................................................. 217
Cu hi n tp v bi tp

iu khin lin tc trong min thi gian

3.1 Cng c ton hc

218

229
229

3.1.1 Nhng cu trc i s c bn ....................................................................................... 229

Nhm .......................................................................................................................... 229
Vnh............................................................................................................................ 230
Trng......................................................................................................................... 230
Khng gian vector....................................................................................................... 231
Khng gian vector con ................................................................................................ 232
a tp tuyn tnh......................................................................................................... 233
i s.......................................................................................................................... 233
Ideale .......................................................................................................................... 233
3.1.2 i s ma trn ............................................................................................................... 234

Cc php tnh vi ma trn........................................................................................... 235

nh thc ca ma trn................................................................................................. 236
Hng ca ma trn ....................................................................................................... 238
Ma trn nghch o ..................................................................................................... 238
Vt ca ma trn........................................................................................................... 239
Ma trn l mt nh x tuyn tnh ................................................................................ 240
Php bin i tng ng......................................................................................... 240
Khng gian nhn v khng gian nh ca ma trn...................................................... 241
Gi tr ring v vector ring......................................................................................... 242
Chun ca vector v ma trn...................................................................................... 244
Ma trn c cc phn t ph thuc thi gian................................................................ 245
3.2 Xy dng m hnh ton hc

245

3.2.1 Phng trnh trng thi .................................................................................................. 245

Cu trc chung............................................................................................................ 245
Quan h gia m hnh trng thi v hm truyn ........................................................ 249
3.2.2 Qu o trng thi......................................................................................................... 255
Ma trn hm m v cch xc nh.............................................................................. 256
Nghim ca phng trnh trng thi c tham s khng ph thuc thi gian .............. 262
Nghim ca phng trnh trng thi ph thuc thi gian............................................ 264
Qu trnh cng bc v qu trnh t do ...................................................................... 266
3.3 Phn tch h thng

267

3.3.1 Nhng nhim v c bn ca cng vic phn tch ......................................................... 267

3.3.2 Phn tch tnh n nh.................................................................................................... 268
Phn tch tnh n nh BIBO........................................................................................ 268
Tiu chun n nh Lyapunov Hm Lyapunov ......................................................... 271
3.3.3 Phn tch tnh iu khin c ...................................................................................... 276
Khi nim iu khin c v iu khin c hon ton ......................................... 276
Cc tiu chun xt tnh iu khin c cho h tham s hng.................................. 280
Tiu chun xt tnh iu khin c cho h tham s ph thuc thi gian.................. 284
3.3.4 Phn tch tnh quan st c......................................................................................... 289
Khi nim quan st c v quan st c hon ton .............................................. 289
Mt s kt lun chung v tnh quan st c ca h tuyn tnh ................................ 290
Tnh i ngu v cc tiu chun xt tnh quan st c ca h tham s hng ......... 293
3.3.5 Phn tch tnh ng hc khng...................................................................................... 295
3.4 Thit k b iu khin

297

3.4.1 B iu khin phn hi trng thi gn im cc........................................................... 297

t vn v pht biu bi ton ................................................................................ 297
Phng php Ackermann ........................................................................................... 298
Phng php Roppenecker ........................................................................................ 304
Phng php modal phn hi trng thi..................................................................... 308
3.4.2 iu khin tch knh..................................................................................................... 317
B iu khin phn hi trng thi tch knh FalbWolovich...................................... 317
B iu khin tch knh SmithMcMillan................................................................... 321
3.4.3 iu khin phn hi trng thi ti u ............................................................................ 324
iu kin cn v cc bc tng hp b iu khin ti u .......................................... 324
Bn v tnh n nh ca h kn ti u v bi ton m................................................. 330

Phng php tm nghim phng trnh Riccati........................................................... 332

3.4.4 iu khin bm (tracking control) bng phn hi trng thi ........................................ 334
3.4.5 iu khin phn hi trng thi thch nghi...................................................................... 337
Trng hp i tng c cht lng mong mun khi khng c nhiu .................. 338
Trng hp tng qut ................................................................................................. 340
3.4.6 iu khin phn hi tn hiu ra ..................................................................................... 341
t vn ................................................................................................................... 341
B quan st Luenberger ............................................................................................. 344
Gim bc b quan st Luenberger ............................................................................. 346
B quan st Kalman ................................................................................................... 347
Thit k b iu khin ti u phn hi u ra LQG.................................................... 350
Kt lun v cht lng h kn: Nguyn l tch ........................................................... 351
iu khin khng nhiu bng phn hi u ra........................................................... 355
3.4.7 Loi b sai lch tnh bng b tin x l ......................................................................... 356
3.4.8 Hin tng to nh (peak) v bi ton chn im cc................................................. 359
Cu hi n tp v bi tp

iu khin h khng lin tc

4.1 Tn hiu v cng c ton hc

364

371
371

4.1.1 Tn hiu khng lin tc u ........................................................................................... 371

M t qu trnh trch mu ............................................................................................ 371
Dy s, tnh hi t v gi tr gii hn........................................................................... 372
4.1.2 Cng c ton hc .......................................................................................................... 374
Php bin i Fourier ri rc (DFT)............................................................................ 374
Php bin i Z thun................................................................................................. 377
Php bin i Z ngc................................................................................................ 380
Chui v tnh hi t ca chui .................................................................................... 383
4.1.3 Php bin i z.............................................................................................................. 384
4.2 Xy dng m hnh ton hc

386

4.2.1 Khi nim h khng lin tc .......................................................................................... 386

4.2.2 Phng trnh sai phn, hm trng lng v hm truyn ............................................... 387
Phng trnh sai phn................................................................................................. 387
Dy gi tr hm trng lng (hm trng lng)........................................................... 390
Hm truyn ................................................................................................................. 390
Mt s kt lun chung................................................................................................. 393
4.2.3 M hnh trng thi ......................................................................................................... 394
Xc nh m hnh trng thi t phng trnh sai phn................................................ 394
Xc nh m hnh trng thi t hm truyn................................................................. 396
Xc nh m hnh trng thi h khng lin tc t m hnh trng thi h lin tc........ 396
Xc nh hm truyn t m hnh trng thi................................................................. 398
Xc nh hm trng lng t m hnh trng thi......................................................... 399
4.2.4 i s s khi h khng lin tc .............................................................................. 399
Hai khi ni tip: ......................................................................................................... 400
Hai khi song song: .................................................................................................... 400
H hi tip:.................................................................................................................. 400

4.3 Phn tch h khng lin tc

404

4.3.1 Phn tch tnh n nh.................................................................................................... 404

Qu trnh t do, iu kin cn v h n nh.................................................... 404
Tiu chun SchurCohn-Jury ..................................................................................... 407
S dng cc tiu chun xt tnh n nh h lin tc ................................................... 410
Tiu chun Nyquist ..................................................................................................... 413
4.3.2 Tnh iu khin c v quan st c ........................................................................ 415
Phn tch tnh iu khin c.................................................................................... 415
Phn tch tnh quan st c ...................................................................................... 417
4.3.3 Chu k trch mu v cht lng h thng...................................................................... 421
Hin tng trng ph .................................................................................................. 421
Chn chu k trch mu ng nht im cc .......................................................... 422
Quan h gia chu k trch mu v tnh iu khin c, quan st c .................... 422
Quan h gia chu k trch mu v tnh n nh .......................................................... 423
4.4 Thit k b iu khin

424

4.4.1 Chn tham s cho b iu khin PID s....................................................................... 424

Cu trc b iu khin PID s .................................................................................... 424
Xc nh tham s cho PID s bng thc nghim ....................................................... 425
4.4.2 Cc phng php thit k trong min tn s ................................................................ 427
S dng nh x lng tuyn tnh thit k b iu khin........................................ 427
Thit k b iu khin khng lin tc theo m hnh mu ........................................... 430
Thit k b iu khin deadbeat............................................................................... 431
4.4.3 Cc phng php thit k trong min thi gian ............................................................ 435
iu khin phn hi trng thi gn im cc ............................................................. 435
B quan st trng thi tim cn v k thut gim bc b quan st............................ 435
Thit k b lc Kalman (quan st trng thi Kalman) ................................................ 437
iu khin phn hi u ra theo nguyn l tch ........................................................ 440
Thit k b iu khin deadbeat............................................................................... 441
4.4.4 Nhp mn iu khin d bo ........................................................................................ 443
Nguyn tc chung ca iu khin d bo (MPCmodel predictive control)............... 443
iu khin d bo h SISO trong min phc ............................................................. 443
iu khin d bo h MIMO trong khng gian trng thi........................................... 446
Cu hi n tp v bi tp

447

nh Laplace v nh Z ca mt s tn hiu c bn

451

Ti liu tham kho

452

10

Nhp mn

1.1 Ni dung bi ton iu khin

iu khin h thng c hiu l bi ton can thip vo i tng iu khin
hiu chnh, bin i sao cho n c c cht lng mong mun. Nh vy r rng khi
thc hin mt bi ton iu khin, ta cn phi tin hnh cc bc sau y:
1) Xc nh kh nng can thip t bn ngoi vo
i tng. V i tng giao tip vi mi
trng bn ngoi bng tn hiu vora nn ch
c th thng qua tn hiu vora ny mi c
th can thip c vo n. Nh vy phi hiu
r bn cht tn hiu i tng l tin nh,
ngu nhin, lin tc hay khng lin tc.

Bt u

Xc nh loi
tn hiu

2) Sau khi hiu r bn cht, phng tin can

thip i tng th bc tip theo phi xy
dng m hnh m t i tng. Hnh thc m
t c dng nhiu trong iu khin l m
hnh ton hc biu din mi quan h gia tn
hiu votrng thitn hiu ra.
3) Vi m hnh ton hc c, tip theo ta phi
xc nh xem i tng hin c nhng tnh
cht g, cc c tnh no cn phi sa i v
sa i nh th no h c c cht lng
nh ta mong mun. Ni cch khc l phi
phn tch h thng v phi ch r tng nhim
v ca s can thip.
4) Khi xc nh c tng nhim v c th cho
vic can thip ta s tin hnh thc hin vic
can thip m c th l phi xc nh tn
hiu kch thch u vo mt cch thch hp,
hoc phi thit k b iu khin to ra c
tn hiu u vo thch hp .

Xy dng m
hnh ton hc
Phn tch h
thng
Xc nh tn hiu
iu khin hoc thit
k b iu khin

Khng tt

nh gi cht
lng
Tt
Kt thc

Hnh 1.1: Trnh t cc bc thc

hin mt bi ton iu khin

11

5) Cui cng, do kt qu thu c hon ton c xy dng trn nn m hnh ton hc

c ca i tng, song thc t li c p dng vi i tng thc, nn cn
thit phi nh gi li cht lng ca kt qu can thip khi chng lm vic thc vi
i tng. Nu iu cng mang li cht lng nh mong i th ta kt thc bi
ton iu khin. Ngc li, ta phi quay li t u vi bc 1) hoc 2).
Hnh 1.1 cho ta mt ci nhn tng quan v cc bc phi thc hin trong mt bi
ton iu khin. C th thy rng kt qu bi ton iu khin ph thuc rt nhiu vo
bc xy dng m hnh ton hc m t i tng.
Vic xy dng m hnh cho i tng c gi l m hnh ha. Ngi ta thng
phn chia cc phng php m hnh ha ra lm hai loi:

phng php l thuyt v

phng php thc nghim (nhn dng).

Phng php l thuyt l phng php thit lp m hnh da trn cc nh lut c

sn v quan h vt l bn trong v quan h giao tip vi mi trng bn ngoi ca i
tng. Cc quan h ny c m t theo quy lut lha, quy lut cn bng, di
dng nhng phng trnh ton hc. iu kin c th xy dng c m hnh ton hc
theo phng php l thuyt l phi bit c cu trc vt l bn trong h thng v cc
phng trnh cn bng hal gia cc thnh phn bn trong .
V d 1.1: Xy dng m hnh bng phng php l thuyt

Chng hn ta phi xy dng m hnh cho i tng l mt chic xe chuyn hng.

Tn hiu u vo tc ng y xe l lc u(t). Di tc ng ca lc u(t) xe s i c
qung ng k hiu bi y(t). Hnh 1.2 m t cu trc vt l bn trong h.
Khi xe chuyn ng s c hai lc cn tr s
chuyn ng ca xe (b qua ma st tnh). Th
nht l lc ma st ng xc nh bi:
Fs = d

dy
,
dt

d l h s ma st ng

my
dy
u(t)
m
y(t)

v th hai l lc cn tr s thay i tc
Fgt = m

d2 y
dt

, m l khi lng ca xe.

Hnh 1.2: H thng xe chuyn hng.

T hai phng trnh cn bng hal trn, cng nh theo nguyn tc bo ton nng
lng chung, ta c c m hnh m t i tng, tc l m t quan h gia tn hiu vo
u(t) v tn hiu ra y(t) nh sau (gi l m hnh vora):
m

d2 y
dt

12

+d

k
dy
m
1
= u hm truyn G( s) =
vi k =
v T =
.
dt
s(1 + Ts)
d
d

Trong cc trng hp m s hiu bit v nhng quy lut giao tip bn trong i
tng cng v mi quan h gia i tng vi mi trng bn ngoi khng c y
c th xy dng c mt m hnh hon chnh, nhng t nht t c th cho bit cc
thng tin ban u v m hnh th tip theo ngi ta phi p dng phng php thc
nghim hon thin nt vic xy dng m hnh i tng trn c s quan st tn hiu
vo v ra ca i tng sao cho m hnh thu c tha mn cc yu cu ca phng
php l thuyt ra. Phng php thc nghim c gi l nhn dng. Khi nim
nhn dng (identification) c Zadeh nh ngha c th nh sau:
nh ngha 1.1 (Nhn dng): Nhn dng l phng php thc nghim xc nh mt m
hnh c th trong lp cc m hnh thch hp, sao cho sai lch gia m hnh vi h
thng l nh nht.
Nh vy c th thy bi ton nhn dng c ba c im nhn bit. l:

thc nghim, nhn bit qua vic o cc tn hiu vo v ra,

lp cc m hnh thch hp, c c t nhng thng tin ban u v h thng (gi

chung li l thng tin Apriori),

sai lch gia m hnh c c v h thng l nh nht, c nhn bit t hm mc

tiu m t sai lch v c thc hin bng phng php ti u.

Nhng phng php xc nh m hnh ton bng thc nghim, song khng c s nh
gi sai lch gia m hnh v h thng v khng cn phi tm nghim ti u c c
m hnh vi sai lch nh nht, c gi l phng php xp x m hnh (model
estimation).
Tuy nhin, t nhiu l do, chng hn nh v b qua cc gi thit phi c cho cc
nh lut cn bng c p dng, hay b qua s tc ng ca nhiu trong qu trnh o
tn hiu vo v ra, ta khng th hy vng rng m hnh thu c, cho d bng l thuyt
hay thc nghim, l m t tuyt i chnh xc h thng. Ni cch khc, gia m hnh v
h thng thc lun tn ti sai lch nht nh v sai lch ny cng lun thay i theo thi
gian lm vic, theo iu kin mi trng xung quanh . Bi vy, thng thng ngi ta
cng rt tha mn, nu c c mt m hnh va c cu trc n gin, va m t
chnh xc i tng vi mt s gi thit nht nh. Nhng iu ny cng dn n kh
nng kt qu thu c (b iu khin) b ph thuc vo nhng gi thit ny v khi
chng khng cn c tha mn, chng hn nh khi h thng thay i mi trng lm
vic, hoc khi c nhng tc ng khng lng trc ca mi trng xung quanh vo h
thng th chng s khng cn ng na v ta li phi thc hin li bi ton iu
khin t u vi cc bc nu hnh 1.1.
Nhm hn ch vic phi thc hin li t u bi ton iu khin ch v khng lng
trc c nhng sai lch c th c gia m hnh v i tng thc, ngi ta phi gi
nh c s tn ti sai lch ny ngay khi phn tch v khi thit k b iu khin. cng
chnh l ni dung ca hai chuyn ngnh ring c tn gi l:

13

iu khin bn vng: To ra c mt b iu khin mang li cht lng mong

mun cho mt tp hp cc m hnh ca h thng (ch khng ch ring cho mt m
hnh), hoc vi mt m hnh c cha sai lch bt nh b chn.

iu khin thch nghi: To ra c b iu khin c kh nng t chnh nh, t

thay i theo s thay i ca sai lch (khng b chn) gia m hnh v i tng
thc, sao cho cht lng ca h thng khng b thay i.

Quyn sch ny s trnh by chi tit tng bc khi thc hin mt bi ton iu
khin tuyn tnh. Tuy nhin, do cc cng c ton hc c s dng phi ph hp vi kiu
m hnh ton hc thu c cng nh chng loi tn hiu tc ng vo h thng, nn cc
bc thc hin s c trnh by theo ba dng in hnh, c th l:

Chng 2 vi cc bc thc hin bi ton iu khin khi m hnh thu c l mt

m hnh trong min phc (i tng iu khin c m t bng phng trnh i
s trong min phc).

Chng 3 l ni dung cc bc thc hin bi ton iu khin ng vi lp cc m

hnh trng thi (i tng iu khin c m t bng h cc phng trnh vi
phn trong min thi gian).

Chng 4 l ni dung tng bc thc hin bi ton iu khin khi tn hiu vora
tc ng ln i tng iu khin, hay h thng iu khin l loi tn hiu khng
lin tc, hoc l tn hiu s.

1.1.1

Bi ton c tn hiu tin nh (iu khin tin nh)

Khi nim tn hiu

nh ngha 1.2 (Tn hiu): Tn hiu l mt hoc nhiu hm thi gian, mang thng tin vt
l v c truyn ti bng mt i lng vt l (khc).
Nh vy tn hiu c ba c im nhn bit. l:

c m t bng mt (hoc nhiu) hm thi gian x(t),

hm thi gian phi mang mt thng tin vt l nht nh,

v hm phi truyn ti c cng bng mt i lng vt l.

V d 1.2: Minh ha khi nim tn hiu

14

iu khin mt bnh nc sao cho mc nc trong bnh lun l hng s khng

i th cao ct nc trong bnh s l mt trong nhng thng s k thut c
quan tm ca h thng. Gi tr v cao ct nc ti thi im t c o bi cm
bin v c biu din thnh mt i lng in p di dng hm s ph thuc
thi gian u(t) c n v l Volt. i lng vt l y l in p c s dng
truyn ti hm thi gian u(t) mang thng tin v cao ct nc.

iu khin nhit th tt nhin nhit hin thi l mt thng s k thut

ca h thng c quan tm. Gi tr nhit ti thi im t di dng gi tr ca
hm s ph thuc thi gian i(t) c o bi cm bin v c biu din thnh mt
i lng dng in c n v l Ampe. Nh vy tn hiu i(t) l mt hm thi gian
mang thng tin v nhit trong phng ti thi im t v c truyn ti bi i
lng vt l l dng in.

Ting ni l mt i lng vt l. Ting ni c bin i thnh dng in l mt

i lng vt l khc truyn hu tuyn i xa. Dng in c m t bng mt
hm thi gian i(t). Nh vy hm thi gian i(t) y l mt tn hiu, n mang

thng tin ca ting ni v c truyn ti nh dng in.

Nu trong i tng c nhiu tn hiu x 1 (t), x 2 (t), , x n (t) c quan tm cng

mt lc th sau y ta s s dng k hiu vector:
x(t) = ( x 1 (t), x 2 (t), , x n (t) ) T
ch chng, trong ch s m T l k hiu ca php chuyn v vector (hay ma trn).
Phn loi tn hiu tin nh

Tn hiu tin nh l tn hiu nu nh ngha 1.2, nhng c m t ch bng mt

hm thi gian x(t). Do c m t bng hm thi gian nn da vo tnh cht ca hm
thi gian ngi ta phn loi tn hiu thnh tng cp phm tr nh sau:
1) lin tc v khng lin tc (phn loi thng qua min xc nh t R ). Mt tn hiu
c gi l lin tc, nu hm x(t) m t n lin tc tng on, ngc li n c gi
l tn hiu khng lin tc. Khi nim hm x(t) lin tc trong mt on c hiu l
n lin tc ti mi im trong on , tc l vi mi t0 thuc on lun c:
x( t0 ) = lim x( t ) = x( t0 0) = x( t0 + 0)
t t0

v gii hn ny khng ph thuc chiu tt 0 t bn tri sang (lun c t<t 0 ), c k

hiu bi x(t 0 0), hay t bn phi ti (lun c t>t 0 ), c k hiu l x(t 0 +0).
Tn hiu khng lin tc c m t bi dy cc ga tr {x k }, k=,1,0,1, ca n.
2) tng t v ri rc (phn loi thng qua min gi tr x R ). Tn hiu tng t l tn
hiu m hm x(t) m t n c min gi tr to thnh tng khong lin thng, ngc
li n s c gi l tn hiu ri rc. Chng hn tn hiu c gi tr ch l nhng s
hu t l tn hiu ri rc.
3) tun hon v khng tun hon. Tn hiu x(t) c gi l tun hon nu tn ti hng
s T c x(t+T)=x(t), t. Hng s T c gi l chu k ca tn hiu tun hon.
4) nhn qu v phi nhn qu (causal v uncausal). Tn hiu nhn qu l hm x(t) tha
mn x(t)=0 khi t<0, ngc li n s c gi l phi nhn qu.

15

Vic phn chia chng thnh tng cp nh vy ni rng mt tn hiu khng th

c cc tnh cht trong cng mt cp. Chng hn khng th c tn hiu va tng t, va
ri rc, song li c tn hiu va khng lin tc v va ri rc. Tn hiu khng lin tc v
ri rc c gi l tn hiu s.
x(t)

x(t)
4,5
4,1
3,7
3
2

Lin tctng t

Lin tcri rc

x(t)

x(t)

4,2
3,8

t
T

2T

3T

Khng lin tctng t

2T

3T

Khng lin tcri rc (tn hiu s)

Hnh 1.3: Cc dng tn hiu c bn khc nhau.

Hnh 1.3 minh ha bn dng c bn ca tn hiu causal. Bn kiu tn hiu trn ch

l s phn loi c bn theo min xc nh hoc theo min gi tr ca x(t). Trn c s bn
kiu phn loi c bn m mt tn hiu x(t) khi c chung ng thi ti c min
xc nh v min gi tr c th l:

dng tn hiu lin tctng t,

dng tn hiu khng lin tctng t,

dng tn hiu lin tcri rc,

dng tn hiu khng lin tcri rc,

V d 1.3: Khi nim tn hiu khng lin tcri rc (tn hiu s)

Gi s ta c tn hiu lin tctng t x(t). x l tn hiu x(t) bng nhng thut

ton chy trn my tnh ngi ta cn phi trch mu tn hiu ti nhng im thi gian
cch u nhau T a c gi l thi gian trch mu. Nu dy cc gi tr tn hiu { x k } ,
k=,1,0,1, thu c vi x k = x(kT a ) c xem nh mt tn hiu th do min xc
nh ca { x k } l tp im m c

16

{ t = k T a k Z} ,

Z l k hiu ch tp cc s nguyn

khng lin thng, tc l khng to ra c mt khong bt k no nn dy { x k } lin

tc ti cc im trong , nn { x k } l tn hiu c dng khng lin tctng t.
Tn hiu khng lin tc tng t { x k } vn cha th x l c bng my tnh bi
my tnh ch lm vic c vi s hu t trong mt khong cho php, trong khi x k c th
l mt s thc bt k (v d nh s v t

2,

3 , , ). Hn na, min gi tr cho php

ca cc s hu t cn ph thuc my tnh, ngn ng lp trnh. Chng hn bin thc kiu

double ca ngn ng lp trnh C ch lm vic c vi nhng s hu t trong khong
308

t 1,710

4932

1,110

n 1,710308 hoc vi bin kiu long double th khong cho php l t

n 1,1104932.

Bi vy bc tip theo cn phi lm l xp x cc gi tr xk thnh s hu t gn

nht, k hiu l xk , nhng khng nm ngoi min cho php. Vic xp x { x k } thnh

{ xk } v hnh chung ri rc ha min gi tr ca x ( t ). Min gi tr ca { xk } by gi

l tp cc s hu t (cc im khng lin thng). V d

{ xk Q 1,710308 xk 1,710308} ,

Q l tp cc s hu t

v do dy { xk } l tn hiu khng lin tc ri rc (tn hiu s).

Mt s tn hiu tin nh in hnh

Trong v s cc cc tn hiu vi nhiu dng khc nhau, iu khin tuyn tnh c

mt s quan tm c bit n mt s tn hiu in hnh thng gp trong ng dng
(hnh 1.4). l cc tn hiu bc thang (Heaviside), tn hiu tng u, tn hiu xung
vung v hm xung dirac. Tt c cc loi tn hiu ny u c mt im chung l causal
(nhn qu), tc l x ( t )=0 khi t < 0 .
1) Tn hiu bwc nhy n v (cn gi l hm Heaviside) nh ngha bi
1 khi t 0
1(t) =
0 khi t < 0

Cho mt tn hiu x ( t ) bt k. Nu x ( t ) lin tc, kh vi tng khc v c gii hn

lim x( t ) <

(tc l b chn)

th n biu din c thng qua hm Heaviside nh sau:

x(t) = x( ) +

dx( )
1( t )d
dt

2) Tn hiu iu ha: x( t ) = A sin( t ) v y( t ) = B cos( t )

17

3) Tn hiu tng u c xc nh qua cng thc

t khi t 0
r(t) = t1(t) =
0 khi t < 0

4) Tn hiu xung vung, nh ngha bi

1( t ) 1( t Ta )
Ta

r a (t) =

1(t)

r a (t)

r(t)
Tng u

Bc thang
1

1
Ta

Xung vung

t
Ta

Hnh 1.4: Cc tn hiu bc thang, tng u v xung vung.

5) Hm xung dirac (cn gi l hm m rng delta)

1( t ) 1( t Ta )
d
1( t ) = lim ra ( t ) = lim
Ta 0
Ta 0
dt
Ta

(t) =

(1.1)

Mt tn hiu x(t) ty , lin tc vi < t < th xp x thnh (hnh 1.5):

x( t )

x( kTa ) ra ( t kTa )Ta

k =

Bi vy vi T a 0 ta s c (du tng chuyn thnh tch phn v T a thnh d ):

x( t ) =

x( ) ( t )d

x( t0 ) =

( t t0 ) x( t )dt = ( t ) x( t t0 )dt

(1.2)

D o hm 1(t) khng lin tc ti 0, tc l ti khng tn ti o hm, nn nh ngha

(1.1) khng cht ch. Bi vy n thng c thay bng (1.2) v khi ngi ta gi n l
hm m rng delta. Ch : hm delta (hay xung diac) khng mang ngha vt l, nn n
khng phi l tn hiu. Ngoi ra, t cng thc nh ngha (1.2) ta d dng thy c:

( t )dt = 1 (thay x(t)=1) v do cng c x(t) (tt 0 )=x(t 0 ) (t)

x(t)

Ta

(t)

Hnh 1.5: Xung dirac v xp x

tn hiu bt k nh hm
xung vung.
Xp x nh xung vung

18

Hm xung dirac

Bn cnh (1.1), (1.2) ngi ta cn s dng hm xung dirac di nhng dng cng
thc nh ngha khc nhau nh sau (xem thm mc 2.1.2 ca chng 2, trang 42):

(t) =

1
2

1
a 2

cos( t )d = lim

sin( at )
t
a

cos( t )d = lim

0
Cng nh vy, vi a 0 th t x(0) = x( ) v
a

t/

6) Hm trch mu (hnh 1.6): s( t ) =

( t kTa )

x(0) =

ta c ( at ) =

/
/
x( t ) ( at )dt = a x( a ) ( t )dt = x( a )

1
(t) .
a

Hnh1.6: th hm trch mu

k =

V xung dirac l hm m rng nn s(t) cng l mt hm m rng. Hm trch mu

c s dng m t qu trnh trch mu tn hiu lin tc x(t) thnh tn hiu khng
lin tc, biu din thnh dy gi tr {x k }, k=,1,0,1, vi x k =x(kT a ), trong Ta l
chu k trch mu. Nu s dng nh ngha (1.2) v hm m rng cho xung dirac, cng
nh hm m rng trch mu s(t) trn th tn hiu khng lin tc {x k } ny s c dng:
.n.

{x k }=x(t)s(t) = x( t )
Nh vy x( t ) ={x k } cng l mt hm m rng.
Chun ca tn hiu (hay hm s)

so snh cc tn hiu vi nhau (ln hn, nh hn ), ngi ta s dng khi nim

chun ca tn hiu. Mi tn hiu (m bn cht ton hc ch l mt hm thi gian) s c
gn vi mt s thc khng m ph hp, gi l chun ca tn hiu . Khi cn phi so
snh cc tn hiu, ngi ta ch cn so snh chun ca chng vi nhau.
Cho tp hp X cc tn hiu, k hiu l x(t). nh ngha php tnh cng:
(x+y)(t) = x(t)+ y(t)
v php tnh nhn vi mt s thc a (khng gian vector trn trng s thc):
(ax)(t) = ax(t).
Khi , khng gian X s l mt khng gian vector c phn t khng x(t)=0.
Nu trong khng gian vector X ta nh ngha thm s thc d ( x , y ) xc nh
khong cch gia hai phn t x(t), y(t) c gi l metric, v s thc ny tha mn:

d(x,y)=0 khi v ch khi x ( t ) = y ( t )

d(x,y)=d(y,x)

d(x,y)+d(y,z) d(x,z)

19

th khng gian vector X c gi l khng gian metric.

Xt khng gian metric X . Nu c dy { x k (t) } cc tn hiu thuc X tha mn:
lim d( xn , xk ) = 0

(n>k)

th dy hm { x k (t) } c gi l dy Cauchy.
Khc vi trng s thc R , m mi dy Cauchy u hi t (ti gi tr gii hn
x no cng thuc R ) , th trong khng gian metric X ni chung l cha c m bo.
Ni cch khc, khng phi mi dy Cauchy ca cc hm s ca mt khng gian metric X
cng hi t ti mt hm s no thuc X.
Mt khng gian metric X c gi l khng gian (complete), nu mi dy Cauchy
trong n u hi t (ti mt phn t cng thuc X).
Mt khng gian metric X c gi l khng gian compact, nu mi dy { x k (t) } trong
n u cha mt dy con hi t.
Trong khng gian vector X xc nh trn trng s thc R, nu c thm nh x,
khng nht thit phi tuyn tnh, : X R tha mn:

x 0 v x = 0 khi v ch khi x = 0 ,

a x = | a | x ng vi mi a R v x X ,

x + y x + y vi mi x , y X .

th gi tr thc x c gi l chun ca phn t x v khng gian vector X c gi l

khng gian chun. Do X l khng gian vector nn t chun x ta cng c c metric:
d(x,y) = xy
Ngc li, mt khng gian metric cng s l khng gian chun vi x =d ( x , 0 ) ,
nu metric ca n cn tha mn thm:

d ( x + z , y + z ) = d ( x , y ) , tc l metric bt bin vi php dch chuyn vector.

d ( a x , a y ) = | a | d ( x , y ) , tc l n thun nht (homogen).

Trong mt khng gian X c th c nhiu loi chun. Hai chun x a v x b ca n

c gi l tng ng nu tn ti hai s thc m v M lun c:

mxb xa Mxb
Cc khng gian chun thng gp l:
1) Khng gian L p [a,b] gm cc tn hiu x ( t ) thc, xc nh trn khong kn [ a , b ] , c
chun c nh ngha l:
b

x p :=

x( t )

20

dt ,

trong 1 p <.

2) Khng gian L [a,b] l tp hp cc tn hiu x(t) thc, xc nh trn khong kn

[ a , b ] , c chun c nh ngha l:
x := sup x( t ) .
a t b

c bit, c hai loi chun trn vi p trong 1 p cn tha mn:

xy 1 x p y q nu

x+y p x p + y p

1 1
+ =1
p q

(nh l Hlder)

(nh l Minkovski)

Chun bc 1 ca tn hiu cn c gi l cng sut P v chun bc 2 c gi l

nng lng E ca tn hiu. Vi L p [ , ] ngi ta thng vit gn thnh L p .

1.1.2

Bi ton c tn hiu ngu nhin (iu khin ngu nhin)

Khi nim qu trnh ngu nhin

Cc tn hiu m ta lm quen t trc n nay c chung mt c im l chng

u c m t bng mt hm thi gian x(t) c th. Nhng tn hiu c gi l tn
hiu tin nh. Vic chng m t c ch bng mt hm thi gian ni ln tnh tng
minh rng trong cc hon cnh cng nh thi im ging nhau ta lun xc nh c
cng mt gi tr nh nhau cho tn hiu.
Nhng tn hiu khng m t c tng minh bng mt hm thi gian c th m
thay vo l mt tp hp ca nhiu hm thi gian x i (t), c tn l tn hiu ngu nhin.
Ty vo tng hon cnh, tng trng hp, m tn hiu ngu nhin s nhn mt trong
cc hm x i (t), i R , thuc mt tp hp X ( t ) no lm m hnh v ngay c hon cnh
no, trng hp no n s c m hnh x i (t) ta cng khng bit c trc. Nhiu nht ta
ch c th bit c v xc sut n c m t bi x i (t).
Tp hp X ( t ) ca tt c cc m
x(t)

hnh x i (t) c th c ca tn hiu ngu

nhin c gi l qu trnh ngu
nhin v m t tn hiu ngu nhin
mt cch y ta phi m t tp hp

X(t)

X ( t ) , bng cch xc nh cc tham s

c trng v n.
C hai tham s thng c s
dng m t qu trnh ngu nhin
X ( t ) . l:

Hnh 1.7: Tn hiu ngu nhin c m t

nh l phn t ca mt tp hp cc
hm thi gian c cng tnh cht.

21

Gi tr trung bnh m x (t): Ti mt im thi gian t0 c th th cc hm x i (t 0 ) u

l nhng s thc. Gi tr trung bnh ca tt c cc phn t x i (t 0 ) l m x (t 0 ). Cho t0
chy t n th m x (t 0 ) s tr thnh hm m x (t) ph thuc thi gian. S dng
k hiu M { } ch php tnh ly gi tr trung bnh th m x (t)= M { X ( t ) } .

Hm tng quan r x (t, ): Ti mt im thi gian t0 c th th hm tng quan

r x (t 0 , ) l gi tr trung bnh ca tt c cc tch x i (t 0 )x j (t 0 + ). Cho t0 bin thin
nh t th hm tng quan r x (t, ) s l mt hm ca hai bin t v . Nh vy, hm
tng quan s l r x (t, )= M { X ( t ) X ( t + ) } .

Qu trnh ngu nhin dng v ngu nhin egodic

Nhng qu trnh ngu nhin X ( t ) thng gp trong thc t l cc qu trnh ngu

nhin dng. l loi qu trnh ngu nhin m c hai tham s ngu nhin m x (t) v
r x (t, ) m t n u khng ph thuc vo bin thi gian t. Nh vy, qu trnh ngu
nhin dng c:

Gi tr trung bnh m x (t) ca n l mt hng s, k hiu l m x R .

Hm tng quan r x (t, ) l hm ca mt bin , k hiu l r x ( ).

Trong cc loi qu trnh ngu nhin dng, ta li quan tm nhiu ti qu trnh ngu

nhin egodic. y l loi qu trnh ngu nhin dng m , cc tham s m x v r x ( )

ch cn c xc nh t mt phn t x(t) lm i din l . Nh vy th:

Gi tr trung bnh m x ca qu trnh ngu nhin egodic X ( t ) s l gi tr trung

bnh ca mt phn t x(t):
1
T T

m x = lim

x( t )dt

(1.3)

Hm t tng quan r x ( ) ca qu trnh ngu nhin egodic X ( t ) l gi tr trung

bnh ca tch x ( t ) x ( t + ) vi x ( t ) l mt phn t ty ca tp hp X ( t ) :
1
T T

r x ( ) = lim

x( t ) x( t + )dt

(1.4)

Trong iu khin, t khi ta ch lm vic vi mt tn hiu ngu nhin. Khi phi lm

vic vi nhiu tn hiu ngu nhin th cn phi ti mi lin quan gia chng.
Cho hai qu trnh ngu nhin egodic X ( t ) v Y ( t ) . c trng cho s lin quan gia
X ( t ) v Y ( t ) l hm h tng quan:

22

r xy ( ) = lim

1
T

x( t ) y( t + )dt

(1.5)

Hai qu trnh ngu nhin c k vng bng khng X ( t ) v Y ( t ) s c gi l khng

tng quan nu r xy ( )=0. Chng hn nh hai thit b pht tn hiu ngu nhin khc
nhau, c cu trc khc nhau s pht ra hai qu trnh ngu nhin X ( t ) , Y ( t ) c lp vi
nhau. Gia chng khng c mt s lin quan no v do phi c r xy ( )=0.
Hm tng quan r x ( ) v r xy ( ) ca cc qu trnh ngu nhin egodic X ( t ) , Y ( t )
lun tha mn:

r x ( ) l hm chn v r x (0) | r x ( ) |

r xy ( ) = r yx ( )

| r xy ( ) |

rx (0)ry (0)

rx (0) + ry (0)
2

1.2 Nhng cu trc c bn ca h thng iu khin

nh ngha 1.3 (H thng): H thng c hiu l mt tp hp cc phn t (linh kin,
thit b, thut ton ), c kt ni vi nhau thc hin mt nhim v c th. H
thng lun c giao tip vi mi trng bn ngoi bng cc tn hiu vo v ra.

Nh vy c ba c im nhn bit mt h thng . l:

l tp hp gm nhiu phn t thc hin mt nhim v chung,

gia cc phn t c quan h qua li,

c giao tip vi mi trng xung quanh.

1.2.1

Phn loi h thng

Hnh 1.8 minh ha cu trc mt h thng gm 4 phn t vi cc c im nhn bit

trn. Cc tn hiu u vo ca h s c vit chung li thnh vector u = (u1 , , um )T .
Tng t cc tn hiu u ra cng c vit chung li thnh y = ( y1 , , y p )T .
Da theo cc c im nu trong nh ngha 1.3 m h thng c phn loi thnh:
1) H SISO (single inputsingle output) , nu h c mt tn hiu vo v mt tn hiu ra.
2) H MIMO (multi inputsmulti outputs), nu s tn hiu vo ra ca n nhiu
vonhiu ra.
3) Theo nguyn l nh trn, mt h thng cn c th l MISO (nhiu vomt ra) hoc
SIMO (mt vonhiu ra).
23

4) Lin tc, nu cc tn hiu vora u( t ), y( t ) l lin tc, ngc li nu cc tn hiu vo

ra {uk },{ y } , k = , 1,0,1, l khng lin tc h s c gi l khng lin tc.
k

5) Tuyn tnh, nu nhim v chung ca n, m t bi m

hnh ton:

T :u

y hay y = T ( u)

tha mn nguyn l xp chng, tc l nh x T tha:

n
n
n
T aiui = aiT (ui ) = yi
i =1
i =1
i =1

u1
u2

y1
y2

Hnh 1.8: H thng

Ngc li, h s c gi l h phi tuyn.

6) Tham s hng, nu m hnh ton T : u

y ca n khng thay i (theo thi gian v

theo khng gian. Ngc li h s c gi l khng dng, nu m hnh ca n thay

i theo thi gian (thng cn c gi l h nonautonom), hoc h phn b ri, nu
m hnh ca n thay i theo khng gian.
7) H nhn qu (causal), nu m hnh ton y = T ( u) ca n tha mn:
y( t ) = T ( u( )) vi 0 t
Nh vy, h nhn qu, tn hiu ra y( t ) thi im t ch ph thuc tn hiu vo
u( t ) ng thi im t v qu kh ca n. Ngc li, nu tn hiu ra y( t ) thi

im t cn ph thuc tn hiu vo u( t ) c thi tng lai > t th n c gi l h

phi nhn qu (uncausal).
8) H tnh (static), nu nu tn hiu ra y( t ) thi im t c xc nh chnh xc ch
cn qua tn hiu vo u( t ) ng thi im t . Ngc li n s c gi l h ng
(dynamic), nu tn hiu ra y( t ) thi im t ch c th c xc nh chnh xc t
tn hiu vo u( t ) c thi im t v qu kh (hoc tng lai) ca n.
9) Hi tip (hay h kn), nu cc quan h bn trong gia cc phn t (c m t bng
nhng ng ni trong hnh 1.8) to thnh t nht l mt vng kn. Ngc li n
c gi l h h.

1.2.2

Xc nh tn hiu iu khin thch hp

i tng iu khin cng l mt h thng. H thng iu khin l mt h thng

bao gm i tng iu khin v b iu khin. Kt qu ca bi ton iu khin cho mt
i tng hay mt h thng, tm c theo trnh t cc bc nu trong hnh 1.1. Nhim
v iu khin bao gm:

24

1) xc nh tn hiu iu khin thch hp cho i tng (tn hiu u vo, hay tn hiu
t trc), k hiu bng u(t),
2) thit k b iu khin to ra tn hiu iu khin thch hp cho i tng. Nh vy,
nu xem b iu khin nh mt h thng th u ra ca n chnh l u(t) c a
ti i tng iu khin, cn tn hiu u vo ca n c th l:
a)

Mt tn hiu lnh w(t) t trc cho b iu khin (cu trc iu khin h).

b)

Cc tn hiu trng thi x ( t ) ca i tng (iu khin phn hi trng thi).

c)

Tn hiu u ra y(t) ca i tng (iu khin phn hi u ra).

y l kiu bi ton iu khin m yu cu ch dng li vic xc nh tn hiu

thch hp p t ti u vo ca i tng sao cho i tng c c cht lng bn
trong v tn hiu u ra nh mong mun. Chng hn bi ton xc nh quy tc thay i
in p u vo u(t) ca ng c (i tng iu khin) sao cho tc vng quay ca
ng c (tn hiu u ra) thay i t gi tr ban u y 0 ti gi tr mong mun y T v nng
lng tn hao cho qu trnh thay i tc vng quay l t nht (cht lng bn trong
ca i tng).
c im ca hnh thc iu khin ny l
u ( t ) i tng
y(t)
iu khin mt chiu v trong qu trnh iu
iu khin
khin, h thng khng c kh nng thay i hoc
Hnh 1.9: Xc nh tn hiu iu khin
hiu chnh li c. Nh vy, cht lng iu
khin ph thuc hon ton vo chnh xc ca
m hnh ton hc m t i tng cng nh phi
c gi thit rng khng c tc ng nhiu khng mong mun vo h thng trong sut
qu trnh iu khin.

1.2.3

S dng b iu khin

iu khin h

w(t)

B iu
khin

u(t) i tng

y(t)

iu khin

Hnh 1.10: Cu trc iu khin h.

V bn cht, hnh thc iu khin
ny cng ging nh bi ton tm tn hiu
iu khin thch hp p t u vo ca
i tng, nhng c b sung thm b iu khin to ra c tn hiu iu khin .
V d iu khin tu thy i c theo mt qu o y(t) mong mun (tn hiu u
ra), ngi ta phi tc ng bng lc w(t) vo tay li to ra c v tr u(t) ca bnh
li mt cch thch hp. Trong v d ny, h thng tay libnh li c vai tr ca mt b
iu khin.

Hnh thc iu khin h ny (hnh 1.10) l iu khin mt chiu v cht lng iu

khin ph thuc vo chnh xc ca m hnh ton hc m t i tng cng nh phi

25

c gi thit rng khng c tc ng nhiu khng mong mun vo h thng trong sut
qu trnh iu khin.
iu khin phn hi trng thi

i tng iu khin, cc tn hiu trng thi x 1 (t), x 2 (t), , x n (t), c vit

chung dng vector x ( t ) = ( x 1 ( t ) , x 2 ( t ) , , x n ( t ) ) T , l thnh phn cha ng y

nht cc thng tin cht lng ng hc h thng. N phn nh nhanh nht s nh
hng ca nhng tc ng bn ngoi vo h thng, k c nhng tc ng nhiu khng
mong mun. Bi vy, c th to ra c cho i tng mt cht lng mong mun, n
nh vi cc tc ng nhiu, cn phi c c mt tn hiu p t u vo l u(t) phn
ng kp theo nhng thay i trng thi ca i tng.
Hnh 1.11 biu din nguyn tc iu khin phn hi trng thi. B iu khin s
dng tn hiu trng thi x(t) ca i tng to ra c tn hiu u vo u(t) cho i
tng. V tr ca b iu khin c th l mch truyn thng (hnh 1.11a) hoc mch
hi tip (hnh 1.11b).
a)

b)

B iu
khin

i tng
iu khin

i tng
iu khin

B iu
khin

Hnh 1.11: iu khin phn hi trng thi

H thng iu khin phn hi trng thi c kh nng gi c n nh cht lng

mong mun cho i tng, mc d trong qu trnh iu khin lun c nhng tc ng
nhiu. Xt phn ng ca ngi li xe lm v d, trong ngi li xe c xem nh l b
iu khin v chic xe l i tng iu khin. Nhim v ca b iu khin l gi n
nh tc xe v v tr ca xe phi lun nm trong phn ng bn phi vch phn cch.
Nh vy ngi li xe (b iu khin) :

Da vo khong cch ca xe vi vch phn cch (trng thi ca i tng iu

khin) a ra quyt nh phi nh tay li sang phi mnh hay nh.

Da vo tnh trng ca mt ng nh ln dc hay xung dc (tc ng ca tn

hiu nhiu ti cht lng h thng) iu chnh s v bn p ga.

iu khin phn hi tn hiu ra

Tuy rng vector trng thi x ( t ) cung cp cho ta y nht cc thng tin v cht
lng ng hc ca i tng, song khng phi mi trng thi ca i tng l o c

26

trc tip. V l , trong nhiu trng hp, ngi ta nh phi thay b iu khin phn
hi trng thi x ( t ) bng b iu khin phn hi u ra y(t).
a)

B iu
khin

b)

i tng
iu khin

i tng
iu khin

B iu
khin

Hnh 1.12: iu khin phn hi u ra.

Hnh 1.12 m t nguyn tc iu khin phn hi u ra. B iu khin s dng tn

hiu u ra y ( t ) ca i tng to ngc ra c tn hiu u vo u(t) cho n. V tr
ca b iu khin c th l mch truyn thng (hnh 1.12a) hoc mch hi tip (hnh
1.12b).
Cho ti nay, bi ton iu khin phn hi tn hiu ra vn cn l mt bi ton m v
cha c li gii tng qut cui cng, v tn hiu u ra y(t) thng khng mang c y
thng tin ng hc v i tng. Song ring h tuyn tnh, mt iu may mn ln l
do chng tha mn nguyn l tch c, nn bi ton iu khin phn hi tn hiu ra
lun thay c bng hai bi ton: phn hi trng thi v quan st trng thi (hnh 1.13)
v nh vy, n c gii quyt trit .
w

Hnh 1.13: iu khin phn hi u ra

theo nguyn l tch.

i tng
iu khin

B iu
khin

x B quan st
trng thi

Cu hi n tp v bi tp
1) Chng minh rng mi tn hiu lin tc x(t) c min xc nh l tp compact u xp
x c bng tng tuyn tnh ca tn hiu bc nhy n v hoc tn hiu tng u
vi mt sai lch nh ty .
2) Chng minh rng khng gian L1 l ng vi tch chp, tc l nu c x(t)L1 v
y(t)L1 th cng c z( t ) = x( t ) * y( t ) =

x( ) y( t )d L1

3) Cho tn hiu x(t) xc nh bi:

x( t ) = t a 1( t ) 1( t b) , 0 < a < 1 , 0 < b <

27

Hy ch rng n c cng sut P =

x( t ) dt l gi tr hu hn nhng li c nng

lng E =

x( t ) dt l v hn.

4) Cho tn hiu x(t) xc nh bi:

1
x( t ) = t a1( t b) ,
< a<1 , 0 b
2
Hy ch rng n c cng sut P v hn nhng li c nng lng E hu hn.
5) Cho x(t) tun hon vi chu k T. K hiu s(t) l hm trch mu c cng chu k trch
mu T v x( t ) = x( t ) 1( t ) 1( t T ) l hm ly t x(t) ch trong mt chu k. Chng
minh rng x( t ) = x( t ) * s( t ) , trong k hiu * l ch php tnh tch chp:
x( t ) * s( t ) =

x( )s( t )d = x( t )s( )d = s( t ) * x( t )

6) Xt h SISO vi tn hiu vo l u(t), tn hiu ra l y(t), m t bi m hnh vora c

dng phng trnh vi phn tuyn tnh h s hng:
y( n ) + a1 y( n 1) +

+ an y = b0u( m ) + b1u( m 1) +

dk x
dt k

a)

Hy ch rng h l tuyn tnh dng.

b)

K hiu y ( t )= g ( t ) l p ng ca h khi u vo l hm xung dirac ( t ) vi

trng thi u bng 0. Chng minh rng khi p ng ca h vi trng thi
u bng 0 v tn hiu vo u ( t ) bt k cho trc s c dng tch chp:
y ( t )= u ( t )* g ( t )

28

+ bmu vi x( k ) =

iu khin lin tc trong min phc

2.1 Cc cng c ton hc

2.1.1

L thuyt hm bin phc

nh ngha, khi nim hm lin tc, hm gii tch

Hm s f(s), bin i mt s phc s = + j , vi , l hai s thc, j = 1 thnh

mt s phc khc:
f(s) = u( , )+jw( , ),

(2.1)

trong cc k hiu u( , ) ch phn thc v w( , ) ch phn o ca n, c gi l

hm bin phc hay gn hn l hm phc. Vi cc k hiu trn th r rng mt hm bin
phc f(s) c biu din thnh hai hm thc hai bin u( , ) v w( , ).
Hnh 2.1 minh ha hm phc f(s) nh mt nh x t mt phng phc s vo mt
phng phc z=f(s). Mt hm phc f(s) c gi l lin tc ti s 0 c z 0 =f(s 0 ) nu vi mi
ln cn Z nh cho trc ca z 0 , chng hn nh mt mt trn c bn knh nh v
tm l z 0 , lun tn ti mt ln cn S tng ng ca s 0 , sao cho min nh ca n l f(S )
nm trn trong Z , tc l (hnh 2.1):
f(S ) Z

(2.2)

Khi ngi ta cng vit:

lim f ( s) = f ( s0 ) = z0

s s0

s=+j

jw

z=f(s)=u+jw

Hm phc f(s) lin tc ti

mi im s 0 thuc min G c gi

l lin tc trn G.

Xt mt hm f ( s ) lin tc
trn G. Nu ti s G tn ti gii

Hnh 2.1: Hm bin phc l nh x t mt phng

phc vo mt phng phc.

hn:

29

lim

s 0

f ( s + s) f ( s)
<
s

(2.3)

v gii hn ny khng ph thuc vo kiu ca s 0 , th hm f ( s ) c gi l kh vi ti

df ( s)
s . Khi gi tr gii hn (2.3) c gi l o hm ca f ( s ) ti s v k hiu bng
.
ds
Ch rng y phi c iu kin l gii hn (2.3) khng c ph thuc vo hnh thc
tin v 0 ca s .

V d 2.1: Hm bin phc khng kh vi

Xt hm phc:
f ( s ) = Re( s )

hm ly phn thc ca bin phc s .

Hm ny l khng kh vi, v nu cho s 0 dc theo trc thc th gii hn (2.3) s c

gi tr bng 1, nhng nu cho s 0 dc theo trc o j th n li c gi tr bng 0.

Nu hm f(s) kh vi ti mi im s thuc min G th n c gi l gii tch (hay

holomorph) trn G. Theo Cauchy v Riemann th cn v f(s) gii tch trn G l:
u( , ) w( , )
=

u( , )
w( , )
=

(2.4)

tc l phn thc u( , ) v phn o w( , ) ca hm f ( s ) phi tha mn phng trnh

vi phn Laplace:

2u

2u

= 0 v

2w

2w
2

=0

Php tnh ly o hm ca cc hm phc v c bn cng c thc hin ging nh

hm thc. V d:
df ( s)

f(s) = sn
= nsn 1
ds
df ( s)
f ( s ) = sin( s )
= cos( s)
ds
Tch phn phc v nguyn l cc i modulus

Xt mt hm phc z=f(s) lin tc ti mi im s = + j thuc min S vi bin l C

(hnh 2.2). Gi AB l mt ng cong no nm trong S. Ta chia ng AB thnh n
on bng cc im phc s 1 = A , s 2 , , s n = B ty v gi:
k = sksk+1
Nu nh tn ti gi tr gii hn:
n

f ( sk ) k
n
lim

k =1

30

v gi tr gii hn ny khng ph thuc vo cch chn cc im s k trn on AB , th n

s c gi l gi tr tch phn ca hm z = f ( s ) tnh dc theo on AB v k hiu bi:
B

k =1

f ( sk ) k
f ( s)ds = nlim

(2.5)

Hnh 2.2: Gii thch khi nim tch

phn phc.

s=+j

s2
A=s 1

sn1

sn=B

Theo cng thc nh ngha (2.5) v tch phn nh trn ta thy gi tr tch phn cn ph
thuc vo dng ca ng cong AB trong min S.
V php tnh tch phn phc ta c nhng kt lun c bn sau ca Cauchy:
1) (nh l tch phn ca Cauchy) Nu hm z = f ( s ) khng nhng lin tc m cn gii tch
trong S th vi k hiu C ch ng bin ca S, ta lun c:

f ( s)ds = 0

(2.6)

Ni cch khc, gi tr tch phn ca hm z=f(s) tnh dc theo on ng cong khp

kn C l bin ca min S m f ( s ) gii tch trong , s c gi tr bng 0.
2) nh l tch phn ca Cauchy ch rng gi tr tch phn:
B

f ( s)ds

ca hm z = f ( s ) tnh dc theo on AB s khng ph thuc vo dng ng cong

AB nu nh on AB ny nm trong mt min S m f(s) gii tch trong .
3) (Cng thc tch phn Cauchy) Gi S l min m hm z=f(s) gii tch trong n v C l
bin ca min S c chiu ngc kim ng h (min S lun nm pha bn tri nu i
dc trn C theo chiu ny). Khi , ti mt im s bt k thuc S lun c:
f ( s) =

1
2 j

d k f ( s)
ds

f ( )

s d

(2.7)

1
f ( )
d

2 j C ( s)n +1

(2.8)

Php tnh tch phn ca hm phc c thc hin ging nh hm thc. V d:

31

f ( s ) = sin( s )
f(s) = es

f ( s)ds = cos( s) + k

s
f ( s)ds = e + k

( k l hng s)

( k l hng s)

Ngoi ra, nu gi fmax = sup f ( ) th khi p dng tch phn Cauchy (2.7) v (2.8) vi
C

chy dc bin ca S l C v im s nm c nh bn trong, ta s c vi mi n (hnh 2.2):

n

f ( s) =

2 j

f ( )n
1
d
2
s
1

1 n
f ( s) fmax , n

f ( )n

n
fmax
2

fn
d
= max
2
s

1 n
f ( s ) fmax lim = fmax
n

trong l khong cch t s ti ng bin C v sup l k hiu gi tr chn trn nh

nht (ging nh gi tr ln nht, nu n tn ti). Vy:
nh l 2.1 (Nguyn l cc i modulus): Nu hm z=f(s) lin tc trong min kn S , gii

tch bn trong min th |z| = |f(s)| s c gi tr cc i trn bin ca S .

Hm bo gic (conform)

df ( s)
0 c gi l hm bo gic
ds
(conform). ngha ca tn gi bo gic c gii thch nh sau:

Mt hm phc f ( s ) gii tch trn G v c

Nu gi l1s v ls2 l hai ng cong to vi nhau mt gc trong mt phng phc s,

cng nh l1z v l z2 l hai ng nh ca n trong mt phng phc z = f ( s ) , tc l:
l1z = f ( l1s ) ,

lz2 = f ( ls2 )

th khi hai ng nh l1z , lz2 ny cng s to vi nhau mt gc ng bng trong mt

phng phc z = f ( s ) hnh 2.3.
Xt mt im s c th v vector
d
ds =
l tip tuyn ti vi
d
mt ng cong l s no . Khi ,
trong mt phng phc z=f(s) ca
hm bo gic f(s), vector d s s c
du
bin i thnh dz =
vi:
dw
u
u
d +
d

w
w
dw =
d +
d

s=+j

z=f(s)=u+jw
jw

l1s

ls2

l1z

lz2

du =

Hnh 2.3: Gii thch khi nim hm bo gic.

Nu kt hp thm cng thc (2.4) ca Cauchy v Riemann th:

32

dz =
w

cos
d

= Z
w d
sin

sin d

cos d

(2.9)

trong :
df ( s)
= Ze j
ds

hay

Z=

df ( s)
ds

v = arc

df ( s)
ds

du
d
Cng thc (2.9) cho thy hm bo gic z = f ( s ) to ra dz =
t ds =

dw
d
df ( s)
bng cch xoay vector d s i mt gc bng = arc
v ko di ln ca n thm
ds
df ( s)
ra mt h s nhn l Z =
. c bit, nu gi l z l nh ca l s trong mt phng
ds
phc z= f(s), tc l l z = f(l s ) th d z s l vector tip tuyn ca l z ging nh d s l vector
tip tuyn ca l s .
V d 2.2: Mt s hm bo gic n gin

1) Hm tuyn tnh z=f(s)=as+b, vi a , b l hai hng s phc. y l mt nh x tuyn

tnh, bin i mt vector s bt k sang mt phng z bng cch xoay n i mt gc
= arc( a ) , ko di n ra bng mt h s | a | v dch chuyn song song mt khong
cch bng b.
Nh vy, hm ny s bo ton dng mt ng cong bt k ca mt phng cha s
sang mt phng cha z (hnh 2.4a).
2) Hm nghch o z =

1
. Hm ny bin i mt vector s thnh vector z bng cch ly
s

i xng qua ng trn n v v sau li ly i xng tip qua trc thc (hnh
2.4b). Nh vy, hm ny s bin i ton b phn bn trong ng trn n v ca
mt phng s thnh phn pha ngoi ng trn n v ca mt phng z .
3) Hm bnh phng z = s 2 , tc l nu c s = + j th cng s c:
z = f(s) = u+jw = 2 2 +2j
n bin i mi ng hyperbol vung gc vi nhau trong mt phng s = + j l

2 2 = hng s k 1 v 2 = hng s k 2 , thnh nhng ng thng song song vi

hai trc ta trong mt phng z = f ( s ) = u + j w l u = k 1 v w = k 2 , tc l chng
cng vung gc vi nhau.
4) Hm ly cn bc hai z = s .

33

as + b
vi a , b , c , d l nhng hng s phc tha mn a d b c 0 .
cs + d
Hm ny c to thnh t ba hm bo gic con l:

5) Hm phn thc z =

z 1 = cs + d ,

z2 =

1
z1

z=

a bc ad
+
z2
c
c

nn n cng l hm bo gic.
6) Tng qut ha tt c nhng trng hp trn, ta s d dng i n kt lun rng hm
phc dng thchu t, l hm c cu trc dng t s ca hai a thc nguyn t
cng nhau (hu t) vi h s ca cc a thc l nhng s thc:

G( s) =

b0 + b1 s + b2 s2 +

+ bm sm

a0 + a1s + a2 s2 +

+ an sn

, ai R v b j R

l mt hm bo gic.
a)

b)

Hnh 2.4: Minh ha v d 2.2

b
z

2.1.2

Chui Fourier v php bin i Fourier

Chui Fourier (cho tn hiu tun hon)

Bn cnh vic kho st tn hiu trc tip t c tnh ca n trong min thi gian,
chng hn nh tnh lin tc, khng lin tc, ri rc hay tng t , nhiu khi trong
thc t li xut hin cu hi rng tn hiu c c tnh tn s nh th no v n c di
tn s lm vic l bao nhiu? Cc cu hi dn ta n bi ton phi phn tch tn hiu
lin tc x ( t ) thnh dng tng tuyn tnh ca cc hm iu ha c tn s lm vic xc
nh. Xt tn hiu tun hon vi chu k T , tc l x ( t + T )= x ( t ), t . Chui Fourier ca tn
hiu tun hon x ( t ) c hiu l:

x( t ) =

k =

k =1

ck e jk t = a0 + ( ak cos( k t ) + bk sin( k t )) v =

2
T

(2.10)

vi ck = ck (s phc lin hp) v e j = cos + j sin (cng thc Euler). Gi tr =

c gi l tn s c bn ca tn hiu. Khi li xut hin tip cc cu hi:

Chui v phi c tn ti khng?

Cc hng s ca chui c xc nh t x(t) nh th no?

v ton b cu tr li l ni dung phng php phn tch chui Fourier sau y.

34

2
T

1) Dirichlet: iu kin chui Fourier (2.10) v phi hi t l:

Nu khong ( 0 , T ) chia c thnh hu hn cc khong con sao cho hm x(t) l lin
tc, n iu trong cc khong con .
Mt cch ni khc: Nu hm x(t) ch c hu hn cc im khng lin tc v cng
ch c hu hn cc im cc tr.
Ch : iu kin Dirichlet ch l iu kin . Chng hn vn c th tn ti hm
x(t) lin tc trong ton khong ( 0 , T ) nhng khng kh vi ti mi im trong ,
nhng vn c chui Fourier (2.10) hi t. V d hm Weierstrass:

x( t ) =

ak cos( bk t ) vi 0 < a < 1 , b > 0 , ab > 1 +

k =1

3
v b l s nguyn.
2

Hin nay vn cha c iu kin cn v .

2) Hm x(t) phi lin tc tng on v ti im khng lin tc t 0 phi c:
x( t0 ) =

1
x( t0 0) + x( t0 + 0)
2

y l iu kin du bng trong (2.10) cng ng ti t 0 .

3) Gi s rng tn ti chui (2.10), khi phi c:
1
( ak jbk ) , k = 1,2, v c0 = a0
2

ck =

(2.11)

Ta c th khng nh tnh ng n ca (2.11) qua php bin i n gin sau:

x( t ) =

k =

= c0 +

k =1

k =

k =1

k =1

ck e jk t = c0 + ck e jk t + ck e jk t = c0 + ck e jk t + ck e jk t

( ( ck + ck ) cos( k t ) + j( ck ck )sin( k t ))

k =1

a0 = c0 , ak = ck + ck v bk = j( ck ck )

c0 = a0 v ck =

1T
4) ck = x( t )e jk t dt , k = , 1,0,1,
T 0

T
T
a = 1 x( t )dt , a = 2 x( t ) cos( k t )dt , b = 2

0
k
k

T 0
T 0
T

1
( ak jbk )
2

(2.12)
T

x( t )sin( k t )dt , k = 1,2,

Tht vy, t (2.10) ta c:

x( t ) =

m =

0 m =

=T
1
ck =
T

m =

cm e jm t x( t )e jk t dt = cm e jm t e jk t dt = cm e

x( t )e

jk t

m =

2
( m k )t
T
dt

cm e j 2 ( m k)t ' dt ' = Tck , ( t = Tt ')

dt , k = , 1,0,1,

35

Cc cng thc cn li trong (2.12) c suy ra t (2.11).

Nh vy, vi (2.10) v (2.12) ta lun phn tch c mt tn hiu tun hon x(t)
thnh tng tuyn tnh cc tn hiu iu ha c bn. iu c ngha ln trong ng
dng, chng hn nh:

Thnh phn:
a1 cos( t ) + b1 sin( t ) = A1 cos( t 1 ) vi A1 = a12 + b12 v 1 = arctan

b1
a1

c gi l n hi ca x(t). Cc thnh phn

ak cos( k t ) + bk sin( k t ) = Ak cos( k t k ) vi Ak = ak2 + bk2 , k = arctan

bk
, k >1
ak

gi l a hi ca x(t). Phn tch n hi v a hi c s dng nhiu trong cc

ngnh thuc lnh vc iu khin truyn ti in v in t cng sut, cng nh
phn tch cc dao ng iu ha thnh phn ca tn hiu tun hon trong cc qu
trnh vt l m hc, nhit hc, in, c

Tm nghim tun hon ca mt s phng trnh vi phn o hm ring m t qu

trnh truyn sng, truyn nhit, nh:
2u
x

2u
t2

2u
y2

= 0 , phng trnh Laplace vi nghim u(x,y)

2u
x2

= 0 , >0 phng trnh truyn sng vi nghim u(x,t)

u
2u
c 2 = 0 , c>0 phng trnh truyn nhit vi nghim u(x,t)
t
x

Lc nhiu vi tn s xc nh c trong tn hiu tun hon x(t).

Phn tch s giao thoa cc p ng xung trong h tuyn tnh.

Xp x mt tn hiu x(t) tun hon, lin tc tng on bng tng hu hn cc hm

iu ha:
x( t ) = a0 +

( ak cos( k t ) + bk sin( k t ))

k =1

Ch rng khi , xung quanh im khng lin tc

t0 ca x(t), tng hu hn v phi vn l mt hm

lin tc vi cc thnh phn dao ng c bin
ln. Tng cc s hng n cng ln, bin dao ng
ny cng ln. Hin tng c gi l hin tng
Gibb (hnh 2.5).

Hnh 2.5: Hin tng Gibb

Thit k tn hiu tun hon x(t) vi di tn s lm vic cho trc (bi ton ngc
ca vic phn tch chui Fourier).

Ngoi ra, ta cn c th d dng kim chng c cc tnh cht sau ca php phn
tch chui Fourier cho tn hiu tun hon x(t) theo (2.10) v (2.12):

36

1) Nu x(t) l hm l th a k =0, k v nu x(t) l hm chn th b k =0, k=1,2,

2) Nu c x( t +

T
) = x( t ), t th a 0 =a 2 =a 4 = =b 2 =b 4 = =0
2

3) Bnh phng sai lch:

Q=

( x( t ) y( t )) dt
2

gia hm x(t) cho trc v hm y(t) xc nh bi:

y( t ) = a0 +

( ak cos( k t ) + bk sin( k t ))

k =1

s l nh nht, nu y(t) c cc h s ak , bk c tnh t x(t) theo (2.12).

4) Chui hm theo t v phi trong (2.10) s hi t u (uniformly) ti x(t) nu c:

( ak + bk ) <

k =1

tc l khi gii hn x(t) ca chui (2.10) cng l hm lin tc, kh vi, kh tch
ging nh cc phn t ca chui.
Cui cng, chui Fourier cn p dng c cho c tn hiu tun hon khng lin
tc, c m hnh dng dy gi tr {x k }, k=,1,0,1,, trong x k =x(kT a ) v T a l chu
k trch mu t tn hiu lin tc x(t). V l tn hiu tun hon nn phi c x k + N =x k , k,
trong N l chu k tun hon ca dy. Khi dy trn, hay hm m rng
x( t ) = x( t )s( t ) cng c dng chui Fourier (2.10), nhng vi cc h s c k , a k , b k c
tnh theo:
N 1

a0 =

1
N

ck =

1 N 1 j
xi e
N i =0

xi , ak =

i=0

2
N

N 1

xi cos( k

i=0

2 i
2
) , bk =
N
N

N 1

xi sin( k

i =0

2 i
) , k = 1,2,
N

2 ki
N

Cc cng thc ny c suy ra t (2.12) bng cch thay du tch phn bng du tng ,
iT
T
t bng iTa =
v dt bi Ta =
. Chng thng c gi l chui Fourier ri rc (DFS
N
N
Discret Fourier Series). Ni cch khc, bn cht ca DFS chnh l chui Fourier (2.10)
c p dng cho tn hiu khng lin tc.
Ch : Tn gi chui Fourier ri rc y khng lin quan ti tnh cht min gi tr
ca nh x nh ta phn loi chng trc. Ni cch khc, tn gi ri rc y
khng hm rng min gi tr ca cc h s ca chui l tp im khng lin thng. Tn
gi n gin ch mun ni rng chui Fourier (2.10) c p dng ring cho tn hiu

khng lin tc { x k }, k =,1,0,1,. Bi vy, cht ch v mt ngn t, ta nn gi n

l chui Fourier cho tn hiu khng lin tc thay v chui Fourier ri rc.

37

Php bin i Fourier

Chui Fourier (2.10) c ngha ng dng ln trong thc t, song li ch p dng

c cho lp cc tn hiu tun hon. Nhm m rng kh nng ng dng ca chui
Fourier cho c cc tn hiu khng tun hon x ( t ), v c gi t cng thc (2.12) tnh
h s c k , ngi ta a ra khi nim php bin i Fourier, nh ngha nh sau: Cho
tn hiu x ( t ), khng phn bit l tun hon hay khng tun hon, cng nh l lin tc
hay khng lin tc. nh Fourier ca n, k hiu bi X ( j ), c hiu l:
X ( j ) =

j t
j t
x( t )e dt vi nh x ngc x( t ) = 2 X ( j )e d

(2.13)

tin cho vic trnh by, sau y ta s s dng k hiu:

X ( j ) =

F : x( t )

j t
1
x( t )e dt vi F : X ( j )

x( t ) =

1
2

j t
X ( j )e d

ch php bin i Fourier, tc l:

F { x( t )} = X ( j ) cng nh F 1 { X ( j )} = x( t )

(2.14)

Tng t nh chui Fourier, iu u tin m ta cn phi bn y l kh nng

hi t ca tch phn v hn trong (2.13).

iu kin tn ti nh Fourier: Hm x ( t ) phi c chun bc 1, tc l tch

phn v hn th nht trong (2.13) phi hi t:

x( t ) dt < , hay x ( t ) L1

v khi cng s c:

j t
j t
dt x( t ) dt <
x( t )e dt x( t ) e

Nu x ( t ) khng lin tc ti t 0 th nh ngc cng thc th hai trong (2.13)

cng ng ti t 0 , hm x ( t ) phi c gi tr ti t 0 l:
x( t0 ) =

1
x( t0 0) + x( t0 + 0)
2

Tip theo, ta s kho st mt s tnh cht c bn ca php bin i Fourier (2.13)

tin cho vic s dng sau ny.
1) Nu x ( t ) l hm chn th X ( j ) l hm thun thc (phn o bng 0) v nu x ( t ) l
hm l th X ( j ) l hm thun o (phn thc bng 0).
Khng nh ny c suy ra mt cch n gin nh cng thc Euler:
X ( j ) =

38

j t
x( t )e dt = x( t ) cos( t )dt j x( t )sin( t )dt

v iu hin nhin rng tch phn c cn i xng ca hm l s bng 0.

n

2) Php bin i Fourier l tuyn tnh: F { ai xi ( t )} =

i =1

aiF { xi ( t )} , a i R

i =1

3) Php bin i Fourier l ni x (injective): x ( t ) y ( t ) F { x ( t )} F { y ( t )}

4) Nu c x( t ) = x( t ) th cng c X ( j ) = X ( j ) , trong a l k hiu ch s phc
lin hp ca a.
5) Nu x ( t ) c nh Fourier X ( j ) th:

y ( t )= x ( t ) s c nh Y ( j ) = X ( j )e j

6)

y( t ) =

a)

dx( t )
s c nh Y ( j ) = j X ( j )
dt

7) Parseval: Gia nng lng tn hiu x ( t ) v nh Fourier X ( j ) ca n c quan h:

j t
x( t ) dt = x( t ) x( t )dt = x( t ) 2 X ( j )e d dt =

1
2

1
=
2

j t
X ( j ) x( t )e dt d = 2 X ( j )X ( j )d =

X ( j ) d

(2.15)

8) RiemannLebesgue: nh Fourier X(j ) l hm lin tc theo v lim X ( j = 0 .

Chng minh: Vi 0 th:

X ( j ) =

x( t )e j t dt = e j

x( t )e j t dt =

x( t )e

j ( t +

)
dt

j t
x( t )e dt

Suy ra
2 X ( j ) =

j t
j t
j t
x( t )e dt x( t )e dt x( t ) x( t ) e dt

x( t ) x( t ) dt 0 khi

Tnh lin tc ca X(j ) c xc nhn bng cch vi mi > 0 cho trc ta chn hai
hng s dng a , b sao cho:

x( t ) dt < 4 v 2ab x( t ) dt <

t >a

t <a

Hin nhin hai hng s dng ny lun tn ti do c x(t)L 1 . Khi vi mi hng

s < b th:

39

j ( + ) t
x( t )e j t ) dt
( x( t )e

X ( j( + )) X ( j ) =

j t j t
x( t ) e ( e 1) dt = 2 x( t ) sin 2 dt

=2

x( t ) sin 2 dt + 2 x( t ) sin 2 dt
t >a
t <a

x( t ) dt + 2 x( t ) 2 dt 2 + ab x( t ) dt
t >a
t <a
t <a

9) nh ca tch chp bng tch ca hai nh. Php tnh tch chp ca hai tn hiu x(t),
y(t) nh ngha bi:
z( t ) = x( t ) * y( t ) =

x( ) y( t )d

v do c

x( t ) * y( t ) dt = x( ) y( t )d dt x( ) y( t ) d dt

x( ) d y( t ) dt x( ) d y( t ) dt <

nn n ng trong khng gian chun L 1 . iu ny ch rng nu x(t), y(t) c nh

Fourier X(j ), Y(j ) th tch chp z(t) ca n cng c nh Fourier Z(j ) v

Z( j ) = F { x( t ) * y( t )} =

j t
x( t ) * y( t ) e dt =

/
= x( ) y( t )d e j t dt = x( ) y( t / )e j ( t + ) d dt / =

/
= x( )e j d y( t / )e j t dt / = F { x( t )} F { y( t )} = X ( j )Y ( j )

10) nh ca mt tch bng tch chp ca hai nh:

Z( j ) = F { x( t ) y( t )} =
=
=

1
2
1
2

/
j (
X ( j )y( t )e

j t
j t
/
j t
/
x( t ) y( t )e dt = 2 X ( j )e d y( t )e dt

/
1
)t
dtd / =
X ( j / ) y( t )e j ( )t dt d /

/
/
/
X ( j )Y ( j( )) d = 2 F { x( t )} * F { y( t )} = 2 X ( j ) * Y ( j )

Ch : Do php nhn x(t)y(t) khng ng trong L 1 , nn mc d x(t), y(t) c nh

Fourier X(j ), Y(j ) song c th tch ca n li khng c nh Fourier. V d:

40

t a khi 0 < t < 1

t b khi 0 < t < 1
, y( t ) =
vi 0 < a < 1 , 0 < b < 1 , a + b > 1
x( t ) =
0 khi t (0,1)
0 khi t (0,1)

u thuc L 1 , nhng tch ca chng li c:

x( t ) y( t ) dt =

t ( a + b) dt =

t ( a+ b)+1
( a + b) + 1

= x(t)y(t)L 1
0

Cui cng, kt thc phn ny, ta s nu ln mt s ng dng in hnh ca php

bin i Fourier (2.13) v nhng khng nh c rt ra thm t .
1) nh Fourier ca tn hiu xung vung: Xt tn hiu xung vung
t T
1 khi
x( t ) =
0 khi t T , T
S dng cng thc (2.13) ta c (hnh 2.6):
T

X ( j ) =

e j t dt =

1
2sin T
e jT e jT =
j

D thy nh ny tha mn tnh cht 8) ca RiemannLebesgue v khi | |> , vi

l mt gi tr ln, th |X(j )|0.
X(j )

x(t)

Hnh 2.6: nh Fourier ca tn hiu

xung vung.

t
T

2) Vi nh X(j ) ca tn hiu x(t) ta s kho st c tnh tn s ca tn hiu (khng

tun hon). T bit c di tn s lm vic ca tn hiu. Chng hn nu c
X ( j ) = 0 khi th tn hiu x(t) s khng lm vic cc tn s .

3) Thit k tn hiu x(t) c di tn s lm vic mong mun (bi ton ngc ca php
bin i Fourier).
4) Tm nghim cc phng trnh vi phn o hm ring, nh:
2u
x

2u
t

2u
y2

= 0 , phng trnh Laplace vi nghim u(x,y)

2u
x2

= 0 , >0 phng trnh truyn sng vi nghim u(x,t)

u
2u
c 2 = 0 , c>0 phng trnh truyn nhit vi nghim u(x,t)
t
x

41

5) Lc nhiu. V d nu tn hiu x(t) c di tn s lm vic l [ 1 , 2 ] v b ln

nhiu n(t) lm vic cc tn s [ 1 , 2 ] theo php cng x( t ) = x( t ) + n( t ) th ta
s lc c nhiu n(t) ra khi x( t ) c li tn hiu hu dng x ( t ) theo quy trnh:

x( t ) = F 1 F { x( t )} 1( 1 ) 1( 2 )

6) p dng (2.13) tnh nh Fourier ca hm m rng delta (t) ta c:

F{ (t)} =

j t
j 0
=1
( t )e dt = e

Suy ra

( t ) = F 1 {1} =

1
2

j t
e d = 2 cos( t )d = alim
cos( t )d
2

sin( at )
= lim
a
t
7) Papoulis: nh Fourier S(j ) ca hm trch mu s(t) trong min thi gian cng l
hm trch mu trong min tn s (hnh 2.7):
S( j ) =

2
Ta

( n

n =

2
)
Ta

(2.16)

trong Ta l chu k trch mu trong min thi gian. Tht vy, v s(t) l hm chn
nn S(j ) l hm thun thc S(j )=S( ):
S( ) =

j kTa
j t
j t
( t kTa )e dt = ( t kTa )e dt = e

k =

= lim

k =

j kTa
= lim
e
n

n k = n

Do khi zR v z =

S( ) = lim

k =

e jn Ta e j ( n +1) Ta
1 e j Ta

a + jb
a
th z =
ta cn c t tnh cht 6) ca hm (t):
c + jd
c

cos( n Ta ) cos ( ( n + 1) Ta )
1 cos( Ta )

sin ( n + ) Ta
2

= lim
n
Ta
sin

sin ( n + ) Ta
2

= ( Ta ) ( T )
(2.17)
a
Ta
( Ta )
sin
sin

2
2

2
, nn chng minh
Hn na, v S( ) l hm tun hon theo vi chu k
Ta
2
(2.16) ta ch cn ch rng trong chu k thuc ln cn = 0 s c S( ) =
( ) .T
Ta
(2.17) cng nh tnh cht x(t) (t)=x(0) (t) ta c:

( Ta )
=
lim
Ta n

42

S( j ) = ( Ta ) lim

( Ta )
2
( ) v l .p.c.m
= 2 ( Ta ) =
Ta
Ta

sin

S( )

s(t)

Hnh 2.7: nh Fourier ca hm trch

mu cng l mt hm trch mu.

Ta

2
Ta

8) Chui Fourier l trng hp ring ca php bin i Fourier:

Nu hm x(t) l tun hon vi chu k T, tc l x(t+T)=x(t), t, th nh Fourier
2
,
X(j ) ca n s l dy cc gi tr 2 {, c 1 , c 0 , c 1 , } xc nh ti = n
T
n=, 1,0,1, , trong cn c tnh theo cng thc (2.12). Tht vy, t:

X ( j ) =
=

( k +1)T

( k +1)T

k =

kT

k =

kT

j t
x( t )e dt =

j t
x( t )e dt =

k =

j t
x( t kT )e dt

x( t )e j ( t + kT ) dt = e j kT x( t )e j t dt

k = 0

ta s c vi cng thc (2.16), (2.17) ca hm trch mu s(t) chu k T :

2 T
2 1
) x( t )e j t dt = 2 ( n
)

T
T T
n =
n =
0

2
) , .p.c.m.
= 2 cn ( n
T
n =

X ( j ) =

2
T

( n

x( t )e

2 n

t
T dt

Trong php bin i trn ta s dng khi nim hm m rng (t). Ngoi ra, vi
tnh cht ny ta cn ch rng gi thit x(t)L1 ch l iu kin c nh Fourier
X(j ). Chng hn y tn hiu tun hon x(t) khng tha mn iu kin trn,
song vn c nh Fourier.
9) nh Fourier ca tn hiu khng lin tc:
Xt tn hiu khng lin tc {x k }, k=,1,0,1,. Nu xem tn hiu ny l dy cc
gi tr trch mu xk= x(kTa) ca tn hiu lin tc x(t), trong Ta l chu k trch
mu, th t (2.13) ta s c nh X a (j ) ca {x k }, k=,1,0,1, thu c bng cch
thay du tch phn bng du tng , t bng kT a v dt bi T a trong (2.13) nh sau:
X a ( j ) = Ta

j kTa
xk e

(2.18)

k =

Cng thc (2.18) c gi l php bin i Fourier ri rc (DFT Discret Fourier

Transformation). Ni cch khc DFT l php bin i Fourier (2.13) cho tn hiu

43

khng lin tc. Ch rng tn gi ny khng lin quan ti min gi tr ca php

bin i , tc l nh X a (j ) ca php bin i Fourier ri rc vn c th c min
gi tr l cc tp lin thng trn trng s phc. cht ch, tn gi ng ca php
bin i Fourier ri rc phi l php bin i Fourier cho tn hiu khng lin tc.
10) Hin tng trng ph:
Trong thc t ta thng gp phi bi ton tm nh Fourier X(j ) ca tn hiu lin
tc x(t), nhng li khng c c hm x(t) m t n m thay vo li ch c dy
cc gi tr trch mu {x k }, k=,1,0,1, o c ca n, vi xk= x(kTa) v Ta l
chu k trch mu, tc l ta ch c c nh Fourier X ( j ) ca hm m rng
x( t ) =x(t)s(t). Bi ton t ra y l lm th no t X ( j ) suy ra c X(j ).
Ni cch khc ta phi xc nh quan h gia X(j ) v X ( j ) .
Xut pht t x( t ) =x(t)s(t) v tnh cht nh ca mt tch bng tch chp ca hai
nh, ta s c:
X ( j ) =
=

1
1
X ( j ) * S( j ) =
2
2
1
Ta

/
/
/
X ( j( )) S( j )d

/
/
/
X ( j( )) ( n T ) d
n =
a

1
1
2
=
X j( / ) ( / n )d / =
Ta n =
Ta
Ta

X ( j( n

n =

2
))
Ta

Ngoi ra ta cn c:
Ta X ( j ) = Ta
= Ta

k =

j t
j t
j t
x( t )e dt = Ta x( t )s( t )e dt = Ta x( t ) ( t kTa )e dt

x( t )e j t ( t kTa )dt = Ta xk e j kTa

k =

k =

Vy khi kt hp thm vi (2.18) l nh Fourier ca {x k }, k=,1,0,1,, ta i n:

X a ( j ) =

X ( j( n a )) vi a =

n =

2
Ta

Vi cng thc trng ph trn ta c cu tr li cho bi ton nh sau: Nu c X(j )=0

khi [,] th vi T a tha mn Ta <

, ta s c X ( j ) = X a ( j ), , .

N c bit n vi tn gi l nh l ShannonKatelnikov.
X(j )

Hnh 2.8: Minh ha nh l

ShannonKatelnikov.

Xa(j)

44

11) Khi phc tn hiu: Cho dy v hn cc gi tr o c {x k } ca x(t), trong

xk=x(kTa) , k=,1,0,1, v Ta l chu k trch mu. Hy xy dng li x(t) t {x k }
sao cho x(t) i qua c tt c cc cp im (kT a , x k ). y chnh l bi ton ni
suy (interpolation). Bi ton ni suy ny c v s nghim v mt trong cc nghim
c suy ra t (2.18) nh sau:

x( t ) = F 1 Ta xk e j kTa
k =

12) Sai s r r: Nu thay v dy v hn {x k }, k=,1,0,1, cc gi tr o c (trch

mu) ca tn hiu x(t) ta li ch c dy hu hn {x k }, k=0,1,,N1 vi N gi tr
o, th cng thc (2.18) tnh nh Fourier X a (j ) cho x(t) tr thnh:
X a ( j ) X a ( j ) = Ta

N 1

j kTa
xk e

k =0

v sai s X a ( j ) X a ( j ) c gi l sai s r r (leakage). Trong khi sai s trng

ph c th c gim thiu thng qua vic chn chu k trch mu T a th ni chung
sai s r r lun tn ti trong X a (j ), nu x(t) khng tun hon.
13) Gia tn hiu x(t) v nh Fourier X(j ) ca n lun c quan h:
1
2

j t
X ( j )e d = 2 x( t 0) + x( t + 0) , t

y cng chnh l iu kin th hai c chui v php bin i Fourier. chng

minh khng nh ny, ta xt tn hiu x a (t) xp x ca x(t) ly t nh ngc:
x( t ) =
=
=

1
2

j t
j
j t
X ( j )e d = 2 x( )e d e d =
a
a

1
2

j ( t )
d x( )d =
e

2
a

ja( t )

D( t ) x( )d = D( t ) * x( t ) vi D( t ) =

e ja( t )
x( )d =
j( t )
e ja( t ) e ja( t ) sin at
=
j 2 ( t )
t

Do , nu k hiu:
e( t ) = xa ( t )

1
x( t 0) + x( t + 0)
2

v rng tch chp l giao hon, cng nh:

sin a

d =

ta s c:

45

e( t ) =
=
=

sin a

x( t )

x( t ) x( t 0)
0
1

x( t ) x( t 0)

sin a

sin a

V x(t)L 1 v tch phn

1
x( t 0) + x( t + 0)
2

sin a

d +
d +

x( t ) x( t + 0)

x( t + ) x( t + 0)

sin a

sin a

d
d

d hi t nn vi kt lun ca RiemannLebesgue,

hai tch phn v phi cng phi tin v 0 khi a v cng l .p.c.m.

2.1.3

Php bin i Laplace

Php bin i Laplace cho tn hiu lin tc

Php bin i Fourier (2.13) l mt cng c hu hiu gip cho vic kho st c
tnh tn s ca mt tn hiu x ( t ) , nhng li c nhc im l b gii hn trong mt lp
cc tn hiu kh nh x(t)L 1 . m rng php bin i Fourier cho c cc tn hiu
causal x(t), khng cn phi c chun bc 1, ta s khng tnh trc tip nh Fourier ca
tn hiu causal x(t) m thay vo l ca z(t)=x(t)e

, vi l mt s dng ln

sao cho li c c:

t
t
z( t ) dt = x( t )e dt < , tc l z(t)=x(t)e L 1

Hng s dng ny lun tn ti, v khng c hm no tin v 0 nhanh nh e

c z(t)L 1 v nu hm x(t) tha mn thm l ti im khng lin tc t 0 c:
x( t0 ) =

1
x( t0 0) + x( t0 + 0)
2

z( t0 ) =

. Khi

1
z( t0 0) + z( t0 + 0)
2

ta s li c c nh Fourier Z(j ) ca z(t):

Z( j ) =
=

z( t )e

j t

dt =

t j t
( + j )t
dt
x( t )e e dt = x( t )e

st
x( t )e dt = X ( s) , trong s = + j

Hm X(s) trn y c gi l nh Laplace ca x(t). Ni cch khc, nh Laplace X(s)

ca x(t) chnh l nh Fourier ca x(t)e

x( t ) = e t z( t ) = e t

1
2

. Ngoi ra:

Vy ta c php bin i Laplace, k hiu bi L{ }, nh sau:

46

+ j

( + j )t
j t
st
d =
Z( j )e d = 2 Z( j )e
X ( s)e ds
2 j

X ( s) = L { x( t )} =

x( t ) = L1 { X ( s)} =

st
x( t )e dt vi

+ j

st
X ( s)e ds

2 j j

(2.19)

trong s= +j v l s thc dng ln tn ti tch phn v hn th nht trong

(2.19), n c gi l bn knh hi t ca nh Laplace X(s).
V php bin i Laplace (2.19) thc cht l php bin i Fourier cho tn hiu
causal khng cn phi c chun bc 1 nn ng nhin n c y mi tnh cht ca
php bin i Fourier nh:
n

1) Tuyn tnh: L{ ai xi ( t )} =
i =1

aiL{ xi ( t )} , a i R

i =1

2) Ni x: x(t)y(t) L{x(t)}L{y(t)}
3) nh ca tch chp bng tch ca hai nh: L{x(t)*x(t)}=L{x(t)}L{y(t)}
4) nh X(s) l hm lin tc theo Im(s), khi Re(s)> (k hiu Re(s) l ch phn thc v
Im(s) l ch phn o ca s phc s).
5) Gi X ( s ) l nh Laplace ca x ( t ) . Khi :
a)

y(t)=x(t)} c nh l Y(s)=X(s)e

b)

y(t)=e

c)

y(t)=x(at) c nh l

as

x(t)} c nh l Y(s)=X(s+a)
t
1
s
X ( ) v y( t ) = x( ) c nh l Y(s)=aX(as)
a
a
a

dx
c nh l Y(s)=sX(s)x(+0)
dt

d)

y( t ) =

e)

y( t ) = x( t )dt c nh l Y ( s) =

f)

y( t ) =

X ( s)
s

x( t )
c nh l Y ( s) = X ( s/ )ds/
t
s

6) Nu X ( s ) c bn knh hi t =0 th X ( s) s = j = X ( j ) l nh Fourier ca x ( t ) .
7) Nu tn ti gii hn x( +0) = lim x( t ) th x( +0) = lim sX ( s) .
t 0

8) Nu tn ti gii hn lim x( t ) th lim x( t ) = lim sX ( s) .

t

s0

V d 2.3: Xc nh nh Laplace ca mt s tn hiu in hnh

1) Xung dirac c nh c suy ra t nh ngha hm m rng ca n l:

L{ ( t )} =

st
s0
( t )e dt = e = 1

2) Tn hiu bc nhy n v x(t)=k1(t) c nh Laplace l:

47

X ( s) = k 1( t )e st dt =
0

3) nh ca x(t)=ke
k
X ( s) =
s+ a

at

k st
e
s

k
s

1(t) c suy ra t kt qu trn v tnh cht 5b) nh sau:

4) nh ca tn hiu iu ha x 1 (t)=sin( t), x 2 (t)=cos( t) c suy ra t nh ca e j

j t

c t kt qu cu 3) ng vi a = j cng nh tnh cht tuyn tnh nh sau:

1
1
L{ e j t } =
, L{ e j t } =
s + j
s j

v e

e j t e j t
1 1
1

X1 ( s) = L{sin( t )} = L{

}=

= 2

+
2
j
2
j
s
j

s
j

+ 2
s

e j t + e j t
1 1
1
s

X
(
s
)
{cos(
t
)}
{
}=
L
L

=
=
+
= 2
2

2
2
2
s
j
s
j

s +

5) Tn hiu tng u r(t)=t1(t) c nh Laplace l:

e st
t
1
dt = 2
L{ r( t )} = te st dt = e st
0
s
s
s
0
0
6) nh ca tn hiu tng u x(t)=t n 1(t) c suy ra t kt qu cu 5) v tnh cht
5e) cng nh quan h t n1( t ) = n t n 11( t )dt nh sau:
X ( s) =

n!
sn +1

7) T kt qu cu 6) v tnh cht 5b) ta c ngay:

n!
L{ t n e at 1( t )} =
( s + a)n +1
8) T kt qu cu 2), 3) v tnh cht tuyn tnh ta c nh ca x( t ) = k(1 e

t
T 1( t )}

t
T

)1( t ) l:

k
k
k

=
s s+ 1
s(1 + Ts)
T
9) S dng kt qu cu 8) kim tra li tnh cht gii hn, ta c:
k
= 0 x( +0) = lim sX ( s)
x(+0)=0 v lim sX ( s ) = lim
s
s (1 + Ts )
s
k
lim x( t ) = k v lim sX ( s) = lim
= k lim x( t ) = lim sX ( s)
t
s0
s0 (1 + Ts )
t
s0
X ( s) = L{ x( t )} = L{ k1( t )} L{ ke

Php bin i Laplace cho tn hiu khng lin tc (bin i Z)

Xt tn hiu causal khng lin tc {x k }, k=0,1,2,. Nu xem n nh l dy cc gi

tr trch mu ca tn hiu lin tc x(t) vi chu k trch mu Ta th n cn c dng hm
m rng:

48

{x k }= x( t ) = x( t )s( t ) =

xk ( t kTa )

k =0

Thay hm m rng trn vo cng thc nh ngha php bin i Laplace (2.19) ta s c
cng vi k hiu z = esTa cng nh iu hin nhin rng x k =0, khi k<0, nh Laplace
ca dy v hn {x k }, k=0,1,2, nh sau:
X ( s) =

0 k =0

k =0

st
st
st
x( t )e dt = xk ( t kTa )e dt = xk ( t kTa )e dt

xk e

ksTa

k=0

xk z

.n.

= X ( z)

k=0

Hm X(z) ngh ngha trong cng thc trn c gi l nh Z ca dy {x k }, k=0,1,2,

v php bin i t dy {x k } thnh X(z) gi l php bin i Z, k hiu bi Z{ }, tc l:
X(z)= Z {x k } v {x k }= Z

2.1.4

{X(z)}

Php bin i Laplace ngc

Vic bin i Laplace ngc c hiu l xc nh tn hiu x(t) ngc t nh

Laplace X(s) ca n. Tt nhin cng vic ny c th c thc hin trc tip vi cng
thc nh ngha (2.19). Song tin li hn khi s dng, sau y ta s lm quen vi hai
phng php n gin thng dng. l:

Phng php bin i ngc X(s) c dng hm hu t v

Phng php residuence cho X(s) kh vi ngoi hu hn cc im cc.

Bin i ngc hm hu t

Gi s tn hiu x(t) c nh Laplace X(s) dng:

X ( s) =

+ bm sm

B( s) b0 + b1 s +
=
A( s) a0 + a1 s +

+ an sn

vi

mn

(2.20)

tm x(t) ta da vo tnh n nh, tnh tuyn tnh cng nh kt qu ca cc v d cho

trong mc trc v i n cc bc thc hin nh sau:
1) Phn tch X(s) thnh tng cc hm phn thc ti gin:
X ( s) = A +

rk

Aki
i

k =1 i =1 ( s ak )

Bk ( s k ) + Ckk

k =1

( s k )2 + k2

trong A , A k i , B k , C k l cc hng s, ak l im cc thc bi r k v k + j k l

im cc phc ca X(s), ni cch khc chng l im m ti c X(s)= .
2) Xc nh hm gc cho tng phn t trong tng trn theo (v d 2.3):
a) L

{A} = A (t)
49

b)

c) L

d) L

{
{

Aki
i

( s ak )

} = Aki

Bk ( s k )
( s k )2 + k2
Ckk
( s k )2 + k2

t i 1 eak t
1( t )
( i 1)!

} = Bk e k t cos( kt )1( t )
} = Ck e k t sin( k t )1( t )

V d 2.4: Bin i ngc hm hu t

1 ) nh X ( s) =

1
2

s (1 + s)

c tn hiu gc l:

1
1 1
+ 2}=
1+ s s s
s (1 + s)
1
1
1
= L1 {
} L1 { } + L1 { 2 } = ( e t 1 + t )1( t )
s
1+ s
s

x( t ) = L1 {

2) nh X ( s) =

} = L1 {

k(1 + T1 s)
c tn hiu gc l:
s(1 + T2 s)

x( t ) = L1 {

k(1 + T1s)
TB
k(T1 T2 )
A
} = L1 { + 2 } vi A = k v B =
s(1 + T2 s)
s T2 s + 1
T2
t

= L1 {
3) nh X ( s) =

TB
T T1 T2
A
e
} + L1 { 2 } = ( A + Be T2 )1( t ) = k(1 2
)1( t )
s
T2 s + 1
T2

k
, T1 T2 , c tn hiu gc l:
(1 + T1s)(1 + T2 s)

x( t ) = L1 {

k
A
B
k
} = L1 {
+
} vi A =
v B = A
1
1
T

(1 + T1 s)(1 + T2 s)
1 T2
s+
s+
T1
T2
t

A
A
k
=L {
} L1 {
} = A( e T1 Be T2 )1( t ) =
( e T1 e T2 )1( t )
1
1

T
1 T2
s+
s+
T1
T2
1

4) Cho nh X ( s) =

k
2

s (1 + Ts)n

ca tn hiu x(t). Phn tch X(s) thnh tng cc phn

thc ti gin ta c:

n
nT 1
Ai
+ 2 +
X ( s) = k

1 i
s
s
i =1 ( s +
)
T

Vy (hnh 2.9a):

50

vi

Ai =

( n + 1 i)
T i 2

n A t i 1

1( t )
x( t ) = k nT + t + e t / T i

i =1 ( i 1)!

5) Mt tn hiu x(t) c nh Laplace X ( s) =

k
s(1 + Ts)n

. Phn tch X(s) thnh tng cc

phn thc ti gin ta c:

Ai
k n

s i =1 ( s + 1 )i
T
Suy ra (hnh 2.9b):
X ( s) =

Ai =

vi

k
T i 1

x(t)

a)

t n

A ti 1
x( t ) = k e T i
1( t )

i =1 ( i 1)!

t
nT

6) Xt hm phc:
X ( s) =

x(t)

b)

k
1 + 2 DTs + (Ts)2

, 0<D<1

Bin i X(s) thnh:

k
X ( s) =
(Ts + D )2 + 1 D2

1 D2
T
=
2
T 1 D2 ( s + D )2 + 1 D
2
T
T
ta c c ngay:

x(t)

c)

x( t ) =

k
T 1 D2

t
e T sin

1 D
t 1( t )

T>0

Hnh 2.9: Minh ha v d 2.4.

7) Xt tn hiu causal h(t) c nh Laplace l:

H ( s) =

k
s(1 + 2 DTs + T 2 s2 )

vi 0 < D < 1

Phn tch hm H(s) thnh:

D
T(s + ) + D
1
T 2 s + 2TD k
k(T 2 s + 2TD )
k k
T
H ( s) = k
=
=
s 1 + 2TDs + (Ts)2 s (Ts + D )2 + 1 D2 s T
D
1 D2

( s + )2 +
T
T2
ta c (hnh 2.9c):
h( t ) = L1 { H ( s)} = k ke

D
t
T

cos 1 D

1 D2
D
t +
sin

T
1 D2

t , t 0

51

Xt ring trng hp, khi m nh Laplace X(s) ca tn hiu x(t) c dng thc hu
t nh cng thc (2.20) m t. Gi s rng a thc mu s A(s) v a thc t s B(s) l
nguyn t cng nhau (chng khng c chung nghim). Khi im cc ca X(s) s
chnh l nghim ca A(s)=0. K hiu cc im cc bng s 1 , s 2 , , s n v gi thit
rng chng l nhng nghim n ca A(s)=0. Do X(s) phn tch c thnh tng cc
phn thc ti gin:
X ( s) =

A1
A2
+
+
s s1 s s2

An
s sn

nn sau khi nhn c hai v vi ( s s k ) v cho s tin ti s k ta s c cng thc xc nh

nhanh nhng h s A 1 , A 2 , , A n nh sau (cng thc Heaviside):
Ak = lim ( s sk ) X ( s)
s sk

Phng php residuence

Trong phn bin i ngc X(s) c dng hm hu t (2.20) va trnh by, ta nhn
thy ngoi mt s hu hn cc im cc l nghim ca A ( s ) = 0 , cn li nhng im
khc X(s) u xc nh v c o hm v hn ln. Ni cch khc X(s) l mt hm gii
tch ngoi hu hn cc im cc . Dng tn hiu x(t) nhn c li hon ton c
quyt nh bi v tr ca cc im cc ny trong mt phng phc. Hnh 2.10 biu din
minh ha trc quan cho dng tn hiu x(t) c nh Laplace:
X ( s) =

1
s sk

ng vi nhng v tr khc nhau

Tt dn

iu ha

Tng dn

ca im cc sk =k + j k.
M rng iu nhn xt
trn ta c phng php
residuence xc nh ngc
tn hiu x(t) t nh Laplace
X(s) ca n, nu nh X(s) l
hm gii tch, tr mt vi cc
im cc ri nhau v hu hn,
ng thi

lim X ( s) = . Cc

hm c tnh cht nh vy c
gi chung l hm phn hnh
(meromorph).

Hnh 2.10: Dng tn hiu ph thuc vo v tr im cc ca

nh Laplace ca n trong mt phng phc.

Bn cht ca phng php residuence c ly t cng thc tch phn Cauchy (2.7).
Trc tin ta i t cng thc bin i Laplace ngc :

52

x( t ) =

+ j

2 j j

X ( s)est ds =

1
2 j

X ( s) e

st

(2.21)

ds

trong C l mt ng cong khp kn cha ng thng + j vi chy t n ,

v l bn knh hi t ca tch phn (hnh 2.11). Chiu ca C l chiu c chn ph
hp vi chiu ca t n .
j

+ j

Ck
Cl

sk

sl
Hnh 2.11: M t phng php residuence.

si

Ci

j
K hiu min c bao bi C theo chiu dng l D, tc l min s lun nm pha
tri khi ta i dc theo C v gi s 1 , s 2 , , s m l cc im cc ca X ( s ) . Do l bn
knh hi t nn tt c m im cc ny phi nm trong D. Mt khc v tch phn theo
ng cong khp kn ca mt hm c tnh gii tch trong min c bao bi ng cong
ly tch phn , lun c gi tr bng 0, nn theo tnh cht (2.6) v tch phn phc ca
Cauchy, cng thc (2.21) s c thay bng:
x( t ) =

1
2 j

X ( s)est ds ,

(2.22)

k =1 C
k

trong C k , k = 1 , 2 , , m l nhng ng cong khp kn bao quanh ring mt mnh

im cc s k theo chiu dng (sk lun nm bn tri khi ta i dc theo Ck theo chiu ).
Nh vy, ng cong C trong (2.21) nay c thay bi h cc ng cong Ck vi
k = 1 , 2 , , m trong (2.22).
K hiu tip:
Res X ( s)est =
sk

1
X ( s)est ds
2 j C
k

l gi tr residuence ca X(s)e st ti s k , k = 1 , 2 , , m th (2.22) tr thnh:

53

x( t ) =

X ( s )e st
Res
s

k =1

(2.23)

v chnh l cng thc thc hin bin i ngc X(s) theo phng php residuence.
V d 2.5: Phng php residuence

Cho X ( s) =

Res
sk

Ak
. Hm phn hnh (meromorph) ny c mt im cc l sk nn:
s sk

Ak
1
=
s sk 2 j

s ksk ds

sk

trong C l ng trn bn knh >0 bao quanh s k

theo chiu dng (hnh 2.12). Nh vy dc theo C
bin s s c phng trnh:
|ssk| =ej

vi

0<2

Hnh 2.12: ng trn ly tch

phn cho v d 2.5.

Thay phng trnh ca bin s vo cng thc trn c:

Res
sk

Ak
1 2 Ak
1
=
d( e j ) =

j
2
s sk 2 j 0 e

Ak d = Ak

Ch : Mt trong nhng c im ca hm phn hnh (meromorph) l n phn tch

c thnh chui v hn (chui Taylor, chui Lorenz, ). Gi ai l cc h s khi phn

tch hm X ( s ) e s t thnh chui Lorenz trong ln cn im s k , tc l:
X ( s)est =

ai ( s sk )i

i =

th
Res X ( s)est = a1
sk

Theo cng thc ny, mt hm X(s)e st , nu c im cc s k bi l k th gi tr

residuence ca n ti im cc s l:
Res X ( s)est =
sk

d lk 1[ X ( s)est ( s sk )lk ]
1
lim
( lk 1)! s sk
dslk 1

(2.24)

v do vic tm ngc tn hiu gc x(t) t nh Laplace X ( s ) ca n theo phng php

residuence s gm hai bc:

Xc nh tt c cc im cc s k ca X ( s ) e s t cng nh bc l k ca chng.

Tm cc gi tr residuence ca hm X(s)e st ti nhng im cc theo (2.24).

Tnh x(t) theo (2.23) t cc gi tr residuence tm c.

54

V d 2.6: Phng php residuence

Hm phn hnh X ( s) =
x( t ) = Res X ( s)est =
a

1
( s + a)n

c im cc s = a bi n nn hm gc x(t) ca n l

1
d n 1 est
1
=
lim
t n 1 e at vi t 0
( n 1)! s a dsn 1
( n 1)!

Vic p dng phng php residuence tm gc x(t) ca X(s) ch l mt ng dng

nh ca n. Phng php ny ngoi ra cn c ngha s dng ln trong cc bi ton xc
nh gi tr tch phn thng gp ca cc cng vic tng hp b iu khin nh tm tham
s ti u cho b iu khin. Ta s xt mt v d minh ha sau y.
V d 2.7: Tnh gi tr tch phn phc bng phng php residuence

tnh tch phn:

Q=

5 s2 + 6 s + 8

( s2 + 2s + 2)( s 1)

j
ds

C
s1

G( s )

s3

ta thy hm phn hnh (meromorph)

G( s ) =

s2

5 s2 + 6 s + 8

=
( s2 + 2s + 2)( s 1)
1
1
3
=
+
+
s ( 1 + j ) s ( 1 j ) s 1

Hnh 2.13: Minh ha cho v d 2.7

c 3 im cc l s 1 = 1 + j , s 2 = 1 j v s 3 = 1 , trong ch c hai im cc nm bn tri

ng ly tch phn l trc o. Bi vy nu thay ng ly tch phn bng mt ng
cong C khp kn cha trc o th cng ch c s1 , s2 thuc min D c bao bi C theo
chiu dng (hnh 2.13). Suy ra (theo kt qu v d 2.5):

Q = 2 j Res G( s) + Res G( s) = 2 j(1 + 1) = 4 j

s
s
1
2

2.1.5

Mt ng dng ca php bin i Laplace: Gii phng trnh vi phn

Cho phng trnh vi phn tuyn tnh h s hng:

a0 y + a1

dy
d2 y
+ a2 2 +
dt
dt

+ an

dn y
dt n

= b0u + b1

du
d2u
+ b2 2 +
dt
dt

+ bm

d mu
dt m

(2.25)

c cc h s a 0 , a 1 , , a n v b 0 , b 1 , , b m l nhng s thc. Bi ton t ra l

tm nghim y(t) khi bit trc u(t) cng nh cc s kin y(+0),

d n 1 y( +0)
dy(+0 )
, ,
.
dt
dt n 1

55

Trc ht ta gi s u(t) v y(t) l hai tn hiu causal. Vy th khi ly nh Laplace

c hai v ca phng trnh cho:
dy
+
dt

L{ a0 y + a1

dn y

+ an

dt n

} = L{ b0u + b1

du
+
dt

+ bm

d mu
dt m

ri p dng tnh cht tuyn tnh ca ton t Laplace s c:

n

akL{

k=0

dk y
dt

d ku

k =0

dt k

} = bkL{
k

(2.26)

Tip tc, nu gi Y(s) l nh ca y(t) th t cng thc nh ca o hm:

L{

dy
} = sY(s)y(+0)
dt

ta c
L{

L{

d2 y

} = sL{

dt2

dn y

dy
dy(+0 )
dy( +0 )
}
= s2 Y ( s) sy( +0 )
dt
dt
dt

} = snY ( s )

dt n

n 1

d k y( +0)

k=0

dt k

sn 1 k

Cng tng t, nu gi U ( s ) l nh Laplace ca tn hiu causal u(t) th:

L{

d ku
dt

} = snU ( s)

n 1

d ku( +0)

k =0

dt k

sn 1 k

k=1,2, , m.

Thay tt c cc cng thc tnh o hm vo (2.26) ta s c:

Y(s) [ a 0 + a 1 s + + a n s n ] A = U(s) [ b 0 + b 1 s + + b m s m ] B
d k 1 y( +0)

trong A l hm xc nh t a k v
A=

k 1

di y( +0)

k =1

i =0

dt i

ak sk1 i

dt k 1

v B cng l hm c xc nh t b k v
B=

k 1

diu( +0)

k =1

i =0

dti

bk sk1 i

, k = 1 , 2 , , n theo:

d k 1u( +0)
dt k 1

, k = 1 , 2 , , m theo:

Nh vy nh Laplace ca nghim y(t) s l:

Y ( s) =

(b

+ b1 s +

+ bm sm U ( s) + ( A B)

a0 + a1 s +

+ an sn

(2.27)

Chuyn ngc Y ( s ) cho trong (2.27) sang min thi gian ta s c nghim y(t) ca
phng trnh (2.25), v ton t Laplace l n nh.
56

V d 2.7: Gii phng trnh vi phn bng php bin i Laplace

Hy tm nghim ca phng trnh vi phn:

d2 y
dt

+3

dy
+ 2 y = 0 , vi s kin
dt

dy( +0)
=b
dt

y(+0)=a v

Chuyn c hai v phng trnh sang min phc nh ton t Laplace c:

L{

d2 y
dt2

}+3L{

dy
}+2L{y}=0
dt

dy( +0)
2
s Y ( s) sy( +0) dt + 3 sY ( s) y( +0) + 2Y ( s) = 0

(s 2 +3s+2)Y(s) = as+(3a+b)

Y ( s) =

Vy

y(t)=(2a+b)e t (a+b)e

as + (3 a + b)
s2 + 3 s + 2

as + (3 a + b) 2a + b a + b
=

( s + 1)( s + 2)
s +1
s+2

2t

vi t 0

V d 2.8: Gii phng trnh vi phn bng php bin i Laplace

Gii phng trnh vi phn:

d2 y
dt

+2

dy
dy( +0)
+ 5 y = 3 vi s kin y( +0) =
=0
dt
dt

Chuyn c hai v phng trnh sang min phc nh ton t Laplace c:

( s2 + 2s + 5)Y ( s) =

Vy:

y( t ) =

3
s

Y ( s) =

3
s( s2 + 2s + 5)

3
3.2
3( s + 1)

5 s 10[( s + 1)2 + 22 ] 5[( s + 1)2 + 22 ]

3 3 t
3

e sin(2t ) e t cos(2t ) vi t 0
5 10
5

2.2 Xy dng m hnh ton hc

M hnh ton hc l mt hnh thc biu din li nhng hiu bit ca ta v quan h
gia tn hiu vo u(t) v ra y(t) ca h thng nhm phc v mc ch m phng, phn
tch v tng hp b iu khin cho h thng sau ny. Khng th iu khin mt h thng
m khng hiu bit g v h thng. Ta hy xt mt bi ton iu khin c s dng b
chuyn i p sut p m t bi tn hiu u vo l u(t) thnh qung ng dch chuyn
biu din di dng tn hiu ra y(t) nh hnh 2.14 m t. Ta khng th to ra c mt
qung ng dch chuyn chng hn nh 1mm trong khong thi gian, v d 0,5s, nh
mong mun thng qua vic t mt gi tr p sut thch hp u(t) ti u vo nu nh
khng bit r s ph thuc ca tn hiu ra y(t) vi tn hiu vo u(t) ca b chuyn i.
Cng nh vy ta khng th iu khin mt ng c chuyn i t vn tc quay ny sang

57

mt vn tc quay khc nu nh khng bit c tc ng c ph thuc nh th no

vo tn hiu u vo l in p hay dng, hoc khng th u t vo mt th trng (tn
hiu vo) t c ch tiu c li (tn hiu ra) nh mong mun nu khng hiu r v
th trung (h thng iu khin) .

Khong dch
chuyn y(t)

p sut p c
tn hiu l u(t)
Hnh 2.14: i tng iu khin l b
cm bin chuyn i p sut thnh
qung ng dch chuyn.

Thng qua v vn cc v d nu ln s cn thit phi c m hnh ton hc m t h

thng iu khin thc hin bi ton iu khin nh vy ta thy r c cht lng
iu khin ph thuc rt nhiu vo m hnh ton hc m t h thng. M hnh cng
chnh xc, hiu sut cng vic iu khin cng cao.
Mc d c m hnh ton hc, song cng phi tha nhn l khng th ni rng
trong mi trng hp m hnh m t h thng ng 100%. Tt c cc bi ton iu
khin u phi lm vic vi nhng m hnh h thng c cha mt sai lch nht nh
hoc t ra l c nhng tham s thay i nhiu. Bi vy cc bi ton iu khin hin nay
ngi ta thng phi thc hin thm nhng nhim v theo di v chnh nh li m
hnh cho ph hp vi h thng thc hoc phi thit k b iu khin m bo c cht
lng ra cho d m hnh c sai lch.
Bi ton iu khin m c thm kh nng nhn bit c s thay i ca h
thng t chnh nh li m hnh cng nh lut iu khin c gi l iu khin thch
nghi. Ngc li nhng bi ton iu khin lun m bo cht lng ra cho d c sai
lch m hnh hay c s thay i no khng bit trc trong h thng m khng cn
phi gim st, phi theo di h thng, c gi l iu khin bn vng.

u1(t)
Hnh 2.15: M t mt h thng k thut

ur(t)

H thng k
thut

x1, , xn

y1(t)
yp(t)

nh ngha 2.1: Xem mt h thng k thut cn xy dng m hnh nh mt khi kn vi

cc tn hiu u vo l u 1 (t), , u r (t) v ra l y 1 (t), , y p (t), tc l h thng

c r tn hiu u vo v p tn hiu u ra (hnh 2.15). M hnh m t h thng m
ta quan tm l m hnh ton hc biu din s ph thuc ca p tn hiu ra y 1 (t),
, y p (t) theo r tn hiu vo u 1 (t), , u r (t) sao cho nu bit trc cc tn hiu
58

u vo u 1 (t), , u r (t) cng nh nhng "s kin" ban u ca h thng x 1 , ,

x n th vi m hnh ta c th tnh ra c cc tn hiu u ra y 1 (t), , y p (t).
Nu ghp chung tt c r tn hiu u vo u 1 (t), , u r (t) thnh mt vector tn

y1 ( t )
u1 ( t )

hiu vo u( t ) =
v
cc
tn
hiu
ra
y
(t),

,
y
(t)
thnh
=
y
(
t
)
1
p

th bn

u ( t )
y ( t )
r
p
cht ca m hnh ton hc s chnh l nh x:
T: u(t)

y(t )

hay

y(t ) = T { u ( t ) }

Nhiu khi thay v tn gi tn hiu vo, tn hiu ra ca mt h thng ngi ta cn s

dng khi nim kch thch v p ng vi ngha nh sau: Nu kch thch h thng bng
(vector) tn hiu u(t) th h thng s c p ng l y(t ) .
H thng c phn loi theo tng nhm nh trnh by chng 1 (mc 1.2.1).
C th, mt h c gi l tuyn tnh nu m hnh ton hc m t h thng l nh x
tuyn tnh, tc l khi phn tch vector tn hiu u vo u ( t ) thnh tng tuyn tnh ca
cc vector tn hiu thnh phn:
u(t) = a 1 u 1 (t) + a 2 u 2 (t) +

+ a m u m (t)

v gi thit l bit p ng (tn hiu ra) ca h thng cho tng thnh phn :
y ( t ) = T{u 1 (t)}, y ( t ) = T{u 2 (t)}, , y ( t ) = T{u m (t)},
1

th p ng y(t ) ca h cho kch thch u ( t ) s cng chnh l t hp tuyn tnh t cc

p ng thnh phn trn:
y(t ) = a 1 y ( t ) + a 2 y ( t ) +
1

+ am y (t)
m

Mt cch ngn gn, bn cht tuyn tnh nu trn ca m hnh T c vit thnh:
T{

i =1

i =1

aiui ( t ) } = aiT {ui ( t )}

v cn c tn gi khc l nguyn l xp chng. Nh c bn cht tuyn tnh ny (tha mn

nguyn l xp chng) m vic kho st, phn tch h tuyn tnh c tr nn n gin
hn nhiu. c c nhng tnh cht v mt h thng tuyn tnh trn c s phn tch
m hnh ton hc ca n th ngi ta ch cn phn tch, kho st p ng ca h thng
vi mt kch thch in hnh l , chng hn nh p ng ca h vi kch thch u vo
l hm xung dirac ( t ) hoc p ng vi u vo l tn hiu Heavisde 1 ( t ) .
Ty vo dng tn hiu ca h thng l lin tc hay xung m m hnh T ca n c
gi l m hnh lin tc hay m hnh khng lin tc. Cng nh vy nu cc tn hiu c
biu din trong min thi gian hoc min nh Fourier, Laplace th m hnh s c dng l
phng trnh vi phn hoc hm truyn hay hm c tnh tn .

59

Khi h thng ch c mt tn hiu vo v mt tn hiu ra, ta s gi m hnh T l SISO

(ch vit tt ca Single InputSingle Output). Ngc li nu h thng c nhiu tn hiu
vo v nhiu tn hiu ra th m hnh T c gi l MIMO (Multi InputMulti Output).
Ci bin i cht t ta s c thm cc m hnh MISO cho h c nhiu tn hiu vo, mt tn
hiu ra hoc SIMO cho h c mt tn hiu vo nhng nhiu tn hiu ra.
Cc loi m hnh ton hc ca h SISO c trnh by y s l:
1) Phng trnh vi phn m t quan h gia tn hiu vo u(t) v ra y(t).
2) Hm truyn G(s) hay l t s gia nh Laplace ca tn hiu ra v nh Laplace ca
tn hiu vo. N cng chnh l nh Lapace ca p ng khi h c kch thch bi
hm xung dirac (t) u vo.
3) Hm c tnh tn G(j ) hay l t s gia Y ( s) s = j ca tn hiu ra v U ( s) s = j ca
tn hiu vo.

2.2.1

Phng trnh vi phn m t quan h vo-ra

Th loi m hnh ny rt thch hp vi h thng SISO. nh x T m t h thng l

phng trnh vi phn biu din mi quan h gia tn hiu vo u(t) v tn hiu ra y(t).
M hnh ny c xy dng theo phng php l thuyt, tc l m hnh s c thit lp
da trn cc nh lut c sn v quan h vt l bn trong v quan h giao tip vi mi
trng bn ngoi ca h thng. Cc quan h ny c m t theo quy lut lha, quy
lut cn bng, di dng nhng phng trnh ton hc. Kt qu ca cng vic m
hnh ha c m hnh T dng phng trnh vi phn m t quan h vora l:
a0 y + a1

dy
d2 y
+ a2 2 +
dt
dt

+ an

dn y
dt n

= b0u + b1

du
d2u
+ b2 2 +
dt
dt

+ bm

d mu
dt m

(2.28)

trong cc h s ai cng nh bj c xc nh t cc phn t (linh kin, thit b) cu

thnh trong h thng. Chng c th l hng s, song cng c th l nhng tham s ph
thuc thi gian t hoc nhng i s khc. V d nh in tr ca mt ng dy dn
in s l tham s ph thuc vo di on dy hoc nhit ca vt c nung s l
tham s phn b khng u t b ngoi vo tm ca vt .
Nu cc h s ai cng nh bj ph thuc t th ngi ta ni m hnh (2.28) l tuyn
tnh khng dng. Ngc li nu chng ph thuc nhng i s khc th m hnh (2.28) l
tuyn tnh vi tham s ri.
M hnh (2.28) c tn l phng trnh vi phn, hay m hnh vora, v khi bit
trc kch thch u(t) v trng thi u ca h, ta lun tm c nghim y(t) l p ng
ca h thng. Sau y ta s xt mt s v d minh ha cho vic xy dng m hnh h
thng c dng phng trnh vi phn gia tn hiu vo u(t) v tn hiu ra y(t).

60

V d 2.8: M hnh ton hc l phng trnh vi phn

uC
C
u(t)

iC

iL

iR
R1

uL
L

uR

R2

y(t)

Hnh 2.16: Minh ha cho v d 2.8.

Cho mt mch in trn hnh 2.16. Bit trc gi tr C ca t in L ca cun dy

v R1, R2 ca in tr l nhng phn t trong mch in. Hy xc nh m hnh mch
in di dng phng trnh vi phn m t quan h gia tn hiu vo l in p u(t) v
tn hiu ra y(t) l in p trn R 2 .
Cc nh lut Kirchoff s c s dng phc v vic xy dng m hnh m t T di
dng phng trnh vi phn. Ta nh ngha thm cc bin:

in p uC trn t in C

in p uL trn cun dy L

in p uR trn in tr R1

Dng iC i qua t in C

Dng iL i qua cun dy L

Dng iR i qua in tr R1

Nh vy th:
1) Theo cc nh lut ca Kirchoff c:
a)

u C (t) + u R (t) = u(t)

(2.29)

b)

u L (t) + y(t) = u R (t)

(2.30)

c)

i L ( t) +

(2.31)

i R (t) = i C (t)

2) Theo cc nh lut v cc linh kin c:

a)
b)
c)

duc ( t )
dt
diL ( t )
u L (t) = L
dt

i C (t) = C

R 1 i R (t) = u R (t)

d) R 2 i L (t) = y(t)

(2.32)
(2.33)
(2.34)
(2.35)

T nhng cng thc trn, bc tip theo ta s tm cch loi cc bin c nh

ngha thm cui cng phi n c phng trnh ch cn cha hai bin l u(t) v
y(t). o hm hai v ca (2.29) ri cng vi cc quan h khc c:
61

ic ( t ) duR ( t ) du( t )
=
=
C
dt
dt

iL ( t ) + iR ( t ) duR ( t ) du( t )
+
=
C
dt
dt

1 y( t ) uR ( t ) duR ( t ) du( t )
+
=

+
C R2
R1
dt
dt

(2.36)

Thay tip (2.30), (2.33) v (2.35) vo (2.36) c:

y( t ) uL ( t ) + y( t ) d
du( t )
+
+
( uL ( t ) + y( t )) = dt
CR2
CR1
dt

1
d2iL ( t ) du( t )
1
L diL ( t ) dy( t )
+

+
+L
=

y( t ) +
CR1
dt
dt
dt
dt2
CR1 CR2

1
L
dy( t ) L d2 y( t ) du( t )
1
CR + CR y( t ) + CR R + 1 dt + R dt2 = dt
1
2
1 2
2

Suy ra
CLR1

d2 y( t )
dt2

+ ( CR1 R2 + L )

dy( t )
du( t )
+ ( R1 + R2 ) y( t ) = CR1 R2
dt
dt

v ta c c m hnh mch in di dng phng trnh vi phn:

a0 y( t ) + a1

dy( t )
d2 y( t )
du( t )
+ a2
= b1
dt
dt
dt2

vi
a 0 = R 1 +R 2 ,

a 1 = CR 1 R 2 +L ,

a 2 = CLR 1

b 1 = CR 1 R 2 .

V d 2.9: Xy dng m hnh ton hc l phng trnh vi phn

u(t)

Fm

Fm = m

d2 y
dt 2

, Fc = c y (t) , Fd = d

dy
dt

y(t)
d

Fc

Fd

Hnh 2.17: M hnh ha b gim chn, v d 2.9

nghin cu cc b gim chn t, thit b my mc, ngi ta cn phi m hnh

ha chng. S nguyn l b gim chn c cho trong hnh 2.17, trong c l hng s
lc ca l xo, d l hng s c trng phn gim tc v m l khi lng tnh ca thit b
ln b gim chn. Hy xy dng phng trnh vi phn m t quan h gia tn hiu
u vo l lc u(t) p ln b gim chn v tn hiu ra y(t) l ln ca n.
Trn c s s nguyn l ta c cc lc cn tr ln y(t) ca b gim chn:

62

d2 y

a)

Fm = m

b)

Fc = c y (t)

c)

Fd = d

dt 2

dy
dt

d) Fm+ Fc+ Fd = u(t)

(tin v lc ca Newton)
(lc cn ca l xo)
(lc cn ca b gim tc)
(tin cn bng lc ca Newton).

Suy ra phng trnh vi phn m t b gim chn l:

m

d2 y
dt 2

+ d

dy
+ cy(t) = u(t)
dt

V d 2.10: M hnh ton hc l phng trnh vi phn

u(t)

Cho mt bnh ng cht lng m t hnh

2.18. Bit trc cc thng s v bnh nh din
tch y A ca bnh, h s chuyn i p sut
p(t) trong bnh vi lu lng ra y ( t ) l r, tc l:
p( t )
y(t) =
r

r
y(t)

A
Hnh 2.18: Minh ha v d 2.10

v h s chuyn i p sut p(t) vi cao ct cht lng trong bnh l , tc l:

p(t) = h(t)
Gi u(t) l lu lng cht lng chy vo bnh. Vy th:
y(t) =

p( t )
= h(t)
r
r

dy( t ) dh( t ) u( t ) y( t )
=
=
dt
r dt
r
A

v ta c c phng trnh vi phn m t quan h lu lng vo u(t) vi lu lng ra

y(t) nh sau:
rA

2.2.2

dy( t )
+ y( t ) = u( t )
dt

Hm truyn, hm trng lng v hm qu

Xt h lin tc SISO c tn hiu vo u(t) v tn hiu ra y(t). Hm truyn G(s) c

nh ngha l t s gia nh Laplace Y(s) ca p ng y(t) v nh Laplace U ( s ) ca
kch thch u(t) khi h c kch thch t trng thi 0, tc l khi c cc iu kin u
y(0),

d n 1 y(0 )
dy( 0 )
,,
ng nht bng 0. Ni cch khc:
dt
dt n 1

G( s ) =

Y ( s)
U ( s) trng thi u=0

63

Vi cng thc nh ngha trn th h tuyn tnh tham s hng, hm truyn l mt m

hnh, v t tnh cht xp chng u1

y1 , u2

y2 u1 + u2

y1 + y2 , ta c ngay:

G(U1 + U2 ) = Y1 + Y2 = G1U1 + G2U2 , U1 , U2 G = G1 = G2

Tng t nh lm mc 2.1.5 khi p dng ton t Laplace gii phng trnh
vi phn tuyn tnh h s hng, nhng y ta i t phng trnh vi phn (2.25) m t
quan h vo ra ca h thng vi cc iu kin u:
y(0) =

d n 1 y(0)
dy( 0 )
= =
= 0
dt
dt n 1

th khi chuyn sang min phc bng ton t Laplace ta c:

(a 0 +a 1 s+

+a n s n )Y(s) = (b 0 +b 1 s+

+b m s m )U(s)

v do c hm truyn:
G( s ) =

Y ( s) b0 + b1s +
=
U ( s) a0 + a1s +

+ bm sm

(2.37)

+ an sn

Ch : Hm truyn (2.37) l t s gia nh Laplace Y(s) ca tn hiu ra y(t) v nh

Laplace U(s) ca tn hiu vo u(t) ch c ngha cho h tuyn tnh tham s hng v cng
ch c nh ngha khi h c cc trng thi u bng 0.

So vi m hnh (2.28) dng phng trnh vi phn th vic s dng hm truyn lm

m hnh c tnh u vit hn hn l quan h gia tn hiu vo v tn hiu ra nay c m
t bng mt phng trnh i s tuyn tnh (2.37). iu gip cho cng vic xc nh
p ng y(t) ca h thng ng vi mt kch thch u(t) cho trc c n gin hn
nhiu. Vi hm truyn (2.37), vic kho st c tnh ng hc ca h thng cng n
gin v nhanh chng nh ta s thy sau ny.
Tuy rng hm truyn (2.37) c dn t phng trnh vi phn m t quan h
vora (2.28) ca h thng, song iu khng nht thit l c hm truyn phi c
m hnh dng phng trnh vi phn. Ta s xt mt vi v d minh ha cho iu .
V d 2.11: Xc nh hm truyn

Quay li v d 2.8 vi m hnh mch in cho trong hnh 2.16. Sau khi nh
ngha thm cc bin mi l in p uC trn t in C , in p uL trn cun dy L , in
p uR trn in tr R 1 , dng iC i qua t in C, dng iL i qua cun dy L v dng i R
i qua in tr R 1 ta c cc phng trnh (2.29)

(2.35) m t quan h gia chng. Gi

U C ( s ) l nh ca uC , UL(s) l nh ca u L , U R ( s ) l nh ca uR , IC(s) l nh ca i C ,
IL(s) l nh ca i L v I R ( s ) l nh ca iR , th cc quan h (2.32) (2.35) tr thnh:
a) I C (s) = CsU C (s)
b) U L (s) = LsI L (s)

64

c)

R 1 I R (s) = U R (s)

d) R 2 I L (s) = Y(s)
Khi th t nhng phng trnh Kirchoff (2.29) (2.31) ta c ngay c:
CR 1 R 2 sU(s) = CR 1 R 2 sU C (s)+CR 1 R 2 sU R (s)
2

= [CLR 1 s +(CR 1 R 2 +L)s+(R 1 +R 2 )]Y(s)

Suy ra hm truyn ca mch in hnh 2.3 l:
G( s ) =

CR1 R2 s

CLR1s + ( CR1 R2 + L )s + ( R1 + R2 )

V d 2.12: Xc nh hm truyn

Hy xc nh hm truyn cho mch in c s m t hnh 2.19, trong tr s

linh kin L ca cun dy, R ca in tr v C ca t in l cho trc.
uL

u(t)

iL
iR

L
R

iC
C

y(t)

Hnh 2.19: Minh ha cho v d 2.12 v

vic xc nh hm truyn.

K hiu nh Laplace cho nhng bin c nh ngha thm bng cc ch in hoa

(hnh 2.19) ta s c:
1) Theo Kirchoff
a) U L (s)+Y(s) = U(s)
b) I C (s)+I R (s) = I L (s)
2) Theo linh kin
1
U L (s)
Ls
1
b) I R (s) =
Y(s)
R
1
c) Y(s) =
I C (s)
Cs

a) I L (s) =

Suy ra:
U(s) = U L (s)+Y(s) = LsI L (s)+Y(s) = Ls[I C (s)+I R (s)]+Y(s)
= Ls ( Cs+

1
Ls
) Y(s)+Y(s) = ( CLs 2 +
+1 ) Y(s)
R
R

65

v ta c hm truyn ca mch in:

G( s ) =

Y ( s)
1
=
U ( s) CLs2 + L s + 1
R

V d 2.13: Xc nh hm truyn

Cho h c gm mt l xo c h s c, mt vt vi khi lng m v b suy gim tc c

h s d c ni vi nhau nh hnh 2.20 m t. Hy xc nh hm truyn cho h c
nu tn hiu u vo u(t) c nh ngha l lc bn ngoi tc ng ln vt v tn hiu
ra y(t) l qung ng m vt i c.
Gi Fc , Fm , Fd , l nhng lc ca l xo, vt v
u(t)

b suy gim tc sinh ra khi vt dch chuyn nhm

cn s dch chuyn th:

m
y(t)

F c = cy(t)
Fm = m

Fc Fm

Fd

d 2 y( t )

dt 2
dy( t )
Fd = d
dt

Hnh 2.20: Cho v d 2.13.

v do theo tin cn bng lc ta c:

u(t)= F c +F m +F d = cy(t)+m

d 2 y( t )
dt 2

+d

dy( t )
U(s)=(c+ds+ms 2 )Y(s)
dt

Suy ra hm truyn ca h l:
G( s ) =

Y ( s)
1
=
U ( s) ms2 + ds + c

Gi g(t) l hm gc (causal) ca hm truyn G(s), tc l:

g(t) = L

{G(s)},

vy th theo tnh cht ca ton t Laplace ta c:

Y(s) = G(s)U(s)

y(t)= g(t)*u(t) =

g( )u( t )d =

g( t )u( )d

Hm g(t) c gi l hm trng lng ca h thng. Vi u(t)= (t) th do:

U(s) = 1
nn c:
y(t) = g(t)

66

(2.38)

v ta i n:
nh l 2.3: Hm trng lng g(t) l p ng ca h thng khi h ang trng thi 0 (c

cc gi tr ban u y ( 0 ) ,

d n 1 y(0 )
dy( 0 )
, ,
bng 0) v c kch thch bi
dt
dt n 1

xung dirac (t) u vo. Vi hm trng lng g ( t ) ta lun xc nh c tn hiu

ra y(t) theo cng thc (2.38), nu bit trc tn hiu vo u ( t ) .
Nh cng thc (2.38), khi cho trc kch thch u(t) ta lun xc nh c p ng
y(t) ca h thng vi gi thit rng ti thi im bt u c kch thch h ang
trng thi 0. iu ny ni rng bn thn hm trng lng cng l mt m hnh m t h
thng v m hnh c xp vo loi m hnh khng tham s. l nhng m hnh
biu din trc quan c tnh ng hc ca h thng di dng bng tra hoc th. Ch
: V xung dirac (t) khng phi l tn hiu (khng c ngha vt l) nn hm trng
lng g(t) cng khng phi l tn hiu. Ngi ta ch s dng g(t) lm m hnh m t h
v phn tch ng hc ca h sau ny.
Bn cnh hm trng lng g(t), mt th loi m hnh khng tham s khc cng
thng c s dng kho st trc quan c tnh ng hc h thng l hm qu
h(t) c nh ngha nh l p ng ca h thng khi h ang trng thi 0 v c
kch thch bi tn hiu Heaviside 1(t) u vo.
Vi u vo u(t) l tn hiu 1(t) th:
U ( s) =

1
s

do hm qu h(t) c nh Laplace H(s) c tnh theo:

H ( s) = Y ( s) =

G( s )
s

Bi vy, theo tnh cht ca ton t Laplace (khi h(0)=0) ta suy ra c:

t

h( t ) = g( )d

(2.39)

Gi s rng mt h thng c hm truyn G(s) c kch thch bng tn hiu u(t) c

nh Laplace U(s). Tn hiu ra y(t) ca n khi s l:
y(t) = L

{G(s)U(s)} = L

{sH(s)U(s)}

Nu gi h( t ) l tn hiu c nh Laplace H ( s) = H ( s)U ( s ) th:

t

h( t ) = L1 { H ( s)} = L1 { H ( s)U ( s)} = h( t ) * u( t ) = h( t )u( )d

0

v u(t)=0 khi t < 0 cng nh h(t ) = 0 khi > t , tc l chng u l cc tn hiu causal.

67

p dng tnh cht ton t Laplace cho nh ca o hm vi H ( s) = sH ( s) h(0) th:

y( t ) = h(0) ( t ) +

d
d t
h( t ) = h(0)u(0) ( t ) +
h( t )u( )d
dt
dt 0

(2.40)

iu ni rng hm qu h(t) cng l mt m hnh ca h.

nh l 2.4: Hm qu h(t) l p ng ca h thng khi h ang trng thi 0 (c cc
d n 1 y(0 )
dy( 0 )
, ,
bng 0) v c kch thch bi tn hiu
dt
dt n 1

gi tr ban u y(0),

Heaviside 1(t) u vo. Vi hm qu h(t) ta c th xc nh c tn hiu ra

y(t) theo cng thc (2.40), nu bit trc tn hiu vo u(t).

(t)
1(t)
u(t)
Hnh 2.21: M t h thng bng
s khi v hm truyn.

G(s)=

G(s)

b +b s+
Y ( s)
= 0 1
U ( s)
a0 + a1 s +

g(t)
h(t)
y(t)
+ bm sm
+ an sn

Mt h thng tuyn tnh, sau khi c m hnh ha v c hm truyn G ( s ) , s

thng c biu din n gin thnh mt khi c dng nh hnh 2.21. Cch biu din
ny rt tin cho vic xy dng m hnh cho mt h phc tp gm nhiu khi mc ni
tip, song song hoc phn hi.
V d 2.14: S dng m hnh l hm qu

Cho h m t bi hm truyn:
G( s ) =

1 + Tt s
1 + Tm s

vi

Tt Tm

h(t)
Tt
Tm
1

nh Laplace H(s) ca hm qu h(t) l:

G( s) 1 Tm Tt
1
H ( s) =
=

1
s
s
Tm
s+
Tm

Tm

Hnh 2.22: Minh ha v d 2.14.

Vy

T Tt Tm
h( t ) = (1 m
e )1( t )
Tm

G( s )
nn t dng ng th ca h(t)
s
ngi ta c th suy ra c nhiu tnh cht cho G(s). nh l sau minh ha cho iu .

Do hm qu h(t) c nh Laplace l

68

nh l 2.5: Cho mt h thng tuyn tnh c hm truyn G(s) dng thchu t:

G( s ) =
a)

b0 + b1s +

+ bm sm

a0 + a1s +

+ an sn

(2.41)

b)

Nu ng h(t) xut pht t 0, tc l h(+0)=0, th n > m. Trong trng hp

ngc li khi h(t) khng i t im 0 (h(+0) 0) th n m.
d
Nu ng h(t) i t 0 v c o hm ti 0 cng bng 0, tc l
h(+0 ) = 0, th
dt
d
nm>1. Ngc li nu h ( + 0 ) = 0 v
h(+0 ) 0 th n = m+1
dt

c)

Nu ng h(t) tin ti v hn ( lim h(t) = ) th a 0 = 0

t

d) Nu ng h(t) tin ti 0, tc l lim h ( t ) = 0 th a 0 0 v b 0 =0

t

e)

Nu h(t) tin ti mt hng s k , tc l lim h ( t ) = k , th a 0 0 v k =

t

b0
.
a0

Chng minh:
a) Do nh Laplace H ( s ) ca h ( t ) l H ( s ) =
h(+0) = lim G(s) = lim

G( s )
nn t tnh cht ton t Laplace ta c:
s

bm m n
s
an

Bi vy nu h(+0)=0 th cng phi c n > m . Ngc li khi h(+0)0 th hoc n = m , nu

b
h(t)) xut pht t hng s m , hoc n < m nu h(t) xut pht t v cng.
an
Tng t ta cng chng minh c cho cu b) vi s tr gip thm ca tnh cht
ton t Laplace, tc l vi:
b
d
h(+0 ) = lim s[G(s)h(+0)] = lim m sm +1 n
s an
s
dt
chng minh cc cu c), d) v e) ta s dng cc tnh cht nu ca ton t
Laplace c quan h:
d
S
lim h( t ) = lim G( s) v lim
h( t ) = lim s [ G ( s ) h ( + 0 ) ]
t
s 0
s0
t dt

h(t)
h 2 (t)

h 3 (t) Hm G(s) c a 0 = 0 v nm>1

k
h 1 (t)
Hnh 2.23: Minh ha
cho nh l 2.5.

Hm G(s) c a 0 0 v nm>1

Hm G(s) c b 0 = 0 v nm=1

t
69

Cui cng, trc khi kt thc mc ny, ta xt mt trng hp ring song cng cn
phi bn n. l nhng h thng tuyn tnh c hm truyn:
G(s) = ks.
Kch thch h ny bi u(t) vi u(+0)=0, h s c p ng:
y(t) = L

{ksU(s)} = k

du( t )
dt

iu ny ni rng ti mt thi im t 0 , mun c c y(t 0 ) th ta phi c c cc gi tr

ca u(t) trong mt ln cn thuc t 0 v:
u( t0 + Ta ) u( t0 )
u( t0 + Ta ) u( t0 Ta )
du( t0 )
= lim
= lim
Ta 0
Ta 0
Ta
2Ta
dt
Ni cch khc phi c c cc gi tr ca u(t) trc v sau thi im t 0 . Vic phi c
nhng gi tr u(t) sau thi im t 0 th mi c c y(t 0 ) vi phm tnh nhn qu ca
h thng k thut rng p ng khng bao gi c trc kch thch, hay kt qu bao gi
cng phi c sau nguyn nhn (tnh causal ca h thng k thut). Bi vy, khng th
c mt h thng k thut c hm truyn G(s) = ks.
Tng qut, cc hm truyn dng (2.41) ca mt h tuyn tnh, nu c m > n th do
G ( s ) vit c thnh:
G(s) = c 0 +c 1 s+

+c m n s m

d0 + d1 s +

+ dn sn

a0 + a1s +

+ an sn

Nn trong p ng y(t) phi c thnh phn khng causal y c (t) vi nh Laplace:

Y c (s) = c 0 +c 1 s+

+c m n s m

Tng kt li, ta i n kt lun chung sau:

nh l 2.6: Cho h SISO tuyn tnh.

a)

H lun c m t bi ba m hnh ton hc tng ng l hm truyn G(s),

hm qu h(t) v hm trng lng g(t) vi cc quan h
G(s) = L {g(t)} ,

b)

h( t ) = L1 {

G( s )
}
s

g(t) =

dh( t )
dt

(2.42)

Nu h l causal th hm truyn G(s) dng (2.41) ca n phi c bc a thc

t s khng ln hn bc a thc mu s ( m n ) . Cc hm truyn nh vy c
tn l hp thc (proper). Nu cn c m < n th G(s) c tn gi l hp thc cht
(stricly proper).

Ch : Khi s dng (2.42) xc nh g(t) t h(t), c bit khi c lim G( s ) 0 , ta

s

phi lun xem chng l nhng hm causal, tc l phi lun xem chng nh mt tch ca
hm thng vi hm 1 ( t ) .
70

V d 2.15: Bin i hm qu thnh hm trng lng

T v d 2.14 trc y ta c cho h vi hm truyn:

G( s ) =

1 + Tt s
,
1 + Tm s

Tt Tm

hm qu h(t) nh sau:
t

h( t ) = (1

Tm Tt Tm
e )1( t )
Tm
t

T T
T Tt Tm
dh( t )
= m 2 t e Tm 1( t ) + (1 m
e ) (t)
g(t) =
Tm
dt
Tm

Vy

d1( t )
= ( t ). Suy ra, theo tnh cht ca hm m rng diract ( t ) th:
dt

v c

g(t) =

2.2.3

Tm Tt
Tm2

e Tm 1( t ) +

Tt
(t)
Tm

Php bin i s khi (i s s khi)

Vic biu din mt h thng qua hm truyn, c bit l m t trc quan dng khi
nh hnh 2.21, gip cho ta d dng xc nh c hm truyn cho mt h thng ln,
phc tp. Khi gp mt h thng ln gm nhiu khu, nhiu cng on, ngi ta thng
chia nh h thng thnh cc h thng con l nhng khu v cng on . Tip theo
ngi ta xc nh hm truyn cho tng h con ri t cc hm truyn ca nhng h con
mi tnh ra hm truyn cho ton b h thng ln.
Mc ny s gii thiu cc phng php ca i s s khi phc v vic xc nh
hm truyn cho h ln t nhng hm truyn ca cc h thnh phn (h con) trong n.
Tn gi ca phng php l "i s s khi" cng c nguyn nhn ca n:

Th nht l v cc phng php ny lm vic vi nhng phn t l khi biu din

cc h con nh hnh 2.21 m t.

Th hai l v ni dung ca tng khi (phn t) l hm truyn hp thc dng

(2.41), trong khi tp cc hm hp thc (m n ) kt hp vi php cng, nhn trong
chng v php nhn vi s thc (hoc phc) li to thnh mt i s trn trng
s thc R (hoc C).

Hai khi song song

Hnh 2.24a) m t mt h gm hai khi (h con) vi hm truyn ca tng khi l

G 1 ( s ), G 2 ( s ). Hai khi ny c ni song song c cng tn hiu vo u ( t ) . Tn hiu ra

ca tng khi l y 1 ( t ) v y 2 ( t ). Tn hiu ra y ( t ) ca c h l tng/hiu ca chng:

y(t) = y1(t) y2(t)

71

Gi G ( s ) l hm truyn ca ton b h thng, vy th:

G(s) =

Y ( s) Y2 ( s)
Y ( s) Y1 ( s)
Y ( s)
= 1
= 1

= G 1 ( s ) G 2 ( s )
U ( s)
U ( s)
U ( s)
U ( s)

Vy, hm truyn G ( s ) ca h ni song song l tng/hiu ca cc hm truyn thnh phn

G 1 ( s ) v G 2 ( s ) hnh 2.24b).
a)

b)

u(t)
G1(s)
Hnh 2.24: Mt h c hai h
con ni song song.

G2(s)

y1(t) y(t)

u(t)

G1(s) G2(s)

y(t)

y2(t)

Hai khi ni tip

Xt h gm hai khi con G 1 ( s ), G 2 ( s ) mc ni tip nh hnh 2.25a) m t. Tn hiu

vo u ( t ) ca c h cng l tn hiu vo ca khi th nht G 2 ( s ). Tn hiu ra w ( t ) ca
G 2 ( s ) l tn hiu vo ca khi th hai G 1 ( s ). Tn hiu ra y ( t ) ca G 1 ( s ) l tn hiu ra

ca h thng. T ta c c:

Y ( s) = G1 ( s)W ( s)

W ( s) = G2 ( s)U ( s)

Y(s) = G1(s)G2(s)U(s)

hay
G(s) =

Y ( s)
= G1(s)G2(s)
U ( s)

Vy hm truyn ca h thng gm hai khi ni tip l tch ca hai hm truyn ca hai

khi hnh 2.25b).

a)
Hnh 2.25: Mt h c hai
h con ni tip.

b)

u(t)

w(t)
G2(s)

y(t)
G1(s)

u(t)

G1(s)G2(s)

y(t)

H c hai khi ni hi tip

Khi nim hai khi ni hi tip c m t hnh 2.26a). Tn hiu u ra y ( t ) ca

h thng cng l tn hiu ra ca khi th nht G 1 ( s ). N c a ti u vo khi th
hai G 2 ( s ) phn hi ngc tr li u vo cho G 1 ( s ). u vo e ( t ) ca G 1 ( s ) l tn
hiu to bi tn hiu vo ca h thng u ( t ) v tn hiu ra w ( t ) ca G 2 ( s ):
72

e(t) = u(t) w(t)

Suy ra
Y ( s ) = G 1 ( s ) E ( s ) = G 1 ( s )[ U ( s ) G 2 ( s ) Y ( s )] = G 1 ( s ) U ( s ) G 1 ( s ) G 2 ( s ) Y ( s )

G(s) =

G1 ( s)
Y ( s)
=
,
U ( s) 1 G2 ( s)G1 ( s)

a)

b)

e(t)

u(t)
w(t)

xem hnh 2.26b.

y(t)
G1(s)

u(t)

y(t)
G1 ( s)
1 G2 ( s)G1 ( s)

Hnh 2.26: Mt h c hai h

con ni hi tip.

G2(s)

Chuyn nt ni tn hiu t trc ra sau mt khi

Hnh 2.27a) m t mt khi G ( s ) c tn hiu u vo l tng/hiu ca hai tn hiu

thnh phn u 1 ( t ) v u 2 ( t ). Nh vy th tn hiu ra y ( t ) s c nh Laplace l:
Y(s) = G(s)[U1(s) U2(s)] = G(s)U1(s) G(s)U2(s)

v do ta c c mt s tng ng nh hnh 2.27b, trong nt ni hai tn

hiu u 1 ( t ), u 2 ( t ) c chuyn ra sau khi G ( s ).
a)

b)

y(t)

u1(t)

G(s)

u2(t)

u1(t)
u2(t)

y(t)
G(s)

G(s)

Hnh 2.27: Chuyn nt ni t

trc ra sau mt khi.

Chuyn nt ni tn hiu t sau ti trc mt khi

Cho h vi hm truyn G ( s ) c tn hiu ra y ( t ) l tng/hiu ca tn hiu ra y 1 ( t )

ca G ( s ) v mt tn hiu y 2 ( t ) khc hnh 2.28a. Nh vy th:
Y(s) = Y1(s) Y2(s) = G(s)[U(s)

1
Y2(s)]
G( s )

tc l tn hiu u vo ca khi G ( s ) ny s l tng/hiu ca hai tn hiu u ( t ) v tn

1
c u vo l y 2 ( t ). T ta c c s tng ng nh
hiu u ra ca khi
G( s )
1
hnh 2.28b m t. Ch l khi mi c to thnh
c th khng c c hm
G( s )
truyn hp thc (bc a thc t s ln hn bc a thc mu s).
73

a)

u(t)

b)

G(s)

y1(t) y(t)
y2(t)

u(t)

y(t)
G(s)

1
G( s )

Hnh 2.28: Chuyn nt ni t

sau ra trc mt khi.

y2(t)

Chuyn nt r nhnh tn hiu t trc ra sau mt khi

Nguyn tc chuyn mt nt r nhnh tn hiu t trc khi G ( s ) ra sau khi

c m t trong hnh 2.29.
a)

u(t)

b)

G(s)

u(t)

y1(t)

y1(t)

G(s)

y2(t)

y2(t)

1
G( s )

Hnh 2.30: Chuyn nt r

nhnh t trc ra sau mt
khi.

Chuyn nt r nhnh tn hiu t sau ti trc mt khi

Hnh 2.30 trnh by nguyn tc chuyn mt nt r nhnh tn hiu t pha sau ti

pha trc mt khi c hm truyn G ( s ).
a)

u(t)

b)

y1(t)

G(s)

u(t)

y2(t)

y1(t)

G(s)

y2(t)

G(s)

Hnh 2.30: Chuyn nt r nhnh

t trc ra sau mt khi.

Chuyn nt r nhnh t trc ra sau mt nt ni

Hnh 2.31 trnh by nguyn l chuyn mt nt r nhnh tn hiu t trc mt nt

ni ra sau nt ni .
a)

u(t)

w(t)

b)

y(t)
u(t)

74

u(t)

w(t)

y(t)
u(t)

+
w(t)

Hnh 2.31: Chuyn nt r nhnh t

trc ra sau mt nt ni.

Chuyn nt r nhnh t sau ti trc mt nt ni

Nguyn tc chuyn nt r nhnh t sau ti trc nt ni c m t hnh 2.32.

a)

u(t)

b)

w(t)

y(t)

u(t)

y(t)

w(t)

y(t)

w(t)

y(t)

Hnh 2.32: Chuyn nt r nhnh

t sau ti trc mt nt ni.

Tip theo ta s xt mt vi v d v vic s dng i s s khi xc nh hm

truyn cho mt h thng tuyn tnh gm nhiu khi con.
V d 2.16: Bin i s khi
a)

b)

u(t)

y(t)
G1

u(t)

y(t)
G1

G2
y(t)u(t)

c)

G2

d)

u(t)

1+G1

G2
1 + G2

y(t)

u(t) G2 (1 + G1 )
1 + G2

y(t)

Hnh 2.33: S dng i s s khi xc nh hm truyn cho h v d 2.16.

Gi s c mt h thng gm hai khi con l G 1 v G 2 vi cu trc c m t nh

hnh 2.33a). Ta s p dng i s s khi xc nh hm truyn ca h thng. Trc
ht tch hiu y ( t ) u ( t ) thnh hai phn ring bit c hnh 2.33b). Sau p dng
nguyn l ghp hai khi song song cng nh nguyn l ghp hai khi hi tip th c s
tng ng 2.33c). Cui cng s dng nguyn l ghp hai khi ni tip i n s
2.33d). T ta c ra c hm truyn:
G(s) =

G2 + G2 G1
1 + G2

V d 2.17: Bin i s khi

Cho h c s khi m t hnh 2.34a. p dng nguyn l ghp hai khi song
song ta c s tng ng nh hnh 2.34b. Tip tc, s dng nguyn l ghp hai
khi ni tip ta c s nh hnh 2.34c v cui cng vi nguyn l hai khi hi tip ta
c s tng ng cho c h l hnh 2.34d. Nh vy h c hm truyn:

75

G1G2 + G1G3
1 + G1G2 + G1G3

G(s) =

a)

b)

u(t)

y(t)
G1

G2

u(t)

y(t)

G1

G2+G3

G3
c)

d)

u(t)

y(t)
u(t)

G1(G2+G3)

G1 (G2 + G3 )
1 + G1 (G2 + G3 )

y(t)

Hnh 2.34: Minh ha cho h v d 2.17

V d 2.18: Bin i s khi

a)

b)

u(t)

u(t)

y(t)

G1

G2
+

G3

y(t)

G1G2

G4

G3

G4

G1

c)

u(t)

y(t)

G1G2

G3

G4

G4

G1
d)

u(t)

1
1 + G1G2

G3
1 + G3 G4

G4

y(t)

Hnh 2.35: S dng i s s

khi bin i h cc s
khi ca v d 2.18.

G1

Cho mt h c s khi trong hnh 2.35a. Chuyn nt ni tn hiu t trc khi

G 1 ra sau khi ta c hnh 2.35b. S c v li hnh 2.35c bng cch o v

tr hai im r nhnh trc v sau khi G 4 . Tip theo p dng nguyn l ghp hai khi
hi tip cho hai vng hi tip bn trong ta s i n s hnh 2.35d v vi n d dng
c ra c hm truyn G ( s ) cho ton b h thng:

76

G3
1

1 + G1G2 1 + G3G4
G3G4
G( s) = G4
=
1

+
G
G
+
G
G
G3
1
1 2
1 3 + G3G4 + G1G2G3G4

1 + G1

1 + G1G2 1 + G3G4

2.2.4

S tn hiu v cng thc Mason

Vic biu din mt h thng ln thng qua cc h con ca n nh s khi cho ta

mt ci nhn trc quan mt cch tng qut v cu trc bn trong ca h thng, song
s dng n nhm xc nh hm truyn li c nhc im, nh nhng v d mc trc
ch r, l phi bin i s khi ban u v nhng dng quen thuc. iu ny gy
khng t kh khn trong ng dng cho ngi s dng v i hi ngi s dng phi c
c t nhiu kinh nghim trong vic bin i s khi. Nhm khc phc nhc im
trn, ngi ta thay s khi bng s tn hiu vi mc ch ph gip cho cng vic
xc nh hm truyn cng nh phn tch mt vi tch cht c bit ca h thng c
thun li hn. V ngun gc lch s, s tn hiu c xut x t l thuyt th (graph
theory) trc y thng c dng minh ha cc phng trnh i s tuyn tnh.
Mt s tn hiu c cu to bi cc thnh phn:

Cc im nt (node). Nu so snh vi s khi th cc im nt chnh l nhng

ng tn hiu, im r nhnh v im ni tn hiu.

Nhng ng ni cc im nt (branch). Trong s khi th nhng ng ni

ny c vai tr ging nh cc khi. Mi ng ni c mt gi tr ng bng hm
truyn ca khi tng ng. ng ni khng c khi c th hin trong s tn
hiu bng gi tr 1. Cc ng ni phi c hng ch chiu tn hiu.

Vi cu trc nh vy, mt s tn hiu s c:

a)

Tn hiu u vo u ( t ) l im nt ch c ng ni t i v khng c ng
ni dn n n nu khng phi l ng phn hi. im nt ch tn hiu
vo c tn gi l im nt ngun (source).

b)

Tn hiu u ra y ( t ) l im nt ch c ng ni dn n n, khng c ng
ni t i nu khng phi l ng phn hi. im nt ch tn hiu ra c
tn gi l im nt ch (sink).

c)

Tuyn thng (forward path) l nhng ng ni lin nhau i t im nt

ngun (source), tc l im u vo u ( t ), ti im ch (sink), tc l im tn
hiu ra y ( t ) v ch i qua mi im nt mt ln.

d) Cc vng lp (loops) s c th hin bng tp nhng im nt c cc ng

ni vi nhau to thnh mt vng kn.
e)

Nhng vng lp khng dnh nhau (nontouching loops) l nhng vng lp

khng c chung mt on ni no.

77

f)

Mt vng lp v mt tuyn thng s l khng dnh nhau nu chng khng c

chung mt on ni no.

g)

Tt c cc im nt ca s tn hiu u l im cng tn hiu.

Ch : xc nh c dnh hay khng dnh ta cn phi tun th mt quy tc l

im cng tn hiu ch c mt u ra v im tch tn hiu ch c mt u vo.

V d 2.19: Chuyn s khi thnh s tn hiu

a)
Hnh 2.36: S tn hiu tng
ng cho h gm hai khi
song song.

G2

b)

G2

G1

G1

H thng gm hai khi ni song song nh hnh 2.36a s c s tn hiu tng

ng cho trong hnh 2.36b.

V d 2.20: Chuyn s khi thnh s tn hiu

H gm mt khi G 1 mc ni tip vi hai khi G 2 v G 3 ni song song nh hnh

2.37a s c s tn hiu tng ng cho trong hnh 2.37.

a)

b)

G3

Hnh 2.37: S tn hiu

tng ng ca v
d 2.20.

G1

G2

G3
G1

G2
y

V d 2.21: Chuyn s khi thnh s tn hiu

H gm mt khi G 1 mc ni tip vi hai khi G 2 v G 3 ni hi tip nh hnh

2.39a) m t s c s tn hiu tng ng cho trong hnh 2.39b.

a)
Hnh 2.38: S tn
hiu tng ng
ca v d 2.21.

b)

y
G1

G2

G1
u

G2
G3

G3

V d 2.22: Chuyn s khi thnh s tn hiu

H gm mt khi G 1 mc ni tip vi khi G 2 dng hi tip nh hnh 2.39a) s c s

tn hiu tng ng cho trong hnh 2.39b.
78

a)

b)

y
G1

u G1

1
G2

G2

Hnh 2.39: S tn hiu tng ng ca v d 2.22.

By gi ta s i vo ni dung cng thc Mason xc nh hm truyn cho mt h

thng t s tn hiu ca n. V thc cht cng thc Mason c dng ging nh mt
thut ton gm nhiu bc tnh. tin theo di cc bc thc hin cng thc Mason ta
s s dng h c s tn hiu cho trong hnh 2.40 lm v d minh ha.
G7

G6
u

G1

G4

1
G2

Hnh 2.40: Minh ha cho vic trnh by

cng thc Mason.

G3

G5

1
H2

H1

1) Bc 1: Xc nh tt c nhng tuyn thng P k c th c ca h thng. l nhng

ng ni lin nhau khng cha ng phn hi i t im nt ngun u ( t ) ti im
nt ch y ( t ) v P k l gi tr ca n bng tch ca tt c cc gi tr cc ng ni c
trong P k . Vi hnh minh ha 2.40 th h s c ba tuyn thng l:
P1 = G1G2G3G4G5
P2 = G1G6G4G5
P3 = G1G2G7

2) Bc 2: Xc nh tt c cc vng lp L k c th c ca h thng. l nhng ng

ni lin nhau to thnh mt vng kn. H vi s trong hnh 2.40 c bn vng lp
bao gm:
L1 = G4H1
L2 = G2G7H2
L3 = G6G4G5H2
L4 = G2G3G4G5H2

3) Bc 3: Tnh
= 1 Lk + Li L j
k

i, j

Ll Lm Ln +

(2.43)

l, m, n

79

trong L i , L j l nhng cp hai vng lp khng dnh nhau (khng c chung mt

on ni no) , L l , L m , L n l nhng b ba vng lp khng dnh nhau, . H vi

s hnh 2.40 ch c hai vng lp L 1 v L 2 l khng dnh nhau, do :

= 1 (L1+ L2+ L3+ L4) + L1L2

= 1+ G 4 H 1 + G 2 G 7 H 2 + G 6 G 4 G 5 H 2 + G 2 G 3 G 4 G 5 H 2 + G 4 H 1 G 2 G 7 H 2
4) Bc 4: Xc nh k t bng cch trong cng thc (2.43) ta b i tt c nhng
vng lp c dnh vi P k (c on ni chung vi P k v iu ny khc vi khi nim
cc vng lp dnh nhau phi c mt on chung). V d nh vi h hnh 2.40 th:
1 = 1

(tt c vng lp u dnh ti P1 ),

2 = 1

(tt c vng lp u dnh ti P2 ),

3 = 1 L1 = 1 + G4H1

(vng lp L1 khng dnh vo P3 ).

5) Bc 5: Xc nh hm truyn G ( s ) theo cng thc Mason:

G(s) =

1
(Pk k )
k

(2.44)

Chng hn hm truyn ca h c s tn hiu cho trong hnh 2.40 l:

1
G( s) = ( P11 + P2 2 + P3 3 )

G1G2G3G4G5 + G1G6G4G5 + G1G2G7 (1 + G4 H1 )

=
1 + G4 H1 + G2G7 H2 + G6G4G5 H2 + G2G3G4G5 H2 + G4 H1G2G7 H2
V d 2.23: Minh ha cng thc Mason

Cho h vi s khi m t hnh 2.41a). Nhng tn hiu m ti cc im ni

khng c ch th l cng (+) hay tr () u c hiu l cng (+). Hnh 2.41b) l s
tn hiu tng ng ca h.
H ch c mt tuyn thng v l:
P1 = G1G2G3

H c 3 vng lp dnh nhau tng i mt (tng i mt c on ni chung):

L1 = G1G2H1
L2 = G2G3H2
L3 = G1G2G3

Suy ra:
= 1 (L1+ L2+ L3) = 1 G1G2H1 + G2G3H2 + G1G2G3

Do tt c cc vng lp cng u dnh vo tuyn thng P1 (c on chung) nn:

80

1 = 1

Vy theo (2.44) th:

G( s ) =

P11
G1G2G3
=

1 G1G2 H1 + G2G3 H2 + G1G2G3

a)

b)

G1

H2
G2

y
G3

H2

G1

G2

G3

H1
H1
Hnh 2.41: S dng cng thc Mason xc nh
hm truyn cho h trong v d 2.23.

V d 2.24: Minh ha cng thc Mason

Xt mt h thng gm hai bnh cha cht lng nh hnh 2.42 m t.

u(t)

, p1
h1
Hnh 2.42: H thng gm hai bnh
thng nhau.

r1

h2

, p2

r2
y(t)

q
A1

A2

Cht lng c bm vo bnh th nht vi lu lng l u ( t ) . Nu cht lng trong

bnh th nht c cao h 1 , p sut p 1 , h s chuyn i p sut/lu lng r 1 , h s p
sut/ cao , lu lng chy sang bnh th hai l q v h 2 , p 2 , r 2 l cao, p sut, h
s chuyn i p sut/lu lng ca cht lng trong bnh th hai th theo cc nh lut
vt l, gia nhng thng s k thut c quan h xp x:
dh1
= u ( t ) q
dt
1
q =
( p 1 p 2 )
r1

(2.45)

A1

dh2
= qy ( t )
dt
1
p2
y(t) =
r2

(2.46)
(2.47)

A2

p1 = h1

(p sut ti u ra c xem l bng 0)

(2.48)
(2.49)

81

p2 = h2

(2.50)

trong y ( t ) l lu lng cht lng chy ra khi bnh th hai.

T nhng hiu bit l thuyt ban u v h thng ta i n s khi v s
tn hiu m t h thng cho trong hnh 2.43. S ny c xy dng trn c s sao chp
nguyn bn cc ng thc (2.45) (2.50).

a) S khi

u(t)

h1

1
A1 s

p1

1
r1

1
A2 s

h2

p2

1
r2

y(t)

b) S tn hiu

u 1

1
A1 s

1
r1

1
A2 s

1
r2

Hnh 2.43: S khi v s tn hiu

ca h thng trong v d 2.24.

T s tn hiu trn ta thy h ch c mt tuyn thng:

P1 =

2
r1r2 A1 A2 s2

H c ba vng lp:
L1 =

r1 A1 s

L2 =

r1 A2 s

L3 =

r2 A2 s

trong c hai vng lp L 1 v L 3 khng dnh nhau (khng c on ni chung). Bi vy:

= 1 (L1+ L2+ L3) + L1L3 =

r1 r2 A1 A2 s2 + (r1 A1 + r2 A1 + r2 A2 )s + 2
r1 r2 A1 A2 s 2

V c ba vng lp u dnh vo P 1 (c chung on vi P 1 ) nn:

1 = 1

Vy
G(s) =

82

P1 1
2
=

r1 r2 A1 A2 s 2 + (r1 A1 + r2 A1 + r2 A2 )s + 2

2.2.5

th c tnh tn bin-pha

Khi nim hm c tnh tn

Xt h tuyn tnh vi m hnh phng trnh vi phn (2.28). H c hm truyn G ( s ):

G(s) =

b + b1 s +
Y ( s)
= 0
U ( s)
a0 + a1 s +

+ bm s m
+ an s n

( mn )

Hm c tnh tn G ( j ) c hiu l:
G( j ) = G( s) s = j

(2.51)

Ch : Hm G ( j ) trong (2.51) s khng phi l nh Fourier ca hm trng lng g ( t ),

nu G ( s ) c bn knh hi t > 0 . T mc 2.1.4 ta c bit rng G ( j ) trong

(2.51) l nh Fourier ca g ( t ) th G ( s ) phi c bn knh hi t bng 0, tc l G ( s ) phi
c tt c cc im cc nm bn tri trc o, hay hm truyn G ( s ) phi l mt hm bn.
Nh vy l ta nh ngha xong hm c tnh tn. Nhng hm c tnh tn i
din cho tnh cht g ca h thng?. tr li cu hi ny, ta xt v d sau.
V d 2.25: ngha ca hm c tnh tn

Xt h c hm truyn:
G( s ) =

2( s + 0,5)
s +1

Kch thch h t trng thi 0 bng tn hiu iu ha u ( t ) = sin( t ) , vi nh Laplace

U ( s) =

, ta c p ng:
s + 2
2

Y(s) =

2( s + 0,5)
1

=
2
2
s +1
+
2
1
s +

Suy ra
y(t) =

1
1+2

[ e

(1 + 2 2 )
s

2
2
2
s +
s + 2
s + 1

(1 + 2 2 ) sin( t ) cos( t )

v khi t th do e 0 ta c:
y(t) =

1 + 5 2 + 4 4
1+2

sin( t + )

vi = arctan

1 + 2 2

(2.52)

Mt khc hm c tnh tn ca h l:
G( j ) =

vi = arctan

2( j + 0,5)
1 + 2 2

1 + 5 2 + 4 4 j
=
j
=
e
2
2
j + 1
1+
1+
1 + 2

1 + 2 2
trng hp t :

(2.53)

. Do nu so snh (2.52) vi (2.53) ta s i n c kt lun cho

83

y( t ) = G( j ) sin( t + )

vi l gc pha ca G ( j ).

Tng qut ha kt lun ca v d 2.25 ta c nh l sau:

nh l 2.7: Nu kch thch mt h thng c hm truyn bn G ( s ) t trng thi 0, tc l
ti thi im kch thch h c

y(0) =

dy(0)
=
dt

d n 1 y(0)
dt n 1

bng tn hiu iu ha u ( t )= e j

=0
t

th khi t , tc l h ch xc lp, s c p

ng y ( t ) c xc nh t hm c tnh tn G ( j ) nh sau:
y( t ) = G( j ) e j ( t + ) ,

vi gc pha = arcG ( j )

(2.54)

Trong cng thc (2.54) ta s dng k hiu arcG ( j ) ch gc pha ca G ( j ):

arcG( j ) = arctan

Im G( j )
Re G( j )

v ReG ( j ) l phn thc, ImG ( j ) l phn o ca G ( j ). Ni cch khc:

G ( j )= ReG ( j )+ j ImG ( j )
Chng minh:

Do trong nh l 2.7 c gi thit G ( s ) l hm bn nn G ( j ) l nh Fourier ca

hm trng lng g ( t ). Khi , c hai tn hiu vo v ra u ( t ), y ( t ) u c nh Fourier
U ( j ), Y ( j ) v hm c tnh tn nh ngha bi (2.51) cng l:
G( j ) =

Y ( j )
U ( j ) trng thi u =0

cng l m hnh m t h khi t theo ngha:

y( t ) = F 1 {G( j )U ( j )}

G( j ) : u( t )

V ch xt h ch xc lp vi t nn ta c th xem cc tn hiu u ( t ), y ( t ) l xc
nh vi t . Bi vy, nu kch thch h bng tn hiu tun hon u ( t ) chu k T
u vo th cng vi nh Fourier U ( j ):
U ( j ) = 2

ck ( k

k =

1
2
) vi ck =
T
T

u( t )e

2
t
T dt

tn hiu y ( t ) u ra s c nh Y ( j ) l:
Y ( j ) = 2
= 2

84

cn ( n

n =

n =

cn ( n

2
2
2
)G( j ) = 2 cnG( jn
) ( n
)
T
T
T
n =

2
2
1
) trong cn = cnG( jn
) v cn =
T
T
T

u( t )e

jn

2
t
T dt

Vy:

1
2

y( t ) =
=
=

j t
j t
Y ( j )e d = cn ( n T )e d

n =

cnG( jn

n =

n =

dn e

jn

2
2 j t
2 jn T
) ( n
)e d = cnG( jn
)e
T
T
T
n =

2
t
T

vi dn = cnG( jn

2
)
T

iu khng nh tnh ng n ca nh l 2.7, rng tn hiu ra y ( t ) cng tun hon

vi chu k T v d n , n = , 1,0,1, l cc h s chui Fourier ca n, tc l:
dn =

1
T

y( t )e

jn

2
t
T dt

, n=,1,0,1,

Xy dng hm c tnh tn bng thc nghim

nh l 2.7, c bit l phn chng minh ca n, a ta n thut ton xc nh

hm c tnh tn (cng l m hnh ch xc lp) cho h tuyn tnh, tham s hng,
bng phng php thc nghim ch ng gm cc bc nh sau:
1) Thit k tn hiu u ( t ) tun hon vi chu k T chn trc c di tn s lm vic
ln v xc nh cc h s chui Fourier c n , n = , 1,0,1, ca n theo (2.12):
cn =

1
T

u( t )e

jn0 t

dt , n = , 1 , 0 , 1 , ,

0 =

2
T

Ta cng c th chn trc hai dy gi tr thc a k , k =0,1, v b k , k =1,2, ri

thit k u ( t ) tun hon vi chu k T theo:
u( t ) = a0 +

ak cos( k0t ) + bk sin( k0t )

k =1

Khi cc h s phc c n , n = , 1,0,1, s l

c0 = a0 , cn =

1
( an + jbn ) , n = 1,2,
2

2) Kch thch h u vo bng tn hiu u ( t ) va c thit k ri o tn hiu y ( t ) cng

tun hon vi chu k T u ra.
3) Tnh cc h s chui Fourier d n , n = , 1,0,1, ca y ( t ). Nu kt qu o c
bc 2) ch l dy gm N gi tr y 0 , y 1 , , y N 1 trong mt chu k, th cc h s d n ,
n = , 1,0,1, s c tnh xp x nh cng thc DFS, tc l:
dn =

1 N 1 j
yi e
N i =0

2 ni
N

, n = , 1,0,1,

Ch rng do d n trong cng thc trn l tun hon vi chu k N nn y ta ch

cn tnh N gi tr ca n trong mt chu k d n , n =0,1, , N 1 l .

85

4) Tnh cc gi tr ca hm c tnh tn:

d
G( jn0 ) = n , n = , 1,0,1,
cn
ri biu din chng di dng th (binpha hoc Bode).
Cui cng, cng t cc kt qu phn tch trn, ta cn nhn thy l khi h c kch
thch bng tn hiu iu ha:
u ( t )=sin( t )

u vo, th vi a k =0, k v b 1 =1, b 2 = b 3 = =0, tn hiu ra khi t s l:

y( t ) = G( j ) sin ( t + ( ) ) vi ( ) = arcG( j )
th c tnh tn binpha

ng biu din hm c tnh tn G ( j ) di dng th theo tham s khi

chy t 0 n trong h trc ta c trc tung ImG ( j )v trc honh ReG ( j ) c
gi l ng th c tnh tn binpha.
V d 2.26: Xy dng hm c tnh tn

ImG

Cho mt h thng c hm truyn

G( s ) =

4
1+ s

ReG

= 0

/4
2 2

Hm c tnh tn ca h l
G( j ) =

4
4
4
=
j
2
1 + j 1 +
1 + 2
Re G ( j )

Im G ( j )

Do c

1,5

0,6

Hnh 2.44: th c tnh tn

ca v d 2.26.

[ReG(j )2]2 + [ImG(j ) ]2 = 4

nn khi chy t 0 n , th ca n s l na ng trn nm di trc honh (v
khi hm G(j ) lun c phn o nh hn 0) hnh 2.44.
Ngoi ra, v G ( s ) cn l hm bn, nn vi th c tnh tn cho trong hnh 2.45
ta s xc nh c p ng y ( t ) ca h khi b kch thch t trng thi 0 bi tn hiu
iu ha u ( t ) = sin( t ) . Theo nh l 2.7, c bit t v d 2.25, th p ng l:
t : y( t ) = 2 2 sin( t

V d 2.27: Xy dng hm c tnh tn

Xt h vi hm truyn
3
G( s ) =
s(1 + 2s)

86

H c hm c tnh tn
G( j ) =

3
6
3
=
j
j (1 + j )
(1 + 4 2 )
1 + 4 2
Re G ( j )

Im G ( j )

v t ta c ng c tnh tn ca h cho trong hnh 2.45a). ng c tnh tn

ny c mt ng tim cn l

ReG= 6
V d 2.28: Xy dng hm c tnh tn

Cho h vi hm truyn
5
G( s ) =
1 + 5 s + 4 s2
T G(s) ta c hm c tnh tn v cng l nh Fourier G(j ) ca hm trng
1
lng g(t), v G(s) l hm bn (c hai im cc l s1 =
v s 2 =1):
4
5
5 20 2
25
G( j ) =
=
j
2
1 + 5 j + 4( j )
1 + 17 2 + 16 4
1 + 17 2 + 16 4
th hm G(j ) cho trong hnh 2.45b). Vi th ta thy khi s = 0,5 th
Re[G(j)] = 0

|G(j)| = 2

Ni cch khc nu kch thch h t trng thi 0 bng tn hiu u(t)= sin(0,5t) th sau
mt khong thi gian ln (t ), p ng ca h s l

y( t ) = 2sin 0,5t
2

a)

ImG

0,9
0,5

S
b)

= 0

=
2

0,4

ImG

ReG

s= 0,5

ReG

0,1

0,3

Hnh 2.45: th c tnh tn ca v d 2.27 v 2.28

V d 2.29: S dng hm c tnh tn

Cho mt h thng c m t bi hm truyn G( s) =

4 s(1 + 0,5 s)2

im tn s 0 m ti c | G(j )| = 1 . H c hm c tnh tn:

. Hy xc nh

87

G( j ) =

5
4 j(1 + 0,5 j )2

T hm c tnh tn ta c:
G( j ) =

=1

4 j0 (1 + 0,5 j0 )

06 + 804 + 1602 25 = 0

j0 1 + j 0
2

25
16

0 = 1

V d 2.30: Xy dng hm c tnh tn

s ImG

Cho h vi hm truyn
G( s ) =

1 + a1 s + a2 s2 + a3 s3 + a4 s4

v G(s) c gi thit l hm bn. Hy xc nh

tn hiu u(t) sao cho sau mt khong thi gian t
ln ( t ) p ng y(t) ca h cho trng hp
c kch thch t trng thi 0 bng tn hiu s

=0
ReG

Hnh 2.46: th c tnh tn bin

pha ca v d 2.30.

c mt gc lch pha vi u(t) l = 900.

T G(s) ta c hm c tnh tn G(j ) v cng l nh Fourier ca hm trng
lng g(t), v G(s) l hm bn:
G( j ) = G( s) s = j =

bA
2

A +B
Re G( j )

bB
2

A + B2
Im G( j )

trong
A = 1 a 2 2 + a 4 4 ,

B = a 1 a 3 3 .

Hnh 2.46 biu din ng c tnh tn ca h. Theo nh l 2.7 v cng thc (2.54),
nu c u( t ) = e js t u vo th p ng ca h khi t s l
j t + arcG ( js ))
y( t ) = G( js ) e ( s

iu ni rng y(t) c mt gc lch pha vi u(t) l =

ta phi xc nh im

tn s s ca u( t ) = e js t sao cho:
arc G( js ) =

88

bA
A2 + B2

=0

Im G( js )

= ,
Re G( js )
2

1 a 2 2 + a 4 4 = 0

ReG(j s )=0

s =

a2 a22 4 a4
2a4

Trn y l nhng v d v vic xy dng ng c tnh tn binpha t hm

truyn ca h thng. t ngc li vn l ta c bi ton phi tm hm truyn G(s) t
ng th ca hm c tnh tn binpha G(j ). Bi ton ngc ny ta thng gp
khi phi thc hin cng vic m hnh ha h thng tuyn tnh bng phng php thc
nghim, tc l sau khi quan st/o cc tn hiu vo/ra ca h thng ta c c th
hm G(j ) th bc tip theo l t th ca G(j )phi xc nh bc m , n cng nh
cc h s b 0 , b 1 , , b m v a 0 , a 1 , , a n cho hm truyn (2.37).
Cha kha cho vic gii bi ton ngc l mi lin h gia dng ca th G(j ) vi
G ( s ) ti nhng im tn s c bit m y ta quan tm hn c l hai im tn s
= 0 v = .
Trc ht ta xt mi lin h gia chng khi = . T G(s) cho trong cng thc
(2.37) ta c
G( j ) = ( j )m n

b0 ( j ) m + b1 ( j )1 m +

+ bm

a0 ( j ) n + a1 ( j )1 n +

+ an

(2.55)

Suy ra:
nh l 2.8: Nu mt h thng tuyn tnh c hm truyn G(s) l hp thc th hm G(j )
ti im tn s = s tha mn:

a)

b)

0 nu m < n

lim G( j ) = bm
nu m = n

a
n

lim arcG( j ) = ( n m )

Theo nh l 2.8, nu th ca G(j ) kt thc ti gc ta th hm truyn G(s)

phi l mt hm hp thc cht.
Bc tip theo l ta tm quan h ca G(j), G(s) khi = 0 v lm iu ny ta bin
i G(j ) t (2.55) v dng:
G( j ) =

k
( j )

(1 + T1/ j )(1 + T2/ j )

(1 + T1 j )(1 + T2 j )

(2.56)

trong r l hng s ph thuc vo gi tr cc tham s u b 0 , b 1 , , a 0 , a 1 , c

bng 0 hay khng. Chng hn nh
a)

r<0 nu b0=b1= =br1=0 v a0 0

b)

r > 0 nu a 0 = a 1 = = a r 1 = 0 v b 0 0

c)

r = 0 nu a 0 0 v b 0 0

Vi (2.56) ta thy:

89

nh l 2.9: th hm c tnh tn binpha G(j ) dng (2.56) ti im tn s = 0 v

hm truyn G ( s ) ca n c quan h:

a)

Nu lim G( j ) l mt s thc hu hn khc 0, tc l th ca G(j ) bt u

0

~
t mt im trn trc thc, th k = lim G( j ) v r = 0 . H c hm truyn vi
0

r = 0 c gi l h c khu khuch i.
b)

Nu lim G( j ) =0 th r < 0 v lim arcG( j ) = | r |

0

. H c hm truyn vi

r < 0 c gi l h c khu vi phn.

c)

Nu lim G( j ) = th r > 0 v lim arcG( j ) = r

0

. H c hm truyn vi

r > 0 c gi l h c khu tch phn.

2.2.6

th c tnh tn logarith - th Bode

Bn cnh vic biu din hm c tnh tn G(j ) trong mt phng vi hai trc ta
ReG(j ) v ImG(j ) nh mc 2.2.5 va trnh by ngi ta cn c mt phng php
biu din khc l th c tnh logarith, hay cn gi biu Bode. y l cch biu
din G(j )thnh hai th ring bit theo cho:
1) bin , hay gi tr logarith ca | G(j ) | l
L( ) = 20 lg | G(j ) | , c n v l Dezibel (dB),
2) v pha, hay gi tr gc () = arcG(j ) c n v l Grad.
C hai th ny u c trc honh l song khng c chia u theo gi tr ca
m li theo lg(). L do cho vic chia ny l trong mt khong din tch v tng
i nh, ta vn c c th minh ha y cho h thng thng qua G(j ) cho mt
di tn s rt ln, cng nh cng vic xy dng th ca
G( j ) = k

(1 + T1/ j )(1 + T2/ j )

(1 + T1 j )(1 + T2 j )

(1 + Tm/ j )
(1 + Tn j )

c thc hin mt cch n gin l cng tr cc th thnh phn:

n
m
n
m

L( ) = 20 lg 1 + Tk/ j lg 1 + Tk j = 20 lg k + L/k ( ) Lk ( )
k =1
k =1
k =1
k =1

trong

L/k ( ) = 20 lg 1 + Tk/ j

Lk ( ) = 20 lg 1 + Tk j

V d 2.31: Xy dng biu Bode ca khu khuch i

Khu khuch i c hiu l mt h ng hc c bn c hm truyn

G(s) = k
Khu ny c hm c tnh tn:
90

(2.57)

G(j )= k
Do (hnh 2.47):
L( ) = 20 lg | k |

0
180

( ) =

L( )
20

nu

k0

nu

k<0

( )

k=10

20

180

k=0,1

0,1

k0

k=1

10

100

0,1

k<0
1

10

100

Hnh 2.47: Biu Bode ca khu khuch i.

V d 2.32: Xy dng biu Bode ca khu qun tnh bc nht

Khu qun tnh bc nht c hiu l mt h ng hc c bn c hm truyn

G( s) =

1
1 + Ts

Khu ny c hm c tnh tn
G( j ) =

1
1
T
=
j
1 + Tj 1 + (T )2
1 + (T )2

Nn
2 2

L( ) = 10 lg(1+T )

( ) = arctanT .

ng th ca L() c hai tim cn ng vi khi 0 v khi :

0 khi 0
L( ) =
20 ( lg + lg T )

khi

v hai ng tim cn ny ct nhau ti G =

(2.58)

1
c gi l tn s gy v c
T

L( G ) = 10lg( 2 ) 3dB
T (2.58) ta thy ng tim cn th hai ng vi trng hp l ng thng
c dc:
20 dB/dec

trong 1 dec l di khong [ , 10 ] trn trc tung ( l ty ). Hnh 2.48 biu din
biu Bode ca khu qun tnh bc nht.

91

L()

()
T=10

T=1

T= 0,1

3dB

T=10

T=1

T=0,1

45
20dB
90

1 dec

G = 1

10

0,1

10

Hnh 2.48: Biu Bode ca khu qun tnh bc nht cho trong v d 2.32.

V d 2.33: Xy dng biu Bode ca khu khuch ivi phn

Khu khuch ivi phn l mt h ng hc c bn c hm truyn

G(s) = 1+Ts
Khu ny c hm c tnh tn:
G(j )= 1 + Tj
Suy ra
2 2

L( ) = 10lg( 1 + T )

( ) = arctanT .

Nh vy, th L ( ) c hai tim cn ng vi khi 0 v khi l

0 khi 0
L( ) =
khi
20 ( lg + lg T )

1
c gi l tn s gy. ng tim cn th hai
T
ng vi trng hp l ng thng c dc 20 dB/dec. Hnh 2.49 biu din biu
S
Bode ca khu cho.

Chng ct nhau ti im tn s G =

L()

()
90
20dB

T=10

T=1

T=0,1

45
3dB
0

T=10

1 dec

T=1

G = 1

T=0,1
10

0,1

Hnh 2.49: Biu Bode ca khu cho trong v d 2.33.

92

10

L()

()
20dB

90

c = TI1

Hnh 2.50: Biu Bode ca khu tch phn cho trong v d 2.34.

V d 2.34: Xy dng biu Bode ca khu tch phn

Khu tch phn l h ng hc c bn c hm truyn G( s) =

G( j ) =

1
j
=
TI j TI

1
L( ) = 20 lg lg
T
I

1
. Khu ny c
TI s

v ( ) =

Suy ra biu Bode ca n c dng nh hnh 2.50. ng th L( ) l ng

thng vi dc 20dB/dec. N s ct trc honh (l trc m ti L( ) c gi tr 0) ti
im tn s c = TI1 v im tn s ny c gi l tn s ct.

V d 2.35: Xy dng biu Bode ca khu vi phn

Khu vi phn l mt h ng hc c bn c m t bi hm truyn G ( s ) = T D s .

Khu ny c
G(j )=T D j

1
L( ) = 20 lg lg
T
D

v ( ) =
2

Vi phng trnh ca L( ) v ( ) nh vy ta c biu Bode ca khu vi phn

nh hnh 2.51 m t. th L( ) l mt ng thng c dc 20dB/dec v ti im tn
s c = TD1 c gi tr 0. im tn s ny c gi l tn s ct.
L()

()
20dB

90

c = TD1

Hnh 2.51: Biu Bode ca khu vi phn cho trong v d 2.35.

93

V d 2.36: Xy dng biu Bode ca khu dao ng bc hai

Khu dao ng bc hai l mt h ng hc c bn c hm truyn

G( s ) =

1
1 + 2 DTs + T 2 s2

vi 0 < D < 1

Nu kch thch khu ny bng tn hiu 1(t) u vo th theo v d 2.4, phn 7), p
ng u ra s l hm h(t) c dng dao ng. Dao ng s tt dn khi T > 0 (hnh 2.9c)
hoc ngc li khng tt nu T < 0 . chnh l l do ti sao n c tn l khu dao ng
bc hai. Khu ny c hm c tnh tn
1
G( j ) =
1 + 2 DTj T 2 2
Suy ra

L( ) = 10lg (1 T 2 2 )2 + 4 D2T 2 2

L()

( ) = arctan

2 DT
1 T 2 2

()
D=0

D=0,1
0

90

D=1

D=1

40dB

D=0,1

180

1 dec

G = 1

10

D=0
0,1

10

Hnh 2.52: Biu Bode ca khu dao ng bc hai tt dn cho trong v d 2.36.

th L() s c hai ng tim cn ng vi hai trng hp khc nhau l khi 0

v khi nh sau

0 :

L() 0

L( ) 40 lg lg
T

vi dc l 40dB/dec.

Hai ng tim cn ny ct nhau ti im tn s gy G =

ca khu dao ng bc hai tt dn.

1
. Hnh 2.53 l th Bode
T

Cc v d trn vi biu Bode L( ), ( ) ca nhng khu ng hc c bn s

c s dng thit k biu Bode cho mt khu tuyn tnh bt k c hm c tnh
tn s theo cu trc (2.57), bng cch cng/tr cc ng L( ), ( ) c bn .

94

L()
Dao ng bc hai
Qun tnh bc nht

40dB

Xem v d 2.42
Hnh 2.53: Xp x th Bode bng ng gy khc

20dB

20dB

Tn s gy

Thng thng, n gin cho vic cng/tr th ny ngi ta xp x L( ) bng

nhng ng thng tim cn ca n, tc l L( ) s c dng xp x nh mt ng gy
khc (polycon). Sau ny, nh chng ta s thy cc chng tip theo, vic xp x hu
nh khng nh hng ti ng dng ca biu Bode trong qu trnh xt tnh ng hc
c bn ca h thng. Hnh 2.53 minh ha vic xp x L( ) thnh ng gy khc thng
qua cc ng tim cn ca n.
V d 2.37: Xy dng biu Bode

Cho h c hm truyn
110
1
1
= 10

( s + 1)( s + 11)
1+ s 1+ 1 s
11
Gi L( ) l phn th bin biu Bode ca h. Vy th
G( s) =

L() = L1() + L2() + L3()

trong :
a)

L1() l phn th Bode ca khu khuch i (v d 2.31) vi G1(s)=10

b)

L2() l phn th bin biu Bode ca khu qun tnh bc nht (v d

1
. N c tn s gy 1 = 1 .
2.32) vi hm truyn G2 ( s) =
1+ s

c)

L3() l phn th bin biu Bode ca khu qun tnh bc nht c hm

1
. Tn s gy ca L3() l 2 = 1 1 .
truyn G3 ( s) =
1
1+
s
11

Cng cc ng xp x dng gy khc ca L1(), L2(), L3() li vi nhau ta c c

ng gn ng ca L( ). ng ny cng c dng gy khc gm (hnh 2.54):

Phn ng vi < 1 c nghing bng 0 v gi tr l 20dB.

Phn ng vi 1 < < 2 c nghing bng 20dB/dec.

Phn ng vi 2 < c nghing bng 40dB/dec.

95

L()
L1()

20

L1()

20dB

L2()
L3()

2
20dB

20dB
L2()

40dB

L()
L3()

Hnh 2.54: ng th Bode gn ng ca h cho trong v d 2.37

2.2.7

Quan h gia phn thc v o ca hm c tnh tn-Ton t Hilbert

Ti cc mc 2.2.5 v 2.2.6 ta lm quen vi hm c tnh tn

G(j )= ReG(j )+jImG(j )
ca mt h thng tuyn tnh, cng nh nhng phng php biu din trc quan G(j )
di dng th. Tip theo, s nghin cu mi quan h gia phn thc v phn o
T( ) = ReG(j ),

A( ) = ImG(j )

ca G(j )cho mt h tuyn tnh. Vic nghin cu l cn thit, v khng phi c ly

hai hm thc T( ), A( ) bt k no theo bin ri ghp chng li vi nhau
T( ) + jA( )
cng s c c hm c tnh tn ca mt h tuyn tnh.
Xt h tuyn tnh causal, tham s hng, c hm truyn G(s) dng thchu t, hp
thc v bn. Ni cch khc
G( s) =

Y ( s) b0 + b1s +
=
U ( s) a0 + a1s +

+ bm sm
+ an sn

(mn)

c cc h s b 0 , b 1 , , a 0 , a 1 , l nhng s thc v nghim ca a thc mu s

(im cc) u nm bn tri trc o.
Do G ( s ) c h s l s thc nn n s c gi tr thc nu s l s thc. Do
G( j ) = G( j )

(2.59)

iu ny ta c th thy t th ng c tnh tn binpha khi khng phi ch i t

0 n m t n l n s c dng i xng qua trc thc (hnh 2.55).

96

ImG

=
=

Hnh 2.55: ng c tnh tn bin pha ca h

tuyn tnh tham s hng vi i t n

=0

ReG

nm i xng qua trc thc.

nh l 2.10: Nu h c hm truyn G ( s ) dng thchu t th phn thc T( ) ca hm

c tnh tn binpha G(j ) ca n l hm chn v phn o A( ) l hm l.

Chng minh:
iu khng nh trn c suy ra t (2.59) v hai cng thc hin nhin ng
T ( ) =

1
G( j ) + G( j ) ,
2

A( ) =

1
G( j ) G( j )
2j

Bi ton th nht: Xc nh hm truyn t phn thc hm c tnh tn

Gi s l bit T( ) v phi tm hm truyn G(s) dng thchu t, hp thc v

bn sao cho hm c tnh tn binpha G(j ) ca n c phn thc l T( ).
Trc tin t nh l 2.10 v nu gi
C( s) =

1
G( s) + G( s)
2

s c
C(j ) = T( )

C( s) = T

(2.60)

Mt khc, v G ( s ) l hm bn nn tt c cc im cc s 1 , s 2 , ca G(s) phi nm bn

tri trc o. Suy ra cc im cc ca C ( s ) phn b i xng qua trc o. Nu c thm
gi thit rng tt c cc im cc ca G ( s ) u l nghim n ca
a 0 +a 1 s+a 2 s 2 +

+a n s n = 0

th G ( s ) phn tch c thnh tng cc phn thc ti gin

G( s) = A0 +

Ak
s
k =1 sk

vi

Ak = Res G( s)
sk

Suy ra
C( s) =

n
n A

Ak
1
k
+ A0 +
A0 +

+
2
s
s
s
s

k =1
k =1
k
k

(2.61)

97

 tnh cc h s A k ca (2.61) ta c th s dng phng php residuence gii

thiu mc 2.1.4. Song trong trng hp s k l nghim n ca a thc mu s, n s
c xc nh mt cch n gin vi cng thc ca Heaviside nh sau
A k = lim 2( s sk )C( s)

(2.62)

s sk

Tng kt li, vic ta c thut ton tm li gii cho bi ton th nht:

1) Nu T( ) khng phi l hm chn th kt lun ngay l bi ton khng c li gii.
2) Xc nh C(s) t T( ) theo (2.60).
3) Tm cc im cc ca C(s). Nu cc im cc khng phn b i xng qua trc o
th kt lun rng khng c hm truyn G(s) tha mn yu cu ca bi ton.
4) Tnh cc hng s A k theo (2.62), trong s k l im cc nm bn tri trc o.
G( s) = A0 +

5) p s:

Ak
k =1 s sk

V d 2.38: Xc nh hm truyn t phn thc ca hm c tnh tn

Hy tm hm truyn G(s) dng thchu t, hp thc v bn ca mt h tuyn

tnh hm c tnh tn ca n c phn thc l
2 + 2 + 4

T ( ) =

1 + 4

Theo (2.60) c
C(s) = T(
Vy

s
2 s2 + s4
1 s2
) =
= 1 +
4
j
1+ s
1 + s4

A0 = 1

Hm C(s) c bn im cc nm i xng qua trc o nn bi ton c li gii (hnh

2.56). Vi hai im cc nm bn tri trc o
s1 = e
s2 = e

3
4

1
2

5
4

1
2

( 1 + j ) ,
s1

s3

( 1 j )

ta c
A 1 = lim 2( s s1 )C( s) =
s s1

A 2 = lim 2( s s2 )C( s) =
s s2

Suy ra

98

1 s12
2s13
1 s22
2s23

s2

s4

2
=

1
2

Hnh 2.56: Minh ha cho v

d 2.38

1
2

G( s) = 1 +
s

3
j
e 4

1
2

+
s

5
j
e 4

s2 + 2 2 s + 2
s2 + 2 s + 1

Bi ton th hai: Xc nh hm truyn t phn o hm c tnh tn

Bi ton th hai pht biu nh sau: Cho trc A( ). Hy tm hm truyn G(s)

dng thchu t, hp thc v bn ca mt h tuyn tnh sao cho hm c tnh tn
binpha G(j ) ca n c phn o l A( ).
Tng t nh bi ton th nht, nu gi
D(s) =

1
[ G(s)G(s) ]
2

th theo nh l 2.10 c
1
D(j )
A( ) =
j

D(s) = jA(

s
)
j

(2.63)

Gi thit thm rng G(s) ch c cc im cc n. Vy khi phn tch G(s) thnh:

n

Bk
s
k =1 sk

G( s) = B0 + s
hm D(s) s c dng:
D( s) =

n B

1 n Bk
k
+ s
s

+
2 k =1 s sk
s
s

k =1
k

Tng t nh bi ton th nht, cc h s B k cng c xc nh mt cch n

gin nh cng thc
Bk = lim ( s sk )
s sk

2 D( s)
s

(2.64)

v ta c cc bc gii bi ton th hai nh sau:

1) Nu A( ) khng phi l hm l th kt lun ngay l bi ton khng c li gii.
D( s)
2) Xc nh D(s) t A( ) theo (2.63). Nu cc im cc ca
khng nm i xng
s
qua trc o th bi ton khng c li gii.
3) Tnh B k theo (2.64), trong s k l nhng im cc ca D(s) nm bn tri trc o.
n

4) p s:

Bk
, vi B 0 l mt s thc ty .
s
k =1 sk

G( s) = B0 + s

V d 2.39: Xc nh hm truyn t phn o ca hm c tnh tn

Hy tm hm truyn G(s) dng thchu t, hp thc v bn ca mt h tuyn

tnh hm c tnh tn ca n c phn o l

99

 2 3

A( ) =

1 + 4

Hm A( ) l hm l. Vi (2.63) c
D( s) =

2 s3
1 + s4

D( s)
cng c bn im cc nm i xng qua trc
s
o nn bi ton c li gii. T hai im cc nm bn tri trc o

Ging nh v d 2.38, y hm

s1 =

1
2

( 1 + j ) ,

s2 =

1
2

( 1 j )

ta c
B1 =

1 j
,
2j

B2 =

1+ j
2j

Suy ra
G(s) = B 0 +

sB1
sB2
s2
,
+
= B0 +
2
s s1 s s2
s + 2s + 1

trong B 0 l mt s thc ty .

Ton t Hilbert: Trng hp tng qut

Li gii ca hai bi ton trn t nhiu s dng ti mi quan h gia phn thc
~
T ( ) v o A ( ) ca hm c tnh tn G( j ) . Sau y ta s lm quen vi cng thc
tng qut m t mi quan h cho lp h thng tuyn tnh c hm truyn G ( s ) dng
thchu t, bn v hp thc thng vn c gi l ton t Hilbert.
nh l 2.11 (Ton t Hilbert): Xt hm truyn G(s) dng thchu t, bn v hp thc ca
mt h tuyn tnh. Gia phn thc T( ) v phn o A( ) ca hm c tnh tn

G( s) s = j = G( j ) = T ( ) + jA( ) c mi quan h:
a)
b)

T() = T() +
A( ) =

A( )
d

1

T ( )

Chng minh:
Trc ht ta thy do c gi thit l G(s) hp thc nn theo nh l 2.8:
0 nu m < n

lim G( j ) = bm
nu m = n

a
n
iu ny ni rng

100

0 nu m < n

T() = lim T ( ) = lim G( s) = bm

nu m = n

s
a
n

(2.65)

Bc tip theo ta tnh tch phn

Q=

G( s )
ds
ja

trong C l ng ly tch phn kn theo chiu kim ng h gm ba ng con:

ng C 1 l na ng trn nm bn phi trc o c tm l gc ta v bn

knh r 1 .

ng th hai C2 cng l na ng trn nm bn phi trc o c tm l im

0 + j a v bn knh r 2 0 (hnh 2.57).

ng th ba C 3 l phn trc o tr on nm trong ng trn C 2 vi r 2 0 .

j
C1
ja

C2

Hnh 2.57: Minh ha cho phn chng minh nh l 2.11.

r2

r1

C3

V G(s) l hm bn nn n l hm gii tch trong min kn bao bi ng ly tch

phn (phn na mt phng bn phi trc o). Bi vy
Q=0
Mt khc
Q = lim

r1
C1

G( s )
G( s )
G( s )
ds
ds + lim
ds + lim
r2 0
r2 0

ja
s
s
ja
s ja
C
C
2

Q2

Q1

Q3

trong
Q 1 = lim

1
G( s )
ds = lim G( s) lim
ds = T()(j )
s
r1

s ja
s
ja
C

1
G( s )
ds = lim G( s) lim
ds = G(ja)(j )
s ja
r2
s ja
s ja
C

~
G( s )
G( j )
ds =
d
a
s ja

r1
C1

Q 2 = lim

r2 0
C2

Q 3 = lim

r2 0
C3

Suy ra

101

~
G( j )
a d

0 = Q = T()(j ) + G(ja)(j ) +
= j T() + j [ T(a)+jA(a) ] +

T ( ) + jA( )
d
a

Cn bng phn thc, o ca hai v ri vit thay cho a cng nh thay cho ta s

nhn c iu phi chng minh.

Ch : Nu rng T( ) l hm chn v A( ) l hm l (nh l 2.10) th hai

cng thc cho trong nh l 2.11 ca ton t Hilbert cn c th l

T( ) = T() +

2.2.8

2 A( )

2 2 d

A( ) =

T ( )
d
2

2
0

Xy dng m hnh ton hc ca cc khu ng hc c bn bng thc

nghim ch ng

Trong rt nhiu trng hp, khi m s hiu bit v nhng quy lut giao tip bn
trong h thng cng nh v mi quan h gia h thng vi mi trng bn ngoi khng
c y c th xy dng c mt m hnh ton hc hon chnh theo phng
php l thuyt, th ngi ta thng phi p dng phng php thc nghim. y l
phng php xc nh m hnh ton hc trn c s quan st tn hiu vo u(t) v ra y(t)
ca h thng.
Phng php thc nghim xc nh m hnh ton hc cho h thng m tn hiu
vo u(t) c ch ng chn trc (do khng cn phi quan st) v ch cn quan st
mt mnh tn hiu ra y(t), gi l phng php thc nghim ch ng.
Sau y ta s xt bi ton thc nghim ch ng xc nh hm truyn G(s) t tn
hiu ra y(t)=h(t) quan st c ca h thng khi tn hiu vo ca n l hm
Heaviside u(t)=1(t) cho nhng khu ng hc c bn, bao gm
k
1 + Ts
k
G( s ) =
s(1 + Ts )
k
G( s ) =
s(1 + Ts)n
k
G( s ) =
, T 1 T 2
(1 + T1s)(1 + T2 s)

1) Khu qun tnh bc nht hay cn gi khu PT 1 : G( s) =

2) Khu tch phnqun tnh bc nht, hay IT 1 :
3) Khu tch phnqun tnh bc n, hay IT n :
4) Khu qun tnh bc hai, hay cn gi khu PT 2 :
5) Khu Lead/Lag:

102

G( s ) =

1 + Tt s
1 + Tm s

6) Khu dao ng bc hai: G( s) =

7) Khu chm tr (khu tr):

k
1 + 2 DTs + T 2 s2

G(s)= e

, 0<D<1

Khu qun tnh bc nht

Khu qun tnh bc nht c hm truyn

G( s ) =

k
1 + Ts

vi k , T > 0

G(j ) =

k
1 + T 2 2

kT
1 + T 2 2

(2.66)

trong k c gi l h s khuch i v T l hng s thi gian. V d 2.4 v hnh 2.9

cung cp cho ta th Bode ca n. Khu qun tnh bc nht ny c hm qu
h(t) = k( 1 e

t
T

vi nh Lapace H(s)=

G( s )
s

Cc dng th c tnh tn binpha G(j ) v h(t) cho hnh 2.58.

a)

ImG

b)

k
2

ReG

= 0

= T

h(t)
k

0,632k

t
T

Hnh 2.58: th hm c tnh tn binpha v hm qu ca khu qun tnh bc nht.

By gi ta xt bi ton ngc l xc nh tham s k , T ca hm truyn (2.66) t

th h(t) thu c bng thc nghim ch ng.
K tip tuyn vi h(t) ti im 0 v gi gc ca ng tip tuyn l . Khi c
tan =

dh(+0 )
ks
k
= lim s[sH ( s) h( +0 )] = lim sG( s) = lim
=
s
s
s 1 + Ts
dt
T

Ngoi ra, khi t th

lim h( t ) = lim sH ( s) = lim G( s) = lim

s 0

s 0

s 0 1 + Ts

= k

Bi vy ta c th xc nh hai tham s k , T cho hm truyn G ( s ) ca khu qun tnh

bc nht t th hm qu h(t) ca n nh sau

Honh ca ng tim cn vi h(t) khi t l gi tr k

K ng tip tuyn vi h(t) ti t = 0

103

Honh ca im A trn ng tip tuyn m ti c tung bng k s chnh

l tham s T cn tm (hnh 2.58b).

Hn na, cng ti thi im T ta cn c

h(T) = k(1e

) 0,632k

do trong nhiu trng hp, tm T mt cch n gin, ngi ta xc nh im

trn h(t) m ti c gi tr khong bng 0,632 gi tr cc i k ca n.
Khu tch phnqun tnh bc nht

Khu tch phn qun tnh bc nht c hm truyn

G( s ) =

k
s(1 + Ts )

G(j ) =

kT
2

1 + ( T )

(2.67)

(1 + T 2 2 )

Gi H(s) l nh Laplace ca hm qu h(t). Khi s c

1 T
T
G( s )
k
= k[ 2 +
=
2
s
s s+ 1
s
s (1 + Ts)
T

H ( s) =

Suy ra
t

h(t) = k [ tT (1 e T ) ]
a)

h(t)
k=

()

L()

b)

L()

h
t

20dB

h
t

900

()

40dB

t
1800

T
c)

kT

G = T
kT
2

ImG
ReG

1
0 =
T

= 0

104

Hnh 2.59: Hm qu , biu Bode

v th c tnh tn binpha ca
khu tch phnqun tnh bc nht.

Hnh 2.59 biu din th hm qu h ( t ) , c tnh tn Bode L( ), ( ) v c

tnh tn binpha G(j ) ca n. By gi ta xt bi ton ngc l xc nh tham s k , T
ca hm truyn (2.67) t th h ( t ) thu c bng thc nghim ch ng. Trc ht, do
t

lim e T = 0

nn th ng h(t) s tin ti ng tim cn

h tc (t) = k(tT)
ng tim cn ny ct trc honh ti im t = T cng nh c gc nghing tha mn
tan = k.
Bi vy, xc nh tham s k, T cho hm truyn G(s) t th ng h(t) ta c th
lm nh sau:

K ng tim cn h tc (t) vi h(t) ti t = .

Xc nh T l giao im ca h tc (t) vi trc honh.

Xc nh gc nghing ca h tc (t)) vi trc honh ri tnh k = tan .

ng c tnh tn binpha ca khu tch phn qun tnh bc nht c dng nh

hnh 2.59c vi ng tim cn khi 0 l
ReG ( j ) k T
Khu tch phnqun tnh bc n

Khu tch phn qun tnh bc n c hm truyn

G( s ) =

(2.68)

s(1 + Ts)n

Gi H ( s ) l nh Laplace ca hm qu h ( t ) . Khi s c
H(s) =

1 nT n ( n + 1 i)T 2
k
G( s )
= k[ 2
+
=
i
s
s
s
s2 (1 + Ts) n
i =1 (1 + Ts)

Suy ra
t

( n + 1 i)ti 1 e T

i =1

T i 2 ( i 1)!

h(t) = k [ t nT +

Hnh 2.60 biu din dng th ca ng qu h ( t ) ca khu tch phnqun

tnh bc n . By gi ta xt bi ton ngc l xc nh tham s k , T v n (nu cha bit
bc n ) ca hm truyn (2.68) t th h ( t ) thu c bng thc nghim ch ng. Trc
ht ta thy, do c:
t

lim ti e T = 0 vi i = 0 , 1 , , n

105

nn h(t) c ng tim cn (ng vi t )

h tc (t) = k(tnT)
ng tim cn ny ct trc honh ti T tc =nT v c gc nghing tha mn
tan = k.
h(t)
k=

h
t

h
t

Hnh 2.60: Hm qu ca tch phnqun

tnh bc n.

hT

T tc =nT
Do nu bc n ca m hnh hm truyn (2.68) l bit th hai tham s k v T
cn li ca n s c xc nh t ng th h ( t ) qua cc bc sau

Dng ng tim cn h tc (t) vi h(t) ti t

Xc nh gc nghing ca h tc (t) v tnh k = tan

Xc nh giao im T tc ca h tc (t) vi trc honh v tnh T =

Ttc
.
n

Trng hp n khng bit trc th ta cng c th xc nh c bc n ca (2.68) t

th hm qu h(t), m c th l t giao im T tc v gi tr h T =h(T tc ) ca n ti
im nh sau (hnh 2.60):
hT = h(Ttc) = kTe

i 1
n n ( n + 1 i)n

( i 1)!

i =1

Sau lp t s

hT
h
e n
= T = 2
kTtc knT
n

( n + 1 i )n i
= f(n)
( i 1)!
i =1
n

(2.69)

f ( n)

Hm f ( n ) cho trong (2.69) c s dng tnh ngc n=f 1 ( ) bc m hnh (2.68)

h
t t s = T . Thng thng ngi ta hay biu din hm =f(n) di dng bng tra
kTtc
cng vic tnh ngc n t c thun tin, v d nh bng sau
Bng 2.1: Bng gi tr hm ngc xc nh bc ca m hnh

0,3679 0,2707

106

3
0,224

0,1954 0,1755 0,1606

7
0,149

10

0,1396 0,1318 0,1144

Khu qun tnh bc hai

Khu qun tnh bc hai c hm truyn

G( s ) =

k
,
(1 + T1s)(1 + T2 s)

(2.70)

T1 > T2

Sau y ta s xt bi ton xc nh tham s k,T 1 , T 2 ca hm truyn (2.70) t

th h(t) thu c bng thc nghim ch ng (hnh 2.61b).
a)

b)

ImG

h(t)

= 0
k T1T2
T1 + T2

ng tip tuyn h tt (t)

ReG

0 =

im un

T1T2

h(T u )

Hnh 2.61: Hm c tnh tn binpha v hm

qu ca khu dao ng bc hai.

Tu
a

ng th h(t) c im un U vi ta h(T u ),T u (hnh 2.61b). Nh vy, trong

khong thi gian 0 t < T u n s c tc tng dn (gia tc dng) v sau l gim
dn vn tc v 0 khi t (gia tc m). Ni cch khc h(t) c vn tc cc i v* ti im
un U
dh( t )
v* = max
dt
t
K ng tip tuyn h tt (t) ca h(t) ti im un U th phng trnh ca ng tip
tuyn s l
h tt (t) = (ta)tan
trong a c nh ngha l honh giao im ca ng tip tuyn ca h tt (t) vi
trc honh. Gi b l khong thi gian ng tip tuyn i c t 0 ti k ta c
v * = tan =

k
b

a = Tu

h(Tu )
h(Tu )
= Tu
v*
tan

(2.71)

v nu H(s) l nh Laplace ca hm qu h(t) th

H(s) =

k
s(1 + T1s)(1 + T2 s)

h(t) = k [ 1

T1 e

t
T1

T2 e
T1 T2

t
T2

]
107

Suy ra

t
T1

e
e
dh( t )
=k
T1 T2
dt

t
T2

d h( t )
dt 2

Bi vy c Tu ta xc nh thi im m
Tu =

= k[

d 2 h( t )
dt 2

t
T1

t
T2

e
e
+
T1 (T2 T1 ) T2 (T1 T2 )

(2.72)

b trit tiu, s i n

T1T2
T
ln 2
T2 T1
T1

(2.73)

Thay (2.73) vo (2.72) c

T2

T2

dh(Tu )
k T2 T1 T2

v* =
=
dt
T1 T1

hay

b T2
=
T1 T1

T2

T1

T2

T T1 T2
k T2 T1 T2
=
= b 2

v * T1
T1

T2 T1

= x x 1 = f 1 (x)

(2.74)

trong
x=

T2
T1

(0<x<1 v T 1 > T 2 )

Tng t, ta cng c
x

x ln x + x 2 1
a v * ( kTu bv*)
= x 1 x
=
1 = f 2 (x)
x 1
b
k2

(2.75)

Hai cng thc (2.74) v (2.75) chnh l cng c tm T 1 , T 2 t a v b. C th l:

a
a
bng cch gii ngc (2.75), tc l x = f21 .
b
b
b
Tm T1 t x theo (2.74), tc l T 1 =
f1 ( x )

Tm x tha mn 0 < x < 1 t

Tm T2 theo T 2 = xT 1

Nhng phi ch rng cc bc xc nh T1 , T2 t a v b trn y khng phi lc no

cng p dng c. Ti sao li nh vy?. Cu tr li nm ngay iu kin l gi tr x
tm c bc u tin phi tha mn 0 < x < 1 . Nu nh rng gi tr x tm c bc
u tin nm ngoi khong (0 , 1 ) th ta c th dng ngay cng vic tnh ton v a ra
kt lun rng i tng khng th m t bi m hnh qun tnh bc hai (2.70).
Hn na, hm f 2 (x) nh ngha theo (2.75) l hm ng bin trong khong 0 < x < 1
vi gi tr gii hn
x

x ln x + x 2 1

lim f2 ( x ) = lim x 1 x
1 = 0,103648
x 1
x1
x 1

108

nn ta c th kim tra iu kin thc hin thut ton m khng cn gii ngc phng
a
c tha mn
trnh (2.75) bng cch kim tra xem t s
b
a
(2.76)
0 < < 0,103648
b
hay khng.
Tng kt li tt c cc kt qu nu trn, ta c c thut ton xc nh cc tham s
k, T1, T2 ca m hnh (2.70) t ng thc nghim h(t) nh sau

Tm hng s k theo k = h()

K ng tip tuyn h tt (t) vi h(t) ti im un. Sau xc nh hai tham s a l

honh giao im ca ng tip tuyn h tt (t) vi trc thi gian v b l khong
thi gian ng tip tuyn i c t 0 ti k .

a
a
. Nu t s ny khng tha mn (2.76), tc l
0,103648, th dng
b
b
thut ton vi kt lun rng h khng m t c bng m hnh (2.70).

Tm x tha mn 0 < x < 1 t

Tm T1 t x theo (2.74), tc l T1 =

Tnh T 2 = xT 1

Lp t s

a
a
bng cch gii ngc (2.75), tc l x = f21 .
b
b

b
f1 ( x )

a
tin cho vic tnh ngc hm x = f21 ngi ta thng lp bng tra, v d:
b
Bng 2.2: Bng gi tr hm ngc xc nh tham s m hnh

a
b

0,01

0,012

0,02

0,03

0,0275 0,0467

0,04
0,707

0,05

0,06

0,07

0,08

0,09

0,1

0,1008 0,1393 0,1904 0,2622 0,3740 0,6113

Khu qun tnh bc cao

Mc trn ch rng cc h thng c ng thc nghim h(t), tuy cng c dng hnh
ch S nh m t hnh 2.61b), nhng khng tha mn iu kin (2.76), th cng s
khng m t c bi hm truyn dng dao ng bc hai (2.70). Trong nhng trng hp
nh vy, ta phi ngh ngay ti dng hm truyn ca khu qun tnh bc cao nh sau
G( s ) =

k
(1 + Ts)n

(2.77)

109

h(t)
k

h(T u )
Tu

Hnh 2.62: th hm qu ca
khu qun tnh bc cao

T hm truyn (2.77) ta c c
t

i!

t
n 1 T

e T

h(t) = k [ 1

i =0

(2.78)

Suy ra

t
T

dh( t ) ke
=
tT
dt

t
t
n 1 T
n 1 T

[t
T
!
i
i=0
i = 0 ( i 1)!

(2.79)

v
2

d h( t )
dt 2

d 2 h( t )
dt 2

ke

t
T

t 2T 2

t
t
t
iT (T + 2t ) i 2 T 2 t 2
n 1 T
T

T

i!
i=0

(2.80)

= 0 v gii ra tm Tu ta c

T u = (n1)T

(2.81)

Thay (2.81) vo (2.79) v vo (2.78) c

v* =

dh(Tu )
e1 n ( n 1) n 2
= k
T ( n 2)!
dt

h(T u ) = k [ en 1

n 1 ( n 1)i

i !

i=0

(2.82)

(2.83)

Thay tip (2.82) vo (2.71):

( n 2)! n 1
b =
e
T
( n 1) n 2

(2.84)

v cc phng trnh (2.81), (2.82), (2.83) vo (2.71) ta i n

a = ( n 1)T

T ( n 2)!

n 1

( n 1)

i=0

Vy

110

[ en1 ( n 1) ]
n 2
n 1 ( n 1)i

a
n ( n 1)
+
= e1 [
b
( n 1) ! i =0

i !

i !

] 1= f 3 (n)

(2.85)

Cng thc (2.85) chnh l cng thc xc nh tham s n cho m hnh (2.77) bng
cch gii ngc hm
a
n = phn nguyn gn nht ca f31 .
b

(2.86)

v sau khi c n t (2.86) ta cng s c nt tham s T cn li nh (2.84)

T =

b( n 1) n 2

(2.87)

e n 1 ( n 2)!

Do n N nn cng thc tnh hm ngc (2.86) c th c thay th bng bng tra

a
ta ch cn tra bng c n m khng cn gii
cho n gin, tc l sau khi c t s
b
ngc phng trnh (2.86). Mt bng tra nh vy l bng 2.3 cho di y.
Bng 2.3: Bng tra gi tr hm ngc

n
a
b

0,1036

0,218

0,3194 0,4103 0,4933

7
0,57

10

11

0,6417 0,7092 0,7732 0,8341

Tng kt li ta c thut ton sau phc v bi ton xc nh cc tham s k , T v n

ca m hnh (2.77) t th thc nghim h ( t ) vi cc bc nh sau

Tm hng s k theo k = h = lim h ( t )

K ng tip tuyn h tt (t) vi h(t) ti im un. Sau xc nh hai tham s a l

honh giao im ca ng tip tuyn h tt (t) vi trc thi gian v b l khong

thi gian ng tip tuyn i t 0 ti h

a
a
. Nu
< 0,103648, th dng thut ton vi kt lun rng i tng
b
b
phi c m t bng m hnh qun tnh bc hai (2.70)

Tm n bng cch tra bng 2.3 hoc gii ngc hm (2.86)

Tm T t n v b theo (2.87)

Lp t s

Khu (b) Lead/Lag

Khu b Lead/Lag l khu ng hc c bn vi hm truyn

G( s ) = k

1 + Tt s
1 + Tm s

(2.88)

trong

Nu c T t < T m th n c gi l khu Lag (ct bt)

Ngc li, nu c T t > T m th n c gi l khu Lead (dn qua)

111

L do cho cch gi tn nh vy c l gii bng hnh 2.63 m t biu Bode ca

chng. Chng hn t hnh 2.63a) vi T t < T m ta thy m hnh (2.88) khng u tin
nhng thnh phn tn hiu c tn s cao khi i qua n, chnh v vy m n c tn l m
hnh Lag. Cng nh vy, khi c T t > T m th do (2.88) u tin cc tn hiu c tn s cao
nn n c gi l Lead (hnh 2.63b).
a)

L( )

Tm1

L( )

b)

Tt<Tm

Tt1

Tt>Tm

Tt1

Tm1

Hnh 2.63: th bin Bode ca khu Lead/Lag.

Sau y ta s xt bi ton xc nh cc tham s k, Tt v Tm ca m hnh (2.88) t

th h(t) thu c nh phng php thc nghim ch ng. Khng mt tnh tng qut
nu ta ch chn y bi ton xc nh k, Tt v Tm cho khu Lag ( T t < T m ) .
Trc ht ta thy ngay rng tham s k xc nh c t
k = lim h( t ) = lim G ( s ) = lim k
t

s0

s0

1 + Tt s
= h
1 + Tm s

(2.89)

tc l bng honh ca tim cn h ca h(t) khi t . Nh vy cn li hai tham s

T t v T m l cn xc nh.
a)

b)

h(t)
k=h

h(t)
b

kTt
Tm

h
A

Tm

Tm
t

Tm

h(0)
t
a

Hnh 2.64: Xc nh tham s m hnh Lead/Lag t th hm qu .

i t nh Laplace ca h(t) l H(s) vi

H(s) =

112

k(1 + Tt s)
1
G( s ) =
s
s(1 + Tm s)

ta c
h(0) = lim sH ( s) = lim G( s) =
s

s 0

kTt
Tm

(2.90)

K tip ng tip tuyn h tt (t) vi h(t) ti im t = 0 v gi tan l h s gc ca

ng tip tuyn th (hnh 2.64a)
dh(0)
tan =
= lim s sH ( s) h(0) =
s
dt

kTt
Tm

Tm

h h(0)
Tm

Bi vy Tm chnh l honh ca giao im gia ng tip tuyn h tt (t) vi ng tim

cn h . T Tm ta cng c lun Tt nh (2.90) nh sau
Tt =

h(0)Tm
k

(2.91)

Ta i n thut ton th nht xc nh tham s cho m hnh Lag:

K ng tim cn h vi h ( t ) ti t = ri xc nh k theo (2.89).

K ng tip tuyn h tt (t) vi h(t) ti im t = 0 , sau xc nh Tm l honh

ca giao im gia ng tip tuyn h tt (t) vi ng tim cn h .

Xc nh T t theo (2.91).
Thut ton trn vng li vn l im h(0) ni bt u t ng tip tuyn

h tt (t) nm kh xa ng tim cn h . iu ny dn ti nguy c kt qu s b sai s kh

ln khi m ch cn c mt sai lch nh trong vic dng ng tip tuyn.
trnh nguy c ny ngi ta s khng dng ng tip tuyn h tt (t) ti h(0) na
m thay vo l ti mt im khc nm tng i gn hn so vi ng tim cn h ,
a
chng hn im A c ta nh m t hnh 2.64b).
b

ng tip tuyn h tt (t) vi h(t) ti A ny s c phng trnh

h tt (t) = tan ( t a ) + b

(2.92)

xc nh h s gc tan ti A ta i t
t

T Tt Tm
e
h(t) = k(1 m
)
Tm
v c
a

T T
dh( a)
tan =
= k m 2 t e Tm
dt
Tm

(2.93)

Gi B l giao im ca tip tuyn h tt (t) vi ng tim cn h v T l honh

ca B th

113

h tt (T ) = tan (T a)+b = h = k
nn cng vi (2.92), (2.93) c
T a =

h h( a)
=
tan

kTm2
k(Tm Tt )e

a
Tm

[ Tm Tt e

a
Tm

Tm

] = Tm

hay Tm chnh l khong thi gian cn thit h tt (t) i c t im A ti im B.

Ta i n thut ton th hai xc nh tham s cho m hnh Lag gm:

K ng tim cn h vi h(t) ti t = ri xc nh k theo (2.89).

Ly mt im A bt k trn h ( t ) v k ng tip tuyn h tt (t) vi h(t) ti A, sau

xc nh B l giao im gia ng tip tuyn h tt (t) vi ng tim cn h .

Chiu on AB ln trc thi gian (trc honh) c T m .

Xc nh T t t T m v k theo (2.91).

Khu dao ng bc hai

Khu dao ng bc hai l khu c hm truyn:

G( s ) =

k
1 + 2 DTs + T 2 s2

k
(Ts + D)2 + 1 D2

, 0<D<1

(2.94)

T hm truyn ny ta c (xem thm v d 2.4):

h(t) = k [ 1

Dt
T

1 D2 t

+ arcos D ]
sin

T
1 D2

(2.95)

cng nh
h = lim h( t ) = lim G( s) = k .
t

(2.96)

s 0

Hnh 2.65 biu din dng ng th hm qu h(t) ca khu dao ng bc hai.

Cn th Bode ca n c dng cho hnh 2.9 ca v d 2.4 xt trc y.
h(t)
hmax

h qu iu chnh

k=h
Hnh 2.65: Xc nh tham s m hnh
dao ng bc hai t hm qu .

t
T0

114

T1

T2

T3

By gi ta thc hin bi ton ngc l xc nh cc tham s k , T v D ca hm

truyn (2.94) t th h(t) ca n c nh thc nghim ch ng. Trc ht, t cng
thc (2.95) ca hm qu h(t) th

Dt

e T
1 D2 t
dh( t )
sin
=k
T
dt
T 1 D2
dh( t )
= 0 ta c cc im cc tr T i (k c ti im t = 0 ) l
dt
i T
,
i=0,1, .
Ti =
1 D2

Bi vy, vi

sin ( + arcos D )
D
hmax = h( T1 ) = k 1
exp
1 D2

1 D2

= k 1 + exp
1 D2

(2.97)

(2.98)

Tr (2.98) cho (2.96) ta s c qu iu chnh h (hnh 2.65):

D
h = hmax h = k exp
1 D2

Nu chia (2.99) cho (2.96) theo tng v th

D
1
h

= exp

D=

k
2
2
1 D
1+
h
ln2
k

(2.99)

(2.100)

v chnh l cng thc cho php xc nh tham s D t ng thc nghim h ( t ). Tham

s T cn li s c xc nh t D vi s tr gip ca T1 theo (2.97) nh sau:
T1 =

T
1 D2

T=

T1 1 D2

(2.101)

Ba cng thc (2.96), (2.100) v (2.101) t c s cho vic xc nh cc tham s k , D ,

T ca m hnh (2.94) t ng thc nghim h ( t ).
Khu chm tr (khu tr)

Khu tr l mt h ng hc c bn c quan h gia tn hiu vo u ( t ) v ra y ( t ) l

y ( t ) = u ( t )

(2.102)

trong c gi l thi gian tr. Trn c s mi quan h ta c th kim tra ngay

c rng khu tr l mt khu tuyn tnh. Cng t quan h (2.102), khu tr c p
ng ging nh kch thch nhng c gi chm li sau mt khong thi gian tr .
115

Khu tr c hm truyn
G(s) = e

(2.103)

v hm c tnh tn (hnh 2.66b)

G ( j ) = e

= cos( ) jsin( )

a)

b)

u(t)

ImG

y(t)

t
Khu
chm tr

u(t)

ReG
1

y ( t )= u ( t )

Hnh 2.66: Khu tr hay cn gi l khu chm tr v ng c tnh tn binpha ca n.

Hm truyn (2.103) mc d l chun xc, song khng c thng dng ch v nhng

cng c phn tch, kho st h SISO tuyn tnh li thng tp trung cho hm truyn
thchu t. Bi vy ngi ta hay thay (2.103) bng mt hm thchu t xp x khc.
tng cho s thay th ny l cng thc quen bit trong gii tch c in:
e s =

1
s

lim 1 +
k
k

( s )k
k!
k=0

(2.104)

1) Xut pht t s xp x th nht ta thay khu gi tr bng n khu qun tnh bc

nht ni tip
G( s) = e s

1
n

(1 + Ts)

trong T =

(2.105)

2) T s xp x th hai ta c cng thc thay th khu gi tr l hm truyn thchu

c bc t s l m v mu s l n :
G( s) = e s

1 + b1s +

+ bm sm

1 + a1s +

+ an sn

(2.106)

sao cho nu phn tch (2.106) thnh chui Taylor ti im s = 0 th m + n phn t

u tin ca n trng vi m + n phn t u tin ca chui trong (2.104). Hnh
thc xp x ny c tn gi l cng thc xp x Pad.
V d 2.40: Minh ha cng thc xp x khu qun tnh bc cao cho khu tr

Cng thc xp x hm truyn ca khu tr G ( s )= e

116

bng khu qun tnh bc 5 l

G( s) = e s

1 + 5

v khu bng khu qun tnh bc 9 l

1
G( s) = e s
9
s

1 + 9

V d 2.41: Minh ha cc cng thc xp x ca Pad

Cng thc xp x hm truyn ca khu gi tr G ( s )= e

G( s ) = e

2.2.9

theo Pad vi m = n = 2 l

1
1
( s )2
s +
2
12

1
1
1 + s +
( s )2
2
12
1

Ma trn hm truyn cho h MIMO

m t h MIMO (hnh 2.15) vi vector u ( t ) gm r tn hiu vo v vector y( t ) gm

p tn hiu ra th thay v hm truyn nh xt t trc cho ti nay, ngi ta s dng
ma trn hm truyn kiu pr (p hng, r ct) nh sau:

Y ( s) = G( s )U ( s )

G11 ( s) G12 ( s)

G21 ( s) G22 ( s)
vi G( s) =

G p1 ( s) G p2 ( s)

trong U ( s) = L{ ( u1 ( t ),

G1r ( s)

G2 r ( s)

G pr ( s)

, ur ( t )) } v Y ( s) = L{ y1 ( t ),
T

, yp(t)

} . Nh vy tng

phn t Gik ( s) ca G ( s ) s chnh l hm truyn gia tn hiu vo u k ( t ) v tn hiu ra

y i ( t ). Cc hm gc gik ( t ) = L1 {Gik ( s )} l hm trng lng ca u k ( t )

y i ( t ).

Khi xc nh ma trn hm truyn tng ng cho h ln gm nhiu h con hp

thnh, ta lun phi ti tnh hp l ca kiu (s hng v ct) ca cc ma trn h con
tham gia trong php tnh. V d:
1) Ma trn hm truyn tng ng G ca h gm hai h G 1 , G 2 con mc song song
(hnh 2.24) l: G = G 1 G 2 . Hai h con ny phi c s tn hiu vo bng nhau v s
tn hiu ra cng bng nhau.
2) Vi hai h G 1 , G 2 con mc ni tip (hnh 2.25) th ma trn hm truyn tng ng
l: G = G 1 G 2 . S tn hiu ra ca khu th nht G 2 phi bng s tn hiu vo ca
khu th hai G 1 .
117

3) H hi tip (hnh 2.26) c ma trn hm truyn tng ng l: G = ( I G1G2 )1 G1 ,

vi I l ma trn n v. S tn hiu ra ca khu trong nhnh truyn thng G 1 phi
bng s tn hiu vo ca khu nhnh hi tip G 2 v s u ra ca G 2 phi bng s
u vo ca G 1 .

2.3 Phn tch h thng

2.3.1

Nhng nhim v c bn ca cng vic phn tch

Khi c mt m hnh ton hc m t h thng th bc tip theo ca bi ton iu

khin l t m hnh ny phi phn tch, phi rt ra c mt s kt lun c bn v tnh
cht, v cht lng ng hc ca h thng cn thit cho vic tng hp, thit k b iu
khin hay lp chng trnh iu khin sau ny. y cng l mt nguyn l mang tnh
trit hc ca mn hc iu khin t ng, tc l trc tin ngi ta phi bt u vi
nhng hiu bit s lc v h thng c m hnh ton hc, ri t m hnh ton hc
phi phn tch c c nhng iu cn cha bit v h thng (ging nh t thc tin
phi c kt thnh l lun v sau li phi vn dng l lun ngc tr li vo thc
tin).
Do kh c th phn tch c tt c nhng iu cn cha bit v h thng, nn
cng vic phn tch s c gi l tm hon thnh nu nh ta c thm c mt vi
iu b ch cha bit v h thng m nhng iu l ta bt u c cng vic
tng hp, thit k b iu khin. Nhng nhng iu g s c gi l cn thit v tm
cho cng vic tng hp. Trc ht l:
1) Hiu bit v tnh n nh ca h thng. Mt h thng c gi l n nh nu khi
kch thch h bng tn hiu u ( t ) b chn u vo, th h s c p ng y ( t ) u
ra cng b chn. Khi nim n nh ny thng cn c gi l n nh BIBO (vit
tt ca Bound Inputs Bound Outputs). Ch rng ngoi khi nim n nh BIBO
cn c nhiu nh ngha khc nhau v tnh n nh ca h thng, v d nh n nh
tim cn Lyapunov, n nh tuyt i . Tuy nhin, nu ch gii hn h tuyn
tnh th cc khi nim n nh trn l tng ng nhau.
2) Hiu bit v sai lch tnh. Yu cu h n nh mi ch xc nh c l y ( t ) s tin
n mt hng s khi c tn hiu vo u ( t )= u 0 cng l hng s. Song nu xem u 0 nh
mt tn hiu lnh (tn hiu t trc) mong mun h phi c u ra y ( t ) sau mt
thi gian qu Tq cn thit th vic xt tnh n nh ca h l cha m cn
phi nh gi xem sai lch
e(t) = u(t) y(t)

c tin v 0 hay khng. Gi tr gii hn ca sai lch ny

118

lim e ( t ) = e

c gi l sai lch tnh ca h thng.

3) Hiu bit v thi gian qu v qu iu chnh. Yu cu sai lch tnh e = 0 mi
ch gii quyt v tnh cht tnh ca h thng. Nhng yu cu chi tit hn ca h th
hin qua qu trnh y ( t ) tin ti gi tr mong mun u 0 hay sai lch e ( t ) tin v 0 nh
th no c gi l cc yu cu v cht lng ng hc. Chng c th l:
a)

Yu cu v qun tnh cn c ca h thng, v thi gian T q ca qu trnh qu

. Thi gian qu Tq cng nh, cht lng ng hc ca h cng tt.

b)

Yu cu v qu iu chnh, v min dao ng ca u ra y ( t ) xung quanh

gi tr gii hn
lim y ( t ) = y

m h thng cn phi t n c. y, qu iu chnh c hiu l

| y max( t ) y |

v gi tr ny cng nh, cht lng ng hc ca h cng cao.

4) Hiu bit v tnh bn vng. H phi lm vic khng nhng t c cht lng tnh
v ng ra m cn phi gi c cht lng cho d:
a)

C bt c mt s thay i no khng lng c trc xy ra bn trong h

thng (m hnh, tham s thay i ). iu ny l cn thit v ta khng th hy
vng rng s c mt m hnh m t i tng chnh xc 100%.

b)

C s tc ng ca nhng tn hiu nhiu khng mong mun vo h thng.

Trong chng ny ta s phn tch cht lng h thng SISO theo cc tiu chun
trn, t m hnh ton hc ca n l hm truyn dng thchu t v hp thc
G( s ) =

b0 + b1s +

+ bm sm

a0 + a1s +

+ an sn

B( s )
A( s)

( mn )

(2.107)

vi B ( s ) l k hiu ch a thc t s, A ( s ) l a thc mu s.

Gi thit rng hai a thc B ( s ) v A ( s ) l nguyn t cng nhau (chng khng c
mt nghim chung no). Khi im cc ca h thng, tc l nhng gi tr s k tha mn
G ( s k ) =

s chnh l nghim ca A ( s )=0.

a thc mu s A ( s ) cn c gi l a thc c tnh ca h thng. Cc nghim ca
B ( s )=0 c gi l im khng hu hn ca h. Nh sau ny ch r, phn ln cc cht
lng nu trn ca h thng SISO u xc nh c t v tr ca cc im cc, cng nh
im khng ca hm truyn G ( s ) trong mt phng phc.

119

2.3.2

Xc nh tnh n nh t a thc c tnh

Mi lin h gia v tr cc im cc v tnh n nh ca h thng

Trc ht ta xt h SISO vi hm truyn dng thchu t (cc h s l nhng s

thc) v hp thc (2.107). Vi khi nim n nh BIBO va c cp th r rng Mt
h thng c (vector) tn hiu vo u ( t ) v ra y ( t ) c gi l n nh BIBO nu nh
u ( t ) < (hu hn) th y ( t ) cng l s hu hn.

Trc ht ta chng minh nh l sau.

nh l 2.12: Cc pht biu sau l tng ng:

a)

H n nh BIBO

b)

Hm trng lng g ( t ) c chun bc 1 hu hn: g ( t ) 1 <

c)

G ( s ) l hm bn (c tt c cc im cc nm bn tri trc o)

Chng minh:

b ) a ) : K hiu u ( t ) l tn hiu vo, y ( t ) l tn hiu ra. Khi xut pht t cng thc

g( )u( t )d

y(t) =

vi g ( t ) l hm trng lng, ta c

g( )u( t )d

|y ( t ) | =

g( ) u( t ) d u ( t )

g( ) d

v c
|u ( t ) | sup u( t ) = u ( t )

vi mi t .

Nh vy, do g ( t ) c chun bc 1 hu hn, tc l

g( ) d l mt s hu hn vi mi t

nn vi mi u ( t ) b chn ta cng c | y ( t ) | b chn, hay chun y ( t ) l mt s hu

hn. Vy h l n nh BIBO
a ) b ) : chng minh ta s ch ra mt trng hp rng nu khng c a) th cng
khng c b). Chn u ( t ) sao cho
u ( ) = U sgn[ g ( t + ) ]

trong U l mt s dng hu hn, sgn( ) l k hiu ch php ly du

nu a > 0
1
sgn( a ) =
1 nu a < 0
Vi tn hiu nh vy th u ( t ) c chun u ( t ) = U hu hn. Xt

y(t) =

g( )u( t )d

120

= U

g( ) sgn[ g( )]d =

g( ) d

ta thy nu

g( ) d khng b chn th tn hiu ra y ( t ) cng khng b chn v iu

tri vi gi thit l h n nh BIBO.

b ) c ) : Do g ( t ) c nh Laplace G ( s ) nn phi tn ti mt s a dng ln

g( t ) e at dt <

Hng s a chnh l bn knh hi t ca tch phn Laplace

G( s ) =

g( t )e

st

vi

dt

s = + j v > a

iu ny ch rng trong na mt phng phc nm bn phi ng thng = a , hm

G ( s ) c tnh gii tch (khng c im cc).
Nu

g(t)1 =

g( t ) dt <

th ta c th chn a = 0 v khi G ( s ) s gii tch trong ton b na kn mt phng phc

bn phi trc o (k c trc o). Suy ra cc im cc ca G ( s ) phi nm bn tri trc o.
Ngc li, nu tt c cc im cc ca G ( s ) nm bn tri trc o th nh Fourier
G ( j ) s l G( s) s= j (mc 2.1.4). Ni cch khc tn hiu g ( t ) c nh Fourier v do n

phi c g ( t ) 1 < .

nh l 2.12 cho thy nhn bit c h c hm truyn (2.107) vi hai a thc t

s B ( s ) v mu s A ( s ) nguyn t cng nhau, c n nh hay khng, ta ch cn kim tra
xem tt c cc nghim ca a thc c tnh
2

+ansn

A(s) = a0+a1s+a2s +

(2.108)

vi a i , i = 0 , 1 , , n l nhng s thc, c nm bn tri trc o hay khng.

nh ngha 2.2: a thc A ( s ) cho trong (2.108) c gi l a thc Hurwitz nu tt c
cc nghim ca n u nm bn tri trc o (c phn thc m v khc 0) .

V a thc Hurwitz A ( s ) ta c mt s pht biu c bn sau:

nh l 2.13 (iu kin cn v ): Cho a thc A ( s ) vi cu trc (2.108). Khi , A ( s ) l
Hurwitz th cn v l a thc i ngu vi n

A n ( s ) = a 0 s n + a 1 s n

+a2sn

+an

(2.109)

cng l a thc Hurwitz.

Chng minh:

121

V c
A(

1
) = s n A n ( s )
s

A ( s ) = s n A n (

1
)
s

cng nh s phc s k c phn thc m khi v ch khi

1
c phn thc m, nn hin
sk

nhin ta c iu phi chng minh.

nh l 2.14 (iu kin cn): Nu a thc A ( s ) cho trong (2.108) l Hurwitz th tt c cc

h s a 0 , a 1 ,

, a n ca n phi cng du v khc 0. Nu A ( s ) l a thc c bc

khng ln hn hai ( n 2 ) th iu kin cn trn cng l iu kin .

Chng minh:

Xt a thc Hurwitz A ( s ) cho trong (2.108) c a i , i = 0 , 1 , , n l nhng s thc.

Do A ( s ) l Hurwitz nn tt c nghim ca chng phi c phn thc m v cng v a i l
s thc nn nu A ( s ) c mt nghim phc k + j k vi k > 0 th n cng phi c
nghim lin hp vi n k j k . Ni cch khc a thc Hurrwitz A ( s ) phi c dng
1
A ( s ) = ( s + j ) [ ( s + k )2 + k2 ]
an
j,k

(2.110)

trong j , k l nhng s thc dng. Vit li (2.110) di dng a thc ri so snh

vi (2.108) ta c iu phi chng minh.

Tiu chun i s th nht: Tiu chun Routh

Bi ton xc nh s phn b nghim ca A ( s ) trong mt phng phc m khng

phi gii phng trnh A ( s )=0 c nu ln ln u tin bi Maxwell. T dy ln mt
tro lu i tm li gii cho bi ton vi hng lot cc kt qu c tnh k tha ln nhau
xut hin vo na cui th k 19 v kt thc im nh bng hai nh l ca Routh v
Hurwitz cho trng hp nghim c phn b v na tri mt phng phc ca bi ton
Maxwell. y l hai nh l c xy dng trn nn ca hng lot nhng kt lun i
trc, trong ch yu l cc nh l ca HermiteBiehler v ca Schur pht biu nh
sau:
nh l 2.15 (HermiteBiehler): Nu mt hm phc f ( s ) vit c di dng

f ( s ) = A ( s )+ jB ( s )

(2.111)

trong A ( s ), B ( s ) l a thc c h s thc, th hai pht biu sau l tng ng:

122

a)

Tt c cc nghim ca f ( s )=0 nm cng pha vi trc thc (c cc phn o cng

du v khc 0).

b)

C hai a thc A ( s ), B ( s ) u c nghim n. Ton b cc nghim ca c hai

a thc A ( s ), B ( s ) l nhng s thc v khc nhau tng i mt.

nh l 2.16 (Schur): Cn v a thc bc n

2

An(s) = a0+a1s+a2s +

+ansn

(2.112)

trong a i R , i = 0 , 1 , , n , l a thc Hurwitz l

a)

a 0 v a 1 cng du v khc 0

b)

a thc bc n 1
2

A n 1 ( s ) = a 1 +( a 2 a 1 a 0 a 3 ) s + a 3 s +( a 4 a 1 a 0 a 5 ) s + a 5 s +

cng l a thc Hurwitz.

C th thy nh l 2.16 c mi lin quan vi nh l 2.15. Chng hn nh khi nh
ngha hai a thc c cng h s nh ca (2.112) nhng vi ch s chn v l ring bit:
2

C1(s) = a0+a2s+a4s +
2

L1(s) = a1+a3s +a5s +

th a thc A ( s ) cho trong (2.112) s tr thnh

2

A n ( s ) = C 1 ( s )+ sL 1 ( s )

Xt hm phc
2

f ( s ) = A n ( js ) = C 1 ( s )+ jsL 1 ( s )

ta thy cn v A ( s ) l a thc Hurwitz l ton b nghim ca f ( s ) phi nm di

2

trc thc. Theo nh l 2.16, khi cc nghim ca C 1 ( s ), sL 1 ( s ) phi l nhng s

thc khc nhau tng i mt. iu ny cng ng vi cc nghim ca C 1 ( s ), L 1 ( s ). Gi
k l nghim ca C 1 ( s ) v k l nghim ca L 1 ( s ). Khng mt tnh tng qut ta c

th gi thit
0 < 1 < 1 < 2 < 2 <

(2.113)

Vy th do
a2
1
1
=
+
+
a0 1
2
a3
1
1
=
+
+
a1 1
2

ta s c t (2.113)
a
a2
> 3
a0
a1

a 2 a 1 a 0 a 3 > 0.

Tip tc li xt nhng a thc bc thp hn th ta s ch ra c rng cc h s

a 1 , ( a 2 a 1 a 0 a 3 ) , a 3 , ( a 4 a 1 a 0 a 5 ) , a 5 ,

u dng v khc 0.

123

Ci tin hai nh l 2.15 v 2.16, Routh thc hin php chia C 1 ( s 2 ) cho L 1 ( s 2 )
c C 2 ( s 2 ) ri li chia tip L 1 ( s 2 ) cho C 2 ( s 2 ) c L 2 ( s 2 ), . C nh vy cui
cng thu c dy a thc (cn gi l dy Sturm)
C 1 ( s 2 ), L 1 ( s 2 ), C 2 ( s 2 ), L 2 ( s 2 ), C 3 ( s 2 ), L 3 ( s 2 ),

c bc gim dn cho ti 1, trong a thc bc 1 l Hurwitz th cc h s ca n cng

du v khc 0 l (nh l 2.14).
Cng thc tnh h s cc a thc C k ( s 2 ), L k ( s 2 ) c Routh biu din di
dng bng (cn gi l bng Routh) v nguyn tc xt tnh Hurwitz ca a thc c tnh
(2.108) da vo nh l 2.16 nh bng cng c Routh trnh by li thnh cc
bc tnh rt tin cho vic s dng. Ta s gi "thut ton" gm cc bc tnh ca
Routh l tiu chun Routh. Tiu chun Routh c pht biu nh sau:
1) Lp bng Routh gm n +1 hng t cc h s a i R , i =0,1, , n , ca A ( s ):
a0

a2

a4

a1

a3

a5

1=

a1 a2 a0 a3
a1

1=

a1 a4 a0 a5
a1

2=

1 a3 a11
1

2=

1 a5 a11
1

1=

a1a6 a0 a7
a1

2) a thc A ( s ) l mt a thc Hurwitz khi v ch khi cc h s a 0 , a 1 , 1 , 2 trong

ct u ca bng Routh cng du v khc 0.
3) S ln i du trong ct u bng s cc nghim ca A ( s ) nm bn na h bn phi
mt phng phc (c phn thc dng).
Thot mi nhn, bng Routh c v nh phc tp v kh nh. Song nu ta s
thy y vic lp bng Routh c quy lut n gin:

Bng c lp theo tng hng, sau khi kt thc hng trn th mi lp hng di.
Hai hng u tin c lp t cc h s ca a thc, trong hng u l cc h
s c ch s chn v hng th hai l cc h s c ch s l.

Cc phn t trong mi hng tip theo c tnh t hai hng nm ngay trc n.
Mun tnh phn t mt ct no trong hng, ta ly bn phn t hai hng
nm trc bao gm hai phn t thuc ct u tin v hai phn t thuc ct cha
phn t ang phi tnh. Sp xp bn phn t theo th t t di ln trn v t
tri sang phi c mt ma trn ri tnh nh thc ma trn .

Qu trnh lp bng s dng khi gp phn t u tin trong hng bng 0. Khi
ta kt lun h khng n nh.

124

V d 2.42: Minh ha tiu chun Routh

Cho a thc
A ( s ) = 5+16 s +18 s 2 +8 s 3 + s 4

Lp bng Routh (cc khng c phn t c xem l bng 0)

5

18

16

15,5

6,97
1
Do tt c gi tr trong ct u u dng nn tt c cc nghim ca a thc cho u

c phn thc m.
V d 2.43: Minh ha tiu chun Routh

Cho h c hm truyn thchu t, hp thc vi a thc mu s

A ( s ) = 5+16 s +2 s 2 +8 s 3 + s 4

Lp bng Routh (cc khng c phn t c xem l bng 0)

5

16

0,5

40
1
V gi tr trong ct u khng cng du nn h khng n nh (tt c cc im cc khng
cng nm bn tri trc o). Hn na chng i du hai ln (t 16 sang 0,5 v ln th

hai t 0,5 sang 40) nn s c hai im cc c phn thc dng.

V d 2.44: Minh ha tiu chun Routh

Xt h c cu trc nh hnh 2.67, trong

s+4
G( s ) =
s( s + 2)( s2 + 0,5 + 1)

G(s)

Hy tm h s khuch i k h c n nh.
Trc ht ta xc nh hm truyn ca h kn:
Gkn ( s ) =

Hnh 2.67: Cho v d 2.44

kG( s)
2k( s + 4 )
=
1 + kG( s) 2s 4 + 5s3 + 4 s 2 + (2k + 4 )s + 8 k

Sau lp bng Routh

125

2
5

4
2k+4

0,8 ( 3 k )

8k

8k

2( k + 24 k 6 )
k3
8k
h n nh th phi c cc gi tr ct u u dng, tc l
3 k > 0

k < 3

2( k + 24 k 6 )
> 0
k3
8k > 0

24,3 < k < 0,247

0 < k

Kt hp chung cc iu kin trn li ta c

0 < k < 0,247

Ch : Bng Routh trong v d 2.44 c lp bng cch o ngc v tr th t cc

h s ca a thc. khng phi l s nhm ln m y ta p dng nh l i
ngu 2.13 nhm lm gim s cc phn t c cha tham s k ct u tin, tc l gim
s cc bt phng trnh phi tnh. Ni cch khc, bng Routh cn c th l:

1=

an

an2

an4

an1

an3

an5

an 1an 2 an an 3
an 1

2=

1 a3 a11
1

1=

an 1an 4 an an 5
an 1

2=

1 =

an 1an 6 an an 7
an 1

1 a5 a11
1

V d 2.45: Minh ha tiu chun Routh vi a thc i ngu

Cho h vi hm truyn c a thc c tnh (a thc mu s):

A ( s ) = 1+2 s +3 s 2 +6 s 3 + s 4 A n ( s ) = 1+6 s +3 s 2 +2 s 3 + s 4

Ta lp hai bng Routh cho A ( s ) v a thc i ngu ca n A n ( s )

1
2
0

126

3
6

1
6
2,7
0,25
1

3
2
1

C hai bng trn u cho ra cng mt kt qu l h khng n nh. Tuy nhin, trong khi
bng th nht vi a thc A ( s ) khng cho ta bit c h c bao nhiu im cc nm
bn phi trc o th t bng Routh th hai ta bit c a thc i ngu A n ( s ) c hai
nghim s 1 , s 2 c phn thc dng. Suy ra c l h cng s c hai im cc

1
1
v
s1
s2

u nm bn phi trc o.
V d 2.46: M rng bng Routh

Xt li h vi a thc c tnh cho v d 2.45. bng th nht xut hin phn

t 0 trong ct u. iu khng cho php ta hon thin c bng Routh, do ta
cng ch c th khng nh c rng h khng n nh ch khng bit c h khng
n nh c bao nhiu im cc nm bn phi trc o. m rng, ta c th thay phn
t 0 trong bng Routh bng gi tr vi | | > 0 nh ty ri thc hin tip vi gi tr
ny. Sau xt s ln i du ca cc s hng trong ct u cho c hai trng hp > 0
v < 0 . Nu hai kt qu v s ln i du trng nhau th cng s chnh l s cc
im cc ca h nm bn phi trc o. Chng hn vi h c a thc c tnh cho v d
2.45 th:
1
2

3
6
1

1
Nu > 0 th i du 2 ln

6 2

Nu < 0 th cng i du 2 ln

V c hai trng hp > 0 v < 0 ( c | | rt nh) s ln i du ca cc s hng trong

ct u trng nhau l bng 2, nn ta kt lun c rng h c hai im cc nm bn

phi trc o.
Tiu chun i s th hai: Tiu chun Hurwitz

Mt tiu chun khc c h hng gn vi tiu chun Routh c tn l tiu chun

Hurwitz. Hurwitz da vo nh l 2.15 ca HermiteBiehler xt s ln thay i
du trong dy cc nghim ca a thc c tnh (2.108) thng qua gi tr tch phn ng
bao kn na mt phng phc bn phi ca n v i n kt lun nh sau:
1) Dng ma trn H kiu ( n n ) t cc h s a i , i = 0 , 1 , , n ca A ( s )
a1

a0
H = 0

a3
a2

a5
a4

a7
a6

a1
a0

a3
a2

a5
a4

(2.114)

127

2) Xc nh cc ma trn vung H i , i = 1 , 2 , , n ly t H sao cho H i c ng i phn

t trn ng cho chnh ca H
a
H 1 =a 1 , H 2 = 1
a0

a1
a3

, H 3 = a0
a2
0

3) Tnh nh thc D i = det( H i ) , i = 1 , 2 ,

a)

a3
a2
a1

a1
a5

a4 , H 4 = 0
0

a3
0

a3
a2
a1
a0

a5
a4
a3
a2

a7

a6
,
a5

a4

,n.

a thc A(s) cho trong a thc c tnh (2.108) s l a thc Hurwitz khi v
ch khi cc gi tr trong dy:
a0 , D1 ,

D3
D2
,
,
D1
D2

Dn
Dn 1

(2.115)

cng du v khc 0.
b)

S ln i du trong dy (2.115) trn bng s cc nghim nm bn phi trc o

ca a thc A(s).

V d 2.47: Minh ha tiu chun Hurwitz

Xt a thc
A(s) = 0,5+s+2s 2 +3s 3
a thc ny c
1 3 0

H = 0,5 2 0
0 1 3

1 3
,
H 1 = 1 , H 2 =
0,5 2

1 3 0

H 3 = 0,5 2 0
0 1 3

Suy ra
D 1 = 1,

D 2 = 0,5,

D 3 = 3D 2 = 1,5.

Do a 0 =0,5 v tt c 3 nh thc D1 , D2 , D3 , tc l dy (2.115), l nhng s dng nn

tt c cc nghim ca A ( s ) u nm bn tri trc o.

V d 2.48: Minh ha tiu chun Hurwitz

Xt a thc
A(s) = 51+11s+s 2 +s 3
Ta lp cc ma trn H 1 , H 2 , H 3 ca a thc:
11 1 0

H = 51 1 0
0 11 1

v t c:

128

11 1
H 1 = 11 , H 2 =
,
51 1

11 1 0

H 3 = 51 1 0
0 11 1

a 0 =51, D 1 =11, D 2 = 40,

D 3 = D 2 = 40.

iu ny ni rng khng phi tt c cc nghim ca a thc u nm bn tri trc o.

Xt tip dy (2.115) vi:
a 0 =51 ,

D 1 =11 ,

D3
D2
= 3,63 ,
= 1
D1
D2

V cc s hng ca dy i du hai ln (mt ln t 11 sang 3,63, ln th hai t 3,63

sang 1) nn a thc A(s) c hai nghim nm bn phi trc o.

V d 2.49: Minh ha tiu chun Hurwitz

Tm iu kin cho tham s k h c hm truyn

1
G(s) =
3 + 2s + ( k + 2)s2 + ks3
2

c n nh. p dng tiu chun Hurwitz vi A(s)=3+2s+(k+2)s +ks , tc l

k
0
2

H = 3 k + 2 0
0
2
k

k
2
,
H 1 = 2 , H 2 =
3
k
+ 2

k
0
2

H3 = 3 k + 2 0
0
2
k

ta c dy (2.115) vi:
a 0 =3,

D 1 =2,

D 2 = k+4,

D 3 =kD 2 =k( k+4)

Vy h n nh th phi c:
k + 4 > 0

k( k + 4 ) > 0

k < 4

0 < k < 4

0<k<4.

Ch : Nu n tnh cht i ngu ca a thc Hurwitz (nh l 2.13) th ma

trn H cho trong (2.114) cng c th c lp vi cc tham s a i , i = 0 , 1 , , n ca a

thc A(s) nhng theo th t ngc li nh sau:

an 1

an
H = 0

an 3
an 2
an 1
an

an 5
an 4
an 3
an 2

an 7
an 6
an 5
an 4

Tiu chun i s th ba: Tiu chun LienardChipart

Thc cht, tiu chun LienardChipart l mt h qu ca tiu chun Hurwitz. N

gip cho ngi s dng gim bt c s lng cc nh thc D i = det( H i ) , i = 1 , 2 , ,
n phi tnh khi kim tra tnh n nh ca mt h thng.

129

Xt a thc (2.108) c a i > 0 , i = 0 , 1 , , n . Lp ma trn H theo (2.114).V

Dn = anDn1
nn khi c a n >0, D n 1 >0 th ng nhin ta cng c D n > 0 . Do vic kim tra iu
kin tip theo Dn >0 c c tha mn hay khng l khng cn thit.
Vit li tiu chun Hurwitz cho cc a thc A(s) vi nhng bc c th:
1) n=1:

A(s) l Hurwitz

a0,a1 > 0

2) n=2:

A(s) l Hurwitz

a0,a1,a2 > 0

3) n=3:

A(s) l Hurwitz

a 0 , a 1 , a 2 > 0 v a 1 a 2 a 0 a 3 > 0

4) n=4:

A(s) l Hurwitz

a 0 , a 1 , a 2 > 0 v a 3 ( a 1 a 2 a 0 a 3 ) a12 a 4 > 0

LienardChipart xy dng c mi quan h tng qut gia H 2 i (ma trn c ch s

chn) v H 2 i + 1 (ma trn c ch s l) ri t i n kt lun nh sau:
nh l 2.17 (LienardChipart): a thc

A(s) = a 0 +a 1 s+a 2 s 2 +

+a n s n , (a 0 >0)

l Hurwitz khi v ch khi:

a)

hoc ai >0, i = 0,1, , n v det(H 2i )>0, i=1,2, ,

b)

hoc a i >0, i = 0,1, ,n v det(H 2i+1 )>0, i=1,2, .

R rng l vi tiu chun LienardChipart, s lng cc php tnh phi thc hin
ch bng mt na so vi khi s dng trc tip tiu chun Hurwitz.
V d 2.50: Minh ha tiu chun LienardChipart

Tm iu kin cho tham s k h c hm truyn

G( s ) =

1
4 + ks + ( k + 3)s2 + s3

c n nh. p dng tiu chun LienardChipart vi A(s)=4+ks+(k+3)s 2 +s 3 ta c

k>0, k+3>0
v (ch cn xt D 2 = det(H2 ) thay v tt c D 1 , D 2 v D 3 )
1
0
k

H = 4 k + 3 0
0
1
k

1
k

H 2 =
4
k
+ 3

Vy h n nh th k phi tha mn:

130

det( H 2 ) = k ( k + 3 ) 4 > 0

k > 0

( k 1)( k + 4 ) > 0

k > 0

k < 4 hoc k > 1

k>1

Tiu chun hnh hc: Tiu chun Michailov

Khc vi tiu chun RouthHurwitz, tiu chun Michailov da vo hm A(j ), thu

c t A(s) bng cch thay s bi j , xt tnh Hurwitz ca A(s). Chnh xc hn na,
n xt tnh Hurwitz ca A(s) trn c s dng th ca A ( j ) , bi vy tiu chun
Michailov c xp vo nhm cc tiu chun hnh hc.
Xt a thc h s thc
2

+a n s n , (a n >0).

A(s) = a 0 +a 1 s+a 2 s +

Gi cc nghim ca A(s) l s k , k = 1 , 2 , , n . Khi A(s) s vit c thnh:

A(s) = a n (s s 1 )(s s 2 )

(s s n )

A(j ) = a n (j s 1 )(j s 2 )

(j s n )

K hiu = arcA(j ) l gc pha ca A(j ), tc l A(j ) = | A(j ) | e j

th

= arcA(j ) = arc a n + arc( j sk )

k =1
k

(2.116)

Xt s thay i ca ring thnh phn

k = arc ( j s k )

trong cng thc (2.116) khi i t n , k hiu bi

k = arg (j sk), bng cch hnh dung nh ta a

ng ti im s k v nhn theo im chy trn trc

tung t n , s thy (hnh 2.68):
1) Nu s k nm bn tri trc o (trc tung) th gc nhn
ca ta c rng l k = .

sk

Hnh 2.68: Tnh gc pha.

2) Ngc li nu s k nm bn phi trc o (trc tung) th gc nhn l k = .

Bi vy, nu nh c gi thit rng a thc A ( s ) khng c nghim no nm trn trc
o v s nghim nm bn phi trc o l n + th s nghim nm bn tri trc o s phi
l n n + . iu ny dn n:
( n n+ )
nu Re( sk ) < 0
arc A( j ) =
+

n nu Re( sk ) > 0

Suy ra

131

arc A( j ) = n

khi v ch khi tt c n nghim s k , k = 1 , 2 , , n ca A ( s ) u nm bn tri trc o.

Din t iu bng li ta c: A ( s ) l a thc Hurwitz khi v ch khi vi s thay i
ca t n +, ng th A ( j ) bao gc ta mt gc ng bng n .
Nhng nu thm iu kin A ( s ) l a thc h s thc, tc l a i , i = 0 , 1 , , n
l nhng s thc th do ng A ( j ) vi t n + c dng i xng qua trc thc,
pht biu trn s c dng tng ng sau:
nh l 2.18 (Michailov): a thc h s thc

A(s) = a0+a1s+a2s2+

+ansn,

l Hurwitz khi v ch khi ng th A ( j ) vi i t 0 n + bao quanh gc

n
. Ni cch khc
ta mt gc ng bng
2
n
A ( s ) l Hurwitz

arc A( j ) =

2
V d 2.51: Minh ha tiu chun Michailov

Xt a thc bc 3 l

A ( s )= s 3 +3 s 2 +3 s +2
a thc ny c

A ( j ) = (2 3 2 )+ j (3 3 )
Hnh 2.69a) biu din th ca A ( j ) v t th ta nhn thy A ( j ) i qua 3
gc phn t ca mt phng phc theo chiu ngc kim ng h, tc l bao gc ta
3
.
mt gc ng bng
2

Vy theo tiu chun Michailov th A ( s ) l a thc Hurwitz.

a)

ImA ( j )
-8

ImA ( j )

2
0

ReA ( j )

Hnh 2.69: Minh ha v

d 2.51
- 20

132

b)

6 ReA ( j )

V d 2.52: Minh ha tiu chun Michailov

H vi hm truyn G ( s ) =

3
s3 + s2 + s + 6

A ( s ) = s 3 + s 2 + s +6

c a thc c tnh

A ( j ) = (6 2 )+ j ( 3 )

Hnh 2.69b) l th ca A ( j ). ng th khng bao gc ta , gc nhn A(j) t

3
gc ta khi i t 0 n + l
(nh hn
). Bi vy A ( s ) khng phi l a
2
2
thc Hurwitz, hay h cho khng n nh.
S

Im A

Im A

khng n nh

n nh

Re A

Re A

Hnh 2.70: th ng a thc c

tnh ca h bc 4 cho hai trng
hp: n nh v khng n nh.

Trong khi vic xy dng th cho hm A ( j ) ca nhng a thc A ( s ) c bc tng

i nh kh n gin th nhng a thc bc cao (t 5 tr ln) l rt kh thc hin nu
nh khng s dng nhng cng c m phng. Chnh v hn ch ny m tiu chun
Michailov t c ngha thc t. Song b li, tiu chun Michailov li c ngha nh mt
gi cho cc tiu chun khc nh Nyquist, Kharitonov .
Hnh 2.70 l dng th ca hm A ( j ) cho h c a thc c tnh bc 4

A(s) = a0+a1s+a2s2+a3s3+a4s4
Tng qut t dng ng th ta rt ra c mt s h qu sau ca tiu chun
Michailov:
nh l 2.19 (H qu ca tiu chun Michailov):

a)

Giao im ca ng qu o bin pha A ( j ) ca a thc Hurwitz A ( s ) vi

trc thc phi nm xen k gia nhng giao im ca n vi trc o.

b)

Gi tr ti hai giao im k nhau ca A ( j ) vi trc thc ca a thc Hurwitz

A ( s ) phi tri du nhau.

c)

Gi tr ti hai giao im k nhau ca A ( j ) vi trc o ca a thc Hurwitz

A ( s ) phi tri du nhau.

Ch : Trong mt s ti liu, v d nh [10], tiu chun Michailov cn c gi l

tiu chun MichailovCremerLeonhard.

133

2.3.3

Phn tch cht lng h kn t hm truyn ca h h

Khi nim h kn (phn hi m) c m t trc quan hnh 2.71 vi hai khu

tuyn tnh c hm truyn hp thc l R ( s ) v S ( s ) . Khi h kn s c c hm
truyn G ( s ) cho cc trng hp phn hi khc nhau nh sau:

Phn hi thc (phn hi n v):

G( s ) =

R( s)S( s)
1 + R( s )S( s )

iu khin phn hi:

G( s ) =

S( s )
1 + R( s )S( s )

iu khin thc (truyn thng n v):

G( s ) =

1
1 + R( s )S( s )

a)

b)

w(t)

y(t)
S(s)

c)

w(t)

R(s)

y(t)

w(t)

y(t)

S(s)
R(s)

R(s)
Phn hi "thc"

iu khin phn hi

S(s)

iu khin "thc"

Hnh 2.71: Mt s dng h hi tip thng gp.

Nh vy tt c cc dng hi tip xt trn u c hm truyn vi mt mu s

chung l hm sai lch phn hi

F ( s ) = 1+ R ( s ) S ( s ) = 1+ G h ( s )

(2.117)

trong tch

Gh(s) = R(s)S(s)
c gi l hm truyn ca h h. Mc ny s trnh by cc phng php phn tch h
kn vi cu trc c bn cho hnh 2.71 trn c s hm truyn G h ( s ) ca h h.
Xt tnh n nh: Tiu chun Nyquist

Hin nhin rng cc h kn hnh 2.71 s n nh khi v ch khi tt mi nghim

ca F ( s ) cho trong (2.117) u c phn thc m (nm bn tri trc o).
K hiu A ( s ) l a thc mu s c bc n , B ( s ) l a thc t s ca hm truyn h

h G h ( s ), tc l ca tch G h ( s )= R ( s ) S ( s ):
Gh(s) = R(s)S(s) =

134

( s p1 )( s p2 )
B( s )
= c
A( s)
( s q1 )( s q2 )

( s pm )
( s qn )

trong c l hng s. Khi s c:

arcG h ( s ) =

k =1

k =1

arc( s pk ) arc( s qk )
a)

b)

N
C

s=+j

Hnh 2.72: Minh ha ng

ly tch phn Nyquist.

T y ta suy ra c:
nh l 2.20: Nu mt min G cha P im khng v Q im cc ca ca G h ( s ) th:

darcGh ( s) = 2 ( P Q )
C

trong C l ng bin ca G c chiu thun kim ng h, tc l chiu m i dc

theo n, min G lun nm pha phi nh hnh 2.72a) m t.
By gi ta xt ng cong khp kn N bao gm trc o v na ng trn nm bn
phi trc o c bn knh bng , trong khi i trn trc o, mi khi gp mt nghim
ca A ( s ), th n c thay bng na ng trn c bn knh nh bao pha tri im
nh hnh 2.71b) m t. ng cong N ny c tn gi l ng cong Nyquist. N chnh
l ng bin ca min N cha tt c m nghim khng nm bn tri trc o ca A ( s ),
bao gm tt c n 0 nghim nm trn trc o v n + nghim nm bn phi trc o ca

A ( s ). Theo ni dung nh l 2.20, th:

darcA( s)

= 2 ( n + + n 0 )= 2 m

(2.118)

Quay li h kn vi hm sai lch phn hi:

F ( s ) = 1+ G h ( s ) =

A( s) + B( s )
A( s )

Cng thc ny ch rng:

darc 1 + Gh ( s)
N

darc A( s) + B( s)
N

darcA( s)

(2.119)

Nhng v nghim ca F ( s ), tc l nghim ca:

A ( s )+ B ( s ) = 0
cng chnh l im cc ca h kn, nn theo nh l 2.20, h kn n nh khi v ch khi:

135

 darc A( s) + B( s)

= 0

Bi vy, khi kt hp cng vi (2.118) v (2.119) s n c:

nh l 2.21: Gi G h ( s )=

B( s )
l hm truyn ca h h. Gi s rng m l s im cc
A( s)

khng nm bn tri trc o ca G h ( s ) . Khi h kn n nh th cn v l:

darc 1 + Gh ( s) = 2 m

(2.120)

K hiu tip G h ( N ) l ng qu o ca G h ( s ) khi s chy dc trn N, c gi l

ng th Nyquist, khi nh l 2.21 trn cn c dng pht biu khc nh sau:

nh l 2.22 (Nyquist): Nu hm truyn G h ( s ) ca h h c m im cc khng nm bn

tri trc o (nm trn trc o hoc nm bn phi trc o), th cn v h kn

n nh l ng th Nyquist ca h h, k hiu bng G h ( N ), bao im 1 + 0 j
ca mt phng phc ng m ln theo chiu ngc kim ng h.
V d 2.53: Minh ha tiu chun Nyquist

Xt h phn hi m c hm truyn ca h h l khu tch phnqun tnh bc nht

Gh(s) =

k
,
s(1 + Ts)

k,T>0

C th thy ngay c G h ( s ) ch c mt im cc s 1 = 0 khng nm bn tri trc o, tc

l c m = 1 . Hnh 2.73a) l ng cong Nyquist N, gm ba on:

N1 nm trn trc o c i t ti 0

N2 l na ng trn phi tri trc o, c bn kn v cng nh v tm l gc ta

N3 nm trn trc o c i t +0 ti +

Hnh 2.73b) l th Nyquist G h ( N ) cng gm ba nhnh:

G h ( N 1 ) l ng cong pha trn trc thc, c ng tim cn ReG h = k T khi

tin ti 0 .

G h ( N 2 ) l phn ng trn pha tri ng tim cn ReG h = k T vi tm 0 v

bn knh bng . L do G h ( N 2 ) phi l phn ng trn nm bn tri ng tim
cn ReG h = kT (ch khng nm bn phi), l v ng vi mt gi tr s = a ,
k
1 >>a > 0 nm gn gc ta s c G ( a )=
<< 1 l mt s m nm rt
a + Ta2
xa gc 0.

136

G h ( N 3 ) l ng cong pha di trc thc, c ng tim cn ReG h = k T khi

tin ti + 0 .
T ng th G h ( N ) thu c ta thy, do n bao im 1 + 0 j ng mt gc bng

2 = 2 m , nn theo nh l 2.22, h kn n nh.

a)

b)

j
N3
N2

ImG h ( N )

= 0

= ReG ( N )
h

kT
N1

k
a + Ta2

Hnh 2.73: Minh ha v d 2.53

= +

= + 0

Tuy nhin, dng thng hay gp trong ng dng ca tiu chun Nyquist l h h
n nh hoc ch c s =0 l im cc duy nht khng nm bn tri trc o. Trong trng
hp nh vy th do:

G h ( N ) = G h ( j )
v G h ( j ), c dng i xng qua trc thc, nn:
nh l 2.23: Nu h h n nh hoc ch c s =0 l im cc duy nht khng nm bn
tri trc o th h kn s n nh khi v ch khi ng th c tnh tn binpha

G h ( j ), 0 ca h h khng i qua v khng bao im 1 + 0 j .

thun tin cho vic kim tra xem ng ng qu o G h ( j ) c i qua hay bao
im 1 + 0 j hay khng, ta c th ch cho chy t 0 n + (v G h ( j ) c dng i
xng qua trc thc) v s dng quy tc bn tay tri nh sau:
nh l 2.24 (Quy tc bn tay tri): Nu h h n nh hoc ch c s =0 l im cc duy nht
khng nm bn tri trc o, th h kn s n nh khi v ch khi im 1 + 0 j lun

nm bn tri ng th bin pha G h ( j ) ca h h nu ta i dc trn G h ( j )

theo chiu tng ca .
Hnh 2.74 minh ha cho tiu chun Nyquist trng hp h h n nh. H kn s
n nh nu nh gc nhn t im 1 + 0 j ln ng qu o G h ( j ) khi i t 0 n
+ bng 0.
137

Bn cnh vic kim tra tnh n nh ca h kn thng qua dng qu o ng c

tnh tn s bin pha ca h h, tiu chun Nyquist cn thng c s dng xc nh
tham s b iu khin sao cho h kn n nh.

ImG h

ImG h

ReG h

ReG h

ImG h
ReG h

H kn n nh

H kn khng n nh

H kn n nh

Hnh 2.74: Minh ha tiu chun Nyquist.

Tng qut ha nh l 2.22 ca Nyquist cho vic xc nh hng s khuch i k ca

b iu khin h kn c hm truyn h h l G h ( s )= kS ( s ) c n nh, ta c nh l
sau:
nh l 2.25: Xt h kn c hm truyn ca h h l

G h ( s ) = kS ( s )
Gi s rng S ( s ) c m im cc khng nm bn tri trc o (nm trn hoc nm
bn phi trc o). Khi h kn n nh th cn v l ng th Nyquist
1
S ( N ) ca khu S ( s ) bao im + 0 j trong mt phng phc ng m ln theo
k
chiu ngc kim ng h.
V d 2.54: Minh ha tiu chun Nyquist

Xt h phn hi m vi cu trc cho hnh 2.75a) c S( s) =

s2 1
1 + 2s + 3 s2 + 6 s3 + s4

Nh vy hm truyn ca h h s l G h ( s )= kS ( s ). T v d 2.45 ta c bit rng

S ( s ) c hai im cc nm bn phi trc o. Hn th na, do a thc c tnh ca hm

truyn h h l bc 4 (h c 4 im cc) vi tt c cc h s u khc 0, nn trong s hai
im cc cn li khng th c im cc no nm trn trc o. Suy ra S ( s ) c m = 2 v
ng Nyquist N ca n l ton b trc o j vi v na ng trn N1 nm
bn phi trc o c tm l gc ta , bn knh bng v c chiu theo chiu kim ng
h (hnh 2.75b). Hn th na, do S ( s ) l hm hp thc nn khi s chy dc theo N1 n s
ch c mt gi tr hng:
138

lim S( s) = 0

Vy th Nyquist ca S ( s ) s chnh l ng th c tnh tn binpha:

S ( N ) = S ( j ) vi
v do , v S ( s ) l hm thc hu t, tc l th c tnh tn binpha ca n c dng
i xng qua trc thc, nn ta ch cn v S ( j ) , 0 l . Xt:
S( j ) =

(1 + 2 )

(1 3 + 4 ) + j (2 6 2 )
2

= Re S + j Im S

th t tnh lin tc ca S ( s ) trn trc o ta c bng gi tr ca S ( j ), 0 nh sau:

1

ReS

1
0

ImS

3 5
2

12
0

3+ 5
2

Suy ra, th S ( j ), 0 c dng nh ng nt lin hnh 2.75c). Ly thm phn

i xng qua trc thc l ng nt ri hnh 2.75c) ta c y Nyquist S ( N ) .

a)

b)

ImS

c)

j
N1

S(s)

ReS

12

Hnh 2.75: Minh ha v d 2.54.

T y, theo nh l 2.25, ta c c iu kin k lm h kn n nh l im

1
k

trn trc thc m th Nyquist S ( N ) bao m = 2 ln ngc chiu kim ng h:

12 <

1
< 1
k

1
< k<1
12

V d 2.55 ([17]): Minh ha tiu chun Nyquist

Xt mt h phn hi m c hm truyn h h l G h ( s )= kS ( s ), trong

S( s) =

s +1
s( s 1)( s2 + 4 s + 20)

139

C th thy ngay c hm truyn S ( s ) c mt im cc s 1 = 0 nm trn trc o v mt

im cc s 2 = 1 nm bn phi trc o, tc l c m = 2 . Cho s chy dc theo ng ng

cong Nyquist N (hnh 2.76a), khi th Nyquist S ( N ) ca i tng s c dng cho

hnh 2.76b). th ny ch rng

| S ( j ) | khi | | 0
Ngoi ra, khi s i dc theo trc o, ti gn s 1 = 0 , th n li i theo na ng trn N 2 c
bn knh v cng nh bao pha tri im (hnh 2.76a). iu ny c phn nh
th Nyquist S ( N ) trong hnh 2.76b) bng na ng trn pha phi trc o vi chiu
ngc chiu kim ng h v bn knh bng . L do cho iu l v S ( s ) l hm bo
gic v cng l v, chng hn ti im s = 0 , 1 hm S ( s ) c gi tr l

S ( 0,1) 0,4 > 0

T hnh 2.76b) ta thy ngay, th Nyquist S ( N ) bao on

0,04 <

1
< 0,0185
k

c t m trong hnh 2.76b), mt gc ng bng 2 m = 4 (theo chiu ngc chiu

kim ng h). iu ny ch rng h kn s n nh vi mi gi tr k thuc khong:

25 < k < 54.

a)

N3
N2

ImS ( N )

b)

= + 0
N

0,1

= + ReS ( N )
N1

0,09

Hnh 2.76: Minh ha v d 2.55

0,04

0,0185

= 0

Kim tra tnh n nh h kn nh biu Bode

iu c bit ca tiu chun Nyquist pht biu nh l 2.22 cng nh 2.23 l n

p dng c cho c nhng trng hp hm truyn h h G h ( s )= R ( s ) S ( s ) c cha c
thnh phn gi tr.

140

Nu nh bn cnh iu kin h h n nh, tc G h ( s ) l hm bn, cn c gi thit

thm rng | G h ( j ) | <1 vi mi 0 th do ng qu o G h ( j ) khi lun nm
trong ng trn n v nn n khng th i qua hay bao im 1 + 0 j v v vy h kn
n nh.
nh l 2.26: Nu hm truyn G h ( s ) ca h h l hm bn, tc l h h n nh, v
G h ( j ) = sup | G h ( j ) | < 1 th h kn cng n nh.
0

By gi ta xt mt h hi tip phn hi m nh hnh 2.77 m t, c hm truyn h

h G h ( s )= R ( s ) S ( s ) l hm bn v
G h ( j ) = sup | G h ( j ) | 1

ImG h

Nu nh c gi thit thm rng ng qu o

ReG h

tn s G h ( j ) ch ct ng trn n v mt ln ti
im tn s c th h kn s n nh khi v ch khi ti

tn s c hm G h ( j ) c gc pha ln hn
Hnh 2.77: Gii thch tn s ct.

c = arc G h ( j c ) > ,

trong tn s c c gi l tn s ct. iu khng nh trn cng l d hiu v khi

G h ( j ) khng th i qua cng nh khng th bao im 1 + 0 j (hnh 2.77).

nh l 2.27: Nu hm truyn G h ( s ) ca h h l hm bn, c sup |Gh (j) | 1 nhng
0

ng qu o tn s G h ( j ) ch ct ng trn n v mt ln ti im tn s ct

c v ti c c = arcG h ( j c ) > th h kn s n nh.

Vi ni dung nh l 2.27 ta c th d dng kim tra tnh n nh ca h kn khi
bit c rng hm truyn G h ( s ) ca h h l hm bn nh biu Bode

L ( ) = 20 lg | G h ( j ) |

( ) = arcG h ( j )

ca G h ( s ). Nguyn tc kim tra nh sau:

Nu L ( ) c on nm pha trn trc honh th sup | G h ( j ) | > 1

im ct ca G h ( j ) vi ng trn n v l giao im ca L ( ) vi trc honh.

Tn s ct c l honh giao im ca L ( ) vi trc honh.

Gc c = arc G h ( j c ) l tung ca ( ) ti tn s ct c

H kn s n nh nu c nm pha bn trn ng ( )= .

141

V d 2.56: S dng tiu chun Nyquist di dng biu Bode

Hnh 2.78 di y minh ha li cc bc thc hin vic s dng nh l 3.22

kim tra tnh n nh ca h hi tip (phn hi m) theo cc nguyn tc va trnh by.
Chng hn bng cc phng php thc nghim (o gi tr hm c tnh tn) ta xy
dng c biu Bode ca h h c gi thit l n nh nh hnh 2.78.
T giao im ng L ( ) ca biu Bode vi trc honh (ng ngang ti 0
dB) ta xc nh c tn s ct c =1 s

. Tip tc, vi tn s ct ta c ra c t

ng ( ) gc pha c = 1300. V c = 130 0 > 180 0 = nn theo nh l 2.27 h

S
kn l n nh.

( )

L ( )
40 dB
20 dB

L ( )

0 dB

20 dB
Hnh 2.78: Minh ha vic
s dng nh l 2.27
kim tra tnh n
nh h kn.

( )

40 dB

c = 1300

60 dB
80 dB

c = 1 s

30

60

90

120

150

180

nh gi sai lch tnh

Xt h kn vi s cu trc cho hnh 2.79. Trong mc trc ta cp ti tiu

chun Nyquist xt tnh n nh ca n trn c s phn tch hm truyn ca h h l

G h ( s )= R ( s ) S ( s ). Hin nhin rng khi h kn n nh v tn hiu vo w ( t )= w 0 l hng s

th sau mt khong thi gian cn thit (thi gian qu ), tn hiu ra y ( t ) cng s l mt
hng s. Song vic hng s c bng gi tr mong mun w 0 c t u vo hay
khng th li cha c m bo.
Gi tr sai lch
lim e ( t ) = e

y
R(s)

S(s)

gi l sai lch tnh ca h kn. Mt trong cc

cht lng h thng thng c quan tm l
gi tr sai lch tnh e . H c gi l c cht

lng tt nu nh c e = 0 . Cng cn phi

142

Hnh 2.79: Mt cu trc c bn ca h kn.

ni thm rng vic nh gi sai lch tnh thng c thc hin vi mt dng c th ca
tn hiu vo w ( t ), chng hn nh vi:

w ( t ) = 1( t )

w(t) = t

Nu h kn (hnh 2.79) l n nh, khi iu kin e = 0 s tng ng vi w = y ch

xc lp (t), tc l:
lim G( s) =
s0

R( s)S( s)
1 + R( s)S( s)

= G (0)=1 (cn phi c gi thit l tn ti gii hn e )

s=0

nhng trng hp rng m hn th thay cho sai lch tnh e , cht lng h thng

s c nh gi bng chun ca sai lch

y(t)u(t)
ngha chun sai lch trong cng thc trn c th l chun bc 2 hoc chun v cng
tu theo tng yu cu c th ca bi ton. Nu h kn c gi tr chun ca sai lch tng
i nh th ngi ta ni tn hiu ra y ( t ) l bm c theo tn hiu lnh u vo w ( t ). Bi
ton thit k b iu khin R ( s ) h kn c gi tr y ( t ) u ( t ) nh nh mong mun c

tn gi l iu khin bm (tracking control).

Quay li vn nh gi sai lch tnh e . nh l sau l tiu chun nh gi sai
lch tnh khi tn hiu u vo l hm Heaviside hoc tng u.
nh l 2.28: Cho h kn n nh, khng c nhiu tc ng, vi s cu trc cho trong

hnh 2.79. H s c sai lch tnh bng 0, tc l c e = 0 , nu

a)

Khi w ( t ) = 1 ( t ) v hm truyn h h G h ( s ) c t nht mt im cc l gc ta

, tc l h h c cha t nht mt khu tch phn.

b)

Khi w ( t ) = t v hm truyn h h G h ( s ) c t nht hai im cc l gc ta

(im cc s = 0 bi hai), tc l h h c cha t nht hai khu tch phn.

Chng minh:
Trc ht ta thy c ngay e ( t ) c nh Laplace
W ( s)
W ( s)
E(s) =
=
1 + S( s) R( s )
1 + Gh ( s)
trong W ( s ) l nh Laplace ca w ( t ).
V c gi thit h kn n nh, nn theo cng thc v gii hn th nht ca ton t
Laplace, ta c
lim sW ( s)

e = lim e( t ) = lim sE( s ) =

t

s0

s0

1 + Gh (0)

143

1
1
cho trng hp w ( t )=1( t ) v W ( s )=
khi w ( t )= t vo cng thc
s
s2
S
trn ta thu c iu phi chng minh.

Ln lt thay W ( s )=

V d 2.57: nh gi sai lch tnh

Hnh 2.80 biu din hm qu (p ng ca h vi kch thch w ( t )=1( t ) u

vo) ca h hi tip c cu trc s khi cho trong hnh 2.79 vi hm truyn h h
a)

Gh(s) =

1
s(1 + 0,5s)

b)

Gh(s) =

4
1 + 5s

Ta thy trng hp a) h khng c sai lch tnh v G h ( s ) c cha thnh phn tch

phn, nhng vi b) th h c sai lch tnh v sai lch bng 0,2.

h(t)
1,5
a)
Sai lch tnh

1
0,8

0,2
b)

0,5

Hnh 2.80: Minh ha v d 2.57

0

Thng s c trng ca qu trnh qu : qu iu chnh v thi gian qu

Khi phn tch h thng ngi ta thng s dng hai khi nim qu trnh qu v
ch xc lp. Qu trnh qu l giai on h thng ang chuyn i t trng thi c
sang mt trng thi mong mun khc. Ch xc lp l giai on h thng t c
n trng thi mi mong mun (hoc gn n). Chng hn khi ng in p ngun
cung cp cho mt ng c, qu trnh ng c tng tc vng quay t 0 n mt gi tr
xc nh c gi l qu trnh qu . Khi ng c n nh c vn tc v chy u
th ta ni ng c ang ch xc lp.
C hai qu trnh qu v ch xc lp cng c trong p ng ca h thng. Ti
mt thi im nht nh, h thng ch c th hoc ang qu trnh qu hoc ch
xc lp ch khng bao gi c c hai trong cng mt thi im.
Theo nh ngha nh vy v ch xc lp th r rng ch h n nh mi c ch
xc lp. S khng c mt im thi gian c th phn chia qu trnh qu vi ch
xc lp m n ph thuc vo quan nim th no l n "gn trng thi mi mong
mun" ca bi ton iu khin. Thng thng, bi ton tuyn tnh ngi ta hay cho
rng thi im bt u ch xc lp l khi h thng vo c ti vng c sai lch 5%
(hoc 2%) so vi gi tr mong mun v khng ra khi vng na (hnh 2.81).

144

h(t)

5% k

k
Ch xc lp

Hnh 2.81: im phn chia qu trnh

qu v ch xc lp.

Qu trnh qu

phn tch cht lng ng hc ca mt h thng, ngi ta cn phi phn tch

qu trnh qu ca n. Trc ht c hai thng s c bn c trng cho qu trnh qu
, l:

Thi gian qu T5%. y l im thi gian m k t sau h ( t ) nm trong

khong 5% ca gi tr xc lp h ca n.

qu iu chnh h , c nh ngha l

h = max h ( t ) h = hmax h > 0

t

Trc tin ta phn tch qu trnh qu ca h dao ng bc hai

G( s ) =

vi

1 + 2 DTs + ( Ts)2

0<D<1

(2.121)

bng cch xc nh hai thng s T5% v h .

h(t)

Qu trnh qu

hmax

h
5%

k=h

Hnh 2.82: Hm qu ca khu

dao ng bc hai.

t
T Tmax

T5%

Hnh 2.82 biu din th hm qu ca khu dao ng bc hai. T mc 2.2.8 ta

c bit l h ny c hm qu (2.95), qu iu chnh (2.99) v thi gian Tmax
(2.97) nh sau
h( t ) = k ke

D
t
T

cos 1 D

1 D2
D
sin
t +

T
1 D2

t , t 0

145

 D
h = k exp
1 D2

Tmax =

1 D2

(2.122)

Suy ra
DT5%
k exp
0,05k
T

T 5%

T ln 20 3T

D
D

(2.123)

Vy hai cng thc (2.122) v (2.123) cho ta thng s c trng T5% v h ca

qu trnh qu h dao ng bc hai t hm truyn (2.121) ca n.
V d 2.58: Xc nh thi gian qu v qu iu chnh

Xt h kn cho hnh 2.79 vi hm truyn ca h h

Gh(s) = R(s)S(s) =

1
, T 1 , T 2 >0
T1s(1 + T2 s)

Khi , hm truyn ca h kn s l
1
1
1
G(s) =
=
=
1 + Gh ( s)
1 + T1s + T1T2 s2
1 + 2 DTs + (Ts)2
trong

T=

T1T2

T1
T2

1
2

D=

Vy trong trng hp T 1 < 4 T 2 h kn vi D < 1 l mt khu dao ng bc hai. Suy ra

T1
h = exp

4
T
2 T1

T5%

3T
= 6T2
D

xc nh thi gian qu T5% v qu iu chnh h ca nhng h khc,

ngi ta thng xp x chng trong min tn s c trng ca qu trnh qu thnh
khu dao ng bc hai, ri mi s dng cc cng thc (2.122) v (2.123).
V d 2.59: Xc nh xp x thi gian qu v qu iu chnh

Xt h kn cho hnh 2.83a) vi hm truyn h h G h ( s ) c dng th Bode cho

hnh 2.83b) bng ng nt lin, tc l c cu trc

Gh(s) =

1 + T1s
(Ts)2 (1 + T2 s)

vi

T2<T1

Biu Bode ca G h ( s ) ct trc honh ti im tn s c . Gi hng s thi gian ct

T c l Tc1 = c .Do qu iu chnh h v thi gian qu T5% ch xut hin trong

qu trnh qu , tc l di tn s cao (vng tn s II trong hnh 2.83b) nn trong vng

146

tn s I ta hon ton c th xp x biu Bode ca G h ( s ) bng mt ng nt ri c

nghing 20dB, thay cho ng c l ng nt lin c nghing 40dB. Vi s xp x
ny th h h s c hm truyn gn ng trong min tn s cao II nh sau

Gh(s)

1
Tc s(1 + T2 s)

T2<Tc

Suy ra, theo kt qu ca v d 2.58, trong trng hp T c < 4 T 2 , h kn s c qu iu

chnh h v thi gian qu T5% tnh bng

Tc
h exp

4T2 Tc

a)

T5% 6 T 2

b)

h ( )

L h ( )
w(t)

e(t)

Gh(s)

y(t)

II
Tc1
T11

Hnh 2.83: Xc nh xp x qu
iu chnh v thi gian qu .

T21
-20dB

-40dB

Thng s c trng ca qu trnh qu : Sai lch bm

nh gi cht lng ng hc ca h kn, ngi ta cng thng tnh sai lch bm

(tracking error), c nh ngha l y ( t ) u ( t ) . Sai lch bm cng nh, h s c cht
lng ng hc cng tt. Nu sai lch c quan tm l chun bc 2 (hnh 2.84):

Q = y(t)u(t)2 = e(t)2 =

( t )dt

(2.124)

th tnh Q ngi ta c th s dng nh l Parseval, hoc cng thc Krasowski.

1) S dng cng thc Krasowski:
Gi s nh Laplace ca sai lch e ( t ) c dng

E( s) =

b0 + b1s +
a0 + a1 s +

+ bn 1 sn 1

+ an 1 sn 1 + sn

(2.125)

Vy th

Q2 =

B11 + B2 2 +

+ Bn n 2 A1 A2
2a02

147

trong

a)

b)

a0

0
= det 0

a2
a1
a0

a4
a3
a2

, a =1
n

an 1
0
0
0

(2.126)

k , k =1, , n c tnh ging nh nhng vector ct th k ca ma trn

T

trong (2.126) c thay bng ct ( a 1 , a 0 ,0, ,0) .

c)

A1 = bn1a0
A2 = b0 bn1a1

h(t)

An = bn2 bn1an1
d) B 1 = A12

B 2 = A22 2 A 1 A 3
B 3 = A32 2 A 2 A 4 + 2 A 1 A 5

Hinh 2.84: nh gi cht lng ng

qua sai lch bm.

B k = Ak2 2 A k 1 A k+1 + 2 A k 2 A k +2 2 A k 3 A k+3 +

B n = An2
V d 2.60: Tnh sai lch bm theo Krasowski

Tnh gi tr bnh phng sai lch Q ca h kn c hm truyn h h l

Gh(s) = S(s)R(s) =

1 + 2Ts
s2

khi h c kch thch bi 1( t ) u vo.

Hm sai lch bm e ( t ) c nh Laplace
1
1
s
E( s) =
=
1 + SR s 1 + 2Ts + s 2
tc l nh (2.125) vi

b 0 =0, b 1 =1, a 0 =1, a 1 =2 T v a 2 =1

Suy ra:
a
= det 0
0

148

a2
1 1
= det
= 2T
a1
0 2T

a
1 = det 1
a0

a2
2T
= det
a1
1

a
2 = det 0
0

a1
1 2T
= 1
= det
a0
0 1

A 1 = b 1 a 0 = 1,

1
2
= 4 T +1
2T

A2 = b0b1a1 = 2T,

B 1 = A12 = 1,

B 2 = A22 = 4 T

Vy

B1 1 + B2 2 2 A1 A2

2a02

(4T 2 + 1) + 4T 2 8T 2
1
=
4T
4T

Q =

2 T
2) S dng cng thc Parseval (2.15):
xc nh sai lch bm (2.124) ta cng c th s dng cng thc Parseval:

1
2

Q = e 2 ( t )dt =
0

E( j

d =

1
E( s) E( s)ds
2j j

(2.127)

v phng php tch phn phc thng qua gi tr residuence c gii thiu mc
2.1.4 cng nh v d 2.13. tin cho vic ng dng, cho nhng hm E ( s ) c dng theo
cng thc (2.125), ti liu [12] a mt ra bng tra kh tin ch nh sau.
Bng 2.4: Bng tra gi tr cng thc tnh sai lch bm

b02
2a0

b12 a0 + b02
2a0 a1

b22 a0 a1 + ( b12 2b0b2 )a0 + b02 a2

2a0 ( a1a2 a0 )

b32 ( a0 a1a2 a02 a3 ) + ( b22 2b1b3 )a0 a1 + ( b12 2b0b2 )a0 a3 + b02 ( a2 a3 a1 )
2a0 ( a1a2 a3 a0 a32 a12 )

V d 2.61: Tnh sai lch bm theo Parseval

Cho h kn cho hnh 2.85 vi

Gh ( s ) =

1
2TI s(1 + 2s )2

Nhim v t ra l phi xc nh tham s T I sao

1
TI s

Gh(s)

Hnh 2.85: Cho v d 2.61

cho h kn c c sai lch bm tha mn

149

Q = e 2 ( t )dt min
0

Trc ht, c nh Laplace E ( s ) ca sai lch e ( t ), ta xc nh hm truyn t tn

hiu w ( t ) ti sai lch e ( t ):

G we ( s )=

0,5TI s
1
=
TI s 1 + Gh ( s) 4TI s3 + 4TI s 2 + TI s + 0,5

T y, vi w ( t )=1( t ), tc l W ( s )=

E ( s )= G we ( s ) W ( s ) =

1
ta c nh Laplace ca sai lch e ( t ):
s

0,5TI
4TI s3 + 4TI s2 + TI s + 0,5

Tra bng 2.4 cho trng hp n = 3 vi

b 0 = 0,5 T I , b 1 = b 2 =0,

cng nh vi

a 0 =0,5, a 1 = T I , a 2 =4 T I ,

ta i n:

Q=

2.3.4

TI2
min
4TI 2

TI =1.

Quan h gia cht lng h thng vi v tr im cc v im khng

ca hm truyn

Mt s kt lun chung

Nh bit, nu mt h SISO c m t bi hm truyn

G(s) =

( s p1 )( s p2 )
B( s )
= k
A( s)
( s q1 )( s q2 )

( s pm )
( s qn )

(2.128)

trong B ( s ) l k hiu ch a thc t s, A ( s ) l a thc mu s, v hai a thc ny

c gi thit l nguyn t cng nhau, th nghim ca phng trnh A ( s )=0 s chnh l
im cc hu hn v nghim ca B ( s )=0 s l im khng hu hn ca h. Do hm
truyn l hp thc nn mi im cc ca h s ch l hu hn.
Cc mc trc cho ta c mt s s lin h gia v tr im cc, im khng,
bc m hnh vi c tnh ng hc ca h thng. Chng hn:

Nu tt c cc im cc u nm bn tri trc o th G ( s ) l hm bn. Khi h

l n nh, a thc mu s A ( s ) l a thc Hurwitz.

Cc im cc nm cng xa trc o v phi tri, qu trnh qu ca h cng

ngn, tc l qun tnh ca h cng nh.

Nu G ( s ) c mt im cc khng nm trn trc thc (c phn o khc 0) th qu

trnh qu h ( t ) c dng dao ng vi v s cc im cc tr. Cc im cc nm
cng xa trc thc, tn s ca dao ng cng ln.

150

Nu G ( s ) c t nht mt im cc l gc ta th h s c cha thnh phn tch

phn v do tn hiu ra lun thay i khi tn hiu vo cn khc 0.

Nhng h c im khng l gc ta u mang c tnh vi phn. Cc h ny s

phn ng rt nhanh vi s thay i ca tn hiu u vo.

Nu G ( s ) l hm hp thc khng cht ( m = n ) th hm qu h ( t ) ca h thng

s khng xut pht t gc ta , tc l h (+0) 0.

Nu G ( s ) l hm hp thc cht ( m < n ) th hm qu h ( t ) ca h thng s xut

pht t gc ta , tc l c h ( + 0 ) = 0 .

Nu G ( s ) c m = n 1 th hm qu h ( t ) ca h thng s xut pht t 0, nhng

dh( +0 )
ti khc 0, chng hn nh khu qun tnh bc nht.
c o hm
dt

Nu G ( s ) c m < n 1 th hm qu h ( t ) ca h thng s xut pht t 0, ng

thi o hm ca n ti cng bng 0, v d nh khu qun tnh b hai.

Sau y, ta s nghin cu thm nhng mi quan h khc gia v tr im cc, im

khng ca G ( s ) v tnh ng hc ca h.
iu kin tn ti qu iu chnh

Xt h c hm truyn hp thc ( m n ) cho cng thc (2.128). Nh vy, r rng h

c m im khng q 1 , q 2 , , q m v n im cc p 1 , p 2 , , p n . H c th c xem nh
gm nhng khu sau mc ni tip (hnh 2.86)

khuch i k

khu G1k ( s ) =

v cc khu Gi0 ( s) =

s qk
, k=1, , m
s pk
1
, i=m+1, ,n
s pi

s qm
s pm

s q1
s p1

1
s pn

1
s pm +1

Hnh 2.86: S khi tng ng ca h c hm truyn (2.128).

nh l 2.29: Xt h pha n nh SISO c hm truyn (2.128) v k > 0 . Nu tt c cc

im khng q k , k =1, , m v im cc p i , i =1, , n u l nhng s thc m

th khng mt tnh tng qut ta c th gi thit
0> q 1 q 2

qm

0> p 1 p 2

pn

(2.129)

151

Khi s c:
a)

Nu ng thi tt c m bt ng thc sau c tha mn

q1 < p1 ,

q2 < p2 ,

, qm < pm

(2.130)

th hm qu h ( t ) ca h s n iu tng, ni cch khc h khng c qu

iu chnh (hnh 2.87a).
Nu c l bt ng thc trong s m bt ng thc (2.130) khng c c tha
mn th hm qu h ( t ) ca h s c ng l im cc tr (cc i v cc tiu),
v do h c qu iu chnh (hnh 2.87b).

b)

a)

b)

h(t)

h(t)
l=1

h
l=2

Hnh 2.87: Minh ha cho nh l 2.29.

Chng minh:
H c hm trng lng g ( t ) l tch chp ca tt c cc hm trng lng ca cc
khu thnh phn, tc l

g ( t ) = k [ g11 ( t ) *

0
* g1m ( t ) * gm
+1 ( t ) *

* gn0 ( t ) ]

trong
g1k ( t ) = k ( t ) + ( p k q k ) e

pk t

, k=1, ,m

gi0 ( t ) = e pi t , i = m + 1 , , n

a ) Cc hm gi0 ( t ) l khng m. Do c iu kin (2.130) nn cc hm g1k ( t ) cng khng

m. Suy ra tch chp g ( t ) ca chng cng khng m. V h ( t ) c o hm g ( t ) khng m
nn h ( t ) l hm khng gim.
b ) Trc ht ta thy tch chp ca mt hm khng m vi mt hm khng dng s i
du mt ln. Nu nh c l bt ng thc (2.130) khng c tha mn th s c l hm
trong s cc hm g1k ( t ) khng dng. Suy ra tch chp g ( t ) ca tt c cc hm g1k ( t ) ,
gi0 ( t ) s i du l ln v do h ( t ) c l im cc tr.
V d 2.62: Minh ha nh l 2.29

Cho nhng h SISO vi hm truyn sau

152

G 1 ( s )=

1 + 0,75s
,
1+ s

G 2 ( s )=

(1 + 0,5s)2
(1 + s)(1 + 0,8 s)

v G 3 ( s )=

1
1+ s

Tt c cc h ny u c im cc, im khng nm bn tri trc o v tha mn

iu kin (2.130). Chng hn nh h G 2 ( s ) c hai im cc c sp xp theo th t
(2.129) l p 1 = 1, p 2 =

5
v hai im khng q 1 = q 2 = 2 cng sp xp theo th t .
4

Chng u tha mn q 1 < p 1 , q 2 < p 2 . Bi vy theo nh l 2.29, c ba hm qu h 1 ( t ),

h 2 ( t ), h 3 ( t ) s n iu tng (hnh 2.88).

h(t)

G1(s)=

1 + 0,75s
1+ s

0,8
0,6

G2(s)=

(1 + 0,5s )2
(1 + s )(1 + 0,8 s )

0,4
0,2

G3(s)=

1
1+ s

Hnh 2.88: Cc hm qu minh

ha cho v d 2.70.

V d 2.63: Minh ha nh l 2.29

Cho cc h pha cc tiu SISO vi hm truyn sau

G 1 ( s )=

(1 + 0,5s)(1 + 1,8 s )
(1 + 0,75s)(1 + 1,5s )

G 2 ( s )=

(1 + s)(1 + 2s)(1 + 3s)

(1 + 0,5s)(1 + 1,2s)(1 + 2,2s)2

H G 1 ( s ) c hai im khng theo th t (2.129) l q 1 =

p1=

5
, q 2 = 2 v hai im cc
9

2
4
, p2=
cng c sp xp theo th t . Do c mt bt ng thc trong s
3
3

cc bt ng thc (2.130) khng c tha mn l q 1 > p 1 nn th h 1 ( t ) ca n s c

mt im cc tr v phi l im cc i (hnh 2.89). Tng t, h G 2 ( s ) c ba im
1
1
khng q 1 = , q 2 = , q 3 = 1 c sp xp theo th t (2.129) v bn im cc
3
2

p1=

5
5
5
, p2=
, p 3 = , p 4 = 2 cng sp xp theo th t . V c mt bt ng
11
11
6

thc q 1 > p 1 khng tha mn (2.130) nn th h ( t ) ca n c mt im cc i (hnh

S
2.89).

153

h(t)
1

G 1 ( s )=
Hnh 2.89: Cc hm qu minh ha
cho v d 2.63.

G 2 ( s )=

(1 + 0,5s)(1 + 1,8 s)
(1 + 0,75 s)(1 + 1,5s)

(1 + s)(1 + 2s)(1 + 3s)

(1 + 0,5s)(1 + 1,2s)(1 + 2,2s)2

Khu thng tn v h pha cc tiu

Khu ng hc c hm truyn

Ga(s) =

1 Ts
,
1 + Ts

T>0

(2.131)

c gi l khu thng tn (allpass). L do cho tn gi ny l v n c hm c tnh tn

binpha (cng l nh Fourier ca hm trng lng)

G a ( j ) =

1 jT
1 + j T

| G a ( j ) | = 1

vi khuch i bng 1 mi tn s, tc l n khng lc bt k mt tn s no ca tn

hiu u vo.
ng c tnh tn Bode ca khu thng tn l:

L a ( ) = 0

a ( ) = arctan

arctan 2T nu T << 1

=
2
2
nu T >> 1
(T ) 1 arctan
T

2T

By gi ta xt h c hm truyn

G(s) = G0(s)Ga(s)

(2.132)

trong G a ( s ) l mt khu thng tn.

Nu G 0 ( s ) l hm bn th G ( s ) cng l hm bn v do ng c tnh tn
binpha ca h cng l nh Fourier G ( j ) ca hm trng lng ca h thng. Do G a ( s )
l khu thng tn nn
| G ( j ) | = | G 0 ( j ) |
nh ngha 2.3: Trong s tt c cc h c cng bin | G ( j ) | ca hm c tnh tn th
h c gc lch pha ( ) nh nht c gi l h pha cc tiu.

Gi s ta c h pha cc tiu vi hm truyn:

154

G( s ) = k

(1 + T1/ s)(1 + T2/ s)

(1 + T1 s)(1 + T2 s)

(1 + Tm/ s)
(1 + Tn s)

trong T1/ l s m, cn li cc hng s khc T2/ , T3/ , , Tm/ l nhng s dng. Khi
, nu vit li G ( s ) thnh dng (2.132)

G(s) =

k(1 + T1/ s)2 (1 + T2/ s)

(1 + Tm/ s) 1 T1/ s

/
(1 T1's)(1 + T1s)(1 + T2 s)
(1 + Tn s) 1 + T1 s
Ga ( s)
G0 ( s)

ta s c

( ) = 0 ( )+ a ( )
vi

0 ( ) = arc G 0 (j )

a ( ) = arcG a (j ) = 2arctan( T 1 ' ).

Nhng v
|G a (j )|= 1

|G(j )|=|G 0 (j )|

nn vi tnh pha cc tiu ca G ( s ) ta phi c

( ) < 0 ( )

a ( ) < 0

Song iu ny khng th, v T1/ <0. Vy:

nh l 2.30: H pha cc tiu c hm truyn G(s) thchu t, phi c tt c cc im
khng (hu hn) nm bn tri trc o.

th hm qu h ( t ) ca khu thng tn vi hm truyn (2.131) c biu din

minh ha trong hnh 2.90a). Hnh 2.90b) l th hm qu h(t) ca mt h pha cc
tiu v ca mt h pha khng cc tiu so snh. Ta c th thy c c im ca h
pha khng cc tiu l trong khong thi gian nh ngay sau khi b kch thch, h c p
ng ngc vi hng ca tn hiu kch thch u vo 1(t).

a)

b)

h(t)

h(t)
H pha cc tiu

h
Khu thng tn

H pha khng cc tiu

1
Hnh 2.90: Hm qu ca khu thng tn v ca h pha khng cc tiu.

155

Phn tch bng phng php qu o nghim s

Xt h kn c s cu trc cho hnh 2.91a), trong tham s k l cha bit, hm

truyn S(s) l cho. Nh vy hm truyn ca h h s l
G h (s) = kS(s)

(2.133)

v h kn c hm truyn
Gh ( s)
1 + Gh ( s)

G(s) =

H kn c cc im cc l nghim ca hm sai lch phn hi

F(s) = 1+G h (s) = 1+kS(s)

(2.134)

v tt nhin v tr cc im cc ny trong mt phng phc, nhn t quyt nh cht

lng ca h kn, ph thuc vo gi tr ca tham s k .
nh ngha 2.4: Phng php qu o nghim s l mt phng php phn tch cht
lng h kn trn c s ng th biu din nghim s ca hm sai lch phn hi
(2.134) theo tham s k ca hm truyn h h (2.133).
V d 2.64: Gii thiu phng php qu o nghim s

Xt h kn c cu trc s khi cho trong hnh 2.91a) vi

S( s) =

10( s + 4)
s( s2 + 6 s + 10)(0,15 s + 1)

Nh vy hm sai lch phn hi ca h l

F ( s) = 1 + k

10( s + 4)
2

s( s + 6 s + 10)(0,15 s + 1)

a)

=0

(2.135)
j

b)

k=2
u

S(s)

6,7

Hnh 2.91: Gii thiu phng php qu

o nghim s qua v d 2.64.

k=2

Gii phng trnh (2.135) ph thuc tham s k ta c c im cc ca h kn. Biu

din cc im cc trong mt phng phc di dng th ph thuc tham s k ta
c qu o nghim s ca h kn. Hnh 2.91b) l th qu o nghim s ng vi di

156

bin thin 0 k ca tham s k. Chiu tng ca k c th hin bng chiu mi tn

1
trn th qu o nghim s. Cc du O trn th l nghim ca (2.135) khi k = .
4
Qu o nghim s ca h gm bn nhnh ng vi bc a thc mu s ca hm
truyn S(s) l bn. C bn nhnh ny u xut pht (khi k = 0 ) t cc im cc ca hm
truyn S(s). Chng c nh du bng k hiu trong hnh 2.91b). im khng ca
hm S(s) c k hiu bi v cng l im kt thc (khi k = ) ca mt trong cc
nhnh qu o nghim s.
Vi ng qu o nghim s ny ta c c mt ci nhn trc quan v s ph
thuc ca cht lng h kn vo tham s k. Chng hn nh do qu o nghim ct trc
o ti k = 2 v nm bn phi trc o khi k > 2 nn h s khng n nh vi k 2 .

Xt trng hp tng qut cho h hnh 2.91a) vi

Gh ( s) = kS( s) = k

+ bm sm

B( s) b0 + b1 s +
=
A( s) a0 + a1 s +

+ an sn

(mn)

Gi p i , i=1, ,n l cc im cc v q k , k=1, ,m l nhng im khng ca S(s). Khi

G h (s) s vit c thnh
Gh ( s) = k

( s q1 )( s q2 )
( s p1 )( s p2 )

( s qm )
( s pn )

Hin nhin h kn n nh nu nh cc im cc ca hm truyn h kn, tc l nghim

ca hm sai lch phn hi F(s) xc nh theo (2.134) nm bn tri trc o. Suy ra

1+G h (s) = 0

k =

A( s)
B( s)

(2.136)

k=

s pi

i =1
m

k =1

v
s qk

i =1

k =1

arc( s pi ) arc( s qk ) = (2l + 1)

vi l Z

(2.137)

Nhng do nghim ca (2.136) v (2.137) ph thuc k nn khi k thay i, cc nghim

cng c th s dch chuyn t na mt phng bn tri trc o sang na phi hoc
ngc li to thnh cc ng qu o nghim s.
xy dng ng qu o nghim s ta c tm quy tc ca Evans pht biu nh
sau:
1) Quy tc 1: Qu o nghim s c dng i xng qua trc thc.
iu ny l hin nhin, v phng trnh (2.136) c cc h s l s thc nn nghim
ca n phi hoc l s thc, hoc l cc s phc lin hp. Ni cch khc, nghim ca
(2.136) nm i xng qua trc thc.

157

2) Quy tc 2: Qu o nghim s c n nhnh. Cc nhnh ny u bt u khi k = 0

nhng im p i , i = 1 , , n l im cc ca S(s). S c m nhnh kt thc khi k
ti q k , k = 1 , , m l im khng ca S(s).
Qu o nghim c n ng v (2.136) c n nghim ng vi s bc ca A(s). Khi
k = 0 , phng trnh (2.136) s l A(s)=0, nn nghim ca n chnh l im cc ca S ( s ) .
Vy tt c n nhnh ny u phi bt u t cc im cc p i , i = 1 , , n .
Trng hp k th do (2.136) tng ng vi
A( s)
+ B( s ) = 0
k

nn nghim ca n cng s bao gm m nghim ca B ( s ) = 0 . Do trong s n nhnh s

c m nhnh kt thc ti cc im khng q k , k = 1 , , m .
3) Quy tc 3: Qu o nghim s c n m nhnh ko ra xa tn v cng khi k .
T phn phng trnh (2.137) vi
n

s pi

lim i =1
k m

s qk

k =1

th r rng phi c n m nhnh ko ra xa tn v cng khi k .

4) Quy tc 4: Gc xut pht ca cc nhnh ti im cc p i , i = 1 , , n l:
n

j =1
j i

k =1

i = arc( pi p j ) + arc( pi qk ) + ( 2 l + 1 ) vi l Z

(2.138)

v gc kt thc ti cc im khng q k , k = 1 , , m l:
n

i =1

j =1
jk

k = arc( qk pi ) + arc( qk q j ) + ( 2 l + 1 ) vi l Z

(2.139)

Tnh ng n ca hai cng thc (2.138) v (2.139) c kim chng mt cch d

dng nh (2.137) bng cch cho nghim s tin ti p i c gc xut pht i ( s p i )
hoc ti q k c gc kt thc k ( s q k ) .
5) Quy tc 5: n m nhnh ko ra xa v cng u c ng tim cn. Cc ng tim cn
cng ct trc thc ti mt im:
r0 =

1 n
pi qk
n m i =1
k =1

v hp vi trc thc mt gc

l =

158

2l + 1
,
nm

l=0,1, ,nm+1

 xc nh phng trnh ng tim cn ca nhng nhnh qu o nghim s ko

ra tn v cng ta s s dng cng thc (2.136). T v vi gi thit p i , i = 1 , , n l
cc im cc v q k , k = 1 , , m l nhng im khng ca S(s) ta c
n

sn pi sn 1 +
1
i
=

=1
=
k = im
m

( s qk ) sm qk sn 1 +
k =1
k =1
n

( s pi )

Chia a thc t s cho a thc mu s, sau cho s ri ch gi li hai gi tr u

tin (v thc cht ta ch cn c phng trnh ng thng khi s ln):
k = sn

1
( k) n m

m
n

pi qk s n m 1
k =1
i =1

(vi s )
1

m
1 n
nm
= s 1 pi qk
s i =1

k =1

Khai trin v phi bng cng thc khai trin nh thc Newton v cho s ta c
1

( k) n m = s

1 n
pi qk = s r 0
n m i =1
k =1

r0

(2.140)

R rng r0 l mt s thc v p i , i = 1 , , n cng nh q k , k = 1 , , m hoc l cc s

thc, hoc l cc s phc lin hp.
T (2.140) ta suy ra c tip
1

s = ( k) n m + r 0
Nhng v
k = k [ cos( 2 l + 1 ) j sin( 2 l + 1 ) ] = k e j(2l +1)
nn
1

s = k nm e

2 l +1

nm

+ r0

Nh vy, tt c cc ng tim cn u c chung mt giao im vi trc thc l r0 v

hp vi trc thc mt gc

l =

2l + 1
,
nm

l=0,1, ,nm+1

Tng cng c tt c nm ng tim cn ng quy ti r0 trn trc thc to thnh

mt hnh sao c n m tia xung quanh r 0 .
6) Quy tc 6: Tt c cc im trn trc thc nm bn tri tng s l cc im p i v q k
u thuc qu o nghim s.

159

iu ny ta c th thy c ngay t phng trnh v gc pha (2.137) cho cc

nghim thc s vi p i v q k cng l nhng s thc
n

i =1

k =1

arc( s pi ) arc( s qk ) = (2l+1)

Nhng do cc im phc p i , q k u i xng qua trc thc nn s cc im p i v q k

nm bn phi nghim ca (2.136) cng s vn l s l.
7) Quy tc 7: Cc nhnh ca qu o nghim s ct nhau ti nhng im tha mn:
n

m
1
1
=
s

p
s

qk
i =1
k =1
i

(2.141)

v nu ti giao im c r nhnh th cc nhnh hp vi nhau mt gc l

2
r

T phng trnh (2.136) ta c

n

lnGh(s) = ln k + ln( s pi )
i =1

ln( s qk )

k =1

suy ra
m
dGh ( s) n 1
1
1
d

=
ln Gh(s) =

ds
Gh ( s)
ds
i =1 s pi
k =1 s qk

(2.142)

Gi s l giao im ca cc nhnh ca qu o nghim s. Vy th s phi l nghim

bi ca phng trnh (2.136), tc l n phi tha mn
1+Gh(s) = 0 v

dGh ( s)
=0
ds

dGh ( s)
1

=0
Gh ( s)
ds

(2.143)

Thay (2.143) vo (2.142) ta c iu khng nh (2.141). Ch rng (2.141) ch l

iu kin cn ch khng , tc l khng phi tt c cc nghim ca (2.141) u l im
giao nhau gia cc nhnh qu o nghim s.
8) Quy tc 8: Giao im s c = j c ca qu o nghim s vi trc o l nghim ca:
A(j c )+k c B(j c )=0

Re[ A( j c )] + kc Re[ B( j c )] = 0

Im[ A( j c )] + kc Im[ B( j c )] = 0

(2.144)

Tnh ng n ca (2.144) c suy trc tip t (2.136).

V d 2.65: Minh ha phng php qu o nghim s

Cho h kn c cu trc s khi nh trong hnh 2.91a) v

S(s)=

1
s( s + 2)( s + 4 )

Trc ht ta thy S ( s ) c 3 im cc l p 1 =0, p 2 =2 v p 3 =4. Ngoi ra S(s)

khng c im khng. Do qu o nghim s m t h kn s gm ba nhnh v c ba

160

nhnh ny u ko ra xa v cng khi k . Ba nhnh qu o nghim u c cha

nhng on trn trc thc gm on thng gia cc im p 1 =0, p 2 =2 v na ng
thng bn tri im p 3 =4 (hnh 2.92).
ng tim cn ca cc nhnh ng quy ti
r0 =

1
(024)= 2
3

v hp vi trc thc cc gc

0 =

, 1 = ,

2 =

5
3

Cc nhnh c giao im vi nhau ti

1
1
1
=0
+
+
s s+2 s+4
2

3s + 12s + 8 = 0

s1 = 2 +

2
3

, s2 = 2

k c =48

0
4

k c =48

trong ch c thc s
2
0,85
s1 = 2 +
3

Hnh 2.92: Minh ha v d 2.65

l giao im v "im tng l giao nhau" s2 li khng thuc v qu o nghim s

(khng trn mt nhnh no) nn b loi.
Ti giao im s1 c r = 4 nhnh nn cc nhnh hp vi nhau mt gc bng

Cui cng, qu o nghim s ct trc o ti

j c (j c +2)(j c +4)+k c = 0

2.3.5

c = 2 2 v k c = 48.

Phn tch tnh bn vng

Mt h thng iu khin lun cha ng trong n cc yu t bt nh (uncertain) v

i tng. Ngun gc ca cc yu t bt nh ny c th l:

i tng c m t mt cch khng y , m hnh m t i tng khng

chnh xc.

M hnh i tng m ta s dng l mt m hnh n gin, c xp x t m

hnh phc tp m t chnh xc i tng. Chng hn nh i tng c m hnh
chnh xc l phi tuyn, song n gin ha cho cng vic phn tch v thit k b
iu khin ta xp x m hnh phi tuyn bng mt m hnh tuyn tnh.

Nhng bi ton iu khin c yu t bt nh S ca i tng iu khin c th

hin qua s thay i ca tham s trong m hnh i tng (h s ca hm truyn) s
c gi l bi ton bn vng vi sai lch m hnh c cu trc. Ngc li, nu cc yu t
161

bt nh li nm cu trc m hnh (chng hn bc ca m hnh i tng b thay i)

th bi ton c tn gi l bi ton bn vng vi sai lch m hnh khng c cu trc.
Hnh 2.93 biu din mt s dng in hnh ca sai lch m hnh S khng c cu
trc.
a)

b)

S(s)

c)

S(s)
+

S(s)
S

Hnh 2.93: a) Sai lch m hnh theo quan h b cng.

b) Sai lch m hnh theo quan h b nhn.
c) Sai lch m hnh theo quan h b phi hp.

nh gi cht lng bn vng nh hm nhy

Xt h kn cho hnh 2.94a). Hm K(s) nh ngha theo

K ( s) =

1
1 + RS

c tn gi l hm nhy (sensivity function) ca h. Tn gi ny c bt ngun t bn

cht ca n l i lng o s nhy cm ca hm truyn h kn
G( s ) =

SR
1 + SR

tng ng vi mt thay i nh S trong m hnh hm truyn ca i tng.

a)

b)

ImG h
u

R(s)

S(s)

ReG h
| 1+G h (j )|

Hnh 2.94: nh gi nhy cm

ca h kn nh th binpha
ca h h.

G h (j )

Nu gi G l s thay i trong G(s) ng vi sai lch S ca i tng th nhy

G
S
K ( s ) c nh ngha l t s sai lch tng i
trong G ( s ) ca c h kn vi
G
S
trong ring i tng S(s). Suy ra

162

G
dG S
K(s) = lim G =

S 0 S
dS G
S
v chnh l hm nhy ca h m ta nh ngha

K(s) =

R(1 + SR) SR 2 S(1 + SR)

1
=

2
SR
1
+
SR
(1 + SR)

H c cht lng tt l h t nhy cm vi sai lch m hnh i tng, tc l h c

|K(j )|<

vi mi

(2.145)

trong l mt s dng nh. T y, v cng vi cng thc ca hm nhy K ( s ) ,

cht lng t nhy cm ca h kn c nh gi bng
1

< |1+R(j )S(j )|

< |1+G h (j )|

vi G h (s)=R(s)S(s). Suy ra
nh l 2.31: H kn hnh 2.94 s c nhy cm K(s) tha mn (2.145), trong l

mt s dng nh, nu ng th c tnh tn bin pha G h (j )=R(j )S(j )

ca n lun nm ngoi ng trn vi tm 1 + 0 j v bn knh

(hnh 2.94b).

nh gi tnh n nh bn vng vi sai lch m hnh khng c cu trc

Thng gp nht trong thc t l bi ton iu khin c yu t bt nh ca i

tng th hin di dng quan h b cng (hnh 2.93a v 2.94a), tc l i tng s c
hm truyn thuc tp hp
~
vi
|S(j )| max( )
S( s ) = S ( s ) + S
~
Gi s rng hm truyn h h R ( s ) S( s) l hm bn vi mi | S | max . Vy th
theo tiu chun Nyquist (nh l 2.23), h kn s n nh nu nh qu o hm c tnh
~
tn binpha R(j ) S( j ) khng i qua v khng bao im 1. Nhng do
~
| R ( j ) S( j ) R ( j ) S ( j ) | | R ( j ) | max( )
~
nn ng c tnh tn R ( j ) S( j ) chnh l tp cc im trong mt phng phc nm
trong ng trn tm R(j )S(j ) bn knh | R(j )| max( ) . Bi vy, trong trng hp
~
ng qu o R(j )S(j ) khng bao im 1 th cn v ng R(j ) S( j )
cng khng bao im 1 l bn knh | R(j )| max( ) phi nh hn khong cch t tm
ng trn R(j )S(j ) ti im 1 (hnh 2.95b). Ni cch khc:
| R(j )| max( ) < | 1 + R(j )S(j ) |
163

a)

b)

ReG h
R(j )S(j )

Hnh 2.95: Kim tra tnh n nh h kn

c sai lch m hnh khng cu trc
kiu b cng ca i tng.

ImG h

| 1+R(j )S(j )|

| R(j)| max()

~
nh l 2.32: Nu h kn vi R(s) v S(s) l n nh v hm truyn R(s) S( s) l hm
bn vi mi |S(s)| max(s) th cn v h kn n nh bn vng vi mi yu
t bt nh kiu b cng ca i tng l
max ( ) <

1 + Gh ( j )
1 + R( j )S( j )
=
R( j )
R( j )

vi mi

Khi h kn n nh (bn vng) th nh l 2.28 li c th c s dng kho

st sai lch tnh e . Do nh l 2.28 khng c yu cu g v tnh bt nh ca i tng
nn h kn vi nhng yu t bt nh S v i tng l n nh bn vng v S(s)R(s)
c cha thnh phn tch phn (vi mi S ) th khi c kch thch bi 1 ( t ) , n s c sai
lch tnh bng 0 ( e = 0 ) .
H va c tnh n nh bn vng va c nhy nh

Tip theo ta xt li h c cu trc cho hnh 2.97a) vi sai lch m hnh khng c
cu trc S kiu b cng tha mn | S | max v s bn v iu kin n va n
nh bn vng, va c nhy tha mn |K(j )|< .
K hiu
G h (j ) = R(j )S(j )
Khi , ging nh c phn trc, hm c tnh tn binpha ca h kn
R(j ) [ S(j )+S(j ) ] = G h (j )+R(j )S(j )
l tp tt c cc im nm bn trong cc ng trn c tm l G h (j ) v bn knh l
| R ( j ) | max( ) .
Gi s h h n nh vi mi sai lch S , tc l hm R(S+S) l hm bn. Khi ,
theo tiu chun Nyquist (nh l 2.23), h kn n nh vi mi sai lch S , cng nh

164

c nhy nh |K(j )|< , trong hm nhy c nh ngha l K =

1
, th cn v
1 + SR

l (hnh 2.96b):
| R ( j ) | max( ) +

< | 1+ G h (j )|

vi mi

T y v kt hp vi cc nh l 2.31, 2.32, ta i n c kt lun:

nh l 2.33: Nu h vi cu trc m t hnh 2.97a) c hm truyn ca h h l hm
bn vi mi sai lch S , th n s va n nh bn vng, va c nhy cm nh
theo ngha | K ( j ) | < , khi v ch khi
K R max +

K < 1

a)

ImG h

b)

ReG h

G h (j )
|1+G h (j )|

Hnh 2.96: H va c tnh n nh bn

vng, va c nhy cm nh.

|R(j )| max ( )

Tnh n nh bn vng ca h bt nh c cu trc: Tiu chun Kharitonov

Nm 1978 Kharitonov a ra mt tiu chun da theo nguyn tc a thc

Hurwitz quen bit, cho php kho st c tnh n nh ca mt lp cc m hnh tuyn
tnh cng cu trc
G( s ) =

1 + b1s +
a0 + a1 s +

+ bm sm
+ an sn

B( s )
A( s)

(2.146)

trong cc tham s b i , i = 0 , 1 , , m v a k , k = 0 , 1 , , n l cc gi tr bt nh.

Theo nh l 2.12, h bt nh c hm truyn (2.146) n nh khi v ch khi G(s) l
mt hm bn, tc l khi v ch khi
A(s) = a 0 +a 1 s+a 2 s 2 +

+a n s n

(2.147)

l a thc Hurwitz vi mi gi tr tham s a k , k = 0 , 1 , , n .

a thc A(s) cho trong (2.147) c gi l a thc Hurwitz cht (strictly Hurwitz),
nu n l Hurwitz vi mi gi tr tham s a k thuc khong

165

ak a k ak+

k=0,1, ,n

(2.148)

nh l 2.34 (Kharitonov): a thc A(s) cho trong (2.147) l Hurwitz cht th cn v

l c bn a thc h s hng sau y (c gi l cc a thc Kharitonov):

K 1 (s) = a0 + a1 s + a2+ s 2 + a3+ s 3 + a4 s 4 + a5 s 5 + a6+ s 6 +
K 2 (s) = a0 + a1+ s + a2+ s 2 + a3 s 3 + a4 s 4 + a5+ s 5 + a6+ s 6 +
K 3 (s) = a0+ + a1+ s + a2 s 2 + a3 s 3 + a4+ s 4 + a5+ s 5 + a6 s 6 +
K 4 (s) = a0+ + a1 s + a2 s 2 + a3+ s 3 + a4+ s 4 + a5 s 5 + a6 s 6 +
l nhng a thc Hurwitz (c nghim nm
bn tri trc o). Cch xc nh bn a thc
Kharitonov t a thc (2.147) vi tnh bt
nh (2.148) cho cng tng i d nh
theo quy lut dch tri 1 bit nh sau:

+ +

+ +

+ +

K 2 (j )

K 3 (j )

K 1 (j )

K 4 (j )

+ +

+ +

+ +

+ +

Hnh 2.97: Minh ha nh l 2.34

Chng minh:
Trc tin, ta nhn thy:
A(j ) = (a 0 a 2 2 +a 4 4

)+j(a 1 a 3 3 +a 5 5

Bi vy t (2.147) ta s c:
a0 a2+

+ a4 4

Re[ A ( j ) ] a0+ a2 2 + a4+ 4

a1 a3+ 3 + a5 5

Im[ A ( j ) ] a1+ a3 3 + a5+ 5

trong k hiu Re[ A(j ] ch phn thc v Im[ A(j )] ch phn o ca A(j ).
Tng t, vi:
K 1 (j ) = ( a0 a2+ 2 + a4 4
K 2 (j ) = (

a0

K 3 (j ) = (

a0+

a2+

a4

a2

a4+

+ a4+

K 4 (j ) = ( a0+ a2

) + j ( a1 a3+ 3 + a5 5
) + j(

a1+

) + j(

a1+

a3 3

a3 3

a5+ 5

) + j ( a1 a3+ 3 + a5 5

ta i n:
Re[ K 1 (j )] = Re[ K 2 (j )] Re[ A(j )] Re[ K 3 (j )] = Re[ K 4 (j )]
Im[ K 1 (j )] = Im[ K 4 (j )] Im[ A(j )] Im[ K 2 (j )] = Im[ K 3 (j )]

166

a5+ 5

iu ny ch rng vi mt gi tr c nh, hm A(j ) c gi tr nm trong hnh

ch nht vi bn nh l cc gi tr ca bn a thc Kharitonov (hnh 2.98).

a)

b)

K3(j)

K2(j)
a0

a0+

c)

K3(j)

K2(j)
a0

Hnh 2.98: Minh ha cho phn chng

minh nh l 2.34.

a0+

Chuyn sang phn chng minh nh l. Ta thy iu kin cn l hin nhin v khi
A ( s ) l Hurwitz vi mi tham s ak a k ak+ th n cng l Hurwitz vi a k = ak hoc
a k = ak+ v do c bn a thc Kharitonov cng s l Hurwitz. Vy ch cn li iu
kin l phi c chng minh. Gi thit cho rng bn a thc Kharitonov l nhng
a thc Hurwitz. Vy theo tiu chun Mikhailov (nh l 2.18), cc ng qu o tn s
bin pha ca chng vi 0 s phi xut pht t mt im trn trc thc v i qua
n gc mt phn t trong mt phng phc theo hng ngc chiu kim ng h, tc l gc
quay ca chng (nhn t gc ta ) ng bng

n
.
2

Cng t tiu chun Michailov ta cn c:

Giao im ca ng th K i (j ), i=1,2,3,4 vi trc thc phi nm xen k gia
nhng giao im ca n vi trc o.
Gi tr ti hai giao im ca K i (j ), i=1,2,3,4 vi trc thc nm k nhau phi
tri du nhau. Cng nh vy, gi tr ti hai giao im ca K i (j ), i=1,2,3,4 vi
trc o nm k nhau phi tri du nhau.
By gi ta s chng minh l khi bin thin t 0 n , nu bn nh ca hnh ch
n
th mi im thuc hnh ch nht cng bao gc ta
nht bao gc ta mt gc
2
n
v nh vy chng cng tha mn tiu chun Michailov.
mt gc ng bng
2

167

Ta s chng minh bng phng php phn chng. Gi s hnh ch nht vi bn

n
n
nh c cng gc quay
nhng bn thn n li bao gc ta mt gc nh hn
.
2
2
Nh vy phi c lc hnh ch nht cha im gc ta . Nhng v khi = 0 , gc ta
nm ngoi hnh ch nht (thc ra lc ch l mt on thng nm trn trc honh
vi hai u l a0 v a0+ ) nn khi im gc i t ngoi vo trong hnh ch nht
v do phi tn ti mt gi tr * m ti gc ta s nm trn cnh ca hnh ch
nht. Khng mt tnh tng qut ta gi s l cnh trn nh hnh 2.100c minh ha, tc
l c nh thuc K 3 (j ) vi phn thc dng. Vy th ng c tnh tn K 3 (j ) phi c
hai giao im vi trc thc nm k nhau cng du vi nhau (dng) v iu ny ngc
li vi h qu ca tiu chun Mikhailov. Tc l iu gi s l sai.
Vy, nu hnh ch nht cha cc gi tr ca A(j ) quay quanh gc ta mt
n
, th tt c cc ng c tnh tn bin pha ca A(j ) cng phi to ra gc quay
gc
2
n
S
v do A ( s ) cng l mt a thc Hurwitz (cht).
2
gim bt cng vic phi lm khi kim tra tnh Hurwitz cht ca A(s), tc l
gim bi s cc a thc Kharitonov phi kim tra ca n, Anderson, Jury, Mansor ci
tin nh l 2.34 ca Kharitonov thnh:
nh l 2.35 (Anderson, Jury, Mansor): A(s), cho trong (2.147) c bc n khng ln hn 5

vi cc tham s bt nh (2.148), l a thc Hurwitz cht th cn v l:

a)

Nu n = 3 th:
K 4 (s) = a0+

+ a1 s + a2 s 2 + a3+ s3

l a thc Hurwitz.
b)

Nu n = 4 th:
K 3 (s) = a0+

+ a1+ s + a2 s2 + a3 s3 + a4+ s4

K 4 (s) = a0+

+ a1 s + a2 s2 + a3+ s3 + a4+ s4

l cc a thc Hurwitz.
c)

Nu n = 5 th:
K 2 (s) = a0

+ a1+ s + a2+ s 2 + a3 s3 + a4 s 4 + a5+ s5

K 3 (s) = a0+

+ a1+ s + a2 s 2 + a3 s3 + a4+ s 4 + a5+ s5

K 4 (s) = a0+

+ a1 s + a2 s2 + a3+ s3 + a4+ s 4 + a5 s5

l cc a thc Hurwitz.
Chng minh:
Ta s chng minh cho trng hp n = 3 . iu kin cn l hin nhin v khi A(s) l
Hurwitz cht th bn a thc Kharitonov ca n l cc a thc Hurwitz, trong c
K 4 (s). chng minh iu kin ta lp bng Routh ca bn a thc Kharitonov:

168

K1(s)

a0

a2+

a1

a3+

a2+

K2(s)

a0 a3+

a2+

a1+

a3

a2+

a1

a3+

K3(s)

a0

a0 a3
a1+

a3

a0+

a2

a1+

a3

a2

K4(s)

a0+ a3

a0+

a2

a1

a3+

a2

a1+

a3

a0+ a3+
a1

a3+

Theo gi thit v tnh Hurwitz ca K 4 (s) th gi tr trong ct u bng Routh ca

n l nhng s dng. Do a2
1) a2

a0+ a3
a1+

>0, v

a0+ a3
a1+

<

a0+ a3+

a0+ a3+
a1

a1

>0. T y ta suy ra thm:

. Kt hp vi iu kin a i > 0 , i cho th theo tiu

chun RouthHurwitz, K 3 (s) l Hurwitz.

2) a2+

a0 a3

a1+
Hurwitz.

3) a2+

a0 a3+

a1
Hurwitz.

>0, v

a0 a3

>0, v

a0 a3+

a1+

a1

<

a0+ a3+

<

a0+ a3+

a1

a1

. Cng thm iu kin a i > 0 , i c th K 2 (s) l

. Thm iu kin a i > 0 , i bit th K 1 (s) l

Bi ton m

Trc tin ta quay li a thc Hurwitz cht (2.147) vi 4 a thc Kharitotov tng
ng cho trong nh l 2.34, trong cc h s a k , k = 0 , 1 , , n ca a thc (2.147)
c gi thit l chy trong khong kn ak a k ak+ , k = 0 , 1 , , n . Do tt c 4 a thc
Kharitonov:
K 1 (s) = a0 + a1 s + a2+ s 2 + a3+ s 3 + a4 s 4 + a5 s 5 + a6+ s 6 +
K 2 (s) = a0 + a1+ s + a2+ s 2 + a3 s 3 + a4 s 4 + a5+ s 5 + a6+ s 6 +
K 3 (s) = a0+ + a1+ s + a2 s 2 + a3 s 3 + a4+ s 4 + a5+ s 5 + a6 s 6 +
K 4 (s) = a0+ + a1 s + a2 s 2 + a3+ s 3 + a4+ s 4 + a5 s 5 + a6 s 6 +

169

u phi l a thc Hurwitz nn khng mt tnh tng qut ta c th xem tt c cc h s

ca chng l nhng s dng, tc l ak > 0 , k = 0 , 1 , , n . Nh vy cc h s ca a
thc Hurwitz cht (2.147) biu din c bi gi tr ca a thc p( ) h s dng:
ak = (1 )ak + ak+ = ( ak+ ak ) + ak = p( ) vi 0 1

T y, ngi ta i n mt kt lun phng on cho trng hp tng qut nh sau,

nhng cha chng minh c:
nh l 2.36 (Bi ton m): Cho a thc Hurwitz:
A( s) = a0 + a1 s + a2 s2 +

+ an sn

Khi vi mi a thc p( ) h s dng, a thc nhng:

A( s) = p( a0 ) + p( a1 )s + p( a2 )s2 +

+ p( an )sn

cng l mt a thc Hurwitz.

V d 2.66: Minh ha bi ton mnh l phng on

36

6859

A( s) = 5 + 16 s + 18 s2 + 8 s3 + s4

289

81

v mt a thc p( ) c h s dng:

6849

Xt a thc Hurwitz A(s) bc 4 v d 2.42:

p( ) = 1 + 2 + 2 = (1 + )2
Khi a thc nhng A( s) s l:

80.8
4
Hnh 2.99: Minh ha v d 2.66

A( s) = 36 + 289 s + 6859 s2 + 81s3 + 4 s4

v c bng Routh cho hnh bn (hnh 2.99). Do tt c cc h s ct u ca bng
Routh u l nhng s dng nn theo tiu chun Routh, a thc nhng A( s) ny cng
l mt a thc Hurwitz.

2.4 Thit k b iu khin

2.4.1

Chn tham s cho b iu khin PID

Tn gi PID l ch vit tt ca ba thnh phn c bn c trong b iu khin (hnh

2.100a) gm khu khuch i (P), khu tch phn (I) v khu vi phn (D). Ngi ta vn
thng ni rng PID l mt tp th hon ho bao gm ba tnh cch khc nhau:

phc tng v thc hin chnh xc nhim v c giao (t l),

lm vic v c tch lu kinh nghim thc hin tt nhim v (tch phn),

lun c sng kin v phn ng nhanh nhy vi s thay i tnh hung trong qu
trnh thc hin nhim v (vi phn).

170

a)

b)

uP
e

kp

1
TI s

PID

i tng
iu khin

uI

TDs

Hnh 2.100: iu khin vi b iu khin PID

uD

B iu khin PID c s dng kh rng ri iu khin i tng SISO theo

nguyn l hi tip (hnh 2.100b). L do b PID c s dng rng ri l tnh n gin
ca n c v cu trc ln nguyn l lm vic. B PID c nhim v a sai lch e(t) ca
h thng v 0 sao cho qu trnh qu tha mn cc yu cu c bn v cht lng:

Nu sai lch e(t) cng ln th thng qua thnh phn u P (t), tn hiu iu chnh
u(t) cng ln (vai tr ca khuch i k p ).

Nu sai lch e(t) cha bng 0 th thng qua thnh phn u I (t), PID vn cn to
tn hiu iu chnh (vai tr ca tch phn T I ).

Nu s thay i ca sai lch e(t) cng ln th thng qua thnh phn u D (t), phn
ng thch hp ca u(t) s cng nhanh (vai tr ca vi phn T D ).
B iu khin PID c m t bng m hnh vora:
u(t) = k p [ e(t)+

1
TI

e( )d +T D
0

de( t )
dt

trong e(t) l tn hiu u vo, u(t) l tn hiu u ra, k p c gi l h s khuch

i, T I l hng s tch phn v T D l hng s vi phn.
T m hnh vora trn ta c c hm truyn ca b iu khin PID:

1
R( s) = kp 1 +
+ TD s
T
s
I

Cht lng h thng ph thuc vo cc tham s k p , T I , T D . Mun h thng c

c cht lng nh mong mun th phi phn tch i tng ri trn c s chn cc
tham s cho ph hp. Hin c kh nhiu cc phng php xc nh cc tham s k p ,
T I , T D cho b iu khin PID, song tin ch hn c trong ng dng vn l:

Phng php ZieglerNichols

Phng php ChienHronesReswick

Phng php tng T ca Kuhn

Phng php ti u ln v phng php ti u i xng

Phng php ti u theo sai lch bm

171

Mt iu cn ni thm l khng phi mi trng hp ng dng u phi xc nh c

ba tham s k p , T I v T D . Chng hn, khi bn thn i tng c thnh phn tch
phn th trong b iu khin ta khng cn phi c thm khu tch phn mi lm cho sai
lch tnh bng 0, hay ni cch khc, khi ta ch cn s dng b iu khin PD
R(s) = k p (1+T D s)
l (T I =). Hoc khi tn hiu trong h thng thay i tng i chm v bn thn b
iu khin khng cn phi c phn ng tht nhanh vi s thay i ca sai lch e(t) th
ta c th ch cn s dng b iu khin PI (T D =0) c hm truyn:

R(s) = k p 1 +

T
Is

Hai phng php xc nh tham s PID ca Ziegler-Nichols

Ziegler v Nichols a a ra hai phng php thc nghim xc nh tham s b

iu khin PID. Trong khi phng php th nht s dng dng m hnh xp x qun
tnh bc nht c tr ca i tng iu khin:
S(s) =

ke Ls
1 + Ts

(2.149)

th phng php th hai ni tri hn ch hon ton khng cn n m hnh ton hc.
Tuy nhin n c hn ch l ch p dng c cho mt lp cc i tng nht nh.
1) Phng php Ziegler Nichols th nht:
Phng php thc nghim ny c nhim v xc nh cc tham s k p , T I , T D cho
b iu khin PID trn c s xp x hm truyn S(s) ca i tng thnh dng (2.149),
h kn nhanh chng tr v ch xc lp v qu iu chnh h khng vt qu
mt gii hn cho php, khong 40% so vi h = lim h( t ) , tc l c
t

h
0,4 (hnh 2.101).
h

Ba tham s L (hng s thi gian tr), k (h s khuch i) v T (hng s thi gian

qun tnh) ca m hnh xp x (2.149) c th c xc nh gn ng t th hm qu
h(t) ca i tng. Nu i tng c hm qu dng nh hnh 2.102a) m t th t
th hm h(t) ta c ra c ngay

L l khong thi gian u ra h(t) cha c phn ng ngay vi kch thch 1(t) ti
u vo,

k l gi tr gii hn h = lim h( t )

Gi A l im kt thc khong thi gian tr, tc l im trn trc honh c honh

bng L. Khi T l khong thi gian cn thit sau L tip tuyn ca h(t) ti
A t c gi tr k .

172

a)

b)

h(t)
e

PID

S(s)

y
40%
1

Hnh 2.101: Nhim v ca b iu khin PID.

Trng hp hm qu h(t) khng c dng l tng nh hnh 2.102a, song c

dng gn ging l hnh ch S ca khu qun tnh bc 2 hoc bc n nh hnh 2.102b) m
t, th ba tham s k, L, T ca m hnh (2.149) c xc nh xp x nh sau:

k l gi tr gii hn h = lim h( t ) .

K ng tip tuyn ca h(t) ti im un ca n. Khi L s l honh giao

im ca tip tuyn vi trc honh v T l khong thi gian cn thit ng
tip tuyn i c t gi tr 0 ti c gi tr k .

Nh vy ta c th thy l p dng c phng php xp x m hnh bc nht c

tr, i tng phi n nh v t nht hm qu ca n phi c dng hnh ch S.
Sau khi c cc tham s cho m hnh xp x (2.149) ca i tng, ZieglerNichols
ngh s dng cc tham s k p , T I , T D cho b iu khin nh sau [12]:
T
kL

Nu ch s dng b iu khin khuch i R(s)=k p th chn k p =

1
10
0,9T
Nu s dng b PI vi R(s)= kp 1 +
v T I =
L
th chn k p =
kL
3
TI s

1
1,2T
L
Nu s dng PID c R(s)= kp 1 +
+ TD s th k p =
, T I =2L , T D =
kL
2
T
s
I

a)

b)

h(t)

h(t)
k

t
L

t
L

Hnh 2.102: Xc nh tham s cho m hnh xp x (2.149) ca i tng.

173

2) Phng php ZieglerNichols th hai:

Phng php thc nghim th hai ny c c im l khng s dng m hnh ton
hc ca i tng, ngay c m hnh xp x gn ng (2.149). Ni dung ca phng php
th hai nh sau [12]:

Thay b iu khin PID trong h kn (hnh 2.103a) bng khu khuch i. Sau
tng h s khuch i ti gi tr ti hn k th h kn ch bin gii n nh,
tc l h(t) c dng dao ng iu ha (hnh 2.103b). Xc nh chu k T th ca dao
ng.

Xc nh tham s cho b iu khin P, PI hay PID t k th v T th nh sau:

1
kth
2

a)

Nu s dng R(s)=kp th chn kp =

b)

1
Nu s dng R(s)= kp 1 +
th chn k p =0,45k th v T I =0,85T th
TI s

c)

Nu s dng PID th chn k p =0,6k th , T I =0,5T th v T D =0,12T th

Phng php thc nghim th hai ny c mt nhc im l ch p dng c cho

nhng i tng c c ch bin gii n nh khi hiu chnh hng s khuch i
trong h kn.
a)

b)

kth

i tng
iu khin

h(t)
2
1,5

Tth

1
0,5

t
Hnh 2.103: Xc nh hng s khuch i ti hn.

Phng php ChienHronesReswick

y l phng php gn ging vi phng php th nht ca ZieglerNichols, song

n khng s dng m hnh tham s (2.149) gn ng dng qun tnh bc nht c tr cho
i tng m thay vo l trc tip dng hm qu h(t) ca n.
h(t)
k
b
>3
a

U
Hnh 2.104: Hm qu i tng thch hp cho
phng php ChienHronesReswick.

174

t
a

Phng php ChienHronesReswick cng cn gi thit i tng n nh, hm

qu h(t) c dng hnh ch S (hnh 2.104), tc l lun c o hm khng m:
dh( t )
= g(t) 0
dt

Tuy nhin phng php ny thch ng vi nhng i tng bc cao nh qun tnh bc n
k
S(s) =
(1 + sT )n
v c hm qu h(t) tha mn:
b
>3
a

(2.150)

trong a l honh giao im tip tuyn ca h(t) ti im un U vi trc thi gian

(hnh 2.104) v b l khong thi gian cn thit tip tuyn i c t 0 ti gi tr
xc lp k = lim h( t ) .
t

T dng hm qu h(t) i tng vi hai tham s a , b tha mn, ChienHrones

Reswick a bn cch xc nh tham s b iu khin cho bn yu cu cht lng
khc nhau nh sau [12]:

Ti u theo nhiu (gim nh hng nhiu) v h kn khng c qu iu chnh:

a)
b)
c)

3b
10 ak
6b
v T I =4a
B iu khin PI: Chn k p =
10 ak
19b
12a
21a
, TI =
v T D =
B iu khin PID: Chn k p =
20 ak
5
50

B iu khin P: Chn kp=

Ti u theo nhiu v h kn c qu iu chnh h khng vt qu 20% so vi

h = lim h( t ) :
t

a)
b)
c)

7b
10 ak
7b
23a
B iu khin PI: Chn k p =
v T I =
10 ak
10
6b
21a
B iu khin PID: Chn k p =
, T I =2a v T D =
5ak
50

B iu khin P: Chn k p =

Ti u theo tn hiu t trc (gim sai lch bm) v h kn khng c qu iu

chnh h :

a)
b)
c)

3b
10 ak
7b
6b
v T I =
B iu khin PI: Chn k p =
20 ak
5
3b
a
B iu khin PID: Chn k p =
, T I =b v T D = .
5ak
2

B iu khin P: Chn k p =

175

Ti u theo tn hiu t trc (gim sai lch bm) v h kn c qu iu chnh

h khng vt qu 20% so vi h = lim h( t ) :
t

a)
b)
c)

7b
B iu khin P: Chn k p =
10 ak
6b
B iu khin PI: Chn k p =
v T I =b
5ak
19b
27b
47 a
B iu khin PID: Chn k p =
, TI =
v T D =
20 ak
20
100

Phng php tng T ca Kuhn

Cho i tng c hm truyn

S( s) = k

(1 + T1t s)(1 + T2t s)

(1 + Tmt s)

(1 + T1m s)(1 + T2m s)

(1 + Tnm s)

e sT ,

(m<n)

(2.151)

Gi thit rng hm qu h(t) ca n c dng hnh ch S nh m t hnh 2.105, vy

th (2.151) phi tha mn nh l 2.29, tc l cc hng s thi gian t s Tit phi c
gi thit l nh hn hng s thi gian tng ng vi n mu s T jm . Ni cch khc,
nu nh c s sp xp:
T1t

T2t

Tmt

T1m

T2m

, Tmt

<

Tmm

Tnm

th cng phi c
T1t

<

T1m ,

h(t)
T2t

<

T2m ,

k
m

Ch l cc ch ci t v m trong Ti , T j

khng c ngha ly tha m ch l k hiu

ni rng n thuc v a thc t s hay mu s
trong hm truyn S(s).

Gi A l din tch bao bi ng cong h(t)

Hnh 2.105: Quan h gia din tch v

tng cc hng s thi gian.

v k = lim h( t ) . Vy th:
t

nh l 2.37: Gia din tch A v cc hng s thi gian Tit , T jm , T ca (2.151) c mi

quan h:
A = kT = k (

T jm Tit + T )

j =1

i =1

Chng minh:
Theo khi nim v din tch A th

A = [k h( t )]dt .
0

176

Chuyn hai v ng thc trn sang min phc nh ton t Laplace v gi A(s) l nh
Laplace ca A cng nh H(s) l nh ca h(t), ta c:
1
s

A(s) =

k
H ( s) ]
s

V A l hng s nn n c gii hn A= lim A . Do nu p dng nh l v gii hn

t

th nht ca ton t Laplace, s i n:

k
k S( s)
H ( s) ] = lim
s

0
s
s

A = lim [
s0

= k lim

(1 + T1m s)(1 + T2m s)

(1 + Tnm s) (1 + T1t s)(1 + T2t s)

s(1 + T1m s)(1 + T2m s)

s0

= k lim (T1m + T2m +

s0

(1 + Tmt s)e sT

(1 + Tnm s)

+ Tnm ) (T1t + T2t +

+ Tmt ) +

1 e sT

Suy ra
A = k(

j =1

i =1

j =1

i =1

T jm Tit + T ) = kT vi T = T jm Tit + T

nh l 2.35 ch rng T c th d dng c xc nh t hm qu h ( t ) dng

hnh ch S v i t 0 ca i tng n nh, khng dao ng, bng cch c ng din
tch A cng nh
k = lim h( t ) ,
t

T =

A
k

(2.152)

Trn c s hai gi tr k , T c ca i tng, Kuhn ra phng php tng T

xc nh tham s kp , TI , TD cho b iu khin PID sao cho h hi tip c qu trnh qu
ngn hn v qu iu chnh h khng vt qu 25%.
Phng php tng T ca Kuhn bao gm hai bc nh sau [12]:
1) Xc nh k , T c th t hm truyn S(s) cho trong (2.151) nh nh l 2.35 v cng
thc (2.152) hoc bng thc nghim t hm qu h(t) i t 0 v c dng hnh ch
S ca i tng theo (2.152).
2) Xc nh tham s:

T
1
v T I =
2k
2
2T
1
Nu s dng b iu khin PID: Chn k p = , T I =
k
3
Nu s dng b iu khin PI: Chn k p =

v T D =0,167T

Phng php ti u ln

Yu cu cht lng i vi h thng iu khin kn hnh 2.107a) c i tng S ( s )

v b iu khin phi tm R ( s ) , m t bi hm truyn tng ng:

177

G(s) =

SR
1 + SR

l h thng lun phi c c p ng y(t) ging nh tn hiu lnh c a u vo

w(t) ti mi im tn s hoc t ra thi gian qu y(t) bm c vo w(t) cng
ngn cng tt. Ni cch khc, b iu khin l tng R(s) cn phi mang n cho h
thng kh nng
|G(j )| = 1

vi mi

(2.153)

Nhng trong thc t, v nhiu l do m yu cu R(s) tha mn (2.153) kh c

p ng, chng hn nh v h thng thc lun cha trong n bn cht qun tnh, tnh
"cng li lnh" tc ng t ngoi vo. Song "tnh xu" ca h thng li c gim bt
mt cch t nhin ch lm vic c tn s ln, nn ngi ta thng tha mn vi
b iu khin R(s) khi n mang li c cho h thng tnh cht (2.153) trong mt di
tn s rng ln thuc cn 0 (hnh 2.106b). Di tn s ny cng rng, h s cng i nhanh
vo ch xc lp, tc l qu trnh qu ca h s cng ngn.
a)

b)

L( )
w

R(s)

S(s)

Cng rng cng tt

20
Hnh 2.106: Di tn s m c
bin hm c tnh tn bng 1,
cng rng cng tt.

40

0,1 c

10 c

B iu khin R ( s ) tha mn:

|G(j )| 1

(2.154)

trong di tn s thp c rng ln c gi l b iu khin ti u ln. Hnh 2.106b)

l v d minh ha cho nguyn tc iu khin ti u ln. B iu khin R ( s ) cn phi
c chn sao cho min tn s ca biu Bode hm truyn h kn G ( s ) tha mn:
L( ) = 20lg |G(j )| 0
l ln nht. Di tn s ny cng ln, cht lng h kn theo ngha (2.154) cng cao.
Mt iu cn ni thm l tn gi ti u ln c dng y khng mang ngha
cht ch v mt ton hc cho mt bi ton ti u, tc l y khng c phim hm nh
gi cht lng no c s dng do cng khng xc nh c th l vi b iu khin
R(s) phim hm c gi tr ln nht hay khng. Thun ty, tn gi ny ch mang tnh
nh tnh rng di tn s , m G(s) tha mn (2.154), cng rng cng tt.

178

Phng php ti u ln c xy dng ch yu ch phc v vic chn tham s b

iu khin PID iu khin cc i tng S(s) c hm truyn dng
k
1 + Ts

Qun tnh bc nht: S(s) =

Qun tnh bc hai:

S(s) =

k
(1 + T1s)(1 + T2 s)

Qun tnh bc ba:

S(s) =

k
(1 + T1s)(1 + T2 s)(1 + T3 s)

Tuy nhin, cho lp cc i tng c dng hm truyn phc tp hn, chng hn nh

(2.151), ta vn c th s dng c phng php chn tham s PID theo ti u ln
bng cch xp x chng v mt trong ba dng c bn trn nh phng php tng T ca
Kuhn hoc phng php tng cc hng s thi gian nh s c trnh by di y.
1) iu khin i tng qun tnh bc nht:
Xt h kn c s khi cho trong hnh 2.107a), trong :
kp
B iu khin l khu tch phn: R(s)=
TI s

i tng l khu qun tnh bc nht: S(s)=

(2.155)

k
1 + Ts

(2.156)

Nh vy s c:

Hm truyn h kn: G( s) =

Hm truyn h h:

k
TR s(1 + Ts) + k

Gh ( s) = R( s)S( s) =

vi T R =
kkp

TI s(1 + Ts)

TI
kp

k
TR s(1 + Ts)

(2.157)

Suy ra:
|G(j )| =

| G(j )| 2 =

( k TRT 2 )2 + ( TR )2

k2
k2 + (TR2 2kTRT ) 2 + TR2T 2 4

v iu kin (2.154) c tha mn trong mt di tn s thp c rng ln, tt

nhin ngi ta c th chn T R sao cho:
TR2 2kTRT = 0

TR =

a)

TI
= 2kT
kp
b)

R(s)

S(s)

L( )
0

20
40
Hnh 2.107: iu khin khu qun tnh bc nht

179

Khi h kn c biu Bode cho hnh 2.107b) vi hm truyn:

G( s ) =

n2
k
= 2
, trong n =
2kTs(1 + Ts) + k s + 2 Dn s + n2

v D =

2T

1
2

nh l 2.38: Nu i tng iu khin l khu qun tnh bc nht (2.156), th b iu

T
khin tch phn (2.155) vi tham s I = 2kT s l b iu khin ti u ln.
kp

Tip theo ta bn v trng hp i tng S ( s ) c dng:

S( s) =

k
(1 + T1s)(1 + T2 s)

(2.158)

(1 + Tn s)

Tt nhin p dng c nh l 2.38 vi b iu khin ti u ln l khu tch phn

(2.155) th trc tin ta phi tm cch chuyn m hnh (2.158) v dng xp x khu qun
tnh bc nht (2.156).
Phng php xp x m hnh (2.158) thnh (2.156) sau y l phng php tng cc
hng s thi gian nh. N c s dng ch yu cho cc hm truyn S(s) kiu (2.158) c
T 1 , T 2 , , T n rt nh. S dng cng thc khai trin Vieta cho a thc mu s trong
(2.158) c
S( s) =

k
1 + (T1 + T2 +

)s2 +

+ Tn )s + ( T1T2 + T1T3 +

Do , nhng im tn s thp, tc l khi s nh, ta c th b qua nhng thnh phn

n

bc cao ca s v thu c cng thc xp x (2.156) c T = Ti . Suy ra:

i =1

nh l 2.39: Nu i tng iu khin (2.158) c cc hng s thi gian T 1 , T 2 , , T n

n
T
rt nh, th b iu khin tch phn (2.155) vi tham s I = 2k Ti s l b iu
kp
i =1
khin ti u ln.
V d 2.67: Minh ha nh l 2.39

Gi s i tng iu khin c dng

2
S( s) =
(1 + 0,1s)6
Vy th
k=2

180

1
0,5

T = 0,6.

Do b iu khin I c s dng s c:
T I = 2,4

h(t)
1,5

R( s) =

1
2,4 s

8 10 12 14 16 18

Hnh 2.108: Minh ha v d 2.67

Hnh 2.108 l th hm qu ca h kn gm b iu khin I thit k c v i

tng qun tnh bc cao cho.

2) iu khin i tng qun tnh bc hai:

Xt bi ton chn tham s b iu khin PID cho i tng qun tnh bc hai
k
(2.159)
S(s) =
(1 + T1s)(1 + T2 s)
Khi , hm truyn h h G h (s) li c dng (2.157), v do s s dng c nh l
2.37, ta chn b iu khin PI thay v b iu khin I nh lm vi i tng qun
tnh bc nht:
R(s) = k p ( 1+

1
TI s

G h (s) = R(s)S(s) =

kp (1 + TI s)
TI s

(1 + TI s)
,
TR s

TR =

TI
kp

k(1 + TI s)
TR s(1 + T1s)(1 + T2 s)

(2.160)
(2.161)

nhm thc hin vic b hng s thi gian T1 ca (2.159), theo ngha T I =T 1 . Vi cch
chn tham s T I ny, hm truyn h h (2.161) tr thnh:
G h (s) =

k
TR s(1 + T2 s)

v n hon ton ging nh (2.157), tc l ta li c c T R theo nh l 2.37:

TR =

TI
= 2kT 2
kp

kp=

TI
T
= 1
2kT2 2kT2

Vy:
nh l 2.40: Nu i tng iu khin l khu qun tnh bc hai (2.159), th b iu
T
khin PI (2.160) ti u ln phi c cc tham s T I =T 1 , k p = 1 .
2kT2

M rng ra, nu i tng khng phi l khu qun tnh bc hai m li c hm

truyn S ( s ) dng (2.158) vi cc hng s thi gian T 2 , T 3 , , T n rt nh so vi T1,
th do n c th xp x bng:
S(s) =

k
, trong T =
(1 + T1s)(1 + Ts)

Ti

i=2

nh phng php tng cc hng s thi gian nh, ta cn c:

nh l 2.41: Nu i tng iu khin (2.158) c mt hng s thi gian T1 ln vt tri
v cc hng s thi gian cn li T 2 , T 3 , , T n l rt nh, th b iu khin PI
T1
(2.160) c cc tham s T I = T 1 , k p =
s l b iu khin ti u ln.
n
2k Ti
i =2

181

V d 2.68: Minh ha nh l 2.41

h(t)

Gi s i tng iu khin c dng

S(s) =

(1 + 2s)(1 + 0,1s)5

0,5

k=3 , T 1 =2 v T = 0,5

1,5

Chn cc tham s cho PI

1
2s

R(s) = 0,67( 1+
l

T I = 2 v

10

Hnh 2.109: Minh ha cho v d 2.68

kp = 0,67

ta s c cht lng h kn m t bi hm qu ca n hnh 2.109.

3) iu khin i tng qun tnh bc ba:

Tng t nh lm vi i tng l khu qun tnh bc hai, nu i tng l
khu qun tnh bc ba c hm truyn:
k
(2.162)
S(s) =
(1 + T1s)(1 + T2 s)(1 + T3 s)
ta s s dng b iu khin PID:
R(s) = k p ( 1+

(1 + TA s)(1 + TA s)
1
+T D s ) =
,
TR s
TI s

TR =

TI
kp

(2.163)

vi
T A +T B = T I

TATB = TITD

Khi , hm truyn h h s li tr v dng (2.157), nu ta chn

TT
T A = T 1 , T B = T 2 T I = T 1 +T 2 , T D = 1 2
T1 + T2
Suy ra
TR =

TI
= 2kT 3
kp

kp=

TI
T + T2
= 1
2kT3
2kT3

Vy:
nh l 2.42: Nu i tng iu khin l khu qun tnh bc ba (2.162), th b iu
TT
T + T2
khin PID (2.163) vi cc tham s TI = T1+T2 , TD = 1 2 , k p = 1
s l b
T1 + T2
2kT3

iu khin ti u ln.
Trong trng hp i tng li c dng hm truyn (2.158), nhng cc hng s thi
gian T 3 , T 4 , , T n rt nh so vi hai hng s cn li T1, T2 th khi s dng phng
php tng cc hng s thi gian nh, xp x n v dng qun tnh bc ba:

182

S(s) =

k
(1 + T1s)(1 + T2 s)(1 + Ts)

trong T =

Ti

i =3

ta s p dng c nh l 2.42 vi
TT
T +T
TI = T1+T2 , TD = 1 2 , kp= 1 n 2
T1 + T2
2k Ti
i =3

V d 2.69: Minh ha nh l 2.42

h(t)

Gi s i tng iu khin c dng

4
S(s) =
(1 + 5s)(1 + 2s)(1 + 0,1s)4
Vy th

1,5
1
0,5

k=4 , T 1 =5 , T 2 =2 , T = 0,4

S dng PID (2.163) vi

Hnh 2.110: Minh ha cho v d 2.69

TI = 7 , TD =1,43 v kp = 2,2
ta s c cht lng h kn m t bi hm qu ca n cho hnh 2.110.

Phng php ti u i xng

C th thy ngay c s hn ch ca phng php thit k PID ti u ln l i

tng S(s) phi n nh, hm qu h(t) ca n phi i t 0 v c dng hnh ch S.
Phng php chn tham s PID theo nguyn tc ti u i xng c xem nh l
mt s b p cho iu khim khuyt trn ca ti u ln. Trc tin, ta xt h kn
cho hnh 2.111a). Gi G h (s)=R(s)S(s) l hm truyn ca h h. Khi h kn c hm
truyn
G( s ) =

Gh ( s)
1 + Gh ( s)

G h (s) =

G( s )
1 G( s )

v, ging nh phng php ti u ln, c |G(j )|1 trong di tn s thp th

phi c
|G h (j )| >> 1

trong di tn nh

(2.164)

Hnh 2.111b) l biu Bode mong mun ca hm truyn h h G h (s) gm L h ( )

v h ( ). Di tn s trong biu Bode c chia ra lm ba vng:

Vng I l vng tn s thp. iu kin (2.164) c th hin r nt vng I l hm

c tnh tn h h G h (j ) phi c bin rt ln, hay L h ( ) >> 0. Vng ny i
din cho cht lng h thng ch xc lp hoc tnh (tn s nh). S nh hng
ca n ti tnh ng hc ca h kn l c th b qua.

183

Vng II l vng tn s trung bnh v cao. Vng ny mang thng tin c trng ca
tnh ng hc h kn. S nh hng ca vng ny ti tnh cht h kn di tn s
thp (tnh) hoc rt cao l c th b qua. Vng II c c trng bi im tn s
ct L h ( c )=0 hay |G h (j c )|=1. Mong mun rng h kn khng c cu trc phc
tp nn hm G h (j ) cng c gi thit ch c mt tn s ct c .
ng th bin Bode L h ( ) s thay i nghing mt gi tr 20db/dec ti
im tn s gy I ca a thc t s v 20db/dec ti im tn s gy 1 ca a
thc mu s. Nu khong cch nghing di th ng h ( ) s thay i mt
gi tr l 900 ti I v 900 ti 1 . Ngoi ra, h kn s n nh nu ti tn s ct
h h c gc pha h ( c ) ln hn (nh l 2.27). Bi vy, tnh n nh h kn
c m bo nu trong vng I c | G h (j )| >>1 v vng II ny, xung quanh
im tn s ct, biu Bode L h ( ) c dc l 20dB/dec cng nh khong cch
dc l ln.

Vng III l vng tn s rt cao. Vng ny mang t, c th b qua c, nhng

thng tin v cht lng k thut ca h thng. h khng khng b nh hng
bi nhiu tn s rt cao, tc l khi tn s rt cao G(s) cn c bin rt nh, th
trong vng ny hm G h (j ) nn c gi tr tin n 0.

a)

b)

R(s)

L h ( )

h ( )

S(s)

II
I

Hnh 2.111: Minh ha t tng thit k

b iu khin PID ti u i xng

1
I

III

C th thy ngay c rng, nu k hiu:

T I = I1 ,

T c = c1 ,

T 1 = 11

th h h G h (s) mong mun vi biu Bode cho trong hnh 2.111b) phi l:
G h (s) = R(s)S(s) =

kh (1 + TI s)
s2 (1 + sT1 )

(2.165)

1) iu khin i tng tch phn qun tnh bc nht:

T (2.165) thy c, khi i tng S(s) c hm truyn dng khu tch phnqun
tnh bc nht:

184

S(s) =

k
s(1 + T1 s)

(2.166)

th vi b iu khin PI:
R(s) = k p ( 1+

1
TI s

(2.167)

h h s c hm truyn ging nh (2.165) l:

G h (s) = R(s)S(s) =

kp k(1 + TI s)

(2.168)

TI s2 (1 + T1 s)

R rng l trong vng I, hm G h (s) theo (2.168) tha mn (2.164). vng II,
biu bin Bode ca G h (s) c nghing 20dB/dec xung quanh im tn s ct c
th phi c

I =

1
1
< 1 =
TI
T1

T I >T 1

(2.169)

v
|G h (j I )| >|G h (j c )|=1 > |G h (j 1 )|

(2.170)

T m hnh (2.168) ca h h, ta c gc pha

h ( ) = arcG h (j ) = arctan( T I )arctan( T 1 )

Nhm nng cao d tr n nh cho h kn, cc tham s b iu khin cn phi c
chn sao cho ti tn s ct c gc pha h ( c ) l ln nht. iu ny dn n:
d h ( c )
= 0
d

TI
1 + ( cTI )2

c =

1
TI T1

T1
1 + ( cT1 )2

= 0

lg( c ) =

lg( I ) + lg(1 )
2

(2.171)

Kt qu (2.171) ny ni rng trong biu Bode, im tn s ct c cn phi nm gia

hai im tn s gy I v 1 (hnh 2.111b). cng l l do ti sao phng php c tn
l i xng.
Gi khong cch gia I v 1 o trong h trc ta biu Bode l a , ta c
lg a = lg 1 lg I = lg

TI
T1

a=

TI
T1

(2.172)

Nh vy, r rng s c (2.169) nu c a > 1 . Thay c cho trong (2.171) vo (2.170), ta s

c vi (2.168) v (2.172)
|G h (j c )| =1

kpk 1 + (TI c )2
TI c2

1 + (T1 c )

=1

kp =

1
kT1 a

(2.173)

Ni cch khc nu c a > 1 v (2.173) th cng c (2.170).

185

Khong cch a gia I v 1 cn l mt i lng c trng cho qu iu chnh

h ca h kn nu h c dao ng. C th l a cng ln, qu iu chnh h cng nh.
iu ny ta thy c nh sau. Trong vng II, hm truyn h h G h (s) c thay th
gn ng bng (xem li v d 2.59):
G h (s)

1
Tc s(1 + T1s)

vi

Tc =

Khi h kn s c hm truyn:
G(s) =

Gh ( s)
1
1

=
2
1 + Gh ( s) 1 + Tc s + TcT1s
1 + 2 DTs + (Ts)2

vi

T = TcT1

lg2D =

D=

2D =

Tc
T1

lg Tc lg T1
1
= lg a (v tnh cht i xng ca c )
2
4

a
<1
2

nu 16 > a > 1

Vy trong vng II, hm qu h kn c dng dao ng tt dn khi 16 > a > 1 . Theo

(2.99), qu iu chnh ca hm qu h kn s l:
D
h = exp
1 D2

a
= exp

a
4

(2.174)

Cng thc (2.174) xc nhn iu khng nh l h nghch bin vi 16 > a > 1 . Khi a > 16
m hnh xp x khng dao ng, song vn c qu iu chnh h ph thuc a, do
khong cch a s c la chn t yu cu cht lng h kn v qu iu chnh.
h(t)

h(t)

1,95

1,6

1,5
1

1
0,5

0,5

a=2
1

a=4

t
7

h(t)
1,3
Hnh 2.112: Hm qu h kn vi b
iu khin PI c cc tham s c
chn theo nguyn tc iu khin ti
u i xng. Minh ha v d 2.70

1
0,5

a=9
t
1

186

Tm li, nu i tng l khu tch phnqun tnh bc nht (2.166) th b iu

khin ti u i xng s l b iu khin PI (2.167) vi cc tham s xc nh nh sau:

Xc nh a t qu iu chnh h cn c ca h kn theo (2.174), hoc t chn

a > 1 t yu cu cht lng ra. Gi tr a uc chn cng ln, qu iu chnh
cng nh. Nu a 1 , h kn s khng n nh.

Tnh T I theo (2.172), tc l T I = aT 1

Tnh k p theo (2.173), tc l k p =

1
kT1 a

V d 2.70: Xc nh tham s ti u i xng cho b iu khin PI

Xt i tng tch phnqun tnh bc nht m t bi

S(s) =

2
,
s(1 + 0,3s)

k=2 , T 1 =0,3

Chn b iu khin PI iu khin theo nguyn tc ti u i xng

R(s) = k p ( 1+

1
TI s

kp (1 + TI s)
TI s

ta s c cc tham s sau c chn theo (2.172) v (2.173):

Khi a = 2 :

kp =1,18 ,

TI = 0,6

Khi a = 4 :

kp =0,83 ,

TI = 1,2

Khi a = 9 :

kp =0,56 ,

TI = 2,7

Hnh 2.112 l th hm qu h kn ng vi cc tham s b iu khin c

chn cho c ba trng hp nu trn.

2) iu khin i tng tch phn qun tnh bc hai:
iu khin i tng l khu tch phnqun tnh bc hai:
S(s) =

k
s(1 + T1s)(1 + T2 s)

(2.175)

ta s dng b iu khin PID

R(s) = kp(1+

kp (1 + TA s)(1 + TB s)
1
+TDs) =
TI s
TI s

(2.176)

c cc tham s:
TA+TB = TI ,

TATB = TITD

v T A = T 1

(2.177)

v vi n, h h cng s c hm truyn dng (2.165) v (2.168):

G h (s)= R(s)S(s)=

kp k(1 + TB s)
2

TI s (1 + T2 s)

= kp

k(1 + TB s)
2

TB s (1 + T2 s)

vi

kp =

kpTB
TI

(2.178)

187

Do hm truyn (2.178) ging gn nh hon ton so vi (2.168) ca bi ton iu

khin i tng tch phnqun tnh bc nht (ch c mt im khc bit duy nht l k p
c thay bi kp ), nn ta cng c ngay c cc tham s ti u i xng ca b iu
khin PID (2.176):
T B = aT 2

kp =

1
kT2 a

Suy ra, cc tham s ti u i xng ca b iu khin PID (2.176) s c chn nh sau:

Chn TA = T1

Xc nh 4 > a > 1 t qu iu chnh h cn c ca h kn, hoc chn a > 1 t

yu cu cht lng ra. Gi tr a uc chn cng ln, qu iu chnh cng
nh. h kn khng c dao ng th chn a 4 . H kn s khng n nh vi a 1 .

Tnh T B = a T 2 . T suy ra T I =T A +T B v T D =

Tnh kp =

1
kT2 a

ri suy ra kp =

TATB
TI

kpTI
TB

V d 2.71: Thit k b iu khin PID ti u i xng

h(t)
1,5

Xt i tng tch phnqun tnh bc hai

S(s) =

2
s(1 + 3s)(1 + 5s)

0,5

T
k=2 ; T1=3 ; T2=5

20

ta c vi a = 8

40

60

80 100 120

Hnh 2.113: Minh ha cho v d 2.71

k p = 0,04 ; TI = 43 ; TD = 2,8
cho b iu khin PID. Hnh 2.113 biu din hm qu h kn.

3) Gim qu iu chnh bng b iu khin tin x l:

Quy t chung li phng php thit k b iu khin PID ti u i xng l t
hm truyn S ( s ) ca i tng, b iu khin R ( s ) phi c chn sao cho cng vi n,
h h ca h thng c hm truyn
G h (s) = R(s)S(s) = kp

k(1 + Ts)
Ts2 (1 + T2 s)

trong

Nu i tng l khu tch phnqun tnh bc nht (2.166) th:

kp = k p v T = T I vi k p , T I l hai tham s ca b iu khin PI (2.167).

188

Nu i tng l khu tch phnqun tnh bc hai (2.175) th:

kp =

kpTB
TI

v T = T B vi k p , T B l hai tham s ca b iu khin PID (2.176).

c hai trng hp ny, cc tham s ca b iu khin ti u i xng lun c

chn hm truyn h h tr thnh:

Gh(s) =

1 + aTs
a aT 2 s2 (1 + Ts)

Tham s a c chn t yu cu cht lng cn c ca h kn. C th l:

H kn c dao ng (tt dn) khi 16>a > 1 . Nu a 16 h kn s khng c dao ng.

H kn s khng n nh vi a 1 .

qu iu chnh h ca h kn v a t l nghch vi nhau theo (2.174).

Khi a c chn cng ln, vng I s cng hp lm cho min tn s m ti cht

lng h thng c nh gi theo bin hm c tnh tn h kn |G(j )|1
cng thp.

Vy lm th no nng cao c cht lng h thng theo ngha m rng min tn s

m c |G(j )|1 nhng li khng lm tng qu iu chnh h ca h kn?.
tr li ta hy xc nh hm truyn h kn
G( s ) =

Gh ( s)
1 + aTs
=
1 + Gh ( s) 1 + aTs + a aT 2 s2 + a aT 3 s3

s thy nguyn nhn lm tng qu iu

chnh h chnh l thnh phn vi phn c trong
a thc t s ca G(s). Nhn xt ny a n
suy ngha l gim qu iu chnh ny ta
nn ni h kn vi khu tin x l:
1
M(s) =
1 + aTs

M(s)

G h (s)

Hnh 2.114: Gim qu iu

chnh bng b tin x l.

loi b thnh phn vi phn ny ra khi a thc t s (hnh 2.114).

Vn cn li l xc nh tham s a h mi vi hm truyn G( s) =M(s)G(s) c
di tn s thp tha mn | G( j ) | 1 l rng nht, ging nh phng php ti u
ln. thc hin c iu , ta i t:
| G( j ) | 2 =

1
1 + a aT ( a 2) + a
2

aT 4 ( a 2) 4 + a3T 6 6

v thy, c | G( j ) | 1 trong min tn s thp c rng ln nht th:

a =2

a=4

Cui cng, ta i n kt lun:

189

Nu i tng l khu tch phnqun tnh bc nht (2.166) th

1
, T I =4T 1
a) Chn b iu khin PI (2.167) vi k p =
2kT1
b)

Chn b tin x l M(s)=

1
1 + 4T1s

Nu i tng l khu tch phnqun tnh bc hai (2.175) th:

a ) Chn b iu khin PID (2.176) vi: T I =T 1 +4T 2 , T D =
b)

Chn b tin x l M(s) =

4T1T2
TI
, kp=
T1 + 4T2
8 kT22

1
1 + 4T2 s

V d 2.72: Nng cao cht lng h thng iu khin ti u i xng

Xt li i tng cho trong v d 2.71. Vi a = 4 ta c cc tham s tng ng

TI = 23 , TD = 2,6 , kp=0,0125
cho b iu khin PID. Hnh 2.115 biu din hm qu h(t) ca h kn cho hai trng
hp khng c v c b iu khin tin x l
1
S
M(s) =
1 + 20 s
h(t)

h(t)

1,5

1,5

1
Khng c b tin x l

0,5

C b tin x l

0,5

t
20

40

60

80

100

120

t
20

40

60

80

100

120

Hnh 2.115: Minh ha v d 2.72.

4) Kh nng ng dng cho i tng tch phn qun tnh bc cao:

Vi ni dung trnh by trn th phng php chn tham s ti u i xng cho b
iu khin PID ch dng li hai lp i tng:

Tch phnqun tnh bc nht vi hm truyn (2.166)

Tch phnqun tnh bc hai vi hm truyn (2.175)

Tuy nhin, n vn c th p dng cho c lp i tng tch phn qun tnh bc cao S(s)
c hm truyn
S(s) =

190

k
s(1 + T1 s)(1 + T2 s)

(1 + Tn s)

(2.179)

nh phng php tng cc hng s thi gian nh, c p dng trong phng php
ti u ln, gip chuyn hm truyn (2.179) v mt trong hai dng c bn xt. C
th l:

Nu tt c cc hng s thi gian T1 , T2 , , Tn ca (2.179) l rt nh th n s

c xp x v dng tch phn qun tnh bc nht
S( s)

n
k
, trong T = Ti
s(1 + Ts)
i =1

(2.180)

Nu ch c mt hng s thi gian ln vt tri, chng hn l T 1 , v cc hng s

thi gian cn li T2 , T3 , , Tn ca (2.179) rt nh, th n s c xp x v dng
tch phn qun tnh bc hai
S( s)

n
k
, trong T = Ti
s(1 + T1 s)(1 + Ts)
i =2

(2.181)

Song mt iu cn phi ch khi s dng phng php xp x hm truyn nu trn

l s xp x ch tha mn v mt bin (nn n ch yu c p dng cho b iu
khin ti u ln) ch khng xp x c gc pha, trong khi b iu khin ti u i
xng li rt n gc pha h ( c ) ca h h m bo tnh n nh cho h kn. Vic
xp x cc hng s thi gian T1 , T2 , , Tn cng nh T2 , T3 , , Tn bi T nh (2.180)
hoc (2.181) v hnh chung xp x qu th s thay i gc pha t n

thnh

iu ny rt d a n s vi phm iu kin v gc pha h ( c ) v lm cho h kn mt

n nh.
Chn tham s PID ti u theo sai lch bm

Xt h SISO, lm vic theo nguyn l hi tip, gm i tng S(s) v b iu khin

PID (hoc PI) nh hnh 2.116 m t. Bi ton c nhim v xc nh cc tham s ca b
iu khin PI, gm k p , T I trong cng thc (2.167) hoc k p , T I , T D trong (2.176) sao cho
tn hiu ra y ( t ) "bm" c vo tn hiu lnh w ( t ) mt cch tt nht theo ngha
Q = w(t)y(t) 2 = e(t) 2 min!
Gi E ( s ) l nh Laplace ca e ( t ) vi cu trc (2.125), tc l
E(s)=

b0 + b1s +
a0 + a1 s +

+ bn 1 sn 1

+ an 1 sn 1 + sn

Khi , r rng tt c cc tham s b i , a k vi

i=0,1,, m , k=0,1,, n ca E(s) l ph
thuc vo b tham s k p , T I , T D cn xc
nh ca b iu khin.

nr
PID

S(s)

y
nd

Hnh 2.116: Nhim v bi ton xc nh

tham s ti u cho b iu khin PID.

191

S dng phng php tm Q theo Krasowski hoc theo bng 2.4 c trnh by
mc 2.3.3, ta n c Q2 di dng hm tng minh:
Q 2 = f ( k p ,T I ,T D ) = f ( p) ,

trong

p = ( k p ,T I ,T D )

v bi ton thit k b iu khin PID ti u tr thnh:

p * = arg min f ( p)

(2.182)

Cc phng php s tm nghim bi ton ti u tnh (2.182), chng hn nh

phng php gradient, phng php GaussSeidel, phng php NewtonRaphson ,
bn c c th tm thy trong ti liu [15] v [16], hoc phng php gii tch, nh xc
f
f
= 0 T , trong
l k
nh im cc tr ca f ( p) bng cch gii h phng trnh
p
p
hiu ch o hm Jacobi ca f ( p) v 0 T l vector hng c tt c cc phn t bng 0.

V d 2.73: Xc nh tham s ti u cho b iu khin PI

Cho h kn gm i tng qun tnh bc 3 v b iu khin PI (hnh 2.117). Hy xc

nh cc tham s k p v T I ca b iu khin PI theo nguyn l ti u (2.182) ng vi
kch thch w(t)=1(t). H h c hm truyn:
G h (s) =

k p k(1 + TI s)
sTI (1 + T1 s)(1 + T2 s)(1 + T3 s )

Chn T I =T 3 b mt hng s thi gian ca i tng. Khi G h (s) tr thnh:

G h (s)=

E(s) =

k
2

s + (T1 + T2 )s + T1T2 s

vi

k=

kpk
TI

1 + (T1 + T2 )s + T1T2 s2
1
1
=
1 + Gh ( s) s
k + s + (T1 + T2 )s2 + T1T2 s3

S dng bng tra 2.4 vi

b 0 =1 , b 1 = (T 1 + T 2 ) , b 2 = T 1 T 2 ,
a 0 = k , a 1 =1 , a 2 =(T 1 +T 2 ) v a 2 =T 1 T 2
ta c
Q2=

( A2 B )k + A
2( A Bk )k

vi

A=T1+T2 , B=T1T2

w
Hnh 2.117: Minh ha v d 2.73

192

kp (1 +

1
)
TI s

k
(1 + T1s)(1 + T2 s)(1 + T3 s)

S dng phng php gii tch tm k ta c:

Q
k

=0

k2 +

2A
A2 B

A2

( A2 B ) B

=0

Suy ra (ch ly nghim k dng)

T1 + T2
A
A2 B
1 + 1 +
=
k= 2
B

(T1 + T2 ) T1T2 + T1T2

A B

2.4.2

Phng php iu khin cn bng m hnh

Trong nhiu ti liu, v d nh [10] v [12], phng php thit k b iu khin cn

bng m hnh (model matching) cn c gi l phng php iu khin b.
Thit k b iu khin cn bng hm truyn ca h h (loop shaping)

Nh l lun phn chn tham s ti u i xng cho b iu khin PID, mt h

kn (hnh 2.118a) c cht lng tt l h c hm truyn h h dng:
G h (s) = R(s)S(s) =

kh (1 + T1s)

(2.183)

(Ts)2 (1 + sT2 )

vi (hnh 2.118b)

T1>T2

Tn s ct c

T
kh

nm gia hai im tn s gy 1 =

1
1
, 2 =
trong
T2
T1

biu Bode (xung quanh tn s ct c c nghing 20dB/dec).

Khong cch a gia hai im tn s gy 1 , 2 l ln.

Nh vy, nu nh ng th Bode mong mun L h ( ) ca hm truyn h h l

c (c gi l desired shapeng mong mun), cng nh hm truyn ca i tng

S(s) l cho, tc l ta cng c th Bode L S ( ), th t cng thc (2.183) ta c ngay
c th Bode L R ( ) ca b iu khin R ( s ) bng vic tr hai th
L R ( ) = L h ( )L S ( )

(2.184)

Hin nhin khi c L R ( ) ta cng c c hm truyn R(s) ca b iu khin.

Do b iu khin phn hi R(s) trn c thit k t ng th mong mun
L h ( ) cho h h (desired shape), nn n cn c tn gi l b iu khin loop shaping, m
ta tm dch l b iu khin cn bng hm truyn h h.
V d 2.74: Thit k b iu khin b hm truyn h h (loop shaping)

Xt i tng c hm truyn

193

S( s) = S( s) =

(1 + T3 s)(1 + T4 s)(1 + T5 s)
(T1 s)2 (1 + T2 s)

trong T 1 > T 3 > T 4 > T 5 > T 2

th bin Bode L S ( ) ca i tng cho trong hnh 2.118b). Gi s t yu cu cht

lng cn c cho h kn ta c L h ( ) ca h h vi im tn s ct s l im gia ca
1
1
, 2 =
.
hai tn s gy 3 =
T3
T2
Thc hin php tr (2.184) ngay trn th Bode ta c L R ( ) cho b iu khin.
Vi th L R ( ) ny th:
R( s) =

k
,
(1 + T4 s)(1 + T5 s)

T4=

a)

R(s)

L( )

b)

L R ( )

n
w

, T5=

y
S( s)

L h ( )

3 4

Hnh 2.118: Thit k b iu khin cn bng

hm truyn ca h h.

L S ( )

M rng hn, phng php thit k loop shaping trn cn ch yu c p dng cho
nhng bi ton iu khin bn vng khi m h b tc ng bi nhiu n(t) v m hnh
hm truyn S(s) ca i tng c sai lch S bt nh theo kiu b cng (hnh 2.118a),
tc l hm truyn thc s ca i tng lc ny phi l:
S( s) = S( s) + S
Ti mc 2.3.5 trc y ta c bit s ph thuc ca cht lng h kn vo nhiu v
sai lch m hnh S c nh gi bi hm nhy:
K ( s) =

1
1
=
vi G h (s) = R(s)S(s)
1 + R( s)S( s) 1 + Gh ( s)

theo ngha khi K(s) c gi tr cng nh, h cng t b nh hng bi nhiu v bi S.

Nu vit li hm nhy ny di dng c lng:
K ( j )

1
W1 ( j )

|W 1 (j )| |1+G h (j )|

(2.185)

th |W 1 (j )| chnh l i lng o tnh bn vng ca h. Gi tr |W 1 (j )| cng ln, kh

nng bn vng ca h vi tc ng ca nhiu n(t) v sai lch m hnh S ca i tng

194

cng cao. Hnh 2.119a) minh ha iu kin bn vng (2.185) ny. N ch rng h s c
o bn vng W 1 (j ) nu ti mi im 0 c nh cho trc, im G h (j ) ca th
bin pha ca hm truyn h h G h (s) lun nm ngoi ng trn c tm l 1+j0 v
bn knh l |W 1 (j )|. o bn vng |W 1 (j )| l hm ph thuc v t hnh minh ha
2.119a) ngi ta hon ton c th gi thit n l hm n iu gim theo .
a)

|W 1 (j )|

b)

ImG h

W1 ( j ) 1

L h ( )

1 W2 ( j )

ReG h

W2 ( j ) 1

20

G h (j )

2
c

|1+G h (j )|

1 W1 ( j )

|R(j )S(j )|

tn s thp

tn s cao

|G h (j )|

40

Hnh 2.119: Xy dng th Bode mong mun cho h va n nh bn vng, va c nhy nh

Tip tc, nu ta c lng sai lch tng i

S
ca m hnh i tng l:
S( s)

S( j )
W2 ( j ) ,
S( j )

(2.186)

th vi k hiu hm b nhy:
T ( s) =

Gh ( s)
1 + Gh ( s)

K(s)+T(s) = 1

v
Gh ( j ) = R( j )S( j ) = R( j ) S( j ) + S( j )
= Gh ( j ) + R( j )S( j )

s thy, ng th bin pha G( j ) khng bao im 1+j0 (hnh 2.119a), cng

l iu kin h kn n nh bn vng, nu c bt ng thc sau:
1 W2 ( j )T ( j ) = W2 ( j )

Gh ( j )
R( j )S( j )
,

1 + Gh ( j )
1 + Gh ( j )

(2.187)

Ngoi ra, v sai lch tuyt i S lun b chn theo nn hon ton ta c th gi thit
hm c lng sai lch tng i |W 2 (j )| trong (2.186) l n iu tng theo .
Nh vy, s h kn va c nhy nh, va c tnh n nh bn vng, nu:
W1 ( j ) + W2 ( j )Gh ( j ) = W1 ( j ) + R( j )S( j ) 1 + Gh ( j )
1 + Gh ( j )

(2.188)

195

v khi ta cng s c c hai bt ng thc (2.185) v (2.187). Hn na, nu ta chn hai

hm |W 1 (j )| n iu gim theo v |W 2 (j )| n iu tng theo tha mn thm:
|W 2 |<1< |W 1 | tn s thp v |W 1 |<1< |W 2 | tn s cao

(2.189)

th t iu kin (2.188) s cn c c:
Gh ( j ) >

W1 ( j ) 1
1 W2 ( j )

tn s thp v Gh ( j ) <

1 W1 ( j )
W2 ( j ) 1

tn s cao

Suy ra, b iu khin loop shaping bn vng c thit k qua cc bc nh sau:

1) T yu cu bn vng ca h, xc nh hm |W 1 (j )| n iu gim theo o
nhy v |W 2 (j )| n iu tng theo o sai lch m hnh, tha mn (2.189).
2) Xy dng ng th Bode ca

W1 ( j ) 1
1 W2 ( j )

v ca

1 W1 ( j )
W2 ( j ) 1

3) Xc nh ng th Bode mu (desired shape) cho hm truyn h h |G h (j )| theo

quy tc (hnh 2.119b):
a)

Nm trn ng

W1 ( j ) 1
1 W2 ( j )

tn s thp v nm di ng

1 W1 ( j )

W2 ( j ) 1

tn s cao.
b)

di tn s cao, ng th Bode ca |G h (j )| nn c dc cng nh cng

tt, thng l nh hn 40db/dec. di tn s trung bnh, ng th Bode

ca |G h (j )| phi cha im tn s c ct trc honh, tc l ti c
|G h (j c )|=1. Xung quanh im ct ny, th Bode ca |G h (j )| cn c dc
m v khng nh hn 20db/dec.
G ( s)
4) Xc nh G h (s) t th Bode |G h (j )| v vi n l b iu khin R( s ) = h
S( s)
Thit k b iu khin cn bng hm truyn ca h kn

Phng php ny c nhim v xc nh b iu khin R(s) trn c s bit trc

hm truyn S(s)ca i tng v hm truyn cn c G(s) ca h thng kn (hnh 2.120),
trong hm truyn G(s) ca h kn c gi thit l c t nhng yu cu cht lng
ra ca bi ton thit k b iu khin.
Nu gi

v
th t

196

G( s ) =

nr

nv

B ( s)
S( s) = S
AS ( s)

B ( s)
R( s) = R
AR ( s )

B ( s)
S( s) = S
AS ( s)

B( s)
A( s)
Hnh 2.120: Minh ha phng php cn bng hm truyn
ca h kn.

G( s ) =

S( s) R( s)
1 + S( s) R( s)

ta s c hm truyn ca b iu khin
R( s) =

A ( s)
G( s )
1
G( s )
B( s)
=

= S

S( s) S( s)G( s) S( s) 1 G( s) BS ( s) A( s) B( s)

(2.190)

Cng thc (2.190) cho thy b iu khin R(s) chnh l s mc ni tip ca khu
1
nghch o i tng
vi khu hi tip phn hi dng c hm truyn h h l
S( s)
G(s) hnh 2.121. Do iu kin u tin c c b iu khin n nh l tt c
cc im khng ca S(s) phi nm bn tri trc o.
Mt khc, t mong mun rng h kn n nh ni, tc l tt c cc hm truyn tnh
t nhng tn hiu tc ng vo h, gm c tn hiu t trc w(t), tn hiu nhiu n v (t) ,
n r (t) , cho ti cc tn hiu ra, gm c e(t) , y(t)

T w(t) ti y(t) l G(s)

T n r (t) ti y(t) l

1
1 + SR

T n v (t) ti y(t) l

S
1 + SR

T w(t) ti e(t) v t n r (t) ti y(t) l

1
1 + SR

1
S

Hnh 2.121: Cu trc b iu

khin cn bng h kn.

phi l nhng hm bn, th i tng phi n nh. Kt hp vi kt qu trc ta c c

iu kin u tin:
1) Mun c c b iu khin R(s) n nh v cng vi n h kn n nh ni th i
tng S(s) phi l mt khu pha cc tiu.
Tip tc, nu S(s) l pha cc tiu th t s cu trc hnh 2.121 cho b iu
G
phi n nh th b
khin, phn hi tip phn hi dng vi G(s) c hm truyn
1G
iu khin mi n nh. Bi vy:
2) b iu khin R(s) n nh khi i tng l pha cc tiu th

G
phi l hm
1G

bn, hay hiu A(s)B(s) phi l a thc Hurwitz.

Mun s dng b iu khin R(s) xc nh theo cng thc (2.190) th n phi tch
hp c trn cc thit b thc t, ni cch khc R(s) phi l hm hp thc. iu ny
dn n bc ca tch A S (s)B(s) khng c ln hn bc ca B S (s) [ A(s)B(s) ] . Nu gi
n AS l bc ca A S (s) , n B l bc ca B(s) , nBS l bc ca B S (s) , n A l bc ca A(s) th

do n A n B nn iu kin trn c biu din thnh:

197

n AS + nB nBS + n A

n AS nBS n A nB

Suy ra
3) Mun tch hp c b iu khin cn bng m hnh th bc tng i ca h kn
khng c nh hn bc tng i ca i tng.
Trong khi hai tnh cht 1 v 2 l th yu, ch c tc dng b iu khin R(s)
c n nh th tnh cht th 3 c vai tr quyt nh gip cho ngi thit k, ngoi cc
ch tiu cht lng mong mun ca h, c thm thng tin v bc tng i gip xc nh
c ng cu trc hm truyn G(s) cn phi c. Ta xt mt v d minh ha:
V d 2.75: Thit k b iu khin b hm truyn h kn

Cho i tng:
S( s) =

0,5
1 + 3 s + 2s2

Do i tng c bc tng i l hai nn bc tng i ca hm truyn h kn l G(s)

cng phi t nht l hai. Cu trc G(s) n gin nht c bc tng i bng hai v lm
cho h kn n nh, khng c sai lch tnh khi c kch thch bi 1(t) , l:
G( s ) =

ab
( s + a)( s + b)

vi

a,b>0

T y ta suy ra c theo (2.190):

R( s) =

1 + 3 s + 2s2
ab
2ab(1 + 3 s + 2s2 )
2
=
0,5
s[ s + ( a + b)]
s + ( a + b) s

Kt qu ca v d 2.81 cho thy b iu khin R(s) c cha thnh phn tch phn
v iu ny l ph hp vi ni dung nh l 2.28 h c sai lch tnh bng 0. Mt cch
tng qut, nu ta gi s:
G( s ) =

B( s) b0 + b1 s +
=
A( s) a0 + a1 s +

+ bm sm
+ an sn

th h c sai lch tnh bng 0, hm G(s) phi c G(0)=1 v do a 0 =b 0 . Tc l a

thc A(s)B(s) phi c mt nghim 0. Nu A S (s) khng c nghim 0, b iu khin
R(s) xc nh theo (2.190) s c im cc l gc ta . Ngc li nu A S (s) c nghim 0,
tc l i tng c thnh phn tch phn, th nghim 0 c gin c vi nghim 0
ca A(s)B(s) lm cho R(s) khng cn cha thnh phn tch phn. Vy:
4) h kn c sai lch tnh bng th b iu khin (2.190) thit k theo phng php
cn bng m hnh phi cha thnh phn tch phn nu i tng khng c thnh
phn . Ngc li khi i tng c sn thnh phn tch phn trong n th b
iu khin s khng cn c thnh phn ny.

198

iu khin theo nguyn l m hnh ni (IMC)

Xt mt i tng iu khin tuyn tnh nh trong hnh 2.122a). Gi thit rng

i tng m t c bi hm truyn S p (s). Hin nhin rng nu s dng b iu
khin cn bng m hnh, m t bi:
1
S p ( s)

R( s) =

(2.191)

th h iu khin h trong hnh 2.122a) s c hm truyn:

G(s) = 1

y(t)=w(t), t0

m bo nhng cht lng c bn mong mun nh n nh, sai lch tnh bng 0 . Tuy
nhin, v nhiu l do, b iu khin R(s) l khng th thc thi cng nh khng s dng
c, chng hn nh v n l khng nhn qu, h b nhiu n(t) tc ng thm u ra
hay m hnh hm truyn S p (s) ca i tng l khng chnh xc.

b)

a)

n
w

R(s)

i tng
iu khin

R(s)

i tng
iu khin

Sp(s)
F(s)
c)

d)

u
Rc(s)

i tng
iu khin

y
w

RIMC(s)

i tng
iu khin

Sp(s)

Hnh 2.122: Cu trc iu khin theo nguyn l m hnh ni (IMC).

T nhng l do thc t nu trn, ngi ta nh phi chuyn sang mt cu trc iu

khin khc c kh nng thc thi hn, m t hnh 2.122b). Cu trc iu khin ny c
tn gi l cu trc iu khin m hnh ni (internal model control IMC). Trong cu
trc iu khin ny ngi ta vn s dng m hnh hm truyn xp x ca i tng l
S p (s). Nu k hiu S(s) l m hnh chnh xc ca n, cng nh b lc cc tn hiu nhiu
tn s cao l F(s), th c th thy ngay c rng vi cu trc iu khin IMC hnh
2.122b), quan h vora ca h kn s l:
199

Y = N + SU = N + SR ( W FZ ) = N + SR W F Y S pU

YN

= N + SR W F Y S p

R( s)S( s)W ( s) + 1 R( s)S p ( s) F ( s) N ( s)

=
1 + S( s) S p ( s) R( s) F ( s)

trong W=W(s), Y=Y(s), N=N(s), Z=Z(s) ln lt l k hiu nh Laplace ca cc tn

hiu w(t), y(t), n(t) v z(t). Do , trong trng hp l tng n(t)=0 v S p (s)=S(s) ta
vn s c vi mi b lc F(s):
y(t)=w(t), t0 khi R( s) =

1
1
=
S( s) S p ( s)

ging nh (2.191).
Tip tc, nu h c cc tn hiu t w(t) ch lm vic di tn s thp th khi s
dng b lc tn s cao:
F ( s) =

1
(1 + Ts)m

vi T hng s thi gian v m l bc ca b lc

(2.192)

ta c th ghp chung b iu khin R(s) xc nh theo (2.191) v b lc F(s) li vi nhau

thnh (hnh 2.122c):
Rc ( s) = R( s) F ( s)
Suy ra, b iu khin m hnh ni l (hnh 2.122d):
RIMC ( s) =

Rc ( s)
F ( s) R( s )
=
1 Rc ( s)S p ( s) 1 F ( s) R( s)S p ( s)

(2.193)

Tm li, b iu khin IMC vi hm truyn RIMC(s) trong s cu trc hnh

2.122d) c nhiu tn s cao n(t) tc ng u ra, c thit k theo cc bc nh sau:
1) Xc nh hm truyn Sp(s) ca i tng iu khin.
2) Xc nh b iu khin R(s) theo cng thc nghch o (2.191). Trong trng hp
khng nghch o c, ngi ta c th vit tch Sp(s) thnh hai phn:
S p ( s) = S+p ( s)Sp ( s)
vi S +p ( s) l thnh phn nghch o c, Sp ( s) l thnh phn khng nghch o
c tha mn Sp ( j ) = 1 , , chng hn nh thnh phn tr. Khi (2.191) s
c thay bi:
1
R( s ) = +
S p ( s)

200

3) Chn b lc (2.192) vi hng s thi gian T thch hp (theo tn s tn hiu c lc)

v bc m sao cho b iu khin RIMC(s) thu c sau ny theo (2.193) l nhn qu
(causal). Ch : Bc m cng ln, tn hiu nhiu s c lc cng tt v mt bin ,
song sai lch pha ch xc lp khi tn hiu vo w(t) c dng iu ha s cng cao.
4) Xc nh b iu khin m hnh ni RIMC(s) theo (2.193).
Thit k b iu khin d bo Smith cho i tng c tr

Phng php cn bng m hnh ni ring v nhng phng php thit k b iu

khin c gii thiu trn y ni chung u c gi thit rng i tng khng c
thnh phn tr e

. Trong khi cc phng php s dng b PID trc tip (xc nh

tham s PID theo ZieglerNichols, theo tng T ca Kuhn, ) hay thit k theo ti u
ln, ta c th thay xp x thnh phn tr bng khu qun tnh bc cao (2.105), hoc
theo cng thc Pad (2.106) th vi phng php ti u i xng hoc cn bng m hnh
l khng th c. N thng a n hm truyn i tng c bc qu cao lm cho m
hnh xp x c sai lch gc pha ln hoc dn n trng hp khng tch hp c b iu
khin do vi phm tnh nhn qu.
a)

b)
i tng iu khin

S(s)

GR(s)

w
R(s)

S(s)

c)

B iu khin G R ( s )

R(s)

S(s)

S(s)

y
Hnh 2.123: Cu trc b iu
khin theo nguyn l d
bo Smith.

vn s dng c cc phng php thit k gii thiu cho nhng i tng c

thnh phn tr e

, Smith a ra nguyn tc d bo (Smithpredictor) kh n

gin song li c mt ngha ng dng ln.

Nguyn tc d bo Smith nh sau. thit k b iu khin G R (s) cho i tng
G S (s) = e

S(s)

(hnh 2.123a), Smith ngh thit k b iu khin R(s) ring cho i tng S(s) khng
c thnh phn tr (hnh 2.123b). Vic thit k R(s) c thc hin mt cch n gin
theo nhng phng php ph thng (mc 2.4.1, 2.4.2 trc y v 2.4.3, 2.4.4 sau y).
201

Do hm truyn G(s) hnh 2.123a) v R ( s ) hnh 2.123b) c dng

G(s) =

GSG R
GR Se s
RS

=
e s
=

s
1 + G S G R 1 + GR Se
1 + RS

nn gia R(s) tm c v G R (s) phi i tm c mi quan h

G R (s) =

R
1 + RS(1 e s )

Mi quan h trn c th hin trong hnh 2.123c). Nh vy cng vic thit k b

iu khin d bo Smith cho i tng c tr:
G S (s) = e

S(s)

s gm cc bc sau:

Thit k b iu khin R(s) cho ring phn S(s) ca i tng theo cc phng
php bit (v d theo ti u i xng hay cn bng m hnh).

Xy dng b iu khin
G R (s) =

R
1 + RS(1 e s )

vi cu trc cho trong hnh 2.123c).

Ch rng do b iu khin G R (s) tm c c cha m hnh i tng mch hi

tip nn n kh nhy cm vi nhng sai lch m hnh i tng. Bi vy yu cu s

dng c mt cch c hiu qu phng php d bo Smith l hm truyn ca i tng
phi chnh xc.

2.4.3

Thit k b iu khin theo m hnh mu

Xt bi ton thit k hai b iu khin:

C( s)
E( s )

Tin x l T(s) =

Phn hi u ra R(s) =

T=
D( s)
E( s)

C
E

S=

B
A

R=

D
E

iu khin i tng c hm truyn

Hnh 2.124: Bi ton thit k b iu

B( s )
khin theo m hnh mu.
A( s)
cho trc, sao cho h kn (hnh 2.124) c c hm truyn mu mong mun

S(s) =

G m (s)=

Bm ( s)
Am ( s)

trong A(s), B(s), C(s), D(s), E(s) l cc a thc v A(s), B(s) c gi thit l
nguyn t cng nhau.
202

Nh vy nhim v ca bi ton thit k ny l phi tm ba a thc C , D , E tha

mn phng trnh:
G(s) =

B
TS
BC
=
= G m (s) = m
1 + RS AE + BD
Am

B
BC
= m
AE + BD Am

(2.194)

t bn a thc cho l A , B , A m v B m . V cc hm truyn u hp thc nn c

c (2.194) th trc ht phi c:
deg A m deg B m deg A deg B 0

(2.195)

trong deg l k hiu ch bc ca a thc (vit tt ca degree).

V l m hnh mu, c bc cc tiu, nn hai a thc B m , A m ca hm truyn G m (s)
phi nguyn t cng nhau. Bi vy, theo (2.194), nu nh B C v A E + B D khng nguyn
t cng nhau, th chng phi c chung mt a thc tha s F:
BC=FBm

AE+BD=FAm

(2.196)

Nhn vo (2.196) th r rng mt nghim s k no ca F(s) cng phi l nghim

ca B(s) hoc ca C(s). Nu mong mun F(s) l a thc Hurwitz, cha tt c cc
nghim nm bn tri trc o ca B(s), th khi phn tch B(s) thnh

B=B B+

(2.197)

vi B l a thc Hurwitz, B l a thc phn Hurwitz (khng c nghim no nm bn

tri trc o), ta s c
F=HB

B m = B + Bm

Ngoi ra, t quan h (2.196) ta cn c thm:

AE+BD= HB Am

Suy ra a thc E cng phi cha tha s B , tc l

E=B E

(2.198)

v nh vy th
A E +B+D=HAm

(2.199)

C = H Bm

(2.200)

Phng trnh (2.199) c tn gi l phng trnh Diophantine vi ba n s l cc a

thc E , D , H m thc cht l mt dng tng qut ca phng trnh Euclid
AX + B+ Y = H

+
AU + B V = 0

(2.201)

203

Hin nhin khi c cc nghim X , Y , U , V , H ca phng trnh Euclid (2.201), ta cng

c lun nghim E v D cho phng trnh Diophantine (2.199) nh sau:
E = XAm + UQ

D = YAm + VQ

(2.202)

vi Q l mt a thc bt k. Nh vy phng trnh Diophantine (2.199) c v s nghim.

c nghim vi bc thp nht, ta chn
Q = ( Y A m ) div V

(2.203)

trong div l k hiu ch php chia ly phn nguyn ca hai a thc. Khi s c
D = ( Y A m ) mod V
vi mod l k hiu php tnh ly phn d.
Khi c nghim (2.202) ca phng trnh Diophantine (2.199), ta cng c lun hai
b iu khin T(s), R(s) nh cc cng thc (2.198) v (2.200).
Nh vy vn cn li ch l tm nghim phng trnh Euclid (2.201).
Thut ton tm nghim phng trnh Euclid

Trong chng trnh ph thng ta c bit ti thut ton Euclid nhm xc nh

+

c s chung ln nht ca hai s nguyn a v b , k hiu l SCLN( a , b ) . c bit

thut ton va l li chng minh, va l cng c xc nh thm hai s nguyn x , y
khc tha mn:
+

a x + b y = SCLN( a , b ) = h
Thut ton Euclid bao gm cc bc sau y:
+

1) t r0=a v r1=b

2) t x 0 = 1 , x 1 = 0 v y 0 = 0 , y 1 = 1
3) Chia r 0 cho r 1 c thng q 1 v s d r 2 tc l r 0 = r 1 q 1 + r 2
4) Thc hin ln lt cc bc sau vi k = 2 , 3 ,
a)

Nu r k =0 th dng vi p s x = x k 1 , y = y k 1 v SCLN( n , m ) = r k 1

b)

Chia r k 1 cho r k c thng q k v s d r k + 1 tc l r k 1 = r k q k + r k + 1

c)

Tnh x k = x k 2 x k 1 q k 1

d) Tnh y k = y k 2 y k 1 q k 1
+

Khi c SCLN( a , b ) = h ta cng c lun bi s chung nh nht ca chng, k

+

hiu bng BSCNN( a , b ) theo cng thc

204

BSCNN( a , b ) =

ab+
h

tc l cng c hai s nguyn u , v khc tha mn

+

u = v = BSCNN( a , b )

au+b v = 0
+

Thut ton trn hon ton chuyn th c sang cho cc a thc A v B v trong
khng gian hm s, a thc c vai tr ging nh s nguyn trong trng s thc.
thun li hn trong ng dng, thut ton trn cn c chuyn i thnh dng
tng ng khc nh sau:
1) Bt u t ma trn:
A
M 1 = +
B

1 0

0 1

ta tnh Q 1 = A div B + . Nh vy Q1 cng s l mt a thc v A 1 = A Q 1 B + l phn

d ca php chia . Tip theo ta thay hng th nht ca M bng hiu ca n vi
tch ca hng th hai v Q1 . Khi M 1 tr thnh:
A
M 2 = 1+
B

1 Q1

0
1

2) Thc hin li bc trn, nhng hon i vai tr ca hai hng cho nhau, tc l tnh
Q 2 = B + div A 1 , sau thay hng th hai bng hiu ca n vi tch ca hng th
nht v Q 2 :
A
M 3 = 1
B1

1
Q1

Q2 1 + Q1Q2

trong

B 1 = B + Q 2 A 1 = B + mod A 1

3) C thc hin ln lt hai bc trn xen k nhau cho ti khi thu c ma trn c mt
phn t ca ct u tin bng 0 th dng. Khi kt qu s l:
H X

0 U

hoc

0 U

H X

Nu hai a thc A , B + l nguyn t cng nhau th H l hng s.

Thut ton thit k hai b iu khin theo m hnh mu

Tng kt li, ta c thut ton thit k hai b iu khin T(s) v R(s) iu khin
i tng c hm truyn S(s) cho trc, sao cho h kn vi cu trc hnh 2.124 c c
hm truyn mu G m (s) cng cho trc, bao gm cc bc sau:

Kim tra iu kin (2.195).

205

Phn tch a thc B theo (2.197) thnh B = B B + vi B l a thc Hurwitz, B +

l a thc phn Hurwitz.

Phn tch a thc B m = B + Bm

Gii phng trnh Euclid (2.201) c cc nghim X , Y , U , V , H t A v B

Tm a thc Q theo (2.203)

Tnh cc a thc E v D theo (2.202)

Tnh a thc E theo (2.198) v a thc C theo (2.200).

V d 2.76: Thit k b iu khin theo m hnh mu

Cho i tng c hm truyn:

S(s) =

2
B( s )
=
A( s) ( s + 2)( s 1)

v m hnh mu
Gm(s) =

Bm ( s)
1
=
Am ( s) ( s + 2)( s + 1)2

Trc ht ta thy iu kin (2.195) l c tha mn. Tip theo, khi phn tch:

B=B B+,

vi B = 2 v B + = 1

th c
B m = B + Bm

c Bm = 1

By gi ta p dng thut ton Euclid m rng tm cc a thc H , X , Y , U , V tha

mn (2.201):
s2 + s 2 1 0

M1=

1
0 1

0 1 ( s 2 + s 2)

M2=
1 0

H=1, X=0, Y=1, U=1, V=(s +s2).

T y suy ra c theo (2.203)
Y Am= ( s + 2 ) 2 v

Q = ( Y A m ) div V = s + 3

cng nh theo (2.202) , (2.198) v (2.200):

E =s+3,

E=2(s+3), D=4(s+2)

C=1

Vy cc b iu khin R(s),T(s) cn tm l:
R(s)=

206

D( s) 2( s + 2)
=
,
E( s)
s+3

T(s)=

1
C( s)
=
E( s ) 2( s + 3)

2.4.4

Tp cc b iu khin lm n nh i tng v khi nim n nh

mnh, n nh song hnh

Xt h kn c cc khu SISO vi cu trc cho hnh 2.125. Hm truyn ca i

tng l S(s). Bi ton t ra l xc nh tp hp O gm cc b iu khin R ( s ) lm h
kn n nh ni, tc l tt c cc hm truyn t w(t), v(t) ti cc tn hiu ni e(t), u(t)
v tn hiu ra y(t) l nhng hm bn (hnh 2.125). y l cng vic nn tng ca bi
ton thit k b iu khin bn vng RH sau ny (xem thm [20]).
Mt s khi nim c bn

nh ngha 2.5: Cc khi nim c bn ca

R(s)

S(s)

khng gian R H gm c:
a)

Khng gian RH l khng gian

tuyn tnh ca cc hm phc G(s)
thchu t, hp thc v bn.

b)

Hnh 2.125: Nhim v bi ton tham

s ha b iu khin ca Youla.

Mt hm G(s)RH , hp thc khng cht (bc t s bng bc mu s) v pha

cc tiu s c gi l phn t n v (vi php nhn) ca RH . Cc phn t
1
n v G(s)RH u tha mn
RH .
G( s )

c)

Hm T RH c gi l nhn t ca G RH nu tn ti S RH tha mn
TS=G.

d) Hai hm G 1 RH v G 2 RH c gi l nguyn t cng nhau nu tt c cc

nhn t chung ca chng u l phn t n v ca RH .
Nh vy, mt h thng s n nh khi v ch khi n c hm truyn G(s) thuc
khng gian RH . Ngoi ra, nu c G 1 RH v G 2 RH th cng c:
G 1 (s)+G 2 (s)RH

G 1 (s)G 2 (s)RH

V d 2.77: Phn t n v ca R H

Cc hm sau u l phn t n v ca RH
G(s) = hng s thc,
( s + 1)( s + 2)
s +1
, G( s ) = 2
G( s ) =
s+2
s + 3s + 5

V d 2.78: Nhng hm nguyn t cng nhau

Hai hm

207

G 1 (s)=

s2 1
2

s + 5s + 6

s 1 s +1
s+3 s+2

v G 2 (s)=

s2 s 2
( s + 2)2 ( s + 3)

s2
s +1
( s + 2)( s + 3) s + 2

l nguyn t cng nhau, v c nhn t chung

s +1
S =
s+2

l phn t n v ca RH
Ni dung phng php tham s ha Youla

Quay li bi ton thit k b iu khin R(s) h kn n nh ni, tc l mi hm

truyn t cc tn hiu vo w(t), v(t) ti cc tn hiu ni e(t), u(t) u l nhng hm
bn. K hiu W(s), V(s), E(s), U(s) l nh Laplace ca w(t), v(t), e(t), u(t). Khi , t
hnh 2.125 s c
U
V R U
= +

E

W S E

U 1 R
=

E S 1

V
1
1
=

W
+
RS
1

S

V
1 R U
=

W

S 1 E
R

V

W

(2.204)

Trc tin ta chng minh iu kin cn v sau:

nh l 2.43: Nu vit li hm truyn S(s), R(s) thnh
N
N
R= R
S= S ,
MS
MR

trong N S , M S RH v N R , M R RH

l nhng cp hm nguyn t cng

nhau. Khi , h kn cho hnh 2.125 n nh ni th cn v l:

1
RH
F =
N S N R + MS M R
Chng minh:
Vi (2.204), ma trn hm truyn ca h vi hai vo w(t), v(t) v hai ra e(t), u(t) l:

1
MS M R
1 1 R

G( s ) =

=
1 + RS S 1 N S N R + MS M R N S

MS
MS M R N S M R
1
G( s ) =

N S N R + M S M R M S N R MS M R

NR

MR

T y ta c c iu phi chng minh.

By gi ta i vo ni dung phng php tham s ha Youla:

208

nh l 2.44 (Youla): Nu vit li hm truyn S(s) ca i tng thnh

S(s) =

NS
MS

N S , M S RH nguyn t cng nhau

trong

th tp hp O gm tt c cc b iu khin R(s) lm h kn c cu trc cho hnh

2.125, c n nh ni l:
O =

R=

X + M SQ
Y N SQ

X,Y,QRH v N S X+M S Y=1

(2.205)

trong Q RH l tham s t do. Ch rng do c N S X+M S Y=1 nn X, YRH

cng phi nguyn t cng nhau.
Chng minh:
Trc tin ta thy h kn n nh vi R cho trong (2.205) v n c hm truyn
RS
= N S (X+M S Q)RH
1 + RS
N
Ngc li, nu b iu khin R = R vi N R , M R RH nguyn t cng nhau lm
MR

G(s) =

n nh i tng th do c (nh l 2.43)

1
F =
RH

N S N R + MS M R

F(N S N R +M S M R ) = 1
N S FN R +M S FM R = 1

nn khi so snh vi

N S X+M S Y=1

N S (X+M S Q)+M S (YN S Q) = 1

trong Q l ty , ta c
FN R = X + M S Q

FMR = YNSQ

Suy ra
R=

NR
FN R
X + M SQ
=
=
Y N SQ
MR
FM R

Chn
Q = (N S X+M S Y)Q = X(Y+FM R )+Y(FN R X) RH

ta c iu phi chng minh.

Theo nh l 2.43 th vic xc nh tp O gm cc b iu khin R(s) lm h kn

hnh 2.125 n nh ni ch cn l:
1) Phn tch S(s) thnh S =

NS
vi N S , M S RH nguyn t cng nhau.
MS

2) Tm nghim X,YRH t phng trnh Bezout N S X+M S Y=1.

209

Trc tin ta thc hin bc th nht. C th thy ngay, nu S(s) c dng

S( s) =

B( s) b0 + b1 s + b2 s2 +
=
A( s) a0 + a1 s + a2 s2 +

+ bm sm
+ an sn

mn

th vi mi a thc Hurwitz
C(s)=(sa) n
trong s thc a < 0 khng phi l im khng cng nh im cc ca S(s), tc l
B ( a ) 0 v A ( a ) 0
ta s c S =
N S (s)=

NS
vi
MS
B( s)
RH
C( s )

M S (s)=

A( s)
RH
C( s)

Cng thc (2.206) cho thy vic phn tch S(s) thnh S =
c thc hin qua hai bc nh sau:
1 + a
S dng nh x ngc s =
ca =

(2.206)
NS
c N S ,M S RH s
MS

1
v tnh
sa

1 + a n( )
S( s) = S
=
m( )
vi a < 0 khng phi l im cc cng nh im khng ca S(s).

Chuyn ngc hai a thc n( ) v m( ) v bin s nh nh x =

N S (s)=n(

1
),
sa

M S (s)= m(

1
sa

1
)
sa

By gi ta s thc hin bc th hai l tm nghim phng trnh Bezout

N S X + M S Y = 1 (hng s)
Nu so snh vi phng trnh Euclid (2.201) c cp th s khc bit duy
nht y l N S , M S , X , Y khng phi l cc a thc m li l hm thchu t v h l
hng s thc. Song s khc bit ny hon ton khng hn ch vic ta s dng thut ton
1
ta chuyn c cc hm thchu t N S , M S , X , Y
Euclid, v vi nh x =
sa
thnh cc a thc n( ), m( ), ~
x ( ) , ~
y( ) . Ni cch khc, ta s p dng thut ton
Euclid cho phng trnh

x ( ) + m( ) ~
y( ) = h
n( ) ~

(2.207)

x ( ) , ~
y( ) v hng s h t hai a thc c l n( ) v m( ). T y
c hai a thc ~

ta s suy ra c:

210

x( ) =

~
x( )
h

y( ) =

~
y( )
h

(2.208)

Phng trnh (2.207) lun c h = hng s nu n( ), m( ) l nguyn t cng nhau v

B
iu ny s c tha mn vi gi thit hm truyn S =
cho ca i tng c hai
A
a thc B(s), A(s) nguyn t cng nhau. Hin nhin rng khi cng c hai a thc
x( ), y( ) nguyn t cng nhau.
Cui cng, tng kt li, ta c thut ton xc nh O gm cc b iu khin R(s) lm
h kn hnh 2.125 n nh ni, gm cc bc nh sau:
1) Bin i S(s) cho thnh:
1 + a n( )
S( s) = S
=
m( )
vi hng s a < 0 l ty v khng phi l im cc cng nh im khng ca S(s).

x( ) , ~
y( ) v h tha mn (2.207).
2) S dng thut ton Euclid tm ~
x( ) , ~
y( ) theo (2.208).
3) Xc nh x( ) v y( ) t ~
4) Chuyn ngc n( ), m( ), x( ), y( ) thnh cc hm N S (s), M S (s), X(s), Y(s)
thuc R H bng cch:
1
1
) , M S (s)= m(
)
sa
sa
1
1
) , Y(s)= y(
)
X(s)= x(
sa
sa
N S (s)= n(

V d 2.79: Minh ha phng php tham s ha Youla

Cho i tng vi hm truyn:

s 1
S( s) =
s( s 2)
1
c
S dng nh x s =

R(s)

S(s)

~
22 +
n( )
1
S( ) =S(
)=
=
2
m
( )

3 4 + 1
Vy

Hnh 2.126: Minh ha v d 2.79

n( )=2 + v m()=3 4+1.

p dng thut ton Euclid, ta c

5
2
2

1
+

3
3
3

2
3 4 + 1 0 1

2
5
+
3
3
3

25

1
9
42

5
25

18
3

15
25
2
3

211

25

76
25

3
3
9
42

5
25

752 +

50 2 25
+

3
3
18
3

15
25

v vi n th
3
9
42
18
3
~
~
,
,

x ( ) =
y( ) =
25
5
25
15
25
~
~
x( )
y( )

x( ) =
= 15 +14 , y( ) =
= 10 +1
h
h
1
Chuyn ngc sang min s vi nh x =
c
s +1
s 1
s( s 2)
1
1
)=
)=
,
M S (s)= m(
N S (s)= n(
s +1
s +1
( s + 1) 2
( s + 1) 2

h =

X(s)= x(

1
14 s 1
)=
s +1
s +1

, Y(s)= y(

1
s9
)=
s +1
s +1

Do tp cc b iu khin lm h kn cho hnh 2.126 n nh l:

O ={ R=

X + MQ (14 s 1)( s + 1) + s( s 2)Q

=
Y NQ
( s 9)( s + 1) ( s 1)Q

QRH}

Kh nng iu khin n nh mnh (strongly stable)

nh l 2.44 ca Youla cho thy s c rt nhiu b iu khin lm i tng S(s) n

nh ni, thm ch l v s, v mt b iu khin R(s) lm n nh i tng S(s) khng
bt buc bn thn n phi n nh. Mong mun c c mt b iu khin n nh
lm n nh ni i tng S(s) ngi ta a ra khi nim b iu khin n nh
mnh (strongly stable) nh sau: Mt i tng S ( s ) c gi l n nh mnh c, nu
tn ti t nht mt b iu khin n nh R(s) lm h kn n nh ni.
Xt i tng c hm truyn:
S( s) =

b0 + b1 s +

+ bm sm

a0 + a1 s +

+ an sn

(mn)

C th thy nu i tng c bc tng i r = n m > 0 th n s c im khng s= bi r

v ti c S()=0. Gi s rng trn trc thc dng k c im 0, i tng c hai
im khng s 1 , s 2 v gia chng c s l cc im cc. Tt nhin cc im cc ny l cc
s thc dng.
Nu hm truyn ca i tng c vit li thnh S =

NS
MS

vi N S ,M S RH

nguyn t cng nhau, th theo ni dung nh l 2.44, b iu khin R(s) lm n n nh

ni phi c cu trc:

212

R=

NR
X + M SQ
=
,
MR
Y N SQ

X , Y , Q RH v N S X + M S Y = 1

Do i tng c hai im khng s 1 , s 2 l s thc khng m v gia chng c s l

cc im cc, nn M S (s 1 ) v M S (s 2 ) phi tri du vi nhau. Ngoi ra, t phng trnh
Bezout ta cn c
M S (s 1 )Y(s 1 )=1

v M S (s 2 )Y(s 2 )=1

Suy ra
sgnY(s 1 ) = sgnY(s 2 ) sgn Y ( s1 ) N S ( s1 )Q( s1 ) = sgn Y ( s1 ) = sgn Y ( s2 )
= sgn Y ( s2 ) N S ( s2 )Q( s2 )
iu ny ch rng ti s 1 v s 2 , mu s
M R (s) = Y(s)N S (s)Q(s)
ca b iu khin c gi tr tri du nhau. Do , t tnh lin tc ca M R (s), n phi c
nghim thc dng (v cng l im cc ca b iu khin) thuc khong h ( s 1 , s 2 )
nn khng th l mt b iu khin n nh.
Mt cch tng qut, ngi ta cn ch ra c rng:
nh l 2.45: i tng S(s) l khng iu khin mnh c khi v ch khi n c hai
im khng nm trn na trc thc dng (k c im 0 v im +) v gia chng
c s l cc im cc (tnh c s ln bi ca chng).
Ch : nh l trn mi ch khng nh s tn ti ca b iu khin n nh mnh ch
cha ch ra c phng php xc nh n.

V d 2.80: Minh ha nh l 2.45

i tng
S(s) =

s
( s + 1)( s 2)

c hai im khng s=0, s= v mt im cc s = 2 nm gia chng nn khng th n

nh mnh c. Ngc li, i tng
s
S(s) =
( s 2)2
vi hai im khng s=0, s= v hai im cc s = 2 (im cc bi hai) nm gia chng
nn n s n nh mnh c.

B iu khin n nh song hnh (simultane stable)

Trong iu khin bn vng, ngi ta thng gp phi bi ton l mt i tng

c m t khng phi ch bng mt m hnh (hm truyn) m bng nhiu m hnh
213

(nhiu hm truyn). Chng hn mt i tng phi tuyn, qua vic tuyn tnh ha n
xung quanh im lm vic, ngi ta c c mt m hnh tuyn tnh tng ng m t
xp x i tng trong ln cn im lm vic . ng vi cc im lm vic khc nhau,
ngi ta s c nhng hm truyn khc nhau. Bi ton iu khin n nh c t ra
y l phi tm mt b iu khin chung R sh (s) iu khin n nh ni cho i tng
c m t bng hai hm truyn khc nhau S 1 (s), S 2 (s). B iu khin R sh (s) khi
c gi l b iu khin n nh song hnh (simultane stable).
Xt i tng c m t bng hai hm truyn (ti hai im lm vic khc nhau):
S 1 (s) =

N S1 ( s)
MS1 ( s)

v S 2 (s) =

N S2 ( s)
MS2 ( s)

(2.209)

trong tt c N S1 , MS1 , N S2 , M S2 u l phn t ca RH (hp thc, bn) v tng cp

tng ng N S1 , M S1 v N S2 , M S2 l nguyn t cng nhau. Gi:
R1 ( s) =

X1 + Q1 MS1
Y1 Q1 N S1

R2 ( s) =

X 2 + Q2 MS2
Y2 Q2 N S2

l tp cc b iu khin lm chng n nh ni (theo phng php tham s ha Youla

nh l 2.44), tc l c:
X1 N S1 + Y1 M S1 =1,

X 2 N S2 + Y2 M S2 =1

(2.210)

X 1 , Y 1 , X 2 , Y 2 RH v Q 1 , Q 2 RH ty
Khi ta s c:
nh l 2.46: Cho hai m hnh S 1 (s), S 2 (s) xc nh theo (2.209). K hiu:

S( s) =

N S ( s)
MS ( s)

vi
N S = M S1 N S2 N S1 M S2

M S = X1 N S2 + Y1 M S2

(2.211)

a)

S 1 (s), S 2 (s) n nh song hnh th cn v l S(s) n nh mnh c.

b)

Nu R(s)RH l b iu khin mnh cho S(s) th b iu khin song hnh

cho S 1 (s), S 2 (s) s l:
R sh (s) =

X1 + RMS1
Y1 RN S1

(2.212)

Chng minh:
Trc tin ta chng minh iu kin cn, tc l khi S 1 (s), S 2 (s) n nh song hnh
c th S(s) cng n nh mnh c. Do S 1 (s), S 2 (s) l n nh song hnh c nn
phi tn ti Q 1 , Q 2 RH c:
214

X1 + Q1 MS1
Y1 Q1 N S1

X2 + Q2 MS2
Y2 Q2 N S2

Nhng v t s v mu s ca mi v u to thnh cc cp nguyn t cng nhau trong

RH nn phi tn ti mt phn t n v U ca RH , tc l U
X1 + Q1 M S1 = U( X 2 + Q2 M S2 ) v

X1

Y1

N S2

Y
2

MS1 1
X2
=
Y2
N S1 Q1

MS2 X1 MS1

X 2 Y1 N S1

RH , sao cho:

Y1 Q1 N S1 = U( Y2 Q2 N S2 )

MS2 1
U
N S2 Q2

N S2
1
=
Q1
Y2

MS2

X 2

X2

Y2

MS2 1
U
N S2 Q2

Kt hp vi (2.211), m c th l:
N S2

Y
2

MS2

X 2

X1

Y1

MS1 N S2 X1 + MS2 Y1
=
N S1 Y2 X1 X2Y1

N S2 MS1 MS2 N S1

Y2 MS1 + X2 N S1

MS
NS

=
Y2 X1 X 2Y1 Y2 M S + X 2 N S
1
1

v vi (2.210), tc l:

N S2 MS2 X2 MS2 N S2 X2 + MS2 Y2 N S2 MS2 MS2 N S2 1 0

=
=

Y2 MS2 + X2 N S2 0 1
2 X2 Y2 N S2 Y2 X2 X2Y2

ta c:
MS
NS

1
1 0 1
=

U
Y2 X1 X2Y1 Y2 M S1 + X2 N S1 Q1
0 1 Q2

MSU

+NSQ1U

= 1

(2.213)

[ ( Y2 X1 X2Y1 ) + ( Y2 MS1 + X2 N S1 )Q1 ] U

Cng thc th nht (2.213) ch rng S =

= Q2

(2.214)

NS
s c iu khin n nh ni bng
MS

b iu khin:
R=

Q1U 1
U 1

= Q 1 RH

nn n l n nh mnh c.
Chuyn sang iu kin . Gi s S =

NS
c iu khin n nh mnh bng b
MS

iu khin RRH . Khi , vi cch chn Q 1 = R v Q 2 c xc nh t Q 1 bng cng

thc (2.214) ta s c ngay R 1 = R 2 .
Cui cng, ta c th thy thm rng khng nh b) ch l h qu trc tip ca
khng nh a).

S
215

2.4.5

iu khin tch knh

Ngoi phng php tham s ha Youla l cn m rng c cho h MIMO, cc

phng php thit k b iu khin va trnh by trn ch yu ch p dng cho i
tng SISO. b sung thm trng hp cn thiu l iu khin h MIMO, mc ny s
gii thiu phng php tch knh h MIMO, tc l phng php thit k b iu khin
R(s) cho i tng c m tn hiu vora u = (u1 , u2 , , um )T , y = ( y1 , y2 , , ym )T sao cho
vi n h c tch thnh m knh ring bit, tc l tch c thnh m h SISO con, nh
minh ha hnh 2.127 cho i tng 2 tn hiu vo, 2 tn hiu ra. Hin nhin rng khi
tch c thnh cc h SISO nh vy, ta li p dng c cc phng php thit k
b iu khin trnh by trn cho tng knh ton b h thng t c nhng ch
tiu cht lng t ra.
a)

i tng iu khin

B iu khin

w1

R11

u1

R12

R22

w1

S12

R21
w2

S11

b)

y1

w2

S21
u2

S22

G1
G2

y1
y2

y2
Hnh 2.127: iu khin tch knh

Tch knh trong ton b min thi gian

K hiu ma trn hm truyn gm m hng, m ct (mm) ca i tng iu khin

S(s) v ca b iu khin R(s) c cng kiu mm l:

S11 ( s) S12 ( s)

S ( s) S22 ( s)
S( s) = 21

Sm1 ( s) Sm2 ( s)

S1m ( s)
R11 ( s) R12 ( s)

S2m ( s)
R ( s) R22 ( s)
, R( s) = 21

Smm ( s)
Rm1 ( s) Rm2 ( s)

R1m ( s)

R2m ( s)

Rmm ( s)

th nhim v tch knh ca R(s) chnh l lm cho ton b h thu c c ma trn hm

truyn G(s) dng ng cho:
0
G1 ( s)

0
G2 ( s)
Y ( s) = S( s)U ( s) = S( s) R( s)W ( s) = G( s)W ( s) =

0
0

W ( s)

Gm ( s)
0
0

trong W ( s) l nh Laplace ca vector cc tn hiu u vo w = ( w1 , w2 , , wm )T ca

h v U ( s), Y ( s) l nh Laplace ca u( t ), y( t ) . T quan h:

216

S(s)R(s) = G(s)
ta thy ngay rng nu ma trn S(s) khng suy bin vi mi s th b iu khin R(s) cn
tm s l:
R(s) = S(s)

(2.215)

G(s)

V d 2.81: Tch knh i tng 2 vo 2 ra

i tng vi 2 tn hiu vo, 2 tn hiu ra c ma trn hm truyn:

S ( s) S12 ( s)
S( s) = 11

S21 ( s) S22 ( s)

S( s)1 =

1
S11 S22 S21 S12

S22

S21

S12

S11

Chn trc ma trn hm truyn cho h c tch knh l khu khch i:

k
G( s ) = 1
0

k2

ta s c b iu khin xc nh theo (2.215):

R( s) = S( s)1 G( s) =
=

S22

S21
S12 k2

S11k2

1
S11S22 S21 S12

S22 k1
1

S11S22 S21 S12 S21k1

S12 k1

S11 0

0
=
k2

Tch knh trong ch xc lp

V nhiu l do, chng hn nh ma trn S(s) b suy bin nhng di tn s lm

vic, hay thc t khng cho php hoc khng iu kin ta thc thi c b iu
khin R(s) thu c theo (2.215), nn bt buc ta phi chuyn sang bi ton tch knh
gn ng, tc l ch iu khin tch knh trong nhng di tn s c quan tm c
bit, v d nh ch tch knh ch xc lp khi t, tc l khi s0. Khi , t cng
thc thit k (2.215) ta c:
R(s) = S(0)

G(s)

(2.216)

p dng ring cho i tng 2 vo 2 ra v ma trn hm truyn ca h sau khi tch:

0
G ( s)
G( s ) = 1

0
G
2 ( s)

th vi kt qu ca v d 2.81 ta c:
R( s) =

S22 (0)G1 ( s) S12 (0)G2 ( s)

1

S11 (0)S22 (0) S21 (0)S12 (0) S21 (0)G1 ( s) S11 (0)G2 ( s)

217

Cu hi n tp v bi tp
1.

2.

Xc nh nh Fourier ca cc tn hiu sau:

a)

x(t) = at

khi 0 < t < T

b)

c)

x(t) = |u|

vi u = U 0 sin t

d) x(t) =

e)

t
x0 khi 0 < t < T v x(t+T) = x(t)
x(t) = 1 2

2
T

Cho hai tn hiu

x(t) = at

khi 0 < t < T

sin[(t t0 )]
(t t0 )

x1 ( t ) = t a 1( t ) 1( t b) v x2 ( t ) = t c1( t d ) , trong 0<b<,

1
<a=c<1 v 0d. Hy ch rng x 1 (t) c cng sut P hu hn (chun bc 1 hu
2
hn), E v hn (chun bc 2 v hn) v x 2 (t) c P v hn nhng li c E hu hn.
3.

Cho mt tn hiu tun hon x(t) chu k T. Gi x( t ) l phn tn hiu ly t x(t)

trong mt chu k, tc l:
x( t ) khi 0 t < T
x( t ) =
0 khi t (0, T ]

Chng minh rng x( t ) = x( t ) * s( t ) , trong s(t) l hm trch mu vi tn s trch

mu T.
4.

5.

Hy xc nh chui Fourier ca tn hiu tun hon x(t) vi chu k T=2 v

a)

x( t ) = sgn( t ) , 0 < t < 2

b)

x( t ) = sin t

c)

t
x( t ) = sat
, 0 < t < 2

d)

x( t ) = cos2 t

1T
2
x( t ) dt .
T 0

Chng minh bt ng thc Bessel: ck

k =

Gi : t zn ( t ) = x( t ) ck e jk t v i t 0 zn ( t ) = zn ( t ) zn ( t )
2

k = n

6.

Cho mt tn hiu tun hon x(t) chu k T. Tn hiu ny c xp x bi hm iu

ha biu din di dng tng hu hn:
x(t)

an e jn t vi an = an v T = 2

n = N

bng cch xc nh nhng h s an sao cho bnh phng sai lch:

n = N

jn t
dt
x( t ) an e

c gi tr nh nht. Hy ch rng khi an chnh l h s chui Fourier ca x(t):

an =

218

1
T

x( t )e

jn t

dt

7.

Chng minh rng nh Fourier ca mt hm x ( t ) c min xc nh gii ni [a , b ] , tc

l x(t)0 khi t [ a , b ] , xc nh trn ton b trc s < <.

8.

Cho x(t)=1(t+T)1(tT). Tm nh X(j ) v

9.

a)

kim tra tnh cht ca n nu trong nh l RiemannLebesgue,

b)

kim tra quan h Parseval.

Tm tn hiu x ( t ) c nh Laplace
a) X(s)=
c)

2s 2 + 13s + 17

b)

s2 + 4s + 3

5s 2 + 19s + 20

X(s)=

X(s)=

d) X(s)=

s 4 + 7 s3 + 17 s 2 + 17 s + 6
10. Tm nh Laplace ca cc tn hiu hnh 2.128

x(t)

a)

7 s 2 20 s 75
s3 + 6 s 2 + 25s

x(t)

b)

s3 + 5s2 + 9s + 7
( s + 1)( s + 2)

1
t
T

t
T

2T

2T

3T

4T

Hnh 2.128: Cho bi tp s 10

11. Xc nh cc gi tr u x(+0),

dx( +0 ) d 2 x( +0 )
,
ca tn hiu causal x(t) c nh
dt
dt 2

Laplace
a)

X ( s) =

c)

X ( s) =

1
sTI (1 + sT1 )(1 + sT2 )
s +1

2s2 + 3 s + 4

b)

X ( s) =

d)

X ( s) =

1 + sT
(1 + sT1 )(1 + sT2 )
1
(1 + sT )n

, n=0,1,2,

12. Xc nh iu kin tn hiu x(t) vi nh Laplace:

X ( s) =

b0 + b1s + ... + bm sm
a0 + a1 s + .... + an sn

tha mn
a)

lim x( t ) 0

b)

t 0

lim x( t ) 0

13. Gii cc phng trnh vi phn sau

a)

d3 y
dt 3
2

b)

d y
dt

+5
+3

d2 y
dt 2

+6

d 2 y( +0 )
dy
dy( +0 )
= 0 vi y(+0) = 5,
= 8 v
= 28
dt
dt
dt 2

dy
dy( +0 )
+ 2 y = 20 cos 2t vi y(+0) = 1 v
=5
dt
dt

219

d2 y

c)

dt 2

+3

dy
dy( +0 )
+ 2 y = 0 vi y(+0) = a v
=b
dt
dt

14. Cho mt h gm 1 l xo c h s n hi c v mt vt khi lng m nh hnh 2.129a)

m t. Ti thi im t = 0 vt b mt lc tc ng tc thi lm bt ra khi v tr cn
dy( +0 )
bng y(+0)=0 v c vn tc ban u l
= v 0 . B qua lc ma st, hy xc nh
dt
phng trnh dao ng sau ca vt xung quanh im cn bng. Bin dao ng
ln nht ca vt l bao nhiu?.
a)

R1

b)

Hnh 2.129: Cho bi tp 14

v 15.

R2

y
15. Hnh 2.129b) m t mt mch in gm hai in tr R 1 , R 2 v hai t in C 1 , C 2 .
Hy xc nh in p u ra y ( t ) ca mch in nu ti u vo c u(t) = u 0 1(t),
bit rng ti thi im t = 0 c hai t cng cha c np in.
16. Cho h gm mt l xo c h s n hi c , mt vt c khi lng m nh hnh 2.130a)
m t. Xc nh phng trnh m t chuyn ng ca vt di tc ng ca lc u(t)
vo vt c n lc ma st tnh vi h s . H c tuyn tnh khng v ti sao?
a)

b)

y1

y2

Hnh 2.130: Cho bi tp 16 v bi tp 17.

17. Hnh 2.130b) m t h gm ba l xo c cng h s n hi c v hai vt vi cng khi

lng m ang v tr cn bng. Ti thi im t = + 0 vt th hai b mt lc tc thi
nh bt ra khi v tr cn bng vi vn tc v0. B qua lc ma st, hy xc nh
phng trnh chuyn ng ca vt th nht. H c tuyn tnh khng v ti sao?
18. Xc nh xem nhng h no trong s cc h sau l tuyn tnh, tuyn tnh khng
dng v tuyn tnh tham s ri
a)
c)

220

d2 y
dt 2
d2 y
dt 2

+2

dy
du
+ 3y =
+ 5u
dt
dt

+ 2y

dy
+ 2y = u
dt

b)

t4

du
dy
+ cos( t 2 ) y = 5
+ 2u
dt
dt

19. Hy xc nh hm trng lng g(t) v hm qu h(t) ca nhng h tuyn tnh c

hm truyn G(s) nh sau
a)

s +1

b)

2s2 + 3s + 4

1 + 2s
(1 + 3s )(1 + 5s)

c)

20. Xc nh hm truyn ca h thng c s im

cc (c nh du bi ) v im khng (c
nh du bi O) cho trong hnh 2.131, bit rng
G(0)=2. Tm v v th hm trng lng, hm
qu . C nhn xt g v h thng qua cc th
.

1
0,2s(1 + s)(1 + 3s)

Hnh 2.131: Cho bi tp 20

21. Cho h thng c s khi nh hnh 2.132. H c tn hiu vo u(t), gi l tn hiu

ch o v ra y ( t ) . Tn hiu n ( t ) l nhiu tc ng vo h. Tn hiu e(t) l sai lch
gia tn hiu ch o u ( t ) so vi thc t h c c y ( t ) . K hiu nh Laplace ca
u(t) l U(s), ca y(t) l Y(s), ca n(t) l N(s) v ca e(t) l E(s). Hy
Y ( s)
ca h khi khng c nhiu.
U ( s ) n( t ) = 0

a)

Xc nh hm truyn G( s) =

b)

Xc nh hm nhy ca h (sensivity function) S( s) =

Y ( s)
( hm nhy c
N ( s ) u( t ) = 0

tc dng o thnh phn nhiu c ln trong tn hiu ra).

c)

Xc nh hm truyn biu din sai lch theo u vo E1 ( s) =

d) Xc nh hm truyn biu din sai lch theo nhiu E2 ( s) =

a)

b)

G2

e
G1

G3

E( s)
U ( s ) n( t ) = 0

E( s)
N ( s) u( t )=0

G2

y
G3

G5

G5
G4

G4
G1
Hnh 2.132: Cho bi tp 21

22. S dng cng thc nh ngha hm c tnh tn, hy xc nh hm trng lng g(t)
cho cc h c hm c tnh tn nh sau:
a)

G( j ) =

c)

G( j ) =

1
1 + j
1

(1 + j )2

b)

G( j ) =

d)

G( j ) =

1
(1 + j )(1 + 2 j )
1

(1 + j )2 (1 + 2 j )

221

23. Hy v th c tnh tn binpha v th Bode cho cc h c hm c tnh tn

cho trong bi 22.
24. S dng kt qu bi 23, hy xc nh p ng u ra ca nhng h , khi u vo
l tn hiu iu ho:
a ) u(t)=sin( t )
c)

b) u(t)=sin( t ) + sin( 2 t )
1 t khi t 1
u(t)=x(t)*s(t) vi x( t ) =
v s(t) l hm trch mu chu k 1.
0 khi t > 1

25. Hy v ng c tnh tn binpha, ng c tnh tn logarith (biu Bode) ca

nhng h thng c hm truyn cho nh sau
1
(1 + sT1 )(1 + sT2 )

a)

G( s ) =

1
1 + sT

b)

G( s ) =

c)

G( s ) =

k
s(1 + sT1 )(1 + sT2 )

d)

1
G( s) = k 1 +
+ sTD
sT
I

26. Hy xc nh hm truyn cng nh cc thnh phn khuch i, tch phn, vi phn

ca cc h cho hnh sau:

R1

R2

a)

R2

d)

b)

R1

c)

L1
C

R1
L2

e)

C1

R2
C2

f)

Hnh 2.133: Cho bi tp 26

27. Chng minh rng ng c tnh tn s binpha ca h c hm truyn:

G( s ) =

b0 + b1s + b2 s2
2

a0 + a1 s + a2 s

a
c a 0 a 2 > 0 , a 1 0 v det 0
b0

a2
=0
b2

l mt ng trn. Hy xc nh tm v bn knh ca ng trn.

28. Cho h thng SISO m t bi:
G( s ) =

222

4
2

( s + 3) ( s + 2)( s + 1)

Hy xc nh tn hiu u(t) sao cho khi kch thch h t trng thi 0 bng u(t)
u vo th sau mt khong thi gian ln h s c p ng y(t) c gc lch pha
vi u(t) l 900.
29. Tm hm truyn ca nhng h thng c s khi sau
a)

b)

y(t)
b2

b1

b0

1
s

b0

b1

1
s

1
s

a1

a0

b2
1
s

a0

a1
y

u
c)

d)

G3

u
G1

G2

G3

G4

G1

G2

Hnh 2.134: Cho bi tp 29

30. Xc nh hm truyn ca nhng h thng c s tn hiu cho trong hnh 2.135

a)

b)

1
s

1
s

a1
Hnh 2.135: Cho bi tp 24

b1
1
s

1
s

b2

a1
a2

a2

31. Hy tm hm truyn G(s) hp thc v bn cho h tuyn tnh, bit rng phn thc
T( ) ca hm c tnh tn G(j ) ca h l:
a ) T( ) = ReG(j )=

5 20 2
2

1 + 17 + 16

b)

T( ) = ReG(j )=

4 2 2
4 + 5 2 + 4

32. Hy tm hm truyn G(s) hp thc v bn cho h tuyn tnh, nu lim G( s) = 0 v

s

phn o A() ca hm c tnh tn G(j ) ca h l

a)

A( ) = ImG(j )=

25
1 + 17 2 + 16 4

b)

A( ) = ImG(j )=

3 3

4 + 5 2 + 4

223

33. Cho h thng phn hi tn hiu ra c s khi m t hnh 2.136a). Hy tm hm

truyn ca h thng khi G(s) c cu trc cho trong cc hnh 2.136b) v 2.132c).
Trong trng hp no th h s l h pha cc tiu?.

Hnh 2.136: Cho bi tp 33

k
x

G(s)

a)

x
k1
1 + sT1

b)

y
k2
1 + sT2

k1
1 + sT1
k3

k2
1 + sT2

c)

34. Kim tra xem hm c tnh tn ca khu IT1 c tha mn nh l 2.11 v ton t
Hilbert khng v gii thch ti sao?.
35. Xc nh hm truyn G(s) cho cc h c hm trng lng sau:
a)

g(t)=2+t+3t 2

b) g(t)=t 2 sint

c) g(t)=(t+t 2 )cost

36. Khng tm nghim, hy ch ra rng tt c nghim ca a thc sau u c phn thc

nh hn 1
a)

A(s) = s + 8s + 22s + 20

b) A(s) = s + 10s + 38s + 64s + 40

37. S dng tiu chun Routh, hoc Hurwitz kim tra tnh n nh h thng c a
thc c tnh sau
6

a)

A(s) = 1,15s + 7,25s + 18,60s + 24,84s + 18,20s + 6,69s + 1,08

b)

A(s) = 5s + 47s + 140,55s + 168,67s + 82,63s + 13,8

c)

A(s) = 25s + 87,5s + 80s + 5,5s 8,64s + 0,72

C bao nhiu im cc s k ca h tha mn 0 < Re( s k ) <1 v 1 < Re( s k ) < 0 .

38. S dng tiu chun Michailov kim tra tnh n nh h thng c phng trnh
c tnh
5

a)

A(s) = s + s + 20s + 10s + 64s + 9

b)

A(s) = s + s + 25s + 5s + 144s + 4

39. Xc nh c tn ti hay khng tham s a > 0 hm qu ca nhng h thng c

hm truyn G(s) nh sau khng c qu iu chnh:
a)

224

(1 + as )2
(1 + s )(1 + 0,8 s )

b)

(1 + 0,5s)(1 + as)
2

(1 + 0,75s)(1 + a s)

c)

(1 + s)(1 + 2s)(1 + 3s)

(1 + 0,5s)(1 + a 2 s)(1 + as)2

40. Cho h tuyn tnh tham s hng. Gi g(t), h(t) ln lt l hm trng lng v hm
qu ca h. Chng minh rng:
dh( t )
+ h( t ) ( t ) = g( t )
dt
41. Cho h c hm truyn G( s) =

1
1 + 2 DTs + (Ts)2

, 0<D<1

a)

Gi T c nh, hy xc nh D Q = [h( t ) h ]2 dt min, trong h(t) l

0

hm qu ca h v h = lim h( t )
t

b)

Ti sao i vi vic ti u Q min th tham s T li khng c ngha.

c)

Xc nh qu iu chnh hmax = hmax(t) h .

d) Tnh cc gi tr T , Tmax v T5% .

42. Hy ch rng h kn c hm truyn h h G h (s) =

k s

.
e s n nh nu <
2k
s

43. Xt h hi tip vi h h c hm truyn

Gh ( s) = k

b0 + b1 s +

+ bn sn

a0 + a1 s +

+ an sn

Gi s rng h hi tip l n nh. Chng minh rng khi c kch thch bi tn

hiu 1(t) u vo, h s c sai lch tnh e l
e = lim e( t ) =
t

a0
1
=
1 + Gh (0) a0 + kb0

T rt ra c iu kin cn phi c nh th no ca Gh(s) sai lch tnh e

ca h hi tip bng khng.
44. Cho h kn c hm truyn ca h h l G h (s)=

2
s( s + 2)

a)

V th ng c tnh tn bin pha ca h h

b)

V th Nyquist ca h h v t kt lun v tnh n nh ca h kn

c)

Hai th trn khc nhau im no?

45. Hy s dng tiu chun Nyquist bin lun tnh n nh h kn c hm truyn ca

h h G h (s) l
a) Gh ( s) =

k(1 + 2s)
(1 + s)(1 + 3 s)

b) Gh ( s) =

k( s 1)( s + 2)
( s 1)( s + 1)( s + 3)

46. Cho h kn c hm truyn ca h h l Gh ( s) =

1 + 3 s + 2s2 + 6 s3 + 2s4

225

a)

C bao nhiu im cc ca h h G h (s) khng nm bn tri trc o?

b)

V th Nyquist ca h h G h (s) ng vi k = 1 .

c)

Hy s dng tiu chun Nyquist xc nh hng s k lm h kn n nh.

d) Hy kim tra li kt qu ca cu c) nh tiu chun Routh.

47. Hy xy dng qu o nghim s cho h kn c hm truyn ca h h cho sau y v
bin lun cht lng h kn t dng qu o nghim s thu c
a)

k( s + 2)
( s + 1)( s + 3)

b)

k( s + 1)( s + 3)
s( s + 2)( s + 4)( s + 5)

c)

k(1 + 0,2s)
6 s(1 + 0,5s)(1 + 0,33 s)

d)

k(1 + 0,2s )
6 s(1 + 0,5s)(1 + 0,33 s)

e)

g)

i)

k( s + 7 )

f)

s 2 + 6 s + 18

(1 + 3s)(1 + s)
(1 + ks )(1 + 2s)(1 + 4 s)

h)

k
s( s + 20 )( s 2 + 20 s + 200 )
k
(1 + 0,5s)(1 + 1,32s + (0,33s)2 )

2,7
(1 + 0,5s)(1 + 0,66 ks + (0,33s)2 )

48. Xt h kn cho hnh 2.137a), trong i tng S ( s ) c cha thnh phn bt nh

khng cu trc S tha mn |S(j )| max ( ) vi mi . Gi thit rng h c hm
truyn h h R(s) [ S(s),S ] bn vi mi S .
a)

b)

R(s)

S(s),S

S(s)

S
c)

S(s)
Hnh 2.137: Cho bi tp 48 v 49

S
Chng minh rng h kn s n nh bn vng khi v ch khi
a)

T max < 1 nu kiu sai lch m hnh i tng l b nhn (hnh 2.137b),

trong T ( s ) =
3

R S max < 1 nu kiu sai lch m hnh i tng l b phi hp (hnh

2.137c).

226

RS
l k hiu ca hm b nhy.
1 + RS

49. Xt h cho hnh 2.137a) vi kiu bt nh S ca i tng cho hnh 2.136b)

tha mn |S(j )| max( ) vi mi . Gi thit rng h c hm truyn h h
R(s) [ S(s),S ] bn vi mi S . Chng minh rng h va n nh bn vng, va
c nhy K ( s ) =
min{

1
tha mn K(j ) < th cn thit phi c
1 + RS

, max} < 1

vi mi

50. S dng tiu chun Kharitonov kim tra tnh Hurwitz cht ca cc a thc sau:
a)

A(s) = s 4 +a 3 s 3 +a 2 s 2 +a 1 s+a 0
vi 6a 0 30, 20a 1 100, 20a 2 70, 7a 3 16

b)

A(s) = a 3 s 3 +a 2 s 2 +a 1 s+a 0
vi 0a 0 30, 30a 1 50, 20a 2 60, 10a 3 15

51. Hy xc nh cc tham s b iu khin I hoc PI hoc PID nu i tng c hm

truyn:
a)

1
1 + 4s

b)

c)

2
(1 + 3 s)(1 + 2s)(1 + s)

d)

2
(1 + 0,2s)(1 + 3s)

2
(1 + 3s)(1 + 5s)(1 + 0,3s)5
0,5s

52. Ging nh bi tp 51) nhng cho trng hp i tng c thm khu gi tr e

53. Hy xc nh tham s ti u i xng cho b iu khin PID (ng vi a = 2 , a = 4 v

a = 9 ) iu khin cc i tng c hm truyn nh sau
a)

2
s(1 + 1,5s)

b)

3
2s(1 + s)(1 + 3s)

c)

2
s(1 + 2s)(1 + 6 s)

Hy c lng qu iu chnh h ca h vi nhng b iu khin tm c, ng

thi so snh vi qu iu chnh ca h cho trng hp a = 4 v h c ni thm
b tin x l gim qu iu chnh.
2s

54. Ging nh bi tp 53) nhng cho trng hp i tng c thm khu gi tr e

55. Hy thit k b iu khin cho nhng i tng c hm truyn:

a ) S(s)=

2( s 2)
2

s 1

b) S(s)=

2
2

s 4

c)

S(s)=

s+2
s( s 1)

sao cho h kn ca chng c hm truyn ging nh hm mu:

1
Gm(s) =
( s + 2)2

227

56. Hy xc nh tp O gm nhng b iu khin lm n nh ni cho i tng c hm

truyn sau:
a) S(s)=

s +1
s( s + 2)

b) S ( s ) =

s +1
s( s 2)

c)

S(s)=

s 1
s( s + 2)

57. Cho i tng m t bng hai hm truyn S 1 , S 2 (ti hai im lm vic khc nhau),
trong S 1 l hm bn. Chng minh rng S 1 , S 2 s n nh song hnh c khi v
ch khi S = S 2 S 1 l n nh mnh c.
58. Cho h c s khi hnh 2.138.

G3
u
Hnh 2.138: Cho bi tp 58

G1

G4

G6

G8

G2

G5

G7

G9

a)

Hy xc nh hm truyn tng ng ca h.

b)

Bit G1=G4=G6=1, G3=G5=G7=0, G9=k v G2 = G8 =

1+ s
1 + s + 2s2 + s3 + s4

. Hy

xc nh hng s k h n nh.
c)

Bit G1=G4=G5=G6=1, G2=G7=0, G3=k1, G9=k2 v G8 =

1 + s2

. Hy
1 + 2s + s2 + s3 + s4
xc nh hai hng s k1, k2 h n nh v c sai lch tnh bng 0, tc l c
lim ( y( t ) u( t )) = 0 , khi h c kch thch bng tn hiu hng u vo.

d) Vi cc iu kin nh cu c) v hai hng s k1, k2 tm c , hy xc nh

sai lch tnh ( ch xc lp) khi tn hiu vo l u=sin2 t .

228

iu khin lin tc trong min thi gian

3.1 Cng c ton hc

3.1.1

Nhng cu trc i s c bn

Nhm

Nhm bao gm mt tp hp V v nh x * : V 2 V , tha mn cc tnh cht sau:

Nu x, y V th z = x * y cng thuc V, tc l V kn (hay ng) vi *.

Vi mi x, y , z V bao gi cng c ( x * y ) * z = x * ( y * z ) , ni cch khc * c tnh

kt hp.

Tn ti trong V mt phn t e sao cho x * e = e * x = x ng vi mi x V . Phn t e

c gi l phn t n v ca V.

Vi mi x V bao gi cng tn ti mt phn t x

x

*x=x*x

= e . Phn t x

cng thuc V sao cho

c gi l phn t nghch o ca x.

Phn t n v e l duy nht. Tht vy, nu c x* e 1 = e 1 * x = x v x* e 2 = e 2 * x = x

ng vi mi x V th cng phi c e 1 = e 2 v:
e1 = e1 * e 2 = e2
Cng tng t nh vy, nu c hai phn t nghch o x
x
tc l x

=x
=x

*e = x

*(x* x

) = (x

nn phn t nghch o x

*x)* x

= e* x

, x

=x

ca x th do c:

cng phi l duy nht.

Nu tp hp V v nh x * : V V ch tha mn c hai tnh cht 1) v 2) th V

c gi l na nhm. Na nhm c cha phn t n v e c gi l Monoid.
nhn mnh nh x * to vi tp V thnh c mt nhm, ta s s dng k hiu
( V , * ) . Ty thuc vo bn cht ca * m nhm ( V , * ) cn c cc tn khc nhau. V d
nh nhm cng, nu nh x * l php cng +, hoc nhm nhn nu * l php nhn .
Ring i vi nhm nhn, thay v x y ta s vit n gin hn l x y . Phn t n v e
229

trong nhm cng c tn gi l phn t khng, cn trong nhm nhn th n l phn t

mt. Nu nh x * trong ( V , * ) cn c tnh giao hon x* y = y * x vi mi x, y V th
( V , * ) c gi l nhm giao hon hay nhm Abel.
Mt tp con W ca V s l mt nhm con trong ( V , * ) nu:

W cha phn t n v e ca ( V , * ) .

Nu c x, y W th cng c x* y 1 W.

V d 3.1: Mt s nhm thng gp

Tp tt c cc s nguyn Z vi php cng l mt nhm Abel.

Tp tt c cc s hu t Q vi php cng trn n to thnh nhm Abel.

Tp cc s hu t khc 0 cng php nhn to thnh nhm Abel.

Tp cc a thc cng bc ca bin x vi php cng a thc l mt nhm Abel.

Tp cc s thc khc 0 vi php nhn l mt nhm Abel.

Vnh
2

Vnh l tp hp V vi hai nh x +, : V V , tha mn:

Vi + th V l mt nhm ( V , + ) .

Gi phn t n v ca ( V , + ) l 0 th cng vi tp V \ { 0} to thnh na nhm.

V d 3.2: Mt s vnh thng gp

Tp cc s nguyn Z hay hu t Q vi php cng v nhn to thnh vnh.

Tp cc s thc R vi php cng v nhn l mt vnh.

Tp cc vector cng php tnh cng vector v php nhn c hng to thnh mt
vnh.

Tp tt c cc ma trn vung cng s hng/ct vi php cng v nhn ma trn to

thnh mt vnh.

Trng

Trng (field) l mt tp hp F vi hai nh x +, : F 2 F , tha mn:

Vi + th F l mt nhm Abel ( F , + ) .

Gi phn t n v ca ( F , + ) l 0 th cng vi tp F \ { 0} cng to thnh nhm

Abel (F \ { 0} , ). Phn t n v ca (F \ { 0} , ) thng c vit l 1.

Vi mi a, b, c F c a ( b + c ) = a c + a c .

Ta s k hiu trng gm tp hp F v hai nh x +, l ( F , + , ) . Hai phn t 0 v

1 c gi l cc phn t khng, phn t mt ca trng ( F , + , ) . Tuy nhin, khi hai
php tnh + , xc nh m khng s b nhm ln th c th k hiu ngn gn l F.

230

V d 3.3: Mt s trng thng gp

Tp cc s hu t Q vi php cng v nhn to thnh mt trng.

Tp cc s thc R cng php cng v nhn to thnh mt trng.

Tp cc s phc C cng php cng v nhn to thnh mt trng.

Khng gian vector

Cho mt nhm Abel ( V , + ) v mt trng ( F , + , ) . Nu c nh x c nh ngha

cho F V V , tc l gia mt phn t x ca V vi mt phn t a ca F, tha mn:

a x V vi mi x V v a F .

a ( b x ) = ( a b ) x vi mi x V v a , b F .

1 x = x vi mi x V .

( a + b ) x = a x + b x vi mi x V v a , b F .

a ( x + y ) = a x + b y vi mi x, y V v a F .

th ( V , + ) c gi l khng gian vector trn trng ( F , + , ) .

Ta s s dng k hiu ( V , + , F ) ch khng gian vector V trn trng F. Khng
gian vector ( V , + , F ) c tnh kn vi cc php bin i tuyn tnh, tc l nu x, y V v
a, b F th a x + b y V . Bi vy n cn c tn gi l khng gian tuyn tnh. Phn t ca
V c gi l vector. Phn t khng ca V c k hiu bng 0.
nhiu trng hp, v cng n gin trong cch vit, khi m trng F cng cc
php tnh +, , xc nh v khng s b nhm ln th thay cho k hiu ( V , + , F )
ch khng gian vector V trn trng F ta s vit ngn gn l V.
Mt tp cc vector x 1 , x 2 , , x n thuc khng gian vector V trn trng F c
gi l c lp tuyn tnh nu:
a1x1+a2x2+

+ a n x n = 0 , trong

a 1, a2 , , anF

ch ng khi v ch khi a1 = a2 = = an= 0 , vi 0 l phn t khng ca trng F.

Cho tp x 1 , x 2 , , x n l n vector ty ca V (cha cn phi l c lp tuyn
tnh). Mt vector y to bi:
y = a1x1+a2x2+

+anxn

vi

a1, a2 , , anF

cng thuc V v gi l mt t hp tuyn tnh ca x 1 , x 2 , , x n .

Tp hp tt c cc t hp tuyn tnh ca x 1 , x 2 , , x n khi a 1 , a 2 , , a n
chy khp trn F l mt khng gian vector nh ngha trn cng trng F (ging nh V )
v c k hiu bi:
231

span( x 1 , x 2 ,

, xn).

N c gi l bao tuyn tnh ca x 1 , x 2 , , x n . Do c th bao tuyn tnh khng

cha tt c cc phn t ca V nn n ch l mt khng gian vector con nm trong V.
Nu x 1 , x 2 , , x n l n cc vector c lp tuyn tnh thuc V v tha mn:
span( x 1 , x 2 ,

, xn)=V

th tp x 1 , x 2 , , x n c gi l mt c s ca V. S cc vector x 1 , x 2 , , x n trong
mt c s ca V c gi l s chiu (dimension) ca V v k hiu bng:
dim V = n.
Nh vy, bt c n vector c lp tuyn tnh no ca mt khng gian vector V vi s
chiu n u c th l mt s s ca V.
Cng t y ta thy s chiu ca mt bao tuyn tnh to bi n vector x 1 , x 2 , ,
x n (khng bt buc phi c lp tuyn tnh) s bng s cc vector c lp tuyn tnh
trong x 1 , x 2 , , x n v do :
dim span( x 1 , x 2 ,

, xn)n.

Mt tp con W ca khng gian vector V xc nh trn trng F s l mt khng

gian vector con trong V nu:

0 W v nu c x , y W th cng c x + y W .

Nu c a F v x W th cng c a x W .
Khng gian vector cn c tn gi khc l khng gian tuyn tnh.

Khng gian vector con

Mt tp con W ca khng gian vector V xc nh trn trng F s l mt khng

gian vector con trong V nu:
a) 0W.
b)

Nu c x , y W th cng c x + y W .

c)

Nu c a F v x W th cng c a x W .

Cho mt khng gian vector V xc nh trn trng F v hai khng gian vector con

W 1 , W 2 ca n. Vy th:
1) a 0 = 0 x = 0 , trong 0 l phn t khng ca V v 0 l phn t khng ca F .
2) ( 1 ) x = x , trong 1 l phn t n v ca F v x l phn t nghch o ca x .
3) T a x = 0 suy ra hoc a = 0 hoc x = 0 , trong 0 l phn t khng ca V v 0 l
phn t 0 ca F .

232

4) Tng S = W 1 + W 2 = { w 1 + w 2 w 1 W 1 v w 2 W 2 } l khng gian vector con nh

nht ca V cha c hai khng gian con W 1 v W 2 .
5) Nu c S = W 1 + W 2 v W 1 W 2 = { 0 } th S c gi l tng trc tip ca W 1 v W 2 .
Tng trc tip c k hiu l S = W 1 W 2 . Nu S l tng trc tip ca W 1 v W 2
th mi phn t s S u phn tch c thnh s = w 1 + w 2 vi w 1 W 1 , w 2 W 2 .
Cch phn tch cng l duy nht. Khi w 1 c gi l hnh chiu ca s ln W 1
v w 2 l hnh chiu ca s ln W 2 .
6) dim( W 1 + W 2 ) = dim( W 1 ) + dim( W 2 ) dim( W 1 W 2 ) .
7) Nu S = W 1 W 2 th dim( S ) = dim( W 1 ) + dim( W 2 ) .
a tp tuyn tnh

Xt khng gian vector V xc nh trn trng F v mt khng gian vector con W ca

V. K hiu v l mt phn t ca V (khng bt buc phi thuc W). Khi tp D:

D={v+wwW}
c gi l a tp c sinh ra t W. Nh vy a tp tuyn tnh D c th khng cha
phn t 0 (nu v 0 ) v c dng song song vi khng gian vector con W.
i s

Cho mt khng gian vector ( V , + , F ) trn trng (F,+, ) v l nh x gia mt

phn t x ca V vi mt phn t a ca F. Nu:

Ngoi php tnh +, cn c php tnh trn V lm cho tp V tr thnh mt vnh.

a ( x y ) = ( a x ) y vi mi x , y V v a F .

th ( V , + , F ) c gi l i s V xc nh trn trng F.
Ngoi ra, nu php tnh trn V cn l giao hon:

x y = y x

vi mi x, y V

th i s V c gi l i s giao hon.
Nu i s V cha phn t n v ca php tnh th n c gi l i s c phn
t n v. Tt nhin nu tn ti th phn t n v ny l duy nht.
Ideale

Cho mt i s giao hon V xc nh trn trng F vi hai php + v trn V. Mt

Ideale c hiu l mt khng gian vector con M ca V tha mn: Nu c x V v y M

th cng c x y = y x M .

233

3.1.2

i s ma trn

Ma trn l mt tp hp A gm hu hn mn cc s thc (R), hoc phc (C) k hiu

l a i j , i = 1 , 2 , , m ; j = 1 , 2 , , n , c sp xp theo hng/ct nh sau:
a11

a
A = 21

a
m1

a1n

a2n

amn

a12
a22
a m2

hng th 2

ct th n
Theo cch sp xp nh vy th phn t ai j ca A s nm hng th i v ct th j.
Do A c mn phn t thuc R (hoc C) nh vy m nhiu khi ngi ta cn dng k
hiu A R m

(hoc A C m

) ch mt ma trn A c m hng, n ct (c kiu mn).

Nu nh cch biu din hng/ ct trn c thng nht v khng s b nhm ta

c th vit mt ma trn A ngn gn hn:

A = ( a ij ) ,

i =1,2, , m v j =1,2, , n .

Mt ma trn A=(ai j ) c s hng bng s ct c gi l ma trn vung. ng cho

ni cc phn t ai i (ch s hng bng ch s ct) trong ma trn vung c gi l ng
cho chnh. ng cho cn li c gi l ng cho ph.
Mt ma trn vung A = ( a i j ) c a i j = 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 = diag(ai i ).
Ma trn ng cho I = diag(1) c gi l ma trn n v.
Mt vector c n phn t:
x1

x =
x
n

c xem l ma trn c n hng v 1 ct. Nu ghp chung cc phn t trn ct th j ca

ma trn A = ( a i j ) , i = 1 , 2 , , m ; j = 1 , 2 , , n li vi nhau thnh vector:
a1 j

cj=
,
a
mj

gi l vector ct, th A s c dng:

A =(c1, c2,
234

, cn).

Cc php tnh vi ma trn

1) Php cng / tr: Cho hai ma trn A =( a ij ) v B =( b ij ) cng c m hng n ct. Tng hay
hiu ca chng c nh ngha l A B =( a ij b ij ).
R rng l php cng/tr ch thc hin c vi nhng ma trn c cng s hng v
cng s ct. Nhng ma trn nh vy c gi l ma trn cng kiu.
2) Php nhn vi s thc (phc): Cho ma trn A =( a ij ) c m hng, n ct v mt s v
hng thc (phc) x ty . Tch x A c hiu l ma trn xA =( xa ij ) v A x c hiu
l Ax =( a ij x ). Hin nhin c x A = A x .
3) Php chuyn v: Ma trn chuyn v ca ma trn A = ( a i j ) vi m hng, n ct l ma
trn AT=(aj i ) c n hng, m ct, c to t A qua vic hon chuyn hng thnh ct
T T
v ngc li ct thnh hng. Nh vy ta lun c ( A ) = A .
T
Mt ma trn A tha mn A = A c gi l ma trn i xng. Mt ma trn i

xng phi l ma trn vung.

Nu ghp chung cc phn t trn hng th i ca ma trn A=(ai j ) li vi nhau
thnh vector hTi =( a i 1 , a i 2 , , a in ), gi l vector hng, th ma trn A s vit c
hT
1
hay A T = ( h 1 , h 2 ,
thnh A =
T
h
m

, hn).

T
AT
A B
Php chuyn v ca ma trn khi:
= T
C D
B

CT

DT

4) Php nhn: Cho ma trn A = ( a i k ) c m hng p ct v ma trn B = ( b k j ) c p hng n

ct. Tch A B = C = ( c i j ) ca chng l mt ma trn c m hng, n ct vi cc phn t
p

c ij =

T
aikbkj = ai b j

k =1

trong ai l vector hng th i ca A v bj l vector ct th j ca B (hng th i ca

A nhn vi ct th j ca B). Hai ma trn A, B ch c th c nhn vi nhau thnh

AB nu s ct ca ma trn A bng s hng ca ma trn B.
C th thy ngay c tp cc ma trn, kt hp vi php cng / nhn ma trn v
php nhn vi s thc (phc) to thnh mt i s. cng l l do ti sao ngi ta
gi l i s ma trn.
Mt ma trn vung A R n

c gi l ma trn trc giao nu A A = A A = I . Hai

T
vector a v b c gi l trc giao vi nhau nu a b = 0 . Vector e i ch c phn t

th i bng 1, cc phn t khc bng 0, c gi l vector n v.

235

Php nhn ma trn thng khng giao hon ( AB BA ). N c tnh cht:

a) (AB)

= B A .

b ) A ( B + C ) = A B + A C v

(A+B)C = AC+BC.

c)

A = A I = I A , vi I l ma trn n v.

d)

eTi A e j = ai j , tc l bng phn t th i j ca A.

e ) A e j = cj , tc l bng vector ct th j ca A.
f)

T
eT
i A = h i , tc l bng vector hng th i ca A.

g)

A B E

C D G

F AE + BG AF + BH
=

H CE + DG CF + DH

Ch : Vi hai ma trn A , B giao hon, tc l tha mn AB = BA s cn c:

m+n
=AmAn
a) A
n
m n
b) (AB) =A B

c)

AmBn=BnAm

d)

( A + B )n =

Cnk A k Bn k vi Cnk =

k=0

n!
k !( n k)!

e) A2B2=(AB)(A+B)
nh thc ca ma trn

Cho ma trn vung A = ( a i j ) , i , j = 1 , 2 , , n kiu ( n n ) . Gi tr thc (phc):

det(A) = a11det(A11) a12det(A12) +
=

j =1

i =1

+ (1)n+1a1ndet(A1n)

( 1)i+ j aij det( Aij ) = ( 1)i+ j aij det( Aij )

c gi l nh thc ca ma trn A, trong Ai j l ma trn kiu (n1n1) thu c t

A bng cch b i hng th i v ct th j, tc l b i hng v ct cha phn t a i j . V

d:
a11

a
A = 21

a
n1

a12
a22
an2

a1n

a2n

ann

a22

a
A11 = 32

a
n2

a23
a33
an3

a2n

a3n
.

ann

Cng thc tnh nh thc trn c gi l cng thc tng qut. Ch c ma trn
vung mi c nh thc. Theo cng thc tng qut th nh thc ca ma trn vung c n
hng v ct c xc nh truy hi t nh thc cc ma trn c s hng ct t hn l n1.
Bt u t ma trn kiu (11) ta c:
236

det( a 11 ) = a 11
nh thc ca mt ma trn vung A = ( a i j ) thuc kiu ( n n ) c cc tnh cht sau:

A l ma trn suy bin khi v ch khi det(A) = 0. Nh vy, nu A c hai hng hoc
hai ct ph thuc tuyn tnh (v d ging nhau) th det(A) = 0. T y v cng vi
cng thc tnh nh thc tng qut, ta c:
det( A ) nu k = i
0 nu k i

( 1)i+ j akj det( Aij ) =

j =1

Mt ma trn vung A = ( a i j ) , i , j = 1 , 2 , , n c ai j = 0 khi i > j (hoc i < j ) c

gi l ma trn tam gic, v c cc phn t nm di (hoc trn) ng cho chnh
u bng 0. nh thc ca ma trn tam gic bng tch cc phn t trn ng
cho chnh.

Gi A" l ma trn thu c t A bng cch nhn cc phn t ca mt ct hoc mt

hng vi s thc (hoc phc) th det(A " ) = det(A ).

Cho ma trn vung A c kiu ( n n ) v mt s thc (phc) . Vy th:

det( A ) = n det( A ) .

nh thc ca ma trn khng b thay i khi ta thay mt ct (hng) bng tng ca

n vi mt ct (hay hng) bt k khc:
A
det 1
A3

A2
A A2
= det 1
A4
A3 A4

A2
A A3
= det 1
A4
A3

A2 A4

A4

(Cng thc ca Schur): Nu A1, A2, A3, A4 l cc ma trn l nhng ma trn c kiu

ph hp v l ma trn c cc phn t 0, th:

A
det 1
A3

A2
A
= det 1
A4

A2

= det(A 1 )det(A 4 A 3 A11 A 2 ),

A4 A3 A11 A2

det( A ) = det(A )

det(A B ) = det(A )det(B )

Gi A' l ma trn thu c t A bng cch i ch hai vector hng hoc hai vector
ct th det( A ) = det( A ' ) .
V ngha hnh hc th nh thc ca ma trn 22:
p
A= 1
q1

p2
, tc l det( A )= p 1 q 2 q 1 p 2
q2

p
q
chnh l phn din tch tam gic c ba nh l im P = 1 , Q = 1 v gc ta 0,
p
2
q2
trong chiu quay ca vector t P ti Q l ngc kim ng h.

237

Hng ca ma trn

Xt ma trn A = ( a i j ) , i = 1 , 2 , , m ; j = 1 , 2 , , n bt k (c kiu m n ) v gi

h i , i = 1 , 2 , , m l cc vector hng cng nh c j , j = 1 , 2 , , n l cc vector ct ca

A. Nu trong s m vector hng h i c nhiu nht p m vector c lp tuyn tnh v trong
s n vector ct c j c nhiu nht q n vector c lp tuyn tnh th hng ca ma trn
c hiu l:
Rank(A ) = min { p , q } .
Mt ma trn vung A kiu ( n n ) 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 ca ma trn c cc tnh cht sau:

Rank(A ) = min { p , q } = p = q .

Rank(A B ) Rank(A ) v

Rank(A + B ) Rank(A ) + Rank(B ).

Nu A khng suy bin th Rank(A B ) = Rank(B ).

Nu A thuc kiu ( m n ) vi m n v Rank( A ) = m th tch A A

Rank(A B ) Rank(B ).

l ma trn vung

kiu ( m m ) khng suy bin vi Rank( A A ) = m .

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 m

(hoc A C m

). Nu tn ti mt ma trn B tha

mn:

AB = BA = I

(ma trn n v),

th ma trn B c gi l ma trn nghch o ca A v k hiu l B = A 1.

Do phi tn ti c hai php nhn A A

v A 1A 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 A

phi l ma trn khng suy bin.
Ma trn nghch o A
1

(A B )

ca A c cc tnh cht sau:

l phn t nghch o duy nht ca A

1

= B 1A 1 v ( A 1 ) = ( A T ) 1
Aadj

A 1=
, vi ma trn b Aadj l ma trn c cc phn t aij = (1)i+jdet( A j i )
det( A )

v A j i l ma trn thu c t A bng cch b i hng th j v nh ct th i (phn

t v tr i xng vi aij ).

238

1
= diag
ai

Nu A = diag(a i ) v khng suy bin th A

Vi E ij l ma trn ly t I sau khi i ch hai hng i v j th Eij1 = Eij

K hiu E k (a) l ma trn ly t I sau khi nhn hng th k ca I vi a. Khi s

c Ek1 ( a) = Ek ( a)

A1

A2
khng suy bin, trong
A4

(Cng thc Frobenius) Cho ma trn vung A =

A

3
A1, A2, A3 , A4 cng l cc ma trn. Khi s c:

a)

Nu A 1 khng suy bin v B = A4 A3 A11 A2 cng khng suy bin th

A

b)

A
= 1
A3

A2

A4

A 1 + A 1 A B 1 A A 1
1
2
3 1
= 1
1
1

B
A
A

3
1

A11 A2 B 1

B 1

Nu A 4 khng suy bin v C = A1 A2 A41 A3 cng khng suy bin th

A

A
= 1
A3

A2

A4

C 1
=
A 1 A C 1
4
3

5) (Cng thc ShermanMorrison) A + bc T

A41

= A 1

6) (Cng thc ShermanMorrisonWoodbury) ( A + BC )

7) (Cng thc Hemes) A + BC 1 D

n

Ma trn vung ARn

C 1 A2 A41
+

A41 A3 C 1 A2 A41

A 1bc T A1
1 + c T A 1b

= A 1 A 1 B I + CA 1 B

= A 1 A 1 B C + DA 1 B

CA 1

DA 1

khng suy bin c gi l trc giao nu A T =A

. ma

trn trc giao, cc vector ct vung gc vi nhau v cng nh vy, cc vector hng l
vung gc vi nhau.
Vt ca ma trn

Cho ma trn vung A=(a ij ), i,j=1,2, , n kiu ( n n ) . 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 ) :
n

trace( A ) =

aii

i =1

Vt ca ma trn c cc tnh cht:

n

trace( AB) = aij b ji = b ji aij = trace( BA )

trace( S

i =1 j =1

j =1 i =1

A S ) = trace(A ), vi S l ma trn vung khng suy bin bt k.

239

Ma trn l mt nh x tuyn tnh

Xt h phng trnh tuyn tnh gm m phng trnh v n n:

a11x1 + a12x2 +

+ a1nxn = y1

a21 x1 + a22 x2 +

+ a2nxn = y2

am1x1 + am2 x2 +

+ amnxn = ym

S dng k hiu:
x1

x = Rn,
x
n

y1

m
y=
R ,
y
m

h phng trnh trn vit c thnh:

a11

a21

am1

a1n

a2n

amn

a12
a22
am2

x1 y1

=
x y
n m
y
x

Ax = y

A
Nh vy ma trn A chnh l mt nh x y = f ( x ) = A x v nh x f : R n R m ny tha

mn tnh cht tuyn tnh:

f ( a1 x1 + a p x2 +

+ a p x p ) = a1 f ( x1 ) + a2 f ( x2 ) +

+ ap f ( x p )

trong a 1 , a 2 , , a p l nhng s thc/phc (hoc phn t ca mt trng F) nn n

c gi l nh x tuyn tnh.
Php bin i tng ng

Ta c bit ma trn A R n
n

l mt hnh thc biu din nh x tuyn

tnh f : R R . Tuy nhin cch biu din ph thuc vo b cc vector c s e1 , e2 ,

, en c chn. Gi s s 1 , s 2 , , s n l mt c s khc ca Rn ngoi e 1 , e 2 , , e n .
Mi vector s i li c dng biu bin theo c s c e 1 , e 2 , , e n nh sau:
s11

s1 =
,
s
n1

s12

s2 =
, ,
s
n2

s1n

sn=

s
nn

V s 1 , s 2 , , s n l n vector c lp tuyn tnh trong Rn nn mi vector x trong Rn

u c dng ph thuc tuyn tnh theo chng, tc l:

240

 x1

x = = r1s1+ r2s2+
x
n

( s1

+ rnsn =

sn )

s2
S

r1


r
n

B s thc r 1 , r 2 , , r n c gi l ta ca x theo c s mi s 1 , s 2 , , s n . Vy
mun biu din x theo ta mi ta c php bin i:
r1
x1

1
= S .
r
x
n
n

Vi cch biu din x theo c s mi ny, nh x f : Rn Rm cng c dng mi:

y = ( f ( e1 )

x1
r1


f ( en ) ) = A S ,
x
r
n
n

f ( e2 )
A

ni cch khc A S cng l ma trn m t f : Rn Rn nhng theo c s s 1 , s 2 , , s n

trong Rn cho x .
Tuy x c biu din theo c s mi s1 , s2 , , sn nhng nh y ca n li vn
theo c s c e 1 , e 2 , , e n . chuyn y theo c s s1 , s2 , , sn ta li lm ging nh
lm vi x v i n dng tng ng cho f : Rn Rn theo c s mi s1 , s2 , , sn
nh sau:
S

AS.

Cc php bin i ma trn A thnh S

A S , trong S l mt ma trn vung khng

suy bin bt k, c gi l php bin i tng ng.

Khng gian nhn v khng gian nh ca ma trn

Cho ma trn A R m
y = A x vi x R

biu din nh x:

v y R m

Khi :

Tp hp Ker{ A } = { x X y = A x = 0 R m } c gi l nhn ca ma trn A .

Tp hp Im{ f } = { y Y x X : y = A x } c gi l tp nh ca A.

Im( A ) l mt khng gian vector con trong Rm. Ni cch khc nu c y Im( A )
1

v y Im( A ) th cng phi c a y + b y Im( A ) , vi a, b l hai s thc bt k.

2

Rank( A ) = dim Im( A ) .

dim Im( A ) + dim Ker( A ) = n.

241

Vi ma trn vung A kiu ( n n ) , th Im( A ) v Ker( A ) s l hai khng gian con

ca Rn. Mi phn t x Rn u phn tch c thnh tng x = x1 + x2, trong
x 1 Im( A ) v x 2 Ker( A ) . Hn na vic phn tch l duy nht.

Nu ma trn vung A c kiu ( n n ) l i xng th Im( A ) v Ker( A ) l hai

khng gian trc giao vi nhau, tc l vi mi phn t y Im( A ) , x Ker( A ) ta
T

lun c yT x = x

y = 0.

Gi tr ring v vector ring

Cho ma trn A. Mt s thc (phc) c gi l gi tr ring v vector x c gi l

vector ring bn phi ng vi gi tr ring ca A, nu chng tha mn:

x = Ax

(IA)x = 0

ng vi mi x

cho phng trnh trn c nghim x 0 th ( I A ) phi l ma trn suy bin, tc l

phi lm cho nh thc ca ma trn ( I A ) bng 0. nh thc
det( I A )
ca ma trn ( I A ) c gi l a thc c tnh ca ma trn A.
Gi tr ring v vector ring ca ma trn A c nhng tnh cht sau:

(CayleyHamilton) Nu a thc c tnh ca ma trn A c dng:

1

det( I A ) = p( ) = n + an1 n

+ + a 1 + a0

th cng c
p(A) = An+an1An

+ +a1A+a0I = ,

trong l k hiu ch ma trn c tt c cc phn t bng 0.

Nu khai trin a thc c tnh thnh:

det( I A ) = n + a n 1 n

+a0

th
a0 = ( 1 ) n det(A )

an1 = trace(A ).

iu ny cng ni rng det(A ) v trace(A ) l hai i lng bt bin vi vic chn

c s nn chng l nhng i lng c trng cho nh x f : Rn Rn.

Hai ma trn tng ng A v S

A S lun c cng cc gi tr ring, ni cch

khc gi tr ring ca ma trn bt bin vi php bin i tng ng.

Cc gi tr ring ca ma trn bt bin vi php chuyn v.

det(A I) = det(AT I).

Vector ring ng vi cc gi tr ring khc nhau th c lp tuyn tnh vi nhau.

Nu A khng suy bin th A B v B A c cng cc gi tr ring.

242

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.

Gi a 1 , a 2 , , a n l cc vector ring bn phi ca ma trn vung A R n

ng vi cc gi tr ring 1 , 2 , , n , tc l:
(kIA)ak = 0,

k=1,2, ,n

Khi ma trn:
M = (a1 , a2 , , an)

c gi l ma trn modal.

Gi s ma trn modal M ca A khng suy bin. Vy th cc vector hng ca ma

trn nghch o M

bT
1
M =
T
b
n
s l cc vector ring bn tri ca A, tc l cng c:
1

bTk ( k I A ) = 0 T ,

k=1,2, ,n

Cho ma trn vung A C n

. Gi thit rng A c n gi tr ring 1 , 2 , , n

khc nhau i mt. Khi cc vector ring bn phi a 1 , a 2 , , a n s c lp

tuyn tnh vi nhau v ma trn modal M ca n khng suy bin. Khi s c:
M

A M = diag( i )

Do ng vi mt gi tr ring i c nhiu vector ring bn phi a i (chng ph thuc

tuyn tnh vi nhau) nn cng s c nhiu ma trn modal v mt trong cc ma
trn modal M l:
1

1
M =

n 1
1

2
2n 1

n 1
n

Cho ma trn vung A C n

a)

. Khi cc pht biu sau l tng ng:

A = A v cc gi tr ring k , k = 1 , n ca A l nhng s thc dng (gi l

ma trn xc nh dng), trong H l php tnh chuyn v v ly lin hp.

b)

x H A x > 0 vi mi x 0 .

c)

0 < min x x H Ax max x , x 0 , trong max = max k , min = min k

v cc gi tr ring k , k = 1 , n ca A l nhng s thc.

243

Ma trn A C n

vi A H = A c gi bn xc nh dng nu cc gi tr ring k ,

k = 1 , n ca A l nhng s thc khng m.

Chun ca vector v ma trn

so snh (ln hn, nh hn) hay nh gi sai lch gia cc vector hoc gia nh
x tuyn tnh (ma trn), ngi ta a thm vo khng gian vector php tnh xc nh
chun. Chun ca vector
x1

x
x = ( x1 , x2 , , xn )T = 2


xn

c hiu l mt s thc khng m, k hiu bi x , tha mn cc tnh cht sau:

x = 0 khi v ch khi x = 0 = (0,0, ,0)T

ax = a x

x+ y x + y

vi mi aR

Cc chun x khc nhau ca vector x = ( x1 , x2 , , xn )T thng c dng l:

x

xi

Khi p=2, th x
bi x

i =1

, p = 1,2,

chnh l modun | x | ca vector x v c gi l chun Euclid, k hiu

. Nu p th x
x

c gi l chun v cng v

= max xi
1 i n

Trong khng gian vector hu hn chiu th cc chun vector x

v x

lun tng

ng vi nhau, tc l lun tn ti hai s thc dng a , b c:

a x

b x

Ngoi ra, chng cn tha mn bt ng thc Hder:

xT y x

vi

1 1
+ =1
p q

Chun ca ma trn A =( a ij ) R m
y
A

244

= sup
x0

p
p

= sup
x0

Ax
x

p
p

x1n x

, tc l ca nh x: y = Ax , c hiu l:

v cc chun ny trong khng gian hu hn chiu l tng ng, chng hn nh:

1

A1 A

n A1

m A

max aij A

mn max aij

m
1

1 i m
1 j n

1 i m
1 j n

Vi ma trn vung A =( a ij ) R n

A 1 = max aij
1 j n i =1

ta cn c:
n

= max aij
1 i n j =1

Nu k hiu k ( A ), k =1,2, , n l cc gi tr ring ca ma trn ARn

A

th:

= max ( AT A ) , trong max ( AT A ) = max k ( AT A )

1 k n

v cc gi tr k = k ( A A ), k = 1,2, , n ny cn c gi l cc gi tr suy bin ca

T

ma trn A.
Ma trn c cc phn t ph thuc thi gian

Nu ma trn vung A( t ) = aij ( t ) R nnt vi cc phn t a ij ( t ) l nhng hm ph

thuc thi gian, c det( A ) 0 ti ln cn t th trong ln cn cng c ma trn nghch
o A ( t )

. Khi t A ( t )

A ( t )= I , ta cn c:

d
dA( t )1
dA( t )
A( t )1 A( t ) =
A( t ) + A( t )1
dt
dt
dt

dA( t )1
dA( t )
= A( t )1
A( t )1
dt
dt

trong o hm ca ma trn hm A ( t ) c hiu l

dA( t ) daij ( t )
=
.
dt
dt

3.2 Xy dng m hnh ton hc

3.2.1

Phng trnh trng thi

Cu trc chung

Ngay mc 2.2, khi ni v m hnh ton hc (ca iu khin trong min phc),
hnh 2.16 cho ta mt khi nim khc v m hnh ton hc. y l loi m hnh m
tnh ng hc ca n c th hin qua cc bin trng thi x 1 (t), x 2 (t), , x n (t) nm
bn trong h thng.

245

Nhng trng thi ca h thng l g v ti sao ta phi quan tm. Ly v d v iu

khin ng c. Bn cnh tn hiu ra ca ng c l tc quay cn c nhiu nhng thng
s thay i khc ca ng c cn phi c quan tm trong khi thit k b iu khin
nh gia tc ng c, s tn hao nng lng , hoc nh iu khin cn cu th bn
cnh qung ng m hng c cu i c ta cn phi quan tm ti tc vn
chuyn, lc ca hng trong qu trnh vn chuyn .
Nu khi nim trng thi h thng c miu t nh vy th c s khc bit g gia
trng thi vi tn hiu u ra v ti sao khng xem lun trng thi nh nhng tn hiu
ra c b sung thm. Cu tr li l khi nim bin trng thi phi c hiu rng hn
khi nim tn hiu ra. Nu l tn hiu ra th ngi ta phi trc tip o c n (nh
cc b cm bin) cn bin trng thi th khng nh vy. C th ngi ta ch xc nh
c mt s bin trng thi thng qua cc tn hiu o c khc.
Xt mt h thng vi cu trc cho hnh 2.16 v:

m tn hiu vo u 1 (t), , u m (t), c vit chung li thnh vector u(t) R m

r tn hiu ra y 1 (t), , y r (t), vit chung li thnh vector y( t ) R r

n bin trng thi x 1 ( t ), , x n ( t ), vit chung li thnh x ( t ) R n

M hnh trng thi m ta quan tm y l loi m hnh ton hc c dng:

dx
= Ax + Bu

dt
y = Cx + Du

(3.1)

trong :

Ma trn A R n
Ma trn B R

nm

Hai ma trn C R

l ma trn h thng.
l ma trn iu khin.
rn

v D R r

l cc ma trn u ra.

Trng hp m hnh (3.1) c cc ma trn A, B, C, D u l nhng ma trn hng (cc

phn t l hng s thc) th n c gi l m hnh trng tham s hng. Ngc li, n
c gi l m hnh trng thi tham s bin i. M hnh trng thi c tham s bin i
c dng m t h c tham s thay i theo thi gian (h khng dng) hoc thay i
theo khng gian (h tham s ri).
C th thy c ngay u im ni bt ca loi m hnh (3.1) ny so vi hm truyn
chng 2 l n dng c cho c nhng h c nhiu tn hiu vo v ra (h MIMO,
Multi Input Multi Output) m khng phi thay i cu trc, cng nh khng cn phi
c gi thit rng h c tt c cc trng thi u bng 0. Ngoi ra, m hnh trng thi
(3.1) cn gip ta kh nng kho st trc tip c trng thi bn trong ca h thng
x ( t ) , do hiu k, hiu su hn bn cht ng hc ca h thng, iu m vi m hnh
hm truyn, ta ch c th thc hin gin tip thng qua vic quan st cc tn hiu vo ra.
Tuy nhin bng vic ri b hm truyn v s dng m hnh trng thi, ta cng ri b
246

mt mi trng ton hc n gin vi cc php tnh ton i s chp nhn s dng

mt mi trng khc phc tp hn vi cc php tnh vi phn v tch phn.
Mt cch tng qut, sau khi a thm n bin trng thi x 1 ( t ), , x n ( t ) vo m
hnh h tuyn tnh MIMO c m tn hiu vo u 1 ( t ), , u m ( t ), v r tn hiu ra y 1 ( t ), ,
y r ( t ), th bao gi h tuyn tnh cng m t c bng phng trnh trng thi mt

trong ba dng c bn sau:

1) Tham s hng (3.1) c phn t cc ma trn A , B , C , D l hng s
2) Hoc tham s ph thuc t, c phn t cc ma trn A , B , C , D l hm s ph thuc
thi gian:
dx
= A( t ) x + B( t )u

dt
y = C( t ) x + D( t )u

(3.2)

3) Hoc tham s ri, c phn t cc ma trn A , B , C , D l hm s ph thuc bin khng

gian (ph thuc vector tham s v)
dx
= A( v) x + B( v)u

dt
y = C( v) x + D( v)u

(3.3)

trong :
y1

y= ,
y
r

u1

u =
,
u
m

x1

x = ,
x
n

v1

vector tham s v =
v
q

(3.4)

V d 3.4: Xy dng m hnh trng thi t phng trnh vi phn m t quan h vora

Xt mt h thng tuyn tnh SISO c mt tn hiu vo l u ( t ) v mt tn hiu ra

y ( t ) . Gi s h c m t bi phng trnh vi phn gia tn hiu vora nh sau:
a0 y + a1 y(1) + a2 y(2) + + an 1 y( n 1) + y( n ) = b0u + b1u(1) + + bnu( n )

trong y( q ) =

dq y
dt

v u( q ) =

d qu
dt q

(3.5)

l k hiu ca php tnh o hm. Nu nh rng bn

cnh tn hiu ra y ( t ), bi ton thit k iu khin ca ta cn cn phi n nhng s

1)

thay i ca y ( t ) nh y(1), , y(n

v nht l s nh hng ca cc gi tr ban u ca

chng ti p ng y ( t ) ca h th cc m hnh bit nh hm truyn, hm qu

khng cn c ph hp. Ta cn ti mt m hnh m t c khng ring quan h vo/ra
m c nhng s thay i ca trng thi.
K hiu php tnh o hm l pk =

dk
dt k

th m hnh (3.5) vit li c thnh:

247

G( p ) =

b0 + b1 p + + bn pn
y
B( p)
=
=

n
n
1
u a0 + a1 p + + an 1 p
A( p)
+p

t bin trng thi

x1 =

u
u
, x2 = p
,
A( p)
A( p)

, xn = pn 1

u
A( p)

(3.6)

ta c:
px 1 = x 2 , , px n 1 = x n v A ( p ) x 1 = a 0 x 1 + a 1 x 2 + + a n 1 x n + px n = u

dxn 1
dxn
dx1
= x2 , ,
= xn v
= a0 x1 a1 x2
dt
dt
dt

(3.7)

an 1 xn + u

Vy m hnh trng thi (3.1) tng ng ca n l:

0

0
dx
=
dt
0
a
0

a1

a2

x1
0

x
x + u = Ax + Bu vi x = 2

0

1

1
xn
an 1
0

v
u( b0 + b1 p + + bn pn )
= b0 x1 + b1 x2 + + bn 1 xn + bn pxn
A( p)
= ( b0 a0bn ) x1 + ( b1 a1bn ) x2 + + ( bn 1 an 1bn ) xn + bnu

y=

= ( b0 a0bn , b1 a1bn ,

, bn 1 an 1bn ) x + bnu = Cx + Du

trong , nu so snh vi v dng (3.1) th:

0

A =
0

a0

0
a1

0
a2

, B =
0
1

1
an 1

C = ( b0 a0bn , b1 a1bn ,

, bn 1 an 1bn ) v D=bn

V d 3.5: Xy dng m hnh trng thi

Cho h c gm mt l xo c h s c, mt vt vi khi
lng m v b suy gim tc c h s d c ni vi nhau
nh hnh 3.1 m t. Gi u ( t ) l tn hiu vo c nh
ngha l lc bn ngoi tc ng ln vt v tn hiu ra
y ( t ) l qung ng m vt i c.

Fc Fm

u(t)

m
y(t)

Fd
a

K hiu:
x 1 ( t )= y ( t ) v

248

x 2 ( t )=

dy( t ) dx1 ( t )
=
dt
dt

Hnh 3.1: Cho v d 3.5.

l hai bin trng thi ca h, cng nh Fc , Fm , Fd , l nhng lc ca l xo, vt v b

suy gim tc sinh ra khi vt chuyn ng. Khi ta c:
F c = by ( t ) = bx 1 , F m = m

d 2 y( t )
dt

dx2
dt

= m

Fd = a

dy( t )
= ax 2
dt

Suy ra:
Fc+Fm+Fd = bx1+m

dx2
+ax2 = u
dt

dx2
b
a
1
=
x1
x2 + u
m
m
m
dt

v t l m hnh trng thi:

dx 0
1
0
=
x + 1 u

dt m b m a
m

y = x1 = (1 , 0) x

Quan h gia m hnh trng thi v hm truyn

Mt h thng tuyn tnh SISO cng c m t bi phng trnh trng thi (3.1) v
hm truyn G ( s ) . Vy th gia hai m hnh ny phi c nhng mi lin h vi nhau.
Sau y chng ta s bn v cc mi quan h , m c th l:

Xc nh hm truyn t m hnh trng thi.

Xc nh m hnh trng thi t hm truyn.

Xc nh bc tng i ca hm truyn t m hnh trng thi.

1) Xc nh hm truyn t m hnh trng thi:

Do hm truyn trc ht ch nh ngha cho h tuyn tnh SISO nn u tin, ta s
xt h SISO tham s hng vi m hnh trng thi dng (3.1), c vit li cho ph hp
vi tnh cht SISO, tc l vi m = r = 1 nh sau:
dx
= A x + bu

dt
y = c T x + du

(3.8)

Ni cch khc, do c m = r = 1 nn ma trn B tr thnh vector b , ma trn C thnh vector

hng c T v ma trn D tr thnh s thc d .
nh l 3.1: H SISO tuyn tnh, vi m hnh trng thi (3.8), c hm truyn
T

a)

G(s) = c ( s I A )

b)

Gi A ( s ) l a thc c tnh ca h (a thc mu s) v B ( s ) l a thc t s

B( s )
ca G ( s ), tc l G ( s )=
. Khi , nu m hnh trng thi (3.8) khng c
A( s)

b+d

(3.9)

bin trng thi tha (loi bin trng thi hon ton suy ra c bng cng
thc i s t nhng bin trng thi cn li), th:
249

A(s) = a0+a1s+

+ a n s n = det( s I A )

B(s) = b0+b1s+

+ b m s m = c T Aadj b + d det( s I A )

vi Aadj l ma trn b ca ma trn ( s I A ) .

c)

Hm truyn G ( s ) lun hp thc v nu m hnh trng thi (3.8) c d = 0 th

G ( s ) cn l hp thc cht (bc ca a thc t s nh hn bc a thc mu s).

Chng minh:

Chuyn hai v ca phng trnh th nht ca (3.8) sang min phc nh ton t
Laplace v rng cc gi tr u x i (0), i =1,2, , n u bng 0, s c:
sX ( s ) = AX ( s )+ bU ( s )

X ( s ) = ( sIA )

bU ( s )

Tng t, nh Laplace ca phng trnh th hai l:

T

Y ( s ) = c X ( s )+ dU ( s )

Vi hai kt qu trn ta suy ra c iu phi chng minh th nht:

T

Y ( s ) = [ c ( sIA )

b+d]U(s)

Tip tc, do:

1

(s I A )

Aadj

det( sI A )

vi Aadj l ma trn c cc phn t aij = ( 1)i + j det A ji , trong ma trn A ji thu c t

( s I A ) bng cch b i hng th j v ct th i (b i hng v ct cha phn t i xng
vi aij ), nn:
T

G(s) =

c Aadj b
B( s )
T

= c ( sIA ) 1 b + d =
+d
A( s)
det( sI A )

(3.10)

v iu phi chng minh th hai.

Cui cng, do Aadj c cc phn t l nh thc ca ma trn (n 1 ) hng (n 1 ) ct
ly t ( s I A ) , tc l a thc c bc khng qu n 1 , nn cT Aadj b c bc cao nht cng
ch l n 1 . Bi vy t (3.10) ta thu ngay c iu phi chng minh th ba.

Ch : Nu tng t nh hm truyn cho h SISO, ta nh ngha ma trn hm

truyn G ( s ) cho cho h MIMO l loi ma trn phc tha mn:

Y ( s) = G ( s ) U ( s )

trong U ( s ) l k hiu ch nh Laplace ca vector tn hiu vo u ( t ) v Y ( s) l nh

Laplace ca vector tn hiu ra y( t ) khi h c tt c cc trng thi u bng 0, th ma
trn G ( s ) cng c xc nh t m hnh trng thi (3.1) ca n nh sau:
250

G ( s ) = C ( sIA )

B+D

(3.11)

2) Xc nh m hnh trng thi chun iu khin t hm truyn:

Xt h SISO c hm truyn:
G(s) =

+ bn sn

b0 + b1 s +
a0 + a1 s +

+ an 1s

n 1

+s

B( s )
A( s)

(3.12)

Gi U ( s ) l nh Laplace ca u ( t ), Y ( s ) l nh ca y ( t ) th t hm truyn cho ta c:

Y(s) =

b0 + b1 s +
+ bn sn
U ( s)
sU ( s)
U(s) = b 0
+b 1
+
A( s)
A( s )
A( s)

+b n

snU ( s)
A( s)

x1

t n bin trng thi x 1 (t), , x n (t), ghp chung li thnh x = c nh Laplace:
x
n

X 1 (s) =

U ( s)
,
A( s)

X 2 (s) =

sU ( s)
,
A( s)

, X n (s) =

sn 1U ( s)
A( s)

s c:
sX 1 (s) = X 2 (s)

sX 2 (s) = X 3 (s)

sX n 1 (s) = X n (s)

dx1
= x2
dt
dx2
= x3
dt
dxn 1
= xn
dt

cng nh:
X1(s) =

U ( s)
A( s)

a 0 X 1 +a 1 sX 1 +

a 0 X 1 +a 1 X 2 +

a 0 x 1 +a 1 x 2 +

+a n 1 s n

X 1 +s n X 1 = U

+a n 1 X n +sX n = U
+a n 1 x n +

dxn
= a0x1a1x2
dt

dxn
= u
dt

an1xn+u

Suy ra:
0

0
dx
=

dt

a0

1
0

0
1

a1

a2

x + u

an 1
1

0
0

251

Mt khc, t:

Y = b0X1+b1X2+

+ b n 1 X n 1 + b n sX n

cn c:

y = b0x1+b1x2+

+bn1xn+bn

y = ( b 0 a 0 b n ) x 1 +( b 1 a 1 b n ) x 2 +

dxn ( t )
dt

+( b n 1 a n 1 b n ) x n + b n u

V ta i n:
nh l 3.2: H SISO vi hm truyn (3.12) c m hnh trng thi dng chun iu
khin nh sau:

1
0

0
0
dx

dt =

a0 a1

y = ( b0 a0bn ,

a2
A

0

+ u
0

an 1 1
b
0

, bn 1 an 1bn ) x + bnu
cT

3) Xc nh m hnh trng thi chun quan st t hm truyn:

Tng t nh nh l 3.2, y ta cng c:
nh l 3.3: H SISO vi hm truyn (3.12) c m hnh trng thi chun quan st:

0 a0
0 0

1
0
0 a1
b0 a0bn

dx

= 0 1
0 a2 x +
u
dt

bn 1 an 1bn

1 an 1
b
0 0

y = (0 ,
, 0 , 1) x + bnu

cT
Chng minh: (Bi tp n luyn).

4) Xc nh bc tng i ca hm truyn t m hnh trng thi:

Xt h SISO c hm truyn hp thc cht:

G(s) =

b0 + b1 s +

+ bm sm

a0 + a1s +

+ an sn

(m<n)

(3.13)

Bc tng i ca n c hiu l hiu r = n m 1 . Bi ton c t ra y l lm th

no xc nh c bc tng i r ca n t m hnh trng thi hp thc cht tng
ng l:
252

 dx
= Ax + bu

dt
y = cT x

(3.14)

Trc ht ta i t (3.9) vi d = 0 :
lim srG( s) =

bm
an

cT A k b
b
b
lim sr c T ( sI A )1 b = m lim k+1 r = m

s
s k = 0 s
an
an

Nhng v:
lim

1
sk +1 r

khi k > r1

=0

nn chui trn tr thnh tng ca hu hn r phn t u tin:

r 1 cT A k b

s
lim

k=0

k +1 r

= lim

r 1 cT A k b

s k = 0

k +1 r

T y, v tri bng gi tr hu hn
k

cTA b = 0
T

c A

r1

bm
an

bm
th cn v l:
an

khi 0 k < r 1

b 0

v ta i n:
nh l 3.4: Bc tng i r = n m ca h SISO c hm truyn (3.13) c xc nh t
m hnh trng thi (3.14) tng ng ca n bng cng thc sau:
= 0
k
cTA b =
0

khi 0 k r 2

(3.15)

khi k = r 1

V d 3.6: Xc nh bc tng i

Cho h SISO vi hai bin trng thi c m t bi:

1
dx 2 1
x + u ,
=
dt 0 3
2

y = ( 2 , 1) x

2 1
1
, b =
A =
0
3

c = ( 2 , 1)
T

Theo nh l 3.1 h c hm truyn:

1

s 2 1

b + d = ( 2 , 1 )
s 3
0
s3
1 1
1
=
(2 1)
=
( s 2)( s 3)
s 2 2 s 2
0
T

G ( s ) = c ( sI A )

1

2
6

5s + 6

Nh vy, ta thy h c bc tng i l r = 2 . Gi tr ny cng c th trc tip tnh c

t m hnh trng thi nh sau:

253

 1
T
c b = ( 2 , 1 ) = 0
2
2 1 1
T
= ( 2 , 5 )
c A b = ( 2 , 1)
0 3 2

1
= 8 0
2

tc l r 1=1, hay r = 2 .

M rng ra, sau y ta s xt bi ton tng t cho h MIMO c m tn hiu vo

u 1 ( t ), , u m ( t ) v m tn hiu ra y 1 ( t ), , y m ( t ) vi m hnh (3.1) hp thc cht:

dx
= Ax + Bu

dt
y = Cx

(3.16)

Nh vy th theo (3.11), h c ma trn hm truyn:

G11 ( s) G12 ( s)

G ( s) G22 ( s)
G( s) = C( sI A )1 B = 21

Gm1 ( s) Gm2 ( s)

G1m ( s)

G2 m ( s)

Gmm ( s)

(3.17)

Tng phn t G ik ( s ) ca ma trn G ( s ) chnh l hm truyn gia tn hiu vo u k ( t ) v

tn hiu ra y i ( t ). N c xc nh nh cng thc (3.9) nh sau:

Gik ( s) = cTi ( sI A )1 bk
trong cTi l vector hng th i ca C v b k l vector ct th k ca B.

u1

H MISO

um

H1
H MISO

y1

y2

H2

Hnh 3.2: Xem h MIMO nh cc h MISO

ni song song vi nhau.

H MISO

ym

Hm

Vit li h (3.16) trn thnh m h MISO con (nhiu u vo, mt u ra) vi m

hnh trng thi ca tng h con l (hnh 3.2):

254

 dx
= Ax + Bu

H i : dt
y = cT x
i
i

(3.18)

Khi , trong min phc, cc h ny cng c ma trn hm truyn dng vector hng:
Yi ( s) = ( Gi1 ( s) ,

U1 ( s)

, Gim ( s))

U ( s)
m

Nu k hiu r i 1 , , r im l cc bc tng i ca cc hm truyn G i 1 ( s ), ,

G im ( s ) ca h con H i , xc nh theo (3.15) v gi:

ri = min { r i 1 , , r i m }
l bc tng i ti thiu ca H i , ta c th thy ngay rng r i c xc nh t m hnh
trng thi (3.18) ca H i nh sau:
= 0T
T
ci A k B =
T
0

khi 0 k ri 2
khi k = ri 1

(3.19)

Suy ra:
nh l 3.5: Tng phn t ca vector hng ( r 1 , , r m ) , gi l vector bc tng i ti

thiu ca h MIMO (3.16) c m tn hiu vo u 1 ( t ) , , u m ( t ) v m tn hiu ra

y 1 ( t ) , , y m ( t ) , m t bi ma trn hm truyn (3.17), s c xc nh t m
hnh trng thi (3.16) ca n bng cng thc (3.19), trong c T
i l vector hng th

i ca ma trn C.

3.2.2

Qu o trng thi

Qu o trng thi c hiu l nghim ca h phng trnh vi phn:

dx
= Ax+Bu
dt

(3.20)

trong m hnh trng thi (3.1), hoc (3.2), hoc (3.3), ng vi mt kch thch u ( t ) v
trng thi u x (0)= x 0 cho trc. Tp hp ca tt c cc qu o trng thi ca h
thng c gi l khng gian trng thi. V qu o trng thi l tp im trong Rn nn
tn gi "khng gian" l c ngha (khng ch l mt tp hp bnh thng).
Quay li k hiu (3.4) v vector trng thi x ( t ) . Ti mt thi im t0 c nh, vector
trng thi x ( t 0 ) s c cc phn t x 1 ( t 0 ), x 2 ( t 0 ), , x n ( t 0 ) l nhng s thc, bi vy

255

x ( t 0 ) cng l mt phn t thuc khng gian Euclid Rn quen thuc. Khi cho t0 chy t 0
n , im x ( t 0 ) s v ln mt ng cong ph thuc tham s trong Rn. ng cong
ny phi c chiu ch chiu tng theo t v c tn gi l th qu o trng thi.
Hnh 3.3 m t mt qu o trng thi cho mt h thng c ba bin trng thi. Qu
o trng thi mang y tnh cht ng hc ca h thng, bi vy phn tch h
thng, ngi ta thng phi kho st dng qu o trng thi ca n. Bi ton t ra
mc ny l xc nh nghim x ( t ) ca (3.20) khi bit trc kch thch u ( t ) v trng
thi u x (0)= x 0 .
nhng iu kin u x 0 nh nhau th vi mt hm u ( t ) cho trc, ta c mt

nghim x ( t ) ca phng trnh vi phn (3.20). V vy, ch r tnh ph thuc u ( t ) ca

nghim x ( t ) i khi ngi ta cn vit thnh x ( t , u ).
Ma trn hm m v cch xc nh

Do vic xc nh nghim x ( t ) ca h
phng trnh vi phn bc nht (3.20) s dng
n ma trn hm m

E ( t )= e A

e =

k =0

x(t)

nn trc

tin, ta cn phi bit n cng thc nh

ngha v cc phng php xc nh n. Trc
tin c bit rng:
x

d x( t )
dt

x3

xk
k!

x0

x2

x1
Hnh 3.3: Qu o trng thi.

Tng t nh vy, y ta xt chui:

E( t ) = e At =

( At )k
k=0 k !

trong A =( a ij ) R n

(3.21)

, i,j =1,2, , n l mt ma trn vung kiu ( n n ) v k hiu A

ch mt tch gm k ma trn A nhn vi nhau ( A 0 = I ) . Theo nh ngha v php cng,

nhn ma trn va c nhc li mc trc th r rng E ( t ), nu tn ti, cng phi l
mt ma trn vung kiu ( n n ) . Xt:

At
( At )k

k=0 k !
k =0 k !

ta thy vi e

At

A tk

k =0

k!

=e

At

v phi lun l mt s thc hu hn, v A l s thc khng m. Bi

vy chui (3.21) hi t, tc l tn ti E(t).

nh ngha 3.1: Ma trn hm e A

A=(a ij ) R

256

nn

l gi tr gii hn ca chui (3.21), trong

, i,j=1,2, , n l mt ma trn vung ( n n ) v A 0 = I .

nh l 3.6: Ma trn hm e A tha mn:

a)

e At1 e At2 = e At2 e At1 = e A( t1 + t2 ) v e At e At = e A( t t ) = I

b)

de At
= Ae At = e At A
dt
t

Nu A l ma trn ng cho A = diag( a i ) th e A = diag ( eai t ).

c)

d) e A = L

{(sIA)

Chng minh:
a) Ta c .p.c.m. qua vi bc bin i nh sau:
e At1 e At2 =
=

A k

k =0 i =0

Ak
k =0 k !

t1i t2k i A k

=
i ! ( k i )! k =0 k !

k!
t1i t2k i

!(
)!
i
k
i
i=0

Ak

Cki t1i t2ki = ( t1 + t2 )k = e A( t1 + t2 )

i=0
k=0 k !

d A kt k
A k t k 1
A k 1t k 1
de At
d ( At )k
=
=
= A

dt
dt k = 0 k !
k = 0 dt k !
k =1 ( k 1)!
k =1 ( k 1)!

b)

= A

k =0

A kt k
= Ae At
k!
t

Ngoi ra, cng vi cc bc bin i trn ta thy c ngay A e A = e A A .

k

c) Nu A = diag( a i ) th A = diag( aik ) nn ta c iu phi chng minh.

d) V t k 1(t) c nh

k=0

Ak
s

k=0

k!
s

A k +1
s

Ak

k=0

sk +1

nn nh ca e A l

k +1

k +1

= ( sI A )

k =0

Ak
s

k +1

=I

. Suy ra:

Ak

k=0

sk +1

= ( sI A )1

Nh vy l ma trn hm e A c nh ngha xong v ta cng c bit mt

s tnh cht c bn ca n. Sau y ta s lm quen vi ba phng php thng c s
t

dng xc nh e A khi bit trc A R n

. l:

S dng ton t Laplace.

Xc nh theo phng php modal.

Xc nh nh nh l CayleyHamilton.

1) S dng ton t Laplace:

t

Nu ta ch quan tm n e A khi t 0 th tnh e A ta c th s dng ngay tnh

t

cht d) ca e A c nu trong nh l 3.6 nh sau:

t

eA =L

{(sIA)

257

V d 3.7: Xc nh ma trn hm m bng ton t Laplace

2 1
Vi A =
th
0 3
1

1
s 2 1
s3
1
1
e At = L1 {( sI A )1 } = L1 {
}=L {

}
0
s

3
0
s
2
(
s

2)(
s

3)

1 s 2)
=L {

e2t
( s 2)( s 3)
}=
0

s3

e3 t e2t

e3 t

2) Xc nh nh phng php modal:

Xt trng hp n gin l ma trn A c n gi tr ring s 1 , s 2 , , s n khc nhau
i mt. Khi n vector ring bn phi a 1 , a 2 , , a n ca n s c lp tuyn tnh, hay
ma trn modal:
M = (a 1 , a 2 , , a n )
l khng suy bin v
M

A M = diag( s i ) = S

e At =

A = MSM

MS k M 1t t
S kt t
( MSM 1 )k t t
M 1 = Mdiag( esi t ) M 1
=
=M
k!
k!
k=0
k =0
k =0 k !

By gi ta chuyn sang trng hp tng qut hn vi A c gi tr ring s k bi q,

song ng vi gi tr ring li c q vector ring c lp tuyn tnh a k1 , a k2 , , a kq .
Khng mt tnh tng qut nu ta gi s ma trn A ch c gi tr ring s 1 bi q th s
phi cn li n q cc gi tr ring khc s q+1 , s q+2 , , s n v nhng gi tr ring cn li
khc nhau tng i mt.
ng vi n q gi tr ring s q+1 , s q+2 , , s n l cc vector ring a q+1 , a q+2 , , a n .

Tt nhin rng n q vector ring l c lp tuyn tnh vi nhau. Nu nh rng ma

trn A c dim Ker( A s 1 I ) = q th ng vi gi tr ring s 1 cng c q vector ring a 11 , a 12 ,
, a 1q c lp tuyn tnh vi nhau. Chng chnh l mt c s ca khng gian vector
Ker( A s 1 I ) . Kt hp q vector ring a 11 , a 12 , , a 1q ca s 1 vi n q cc vector ring
a q+1 , a q+2 , , a n ca s q+1 , s q+2 , , s n ta li c tt c n vector c lp tuyn tnh
trong Rn v
M = ( a 11 , a 12 , , a 1q , a q+1 , a q+2 , , a n )
l ma trn vung kiu ( n n ) khng suy bin. Tng t nh trng hp trc, y
php bin i tng ng M

258

A M ca A cng s cho ta ma trn ng cho:

 s1

0
S = M 1 AM =
0

sn

s1

sq +1

Suy ra:

e At = MeSt M 1

es1 t

0
= M
0

es1 t

sq +1 t

0 1
M
0

esn t

Cui cng, tng kt li, ta i n:

nh l 3.7: Gi s 1 , s 2 , , s n l cc gi tr ring ca ma trn A , trong nhng gi tr

ring s k bi q k s c vit li q k ln. Nu c Ker( s k I A ) = q k th cng s c:

e At = Mdiag( esi t ) M 1
vi M=(a 1 , a 2 , , a n ) l ma trn modal ca A v a k l vector ring bn phi
ng vi gi tr ring s k .
3) Xc nh nh CayleyHamilton:
Phng php modal va trnh by c mt hn ch l n ch p dng c cho lp
cc ma trn vung A R n

tng ng vi ma trn ng cho S, c gi l ma trn

ging ng cho. Vi nhng ma trn A m vi n khng tn ti ma trn M khng suy

bin php bin i tng ng M 1A M l ma trn ng cho th ta khng s dng

c phng php modal.
Ngc li, phng php sau y p dng c cho mi ma trn vung A R n

. N

c xy dng da theo nh l CayleyHamilton c ni dung nh sau:

nh l 3.8: Cho ma trn vung A R n

. Nu a 0 , a 1 , , a n 1 l nhng h s ca a

thc c tnh ca ma trn:

p(s) = det( s I A ) = s n +a n 1 s n

+a 1 s+a 0

th
p(A) = A n +a n 1 A n

+a 1 A+a 0 I =

259

Chng minh:
T hai ng thc trn ca nh l th:
n
n
n
p(s)I p(A) = (s I A )+a n 1 (s

IAn

)+

+a 1 (sI A)

Song do c:
s k I A k = (sI A) (s k

I+s k

A+s k

A2+

+A k )

nn v phi l mt biu thc chia ht cho ( s I A ) . Suy ra v tri cng phi chia ht cho
( s I A ) . Nhng v p(s)I tha mn p(s)(sI A)

=(sI A) adj c cc phn t l a thc

theo s , tc l chia ht cho ( s I A ) , nn p(A) cng phi chia ht cho ( s I A ) . Do p(A)

khng ph thuc s nhng li chia ht cho ( s I A ) c cha s nn p(A) chia ht c

cho ( s I A ) th p(A) phi bng .

nh l 3.9: Vi mi ma trn A R n

bao gi ta cng c n hm ph thuc thi gian

a 0 (t), a 1 (t), , a n 1 (t) :

t

e A = a 0 (t)I + a 1 (t)A +

+ a n 1 (t)A n

(3.22)

Chng minh:
Xut pht t nh l CayleyHamilton th A n s ph thuc vo A n
ni cch khc A n tnh c t A n
A n = (a n 1 A n

, , A 2 , A,

, , A 2 , A nh sau:

+a 1 A+a 0 I)

Tng t, A n+1 = A A n cng tnh c t A n

A n +1 = AA n = (a n 1 A n +a n 2 A n
= [ ( an2 1 +a n 2 )A n

, , A 2 , A:
+a 1 A 2 +a 0 A)

+(a n 1 a 1 +a 0 )A+ a n 1 a 0 I ]

C tip tc nh vy th tt c cc ma trn A k c k n u tnh c t A n

( At )
k =0 k !
chnh l iu phi chng minh.
t

iu ny dn ti chui e A =

ch cn ph thuc vo A n

, , A 2 , A.

, , A 2 , A v

S
t

Theo nh l 3.9 th cng vic tnh e A s c hon tt khi ta xc nh c n hm

a 0 (t), a 1 (t), , a n 1 (t). lm c iu ny, ta nhn li phn chng minh s thy n
c dn t nh l 3.8. Bi vy cng c:
nh l 3.10: Nu cc hm a 0 (t), a 1 (t), , a n 1 (t) ca ma trn A R n

tha mn

(3.22) ca nh l 3.9 th cng tha mn ng thc sau cho tt c gi tr ring s k

esk t = a0 ( t ) + a1 ( t )sk +

260

+ an 1 ( t )skn 1

(3.23)

Chng minh: (Bi tp).

Vi nh l 3.10 th t n gi tr ring s k khc nhau ta s c n phng trnh dng
(3.23) cho n n s a 0 (t), a 1 (t), , a n 1 (t) c lp tuyn tnh vi nhau. Trng hp A c
gi tr ring bi q, v d nh s 1 bi q th cng vi n q cc gi tr ring cn li s q +1 , s q +2 ,

, s n ta mi ch c c n q + 1 phng trnh cho n n a 0 (t), a 1 (t), , a n 1 (t). S

cc phng trnh cn thiu l q 1 s c b sung thm bng cch t phng trnh ng
vi s 1 ta o hm q 1 ln theo s 1 nh sau:
tes1 t = a1 ( t ) + 2s1 a2 ( t ) +
+ ( n 1)s1n 2 an 1 ( t )

t2 es1 t = 2a2 ( t ) + 6 s1 a3 ( t ) +
+ ( n 1)( n 2)s1n 3 an 1 ( t )

q!
( n 1)! n q
q 1 s1 t
+
s1 an 1 ( t )
t e = ( q 1)! aq 1 ( t ) + 1! s1 aq ( t ) +
( n q)!

(3.24)

R rng rng q 1 phng trnh c b sung thm ny l c lp vi nhau. Tng kt li

th phng php CayleyHamilton gm hai bc:

Tnh tt c n gi tr ring ca ma trn A . Mi mt gi tr ring s c mt phng

trnh (3.23) cho trong nh l 3.10. Vi gi tr ring s k bi qk ta c thm q k 1
phng trnh bng cch o hm phng trnh tng ng ca n q k 1 ln theo s k
ging nh (3.24) m t. Nh vy, tng cng ta s c n phng trnh c lp tuyn
tnh cho n n a 0 (t), a 1 (t), , a n 1 (t).

Gii h phng trnh c a 0 (t), a 1 (t), , a n 1 (t).

V d 3.8: Xc nh ma trn hm m nh CayleyHamilton

2 1
Xt li ma trn A =
cho v d 3.7 vi hai gi tr ring s 1 = 1 v s 2 = 2 .
0 3

tnh hai hm a 0 ( t ) , a 1 ( t ) cho:

t

e A = a 0 (t)I + a 1 (t)A
ta thay hai gi tr ring vo cng thc (3.23) nh l 3.10 v c:
e t = a0 ( t ) a1 ( t )
2t
e = a0 ( t ) 2a1 ( t )

a0 ( t ) = 2 e t e2t

t
2 t
a1 ( t ) = e e

Suy ra:
a1 ( t )

2 1 a0 ( t ) 2a1 ( t )
t
e A = a 0 (t)I + a 1 (t)

=
0
a
(
t
)
a
(
t
)

0
1

e2t
=

e t e2t

e t

261

V d 3.9: Xc nh ma trn hm m nh CayleyHamilton

Xt ma trn
2 2 3

A = 2 1 6
1 2 0

Ma trn ny c gi tr ring s 1 = 3 bi 2 v s 3 = 5 . Theo nh l 3.9 th:

t

e A = a 0 (t)I+a 1 (t)A+a 2 (t)A 2

tm cc hm a 0 (t),a 1 (t),a 2 (t) trc ht t cng thc (3.23) ta c:
e

3t

= a 0 (t) 3a 1 (t)+9a 2 (t)

5t

e = a 0 (t)+5a 1 (t)+25a 2 (t)

Mt phng trnh na c dng (3.24) s nhn c bng cch o hm phng trnh
tng ng ca gi tr ring s 1 = 3 bi 2 theo s 1 l:
te

3t

= a 1 (t) 6a 2 (t)

Cui cng, gii ba phng trnh trn c:

9 5t
5
3 5t
1
3
a0 ( t ) =
e e3 t ( 5t +
e e3 t ( t +
) , a1 ( t ) =
)
64
64
32
4
32
1 5t
a2 ( t ) =
e e3 t (8 t + 1)

64

Nghim ca phng trnh trng thi c tham s khng ph thuc thi gian
t

By gi, sau khi c cng thc xc nh ma trn hm m e A ta c th bt u

cng vic tm nghim x(t) ca phng trnh trng thi. Phng trnh trng thi c
quan tm y l:
dx
= Ax + Bu

dt
y = Cx + Du

trong x R n , u R m , y R r , v cc ma trn A R n

(3.25)
n

, BRn

, CRr

, DRr

hoc l hng (phn t ca chng l nhng hng s) hoc ph thuc vo cc tham s

khc c ghp chung li thnh vector tham s v (khng ph thuc t).
Bi ton t ra l phi xc nh p ng y(t ) cho h thng c m hnh (3.25) khi h
c kch thch bi vector tn hiu u(t) u vo v ti thi im bt u kch thch t = 0
h c cc trng thi u x(0)=x 0 bit trc.
nh l 3.11: Phng trnh trng thi (3.25) c nghim:

262

x( t ) = e At x0 + e A( t ) Bu( )d

At
A( t )
Bu( )d + Du
y( t ) = C e x0 + e

(3.26)

v ma trn hm e A c vector ct th k l p ng trng thi ca h (3.25) t trng

thi ban u x 0 =e k khi h khng b kch thch, tc l khi c u(t)=0, trong e k l
vector n v (vector c phn t th k bng 1).
Chng minh:
t

Nhn hai v ca phng trnh th nht trong (3.25) vi hm e A c:

t dx
t
t
t dx
t
t
e A
= e A Ax + e A Bu

e A
e A Ax = e A Bu
dt
dt

d At
At
e
x = e Bu
dt

At

x(t) x 0 = e A Bu( )d

t
d A
e
x d = e A Bu( )d
0 d
0

x ( t ) = e A x 0 + e A( t ) Bu( )d

c p ng y(t ) ta ch cn thay x(t) vo phng trnh th hai trong (3.25). Kt lun

t

cui cng l hin nhin, v khi u(t)=0, x 0 =e k th x(t)=e A e k v chnh l vector ct

t

th k ca ma trn hm e A .
V d 3.10: Xc nh qu o trng thi c tham s khng ph thuc thi gian

Hy xc nh y(t) khi h c kch thch bi u(t)=1(t) t trng thi u x 0 =0 cho

h thng SISO c hai bin trng thi c m t bi:
0
dx 2 1
=
x + u , y = x1
dt 0 1
1
2 1
H c ma trn A =
. Khi :
0 1
e2t e t e2t
t

eA =
0

e t

Vy:
t e2( t )

x ( t ) = x( t ) =

1
e2 t
e( t ) e2( t ) 0
e t +

1( )d = 2
2

e( t )
t

1
1
e

v
y(t) =

e2t
1

e t +
2
2

263

Nghim ca phng trnh trng thi ph thuc thi gian

Bi ton t ra y l xc nh p ng y(t ) cho h thng khng dng:

dx
= A( t ) x + B( t )u

dt
y = C( t ) x + D( t )u

(3.27)

Ging nh vi m hnh (3.25) khng ph thuc thi gian, nghim ca (3.27) s l:

x(t) = (t)x(0) +

( t )B( ) u( ) d

(3.28)

Tuy nhin c mt s khc nhau l ma trn hm ( t ) trong (3.28) khng phi l hm m

t

e A m thay vo n c nh l sau:
nh l 3.12 (PeanoBaker): Ma trn hm ( t ) trong (3.28) l ma trn tha mn:
t

A( )d + A(1 ) A( 2 )d 2 d 1 +

a) (t) = I +

b) (tt 1 )(t 1 t 0 ) = (tt 0 )

c)

(tt 0 ) = (t 0 t),

d ) (0) = I

nh vy ma trn (t) l khng suy bin.

(I l ma trn n v).

nh l 3.12 c th c s dng trc tip xc nh ( t ) , tuy nhin n gin hn

c vn l nh mt dng khc ca n pht biu nh sau:
nh l 3.13 (Picard): Nu c dy ma trn hm { P k (t) } c nh ngha vi:

a)

P0(t) = I,

b)

Pk(t) =

A( ) Pk 1 ( )d , k = 1, 2,

(3.29)

th:
(t) =

Pk ( t ) .

(3.30)

k=0

Ma trn hm P k (t) c tn l ma trn Picard th k. T nh l 3.13 ta c thut ton

xc nh ( t ) gm nhng bc sau:

Chn mt s nguyn dng N ln, N cng ln sai s ca kt qu s cng nh.

t P 0 (t) = I.

Tnh P k (t), k = 1, 2, , N theo (3.29).

Tnh ( t ) theo (3.30).

Trong cc cng thc (3.29), (3.30) nu A l ma trn hng th do:

264

P 1 (t) = At,

P 2 (t) = A 2

t2
,
2

, P k (t) = A k

tk
,
k!

nn ma trn ( t ) s chnh l e A .
Tng t nh nh l 3.11, y ta cng c:
nh l 3.14: Nu gi k (t) , k=1,2, , n l mt vector ct ca ( t ) th k (t) s l

nghim ca (3.27) vi u ( t ) = 0 v iu kin u x(0)=x 0 =e k , trong e k l vector

n v c phn t th k bng 1, cn li cc phn t khc bng 0.
V d 3.11: Xc nh qu o trng thi c tham s ph thuc thi gian

Xt h thng SISO c hai bin trng thi c m t bi:

1 t
1
dx
x + u
=
dt
0 1
1

Trc tin ta k hiu:

pk ( t )
P k (t) = 11
pk ( t )
21

k
p12
(t)

k
p22 ( t )

trong s m k ca cc phn t ma trn P k (t) khng c ngha ly tha m ch xc nh

rng n thuc ma trn Picard th k. Vi k hiu ny th:
k 1
k 1
t
t
p12
0 p11
d
Pk ( t ) = A( ) Pk 1 ( , t0 )d = I +
k 1
k 1

p22
0 0 p21
0
0

k 1
k 1
k 1
t pk 1
t
p
p
p22
12
d + 21
= 11
d
0
k 1
k 1

0
p
p
0 21
0
22

(3.31)

rng khi k = 0 th vi:

P 0 (t) = I,

0
0
0
0
p12
( t ) = p21
( t ) = 0 v p11
( t ) = p22
(t) = 1

(3.32)

s c c t biu thc th hai trong (3.31):

t

k
k 1
p21
= p21
( )d

k
p21
(t) 0

vi mi k

(3.33)

Suy ra:
k 1
t pk 1
p12
d
Pk ( t ) = 11
k 1

p22
0 0

ni cch khc, vi k 1 th:

k 1
t
+ 0 p22 d , (k 1 )
0
0 0

k 1
k 1
( p12 + p22 ) d

piik ( t ) = piik 1 ( )d ,
0

k
p12
(t) =

(3.34)

T (3.32) v (3.34) ta i n:
265

piik =

t t

2
k2
pii ( d ) =

0 0

0
k
pii ( d ) = 1 2
0 0

1
k

tk =

tk
k!

(3.35)

Thay (3.35) vo (3.34) ta c tip vi k 1 :

k
p12
(t) =

t
t
t

t k+2
t k +1
t k+2
k2
k 1
+
+ p12
d d
+ p12
d =

k!( k + 2) 0
k !( k + 2) 0 ( k 1)!( k + 1) 0

t t
t k+2
t k+2
k2
+
+ p12
( d )2
k !( k + 2) ( k 1)!( k + 1)( k + 2) 0 0

t k+2
t k+2
+
+
k !( k + 2) ( k 1)!( k + 1)( k + 2)

t k+2
(( k + 1) + k +
( k + 2)!

+ 1) =

t k+2
0
, v p12
( t ) =0
( k + 2)!

t k+2
2 k!

(3.36)

Thay cc kt qu (3.33), (3.35), (3.36) vo (3.30) tnh (t) s thu c:

tk

k =0 k !
( t ) =

tk
t
k =0 k ! e
=
tk

0
k=0 k !

t2
2

t2 t
e
2
et

Qu trnh cng bc v qu trnh t do

Trong khi phn tch ta thng s dng khi nim qu trnh cng bc v qu trnh
t do ca mt h thng. Khi kch thch h bng tn hiu vo u(t), do tnh cht tuyn
tnh ca h, tc l ca m hnh trng thi (3.25), p ng y( t ) s c hai thnh phn xp
chng y( t ) = y ( t ) + y ( t ) , trong :
c

Thnh phn y ( t ) l nghim ca phng trnh trng thi (3.25) vi u ( t ) cho trc
c

v trng thi u x ( 0 ) = 0 . l phng trnh m t qu trnh cng bc.

Thnh phn y ( t ) l nghim ca (3.25) ng vi u(t)=0 v trng thi u x(0)=x 0

t

cho trc. l phng trnh m t qu trnh t do.

T y, cng vi nh l 3.11, ta i n kt lun:
nh l 3.15: Khi h thng c m t bi m hnh trng thi (3.25) th n s c:
t

a)

Qu trnh t do y ( t ) = C e A x 0

b)

Qu trnh cng bc y ( t ) = C e A( t ) Bu( )d + Du

Chng minh: (Bi tp).

266

3.3 Phn tch h thng

3.3.1

Nhng nhim v c bn ca cng vic phn tch

Cc nhim v c bn ca cng vic phn tch cht lng ng hc ca mt h thng

c ta cp mc 2.3.1 thuc chng 2. Chng bao gm:

Tnh n nh.

Sai lch tnh, qu iu chnh, thi gian qu .

Cht lng bn vng.

Tuy nhin, do c th l c m t trong khng gian trng thi vi m hnh:

dx
= Ax + Bu

dt
y = Cx + Du

(3.37)

m rt c th c nhng bin trng thi tha, nn cng vic phn tch h thng trong
khng gian trng thi cn cn phi lm r thm:
1) Hiu bit v s phn b cc im cn bng ca h thng. Mt im trng thi x e
c gi l im cn bng nu nh khi h ang im trng thi x e v khng c
mt tc ng no t bn ngoi th h s nm nguyn ti . Theo nh ngha nh
vy th im cn bng x e ca h thng phi l nghim ca:
dx
= Ax = 0
dt

(3.38)

iu ny cng d hiu, v theo nh ngha, im cn bng l im m h thng s

dx
= 0 ) khi khng c s
nm im ti , tc l trng thi ca n khng b thay i (
dt
tc ng t bn ngoi ( u = 0 ) .
Ta c th thy ngay c t (3.38) l h tuyn tnh cn bng ti mi im trng
thi thuc khng gian Ker(A ) v nu ma trn A ca m hnh trng thi (3.37)
khng suy bin th h (3.37) ch c mt im cn bng duy nht l gc ta 0.
2) Hiu bit v tnh n nh Lyapunov ca h thng. Mt h thng c gi l n nh
Lyapunov ti im cn bng x e nu sau khi c mt tc ng tc thi (chng hn
nh nhiu tc thi) nh bt h ra khi im cn bng x e th sau h c kh nng
t quay v c ln cn im cn bng x e ban u (khng cn c tn hiu iu
khin u ) v trong qu trnh quay v , qu o trng thi t do x(t) ca h l b
chn. Nu h khng nhng t quay v c ln cn ca x e m cn tin ti x e th n
c gi l n nh tim cn Lyapunov ti x e .
h tuyn tnh, khi nim n nh tim cn Lyapunov hon ton ng nht vi
khi nim n nh BIBO c bit ti trc y (mc 2.3.2).

267

3) Hiu bit v tnh iu khin c ca h thng ti mt im trng thi cho trc.

Ti sao li cn phi hiu bit v tnh iu khin c?. Nhim v chnh ca iu
khin l tm c tn hiu iu khin mang li cho h thng mt cht lng mong
mun, tc l phi tm ra c mt tn hiu tha mn cht lng ra trong s cc
tn hiu c kh nng a h thng t im trng thi x 0 ban u ti c im
trng thi ch x T . Nu nh khng tn ti bt c mt tn hiu iu khin no a
c h t x 0 ti x T th s c gng tng hp hay i tm tn hiu iu khin nh trn
s tr nn v ngha (bi ton khng c li gii). Bi vy, cng vic iu khin c
th c kt qu ta phi bit c rng c tn ti hay khng t nht mt tn hiu iu
khin a c h thng t x 0 v x T trong khong thi gian T hu hn. Nu nh
tn ti mt tn hiu iu khin lm c vic th ta ni h thng l iu khin
c ti im trng thi x 0 .
4) Hiu bit v tnh quan st c ca h thng ti mt im trng thi cho trc.
Trong qu trnh iu kin, nhiu khi ngi ta cn phi xc nh trng thi x ca
h. Cng vic xc nh im trng thi x c th c tin hnh bng cch o trc
tip (nh cc b cm bin, sensor) nhng c khi phi tnh ton, phi quan st khi
khng th o c trc tip, chng hn nh gia tc khng th o c trc tip m
phi c suy ra t vic o tc trong mt khong thi gian cho php. Trong
trng hp phi quan st, ngi ta ni im trng thi x ca mt h l quan st
c nu ta c th xc nh c n thng qua vic o cc tn hiu vo/ra trong mt
khong thi gian hu hn.

3.3.2

Phn tch tnh n nh

Phn tch tnh n nh BIBO

Trc ht, t mi quan h gia m hnh trng thi (3.37) khng c trng thi tha
v ma trn hm truyn G(s) ca h thng:
G(s) = C(sIA)

B+D = C

( sI A )adj
det( sI A )

(3.39)

B+D

trong k hiu ( s I A ) adj l ma trn b ca ( s I A ) , ta thy rng gi tr ring ca ma

trn A trong m hnh (3.37) chnh l im cc ca h thng. M rng ra, nu s dng
cng thc tnh nh thc ma trn khi ca Schur cho ma trn P :
sI A B
P=

D
C

sI A B
1
det P = det
= det( sI A )det D + C( sI A ) B
D
C

ta cn thy c thm rng im khng ca h chnh l nghim ca det( P ) = 0 .

Kt hp chung vi nh l 2.12 th nhng iu nhn xt trn dn n:
268

nh l 3.16: H (3.37) khng c trng thi tha n nh BIBO khi v ch khi ma trn A
c tt c cc gi tr ring nm bn tri trc o, tc l khi v ch khi:

p(s) = det( s I A )

(3.40)

l a thc Hurwitz.
Nh vy, cc tiu chun bit mc 2.3.2 nh Routh, Hurwitz, Michailov,
LienardChipart, u s dng c kim tra tnh n nh h (3.37). Vn hn
ch chnh c l cn lm cho ta khng c thoi mi khi s dng chng l phi xy
dng c a thc c tnh p ( s ) = det( s I A ) , c bit khi A c s chiu kh ln.
nh l Gerschgorin trnh by sau y v h qu ca n s l mt tiu chun b
sung, gip cho ta xt c tnh n nh ca h (3.37) m khng cn phi c a thc c
tnh (3.40). Tuy nhin nh l ny ch l mt iu kin . iu ni rng nu nh ma
trn A khng tha mn nh l th h (3.37) vn c th n nh.
nh l 3.17 (Gerschgorin): Vi mi gi tr ring s k ca ma trn phc:

a11

a
A = 21

an1

a1n

a2 n

ann

a12
a22
an2

lun tn ti mt ch s i=1,2, ,n sao cho s k nm trong ng trn tm a ii bn

knh R i = |a i1 |+
|s k a ii | R i =

+|a ii 1 |+|a ii+1 |+

+|a in | (hnh 3.4), tc l:

aij

j =1
ji

a 33

R1
a 11

Ri
a ii

Hnh 3.4: Minh ha nh l 3.17

R3

a 22

R2

Hnh 3.5: nh v min cc gi tr

ring ca ma trn.

Chng minh:
v1

V s k l gi tr ring ca A nn phi tn ti mt vector v = 0 sao cho:
v
n

(skIA)v = 0

269

trong 0 l k hiu ch vector c cc phn t u bng 0. Suy ra:

n

aij v j + (a ii s k )v i =0

j =1
j i

(skaii)vi =

aij v j

j =1
j i

vi i = 1 , 2 , , n . Chn ch s i sao cho:

| v i | = max{ | v 1 | , | v 2 | , , | v n | }
s c:
|(s k a ii )v i |=

j =1
ji

j =1
ji

aij v j aij |v i |

|s k a ii |

aij (.p.c.m)

j =1
ji

Theo nh l 3.17, mi gi tr ring s i ca A u c bao bi mt ng trn c

tm l a ii v bn knh l R i , i=1, ,n. Do nu cc ng trn u nm bn tri
trc o th chc chn tt c cc gi tr ring s i , i=1, ,n u phi c phn thc m
(hnh 3.5).
Ta i n iu kin cho tnh n nh ca h nh sau:
n

nh l 3.18 (H qu Gerschgorin): K hiu R i =

aij . Vy th h (3.37) vi a ij R s n

j =1
ji

nh nu a ii +R i < 0 vi mi i=1,2, ,n.

V d 3.12: Minh ha ngha nh l Gerschgorin

Cho h m t bi:
3 1 0
1

dx
= 2 3 0 x + 0 u
dt

1
2 1 4

T ma trn h thng c:
a 11 +R 1 = 3+1=2 < 0
a 22 +R 2 = 3+2=1 < 0
a 33 +R 3 = 4+(2+1)=1 < 0
Do theo nh l 3.18 th h n nh. Ta c th kim tra li kt lun trn nh a thc
c tnh ca h thng:
1
0
s +3

2
0 = (s+4)[(s+3) +2]
p(s) = det( s I A ) = det 2 s + 3
2
1 s + 4

v thy a thc l Hurwitz.

270

V d 3.13: Minh ha ngha nh l Gerschgorin

nh l 3.18 ch l iu kin , bi vy nu h khng tha mn nh l 3.18 th c

th n vn n nh. minh ha ta xt h sau:
2 1 0
1

dx
= 4 2 0 x + 0 u
dt

1
2 1 1

H c a thc c tnh:
1
0
s + 2

2
p(s) = det( s I A ) = det 4 s + 2
0 = (s+1)[(s+2) +4]

2
1 s + 1

vi ba nghim:

s 1 =1,

s 2 =2+2j,

s 3 =22j

u nm bn tri trc o nn n n nh. Nhng h li khng tha mn nh l 3.18:

a 11 +R 1 = 2+1=1 < 0
a 22 +R 2 = 2+4=2 > 0

a 33 +R 3 = 1+(2+1)=2 > 0
Tiu chun n nh Lyapunov - Hm Lyapunov

Ging nh nh l ca Gerschgorin, tiu chun Lyapunov trnh by sau y l

phng php xt tnh n nh mt cch trc tip trong khng gian trng thi rt thch
hp cho nhng h thng m t bi m hnh trng thi. Xut pht im ca tiu chun
Lyapunov l nh l sau:
nh l 3.19: H (3.37) n nh BIBO khi v ch khi n n nh tim cn Lyapunov, tc
l khi v ch khi cc qu o trng thi t do c hng tin v gc ta v kt
thc ti .

Chng minh:
Theo nh l 3.16 th h (3.37) n nh BIBO khi v ch khi ma trn A c cc gi tr
ring nm bn tri trc o. Lc , nh Laplace X ( s ) ca qu o trng thi t do
t

x(t)=e A x 0 tnh theo:

L{x(t)} = (sIA)

x0 =

( sI A )adj
det( sI A )

x0

l hm bn. Vy x(t) phi tin v 0 v kt thc ti .

Nh vy, kim tra tnh n nh tim cn Lyapunov (v cng l tnh n nh

BIBO), ta ch cn kim tra xem qu o trng thi ca h thng qu trnh t do c
hng tin v gc ta v kt thc ti khng.
271

T phng din nng lng ta c th xem nh phng php Lyapunov c xy

dng trn c s bo tn nng lng ca mt h vt l. Nng lng cn tn ti bn trong
h vt l do tc ng tc thi bn ngoi a vo c o bi mt hm khng m. H s
n nh (tim cn) trng thi cn bng ca n nu nh trong ln cn im cn bng
hm o nng lng ny ca h lun c xu hng gim dn v 0.
Bn cht phng php Lyapunov c gii thch nh sau: Gi s rng bao quanh
gc ta 0 c h cc ng cong khp kn v (hnh 3.6). Cc ng cong ny c th c
xem nh bin ca cc ln ln ca im gc 0 . kim tra xem qu o trng thi x(t)
(ng vi u = 0 v i t im trng thi u x 0 cho trc nhng ty ) m t qu trnh t
do ca h c tin v gc ta 0 hay khng, ta ch cn xt xem qu o trng thi x(t)
c ct tt c cc ng cong thuc h v t bn ngoi vo bn trong hay khng v nu
iu xy ra th chc chn x(t) phi c hng tin v gc ta v kt thc ti .
Nh vy phng php Lyapunov s gm hai bc:

Xy dng h cc ng cong v khp kn cha im gc ta 0 bn trong.

Kim tra xem qu o trng thi x(t) m t qu trnh t do ca h c ct mi

ng cong thuc h v theo chiu t ngoi vo trong hay khng. Hin nhin,
x(t) ct mt ng cong thuc h v theo chiu t ngoi vo trong l ti im ct
, tip tuyn ca qu o t do x ( t ) phi to vi vector v vung gc vi ng
cong theo hng t trong ra ngoi mt gc ln hn 900 (hnh 3.6).

nh l 3.20 (Lyapunov): Nu tn ti hm V ( x ) , tha mn cc iu kin:

a)
b)

Kh vi, xc nh dng, tc l V ( x ) > 0 vi x 0 v V ( x ) = 0 x = 0

dV
dV
< 0, vi
l o hm ca V ( x ) dc theo qu o trng thi t do.
dt
dt

th h s n nh tim cn Lyapunov ti 0 (n nh BIBO). Hm V ( x ) khi c

gi l hm Lyapunov. Ni cch khc, h n nh tim cn ti 0 nu n c hm
Lyapunov.
Chng minh:
Hm kh vi, xc nh dng V ( x ) c tnh
cht l khi ta ct n bng mt mt phng V = k
song song vi y (khng gian trng thi) v
chiu thit din xung y th ta s c mt
ng cong khp kn vk cha im gc ta 0.

x0

x
0
x

ng cong vk ng vi k nh hn th nm bn
trong ng cong vk ng vi k ln hn (hnh
3.7a). Ni cch khc:

272

Hnh 3.6: Gii thch xut pht im ca

t tng phng php Lyapunov.

k1< k2

vk1 nm bn trong vk2

Do vector vung gc vi ng cong v k v ch chiu tng theo k l:

T

V
V
=
v = gradV =
x ,

V
,

xn

s c hng ch t trong ra ngoi ng cong v k (hnh 3.7b). Tip theo, do c:

dx
dx
dV V d x

cos
=
= ( gradV ) T
= | gradV |
x dt
dt
dt
dt
dx
dV
li chnh l tip tuyn ca qu o trng thi x(t), nn vi iu kin
< 0, gc
dt
dt
dx
to bi hai vector gradV v
phi l mt gc t (ln hn 900), tc l qu o trng
dt

thi x ( t ) s ct tt c cc ng cong v k theo hng t ngoi vo trong.

V(x)

a)

b)
dx
dt

vk

k2

gradV
k1
x1
vk1

vk2

x2

x
Hnh 3.7: To h cc ng bin ca ln cn gc
bng ng ng mc ca hm xc nh dng.

Ch : Do trong phn chng minh nh l 3.20 ta khng s dng gi thit rng

h ang xt l h tuyn tnh. Bi vy nh l 3.20 cn p dng cho c h phi tuyn ch
khng ring cho h tuyn tnh. y l iu c bit ca tiu chun Lyapunov so vi cc
tiu chun bit khc.

Theo tinh thn ni dung ca nh l 3.20, kim tra tnh n nh h thng nh

tiu chun Lyapunov th ta phi tm hm Lyapunov V ( x ) kh vi, xc nh dng v o
hm ca n tnh trn c s m hnh trng thi h thng phi xc nh m. Cng theo
nh l 3.20, nu nh ta khng tm c mt hm Lyapunov no nh vy th vn khng
th khng nh c h khng n nh. Ni cch khc, nh l 3.20 c xem nh mt
iu kin xt tnh n nh ca h thng.
V d 3.14: Minh ha tiu chun Lyapunov

Cho h m t bi:

273

0 x1 1 0
4 2
4 x1 + 2 x2 u1

u1

dx

= 2 5 1 x2 + 1 2 = 2 x1 5 x2 + x3 + u1 + 2u2
u
dt
u

0 1 2 x 0 1 2 x 2x
2
3
2

u
x
S dng hm kh vi, xc nh dng:

V ( x ) = x12 + x22 + x32

cng vi qu o x ( t ) ca qu trnh t do ca h (u 1 = u 2 = 0 ) ta c:
4 x1 + 2 x2

dV
= ( 2 x1 , 2 x2 , 2 x3 ) 2 x1 5 x2 + x3 = 8 x12 10 x22 4 x32 < 0
dt
x 2x

2
3

vi mi vector x 0 (hm

dV
xc nh m). Bi vy, h n nh theo nh l 3.20.
dt

Thng thng vi h tuyn tnh c m hnh trng thi (3.37), ngi ta hay s dng
hm trn, xc nh dng V ( x ) c dng ton phng:

V ( x ) = x T Px

(3.41)

trong P l ma trn i xng kiu n n vi n l s bin trng thi ca h thng (s

chiu ca khng gian trng thi). Chng hn nh v d 3.14 ta s dng ma trn P
l ma trn n v.
Ma trn i xng P R n

c cc gi tr ring l s thc dng (gi l ma trn xc

nh dng), s lm cho:
V ( x ) = x T P x 0 , x v x T P x = 0 khi v ch khi x = 0
S dng m hnh trng thi (3.37) ca h thng th vi qu o trng thi t do ( u = 0 )
ta c:
T

dx dx
dV
T
T T
T
T
= xTP
+
Px = x PAx+x A Px = x (PA+A P)x
dt
dt dt

Bi vy h tuyn tnh (3.37) s n nh nu tn ti ma trn Q xc nh dng sao cho:

xT(PA+ATP)x = Q

vi mi x 0

Ma trn ( P A + A T P ) khi c gi l xc nh m. Ta i n h qu:

nh l 3.21 (H qu Lyapunov): Cho mt h tuyn tnh vi m hnh trng thi (3.37). H
s n nh khi v ch khi mt trong hai iu kin sau c tha mn:

a)

Tn ti ma trn vung P R n
T

xc nh dng sao cho ma trn ( P A + A T P )

xc nh m, tc l ( P A + A P ) xc nh dng.

274

b)

Tn ti mt ma trn i xng xc nh dng Q sao cho phng trnh

PA+ATP = Q

(3.42)

c nghim P cng i xng, xc nh dng. Hn na nghim P l duy nht.

Phng trnh (3.42) c tn gi l phng trnh Lyapunov.

Chng minh:
Ch cn li iu kin ca b) l phi chng minh, tc l phi ch rng khi A l ma
trn bn th phng trnh Lyapunov (3.42) vi Q xc nh dng s c nghim P duy
nht cng xc nh dng. Trc tin ta t:
dJ ( t )
= ATJ+JA
dt

tha mn iu kin u J ( 0 ) = Q . Khi , t l thuyt phng trnh vi phn tuyn tnh

h s hng th phng trnh trn c nghim:
T

J ( t ) = e A tQe At
Tch phn hai v theo t v ti tnh bn ca ma trn A, tc l lim e At = , trong
t

l k hiu ch ma trn c tt c cc phn t bng 0, s c

dJ
dt = Q = A T
dt

dJ
dt +
dt

dJ
dt A
dt

Bi vy, qua so snh vi phng trnh Lyapunov (3.42), ta c nghim P xc nh dng:

P=

dJ
dt =
dt

AT t

Qe At dt

chng minh nghim P l duy nht, ta gi s ngoi n ra cn c mt nghim P 0

khc. Khi , vi:
ATP0+P0A= Q
ta cng c c t cng nh tnh giao hon c ca A e
P =

AT t

(A

At

=e

At

A:

T
T

P0 + P0 A e At dt = e A t AT P0 e At + e A t P0 Ae At dt

T
T
P = AT e A t P0 e At + e A t P0 Ae At dt =

v chnh l iu phi chng minh.

dt e

AT t

P0 e At dt = P 0

Cui cng, v cng vic s dng nh l 3.21 c thun tin, ta s lm quen vi

nh l ca Sylvester cho sau y nh mt cng c xc nh tnh xc nh dng ca mt
ma trn i xng cho trc.
275

nh l 3.22 (Sylvester): Cn v ma trn vung, i xng:

q11

q
Q = 21

qn1

q12
q22
qn2

q1n

q2 n
,

qnn

q ik = q ki

xc nh dng l cc ma trn ng cho ca n c nh thc dng, tc l:

q
det(q 11 )=q 11 >0, det 11
q21

q11
q12

> 0 , det q21

q22
q
31

q12
q22
q32

q13

q23 , , det(Q)>0
q33

Tt nhin rng nh l Sylvester nu trn cng c s dng xc nh tnh xc

nh m ca mt ma trn Q bng cch kim tra xem ma trn Q c xc nh dng hay
khng. Nu Q xc nh dng th Q xc nh m.
V d 3.15: Minh ha tiu chun Lyapunov

Xt h m t bi:
d x a b x1 1
+ u
=
dt b a x2 2
q 0
Chn ma trn Q =
xc nh dng, tc l chn q > 0 ri thay vo (3.42) c:
0 q
a b a b
q 0
+
P =
P

b
a
b
a

0 q

P =

q 1 0

2a 0 1

Theo nh l 3.21 th h s n nh nu nh P xc nh dng, tc l khi:

q

>0

a<0
2a

3.3.3

Phn tch tnh iu khin c

Khi nim iu khin c v iu khin c hon ton

Mt nguyn tc lun phi tun th khi i tm

li gii cho mt bi ton, c th l mt bi ton
thuc lnh vc k thut, nhng cng c th thuc cc
lnh vc khc nh x hi, kinh t hay t nhin, l
trc khi bt tay vo cng vic tm kim li gii ta
phi xc nh xem c thc s tn ti hay khng li
gii ca bi ton . bi ton iu khin cng vy.
Ni chung, mt bi ton iu khin c hai phn:
276

u1
u2
x0

xT
uk

Hnh 3.8: Nhng tn hiu thch hp.

 Xc nh nhng tn hiu iu khin u(t) a h t mt im trng thi ban

u khng mong mun ti mt im trng thi mong mun khc. V d, h ang

lm vic n nh trng thi cn bng x T th c mt tn hiu nhiu tc ng vo

h lm cho h ra khi im lm vic cn bng v chuyn ti mt im trng
thi x 0 khng mong mun no . Nhim v ca iu khin l phi tm tn hiu
iu khin u(t) a c h t x 0 quay tr v im trng thi cn bng x T ban
u trong mt khong thi gian hu hn (hnh 3.8).
Tm trong s nhng tn hiu u(t) xc nh c mt (hoc nhiu) tn hiu
mang n cho qu trnh chuyn i mt cht lng nh yu cu. Chng

hn trong s cc tn hiu c kh nng a h t x 0 v li c x T th phi xc

nh mt tn hiu sao cho vi n, chi ph cho qu trnh chuyn i l thp nht.
Nh vy, r rng ta ch c th thc s iu khin c h thng nu nh tm
c t nht mt tn hiu iu khin u(t) a c h t im trng thi u x 0 ti c
im trng thi ch x T trong khong thi gian hu hn. Khng phi mi h thng hay
i tng tn ti trong t nhin c kh nng ng hc l a c v trng thi mong
mun. Mt h thng c kh nng a c t im trng thi x 0 v im trng thi x T
c gi l h iu khin c (hon ton) ti x 0 .
nh ngha 3.2: Mt h thng tuyn tnh, lin tc c gi l iu khin c nu tn ti

t nht mt tn hiu iu khin a c n t mt im trng thi ban u x 0 (ty

) v c gc ta 0 trong khong thi gian hu hn.
Ta cn phi lu ti ba im trong nh ngha va nu:
1) Th nht l v khong thi gian hu hn.
y l yu cu m s cn thit ca n gn nh l hin nhin, v nu h c th a
c v gc ta nhng phi trong khong thi gian v cng ln th cng chng c
ngha g cho bi ton iu khin. Thm ch nhiu h c kh nng t quay c v gc ta
(h n nh) nhng khng iu khin c. minh ha ta xt mt v d.
V d 3.16: Minh ha khi nim iu khin c

Xt h thng c m hnh:

ax1
d x a 0 x1 0
,
+ u =
=
dt 0 b x2 1
bx2 + u( t )

x
x = 1
x2

R rng tn hiu iu khin u(t) khng c tc dng g i vi bin trng thi x 1 (t) v do
x0
mi tn hiu u(t) khng a c h t im trng thi ban u x 0 = 10 c x10 0
x
2
v c gc ta trong khong thi gian hu hn, mc d vi:
277

x 1 (t) = e at x10
th x 1 (t) cng vn tin ti 0 khi a c phn thc m, tc l h cng c th t v c gc
ta , nhng trong mt khong thi gian v hn.

2) Th hai l im trng thi u x 0 ty .

Mt cu hi t ra cho ta l c hay khng trng hp tuy h thng c th c a
t x 0 v gc ta (bng mt hoc nhiu tn hiu iu khin u(t) thch hp) nhng t
mt im trng thi x0 no khc th khng th (khng tn ti mt tn hiu u(t) no
lm c vic ). Cu hi l hon ton c l v ngi ta thy rng iu c th
xy ra mt h thng bt k, c bit l h thng iu khin phi tuyn. Chnh v vy,
xut x ban u, khi nim iu khin c lun c nu cng vi im trng thi u
x 0 . Chng hn nh thay v "h thng iu khin c" ngi ta li ni "h thng iu
khin c ti im trng thi x 0 ". Tuy nhin, nh sau ny ta s ch r, ring i vi h
tuyn tnh, nu tn ti mt tn hiu u 1 (t) a h t x 0 v c gc ta 0 th cng
tn ti (t nht) mt tn hiu u 2 (t) a c h t x0 v 0. Ni cch khc, khi h tuyn
tnh iu khin c ti mt im trng thi x0 th n cng iu khin c ti cc
im trng thi khc trong khng gian trng thi. V l , trong nh ngha 3.2 ta
ghi thm ch "ty " v yu cu im trng thi u x 0 v cng ch ni ngn gn "h
iu khin c" thay cho "h iu khin c ti x 0 ".
3) Th ba l im trng thi ch l gc ta .
Trong nh ngha 3.2, im trng thi ch x T c thay c th l im gc ta
0. Nu nh khng c thm cu ch r l i tng cp trong nh ngha ch l i
tng tuyn tnh, lin tc th vic thay th s l mt hn ch phm vi ng dng ln
ca nh ngha v rt c th l h tuy a c v gc 0 song li khng a c ti x T .
Do , vi i tng quan tm l mt h thng iu khin ni chung (k c h phi tuyn)
th cht ch ngi ta a thm cc khi nim sau vo nh ngha:
H c gi l t ti c im trng thi x T nu tn ti mt tn hiu iu khin

u ( t ) a c h t gc ta 0 ti x T trong khong thi gian hu hn.

H c gi l iu khin c hon ton ti x 0 nu vi mt im trng thi ch

x T ty , nhng cho trc, lun tn ti mt tn hiu iu khin u ( t ) a h t x 0

ti c x T trong khong thi gian hu hn.
Sau y ta s ch ra rng ring vi h tuyn tnh lin tc nh trong nh ngha 3.2
gii hn th hai khi nim va nu l khng cn thit. Tc l nu h tuyn tnh
iu khin c th n cng iu khin c hon ton. Xt h tuyn tnh tham s hng,
m t bi:

278

dx
= Ax + Bu
dt

vi A R n

, BRn

(3.43)

Gi x 0 v x T l hai im trng thi bt k trong khng gian trng thi. Gi thit rng
h iu khin c ti x 0 . Vy th n cng iu khin c ti x T . iu ny ni rng
tn ti tn hiu u 1 (t) a h t x0 v c gc ta 0 trong khong thi gian hu hn
T 1 v tn hiu u 2 (t) a c h t x T v 0 trong khong thi gian hu hn T 2 .
S dng cng thc (3.26) cho trong nh l 3.11 xc nh nghim ca h
phng trnh vi phn (3.43) th iu gi thit trn s vit c thnh:
0 = e AT1 x 0 +

T1

0 = e AT2 x T +

T1

e A( T1 ) Bu1 ( )d = e AT1 x0 + e A Bu1 ( )d

T2

T2

e A( T2 ) Bu2 ( )d = e AT2 xT + e A Bu2 ( )d

Suy ra
0 = x0 +

T1

e A Bu1 ( )d

0 = xT +

T2

e A Bu2 ( )d

(3.44)

v e AT1 , e AT2 l nhng ma trn khng suy bin, hay:

T2

T AT t

u2 ( t ) = B e

B Be

AT

(3.45)

xT

Tip theo ta nh ngha tn hiu iu khin mi:

nu 0 < t T1
u ( t )
u(t) = 1
u2 ( t T1 ) nu T1 < t

(3.46)

Khi ang ti im trng thi x 0 v di s tc ng ca tn hiu u(t) ny, sau mt

khong thi gian t > T 1 qu trnh bin i trng thi ca h s c m t bi cng thc
(3.26) ca nh l 3.11, c dng:
t

x( t ) = e At x0 + e A Bu( )d
0

T1
t

= e At x0 + e A Bu1 ( )d e AT2 e A Bu2 ( T1 )d

0
T1

(3.47)

Thay (3.44) vo (3.47) ta c:

x( t ) = e A( t T2 )

t T1

T1

A( t T2 )
A(
A
e Bu2 ( T1 )d = e
e

= e A( t T1 T2 )

t T1

/ +T )
1

Bu2 ( / )d /

A
Bu2 ( / )d / vi / = t T1
e
/

279

Bi vy ti thi im t=T 1 +T 2 th vi (3.45) ta c:

x(T1 + T2 ) =

T2

A( / )

T AT ( / )

BB e

T2

T
d e A( ) BBT e A ( )d
0

xT

= I xT = xT

Ni cch khc, tn hiu iu khin u(t) nh ngha theo (3.46) a h t x 0 v ti x T

v chnh l iu phi chng minh.
Cc tiu chun xt tnh iu khin c cho h tham s hng

Nm 1969 Hautus a mt tiu chun xt tnh iu khin c ca mt h tuyn

tnh tham s hng t m hnh trng thi (3.43), pht biu nh sau:
nh l 3.23 (Hautus): Cn v h tuyn tnh khng c trng thi tha (3.43) iu
khin c l:

Rank( s I A , B ) = n

vi mi s C

Chng minh:
t

Trc ht ta thy v e A l ma trn khng suy bin nn khi phng trnh:

t

0 = e At x0 + e A( t ) Bu( )d
0

vi x 0 cho trc c nghim u(t) th phng trnh:

t

x 0 = e Bu( )d
0

cng c nghim u(t) v ngc li. iu ny cng ph hp vi ni dung ca phn gii

thch th ba cho nh ngha 3.2 mc trc rng h iu khin c ti x 0 , khi v ch
khi n t ti c x 0 . Do chng minh nh l ta s ch rng:
Rank( s I A , B ) = n , s
l iu kin cn v mi im x 0 trong khng gian trng thi t ti c.
Gi X(s) l nh Laplace ca x(t) v U(s) l nh ca u(t). Chuyn hai v ca (3.43)
sang min phc vi ton t Laplace, trong gi tr u ca x(t) c gi thit l bng
0 v gi tr cui x 0 ca n l ty , ta c:
(sIA)X(s) = BU(s)

(3.48)

V x 0 l tu nn X(s) cng l ty . Xem cc ma trn ( s I A ) v B nh nhng nh x

tuyn tnh th r rng (3.48) c nghim U khi v ch khi:
( s I A ) X ( s ) Im( B )
v iu khng ph thuc s th ta phi c Rank(s I A , B )= n vi mi s C .

280

V d 3.17: Minh ha tiu chun Hautus

Xt li h khng iu khin c cho v d 3.16. Tnh khng iu khin c

ca h c nhn bit trc quan t ch x 1 (t) khng ph thuc u(t) v do u(t) khng
iu khin c x 1 (t). Ma trn A v B ca h c dng:
a 0
, B =
A =
0 b
Suy ra:

0

1

0
0
s a
Rank( s I A , B ) = Rank

s b 1
0

Nh vy nu s = a th:
Rank(s I A , B ) = 1 < 2

v do h khng iu khin c.
V d 3.18: Minh ha tiu chun Hautus

Cho h c m hnh:
d x a 1 x1 0
=
+ u
dt 0 b x2 1

Khc vi h trong v d 3.17, y x 1 (t) thng qua x 2 (t) m ph thuc gin tip vo
u(t) v do h c th iu khin c. Xt ma trn:
1
0
s a

(s I A , B ) =
0
s

b
1

Nh vy:
Rank(s I A , B ) = 2

vi mi gi tr s nn h iu khin c.

Bn cnh tiu chun Hautus, mt tiu chun khc cng rt c a dng l tiu
chun Kalman. Khi nim iu khin cng c Kalman nh ngha nm 1960 v cng
vi nh ngha ng a ra tiu chun xt
tnh iu khin c ca h tuyn tnh tham s
hng nh sau:
x(t)
nh l 3.24 (Kalman): Cn v h tuyn tnh
khng c trng thi tha (3.43) iu khin
c l:

Rank( B , A B ,

, An

B) = n

V
Hnh 3.9: Gii thch tiu chun Kalman
bng khng gian bt bin.

Chng minh:
281

Trc ht ta nh ngha khng gian vector con V trong R n bt bin vi B l:

B u V vi mi u R m
hay Im( B ) V . Tng t, khng gian con V R n s c gi l bt bin vi A nu:
xV

AxV

R rng V va bt bin vi A R n

v vi B R n

BuV ABuV A2BuV

th:

AkBuV

(3.49)

Theo CayleyHamilton th trong dy (3.49) ta ch cn cho k chy n gi tr n 1 l

v do khng gian con V bt bin vi A v B c kch thc nh nht s l:
V = span( B , A B ,

, An

B)

Do h (3.43) vi mi x V v u R m lun c A x V cng nh B u V nn cng c:

dx
= Ax+Bu V
dt

iu ny ch mi rng qu o trng thi x(t), tc l nghim ca (3.43), c iu kin

u x(0)=x 0 thuc V s lun c vector tip tuyn nm trong V . Nh vy bn thn x(t)
cng phi nm trong V . M rng ra, mi qu o trng thi x(t) ca h (3.43), khi
gp V th k t lc s li lun trong V (hnh 3.9).
Vi khng gian V bt bin ny, ta c th thy ngay c iu kin cn v h
tuyn tnh (3.43) iu khin c, tc l vi mi x 0 R n cho trc lun tn ti mt tn
hiu iu khin u(t) a h t x 0 v gc ta trong khong thi gian hu hn, phi l:
V = Rn

Rank( B , A B ,

, An

B) = n

Tiu chun Kalman cn c suy ra t nh l CayleyHamilton nh sau. Do c:

x0 =

Bu( )d

(3.50)

nn h s iu khin c khi v ch khi phng trnh trn vi x 0 ty cho trc lun c

t nht mt nghim u(t). Theo nh l 3.9, c th l cng thc (3.22) c suy ra t nh
l CayleyHamilton th:
e At B = a0 ( t ) I + a1 ( t ) A +

+ an 1 ( t ) A n 1 B

a0 ( t )

= B , AB , A2 B , , A n 1 B

a ( t )
n 1

Thay (3.51) vo (3.50) c:

282

(3.51)

a0 ( )u( )d
0

x0 = B , AB , A2 B , , A n 1 B

an 1 ( )u( )d
0

z( t )

(3.52)

ta thy (3.52) c nghim u(t), tc l c nghim z(t), vi mi x 0 R n khi v ch khi:

, An

Im( B , A B ,

B ) = R n Rank(B, AB,

, An 1B) = n

V d 3.19: Minh ha tiu chun Kalman

Cng li vi h xt v d 3.16:
d x a 0 x1 0
+ u
=
dt 0 b x2 1
B
A
ta c:
0 0
< 2
Rank( B , A B ) = Rank
1 b

nn h l khng iu khin c.
V d 3.20: Minh ha tiu chun Kalman

Cho h vi m hnh trng thi:

s1
dx
=0
dt
0

1
s1
0

0
0

0 x + b2 u
b
s2
3

trong s 1 s 2 v b i 0 , i = 2 , 3 . Xt ma trn:
0

( B , A B , A B ) = b2
b
3
2

b2
s1 b2
s2 b3

2s1 b2

s12 b2
s22 b3

Ma trn vung ny c nh thc:

0

det b2
b
3

b2
s1 b2
s2 b3

2s1 b2

s12 b2 = b22 b3 ( s1 s2 )2 0
s22 b3

nn
2
Rank( B , A B , A B ) = 3

Vy h l iu khin c

S
283

Ch : Trong c hai nh l 3.23 ca Hautus v 3.24 ca Kalman u cn n gi

thit h (3.43) phi khng c cc bin trng thi tha, tc l gia cc bin trng thi ca
chng khng c mt quan h i s no. Nhng h nh vy cn c bit n di tn
gi l h c bc nh nht (minimum order). Gi thit ny l cn thit, n m bo cho s
tng ng ca khi nim iu khin c nu trong nh l l ng vi nh ngha 3.2
v tnh iu khin c ca h (3.43). Nu khng c gi thit v bc cc tiu, rt c th
h (3.43), tuy rng khng tha mn tiu chun tiu chun Hautus hay tiu chun
Kalman, song li vn iu khin c theo ni dung nh ngha 3.2. minh ha trng
hp ny, ta xt v d sau.

V d 3.21: H iu khin c c bc khng nh nht s khng tha mn KalmanHautus

Xt h tuyn tnh tham s hng khng c bin trng thi tha (bc nh nht):
dx
n
= Ax + Bu , x R tha mn Rank( B , A B ,
dt

, An

B)=n

Vy theo tiu chun Kalman th h l iu khin c, tc l lun tn ti cc tn hiu

iu khin a h t x 10 v x 20 ty v gc trong khong thi gian hu hn. iu ny
ch rng vi h ghp:
x1
B
dx A
=
x + u = Ax + Bu , x =
dt A
B

x2
c to ra bng cch ghp hai h cho song song vi nhau, cng s lun tn ti tn
x
hiu iu khin a h t trng thi u x0 = 10 bt k v gc trong khong thi
x20
gian hu hn. Vy h ghp ny l iu khin c. Tuy nhin h ghp li c:

Rank B, AB,

B
, A2 n 1 B = Rank
B

B
= Rank
B

= n < 2n

AB
AB
AB
AB

A2n 1 B

A2n 1 B
A n 1 B
, nh l 3.8
A n 1 B

nn khng tha mn tiu chun Kalman.

Tiu chun xt tnh iu khin c cho h tham s ph thuc thi gian

Vi nhng h tuyn tnh khng dng, tc l c tham s thay i theo t, th vic s

dng hai tiu chun Hautus v Kalman kim tra tnh iu khin c l khng th.
B p phn thiu st , mc ny s gii thiu mt tiu chun tng qut ng dng
c cho c lp cc m hnh tuyn tnh khng dng:
dx
= A(t)x + B(t)u
dt

284

x R n , u R m

(3.53)

trong A(t) v B(t) l hai ma trn c cc tham s ph thuc thi gian t. Ta bit t
mc 3.2.2, c th l cng thc (3.28) th h phng trnh vi phn (3.53) c nghim:
t

x( t ) = ( t ) x0 + ( t ) B( ) u( ) d
0

vi x(0)=x 0 l gi tr u bit trc ca nghim v (t) R n

l ma trn hm khng

suy bin c xc nh theo cng thc PeanoBacker (nh l 3.12) hoc theo (3.29),
(3.30) ca Picard (nh l 3.13).
Gi s rng h (3.53) iu khin c ti x 0 . Vy th phi tn ti khong thi gian
T hu hn v tn hiu u(t) sao cho c x(T)=0, tc l:
T

(T ) x0 = (T ) B( ) u( ) d
0

t x0 = (T ) x0 . Do (T) l khng suy bin nn x0 cng s chy khp trn khng

gian trng thi ging nh x 0 v:
T

n
(T ) B( ) u( ) d = x0 R

K hiu php bin i:

T

PT (u ) = (T ) B( ) u( ) d
0

th P T l nh x tuyn tnh t khng gian cc tn hiu iu khin Rm vo khng gian

trng thi Rn:
PT : Rm Rn
Tng t, ta k hiu:
T

Q T ( x ) = QT ( x ) = (T ) B( ) BT ( ) T (T ) x d
0

th Q T cng l nh x tuyn tnh t Rn vo Rn :

QT : Rn Rn
nh l 3.25: Nhng pht biu sau y cho h khng c trng thi tha (3.53) l tng
ng:

a)

H iu khin c.

b)

Tn ti mt s hu hn T * sao cho:
Im( P T * ) = R n

dim Im(P T * ) = n

trong Im(P T ) l k hiu ch khng gian nh ca nh x P T .

285

c)

Tn ti mt s hu hn T * sao cho:
Im(Q T * ) = Rn

dim Im(Q T * ) = n

trong Im(Q T ) l k hiu ch khng gian nh ca nh x Q T

d) Tn ti mt s hu hn T * sao cho cc vector hng ca ma trn (T* )B( )
c lp tuyn tnh trong khong thi gian 0 < T * .
Chng minh:
a ) b ) : H (3.53) s iu khin c nu ng vi mi im x0 R n bao gi cng tn ti
t nht mt tn hiu u v khong thi gian t hu hn c P t ( u ) = x0 . iu ny tng
ng vi:
n

Im( Pt ) = R
t

Gi s x0 Im( P T ) . Ly mt gi tr T ty nhng c nh. Do Ker( P T ) khng

~ tha mn P
~
rng nn tn ti t nht mt phn t u
T ( u )=0. Gi u l phn t ty
ca Im( P T ) , vy th vi:
u
u = ~
u

khi

0tT

khi

T < t

s c:

P = (T 1 ) B( 1 ) u d 1 = (T 1 ) B( 1 ) u d 1 + (T 1 ) B( 1 ) u d 1
0

= x0 +

(T ( 1 T )) B( 1 T ) u d( 1 T ) = x0

Suy ra x0 Im ( P ) , hay:
Im( P T ) Im( P )
v do dim Im( P T ) l mt hm khng gim theo T. Hn th na:
lim Im(PT)=

Im( Pt )
t

Do , cn v h (3.53) iu khin c l:
lim dim Im( P T ) = n

(3.54)

Theo tnh cht v gii hn th t (3.54) vi >0 phi tn ti mt s T * hu hn

1
c | dim Im( P T ) n | < vi mi T > T * . Chn = s c:
2
1
| dim Im( P T * ) n | <
2
Nhng v dim Im( P T * ) l mt s t nhin nn cui cng:
286

dim Im( P T * ) = n

(.p.c.m).

b ) c ) : chng minh ta ch cn ch ra Im( P T ) = Im( Q T ) ng vi mi T. Gi s

~
x Im( Q T ) . Vy th vi tn hiu:
~ = BT()T(T)
u
ta s c:
~
~ ) Im( P )
x = PT (u
T
iu ny ch rng:
Im( Q T ) Im( P T )

(3.55)

Ngc li, ta gi x l phn t ty ca Im( P T ) . T cng thc nh ngha ca Q T ta thy

Q T l ma trn i xng. Bi vy Ker( Q T ) v Im( Q T ) l hai khng gian vector trc giao,
hay vector x lun phn tch c thnh:
x = xKer + xIm,
trong x K e r Ker( Q T ) , x I m Im( Q T ) v php phn tch l duy nht. Gi s rng:
x Im( Q T )
Vy th x K e r 0 . Suy ra:
x T x K e r = x TIm x K e r + x TK e r x K e r = x TK e r x K e r 0

T
Kerx

xKer (T ) B( ) u d

= xKer PT(u) = x

ng vi mi u(t) 0. Chn:

u = xT
Ker ( T ) B( )

th do Q T ( x Ker)Im( Q T ) s c:
0

][

] d =

x Ker (T )B( ) x Ker (T )B( )

T
T
T

= xT
Ker ( T ) B( ) B ( ) ( T )d x Ker = x KerQ T ( x Ker) = 0
0

v l iu phi l. Vy xIm( Q T ) . Ni cch khc:

Im( P T ) Im( Q T )

(3.56)

So snh (3.55), (3.56) ta n c iu phi chng minh.

c ) d ) : Khng nh dim Im( Q T * ) = n , tng ng vi ma trn m t nh x Q T * l ma
trn khng suy bin. Cn v ma trn vung Q T * khng suy bin l:

287

aTQ T * a 0
vi mi a 0 . Suy ra:
T*

T
T
a (T * ) B( ) a (T * ) B( ) d 0 , a 0

a T (T* )B( ) 0 , a 0 v 0 < T *

hay cc vector hng ca ma trn (T* )B( ) l c lp tuyn tnh trong khong thi

gian 0 < T * .
V d 3.22: Minh ha nh l 3.25

Xt h tuyn tnh c tham s ph thuc t:

0
dx 0 1
=
x + u
dt 0 0
t

Vi mt s T * hu hn ty h s c:
1
( ) =

0 1

1 T *
(T* ) =

1
0
1 T * 0 (T * )
(T * )

(T* )B( ) =
= T* hng s,
=

0
1

tc l hai vector hng ca (T* )B( ) c lp tuyn tnh khi T* (v do cng

trong khong 0 < T * ) . Vy h l iu khin c.

V d 3.23: Minh ha nh l 3.25

Cho h mt u vo m t bi:
0
dx 0 1
x + u
=
dt 0 0
1

H c:
1

( ) = e A =
0 1

(T ) = e A(T

1 T
=

1
0

Suy ra:
T

QT =

A( T )

BBT e A

( T )

d =

0
T

(T )2
=
T
0

288

det( Q T ) =

T 1

1 3
T
T
3
d =
1 2
1
T
2

T4
0 vi T > 0 .
12

T 0
1
( 0 , 1)
1 1
T

1 2
T
2

0
d
1

Do c nh thc khc 0 nn dim Im(Q T ) = 2 . Vy l h iu khin c.

Cng t nh l 3.25 ta c th dn ngc li cc tiu chun khc bit nh tiu

chun Hautus, tiu chun Kalman khi h thng ang xt l h thng dng. Chng hn
nh vi:
(T ) = e A(T

ca mt h dng c ma trn h thng l A, ta i t iu kin d) ca nh l 3.25:

(T )B = e A(T

B = [ a 0 (T )I+a 1 (T )A+

= (B, AB,

, An

+a n 1 (T ) A n

]B

a0 (T )

B)

a (T )
n 1

s thy cc vector hng ca (T )B c lp tuyn tnh trong khong 0 < T th cn

v l:
Rank( B , A B ,

, An

B) = n

v cng chnh l tiu chun Kalman.

3.3.4

Phn tch tnh quan st c

Khi nim quan st c v quan st c hon ton

Trong bi ton iu khin ngi ta thng cp n vic thit k b iu khin

phn hi cc bin trng thi hoc cc tn hiu ra. Vn mun ni y khng phi l
s cn thit ca vic phn hi m phi lm th no thc hin c vic phn hi
nhng i lng . Tt nhin rng ta phi o chng, phi xc nh c gi tr ca cc
i lng cn phn hi.
Thng thng, vic xc nh gi tr cc i lng hay tn hiu mt cch n gin
nht l o trc tip nh cc thit b cm bin (sensor). Song khng phi mi i lng
trng thi hoc u c th o c mt cch trc tip. Rt nhiu cc bin trng thi hay
tn hiu ch c th c c mt cch gin tip thng qua nhng tn hiu o c khc .
Hn na, nhiu bin trng thi li khng mang bn cht vt l (khng phi l tn hiu)
nn khng th o c chng. Chng hn:

Gia tc khng th o c trc tip m phi c suy ra t vic o tc trong

mt khong thi gian.

Gi tr cng sut c c nh vic o dng in v in p.

thng nht chung, ngi ta s dng khi nim quan st mt bin trng thi
ch cng vic xc nh n gin tip thng qua cc tn hiu o c khc.

289

nh ngha 3.3: Mt h thng c tn hiu vo u(t) v tn hiu ra y(t ) c gi l:

a)

Quan st c ti thi im t 0 , nu tn ti t nht mt gi tr hu hn T > t 0

im trng thi x(t 0 )=x 0 xc nh c mt cch chnh xc thng qua vector
cc tn hiu vo ra u(t), y(t ) trong khong thi gian [ t 0 , T ] .

b)

Quan st c hon ton ti thi im t 0 , nu vi mi T > t 0 , im trng thi

x 0 =x(t 0 ) lun xc nh c mt cch chnh xc t vector cc tn hiu vo ra
u(t), y(t ) trong khong thi gian [ t 0 , T ] .

Ch : Yu cu phi o trong khong thi gian T hu hn l rt quan trng.

Khong thi gian quan st cng ngn s cng tt cho cng vic iu khin sau ny. Nu
thi gian quan st qu ln, im trng thi x 0 va xc nh c s mt ngha ng
dng cho bi ton iu khin, v d khi c c x 0 th c th h chuyn n mt im
trng thi mi cch rt xa im trng thi x 0 .
Mt s kt lun chung v tnh quan st c ca h tuyn tnh

Mt cch tng qut, sau y ta s xt h tuyn tnh c th khng dng vi:

dx
= A( t ) x + B( t )u

dt
y = C( t ) x + D( t )u

trong A(t) R n

, B(t) R n

(3.57)
m

, C(t) R r

, D(t) R r

l nhng ma trn c phn t

l hm s ph thuc t.
nh l 3.26: H khng dng (3.57) khng c trng thi tha s

a)

Quan st c ti t0 khi v ch khi tn ti t nht mt gi tr T > t 0 hu hn

sao cho cc vector ct ca ma trn C ( t ) ( t t 0 ) c lp tuyn tnh trong
khong thi gian t 0 t < T .

b)

Quan st c hon ton ti t0 khi v ch khi vi mi gi tr T > t 0 , cc vector

ct ca ma trn C ( t ) ( t t 0 ) c lp tuyn tnh trong khong t 0 t < T .

Chng minh:
Phng trnh vi phn ca (3.57) vi iu kin u x(t 0 )=x 0 c nghim:
t

x( t ) = ( t t0 ) x0 + ( t ) B( ) u d
t0

Thay vo phng trnh th hai c:

t

y(t ) = C(t) (t t 0 )x 0 +C(t) ( t ) B( ) u d + D( t ) u

0

290

C(t) (t t 0 )x 0 = C(t) ( t ) B( ) u d + D( t ) u y(t )

(3.58)

Theo nh ngha 3.3, h (3.57) quan st c ti t 0 nu tn ti mt khong thi gian

hu hn [t 0 , T ] x(t 0 )=x 0 xc nh c t u ( t ) v y(t ) khi t 0 t < T . iu ny ng
ngha vi vic phng trnh (3.58) c nghim x 0 duy nht.
Do ch c thnh phn C(t) (t t 0 )x 0 cha x0 nn (3.58) s c nghim x 0 duy nht
nu tn ti t nht mt gi tr hu hn T > t 0 sao cho cc vector ct ca C(t) (t t 0 )
khng ph thuc tuyn tnh trong ton b khong [t 0 , T ] v chnh l iu phi chng

minh.
V d 3.24: Minh ha nh l 3.26

Xt h tuyn tnh, c tham s ph thuc t vi m hnh trng thi:

dx 0 1
=

x + Bu
dt 0 0

y = 1 , 1 t 1 x + Du

trong B , D l hai ma trn ty . H c:

1 t0 t
(t t 0 ) =
,
1
0

C = 1 , 1 t 1

Bi vy:

1 t0 t
C ( t ) ( t t 0 )=(1 , 1 | t 1 | )
=(1 , t 0 ( t 1) | t 1 | )
1
0
t
(hng s) khi t 1
t0 ( t 1) t 1 = 0
t0 2( t 1) khi t > 1

Khi t 0 l ty , ta chn T > t 0 v T > 1 . Hai (vector) ct ca C ( t ) ( t t 0 ) s c lp

tuyn tnh trong khong 1 < t < T , tc l s khng ph thuc tuyn tnh trn ton b
khong [ t 0 , T ] , bi vy h quan st c ti t 0 . Khi t 0 > 1 hai ct ca C ( t ) ( t t 0 ) s
c lp tuyn tnh trong mi khong [t 0 , T ] c t 0 < T , nn ti t 0 > 1 h khng nhng
quan st c m cn quan st c hon ton.

nh l 3.27: Nu h khng dng (3.57) c C l ma trn hng (khng ph thuc t) quan

st c ti t 0 th n cng quan st c hon ton ti t 0 v ngc li.

Chng minh:
Theo nh l 3.26, h (3.57) quan st c ti thi im t 0 nu tn ti T 1 > t 0 hu
hn sao cho cc vector ct ca C ( t t 0 ) khng ph thuc tuyn tnh trn ton khong

291

[ t 0 , T 1 ]. V C l ma trn hng nn ( t t 0 ) l thnh phn duy nht ph thuc t trong

tch C ( t t 0 ) . Do ( t t 0 ) khng suy bin vi mi t (ng l 3.12) nn iu ny cng
ng vi mi khong [ t 0 , T 1 ], trong T l s ty ln hn t 0 .

V d 3.25: Minh ha nh l 3.27

Cho h khng dng m t bi:

dx 1 t
1
=

x + u
0
1
dt

y = (1 , 1) x

Theo kt qu ca v d 3.11 th h ny c:
t
e
(t)=
0

t2 t
e
2
et

Vy:
tt
e 0
C ( t t 0 ) = (1 , 1)

( t t0 )2 t t0
e
t t0
2
= e
t t0

e

( t t0 )2 t t0
e
+ et t0

v C ( t t 0 ) c t s gia hai ct ca n:
( t t0 )2 t t0
e
+ et t0
( t t0 )2
2
+ 1 hng s
=
2
et t0
vi mi t nn chng c lp tuyn tnh vi nhau trong khong [ t 0 , T ] . Suy ra hai ct ca

C ( t t 0 ) l c lp tuyn tnh vi mi t [ t 0 , T ] . Do h quan st c hon ton.

nh l 3.28: Nu h khng dng (3.57) quan st c ti thi im t0 th n cng quan

st c ti mi thi im t 0 .

Chng minh:
Khi h (3.57) quan st c ti t0 th s tn ti mt gi tr hu hn T > t 0 cc
vector ct ca ma trn C ( t ) ( t t 0 ) c lp tuyn tnh trong khong thi gian t 0 t < T .
Xt ti mt thi im t 1 0 bt k, t nh l 3.12 v tnh cht ca ( t ) , ta c:

C(t)(t t1)= C(t)(tt0)(t0t1)

Nhng do ( t 0 t 1 ) l ma trn hng khng suy bin nn cc vector ct ca ma trn hm

C ( t ) ( t t 1 ) cng v th m c lp tuyn tnh trong khong thi gian t 1 t < T . Bi vy

theo nh l 3.26, h quan st c ti thi im t 1 (.p.c.m).

292

Trn c s nh l 3.28 th ring i vi h tuyn tnh, t nay v sau ta s ni ngn

gn l h quan st c thay v h quan st c ti im thi gian t 0 .
Tnh i ngu v cc tiu chun xt tnh quan st c ca h tham s hng

Cho h tuyn tnh, tham s hng m t bi:

dx
= A x + Bu

dt
y = C x + Du

vi

ARn

, BRn

, C Rr

, DRr

(3.59)

Mt h tuyn tnh khc c suy ra t h trn vi m hnh:

dx
T
T
dt = A x + C u

y = BT x + DT u

(3.60)

c gi l h i ngu vi h (3.59) cho. C th thy ngay c l t l ma trn hm

truyn ca h (3.59):

G ( s ) = C ( sI A ) B + D
ta cng c ma trn hm truyn G T ( s ) cho h i ngu (3.60) vi n.
nh l 3.29: H tham s hng (3.59) quan st c khi v ch khi h (3.60) i ngu vi
n iu khin c.

Chng minh:
Nu h (3.59) quan st c ti T * th theo nh l 3.26, cc vector ct ca

C(tT*) = CeA(

tT*)

l c lp tuyn tnh vi mi t. iu ny dn n cc vector ct ca C e A ( T *

lp tuyn tnh v e

( Ce

A( t T *)

A(tT*) A(T*t)

t)

cng c

= I. Suy ra cc vector hng ca:

T
= e A ( t T *)CT

l c lp tuyn tnh. Vy theo nh l 3.26, h (3.60) iu khin c.

Chng minh tng t ta c iu ngc li l khi h (3.59) iu khin c th h
(3.60) s quan st c.

Da vo ni dung nh l 3.29 v cng vi cc tiu chun xt tnh iu khin c

ca h tuyn tnh tham s hng bit, ta s c:
nh l 3.30: Cho h tham s hng (3.59) khng c trng thi tha. Cc pht biu sau l
tng ng:

293

a)

H quan st c

b)

sI A
Rank
= n vi mi s, v I l ma trn n v (Hautus, 1969).
C

c)

CA
Rank
= n (Kalman, 1961).

CA n 1

Chng minh:
a ) b ) : Theo nh l 3.29, h (3.59) quan st c th cn v l h (3.60) iu
khin c. Tip tc, vi nh l 3.23 v tiu chun Hautus th h (3.60) iu khin c
khi v ch khi:
Rank(s I A T , C T ) = n vi mi s
Suy ra:
sI A
Rank(s I A T , C T )T = Rank
=n
C

a ) c ) : h (3.59) quan st c th cn v l h (3.60) iu khin c v theo

nh l 3.24 ca Kalman, iu tng ng vi:
Rank( C T , A T C T ,

Rank( C T , A T C T ,

, (An

, (An

1 T

) CT) = n

1 T

) CT)T

CA
= Rank
=n

CA n 1

V d 3.26: Minh ha nh l 3.30

Cho h tham s hng m t bi:

0 0 2
0 1

dx

= 1 0 4 x + 1 2 u
dt
1 1

0 1 3

1 0 1
x
y =
0 1 1

S dng tiu chun Kalman kim tra tnh quan st c ta thy:

1 0 1
,
C =
0 1 1

294

1
2 0 1

CA =
1 1 7

0 0 2
0 1 1
1 0 1
1 0 4 =

CA =
0 1 1 0 1 3 1 1 7

0 0 2

1 1
1

1 0 4 =
0 1 3 1 7 15

0 1
1

1
1
0
C
0 1 1

= 3
Rank CA = Rank
1
1 7
CA 2

1
1 1
1 7 15

3.3.5

h l quan st c.

Phn tch tnh ng hc khng

Xt h tuyn tnh vi tn hiu vo u ( t ), tn hiu ra y ( t ) c hm truyn:

G ( s )= k

+ bm 1sm 1 + sm

b0 + b1 s +
a0 + a1 s +

+ an 1 sn 1 + sn

B( s)
A( s)

(m<n)

R rng nu c m > 0 hay c bc tng i r = n m < n th G ( s ) s c im khng. Theo

nh l 3.2, h cng m t c bi m hnh trng thi chun iu khin:

1
0
0
0
0

0
1
0

0
dx

x + u = Ax + bu
=

dt 0
0
0
1

an 1

a0 a1 a2

y = ( b0 , b1 ,
, bm 1 , 1 , 0 ,
, 0) x = cT x

v gia chng c quan h (3.9) cho trong nh l 3.1, c th l:

G ( s )= c T ( sI A )

det( sI A ) = a 0 + a 1 s + a 2 s 2 +

+an1sn

+sn

nh ngha 3.4: Nu h tuyn tnh c t nht mt im trng thi u x 0 0 v ng vi

n l mt tn hiu iu khin u 0 ( t ) sao cho tn hiu u ra y ( t ) ng nht bng 0

th h c gi l c tnh ng hc khng (zero dynamic).
Tt nhin rng tnh cht ng hc ca h khng thay i nu ta bin i m hnh
trng thi ca n bng nhng php bin i tng ng z = S x x = S

z hay S l

mt ma trn vung khng suy bin. By gi ta nh ngha php i bin:

cT x

cT Ax
z1

z
z = 2 = S x = cT A r 1 x

x
1
zn

n r

295

trong r l bc tng i ca h. Php bin i ny a h v dng:

0
0 1
0
0

=
+ + u

1
0
0
dt 0 0

T
T

g
k
s

d
= P +Q
dt

y(t)=z1(t)
trong :
z1

,
z
r

0
Q=

0
b
0

zr +1

,
z
n

b1

b2

1
bm 1
0

v vector hng gT , s T , cng nh ma trn P c suy ra t A , b , c T , z ( x ) ging nh Q ,

nhng y khng c ta tnh c th v chng khng c vai tr g trong vic xt iu
kin tn ti tnh ng hc khng.
Gi s rng h c tnh ng hc khng. Vy th phi c:

y=z1=0

(t ) = = 0
0

Suy ra:
d
= Q vi gi tr u 0 tu

dt

u ( t ) = 1 s T ( t )
0
k

(3.61)

0
Ni cch khc, khi ang trng thi u z 0 = , ty , v c kch thch
0
0

bng tn hiu u 0 ( t ) tnh theo (3.61), th tn hiu u ra ca h s ng nht bng khng,

mc d trng thi (t ) ca n li khc khng, thm ch cn tin ti v cng nu ma
trn Q c t nht mt gi tr ring nm bn phi trc o. Khi ch ng hc khng,
0
ca h c quyt nh bi gi tr ring ca
dng ca qu o trng thi z ( t ) =
( t )

ma trn Q v ta thy chnh l im khng ca hm truyn G ( s ), v:

det( s I Q ) = b 0 + b 1 s + b 2 s 2 +

+bm1sm

+sm

Kt hp thm quan h bit gia m hnh (3.8) ca h SISO vi im khng ca n:

296

 sI A b
B( s) = det T
=0
c
d

(3.62)

ta c kt lun:
nh l 3.31: h tuyn tnh c qu o trng thi x ( t ) ch ng hc khng tin v
gc ta th cn v l mi im khng ca n phi nm bn tri trc o, tc l
h phi l pha cc tiu (minimum phase), hay (3.62) l a thc Hurwitz.

3.4 Thit k b iu khin

3.4.1

B iu khin phn hi trng thi gn im cc

t vn v pht biu bi ton

Xt h MIMO c m hnh trng thi tham s hng (3.59). Theo cng thc (3.39) v
vic xc nh ma trn hm truyn G ( s ) ca h t m hnh trng thi (3.59) th cc im
cc ca h chnh l gi tr ring ca ma trn A. Mt khc, cht lng h thng li ph
thuc nhiu vo v tr ca cc im cc (cng l gi tr ring ca A) trong mt phng
phc (mc 2.3.4). Do , h thng c c cht lng mong mun, ngi ta c th can
thip bng mt b iu khin vo h thng sao cho vi s can thip , h c c cc
im cc l nhng gi tr cho trc ng vi cht lng mong mun. Cng v nguyn l
can thip h nhn c cc im cc cho trc nh vy nn phng php thit k b
iu khin can thip ny c tn gi l phng php cho trc im cc, hay phng php
gn im cc (pole placement).
C hai kh nng thit k b iu khin gn im cc bng b iu khin R tnh l:

Thit k bng phn hi trng thi (hnh 3.10a). Vi R, h kn s c m hnh:

dx
= Ax+Bu = Ax+B(wRx) = Ax+BwBRx = (ABR)x+Bw
dt

bi vy nhim v "gn im cc" l phi thit k R sao cho ma trn A B R nhn n

gi tr s i , i = 1 , 2 , , n , c chn trc t yu cu cht lng cn c ca h
thng, lm gi tr ring. Ni cch khc, ta phi tm R t phng trnh:
det( s I A + B R ) = ( s s 1 ) ( s s 2 )
a)

u dx = A x + B u
dt
y = Cx+Du
R

b)

(ssn), s

(3.63)

u dx = A x + B u
dt
y = Cx

Hnh 3.10: Nguyn tc thit k b iu khin gn im cc

297

Thit k theo nguyn tc phn hi tn hiu ra y (hnh 3.10b). V tn hiu phn hi

v b iu khin R l y nn h kn c m hnh:
dx
= Ax+Bu = Ax+B(wR y ) = Ax+BwBRCx = (ABRC)x+Bw
dt

Vy nhim v "gn im cc" l phi tm R ma trn A B R C c cc gi tr

ring l n gi tr s i , i = 1 , 2 , , n c chn trc t yu cu cht lng cn
c ca h thng, hay nhim v thit k chnh l tm ma trn R tha mn:
det( s I A + B R C ) = ( s s 1 ) ( s s 2 )

(ssn)

(3.64)

Nh sau ny ta thy, phng trnh (3.63) c nghim R th ch cn h (3.59) cho

ban u iu khin c l . Ngc li, i vi phng trnh (3.64) th iu kin h
(3.59) iu khin c l cha v ngi ta thng phi m rng phm vi tm nghim
sang c nhng b iu khin phn hi u ra mang tnh ng hc, ch khng phi ch
gii hn trong cc b iu khin tnh (ma trn hng) R , tc l phi s dng b iu
khin c m hnh trng thi (tuyn tnh):
dz
= Ez + Fy

R : dt
q = Gz + Hy

Mc ny s gii thiu cc phng php khc nhau phc v bi ton thit k b iu

khin phn hi trng thi gn im cc R R m

, m thc cht chnh l cc phng

php tnh gii phng trnh (3.63).

Phng php Ackermann

Phng php Ackermann l phng php thit k b iu khin gn im cc R

theo nguyn l phn hi trng thi cho i tng ch c mt tn hiu vo. Trc ht, ta
xt i tng c mt u vo u m t bi m hnh trng thi dng chun iu khin
(xem thm nh l 3.2):
0

0
dx
=
dt
0
a
0

a1

a2

0

x + u
0

1
1

an 1
b
0

Nh vy, i tng c a thc c tnh theo cng thc (3.40) l:

det( s I A ) = a 0 + a 1 s +

+an1sn

vi nghim l cc im cc ca i tng.
298

+sn

(3.65)

Tng ng vi i tng (3.65), b iu khin phn hi trng thi R phi l:

R = (r1, r2,

, rn)

(3.66)

Khi h kn s c m hnh:
dx
= (AbR)x+bw
dt
1
0
0

0
1
0
= [
0
0
0

a2
0
1

0
0
(r , r ,
0 1 2
1
1

an 1

0
1
0

0
0
1

0
0
0

( a + r ) ( a + r ) ( a + r )
0
1
1
2
2
3

0


, r n )] x + w
0
1

x+ w
0

( an 1 + rn )

vi a thc c tnh:
det( s I A + b R ) = ( a 0 + r 1 ) + ( a 1 + r 2 ) s +

+(an1+rn)sn

+sn

v phng trnh (3.63) tr thnh:

( a 0 + r 1 )+( a 1 + r 2 ) s +

+( a n 1 + r n ) s n

+ s n = ( s s 1 )( s s 2 )

( a 0 + r 1 )+( a 1 + r 2 ) s +

+( a n 1 + r n ) s n

+ s n = a0 + a1 s +

(ssn)
+ an 1 s n

+sn

Suy ra:

r i = ai 1 ai 1 , i =1,2, , n
Vy thut ton xc nh b iu khin R gn im cc s i , i = 1 , 2 , , n theo
nguyn tc phn hi trng thi cho i tng (3.65) mt u vo dng chun iu khin,
gm cc bc nh sau:

Tnh cc h s ai , i = 1 , 2 , , n ca phng trnh c tnh cn phi c ca h kn

t nhng gi tr im cc s i , i = 1 , 2 , , n cho theo:
(ss1)(ss2)

( s s n ) = a0 + a1 s +

+ an 1 s n

+sn

Tnh cc phn t r i , i =1,2, , n ca b iu khin (3.66) theo:

r i = ai 1 ai 1
V d 3.27: Gn im cc cho i tng chun iu khin

299

Xt i tng SISO c m hnh trng thi:

0 1 0
0

dx
= 0 0 1 x + 0 u
dt
1

1 2 3

tc l c a 0 = 1 , a 1 = 2 v a 2 = 3 . Gi s rng cht lng mong mun ca h kn

c chn vi nhng im cc s 1 = 3 , s 2 = 4 , s 3 = 5 cn phi c. Vy th vi:
3

( s s 1 ) ( s s 2 ) ( s s 3 ) = ( s + 3 ) ( s + 4 ) ( s + 5 ) = s + 12s + 47s + 60
ta c a0 = 60, a1 =47 v a2 = 12. Suy ra, b iu khin phn hi trng thi cn tm l:

R = (601 , 47+2 , 12+3) = (59 , 49 , 15)

Tip theo, ta bn ti vn i tng cho ban u c m hnh khng dng chun

iu khin:
dx
= Ax+bu
dt

(3.67)

Rt t nhin, ta ngh ngay ti vic tm mt php i bin:

z = Sx

x = S

sao cho vi n, i tng ban u c chuyn v dng chun iu khin.

nh l 3.32: Nu h (3.67) l iu khin c th php i bin z = S x vi:
sT

sT A
S =

T n 1
s A

trong s T l vector hng cui cng ca ma trn:

(b , Ab ,

, An

b)

s chuyn n v dng chun iu khin:

0

0
dz
1
= SAS z+Sbu =

dt
0
a
0

a1

a2

vi a 0 , a 1 , , a n 1 l cc h s ca a thc c tnh:

300

x+ u
0

1
1

an 1
0

+an1sn

det( s I A ) = a 0 + a 1 s +

+sn

Chng minh:
Trc ht ta thy ngay c:

s T = (0,

, An

,0,1)( b , Ab ,
, An

s T ( b , Ab ,

sT
sT b 0

sT A
sT Ab
Sb=
b =
=

0
T n 1
T n 1 1
s A
s A b

b ) = (0,

b)

,0,1)

0 nu 0 k n 2
T k
s A b =
1 nu k = n 1

Ngoi ra, theo nh l CayleyHamilton (nh l 3.8) cn c:

T
sT
sT A
s A

T
sT A
sT A2
s A2
SA=
A =
=

T n 1
T n
T
T
s A
s A a0 s a1 s A

T n 1
an 1 s A

vi a 0 , a 1 , , a n 1 l cc h s ca a thc c tnh, cng nh:

0

0
a
0

0
a
0

a1

a2

a1

a2

0
S =

1
0

a
an 1
0
0

a1

a2

s A

0
T

s A2
S =

1
a sT a sT A
1
0
an 1
0

1
an 1
0

sT

sT A

T n 1
s A

T n 1
an 1 s A

Vy:
0

0
SA=

0
a
0

a1

a2

0
S

1
an 1
0

301

V d 3.28: Minh ha nh l 3.32

Cho i tng:
0
0 1
0

dx
= 0 1 1 x + 0 u
dt
1

0 0 2

i tng ny c:
0
0 1

Ab = 0 1 1
0 0 2

0 0

0 = 1 ,
1 2

0
0 1

A b = 0 1 1
0 0 2

0 0 1

= 0 1 3
1 2 4

0 1

1 = 3
2 4

10 2 1

= 3 1 0
1 0 0

( b , Ab , A b )

s T = (1 , 0 , 0)

0
0 1

s A = (1 , 0 , 0) 0 1 1 = (0 , 1 , 0)
0 0 2

0
0 1

s A = (0 , 1 , 0) 0 1 1 = (0 , 1 , 1)
0 0 2

Vy:
1 0 0

S = 0 1 0
0 1 1

ta s c:

1 0 0

z = Sx = 0 1 0 x
0 1 1

0
1 0 0 0 1

dz
1
= SA S z+Sbu = 0 1 0 0 1 1
dt
0 1 1 0 0 2

1 0 0

x = 0 1 0 z
0 1 1

1 0 0
1 0 0 0

0 1 0 z+ 0 1 0 0 u
0 1 1
0 1 1 1

0
0 1
0

1 z+ 0 u
= 0 0
0 2 3
1

S
w

z
Sb

SAS
Hnh 3.11: Minh ha phng php Ackermann
cho h c m hnh trng thi khng
dng chun iu khin.

Rz
R

302

ng nhin, khi chuyn c (3.67) v dng chun iu khin, ta li p dng

c thut ton bit thit k b iu khin R z phn hi trng thi z cho n, tc l:

R z = ( a0 a 0 , a1 a 1 , , an 1 a n 1 )
vi cc h s a i , ai , i = 0 , 1 , , n 1 c xc nh t:
det( s I A ) = a 0 + a 1 s +
(ss1)(ss2)

+an1sn

+sn

( s s n ) = a0 + a1 s +

+ an 1 s n

+sn

Cui cng, b iu khin R phn hi trng thi x cn tm s l:

R = Rz S = ( a0 a 0 , a1 a 1

sT

sT A
, , an 1 a n 1 )

s T A n 1

n 1

n 1

n 1

i=0

i=0

i=0

T
T
T
( ai ai ) s Ai = ai s Ai ai s A i

n 1

n 1

i=0

i=0

T n
T
n
ai s Ai + s A , v c A = ai A i (CayleyHamilton)

Hnh 3.11 minh ha cho vic thit k R gm cc bc nh sau:

Xc nh php i bin z = S x theo nh l 3.32

Tnh cc h s ai , i = 0 , 1 , , n 1 ca phng trnh c tnh cn phi c ca h

kn t nhng gi tr im cc s i , i = 1 , 2 , , n cho theo:
(ss1)(ss2)

( s s n ) = a0 + a1 s +

+ an 1 s n

+sn

B iu khin R cn tm s l:

R=

n 1

T n
T
ai s Ai + s A

(3.68)

i=0

V d 3.29: Thit k b iu khin gn im cc theo Ackermann

Xt li i tng cho v d 3.28 v vector:

sT = (1 , 0 , 0)
tm c. Khi , gn cc im cc s 1 = s 2 = s 3 = 1 , vi:
(ss1)(ss2)(ss3) = 1+3s+3s2+s3

a0 = 1 ,

a1 = a2 = 3

ta s dng b iu khin phn hi trng thi R tm theo (3.68) nh sau:

303

a0 s T = (1 , 0 , 0)
0
0 1

a1 s T A = 3(1 , 0 , 0) 0 1 1 = 3(0 , 1 , 0) = (0 , 3 , 0)
0 0 2

0
0 1 0
0 1

T 2
a2 s A = 3(1 , 0 , 0) 0 1 1 = (0 , 3 , 0) 0 1 1 = (0 , 3 , 3)
0 0 2
0 0 2

0
0 1 0
0 1

s A = (1 , 0 , 0) 0 1 1 = (0 , 1 , 1) 0 1 1 = (0 , 2 , 3)
0 0 2
0 0 2

R = a0 s T + a1 s T A + a2 s T A 2 + s T A 3 = (1 , 2 , 0)

Phng php Roppenecker

Ging nh phng php Ackermann, phng php Roppenecker c s dng

thit k b iu khin phn hi trng thi theo nguyn l cho trc im cc. Khc vi
Ackermann, phng php Roppenecker p dng c cho c h MIMO. bt u ta
hy xt i tng MIMO:

dx
= Ax+Bu
dt

(3.69)

Nhim v t ra l tm b iu khin phn hi trng thi R sao cho h kn (hnh 3.10a):

dx
= (ABR)x+Bw
dt

nhn nhng gi tr s i , i =1,2, , n cho trc lm im cc. Ch rng nu c s k l

mt s phc th cng phi c mt gi tr lin hp vi n s i = sk , v ch nh vy cc phn
t ca R mi c th l nhng s thc.
Gi s rng tm c R. Vy th do det( s k I A + B R ) = 0 vi mi k =1,2, , n
nn ng vi mi k phi c mt vector (ring bn phi) a k khng ng nht bng 0 tha
mn:
( s k I A + BR ) a k = 0

( s k I A ) a k = BRa k

Nu gi t k = R a k l nhng vector tham s th:

( s k I A ) a k = Bt k

ak = (skIA)

Bt k , k =1,2, , n

(3.70)

v
(t1 , , tn) = R(a1 , , an)

304

R = ( t 1 , , t n )( a 1 , , a n )

(3.71)

T y, ta c th hnh dung s lc vic thit k b iu khin phn hi trng thi

R gn cc im cc s k , k =1,2, , n cho trc, gm cc bc nh sau:

Chn n vector tham s t 1 , , t n sao cho vi n n vector a k , k =1,2, , n xc

nh theo (3.70) lp thnh h c lp tuyn tnh, tc l ma trn ( a 1 ,

, an)

khng b suy bin.

Xc nh R theo (3.71).

V d 3.30: Thit k b iu khin gn im cc theo Roppenecker

Hy thit k b iu khin R, gn im cc s 1 = 1 , s 2 = 2 cho i tng

0
dx 0 1
x + u
=
dt 0 2
1

V i tng c hai bin trng thi v mt u vo nn t 1 , t 2 ch c mt phn t, bi

vy ta c th vit mt cch n gin l t 1 , t 2 thay v phi s dng k hiu vector. ng
vi i = 1 v i = 2 th t (3.70) c:
1 0 0 1 1 1

=

( s 1 I A ) =
0 1 0 2 0 3

(s1IA)

2 0 0 1 2 1

=

( s 2 I A ) =
0 2 0 2 0 4

(s2IA)

B =

1 1

3 1

B =

1 1

8 2

v v hai vector trn c lp tuyn tnh nn cng ch cn chn t 1 = 3 , t 2 = 8 . Khi :

a1 = (s1IA)

1
B t 1 =
1

a2 = (s2IA)

1
B t 2 =
2

l hai vector c lp tuyn tnh. Vy:

R = ( t 1 , t 2 ) ( a 1 , a 2 )

1
1

= (3 , 8)
1 2

= (2 , 5)

Kim tra li th thy vi R tng hp c, h kn c ma trn h thng:

0 1 0
0 1
A BR =
(2 , 5) =

0
2
1

2 3

vi hai gi tr ring 1 v 2 ng nh yu cu t ra.

Tuy nhin, c ba vn cn phi bn thm v thut ton trn. l:

C thc s vi b iu khin R tng hp c, ma trn h thng ca h kn s c

cc gi tr ring l s k , k =1,2, , n.

Phi c iu kin g tn ti a k tnh theo (3.70).

305

Phi lm g tt c n vector a 1 , , a n lp thnh h c lp tuyn tnh?

V cu hi th nht. Xut pht t (3.71) c:

Rak = tk

vi mi k = 1 , 2 , , n

BRak = Btk = (skIA) ak

(skIA+BR)ak =0

Do a k 0 nn ( s k I A + B R ) phi l ma trn suy bin, tc l:

det( s k I A + B R ) = 0

vi mi k = 1 , 2 , , n

hay s k , k =1,2, , n l gi tr ring ca ( A B R ) .

V cu hi th hai. tnh c a k , k =1,2, , n theo (3.70) th r rng phi c

(skIA)

. Ni cch khc, khi nhng im cc cho trc s k , k =1,2, , n khng phi

l gi tr ring ca A th ta tnh c a k , k =1,2, , n theo (3.70). Trng hp c mt

gi tr s k lm cho (s k I A ) suy bin th c ngha l b iu khin R khng cn phi dch
chuyn gi tr ring s k . Bi vy ng vi n s c:
(s k I A ) a k = B t k = 0
Ni cch khc, trong cng thc (3.71), khi vector tham s t k phi c chn bng 0

tk=0
v vector a k phi l vector ring bn phi ng vi gi tr ring s k ca i tng ch
khng phi c tnh theo (3.70), tc l:
(s k I A ) a k = 0

(3.72)

V cu hi th ba. xt khi no a 1 , , a n c lp tuyn tnh vi nhau ta chia lm

ba trng hp:

Khi tn ti cc vector (s k I A )

th chng t nht phi khc nhau tng i mt.

Ni cch khc nhng gi tr im cc cho trc s k , k =1,2, , n m khng phi

l gi tr ring ca A th phi khc nhau tng i mt.

Nu c nhiu gi tr s k m ng vi n khng tn ti (s k I A ) 1, tc l nhng gi

tr ny l gi tr ring ca A v b iu khin R khng cn dch chuyn cc im
cc s k . Gi a k l vector ring bn phi ca A ng vi s k . Cc vector ring ny s

c lp tuyn tnh vi nhau nu nh nhng gi tr ring khng cn dch chuyn

cng li khc nhau i mt. Trng hp chng khng khc nhau, chng hn nh
c q gi tr s k ging nhau th bt buc ng vi nghim s k bi q phi c ng q
vector ring bn phi c lp tuyn tnh vi nhau.

306

Nu a 1 , , a n vn khng c lp tuyn tnh mc d tha mn cc yu cu

trn th ta c th thng qua vic la chn t 1 , , t n a 1 , , a n lp thnh
h c lp tuyn tnh. Trng hp iu vn khng xy ra th cui cng ta c th
thay i nh cc gi tr s k , k =1,2, , n c c a 1 , , a n c lp tuyn
tnh. Vic sa i s k cng l hp l v thc t c rt nhiu b gi tr s k , k =1,2,
, n cng mang n mt cht lng nh nhau cho h kn.

Tng kt li cc trng hp va xt, ta i n thut ton Roppenecker dng tng

qut vi hai bc tnh nh sau:
1) Tnh cc vector a k ng vi cc gi tr s k cho:
Nu s k khng phi l gi tr ring ca A th tnh theo (3.70), trong t k l

a)

tham s t do.
b)

Nu s k l gi tr ring ca A th chn t k = 0 v a k l vector ring bn phi

tng ng ca A tnh theo (3.72)

2) Chn cc vector tham s cn t do t k sao cho vi n n vector a k , k =1,2, , n xc

nh bc 1 lp thnh h c lp tuyn tnh, ri tnh R theo (3.71).
V d 3.31: Thit k b iu khin gn im cc theo Roppenecker

Xt i tng:
0
dx 2 1
x + u
=
dt 0 1
1

Ta s tm b iu khin tnh R, phn hi trng thi theo thut ton Roppenecker ma

trn h thng ca h kn nhn s 1 = 2 , s 2 = 1 lm cc gi tr ring.
Vi s 1 = 2 th:
2 0 2 1 4 1

=

( s 1 I A ) =
0 2 0 1 0 1

a1 = (s1IA)

(s1IA)

0,25

B =
1

0,25
1
t 1 =

Bt 1 =
1
4

y ta chn t 1 = 4 .
Vi s 2 = 1 th do det( s 2 I A ) = 0 , tc l s 2 l gi tr ring ca A nn b iu
khin R khng cn dch chuyn s 2 . Chn t 2 =0 v a 2 l vector ring bn phi ca i
tng:
(s2IA)a2 = 0

3 1
a2 = 0

0
0

1
a 2 =
3

Vy th:
307

R = ( t 1 , t 2 ) ( a 1 , a 2 )

1
1

= (4 , 0)
4
3

= (12 , 4)

Kim tra li th thy vi R tng hp c ma trn h kn:

1
2 1 0
2
(12 , 4) =

A BR =
0

1
1

12

c hai gi tr ring 2 v 1 nh yu cu t ra.

Bn thm: Trong b iu khin R thit k theo phng php Roppennecker c cha

cc vector tham s t do t 1 , t 2 , , t n . Nh vy, thc cht phng php cho ra tp

cc b iu khin R ( t 1 , t 2 , , t n ) gn im cc s k , k =1,2, , n t trc cho mt i
tng (3.69). iu ny to c hi ta c th thit k c mt b iu khin R gn im
cc s k , k =1,2, , n cho i tng nhiu m hnh:
Mi :

dx
= Ai x + Biu vi i =1,2, , m
dt

(3.73)

theo cc bc nh sau:
1) Thit k cho tng m hnh Mi trong (3.73) mt b iu khin R i ( t 1 , t 2 , , t n ) ph
thuc tham s.
2) Chn cc vector tham s t 1 , t 2 , , t n tt c m b iu khin thu c tr thnh
ng nht:

R1(t1,t2,,tn) = R2(t1,t2,,tn) =

= Rm(t1,t2,,tn) = R

Phng php modal phn hi trng thi

Phng php modal do Rosenbrock xy dng nm 1962 l phng php thit k b

iu khin tnh R, phn hi trng thi cho i tng MIMO m t bi:
dx
= Ax+Bu
dt

(3.74)

h kn thu c vi m hnh (hnh 3.10a):

dx
= (ABR)x+Bw
dt

nhn nhng gi tr cho trc s i , i =1,2, , n lm im cc, tc l c:

det(s i I A + B R ) = 0

vi mi i =1,2, , n .

T tng ca phng php l kh n gin. N bt u t vic chuyn m hnh i

tng, c th l ma trn A, sang dng ng cho (dng modal) hay Jordan thit k
b iu khin ri sau mi chuyn ngc li m hnh ban u.

308

 m t ni dung phng php modal, ta bt u vi trng hp ma trn A ca i

tng c dng ging ng cho. Mt ma trn A c gi l ging ng cho, nu:

hoc l cc gi tr ring i , i =1,2, , n ca n khc nhau tng i mt,

hoc l ng vi mt gi tr ring k bi q th phi c ng q vector ring bn phi

c lp tuyn tnh, tc l gi tr st hng ca ( k I A ) phi bng q.

Mt ma trn A ging ng cho lun chuyn c v dng ng cho nh php

bin i tng ng, trong ma trn ng cho thu c c cc phn t trn ng
cho chnh l gi tr ring ca n i , i =1,2, , n :

1 0

0 2
AM =

0 0

0
= diag( i )

vi M l ma trn modal c cc vector ct l vector ring bn phi ca A:

M = (a1 , , an)
( i I A ) a i = 0

vi mi i =1,2, , n .

V d 3.32: Bin i tng ng v dng ng cho

1 0
. Ma trn ny c hai gi tr ring l nghim ca:
Cho ma trn A =
3 2

det( I A ) = ( 1 ) ( 2 ) = 0

1 = 1 v

2=2

Tng ng vi hai gi tr ring l hai vector ring bn phi:

( 1 I A ) a 1 =0

( 2 I A ) a 2 =0

0
0

a 1 =0

1 0

a 2 =0
3 0

1
a 1 =
3
0
a 2 =
1

v hin nhin hai vector c lp tuyn tnh vi nhau. Do vy ma trn modal:

1 0

M = ( a 1 , a 2 ) =
3 1

khng suy bin v ta c:

1 0

=
3 1

Suy ra:

1 0 1 0 1 0 1 0
=


= diag( 1 , 2 )
A M =
3 1 3 2 3 1 0 2

309

V d 3.33: Bin i tng ng v dng ng cho

2 2 3

Ma trn A = 2
1 6 c cc gi tr ring l nghim ca:
1 2 0

det( I A ) = 3 2 21 +45 = ( +3) 2 ( 5) = 0

1 = 2 = 3 v

3 = 5.

Nh vy A c mt gi tr ring 1 = 3 bi 2 v mt gi tr ring 3 = 5 l nghim n.

ng vi 1 = 3 bi 2 c 2 vector ring c lp tuyn tnh l nghim ca:
1 2 3 a1

( A 1 I ) a = 2 4 6 a2 = 0
1 2 3 a

a1=2a2+3a3

2

a1 = 1 ,
0

a1 + 2a2 3 a3 = 0

2a1 + 4 a2 6 a3 = 0
a 2a + 3 a = 0
2
3
1

3

a 2 = 0
1

Cn li, ng vi 3 = 5 l vector ring:

7 2

(A3I)a3 = 2 4
1 2

Suy ra:
2

M = (a1, a2, a3) = 1

0

6 a 3 = 0
5
3 1

0 2 ,
1 1

a 3 = 2
1

2 4 6
1

1
2 5
8

1 2 3

Vy

2 4 6 2 2 3 2 3 1

1
AM = 1
2 5 2
1 6 1 0 2
8

1 2 3 1 2 0 0 1 1
3 0 0

= 0 3 0 = diag( 3 , 3 , 5 )
0
0 5

Quay li bi ton thit k b iu khin R cho i tng (3.74) c A l ma trn

ging ng cho. Gi i , i =1,2, , n l cc gi tr ring v M l ma trn modal ca A.
Khi vi php i bin x = M z hay z = M

x ta s thu c m hnh trng thi tng

tng cho i tng (hnh 3.12a):

dz
1
1
1
= M AMz + M Bu = Gz + M Bu
dt

310

trong

G=M

AM=
0

= diag( i )
n

Vi vic chuyn i trng thi nh ma trn modal M nh vy th mch phn hi

chnh l ma trn ng cho cha cc im cc ang c i , i =1,2, , n ca h. Do ,
mun h thng nhn tt c cc gi tr t trc s i , i =1,2, , n lm im cc mi ta ch
cn ni song song vi G mt khi khc c S G (hnh 3.12b), trong :
s1

0
S =

0
= diag( s i )

sn

0
s2
0

nh l 3.33: H vi s khi m t hnh 3.12b c cc im cc l s i , i =1,2, , n .

Chng minh:
T s khi ca h ta c m hnh trng thi:
dz
1
1
= (G+SG)z+M Bu = Sz+M Bu
dt
dx
1 dx
1
1
1
M
= SM x + M B u

= MSM x + B u
dt
dt

Do h s c cc im cc l gi tr ring ca M S M

MSM

cng l gi tr ring ca S v M S M

s c cc im cc l s i , i =1,2, , n

. Nhng gi tr ring ca

v S l hai ma trn tng ng, nn h

b)

SG

d)

c)

(cng l cc gi tr ring ca S).

a)

G
SG

B iu khin phn hi dng

SG

Hnh 3.12: Minh ha phng php thit k modal

311

Vic cn li l phi a h trong hnh 3.12b) v dng thc hin c trong thc t,
tc l v dng m im hi tip phi l im trng thi x v u ra ca khu hi tip
phi kt hp c vi u. p dng quy tc v i s s khi, trc tin d dng c ngay
s khi nh hnh 3.12c), v M l ma trn khng suy bin.
tip tc, ta chuyn im hi tip ti trc khu B. Vn s rt n gin nu B
l ma trn khng suy bin. Khi ta ch cn chn:

T = (M

B)

= B

(3.75)

l c v b iu khin phn hi m R khi s l:

R = T(SG)M

(3.76)

Song ni chung do B khng phi l ma trn vung (B c n hng, r ct vi n r ) nn

tch M
tch M

1
1

B cng c n hng, r ct v do khng th tnh T theo (3.75). Nu nh rng

B c hng l r th ta c th gi s rng r vector hng u tin ca n l c lp

tuyn tnh. iu gi s ny hon ton khng lm mt tnh cht tng qut ca phng
php v tch M

B ph thuc vo M nn lc no ta cng c th sp xp li th t cc

vector ring bn phi ca A trong M c c r vector hng u tin trong M

B l

c lp tuyn tnh.
Khi M

B c r vector hng u tin l c lp tuyn tnh, tc l:

K
B = r
K n r

(3.77)

trong K r l ma trn vung khng suy bin bao gm r vector hng u tin ca

M 1 B , th thay v xc nh T theo (3.75) ta ch ly T r l ma trn nghch o ca K r :

Tr = K r1

(3.78)

Lc ny, do T r ch cn l ma trn kiu r r nn cng thc (3.76) cng phi c sa i

li cho ph hp vi php nhn ma trn nh sau:

R = T r ( S r G r ) K r1

(3.79)

trong S r , G r l cc ma trn vung kiu r r nh ngha nh sau:

s1

0
Sr =

0
s2
0

0
,

sr

1 0

0 2
Gr =

0 0

(3.80)

biu din c cc cng thc (3.77), (3.78) di dng gn hn ta s dng mt

tnh cht sau ca i s ma trn. Nu:

M = (a1 , , an)
312

l ma trn modal ca A , trong a i , i =1,2, , n l cc vector ring bn phi ca A

ng vi gi tr ring i , i =1,2, , n ca n th khi bin i M

= (a1 , , an)

v dng:

bT
1
=
T
b
n

cc vector b j , i =1,2, , n li chnh l vector ring bn tri ca A ng vi i , tc l

bTi ( i I A ) = 0

vi mi i =1,2, , n

(3.81)

Vi tnh cht va nu trn ca ma trn A th khi k hiu M r1 l ma trn gm r vector

hng u tin ca M

bT
1
1
Mr = ,
T
b
r

, ta s c:
bT B
1

Tr =
T
b B
r

(3.82)

Ta i n thut ton xc nh b iu khin R dch chuyn im cc cho i tng

c hng ca B l r v A l ma trn ging ng cho, nh sau:

Xc nh r vector ring bn tri b 1 , , b r ca A theo cng thc (3.81).

Tnh M r1 v T r theo (3.82).

Xc nh S r , G

Tnh R theo cng thc (3.79).

t s i , i , i =1,2, , n theo (3.80).

nh l 3.34: B iu khin R tng hp theo thut ton trn ch dch chuyn c r im

cc i , i =1,2, , r trong s n im cc ca i tng (gi tr ring ca A) ti r gi

tr mong mun s i , i =1,2, , r . N khng lm thay i v tr cc im cc cn li
ca i tng. Ni cch khc, h kn thu c s c cc im cc l s1 , , s r ,

r+1 , , n.
Chng minh:
Do gi tr ring ca ma trn (im cc ca h) bt bin vi php bin i tng
ng nn gi tr ring ca A B R cng l gi tr ring ca:

(ABR)M = GM

BRM = G+M

B T r ( S r G r ) M r1 M

bT
1
K r 1
= G+
Kr ( S r G r ) ( a 1 , , a n )
T
K n r
b
r

Nhng v:
313

1 nu
bTi a j =
0 nu

i= j
i j

nn:

Ir

(ABR)M = G+
(SrGr)(Ir , )
K K 1
n r r

trong I r l ma trn n v kiu r r . Suy ra:

Ir
Sr Gr

(ABR)M = G+

(SrGr , ) = G+
K K 1 ( S G )
K K 1
r
r
n r r

n r r

s1

0
=

sr

0
.
0

r +1

vi l mt s thc no . T ng thc sau cng ta c c .p.c.m.

V d 3.34: Minh ha phng php modal

Hy thit k b iu khin tnh, phn hi trng thi hon ton cho i tng c m
hnh:
1
dx 0 2
x + u
=
dt 1 1
0

h mi nhn s 1 = 1 v s 2 = 3 lm cc im cc.
Do B c hng l 1 vi hng u tin ca n c lp tuyn tnh (khc 0) nn thut
ton nu trn ch chuyn c mt im cc. i tng c hai im cc l 1 = 1 v

2 = 2 . Ta s s dng thut ton xc nh R chuyn 1 = 1 ti s 1 = 1 .

By gi ta xc nh b 1 l vector ring bn tri ca i tng ng vi 1 = 1

b1T ( 1 I A ) = 0

1 2
T
= 0
b1T

1
2

Tip theo l:

S1G1 = 1 1 = 2
Suy ra:
M r1

314

= ( 1 , 1 ) v

1
T r = (1 , 1)
0

= 1

R = T r ( S r G r ) M r1 = 2 ( 1 , 1 ) = ( 2 , 2 ) .

1
b 1 =
1

Th li vi b iu khin R tm c th h kn vi:
0 2 1
2 0
( 2 , 2 ) =

A B R =
1

1
0

1 1

r rng l c mt im cc mi s 1 = 1 v mt im cc c 2 = 2.

Nh vy, b iu khin R khng chuyn c tt c n im cc i , i =1,2, , n

ca i tng ti n gi tr mi s i , i =1,2, , n nh mong mun m ch chuyn c r
trong s chng, nu nh B c hng l r. Song vi kt qu nh l 3.34 th iu hon
ton khng hn ch kh nng ng dng ca thut ton v hai l do sau y:
1) Thng thng, cc bi ton tng hp theo nguyn l cho trc im cc t khi
ngi ta t ra vn dch chuyn tt c n im cc m ch nhng im cc mang
tnh quyt nh ti s thay i cht lng ca h thng. Ni cch khc, thut ton
s c p dng trc tip cho bi ton c s cc im cc phi dch chuyn l r t hn
s cc im cc vn c ca i tng l n.
2) Trong trng hp s cc im cc phi dch chuyn li nhiu hn r hoc phi dch
chuyn ton b n im cc ca i tng th da vo nh l 3.34 ni rng nhng
im cc c dch chuyn s l cc im c sp xp trong S r cng nh trong G r
v thut ton khng lm thay i v tr nhng im cc cn li, ta c th ln lt
thc hin cc bc nh sau:
a)

S dng thut ton nu xc nh b iu khin R1 nhm dch chuyn r

im cc i , i =1,2, , r ti s i , i =1,2, , r .

b)

Xem h thng gm i tng v b iu khin R1 tm c nh mt i

tng mi. Vy th i tng mi ny s c cc im cc l s1 , , s r , r + 1 ,
, n . Sp xp li cc im cc, chng hn nh theo th t 1 , , n r ,

s n r+1 , , s n ri li s dng thut ton mt ln na tm b iu khin R2

th hai nhm chuyn r trong s n r im cc 1 , , n r ti cc im cc
mi s 1 , , s n r (hnh 3.13).
c)

C nh vy, ta thc hin bc b)

nhiu ln c c cc b iu
khin R k lng nhau cho ti
chuyn c ht tt c cc im
cc. Cch tng hp nhng b iu

i tng mi
i tng
iu khin

R1

khin R k lng nhau nh vy c:

R = Rk
k

c gi l iu khin cascade.

R2
Hnh 3.13: Nguyn tc tng hp b iu
khin cascade nh phng php modal.

315

V d 3.35: Minh ha thit k cascade vi phng php modal

Hy thit k b iu khin tnh, phn hi trng thi cho i tng c m hnh:

1
dx 0 2
x + u
=
dt 1 3
0

sao cho h mi nhn s 1 = s 2 = 1 lm cc im cc.

i tng c hai im cc l 1 = 1 v 2 = 2 . Do B c hng l 1 vi hng u tin
ca n c lp tuyn tnh (khc 0) nn phng php modal trc tip ch c th chuyn
c nhiu nht mt im cc. Trc tin, ta s chuyn 1 = 1 ti s 1 = 1 . Theo (3.80):

S1G1 = 11 = 2
Vector ring bn tri b 1 ca i tng ng vi 1 = 1 l:

b1T ( 1 I A ) =0

1 2
T
= 0
b1T
1

1
b 1 =
1

Suy ra:
M r1 = (1 , 1)

1
T r = (1 , 1)

= 1

Do ta c R1:

R 1 = T r ( S r G r ) M r1 = 2 ( 1 , 1 ) = ( 2 , 2 )
Th li vi b iu khin R 1 tm c th h kn:
0 2 1
2 4
( 2 , 2 ) =

A B R 1 =

1
3
0

1 3

c cc gi tr ring s 1 = 1, s 2 = 2 =2. Nh vy R1 mi ch chuyn 1 = 1 ti s 1 = 1 cn

2 = 2 th khng.
Xem h kn gm i tng cho v b iu khin R1 va tm c nh mt i
tng mi th i tng ny c m hnh:
1
dx 2 4
x + u
=
dt 1 3
0

N c hai im cc 1 = 2, 2 = 1 . Ta s tm R2 chuyn nt 1 = 2 ti s 1 = 1 . T:

b1T ( 1 I A ) = 0

4 4
T
= 0
b1T
1

1
T r = (1 , 4 )
0

1
b 1 =
4

c:
M r1 = ( 1 , 4 )

Ngoi ra:

S 1 G 1 = 1 2 = 3
316

= 1

Vy:

R 2 = T r ( S r G r ) M r1 = 3 ( 1 , 4 ) = ( 3 , 1 2 )
Th li vi b iu khin R2 tm c th h kn:
2 4 1
5 16
( 3 , 1 2 ) =

A B R 2 =
1 3 0
1 3

r rng c cc gi tr ring s 1 = s 2 = 1.

3.4.2

iu khin tch knh

B iu khin phn hi trng thi tch knh Falb-Wolovich

C rt nhiu b iu khin c ng dng thnh cng li ch dng c cho h

SISO, b iu khin PID l mt v d in hnh. V mong mun s dng cc b iu
khin cho h MIMO ngi ta ngh n vic can thip s b trc vo h MIMO,
bin mt h thng MIMO thnh nhiu h SISO vi mi u ra y i ( t ) ch ph thuc vo
mt tn hiu u vo w i ( t ).

w1
M
wm

y1

w1

y1

ym

wm

ym

x
R
Hnh 3.14: Mc ch ca iu khin tch knh.

Xt i tng MIMO tuyn tnh, c m u vo u 1 , u 2 , , u m v cng c m u ra

y 1 , y 2 , , y m m t bi:
dx
= Ax+Bu
dt
y = Cx

tch knh, ta phi xc nh cc b iu khin R v M nh hnh 3.14 m t, sao cho

u ra y i ( t ) ch ph thuc vo mt tn hiu u vo w i ( t ) vi i = 1 , 2 , , m . S ph
thuc c m t trong min thi gian bi phng trnh vi phn bc r i h s hng:
ai0 yi + ai1

dyi
+
dt

+ ai,ri 1

d ri 1 yi
dt ri 1

d ri yi
dt ri

= biwi

317

d ri yi
dt

ri

ri 1

k =0

aik

d k yi
dt k

= biwi

(3.83)

trong bi v a ik , i =1,2, , m , k =0,1, , r i 1 l cc tham s t do c chn ty

theo cht lng t trc ca tng knh. Ni cch khc, nhim v thit k t ra y
l phi xc nh hai b iu khin tnh R v M vi n h kn c ma trn hm truyn
dng ng cho:
G1 ( s)

G(s) =
0

Gm ( s)
0

vi cc phn t G i ( s ) l nhng hm truyn:

Gi(s) =

bi
ai0 + ai1 s +

(3.84)

+ ai,ri 1 sri 1 + sri

c cc h s bi v a ik , i =1,2, , m , k =0,1, , r i 1 c chn trc, tng ng vi

cht lng mong mun ca tng knh, chng hn chn ai0 , ai1 , , ai,ri 1 l nhng h
s ca a thc Hurwitz G i ( s ) n nh v bi = ai0 c sai lch tnh bng 0.
Trc ht ta bn ti vn bc r i , i =1,2, , m ca m hnh (3.83), cng nh ca
hm truyn (3.84) cn phi c, tc l xt xem vi r i nh th no th v phi ca (3.83)
ch c w i ( t ) ch khng c cc o hm ca w i ( t ).
xc nh r i cho ring knh th i ta s dng khi nim bc tng i ti thiu
c nh ngha mc 3.2.1. K hiu c i , i =1,2, , s l vector hng th i ca ma trn
cT
1
C, tc l C = , th bc tng i ti thiu r i cho knh th i s c xc nh theo
T
c
s

nh l 3.5, m c th l cng thc (3.19) nh sau:

T
= 0
k
cTi A B =
T
0

khi 0 k ri 2
khi k = ri 1

Khi ta s c t phng trnh m hnh trng thi vi u ra th i:

y i = cTi x
cc quan h sau:
dyi
dx
T
= cT
= cT
i
i ( A x + B u ) = ci A x
dt
dt

318

(v cT
i B= 0

d k yi
dt k

d ri yi
dt ri

k
= cT
i A x

0k<ri1

nu

T ri 1
T ri 1
ri
ri
= cT
B u = cT
B ( Mw Rx )
i A x + ci A
i A x + ci A

ri
ri 1
ri 1
= cT
BR x + cT
BMw
i A A
i A

Kt qu trn cho thy bc r i ca phng trnh vi phn (3.83) ch c th l bc tng

i r i ca knh th i. T y ta suy ra c cho (3.83):

ri
ri 1
ri 1
cT
BR x + cT
BMw =
i A A
i A

ri 1

k =0

k
aik cT
i A x +biwi

v
ri 1

ri
ri 1
k
cT
BR = aik cT
i A
i A A
k =0

ri 1
ri
cT
BR = cT
i A
i A +

ri 1

k =0

k
qik cT
i A

(3.85)

v
ri 1
cT
BMw = b i w i
i A

ri 1
cT
BM = ( 0 ,
i A

,0,bi ,0,

,0)

(3.86)

phn t th i

Vit chung li (3.85) v (3.86) cho tt c cc knh i = 1 , 2 , , m ta i n:

r1 1
T k
T r
a1k c1 A + c1 A 1
cT A r1 1 B
k=0

R =

T r 1
c A m B
rm 1

T
T
r
k
m

amk cm A + cm A m
k
=
0

E
F

R=E

(3.87)

v
b1 0
cT A r1 1 B

0 b2

M =

T r 1

c A m B
m

0 0
E
L

bm

M=E

(3.88)

Hai cng thc (3.87) v (3.88) chnh l li gii R v M ca bi ton tch knh. Cng
t hai cng thc m ta thy iu kin bi ton c nghim l E phi l ma trn
khng suy bin.
Vy thut ton tm cc b iu khin R v M cho bi ton tch knh s nh sau:

319

1) Xc nh vector bc tng i ti thiu ( r 1 , , r m ) ca i tng

2) Chn ty cc tham s b i v a i k , i = 1 , 2 , , m , k = 0 , 1 , , r i 1 . Ta cng c
th chn chng theo cht lng nh trc cho tng knh, chng hn:
Chn a ik , i=1,2, ,m , k=0,1, , r i 1 c

a)

+ ai,ri 1 sri 1 + sri = ( s s i 1 ) ( s s i 2 )

ai0+ai1s+

+ ( s si,ri )

vi s i1 , s i2 , , si, ri l cc im cc chn trc cho knh th i.

b)

Chn b i =a i0 knh th i khng c sai lch tnh.

3) Lp cc ma trn E , F , L ri tnh M, R theo cc cng thc (3.87), (3.88).

V d 3.36: Thit k b iu khin tch knh

Xt i tng c hai tn hiu vo, hai tn hiu ra v ba bin trng thi m t bi:
0
1 1
1 0

dx
= 1 2 1 x + 0 0 u
dt
0 1
1 3
0

0 1 0
x
y =
0 0 1

Trc ht ta xc nh bc tng i r 1 , r 2 ca h.
0

c1 = 1
0

1 0

c1T B = (0 , 1 , 0) 0 0 = (0 , 0)
0 1

0
1 1

c1T AB = (0 , 1 , 0) 1 2 1
0
1 3

1 0

T
cT
B
=
(0
,
0
,
1)
0 0 = (0 , 1) 0
2
0 1

1 0

T
0 0 = (1 , 1) 0
0 1

Vy r1 =2
0

c2 = 0
1

Vy r2 =1
Tip theo ta tnh:
c T AB 1 1

E = 1T =
c B 0 1
2

1 1

=
0 1

By gi ta chn cc hng s b 1 , b 2 v a 10 , a 11 , a 20 vi iu kin b 1 = a 10 cng

nh b2 = a 2 0 khng c sai lch tnh, v tng knh l n nh, chng hn nh:
b 1 = a 10 = 2
320

b 2 = a 20 = 3

a 11 = 1

Vi cc tham s c chn th:

2 0
,
L =
0 3

a cT + a cT A + cT A2 2 6 4
10 1
11 1
1
=

F=
T
T

0 1 0
a
c
c
A
+
20
2
2

Suy ra cc b iu khin cn tm l:
M = E

R = E

1 1 2 0 2 3

=

L =
0 1 0 3 0 3

1 1 2 6 4 2 5 4

=

F =
0 1 0 1 0 0 1 0

B iu khin tch knh SmithMcMillan

Php bin i SmithMcMillan trnh by sau y cho php thit k cc b iu

khin nhm bin i mi ma trn hm truyn S ( s ) ca i tng, khng cn phi
vung, tc l khng cn phi c gi thit i tng c s tn hiu vo bng s cc tn hiu
ra, v c dng ma trn ng cho, tc l:
G1 ( s)

0
G(s)=
0

Gm ( s)

0
0

hoc

G1 ( s)

G(s) =
0

Gm ( s) 0

iu ni rng mi h thng MIMO u c th tch c knh.

Php bin i SmithMcMillan da vo vic thay i cc dng hay ct ca ma trn
bng nhng dng, ct mi tng ng (php bin i tng ng). Chng bao gm:

Hon i v tr vector hng th i vi hng th k ca S(s). Vic ny tng ng

php nhn I ik vi S(s), trong I ik l ma trn khng suy bin thu c t ma
trn n v I sau khi i ch hai hng th i v k (hoc hai ct). V d:
1

0
I 25 S(s)= 0

0
0

0 0 0 0 t1

0 0 0 1 t2
0 1 0 0 t3

0 0 1 0 t4
1 0 0 0 t5

t1

t5
t
3
t4
t
2

Hon i v tr vector ct th i vi ct th k ca S(s). Vic ny tng ng php

nhn S(s) vi I i k , trong I i k l ma trn khng suy bin thu c t ma trn
n v I sau khi i ch hai hng th i v k (hoc hai ct). V d:

321

t
S(s)I 25 = 1

t2

t3

t4

t5

0
0

0 0 0 0

0 0 0 1
0 1 0 0 =
0 0 1 0

1 0 0 0

t1

t5

t3

t4

t2

Hng th i c cng thm vi tch ca c v hng th k trong S(s) . Vic ny

tng ng php nhn C ik vi S(s) , trong C ik l ma trn khng suy bin thu
c t ma trn n v I sau khi thay phn t 0 th i k bng phn t c . V d:
1

0
C 24 S(s) = 0

0 0 0 0 t1

1 0 c 0 t2

0 1 0 0 t 3
0 0 1 0 t4

0 0 0 1 t 5

t2

t1
+ c t4
t3

t4
t5

Ct th k c cng thm vi tch ca c v ct th i trong S(s). Vic ny tng

ng php nhn S(s) vi C i k , trong C i k l ma trn khng suy bin thu c t
ma trn n v I sau khi thay phn t 0 th i k bng phn t c. V d:

t
S(s)C 24 = 1

t2

t3

t4

t5

0
0

0
0 =
0

0 0 0 1

0
1
0
0

0
0
1
0

0
c
0
1

t1

t2

t3

t4 + c t2

t5

Php bin i SmithMcMillan c tm tt nh sau:

4) Vit li S(s) thnh

1
P(s), trong d(s) l a thc bi s chung nh nht ca
d( s)

tt c cc a thc mu s c trong cc phn t ca S(s) v P(s) l ma trn c cc

phn t l a thc. V d:
1

2
s + 3s + 2
s2 + s 4
S(s) =
s 2 + 3s + 2
s2

s +1

s 2 + 3s + 2
1
2s 2 s 8
= 2
2
s + 3s + 2 s + 3s + 2
2s 4
d( s)
s + 1

1
1

2
4
2
8
+

s
s
s
s

s2 4

2
2
8

P( s)

5) S dng cc php bin i tng ng ni trn a P ( s ) v dng "ng

cho" bng cch a dn cc phn t khng nm trn ng cho v 0 thng qua
vic cng tr hng v ct. iu ny c SmithMcMillan chuyn thnh nhng
bc ca thut ton sau:

322

a)

t d0(s) = 1.

b)

Chn d1(s) l c s chung ln nht ca tt c cc phn t ca P(s). V d

2

d1(s) = SCLN{1 , 1 , s +s4 , 2s s4 , s 4 , 2s 8 } = 1

c)

Chn dk(s) l c s chung ln nht ca tt c cc phn t l nh thc ma

trn vung kk ly t P(s). V d:
1
1
1

1
, det 2
,
d2(s) =SCLN det 2
2
2
+

4
2

4
2
8
s
s
s
s
s
s

s 2 + s 4 2s2 s 8

det 2
s 4
2s 2 8

= SCLN{ 3s 2s4 , 3s 4 , s(s 4) } = (s+2)(s2)

d) Ma trn "ng cho" G(s) tng ng vi S(s) s c cc phn t Gk(s) l:
Gk ( s) =

d ( s)
1
k
d( s) dk 1 ( s)

V d:
1

(
s
1)(
s + 2)
+
0
1

G( s ) = 2
0
0 ( s + 2)( s 2) =
s + 3s + 2

0
0

0

Hnh 3.15: Thit k b iu khin tch

knh theo SmithMcMillan.

S P (s)

s2

s +1
0

S(s)

S T (s)

G(s)

Nh vy php bin i SmithMcMillan khng cn c gi thit S(s) phi l ma

trn vung v c E khng suy bin. Ma trn G(s) c to thnh l tng ng vi
S(s) theo ngha:
G(s)= S T (s)S(s)S P (s)
trong S T (s) v S P (s) l nhng ma trn khng suy bin (vi phn ln cc gi tr s),
c sinh ra t nhng php i hng ct ca S(s). Chng chnh l hai b iu khin
tch knh i tng S(s) nh m t hnh 3.15.
323

3.4.3

iu khin phn hi trng thi ti u

iu kin cn v cc bc tng hp b iu khin ti u

Xt h tuyn tnh tham s hng:

dx
= Ax + Bu
dt

(3.89)

trong x=(x 1 , x 1 , , x n ) T R n l vector trng thi v u=(u 1 , u 1 , , u m ) T R m l

vector cc tn hiu iu khin. Nhim v iu khin ti u t ra y l phi tm b
iu khin phn hi trng thi (hnh 3.16):
r11

u * = R x trong R = ( rik ) =
r
m1

r1n

m n
R
rmn

(3.90)

sao cho khng ph thuc im trng thi u x(0)=x 0 , h l n nh v lun c:

Q=

1 T
x Ex + uT Fu dt min
R
2 0

(3.91)

trong E, F c gi thit l hai ma trn i xng, E bn xc nh dng v F xc

nh dng, tc l E=E T 0 v F=F T >0. Vic gi thit E , F i xng khng lm mt
tnh tng qut ca bi ton, v trong trng hp E , F khng i xng th t tnh v
hng ca hm mc tiu (3.91), ta hon ton thay th n c bi:

1
Q + QT
2
1
E + ET
F + FT
x + uT
u dt
= xT

2 0
2
2

Q=

u*

1
= xT Ex + uT Fu dt
20

vi
E=

E+E
2

v F =

F+F
2

u dx
= Ax + Bu
dt

Hnh 3.16: Thit k b iu khin

phn hi trng thi ti u

li l hai ma trn i xng. Gi thit E 0 (bn xc nh dng) v D > 0 (xc nh

dng) m bo rng lun c Q 0 , x , u v nh vy bi ton ti u s c nghim.
Bi ton ti u trn c ngha ng dng nh sau: Sau mt tc ng tc thi, v d
nh tc ng ca xung dirac (t), nh bt h (3.89) ra khi im cn bng l gc ta
0 trong khng gian trng thi R n , th b iu khin ti u (3.90) s ko h quay tr li
im gc 0 ban u v nng lng Q chi ph cho qu trnh quay v gc 0 , tnh theo

324

(3.91), l nh nht. Chnh v c ngha nh vy nn hm mc tiu Q (3.91), thc cht c

dng nh mt phim hm (functional), cn c gi l hm tn hao (cost function).
xc nh iu kin cn, tc l iu kin m b iu khin ti u R cn phi c,
ta thay b iu khin (3.90) vo hm mc tiu (3.91):
Q=

1 T
1
x E + RT FR xdt = xT Kxdt vi K = E + RT FR

20
20

(3.92)

v vo m hnh h thng (3.89). Khi h kn (hnh 3.16) s c m hnh:

dx
= ( A BR ) x + Bw = Ax + Bw vi A = A BR
dt

Theo yu cu bi ton ti u l h kn cn phi n nh, th b iu khin R phi ng

thi lm cho Q min v A = A BR l ma trn bn.
K hiu x(t) l qu o trng thi t do ca h kn (qu o ng vi w = 0 ) th:
x( t ) = e At x0 vi x0 = x(0) l im trng thi u
Thay vo hm mc tiu (3.92) ta c:
Q=
=

1 At
e x0
20

) (
T

K e At x0 dt =

1 T AT t At
x e Ke x0 dt
20 0

T
1 T AT t At
1 T
x0 e Ke dt x0 = x0 P x0 vi P = e A t Ke At dt

2
2
0
0

(3.93)

Nh vy y P phi l ma trn i xng, bn xc nh dng, tc l P = P T 0 , hoc

cht hn na th n cn phi i xng xc nh dng (P=P T >0), v lun c Q 0 , x 0 .
iu kin cn c p dng y l khi hm mc tiu (3.93) c gi tr nh nht ti R
nh ngha bi (3.90), th ti n phi tha mn:
Q
=0
rik

P
= vi i = 1 , 2 , , m v k = 1 , 2 , , n
rik

(3.94)

Tip tc, t cu trc ca ma trn P nh ngha trong (3.93) ta cn c vi Ae At = e At A :

) ( e A) dt = 12 ( e K ) ( Ae ) dt
d
Ke
e K ) e dt

dt (

T
1
PA = e A t Ke At dt A = e A t K

2
0
0

( e K ) dtd ( e ) dt = e
T

A t

= e A t Ke At

At

A t

At

AT t

At

At

A t

At

AT e A t Ke At dt = K AT e A t Ke At dt, v A gi thit l bn
0

= K AT e A t Ke At dt = K AT P

325

Vy, ma trn P = P T 0 phi l nghim ca:

PA + AT P = K

(3.95)

v y chnh l dng phng trnh Lyapunov (3.42) m ta bit t nh l 3.21. p

dng iu kin cn (3.94) vo phng trnh (3.95) th:
P

A AT
K
P=
+
rik rik
rik

PB

(R

( A BR) ( A BR)T
( E + RT FR)
P=
+
rik
rik
rik

R RT T
RT
R
B P=
FR RT F

rik rik
rik
rik

F PB

) rR + Rr ( FR B P ) =
ik

(3.96)

ik

trong l k hiu ca ma trn c tt c cc phn t u bng 0. Do

R
l ma trn
rik

c phn t th ik bng 1, cc phn t cn li u bng 0, nn:

(R

F PB

) rR

ik

phi l ma trn c ct th k l ct th i ca R T FPB, cc phn t ct cn li u bng

0. Tng t:

RT
R
FR BT P = RT F PB

rik

rik

) (

l ma trn c hng th k l hng th i ca FRB T P, cc hng cn li u bng 0. Nhn

xt ny cho thy t (3.96) rng FRB T P phi c hng th i ng nht bng 0. Cho i
chy t 1 ti m ta c:
FRBTP=

R=F

BTP

(3.97)

Cui cng, thay ngc (3.97) vo (3.95) ta i n:

P ( A BR ) + ( A BR ) P = E + RT FR
T

) (

P A BF 1 BT P + A BF 1 BT P

PBF 1 BT P PA AT P = E v

)
(

P = E F 1 BT P

(F ) = (F )
1

) F (F
T

= F 1

BT P

)
(3.98)

Phng trnh (3.98) c tn gi l phng trnh i s Riccati (ARE), n cho php ta xc

nh c ma trn P t cc ma trn A , B , E , F cho.
Tng kt li ta i n iu kin cn, pht biu nh sau:

326

nh l 3.35: Nu u * = R x l tn hiu iu khin ti u, tc l R l b iu khin phn

hi trng thi ti u theo ngha cng lm cho Q min v A = A BR l ma trn

bn, th n phi tha mn (3.97), trong P = P T 0 l nghim ca phng trnh i
s Riccati (3.98).
Hai cng thc (3.97) v (3.98) ca iu kin cn cng to thnh thut ton thit k
b iu khin ti u R gm cc bc nh sau:
1) Xc nh nghim P i xng, bn xc nh dng ( P = P T 0 ) ca phng trnh i
s Riccati (3.98).
2) Thay nghim P tm c vo (3.97) c b iu khin ti u R .
Ch : V thut ton thit k trn ta nn lu my im sau:

Nu P xc nh dng th ng nhin n cng bn xc nh dng ( P > 0 P 0 ) ,

nhng iu ngc li khng ng. Bi vy trong trng hp phng trnh Riccati
(3.98) c c nghim bn xc nh dng v nghim xc nh dng, ta ch nn ly
nghim xc nh dng. kim tra tnh xc nh dng ca ma trn P, ta s
dng nh l 3.22 ca Sylvester.

Hai bc thit k trn c xy dng hon ton t iu kin cn (3.94) ca hm

mc tiu Q min. Ni cch khc, nu phng trnh Riccati (3.98) c nhiu nghim
th khng phi tt c cc nghim cng u a n b iu khin R cho bi
(3.97) l ti u theo ngha ng thi t c c hai mc ch Q min v
A = A BR l ma trn bn.

V iu kin cn (3.94) ch c xy dng cho Q min, ch khng phi cho ma

trn bn A = A BR nn ngay c trong trng hp phng trnh i s Riccati
(3.98) ch c mt nghim P bn xc nh dng duy nht, tc l ch c mt b iu
khin R duy nht, th ta cng ch mi m bo c rng s c Q min ch cha
khng nh c A = A BR c bn hay khng, tc l cha khng nh c h
kn c n nh hay khng. Bi vy trong mi trng hp ta lun phi kim tra li
tnh n nh ca h kn hnh 3.16.

T cng thc (3.93) ta cn thy gi tr ti u

ca hm mc tiu Q (gi tr nh nht) cn

x0

ph thuc im trng thi u x 0 . Hn th

na, trong trng hp nghim P ca phng

trnh (3.98) ch bn xc nh dng, im
cui x = lim x( t ) ca qu o trng thi ti
t

u cng rt c th s khng kt thc ti gc

ta (do h khng n nh), ging nh
qu o { hnh 3.17.

t
t=0

t=

Hnh 3.17: Minh ha qu o trng

thi ti u ca h kn.

327

V d 3.37: Thit k b iu khin LQR

Xt i tng c m hnh trng thi:

0 0
1
0 0
1
dx
= Ax + Bu =
x + u vi A =
v B =
dt
1
0
1
0
0

0
Nhim v iu khin l xc nh b iu khin phn hi trng thi ti u R lm h n
nh, tc l sau khi b nhiu tc thi nh bt ra khi gc 0 v b a n mt im
trng thi x0 no th R s a i tng quay tr li c x =0 v nng lng tn hao
cho qu trnh quay v tnh theo:
Q=

5 0
1 T
1 T 5 0
T
2
x Ex + u Fu dt = x
v F = 1
x + u dt vi E =

20
2 0 0 4
0 4

p
l nh nht. Gi s P = 1
p3
p12

p p
1 3

p1 p3 p3

p32 0

p3
, th phng trnh i s Riccati (3.98) s l:
p2
p2 2 p3 5 = 0
1
p2 p3 0 5 0
2
=

p3 4 = 0
0 p2 0 0 4
p p p = 0
2
1 3

H phng trnh trn c cc nghim sau:

p 3 =2 ; p 1 =3 ; p 2 = 6

p 3 =2 ; p 1 =3; p 2 =6

p 3 =2 ; p 1 =1 ; p 2 =2

p 3 =2 ; p 1 =1 ; p 2 =2

trong ch c nghim u tin mi lm cho P xc nh dng, do n cng l bn xc

nh dng, tc l theo nh l Sylvester (nh l 3.22), nghim ny c p 1 >0 v
p1 p2 p32 > 0 . Suy ra:

3 2
P=

2 6
v b iu khin R tha mn bi ton c xc nh theo cng thc (3.97) l:
R = F

3 2
B T P = (1 , 0)
= (3 , 2)
2 6

Do b iu khin ti u ny cha m bo c s c x =0 hay khng nn ta cn phi

kim tra li tnh n nh h kn. H kn (hnh 3.16) c m hnh:
3 2
1
dx
= ( A BR) x + Bw =
x + w
dt
0
1
0
vi a thc c tnh

328

 s + 3 2
2
0 = det ( sI ( A BR)) = det
= s + 3s + 2
1 s
l a thc Hurwitz. Vy h kn l n nh.

V d 3.38: Thit k b iu khin LQR

Tm b iu khin R phn hi m trng thi cho i tng:

0 2
0
0 2
0
dx
= Ax + Bu =
x + u vi A =
v B =
dt
1
0
1
0
1

1
khi b nhiu tc thi nh bt ra khi gc 0 v b a n mt im trng thi x 0 no
th R s a i tng quay tr li c x =0 v nng lng tn hao tnh theo:
Q=

3 4
1 T
1 T 3 4
T
2
x Ex + u Fu dt = x
v F = 1
x + u dt vi E =

20
2 0 4 13

4 13

p
l nh nht. K hiu P = 1
p3
p1

p3

p3

p2

p3
khi phng trnh Riccati (3.98) tr thnh:
p2

p
0
(0 , 1) 1
1

p3

p32 2 p3

p p 2p p
1
2
2 3

p32 2 p3 = 3

p2 p3 2 p1 p2 = 4
2
p2 4 p3 = 13

p3 p1

p2 p3

p3

p2

0 2 0 1 p1

1 0 2 0 p3

p3 3 4

=
p2 4 13

p2 p3 2 p1 p2 3 4
=

4 13
p22 4 p3

H phng trnh trn c cc nghim sau:

p 3 =3 ; p 2 = 5 ; p 1 = 3

p 3 =3 ; p 2 =5 ; p 1 =7

p 3 =1 ; p 2 =3 ; p 1 =5

p 3 =1 ; p 2 =3 ; p 1 =1

nhng ch c nghim u tin l xc nh dng, tc l tha mn iu kin Sylvester:

p 1 >0

p1 p2 p32 > 0

Suy ra
3 3
P=

3 5
Vy b iu khin R cn tm c xc nh theo (3.97) s l:
R= F

3 3
T
= ( 3 , 5 )
B P = ( 0 , 1 )
3 5

329

B iu khin ti u ny cha m bo c s c x =0. Do ta cn phi kim tra li

tnh n nh h kn. H kn (hnh 3.16) vi b phn hi (m) trng thi R c m hnh:
0 2
0
dx
= ( A BR) x + Bw =
x + w
2
5
dt

1
v a thc c tnh ca n
s 2
2
0 = det ( sI ( A BR)) = det
= s + 5s + 4
2 s + 5
l a thc Hurwitz. Vy h kn l n nh ti u.

Bn v tnh n nh ca h kn ti u v bi ton m

Sau y, khng mt tnh tng qut, ta s xt c th tnh n nh ca h kn phn

hi m hnh 3.16, bao gm i tng tuyn tnh (3.89) v b iu khin phn hi (m)
trng thi ti u (3.97) c ma trn P l nghim i xng bn xc nh dng ca phng
trnh i s Riccati (3.98). Vic kho st ny l cn thit v hai l do:

Th nht l trong phn din gii trc v phn chng minh sau ny ca nh
l 3.35, cng thc (3.95) s dng gi thit rng im cui ca qu o trng
thi ti u l gc ta nh mt iu mc nhin ch hon ton khng c kim
chng. Ni nh vy thy rng b iu khin ti u (3.97), (3.98) tm c c th
a qu o trng thi h kn t mt im trng thi u x 0 ty cho trc ti
mt im cui x = lim x( t ) bt k no khc cng cho trc ngoi gc ta , vn
t

tha mn iu kin (3.95). Khi h kn s khng n nh.

Th hai, trong trng hp (3.95) c K xc nh dng v phng trnh i s

Riccati (3.98), m bn cht l tng ng vi (3.95), c nghim P i xng xc
nh dng (ch khng ch bn xc nh dng), th t nh l 3.21, ta n ngay
c A = A BR l ma trn bn. iu ny m bo cho tnh n nh ca h kn
hnh 3.16. Tuy nhin kh nng tn ti ti nghim P xc nh dng ca phng
trnh i s Riccati (3.98), ch khng ch l bn xc nh dng, li hon ton
cha c kho st.

Trc tin, ta gi s phng trnh Riccati (3.98) c nghim P i xng bn xc nh

dng v ch kho st iu kin vi n b iu khin ti u (3.97) s lm h kn
hnh 3.16 l n nh. T gi thit ca bi ton ti u rng phim hm mc tiu (3.91) c
E i xng bn xc nh dng v F i xng xc nh dng, ta c c ngay vi nh l
Barbalat tnh cht sau ca im trng thi cui x :
Qmin =

1 T
T
x Ex + u Fu dt <
20

330

lim xT Ex + uT Fu = 0

xT Ex = 0 v lim u( t ) = 0
t

(3.99)

Nh vy, trng thi cui x = lim x( t ) ca qu o ti u phi l dng cn bng ca h

t

kn, tc l hoc l im cn bng hoc l dao ng t do (hnh 3.17).

nh l 3.36: Gi s phng trnh i s Riccati (3.98) c nghim P i xng, bn xc
nh dng. Khi b iu khin ti u phn hi (m) trng thi (3.97) s lm h
kn hnh 3.16 n nh, nu mt trong cc iu kin sau c tha mn:

a)

det(ABR) 0 v h kn khng dao ng.

b)

E i xng xc nh dng,

c)

a T (E+PA)a >0 , a0 , hay (2E+PA+ATP) l i xng xc nh dng,

d)

E + PBF 1 BT P i xng xc nh dng.

Chng minh:
a) H kn ti u hnh 3.16 c m hnh trng thi l:
dx
= ( A BR) x + Bw
dt

v iu kin a) ch rng h kn ch cn bng duy nht ti gc. Suy ra x = 0 .

b) Nu E i xng xc nh dng th t (3.99) ta cng suy ra c x = 0 .
c) Thay cc cng thc (3.97), (3.98) vo phim hm mc tiu (3.91) th dc theo qu o
trng thi ti u s phi c:
Q=
=

1 T
1 T
T
x Ex + u Fu dt = x ( E + PBF 1 BT P ) x dt

20
20

1 T
T
x (2 E + AT P + PA ) x dt = x ( E + PA ) x dt

20
0

V Q l gi tr hu hn (gi tr nh nht ca hm mc tiu), tc l tch phn v hn v

phi l hi t, nn theo nh l Barbalat, hm di du tch phn phi tin v 0. iu
ny dn n x = 0 , v a T (E+PA)a >0 , a0.
d) T phng trnh Riccati (3.98) v kt qu ca c) ta c:
Q=

(x

( E + PA ) x dt =

1 T
T
T
x ( E + PA ) x + x ( E + A P ) x dt
20

1 T
1 T
x ( E + PA + E + AT P ) x dt = x ( E + PBF 1 BT P ) x dt

20
20

v iu tng t li xy ra nh phn chng minh cu c).

Chuyn sang bi ton th hai l kh nng tn ti nghim P xc nh dng ca

phng trnh i s Riccati (3.98).

331

Bi ton m (Cha c li gii): Xt phng trnh i s Riccati (3.98) vi E, F l hai ma

trn i xng cho trc, trong E bn xc nh dng, F xc nh dng v A, B
l hai ma trn thc. Hy xc nh iu kin cn v cho A v B phng trnh
c nghim L i xng xc nh dng.

Cp ma trn A v B lm cho phng trnh Riccati (3.98) vi E, F l hai ma trn i

xng xc nh dng cho trc, c nghim P cng i xng xc nh dng, c gi l
cp ma trn n nh Riccati. Tuy rng bi ton m trn cha c li gii, song c mt
s kt qu nghin cu thu c di dng h qu, lin quan ti n nh sau:

Nu A l Hurwitz th lun tn ti B ( A , B ) l n nh Riccati.

Nu ( A , B ) l n nh Riccati th ( a A , a B ) , a > 0 , cng n nh Riccati.

Nu ( A , B ) l n nh Riccati th ( S A S

, S B ) , S khng suy bin, cng n nh

Riccati (s dng php i bin z = S x ) .

Nu ( A , B ) iu khin c v E xc nh dng th ( A , B ) l n nh Riccati.

Phng php tm nghim phng trnh Riccati

B qua bi ton m trn y gi thit rng phng trnh i s Riccati c

nghim P i xng xc nh dng, th nhim v ca cc phn tip theo l phi xc nh
c nghim .
Phng trnh Riccati (3.98) khng phi l phng trnh tuyn tnh nn cn c
nhng phng php c bit tm nghim, nu nghim tn ti. Tn gi phng
php tm nghim trc tip ca mc ny khng c ni rng ta s gii trc tip phng
trnh Riccati m ngc li n s xc nh P tha mn (3.98) trc tip t mc ch bi
ton tng hp b iu khin ti u R lm h kn n nh.
Phng php trnh by sau y thuc v Kleinman. y l mt thut ton truy hi
gii phng trnh (3.98). iu c bit ca thut ton ny l n khng ch xc nh
nghim P ca (3.98) m cn cho ra c lun b iu khin ti u R tnh theo (3.97) sau
mi bc lp.
Xut pht t cng thc (3.98) v do P , F l nhng ma trn i xng, ta c:
PBR = PBF

B TP = P T B(F

1 T

) BTP = RTBTP

Bi vy cng vi phng trnh Riccati (3.98):

PBF

B T PPAA T P = E

ta i n c:
(ABR) T P+P(ABR) = ER T FR

(3.100)

v chnh l phng trnh Lyapunov (3.42) bit t nh l 3.21.

Kleinman xut tm truy hi P k t R k da vo dng ci bin ca (3.100):

332

(ABR k ) T P k + P k (ABR k ) = E RkT FR k

(3.101)

cng nh R k+1 t P k vi s ci bin (3.97) thnh:

R k+1 = F

BTPk

(3.102)

trong k = 0 , 1 , 2 , . Gi tr khi u R 0 phi c chn sao cho (ABR 0 ) l ma trn

bn, chng hn nh cc phng php gn im cc (mc 3.4.1). Khi ti mi bc tnh
ta lun thu c ma trn bn (ABR k ) v P k xc nh dng. Dy { P k } thu c s hi
t n nghim P ca (3.100) v R k hi t ti nghim R ca (3.97).
Tm tt li, thut ton Kleinman c nhng bc tnh sau:
1) Xc nh R 0 sao cho (ABR 0 ) l ma trn bn bng cch s dng cc phng php
thit k b iu khin gn im cc. Nu bn thn ma trn A l ma trn bn th
c th chn R 0 =.
2) Thc hin ln lt vi k = 1 , 2 , cc bc sau:
a)

Gii phng trnh Lyapunov (3.101) c P k t R k .

b)

Tnh R k+1 t P k theo (3.102).

Nh vy, thut ton ca Kleinman c s dng thm phng php tnh gii phng
trnh Lyapunov. Hin c kh nhiu phng php hu hiu phc v vic gii phng
trnh Lyapunov. Nhiu phng php trong s chng cn c ci t thnh cng c
chun rt tin ch (chng hn nh lnh lyap ca MatLab).
Bn cnh cc phng php tnh , nu thm ti tnh bn ca Ak = ABR k ,
tc l tt c cc gi tr ring ca Ak nm bn tri trc o, th nghim P k ca phng
trnh Lyapunov (3.101) cn c th c xc nh trc tip theo cng thc:

Lk =

AkT t

Ek e Ak t dt ,

trong

Ek = E + RkT F R k

Cui cng, cn mt iu cn bn n l khi no th nn kt thc qu trnh tnh truy

hi trong thut ton Kleinman. Ta thy do dy { P k } hi t n nghim P nn qu trnh
tnh truy hi c th c kt thc nu nh sai s L k + 1 L k tha mn iu kin cho
php:
L k+1 L k <

trong l mt s dng nh c chn trc. Chun ma trn L k+1 L k thng

c dng l chun bc hai, tc l gi tr suy bin ln nht ca ma trn:

Pk +1 Pk = max ( Pk +1 Pk )T ( Pk +1 Pk )

vi max l k hiu ca gi tr ring ln nht.

333

3.4.4

iu khin bm (tracking control) bng phn hi trng thi

Bi ton t ra y l iu khin i tng SISO m t bi:

dx
= Ax + bu

dt
y = cT x

(3.103)

sao cho tn hiu ra y(t) ca n lun bm c theo tn hiu mu y m (t) mong mun.
Nhm can thip vo i tng (3.103) t c nhim v t ra, ngi ta va c th
thit k b iu khin (phn hi trng thi hoc tn hiu ra), va c th xc nh tn
hiu t u m (t) thch ng u vo. Trc tin, ta xt bi ton c i tng n gin vi
dng chun iu khin theo bin z :

1
0
0

0
0
1
dz

dt
a a a

1
2
0

y = ( c1 , c2 ,
, cn ) z

z+ u

an 1
1
0
0

(3.104)

i tng

(3.104)
Hnh 3.18: iu khin bm vi i tng (3.104)

aT

C th thy ngay, khi s dng b iu khin phn hi trng thi R = aT vi:

u = w+aTz

aT = (a0 , a1 , , an1)

trong

th do h kn hnh 3.18 lc ny c m hnh:

0 1

dz

dt = 0 0

0 0

y = ( c1 , c2 ,

w=

0
0

z + w
0
1

0
1
, cn ) z

dzn d n z1
=
dt
dt n

y = c1 z1 + c2

(3.105)

dz1
+
dt

+ cn

dn 1 z1
dt n 1

nn u vo ta ch cn t w m (t) vi:
W m (s) =

334

snYm ( s)
c1 + c2 s +

+ cn sn 1

(3.106)

trong W m (s) l nh Laplace ca w m (t) v Y m (s) l nh ca y m (t), l s nhn c

y m (t) u ra nh mong mun (hnh 3.18).
M rng ra cho i tng (3.103) ban u, ta thy gii quyt bi ton th n
gin nht l tm php i bin z = S x chuyn n v dng (3.104) m c th l:
dz
= Az + bu

dt
y = cT z

vi
A = SAS1

=
0

a0

1
0
a1

c T = c T S1 = ( c1 , c2 ,

,
1

an 1

0

b = Sb =
0

1

(3.107)

, cn )

cng nh cc phn t a k , k = 0 , 1 , , n 1 trong (3.107) l h s ca a thc c tnh

ca i tng (3.103), tc l:
det( s I A ) = a 0 + a 1 s +

+an1sn

+sn

Nh li nh l 3.32 th php i bin chnh l:

sT

sT A
S =

T n 1
s
A

vi

sT = (0 , 0 ,

, 1) b , Ab ,

, A n 1b

(3.108)

Tng ng, b iu khin phn hi trng thi R z = a T c thay bng (hnh 3.19):
Rx = Rz = aT Sx

(3.109)

S dng thm nh l CayleyHamilton (nh l 3.8) bin i tip cng thc

(3.109) cho b iu khin phn hi trng thi R , ta cn n c:
R = aT z =

n 1

s T ak A k = s T An

(3.110)

k =0

i tng

(3.103)
aT

Hnh 3.19: iu khin bm cho i tng (3.103)

R = aTS = sTAn

335

Tng kt li ta i n:
nh l 3.37: Nu i tng (3.103) l iu khin c th b iu khin phn hi trng

thi (3.110), vi s T v ma trn S c xc nh theo (3.108), cng nh tn hiu mu

t trc w m (t) tha mn (3.106), trong :

( c1 , c2 ,

, cn ) = c T S1

s to u ra ca h kn (hnh 3.19) tn hiu y m (t) nh mong mun.

Tuy rng to c u ra ca h kn (hnh 3.19) tn hiu y m (t) mong mun,
song do khi h kn c m hnh trng thi theo bin z l (3.105), tc l c im cc
s = 0 bi n nn h kn hnh 3.19 l khng n nh. iu ny ni rng nu trong qu
trnh iu khin, c mt tn hiu nhiu tc thi lm trng thi z(t)=Sx(t) ca h kn
lch ra khi qu o mong mun z m (t) c nh Laplace ( Z 1 , Z 2 ,

, Z n ) T vi cc phn

t c suy ra t m hnh (3.105) v cng thc (3.106) nh sau:

Z k ( s ) = Zk ( s ) =

sk 1Ym ( s)
c1 + c2 s +

dym
T
= ym ,
,
zm

dt

+ cn sn 1

k=1,2, ,n

d n 1 ym

dt n 1

(3.111)

trong ym ( t ) l tn hiu c nh Laplace:

Ym ( s) =

Ym ( s)
c1 + c2 s +

+ cn sn 1

(3.112)

th sau h s khng t quay v c vector qu o mong mun z m (t) ny. Bi vy,

nhim v tip theo l ta phi lm cho h kn (hnh 3.19) n nh, tc l phi can thip
thm bng mt b iu khin R e sao cho vi n, sai lch:
e = zzm
tin c v 0 (hnh 3.20). iu ny tng ng vi vic xc nh R e ma trn:
A + b( aT Re )

(3.113)

c tt c cc gi tr ring s 1 , , s n nm bn tri trc o.

tm R e ta li p dng c cc phng php gn im cc m y tin li nht
l phng php Ackermann (v ch c mt tn hiu vo, cng nh A v b c dng
chun iu khin). Chng hn, khi k hiu
Re = (r1 , r2 , , rn)
th do (3.113) lc ny tr thnh:

336

A + b( aT Re ) =
0

r1

rn

1
0
r2

nn cc phn t r k , k=1,2, ,n ca b iu khin R e c xc nh mt cch n gin

t nhng gi tr cho trc s 1 , , s n nm bn tri trc o theo:
(ss1)(ss2)(ssn) = r1+r2s+

ym

+rnsn

B to cc
tn hiu mu

+sn

wm

(3.114)

i tng

(3.103)
x
S

Hnh 3.20: Thit k b iu khin gn im

cc n nh ha h thng iu khin
bm cho i tng (3.103).

Re

z
e
zm

Cui cng, tng kt li ta i n:

nh l 3.38: H thng iu khin c cu trc m t hnh 2.20 vi w m (t) l tn hiu

mu t trc tha mn (3.106), ma trn S c xc nh theo (3.108), z m (t) l

vector trng thi mu (3.111) ca cc tn hiu ym ( t ) c xc nh theo (3.112),
R e =(r 1 , r 2 , , r n ) c cc phn t r k , k=1,2, ,n xc nh t nhng gi tr
ring s 1 , , s n cho trc nm bn tri trc o theo (3.114), s to ra c u
ra ca i tng (3.103) mt tn hiu y(t) lun bm theo tn hiu mu mong mun
y m (t) cho d c tc ng ca nhiu. Nu cc gi tr ring s 1 , , s n c chn
nm cng xa trc o v pha tri, tc bm cng cao.
Chng minh: Xem phn din gii trn.

3.4.5

iu khin phn hi trng thi thch nghi

Trong iu khin ta thng hay gp nhng bi ton m m hnh m t i

tng c cha nhng thnh phn bt nh. Ngun gc ca nhng thnh phn bt nh
ny c th l sai lch m hnh ( c phn tch v tnh bn vng ca h kn chng

337

2) v cng c th l do s tc ng ca cc tn hiu ngoi sinh khng bit trc. Chng

c gi chung li di tn gi l cc tc ng tp nhiu (disturbance).
M hnh bt nh ca cc i tng tuyn tnh MIMO u c nt chung nh sau:
dx
= Ax + B u + G( x )d
dt

(3.115)

trong x(t) R n l vector bin trng thi, u(t) R m l vector cc tn hiu u vo (tn
hiu iu khin) v d(t) R p l vector cc thnh phn bt nh (khng bit trc v
cng khng o c) ca i tng, A v B l hai ma trn hng, cn G(x) l ma trn c
cc phn t ph thuc x . Nhim v t ra y l phi thit k b iu khin phn hi
trng thi iu khin i tng (3.115) sao cho h thng c c cht lng mong
mun v cht lng ny khng c ph thuc vo vector tp nhiu d(t) ca m hnh
i tng (3.115). Bi ton c tn gi l iu khin thch nghi khng nhiu.
Trng hp i tng c cht lng mong mun khi khng c nhiu

Trc tin, xt trng hp n gin l i tng MIMO (3.115) ta bit thnh

~
~
phn nhiu d = d . Khi n s c loi b hon ton bng tn hiu b u = w G ( x ) d
u vo v h (3.115) s c m hnh mu l tng:
dxm
= Axm + Bw
dt

(3.116)

trong A l ma trn c gi tr ring s 1 , , s n nm bn tri trc o tng ng vi

cht lng mong mun. iu ny, theo nh l 3.21, phng trnh Lyapunov (3.42):
ATP+PA = Q

(3.117)

ng vi ma trn Q i xng xc nh dng cho trc, lun c nghim P duy nht cng
i xng v xc nh dng.
~
Nhng v gi thit = d d = 0 l khng th, hay lun tn ti sai lch bt nh 0
~
nn thc t khi c b bng u = w G ( x ) d , h phi c m hnh:

dx
= Ax+B[w+G(x)]
dt

(3.118)

T y ta i n tng l chuyn nhim v iu khin sang hiu chnh thnh phn sai
lch bt nh ( t ) h (3.118) lun bm c theo m hnh mu (3.116), theo ngha:
e = xxm 0

(3.119)

Thay (3.116) v (3.118) vo (3.119), c:

de
= Ae+BG(x)
dt

338

(3.120)

S dng hm xc nh dng:
V(e,) = eTPe + TH
vi H l ma trn i xng xc nh dng chn trc ty v P l nghim i xng xc
nh dng ca phng trnh Lyapunov (3.117), s c:
T

dV de
d
T de d
T
=
+
Pe + e P
H + H
dt dt
dt dt
dt
d
= ( Ae + BG )T Pe + e T P( Ae + BG ) + 2 T H
dt
d
d

T
T
T
T
= e ( A P + PA ) e + 2( BG ) Pe + H
= e T Qe + 2 T GT BT + H

dt
dt

Bi vy,

( t ) theo:
d
dt

dV
xc nh m theo bin e , iu kin c e 0 ta ch cn hiu chnh
dt
= H 1G T BT Pe

tc l ch cn b thm u vo u mt thnh phn tn hiu ( t ) nh sau (hnh 3.21):

d
= H 1G( x )T BT Pe

dt

= G( x )

(3.121)

i tng

(3.115)
B bt nh

Hnh 3.21: iu khin khng nhiu h tuyn tnh

bt nh c ma trn h thng l ma trn bn.

(3.121)

M hnh mu

e
xm

(3.116)

Ch : Vi b b bt nh (3.121) ta c:

dV
= eTQe
dt

nn tc tin v 0 ca sai lch e , c quyt nh bi cc gi tr ring ca ma trn Q.

Nu cc gi tr ring ca ma trn Q i xng, xc nh dng (nn cc gi tr ring l
nhng s thc dng) cng ln, tc tin v 0 ca e s cng cao.

339

Trng hp tng qut

Trong trng hp i tng bt nh ban u (3.115) vi ma trn A cha c c

nhng gi tr ring s 1 , , s n mong mun, th tt nhin ta c th can thip s b trc
bng b iu khin phn hi trng thi R (hnh 3.22) c c:
dx
= (ABR)x+B[v+G(x)d]
dt

(3.122)

vi ma trn A = A B R nhn nhng gi tr ring cho trc lm im cc. Sau li

p dng b b bt nh (3.121) v m hnh mu tng ng:
dxm
= (ABR)xm+Bv = A xm+Bw
dt

(3.123)

xc nh b iu khin R t hai ma trn A, B ca i tng (3.115) v cc im

cc mong mun s 1 , , s n tha mn:
det( s I A ) = det( s I A + B R ) = ( s s 1 ) ( s s 2 )

(ssn)

ta p dng cc phng php thit k b iu khin gn im cc bit mc 3.4.1.

a)

b)

u i tng
(3.115)

(3.115)

B iu khin

(3.124)

B bt nh

i tng

(3.121)

M hnh mu

(3.123)

xm

M hnh mu

(3.123)

xm

Hnh 3.22: iu khin khng nhiu i tng

bt nh tuyn tnh bt k.

Hnh 3.22a) m t cu trc iu khin khng nhiu nu trn. Nu thm rng:

u = w + R x = w + G( x ) Rx

th ta c th ghp b iu khin phn hi trng thi R v b b bt nh (3.121) chung

vi nhau thnh mt b iu khin thng nht nh sau (hnh 3.22b):
d
= H 1G( x )T BT Pe

dt
= G( x ) Rx

340

(3.124)

trong H l ma trn cng i xng xc nh dng c chn ty v P l nghim i

xng xc nh dng ca phng trnh Lyapunov:
AT P + PA = Q

vi

A =(ABR)

(3.125)

c Q l ma trn i xng, xc nh dng chn trc.

Ch : Do A l ma trn bn nn phng trnh Lyapunov (3.125) vi Q l ma trn
i xng, xc nh dng cho trc lun c nghim P i xng xc nh dng (duy
nht).

3.4.6

iu khin phn hi tn hiu ra

t vn

Trong phn ny ta s bn ti bi ton th hai c a ra mc 3.4.1 (hnh

3.10b). l bi ton tm b iu khin R phn hi u ra cho i tng:
dx
= Ax+Bu
dt
y = Cx

trong A R n

, B R n

, C R r

sao cho h kn thu c vi m hnh:

dx
= (ABRC)x+Bw
dt
y = Cx

c c cc im cc s 1 , , s n l nhng gi tr cho trc.

thit k b iu khin modal phn hi u ra R , ta cng bt u vi thut ton
tm b iu khin modal phn hi trng thi Rx , ri sau tm cch chuyn im hi
tip t x v y nh ma trn Q R n

(hnh 3.23). Ma trn Q phi tha mn:

QC = I

(3.126)

Nu C khng suy bin th ta d dng c c:

Q = C

Khi C suy bin, m iu ny thng gp phi (v C l ma trn khng vung, c n hng, r

ct), ta phi tm Q bng cch gii h phng trnh (3.126) vi n2 phng trnh cho n r
n s l cc phn t ca Q. Nu r n th c th (3.126) cn c nghim, song ngc li khi
r < n h phng trnh (3.126) thng l v nghim. Trng hp v nghim ny li hay
gp cc bi ton iu khin, v ni chung s bin trng thi ca i tng bao gi cng
nhiu hn s cc tn hiu u ra ca n.

341

y
C

G
Hnh 3.23: Phng php thit
k modal phn hi u ra.

Rx

Ngi ta nh phi chp nhn mt gii php dung ha hn l khng tm Q tha

mn (3.126) m thay vo l:
CQC = C

(3.127)

Phng trnh trn lc no cng c nghim Q, thm ch l v s nghim. Mt trong cc

nghim l:
Q = CT(CCT)

(3.128)

T y ta c thut ton tm R gm cc bc nh sau:

S dng thut ton modal phn hi trng thi cho trong mc 3.4.1 tm b
iu khin Rx (c th l gm nhiu b iu khin lng nhau).

Tm Q tha mn (3.127). C th xc nh Q theo (3.128).

Tnh R = Rx Q

Song mt iu cn ch l hng ca Q tha mn (3.128) khng ln hn hng ca C,

tc l khng th ln hn r , nn hng ca b iu khin R tnh theo (3.129) cng ch c
th nhiu nht l r . iu ny ni rng b iu khin R khng th chuyn ht c n
im cc c 1 , , n (l gi tr ring ca A) ti n v tr mi s 1 , , s n (l gi tr
ring ca A B R C ) m nhiu nht ch c th l r trong s chng.
Thut ton trn cn c mt nhc im ln hn ch kh nng ng dng so vi thut
ton tm Rx phn hi trng thi l cc im cc khng c dch chuyn cng b nh
hng. Chnh xc hn l chng cng c dch chuyn song khng ti c v tr chn
trc. Nguyn nhn nm ma trn Q c tm theo (3.128).
V d 3.39: Minh ha phng php modal phn hi u ra

Xt i tng c m hnh:
2
1
3
1 0

dx
= 2 1 4 x + 1 0 u
dt

0 1

2 2 4

Cng vi b iu khin phn hi trng thi R x :

9 5 1

R x =
3 3 3

342

1 0 0
x
y =
0 1 0

h kn thu c c cc im cc
s 1 = 2 , s 2 = 3 v s 3 = 4
chuyn b iu khin phn hi trng thi R x thnh b iu khin phn hi u
ra theo (3.129) ta phi tm ma trn Q tha mn (3.127). Tm Q theo (3.128) ta c:
Q = CT(CCT)

1
1

= 2 1
1
0

v b iu khin R phn hi u ra l:
1
1
8 4
9 5 1
2 1 =

R = R x Q =
0
3 3 3 1
0
0

Vi b iu khin R phn hi u ra , h kn c m hnh:

6
1
11
1 0

dx
= ( A B R C ) x + B w = 10 5 4 x + 1 0 w
dt
2 2 4
0 1

v cc im cc l s 1 = 2 , s 2 = 3 , s 3 = 1. Nh vy im cc s 3 b dch chuyn mt

cch khng mong mun t v tr c 4 ti v tr mi 1.

Do khng kim sot c cc im cc khng c dch chuyn nh vy m cng

khng s dng c nhiu ln thut ton tm R phn hi u ra nhm to nhng b
iu khin cascade ging nh phng php phn hi trng thi. Hn na cng v
khng kim sot c cc im cc cn li nn rt c th chng li b di chuyn ti
nhng v tr bt li cho cht lng h thng, chng hn nh sang pha phi trc o. Do
thut ton khng c ngha ng dng.
C l khi c n phn ny, mt s bn c s c cu hi l ti sao khng xc nh
Q ging nh T r khi phi chuyn tn hiu hi tip v t sau ra trc khi M

B thut

ton thit k b iu khin phn hi trng thi. Tc l cng chia C M thnh:

L
CM = r
Ln m
vi gi thit C c hng l r v tch CM c r vector hng u tin l c lp tuyn tnh.
Sau xc nh Q l:
Q = Lr1
Ta s thy cch suy ngh t nhin s dn n trng hp l vi b iu khin R tm
c h kn c im cc l gi tr ring ca (xem li li chng minh nh l 3.34):

343

 s1

0
1
M (ABRC)M =

m +1

sm

vi l mt s hng no . Ni cch khc, n s khng c c cc gi tr ring s 1 ,

, s n nh bi ton t ra, thm ch ch l s 1 , , s m bi ton chuyn m im cc
trong s n im cho trc cng khng c (v phi khng phi l ma trn tam gic).
Cui cng, ta khng nn bi quan l s khng c b iu khin gn im cc no lm
vic theo nguyn l phn hi tn hiu ra. V d, n gin nht l ta vn c th s dng
b iu khin modal phn hi trng thi, cng thm cc b quan st xc nh trng thi
x t nhng tn hiu vo u v ra y , l ta c b iu khin phn hi tn hiu ra y lm
vic gin tip theo nguyn l gn im cc (hnh 3.24).
Nh vy, bi ton thit k b iu khin phn hi u ra c thay bng bi ton
thit k b quan st trng thi. C hai b quan st trng thi in hnh l:

B quan st Luenberger v

B quan st Kalman (cn gi l b lc Kalman)

w

Hnh 3.24: iu khin phn hi u ra

nh b quan st trng thi.

Rx

i tng
iu khin

x B quan st
trng thi

B quan st Luenberger

Xt i tng hp thc cht vi m hnh trng thi:

dx
= Ax + Bu

dt
y = Cx + Du

(3.130)

tng chnh ca phng php thit k b quan st trng thi Luenberger l s dng
khu c m hnh:
dz
= Az + Bu + L( y Cz Du)
dt

(3.131)

lm b quan st c c s xp x z x t nht l sau mt khong thi gian T

ngn, ni cch khc l c c (hnh 3.25):

344

 e(t) = x(t)z(t) 0

tT.

khi

(3.132)

Nhim v thit k l xc nh L trong (3.131) c c yu cu (3.132). Trc tin

ta lp sai lch t hai m hnh (3.130), (3.131) v c:
e(t) = x(t)z(t)

de d( x z )
=
= A( x z ) L( y Cz Du)
dt
dt
= A( x z ) L( Cx + Du Cz Du)
= ( A LC ) e

Nh vy, r rng e(t)0 th A L C phi l ma trn bn. Sai lch e(t) s cng tin
nhanh v 0 , tc l thi gian T cn thit cho vic quan st tn hiu vo ra s cng nh,
nu cc gi tr ring ca A L C nm cng xa trc o (v pha ). Do ta c th ch
ng tm L vi mt tc tin v 0 ca e ( t ) c chn trc bng cch xc nh L sao
cho A L C c cc gi tr ring ph hp vi tc .
Nu thm rng gi tr ring ca ma trn bt bin vi php chuyn v, th cng
vic xc nh L sao cho A L C c c nhng gi tr ring chn trc cng ng ngha
vi vic tm LT :
(A L C )

T T

= A C L

nhn cc gi tr cho trc s 1 , , s n lm gi tr ring v cng l bi ton thit k

b iu khin cho trc im cc c trnh by ti mc 3.4.1. Ni cch khc, bi
ton xc nh b quan st trng thi Luenberger chnh l bi ton thit k b iu khin
cho trc im cc ng vi h i ngu ca i tng cho. iu kin p dng c
phng php thit k cho trc im cc l i tng phi iu khin c th nay,
thng qua h i ngu c chuyn thnh iu kin i tng phi quan st c.

Hnh 3.25: B quan st trng thi ca

Luenberger.

dx
=Ax+Bu
dt
y = Cx+Du

dz
= Az + Bu + L( y Cz Du )
dt

Ta i n thut ton tm L ca b quan st trng thi Luenberger cho i tng

(3.130) quan st c gm hai bc nh sau:
1) Chn trc n gi tr s 1 , , s n c phn thc m ng vi thi gian T mong mun
quan st tn hiu vo ra. Cc gi tr s 1 , , s n c chn nm cng xa trc o v

345

phi tri (c phn thc cng nh) so vi cc gi tr ring ca A , th thi gian T s

cng ngn v do sai lch e ( t ) cng nhanh tin v 0.
2) S dng cc phng php bit nh Roppenecker, modal tm b iu khin
L T phn hi trng thi gn im cc s 1 , , s n cho i tng:
dx
= AT x + C T u
dt

tc l tm L tha mn phng trnh cn bng:

det( s I A + LC ) = ( s s 1 ) ( s s 2 )

(ssn) , s

dx
=Ax+Bu
dt
y = Cx+Du

dz
= Az + Bu + L( y Cz Du )
dt

(3.133)

Hnh 3.26: H thng iu khin kn c s tham gia ca b quan st trng thi Luenberger.

Mt iu cn ch l b quan st trng thi thng c s dng km vi b iu

khin phn hi trng thi (hnh 3.26). Ni cch khc trng thi z(t) tm c s l tn
hiu u vo ca b iu khin. Bi vy thi gian xc nh trng thi xp x z(t) ca i
tng khng th chm hn thi gian thay i trng thi x ( t ) ca bn thn i tng. T
y suy ra iu kin chn s 1 , , s n cho b quan st l chng khng c nm bn
phi cc im cc ca i tng (cc gi tr ring ca ma trn A) do b iu khin phn
hi trng thi R mang li, tc l gi tr ring ca A B R .
Gim bc b quan st Luenberger

Xt i tng l hp thc cht ( D = ) tc l:

dx
n
dt = Ax + Bu , x R

y = Cx , y R r

(3.134)

Khng mt tnh tng qut nu ta gi s rng ma trn C vi Rank( C ) = r c r ct u tin

ca n l c lp tuyn tnh. Khi t (3.134) vi:
x
y = Cx = ( C1 , C2 ) 1 = C1 x1 + C2 x2 , C1 R r r , x1 R r
x2
346

trong
x1 = (x1, , xr)T

x2 = (xr+1, , xn)T

ta xc nh ngay c r gi tr trng thi u tin x 1 , , x r trong s n bin trng

thi mt cch rt n gin theo cng thc:
x1 = C11 ( y C2 x2 )

(3.135)

vi gi thit l bit n r trng thi x 2 = ( x r + 1 , , x n ) T . Bi vy nhim v ca b

quan st trng thi by gi ch cn l xc nh x2 R n r t tn hiu vo ra u , y .
Vit li m hnh i tng (3.134) theo bin trng thi mi:
x1 C11 ( y C2 x2 ) C11
=
=

x2
x2

C11C2 y


I
x2

y
x
= C 1 1
x
x2
2

C
vi php bin i tng ng C , ta c:
y
x
d y
= C 1 ( Ax + Bu ) = C 1 A 1 + C 1 Bu = C 1 AC + C 1 Bu
x
dt x2
x2
2
A
= 1
A3

A1 y + A2 x2 + B1u
A2 y B1

+ u =

A4 x2 B2
A4 x2 + A3 y + B2u

C1 AC

C1 B

trong A 1 , A 2 , A 3 , A 4 , B 1 , B 2 l nhng ma trn con ca C 1 AC v C 1 B c s chiu

tng ng. T y ta suy ra c:
dx2
dt

u
= A4 x2 + ( B2 , A3 )
y

y=

dy
dt

A1 y B1u = A2 x2

Vy, thay v phi s dng b quan st (3.131) vi bc n, ta ch cn s dng b quan

st bc n r cho h con trn vi cu trc:
u
dz
= A4 z + ( B2 , A3 ) + L( y A2 z )
y
dt

c ma trn L phi tm tt c gi tr ring ca A 4 LA 2 nm bn tri trc o, iu kin

cn v c z x2 = ( xr +1 , xr + 2 ,

, xn ) . Khi c x2 R n r ta cng s c cc

bin trng thi cn li l x1 = ( x1 , x2 ,

, xr ) R r theo (3.135).

B quan st Kalman

Vi b quan st trng thi Luenberger, phi sau khong thi gian T nht nh ta
mi pht hin c s thay i trng thi x(t) trong i tng. iu ny hn ch kh
347

nng ng dng ca n, tc l n ch s dng c khi nhiu tc ng vo h thng l

nhiu tc thi v khong thi gian gia hai ln nhiu tc ng khng c nh hn T.
c lc ngi ta tm cch nng cao kh nng ng dng cho b quan st
Luenberger bng cch gim thi gian quan st T thng qua vic chn cc gi tr ring
s 1 , , s n cng xa trc o v pha tri. Song iu ny li gp s gii hn bi kh nng
tch hp b quan st, v khng bao gi ta c th tch hp c mt thit b k thut c
hng s thi gian nh ty (hng s thi gian cng nh, gi tr ring nm cng xa trc
o v pha tri). Nhng thit b c hng s thi gian rt nh n ni c th b qua c
(qun tnh gn bng 0) l khng tn ti trong thc t.
nx
dx
= Ax + Bu + n x
dt
y = Cx + Du + n y

Hnh 3.27: B quan st trng thi ca

Kalman.

ny
y

dz
= Az + Bu + L( y Cz Du )
dt

loi b nhc im trn ca b quan st trng thi Luenberger mt cch trit

, Kalman ngh phi xt lun s tham gia cc tn hiu nhiu n x (t) v n y (t) ca
i tng trong qu trnh xc nh ma trn L ca b quan st. Ni cch khc m hnh
m t i tng phi th hin c s tham gia ca tn hiu nhiu.
Xt i tng b nhiu n x (t), n y (t) tc ng, m t bi:
dx
= Ax + Bu + nx

dt
y = Cx + Du + n y

(3.136)

Hai tn hiu ngu nhin n x (t), n y (t) c gi thit l:

Chng l tn hiu ngu nhin egodic.

Chng c k vng (gi tr trung bnh) bng 0, tc l mn = mn = 0.

y

Hm h tng quan ca chng c dng xung dirac:

rn ( ) = M [ n x ( t )n x ( t + ) ] = N x ( )
x

rn ( ) = M [ n y ( t )n y ( t + ) ] = N y ( )
T

trong M [ ] l k hiu cho php ly gi tr trung bnh (k vng), N x v N y l

hai ma trn hng i xng, xc nh dng.

348

n x (t), n y (t) khng tng quan vi nhau v n y khng tng quan vi x .

B quan st trng thi ca Kalman, hay cn gi l b lc KalmanBucy, cng c m

hnh ging nh b quan st ca Luenberger (3.131), tc l:
dz
= Az + Bu + L( y Cz Du)
dt

(3.137)

nhng khc vi Luenberger, Kalman tm L sao cho:

T

Q = M[e e ] =

M[ ei2 ] min!

(3.138)

i =1

trong e ( t ) = x ( t ) z ( t ) . C th thy ngay c rng nu c (3.138) th cng phi c

e(t)0, v tch phn v hn:
1
T T

Q = M[ e T e ] = lim

T
e edt

hi t th hm di du tch phn phi tin v 0. Nh vy trong b quan st Kalman s

cha ng lun c tnh cht ca b quan st Luenberger.
T (3.136) v (3.137) ta c:
de
= ( A LC ) e + n x Ln y
dt

Suy ra:
t

e( t ) = e( A LC )t e0 e( A LC )( t ) nx ( ) Ln y ( ) d

(3.139)

Thay (3.139) vo (3.138) c n cc gi thit v n x ( t ), n y ( t ), sau tm L Q

Q
Q
= , vi
l k hiu ch ma
c gi tr nh nht bng cch xc nh nghim ca
L
L
trn Jacobi ca Q ta s nhn c:
L

= N y1 C P

(3.140)

trong P l nghim ca phng trnh Riccati:

P C T N y1 C P P A T A P = Nx

(3.141)

iu th v y l cc cng thc (3.141) v (3.140) xc nh b quan st trng

thi Kalman hon ton ging nh (3.97) v (3.98) bi ton thit k b iu khin ti
u phn hi trng thi (bi ton LQR ni mc 3.4.3), trong vai tr ca i tng
(3.89) nay c thay bng h i ngu vi n nhng khng c nhiu:
dx
= AT x + C T u
dt

(3.142)

v hm mc tiu (3.91) th c thay bi:

QK =

1 T
T
( x N x x + u N y u)dt
20

(3.143)

349

T y ta n c thut ton tm L cho b quan st trng thi Kalman theo m

hnh (3.137) gm cc bc nh sau:
1) Xc nh hai ma trn Nx v Ny l ma trn hm h tng quan ca n x ( t ), n y ( t ).
2) Thit k b iu khin ti u phn hi trng thi L T phn hi m (b iu khin
LQR) cho i tng i ngu (3.142) v phim hm mc tiu (3.143).
3) Thay L tm c vo (3.137) c b quan st.
Thit k b iu khin ti u phn hi u ra LQG

By gi ta chuyn sang bi ton tng qut hn l thit k b iu khin ti u phn

hi tn hiu ra cho i tng c nhiu n x ( t ), n y ( t ) tc ng, c m t bi (3.136), sao
cho vi n c:
QR =

1 T
( x Ex + uT Fu)dt min
2 0

(3.144)

nx
u

dx
=Ax+Bu+nx
dt

ny

y =Cx+Du+ny

R LQR = F

BTL

dz
= Az + Bu + L( y Cz Du )
dt

Hnh 3.28: H thng iu khin phn hi u ra LQG (Linear Quadratic

Gaussian) c xy dng theo nguyn l tch.

B iu khin phn hi u ra LQG (linear quadratic Gaussian), m t hnh 3.28,

l b iu khin bao gm mt b iu khin phn hi trng thi ti u RLQR c thit
k theo thut ton trnh by mc 3.4.3, tc l cho i tng khng c s tc ng
ca nhiu (bi ton LQR):
dx
= Ax + Bu

dt
y = Cx + Du

(3.145)

v phim hm mc tiu (3.144), cn s nh hng ca nhiu n x ( t ) , n y ( t ) s c gim

st (c lc) bi b quan st trng thi Kalman (3.137), trong L c xc nh theo
(3.140) v P l nghim ca phng trnh Riccati (3.141).
350

Nh vy, thit k b iu khin LQG ta phi s dng hai ln thut ton thit k
b iu khin LQR:

Ln th nht l xy dng b iu khin phn hi trng thi ti u RLQR cho

i tng (3.145) tha mn (3.144).

Ln th hai l xc nh ma trn L ca b quan st Kalman theo (3.140) vi P

l nghim ca phng trnh Riccati (3.141), hay L

chnh l b iu khin phn

hi trng thi ti u LQR cho i tng i ngu (3.142) v phim hm mc tiu

(3.143).
Kt lun v cht lng h kn: Nguyn l tch

By gi ta s kho st s nh hng ca b quan st trng thi i vi cht lng

h kn phn hi u ra thng qua v tr cc im cc ca chng.
Trc tin ta xt h kn phn hi u ra m t hnh 3.26, bao gm b iu khin
phn hi trng thi v b quan st trng thi Luenberger mch hi tip. H kn ny c
tn hiu vo w , tn hiu ra y , m t bi:
x
dx
= Ax + Bu = Ax + B( w Rz ) = ( A , BR ) + Bw
dt
z

dz
= Az + Bu + L( y Cz Du) = Az + B( w Rz ) + LC( x z )
dt
x
= LCx + ( A LC BR) z + Bw = ( LC , A LC BR ) + Bw
z

Ghp chung cc phng trnh li vi nhau s c m hnh trng thi h kn:

d x A
=
dt z LC

BR
x B
+ w
A LC BR z B

Bi vy im cc ca h s l nghim ca phng trnh c tnh:

BR
sI A

det
=0
LC sI A + LC + BR

(3.146)

Do nh thc ca ma trn khng thay i nu ta thm hoc bt ni dung ca mt hng

hay ct mt gi tr gm t hp tuyn tnh ca nhng hng hay ct khc, nn phng
trnh c tnh (3.146) s tng ng vi:
BR
BR
sI A + BR

sI A + BR

det
= 0 det
=0
sI A + LC

sI A + BR sI A + LC + BR

det( s I A + B R ) det( s I A + L C ) = 0

Hon ton tng t ta cng c cho h LQG s dng b quan st Kalman v khi so
snh vi b quan st Luengerger, th hai b quan st ny ch khc nhau phng thc
xc nh ma trn L :

351

Luenberger xc nh theo nguyn tc cho trc im cc,

Kalman xc nh theo cc tiu phim hm mc tiu,

T y ta rt ra c kt lun:
nh l 3.39: B quan st trng thi ca Luenberger v ca Kalman khng lm thay i
v tr cc im cc c det( s I A + B R ) = 0 ca h thng. N ch a thm vo h
thng cc im cc mi l nghim ca det( s I A + L C ) = 0 .

nh l 3.39 ny (cn gi l nh l tch) cho thy h tuyn tnh, vic thit k b

iu khin phn hi tn hiu ra l tch c thnh hai bi ton ring bit gm bi ton
thit k b iu khin phn hi trng thi v bi ton thit k b quan st trng thi
(nguyn l thit k tch).
Ch : Nu i tng c bc n th h kn phn hi u ra hnh 3.26 hoc 3.28 s c
2n bin trng thi x , z v m hnh trng thi y ca h kn l:

d x A
BR
x B
=
+ w
z
dt
LC
A
LC
BR

z B

y = Cx DRz + Dw = ( C , DR ) z + Dw

(3.147)

M hnh (3.147) ny c ma trn h thng kiu 2n2n. Tuy nhin, v gia hai vector
trng thi thnh phn x, z c quan h xp x x z nn c nhiu kh nng h kn tr
thnh h khng c bc nh nht. Trong trng hp nh vy h kn s cha cc bin
trng thi tha z. Do n s khng tha mn cc tiu chun iu khin c, quan st
c c cp mc 3.3.3 v 3.3.4 v ma trn hm truyn ca h:
BR
sI A

G( s) = ( C , DR )

+
+
LC
sI
A
LC
BR

B
+ D
B

cng rt c th s ch c bc l n.
V d 3.40: Minh ha phng php thit k b iu khin phn hi u ra theo nguyn l tch

Xt i tng iu khin bc 2 SISO m t bi:

1
dx 1 2
T
=
x + u = Ax + bu v y = x 2 =(0,1) x = c x + du
dt 1 1
0

trong
x
1 2
1
T
x = 1 , A =
, b = v c =(0,1), d =0
x
1
1
0

B iu khin phn hi u ra theo nguyn l tch, bao gm b iu khin phn hi

trng thi R v b quan st trng thi Luenberger (3.131) lm h kn hnh 3.26 n
nh vi tt c cc im cc u bng 2, c cc ma trn:
352

l
L = 1
l2

R =( r 1 , r 2 ) v

c xc nh nh phng php trc tip cn bng cc h s hai v ca phng trnh

(3.63) v (3.133) nh sau:
s 1 + r1
R =( r 1 , r 2 ) det( sIA + bR )= det
1

s2 + ( r1 2)s + (3 r1 r2 ) = s2 + 4 s + 4

R = ( r1 , r2 ) = (6 , 7)

2 + r2
2
= ( s + 2)
s 1

r1 2 = 4

3 r1 r2 = 4

v
l
s 1 2 + l1
2
L = 1 det( sIA + Lc T )= det
= ( s + 2)
1
1

+
l
s
l
2
2

s2 + ( l2 2)s + (3 l1 l2 ) = s2 + 4 s + 4

l 7
L = 1 =
l2 6

l2 2 = 4

3 l1 l2 = 4

Nh vy m hnh (3.147) ca h kn vi 4 bin trng thi x 1 , x 2 , z 1 , z 2 , c vit li cho

h SISO, s l:
1 2 6 7
1

x b
x

1
1
0
0

0 w
+
=
+
w

1
z
b
z
0
7
5
16

A Lc bR

0 6 1 5
0

d x A
=
dt z Lc T

bR

x
x
y = c T , dR + dw = ( 0 1 0 0 )
z

z
cT

z
trong z = 1 . Suy ra, h kn c hm truyn l:
z2
6
7
s 1 2

1
0
0
s 1
G( s) = c T ( sI A )1 b = ( 0 1 0 0 )
0
7
s + 5 16

0
6
1
s + 5

1

0
1

0

hay

353

2
1
G( s) ==
( 0 1 0 0 ) ( s + 10s + 41)
det( sI A )

s2 4 s 4

( s + 2)4

1

6 s + 37 0

( s + 2)2

trong l nhng phn t ta khng cn phi quan tm trong tnh ton.

T cng thc hm truyn ny ta nhn thy mc d m hnh trng thi l bc 4 (c
4 bin trng thi x 1 , x 2 , z 1 , z 2 ), song v c cha hai bin trng thi tha, m c th
y l z =( z 1 , z 2 ) T , nn cui cng bc ca hm truyn G ( s ) tng ng gim xung ch
cn bng 2.
Cng nhn dp v d ny ta xc nhn li ln na nhn nh trc y mc 3.3.3
v 3.3.4 (xem v d 3.21) v s tn ti cc h iu khin c, nhng li khng tha mn
tiu chun Kalman hay Hautus. R rng h kn phn hi tn hiu ra thu c v d
ny l iu khin c cng nh quan st c, song m hnh trng thi bc 4 ca n li
khng tha mn tiu chun Kalman cho trng hp iu khin c:

Rank b

Ab

A2 b

0
A3 b = Rank
1

5 16 44

1 4 12
=2<4
5 16 44

1 4 12

cT
1
0
0
0

cT A
1
1
0
0

Rank
= Rank
=4

2 1
6
7
c T A2

1 89 11 117
T 3

c A

Kt qu v d trn dn ta ti kt lun tng qut cho ring h SISO phn hi u ra

theo nguyn l tch nh sau:
nh l 3.40: B iu khin phn hi u ra theo nguyn l tch cho i tng iu
khin SISO bc n nh m t hnh 3.26:
dx
n
= Ax + bu , y = c T x + du vi x R
dt

s khng lm thay i im khng ca i tng. H kn c hm truyn bc n l:

sI A b
det T

c
d

G( s ) =
det( sI A + bR)

354

Chng minh:

T m hnh trng thi h kn:

d x A
=
dt z Lc T

x b
+ w ,
A Lc bR z b

bR
T

x
y = c T , dR + dw
z

ta c hm truyn:
bR
sI A

G( s) = c T , dR
Lc T sI A + Lc T + bR

b
B( s)
+d =
A( s)
b

trong B ( s ) l a thc t s v A ( s ) l a thc mu s ca hm truyn. Theo ni dung

nh l 3.39 ta c ngay:
A( s) = det( sI A + bR) det( sI A + Lc T )

v vi cng thc (3.62) suy ra t cng thc ca Schur tnh nh thc ca ma trn khi
cng nh tnh cht rng nh thc ca ma trn khng thay i nu ta thay hng/ct ca
n bng tng tuyn tnh gia n vi hng/ct khc, th:
sI A + Lc T
bR
b
sI A

B( s) = det Lc T sI A + Lc T + bR b = det
Lc T

c T

dR
d
cT

sI A + Lc T

= det
Lc T

cT

sI A + Lc T
0

sI A + bR b = det
Lc T

c T dR
d
cT

sI A b
= det( sI A + Lc T ) det T

c
d

sI A + Lc + bR b

dR
d

sI A b

cT
d

sI + A Lc T
T

Vy
sI A b
sI A b
det( sI A + Lc T ) det T
det T

c
d
c
d
B( s)

G( s ) =
=
=
A( s) det( sI A + bR) det( sI A + Lc T ) det( sI A + bR)

iu khin khng nhiu bng phn hi u ra

Tuy rng vic gn im cc bng phn hi u ra trc tip khng kh thi trong
nhiu trng hp, nhng thay vo ta li c nh l tch (nh l 3.39) cho php thc
hin c gin tip thng qua b quan st trng thi. Hn th na, vi b quan st
trng thi ta khng nhng ch gn c im cc cn nng cao c c kh nng bn
vng vi nhiu Gauss n x ( t ), n y ( t ), tc ng vo h thng nh m t m hnh (3.136),
nh b quan st trng thi Kalman. Song phng php iu khin gin tip ny bng
nh l tch li c nhc im c bn l lm tng gp i bc ca h kn so vi bc ca

355

i tng iu khin, do cng to ra thm s phc tp cho ng hc ca h thng. Bi

vy, s l khng tt, nu ta c bo th p dng nguyn l tch cng b quan st trng
thi Kalman cho mi bi ton iu khin c s tc ng ca nhiu, k c nhiu l o
c. Phng php iu khin khng nhiu n ( t ) o c sau y s cung cp cho ta
thm mt kh nng thit k b iu khin bn vng m khng lm tng thm bc cho h
thng.
Xt h b nhiu n ( t ) tc ng, m t bi:
dx
= Ax + Bu + En( t )

dt
y = Cx

(3.148)

v gi thit rng nhiu n ( t ) l o c (hoc nhn

dng c). Nhiu n ( t ) ny tc ng vo h thng
qua ma trn E. khng li s nh hng ca
nhiu trong h, ta s dng b iu khin phn
hi u ra (hnh 3.29):

K
w

(3.156)

u = w Ry Kn

trong R v K l hai b iu khin cn tm.

Hnh 3.29: iu khin khng nhiu

M hnh h kn l:
dx
= ( A BRC ) x + ( E BK )n + Bw
dt

Bi vy, loi b hon ton c nhiu n ( t ) ra khi h kn, ta ch cn chn K sao cho:
EBK=

E=BK

K=(BTB)

BTE

(3.149)

B iu khin R cn li s c chn h c c cht lng mong mun, chng hn

nh chuyn dch cc im cc khng n nh sang bn tri trc o.
Ngoi ra ta cn thy c rng cng thc (3.149) thit k b iu khin K l kh
thi, v vi h (3.148) iu khin c c bc n ti thiu vi m n tn hiu vo ta lun c
Rank( B ) = m v do ma trn B T B kiu m m s c Rank( B T B ) = m , nn l ma trn
khng suy bin, do nghch o c.

3.4.7

Loi b sai lch tnh bng b tin x l

cc mc trc ta nhiu ln cp n vn sai lch tnh trong h kn. Sai

lch tnh ny vn c th tn ti ngay c khi h n nh. iu ny lm cho p ng y( t )

ch bm c theo dng ca tn hiu lnh w ( t ), ch khng phi bm theo bn thn w ( t ),
tc l ch xc lp s tn ti sai lch tnh. Nhm loi b sai lch tnh ny ngi ta
thng tin hnh mt trong hai gii php:

356

To cho h h c thnh phn tch phn (nh l 2.28).

S dng thm b tin x l V (hnh 3.30).

a)

b)

e
q

x hoc y

i tng
iu khin

e
q

i tng
iu khin

x hoc y

Hnh 3.30: Loi b sai lch tnh bng b tin x l.

Trong khi gii php th nht c p dng nhiu h SISO th gii php th hai
kh thch ng cho h MIMO, c bit khi m b iu khin R c thit k theo phng
php gn im cc. Hn na, vic a thm vo h h khu tch phn d dn ti nguy c
lm thay i v tr cc im cc c gn nn gii php th hai cng c tnh u vit.
Gi s rng i tng c m t bi (hnh 3.30):
dx
= Ax+Be
dt

y = Cx

v i tng c iu khin theo nguyn l hi tip bng b iu khin R (tnh). Tn

hiu phn hi v c th l trng thi x nhng cng c th l u ra y . Trong c hai
trng hp, h kn cha c b tin x l V s c m hnh:
dx
= Ax + Bw ,
dt

y = Cx

trong
A BR nu tn hiu phn hi l x
A=
A BRC nu tn hiu phn hi l y

Vy th ma trn hm truyn ca h kn khng c b tin x l (hnh 3.30a) s l:

Y ( s ) = C ( sI A )

G ( s ) = C ( sI A )

BW ( s ) = G ( s ) W ( s )

Nu nh b iu khin R c thit k sao cho h kn n nh (cc gi tr ring

nm bn tri trc o) th ma trn ( s I A ) s khng suy bin trong ton b min hi t
ca tch phn Laplace (bn phi trc o), do m tn ti ( s I A )

Khi c ni thm b tin x l (hnh 3.30b) quan h vo ra ca h s l:

Y ( s ) = G ( s ) VW ( s )

357

Nhim v ca b tin x l l phi lm sao to ra c tn hiu ra y( t ) ch xc

lp ging nh tn hiu lnh u vo w ( t ), tc l:
y = lim y( t ) = lim w( t ) = w

y = G(0)Vw

y = lim sY ( s) = lim sG( s)V

s0

G(0)V = I

s 0

w
s

( v y = w )

Khi h thng c s cc tn hiu u vo ra bng nhau th G (0) l ma trn vung.

Gi thit thm G (0) khng suy bin. Vy th b iu khin tin x l V s l:

V = G(0)

= C( A ) B

1
nu phn hi trng thi x
C( BR A ) B
=
1
C( BRC A )1 B
nu phn hi u ra y

Hon ton tng t ta cng c th thu c b iu khin tin x l V ( s ) dit sai

lch tnh cho trng hp b iu khin phn hi R khng phi l b iu khin tnh (R
khng phi l ma trn), m l mt b iu khin ng, chng hn:
dz
= Ez + Fy

R : dt
q = Gz + Hy

V d 3.41: Loi b sai lch tnh

Trong v d 3.35 ta thit k b iu khin tnh, phn hi trng thi R cho i

tng c m hnh:
dx 0 2
1
=

x + u
1
3

dt

y = 1 , 1 x
( )

B iu khin R gm hai b iu khin R1 v R2 lng nhau (hnh 3.13) nn:

R = R 1 + R 2 = (2 , 2)+(3 , 12) = (5 , 14)

Cng vi R tm c, h kn c m hnh:
dx 5 16
1
=

x + u
dt 1 3
0

(1
,
1)
=
y
x

Hnh 3.31 biu din hm p ng y ( t ) ca h kn khi c kch thch bi w ( t )=1( t )

cho hai trng hp khng c v c b tin x l:
V = [ C ( BR A )

358

B]

1
4

h(t)

h(t)
1

0
0,5
Khng c b tin x l

C b tin x l

2
0

t
1

Hnh 3.31: Minh ha v d 3.41.

3.4.8

Hin tng to nh (peak) v bi ton chn im cc

Khi thit k b iu khin (phn hi trng thi hay phn hi u ra) bng phng
php gn im cc, bao gi ta cng phi xc nh trc cc im cc (gi tr ring ca
ma trn h thng) cn c ca h kn t nhng yu cu cht lng ng hc t ra ca
bi ton thit k. Chng hn t yu cu cht lng h kn phi n nh, qu trnh t do
khng c cc tr v tin v gc 0 nhanh hn hm e

2t

th cc im cc s i (cho c b quan

st trng thi) c chn phi l nhng s thc m v nh hn 2. R rng c v s cc

b im cc nh vy.
Vn cn nghin cu thm y l trong v s cc b im cc cng mang li cho
h mt cht lng ging nhau, b im cc no s cn mang n cho h thng nhng
cht lng ng hc khc tt hn. V d, nu ta chn b im cc nm cng xa trc o v
pha tri, h s c qu trnh qu cng ngn, song nguy c phi tr gi l h c th s
c qu iu chnh cng cao, v cp ch tiu cht lng "thi gian qu qu iu
chnh" bao gi cng i nghch nhau.
Xt h tuyn tnh SISO hp thc cht:
dx
= Ax + bu , trong x R n

dt
y = cT x

(3.150)

iu kin cn tn hiu ra y ( t ) ca h (3.150) c qu iu chnh ymax l h phi c t

nht mt im khng, tc l h phi c bc tng i r < n (xem mc 2.3.4). Gi thit
rng h l n nh, tc l tt c cc gi tr ring s i = i + j i ca ma trn A trong (3.150)
u c phn thc m i <0. Khi u ra y ( t ) ch t do ( u = 0 ) s tt dn theo dng

359

t hp tuyn tnh ca cc hm e i t . Bi vy xc nh mt cch nh tnh qu iu

chnh ymax ta ch cn tnh gi tr tch phn:

Q = y( t )2 dt = xT ( c c T ) x dt

(3.151)

v khi tch phn (3.151) s l mt hm bin thin n iu tng theo | y max | .

nh l 3.41: Nu h (3.150) l n nh th tch phn (3.151) ca qu trnh t do y ( t )

ng vi mt trng thi u x 0 ty cho trc, s c tnh bi:

Q = y( t )2 dt = x0T Px0

(3.152)

trong P l nghim ca phng trnh Lyapunov (3.42), tc l ma trn P i xng,

xc nh bn dng, tha mn:
PA+ATP=ccT

(3.153)

Chng minh:

T (3.151), (3.153) cng nh cng thc tch phn ton phn v x()=0 v h l n
nh, ta c ngay:
T

dx
dx

Q = xT ( c c T ) x dt = xT ( PA + AT P ) x dt = xT P
dt
Pxdt
dt
dt

0
0
0
0

= xT Px

dx
d( xT P )

T
xdt
Pxdt = x0 Px0
dt
dt

V d 3.42: im cc c gn nm cng xa trc o v pha tri, qu iu chnh cng cao.

Cho i tng iu khin SISO c m hnh trng thi dng chun iu khin:
dx
x1
0 1
0
= Ax + bu =

x + u , trong x =
1
1
1

dt

x2

T
y = c x = (0 , 1) x = x2

Gi R = ( r 1 , r 2 ) l b iu khin phn hi (m) trng thi gn hai im cc s 1 , s 2 .

Khi , bng phng php cn bng h s hai a thc (3.63) ta c:
det( s I A + b R ) = ( s s 1 ) ( s s 2 )

s
det
1 + r1

s2+(r21)s+(r1+1) = s2+(s1s2)s+s1s2

r1 = s1 s2 1

r2 = 1 s1 s2

360

1
= (ss1)(ss2)
s 1 + r2

R=(s1s21 , 1s1s2)

Vi b iu khin ny, tc l vi u = w R x , h kn (hnh 3.10a) s c m hnh:

dx
0
= ( A bR) x + bw =

dt

s1 s2

y = x2

1
0
x + w
s1 + s2
1

x
v do ng vi trng thi u x0 = 10 th khi w = 0 , ta s c theo nh l 3.42, c
x20

th l theo cc cng thc (3.152) v (3.153):

Q = y( t )2 dt =
0

2
2
s1s2 x10
+ x20
2( s1 + s2 )

(3.154)

Cng thc (3.154) ch rng ng vi trng thi u x 0 c x10 0 th khi cc im cc

s 1 , s 2 c gn nm cng xa trc o v pha tri, Q s c gi tr cng ln v do qu

iu chnh | y max | cng cng cao. Thm ch khi chn s 1 v s 2 trong h s xy ra

hin tng to nh cc i | y max | = (peak) ca qu trnh t do. Hnh 3.31 biu din
x 1
th qu trnh t do y ( t ) ca h kn ng vi trng thi u x0 = 10 = v cc im
x20 0

cc (s 1 , s 2 ) c gn ln lt l ( 4 , 4 ) , ( 5 , 6 ) , ( 9 , 1 0 ) .

(9,10)

(5,6)
Hnh 3.31: Minh ha v d 3.42. im cc
c gn nm cng xa trc o v pha
tri, qu iu chnh cng cao.

(4,4)

V d 3.42 cho thy s tr gi khi chn im cc xa trc o v pha tri c thi

gian qu ngn. Song iu ny khng phi xy ra mi h cng nh vi mi im
trng thi u x 0 . Chng hn t im trng thi u c x 10 =0, x 20 0 th ngc li,
im cc s 1 , s 2 cng nm xa trc o v pha tri, Q c gi tr cng nh (qu trnh t do
y ( t ) khng c qu iu chnh). Vy th gia im trng thi u x 0 v qu iu

chnh y max c quan h nh th no? Cu tr li s l hai nh l sau:

361

nh l 3.42: B iu khin phn hi trng thi R khng lm thay i c im khng

ca i tng, do n cng s khng thay i c tnh pha khng cc tiu thnh
pha cc tiu cho h.

Chng minh:

T nh l 3.2 ta c bit rng i tng m t bi hm truyn:

G (s ) =

+ cm sm

c0 + c1s +

+ an 1 sn 1 + sn

a0 + a1 s +

B( s)
A( s)

(3.155)

lun c m hnh trng thi (3.150) chun iu khin vi:

0

0
A =

0
a
0

a1

a2

, b =
0

1

1
an 1
0

v
cT = (c0, c1,

, cm,0,

,0)

Khi , cng vi b iu khin phn hi (m) trng thi R = ( r 1 , r 2 ,

, r n ) , tc l vi

u = w R x , h kn s c m hnh (cng dng chun iu khin):

dx
= ( A bR) x + bw

dt
y = cT x

vi
0

0
AbR =

0
a r
0 1

a1 r2

a2 r3

an 1 rn
0

Bi vy n s c hm truyn vi cng a thc t s nh i tng (3.155):

Gkn ( s) =
=

c0 + c1 s +

( a0 + r1 ) + ( a1 + r2 )s +

+ cm sm

+ ( an 1 + rn )sn 1 + sn

B( s)
Akn ( s)

T nh l 3.43 ta cn suy ra c thm:

362

c T ( s I A ) adj b = c T ( s I A + b R ) adj b

lun ng vi mi R , trong adj l k hiu ch ton t ly ma trn b.

nh l 3.43: Xt i tng iu khin (3.150). Gi m l s cc im khng ca i tng

v R l b iu khin phn hi trng thi gn cc im cc s i , i = 1 , , n nm bn

tri trc o h kn n nh. K hiu:
, An

V = span( b , A b ,

m1

b)

(3.156)

Khi , vi tt c cc im cc c gn ng thi l ( s i = , i =1, , n ), th

gi tr tch phn Q tnh theo (3.152) s l:
0 khi x0 V
Q=
khi x0 V

(3.157)

Chng minh:

Gi s i tng v h kn cng c dng chun iu khin. Khi s c:

0

0
AbR =

0
a
0

a1

a2

= (c0, c1,

0

, b =
0

1

1

an 1
0

, cm,0,

,0)

trong a 0 , a 1 , , a n 1 l h s ca a thc:

(s) = (ss1)(ss2)

(ssn) = a0+a1s+

+an1sn

+sn

(3.158)

v s i , i =1, , n l cc im cc c gn cho h kn. Ngoi ra v:

(b, Ab,

nn

, A

n1

0 0

b) =
0 1

V = span( e m + 1 , e m + 2 ,

, en)

vi e i l k hiu ch vector n v th i ca khng gian trng thi.

Phng trnh Lyapunov (3.153) cho h kn l:
C
P( A bR) + ( A bR)T P = c c T = m

trong

(3.159)

363

 c02

cc
Cm= 1 0

cm c0

v R n

m1

c0 cm

c1cm
m+1
R

2
cm

c0 c1
c12
cm c1

l ma trn c cc phn t bng 0. Kt hp vi (3.158), nghim P xc nh

dng ca (3.159) c dng:

P
P= m

vi P m =( p ij ), i,j =1,2, , m c phn t p ij ch sai khc mt hng s so vi:

p ij

ci c j ( s1 s2
( s1 + s2 )( s2 + s3 )

sn )
( sn 1 + sn )

Bi vy, theo nh l 3.42, c th l theo cng thc (3.152) ta s c:

Q = x0T Px0 = x0Tm Pm x0 m
x01
x01

x
l
k
hiu
ch
trng
thi
u
v
=
trong x0 =
0m

l vector gm m+1
x
x
0n
0m

phn t u tin ca n. R rng khi x 0 V ta s c x 0 m 0 . Do nu s i = , i = 1 ,

, n , th Q. Ngc li, khi x 0 V tc l khi x 0 m = 0 th s c Q = 0 v chnh l iu

phi chng minh.

Cu hi n tp v bi tp
1.

Xc nh xem nhng h no trong s cc h sau l tuyn tnh:

3 x + 4t 2 x2 + u1 sin t

d x cos(2t ) x2 + u
dx 1

t 3 x2 + x1
=

b) dt
a) dt x1 + t x2

x2 + x3 + u2

2
y = sin( t ) x1 + x2

y
=
2
x
+
cos(
t
)
x
1
3

c)

d x x1 x2 + u

dt x1 + x2

y = x1 + x2

2.

1 2
. Hy xc nh Im( A ) , Ker( A ) v kim tra tnh trc giao ca chng
Cho A =
2 4

3.

Xc nh ma trn hm m e A vi:

364

1
1

a) A =

2
1

b) A =

1
2 0

d) A = 0 1 2
0
2 4

4.

e)

3 1 1

A = 0 1 0
0 2 1

c)

2 1 0

A = 9
4
6
8 0 3

f)

2 1 1

A = 1 2 1
0 0 1

Cho h SISO c m hnh trng thi:

1

dx
= A x + 0 u, y = 5 x 2 ,
dt
2

trong A l ma trn cho trong bi tp s 3 cc cu c), d), e) v f). Hy xc nh:
a)

Bc tng i ca h thng.

b)

p ng ca h khi c kch thch bi 1( t ) t trng thi ban u x0.

c)

Hm truyn G ( s ) ca h.

d) Cc m hnh dng chun iu khin v chun quan st tng ng ca h.

5.

Cho h SISO m t bi
dx
= Ax+bu ,
dt

bRn

Chng minh rng nu ma trn M = ( b , A b ,

i bin z = M
0

1
dz
= 0
dt

0
0
1
0

, An

b ) khng suy bin th php

x s chuyn h cho v dng:

a0
1

a1

0
0 a2 z + u

0
1 an 1
0

trong a 0 , a 1 , , a n 1 l cc h s ca a thc c tnh ma trn A, tc l:

det( s I A ) = a 0 + a 1 s +
6.

+an1sn

+sn

Hy xc nh qu trnh cng bc v qu trnh t do ca nhng h thng c m t

bi cc m hnh trng thi sau khi n c kch thch bng tn hiu 1( t ) u vo.
V qu o pha ca qu trnh t do v bin lun tnh n nh ca h.
a)

0
dx 7 1
x + u
=
dt 12 0
1

b)

1
dx 3 2
x + u
=
0
dt 1
0

c)

1
d x 1 1
=
x + u
dt 1 2
1

d)

1
d x 2 2
=
x + u
dt 6 4
2

365

e)
7.

0
dx 1 a
x + u
=
dt a 0
1

b
dx a 1
x + u
=
dt 1 a
1

f)

Cho h SISO c hm truyn

1
G (s ) = n
n 1
s + a1 s
+
+ an 1 s + an
a)

Chng minh rng qu trnh t do ca h m t c bng m hnh trng thi:

0

bn
0

dx
= Ax =
dt
0

1
0
0
1
bn 1 0
0
0
0

0
0
0

0
0
0

0
0
0

0
b3
0

1
0
b2

x1


0 xn

b1
0
0
0

trong
b1 = D1 , b2 =

D3
D2
, b3 =
,
D1 D2
D1

, bk =

Dk 3 D k
, k = 4,5, ,n
Dk 2 Dk 1

1
0
a1

a
a
0
3
2
v Di = det

a
ai
2i1 a2i2
b ) Chng minh rng ma trn ng cho:
Q = diag( q i )

c)

8.

qi =

k =1

bi , i = 1 , 2 , , n

xc nh dng khi v ch khi tt c cc h s b i , i = 1 , 2 , , n l dng.

dV
T
Chng minh rng hm V = x Q x c
= 2b12 xn2 . T ch ra mi lin h gia
dt
tiu chun Lyapunov v tiu chun Hurwitz.

0
dx a 1
x + u
=
dt 0 a
1

b)

a 1 0
0

dx
= 0 a 1 x + 0 u
dt

1
0 0 a

S dng nh l Geschgorin ch rng h ph thuc tham s:

a
0
3
1

dx
= 2
3 0 x + 0 u
dt

1
a + b 1 4

366

n +1 i

Hy xc nh qu trnh t do v bin lun tnh n nh ca nhng h thng c m

t bi cc m hnh trng thi sau:
a)

9.

vi

chc chn n nh nu | a | < 3 v | a + b | < 3. Hy chn mt cp tham s a , b c th

ch rng nh l Geschgorin ch l iu kin .
10. Cho h tuyn tnh c vector x(t) gm n bin trng thi, m t bi:
dx
= Ax+Bu
dt

vi

ARn

, BRn

trong u(t) l vector ca m tn hiu u vo.

a)

Gi s rng h l iu khin c. Gi x 0 v x 1 l hai im trng thi bt k

trong khng gian trng thi, cng nh u 0 (t) l tn hiu a h t im trng
thi ban u x 0 v gc ta trong khong thi gian hu hn T 0 . Hy xc nh
mt tn hiu iu khin u 1 (t) a h t im trng thi ban u x1 v gc ta
v khong thi gian hu hn cn thit T1.

b)

Gi S l ma trn modal ca A, tc l S=(a 1 ,a 2 , ,a n ) vi a k l vector ring

bn phi ng vi gi tr ring s k ca A. Chng minh rng nu S khng suy bin
(A l ma trn ging ng cho) th iu kin cn v h cho iu khin
c l cc vector hng ng vi cng mt gi tr ring ca tch S

B phi c

lp tuyn tnh vi nhau.

11. Hy kim tra tnh iu khin c v quan st c ca h m t bi m hnh trng
thi nh sau:
a)

20 25 0
0

dx
20 0 x + 3 u v y = (0 3 1) x
= 16
dt
1
4
1
3

b)

0 0 2
0 1

dx
= 1 0 4 x + 1 2 u
dt

1 1

0 1 3

1 0 1
x
y =
0 1 1

12. Hy xc nh iu kin cho tham s a h sau iu khin c:

1 4 0
0 1

dx
= a 1 0 x + 1 0 u
dt

1 1
0 0 a

13. Cho h m t bi:

1
0
0
0
0

0
1
0
dx 0
0
=
x + u

0
0
1
dt 0
0
6 k 11 5
1

v y = (1 , 10 , 10 , 0 ) x + u

a)

Xc nh iu kin cho tham s k h n nh.

b)

Xc nh iu kin cho tham s k h iu khin c.

c)

H c quan st c hay khng khi k = 40.

367

15. Xt h tuyn tnh tham s hng:

dx
= Ax + Bu
dt

Chng minh rng h s iu khin c khi v ch khi vi mi ma trn ring bn

tri b k ca A lun c bkT B 0T .
16. Xt h tuyn tnh tham s hng:
dx
= Ax + Bu

dt
y = Cx + Du

Chng minh rng h s quan st c khi v ch khi vi mi ma trn ring bn phi

a k ca A lun c Ca k 0.
17. Cho i tng c m hnh trng thi:
0
dx 0 1
=
x + u ,
4
0
dt
1

a)

x
y = x 2 , trong x = 1
x2

Hy thit k b iu khin phn hi trng thi sao cho vi n, h thng c hai

im cc mi l s 1 =s 2 = 2 v xc nh tnh pha cc tiu ca h kn thu c
t ch rng b iu khin khng lm thay i tnh pha cc tiu ca i tng.

b)

Hy xc nh b quan st trng thi Luenberger tnh xp x z x trng thi

ca i tng vi hai im cc cho trc l 1 = 4 v 2 = 5.

c)

Vit phng trnh trng thi v hm truyn cho h kn.

18. Cho i tng c m hnh:

2
1
3
1 0

dx
= 2 1 4 x + 1 0 u
dt

0 1
2 2 4

v ba im cc mong mun s 1 = 2 , s 2 = 3 , s 3 = 4.
a)
b)

Thit k b iu khin phn hi trng thi theo phng php Roppenecker.

Thit k b iu khin phn hi trng thi theo phng php modal.

19. Hy xc nh b iu khin tch knh cho i tng sau mi knh c hm qu

h i (t), i=1,2 i t 0 ti 1, khng c sai lch tnh v c dng hnh ch S.
0
1 3
1 0

dx
= 1 2 2 x + 0 0 u
dt

0 2

0 4 3

0 2 0
x
y =
0 0 1

20. Cho i tng vi mt tn hiu vo u m t bi:

368

dx 0 2
0
x + u
=
dt 1 0
1

Hy xc nh b iu khin phn hi trng thi LQR n nh i tng theo

quan im ti u nng lng, tc l vi b iu khin , khi c mt nhiu tc ng
tc thi nh bt h ra khi im cn bng 0 th sau h c kh nng t quay v
im cn bng 0 vi chi ph nh nht:
Q=

2 1
1 2

x + u dt min.
4
3 5

21. Cho bi ton ti u LQR:

dx
dt = Ax + Bu

Q = 1 ( xT Ex + uT Fu )dt min vi E = ET 0 v F = F T > 0

2 0
R

Gi R l b iu khin phn hi trng thi (phn hi m) ca bi ton trn, tc l

b iu khin c xc nh theo:
R = F 1 BT P
trong P=P T 0 l nghim ca phng trnh i s Riccati:
PBF 1 BT P AT P PA = E

Chng minh rng nu nghim P ca phng trnh Riccati cn l xc nh dng th

b iu khin R s cn lm h kn n nh.
22. Xt li bi ton ti u LQR cho bi 21. Chng minh rng nu ( A , E ) l cp ma
trn quan st c th b iu khin ti u R phn hi trng thi s cn lm cho h
kn n nh.
23. Hy thit k b iu khin LQG cho i tng vi mt tn hiu vo u m t bi:
dx 0 1
0
=

x + u + nx
1
dt 2 0
y = 0 , 1 x + n
( )
y

vi hm mc tiu
Q=

1 T 2 3
2
x
x + u dt min
3
12
2 0

v cc tn hiu nhiu Gauss n x , n y c ma trn hm tng quan:

8 6
Nx=
,
6 9

Ny=1

24. Xt bi ton iu khin phn hi trng thi ti u:

369

 dx
dt = Ax + Bu

Q = 1 ( xT Ex + uT Fu )dt min vi E = ET 0 v F = F T > 0

u
2 0

v gi s bi ton c nghim u = Rx . Chng minh rng nghim R tha mn:

1 T
1

T
Qmin = x0 Px0 = trace( Px0 x0 )
2
2

( A BR)T P + P( A BR) = ( E + RT FR)

370

iu khin h khng lin tc

4.1 Tn hiu v cng c ton hc

4.1.1

Tn hiu khng lin tc u

M t qu trnh trch mu

T chng 1 ta c nh ngha v tn hiu khng lin tc, l tn hiu m hm

thi gian x(t) m t n l hm khng lin tc, tc l hm c min xc nh l tp cc
im ri nhau trong trng s thc (hoc phc). Tn hiu khng lin tc c m t bng
dy cc gi tr x k , k=,1,0,1. Nu nh dy cc gi tr xc nh ti nhng im
thi gian cch u nhau, tc l min xc nh D ca x(t) l tp im cch u nhau trn
trng s thc (hoc phc):
D = { kT a R k Z v T a l hng s thc }
hay x k =x(kT a ), k=,1,0,1, th tn hiu khng lin tc {x k } s c gi l u
(periodic distance). Ngc li n s c gi l tn hiu khng u (aquidistance). Tt c
cc tn hiu khng lin tc c cp trong chng ny l nhng tn hiu u. Hnh 4.1
minh ha qu trnh trch mu, tc l qu trnh to tn hiu khng lin tc v u {x k } t
tn hiu lin tc x(t), cng nh th biu din x k , k=,1,0,1. S dng khi nim
hm m rng delta (t) v hm trch mu s(t) vi chu k T a :
s( t ) =

( t kTa )

(4.1)

k =

th qu trnh trch mu x k =x(kT a ), k=,1,0,1 t tn hiu lin tc x(t) s l:

{x k } = x(t)s(t)

(4.2)
{x k }

Hnh 4.1: M t qu trnh trch mu

v tn hiu khng lin tc u

{x k }

x(t)
Ta

Ta 2Ta
2Ta Ta

t
3Ta 4Ta 5Ta

371

Dy s, tnh hi t v gi tr gii hn

Ta c hai cch biu din tn hiu khng lin tc, l trc tip trong min thi gian
di dng dy s x k , k=,1,0,1, tc l di dng hm thng {x k }, v cch th hai
l di dng hm m rng theo ngha (4.2). Ni nh vy thy rng khi trc tip kho
st, phn tch tn hiu khng lin tc dng hm thng {x k }, ta phi s dng n cc
cng c ton hc lin quan ti dy s. Do , s l cn thit nu ta n nhanh li y
mt s khi nim c bn v dy s, tnh hi t v gii hn ca n.
Mt tp con m c gm cc phn t x k , k=,1,0,1 thuc khng gian vector
X , sp xp theo mt th t nht nh, c gi l dy s v k hiu bng {x k }. biu
din dy s, ngi ta c th:

S dng nh x f: k

x k gn mi phn t k ca tp cc s nguyn Z vi mt

phn t x k nht nh ca tp X . Khi ngi ta cn vit thnh x k =f(k). Chng

hn xk = ( 1)k+1 k2 .

S dng cng thc truy hi x k =f(x k 1 , x k 2 , , x 1 ) xc nh phn t th k t

cc phn t trc . V d x k =x k 1 +x k 2 vi x 1 =0 v x 2 =1 (gi l dy Fibonacci),
hay x k =x k 1 +a vi a l hng s (gi l dy cng), hay x k =ax k 1 cng vi a l hng
s (gi l dy nhn).
Mt dy s {x k } c gi l n iu tng (hoc n iu gim) nu lun c x k < x k + 1

(hoc x k > x k + 1 ) ng vi mi k.
Nu trong khng gian vector X ta nh ngha thm s thc d(x,y) xc nh
khong cch gia hai phn t x , y , gi l metric, tha mn:
1) d(x,y)=0 khi v ch khi x = y
2) d(x,y)=d(y,x)
3) d(x,y)+d(y,z) d(x,z)
th khng gian vector X c gi l khng gian metric. Vic a thm o metric
d(x,y) vo khng gian vector X lm cho X c thm tnh gii tch. Chng hn:

Phn t y c gi l thuc ln cn ca phn t x nu d ( x , y ) .

Tp O = { y X d ( x , y ) < } c gi l ln cn m ca x .

Tp O = { y X d ( x , y ) } c gi l ln cn ng ca x .

Phn t x X c gi l im trong ca X nu tn ti mt ln cn O ca n nm
hon ton bn trong X. Ngc li, nu mi ln cn O ca phn t x X lun cha
t nht mt phn t y X th x c gi l im trn bin ca X.

372

Mt tp con Y X c gi l tp m nu mi im y Y u l im trong ca Y.

Dy {x k } thuc khng gian metric X c gi l hi t ti x X , k hiu l x k x ,

hay lim xk = x , nu vi mi > 0 lun tn ti t nht mt ch s k 0 Z c d ( x , x k ) <
k

ng vi mi k > k 0 . Phn t x X khi c gi l gi tr gii hn ca dy {x k }. Mt

dy {x k } thuc khng gian metric X tha mn lim d( xm , xn ) = 0 trong n > m , c gi
m

l dy Cauchy.
Cc dy trong khng gian metric X c nhng tnh cht sau:
1) Nu dy { x k } hi t th phn t gii hn lim xk = x l duy nht v d ( x , x k ) 0 .
k

2) Mi dy con ca dy hi t { x k } vi lim xk = x cng hi t ti x .

k

3) Cc phn t x k ca dy hi t { x k } l b chn.
4) Nu dy { x k } hi t th cng c lim d( xm , xn ) = 0 trong n > m , hay mi dy hi t
m

cng s l dy Cauchy. Nu X l khng gian ca cc s thc R (hoc phc C) th ta

cn c iu ngc li, tc l mi dy Cauchy cng s hi t.
5) Gi { x k } v { y k } l hai dy hi t trong khng gian metric X vi lim xk = x v
k

lim yk = y . Khi ta cng c lim( xk yk ) = x y X .

6) Nu { x k } , { y k } l hai dy hi t trong trng s thc R (hoc phc C) vi lim xk = x

k

x
x
v lim yk = y , th cng c lim( xk yk ) = x y v lim k = , (khi y 0 ) .
k
k yk
k
y
7) Mi dy n iu v b chn { x k } u hi t.
8) Dy nhn x k =ax k 1 vi x 1 =b, tc l x k =ba k

, s hi t v 0 nu c | a | < 1

9) Nu c lim xk = a v lim yk = a th dy { z k } vi x k z k y k cng c lim zk = a

k

V d 4.1: Mt s dy in hnh trong trng s thc (hoc phc)

lim

a = 1 , ng vi mi a > 0

lim

k =1 ,

lg k
=0 ,
k k
lim

1
x

lim 1 + = e , lim 1 + = e x
k
k
k
k

Nu c lim xk = x v a > 0 th cng c lim a xk = a x

Nu c lim xk = 0 v a > 0 th cng c lim a xk = 1

Nu c lim xk = x v x k , a l nhng s thc dng, th cng c lim xka = x a

k
k
k

k
k

373

4.1.2

Cng c ton hc

Php bin i Fourier ri rc (DFT)

Php bin i Fourier ri rc (DFTdiscrete Fourier transformation) trnh by

chng 2, thc cht l php bin i Fourier (2.13) cho tn hiu khng lin tc { x k } :
x k =x(kT a ), k=,1,0,1
Nh vy ta c th thy rng tn gi ri rc y khng lin quan ti min gi tr ca kt
qu php bin i, k hiu bi X ( j ) , thu c theo cng thc (2.13) t m hnh hm
m rng (4.2) ca dy { x k } :

k =

j t
j t
x( t )s( t )e dt = x( t ) ( t kTa ) e dt =

X ( j ) =

j kTa
( x( t )e j t ) ( t kTa )dt = xk e

k =

(4.3)

k =

Ni cch khc tn gi ri rc y khng m ch rng min gi tr X ( j ) phi l tp

khng lin thng. T nh Fourier X ( j ) ca { x k } trong (4.3), ta cng li c c nh
ngc { x k } nh cng thc ca php bin i Fourier ngc, nh ngha bi (2.13) v tnh
cht ca hm xung dirac ( t ) nh sau:
{ xk } = x( t )s( t ) =
=

1
2

j kTa j t
j t
e d
X ( j )e d = 2 xk e
k
=

j ( t kTa )
d = xk lim
e j ( t kTa ) d
xk
e
k = T 2

2
k =
T

1
= xk lim

2
k =

cos ( ( t kTa ) ) d = xk ( t kTa )

T
k =

(4.4)

Hai cng thc (4.3), (4.4) to thnh cp bin i xui v ngc ca DFT cho tn hiu
khng lin tc { x k } . Tuy nhin, nhim v trng tm ca DFT khng phi ch l phng
thc l thuyt xc nh nh Fourier X ( j ) ca { x k } theo (4.3) m l thc hin cng
thc (4.3) nh th no bng cc phng php s. Ni cch khc, vn nghin cu
chnh ca DFT l phi ci t c (4.3) thnh mt thut ton chy trn my tnh
xc nh nh Fourier X ( j ) ca dy { x k } , khi lun tn ti cc kh khn thc t sau:

Bng thc nghim, khng th c c dy v hn x k , k=,1,0,1 , m thay

vo ch c th c c hu hn N phn t x 0 , x 1 , , x N 1 ca dy .

Vi cc phng php s, khng th c c hm X ( j ) m ch c th c c cc

gi tr X ( jn a ) , n= , 1,0,1, ca n, vi a l chu k trch mu trong min

tn s tu chn. Thm ch ta cng ch c th c c hu hn cc gi tr ny.

374

K hiu dy hu hn gm N gi tr c c t thc nghim ca tn hiu khng lin

tc { x k } l x k , k=0,1, ,N 1 th t (4.3), ta s c:
X a ( j ) =

N 1

j kTa
v ni chung th X a ( j ) X ( j )
xk e

(4.5)

k=0

Sai lch X a ( j ) X ( j ) c gi l sai s r r (leakage). Tip theo, (4.5) thch hp

vi phng php s thc hin trn my tnh, ta cn phi trch mu hm X a ( j ) thnh:
{ X a ( jn a )} = X a ( j )s( ) = X a ( j )

( n a )

(4.6)

n =

2
, nn s nu ta cng ch ly
Ta
N cc gi tr trch mu X ( jn a ) , n=0,1, ,N1 trong mt chu k. Suy ra:
Do hm X a ( j ) trong (4.5) l tun hon vi chu k

N a =

2
2
a =
NTa
Ta

v cng thc (4.6) tr thnh:

X a ( jn a ) =

N 1

xk e

k=0

jnk

2
N

, n=0,1, ,N1

(4.7)

nh ngc x( t ) ca { X a ( jn a )} trong (4.6) l:

x( t ) =

1
2
1
2

j t
j t
{ X a ( jn a )} e d = 2 X a ( j ) ( n a )e d

n =

X a ( jn a )e jn a t
X a ( j )e j t ( n a )d =
2

n =
n =

(4.8)

v khi so snh vi cng thc phn tch chui Fourier (2.12) ca tn hiu tun hon, th

x( t ) phi l hm tun hon vi tn s a , tc l vi chu k:

T=

2
= NTa
a

c h s chui Fourier ca n l:
1
cn =
X a ( jn a ) X a ( jna ) = 2 { , c1 , c0 , c1 ,
2

So snh tip vi kt qu c chng 2 ni rng chui Fourier ch l mt trng hp

ring ca php bin i Fourier th dy gi tr trch mu trong mt chu k 0 t<T=NT a
ca hm tun hon x( t ) c h s chui Fourier c n , n= , 1,0,1 nh trn chnh l gi
tr ca tn hiu khng lin tc { x k } cho ban u:
x( kTa ) = xk , k=0,1, ,N 1.
Tng kt li cc kt qu trn, ta s n c nhng kt lun sau v DFT:

375

1) nh Fourier X ( j ) ca tn hiu khng lin tc u { x k } trong min thi gian vi

2
chu k trch mu Ta l mt hm tun hon chu k
trong min phc.
Ta
2) Kt qu php tnh s (4.7) ca DFT thc hin cng thc tnh nh Fourier (4.3) ca
tn hiu khng lin tc u { x k } s l nh Fourier ca tn hiu tun hon x( t ) vi
chu k NTa. Tn hiu tun hon x( t ) ny c cc gi tr trch mu trong mt chu k
l x( kTa ) = xk , k=0,1, ,N 1.
3) Nu tn hiu khng lin tc, u { x k } cho ban u l tun hon vi chu k T=NTa
th gia kt qu X a ( jn a ) thu c ca DFT theo (4.7) v nh Fourier X ( j ) ca
dy { x k } ti cc im tn s =n a , n=0,1, ,N 1, s khng c sai s r r.
Kt lun 3) cho thy rng khi tn hiu khng lin tc {x k } khng phi l tn hiu
tun hon th trong kt qu (4.5), cng nh (4.7) ca DFT lun tn ti sai s r r. Ta
cng bit c nguyn nhn xut hin sai s r r ny l do chuyn tng v hn
trong cng thc (4.3) thnh tng hu hn (4.5) c th ci t c bng cc phng
php s. Ni cch khc, vi (4.5) ta khng xc nh nh Fourier ca tn hiu khng
lin tc { x k } , m thay vo li l ca {x k }w(t), vi w(t) l hm ca s xung vung
(hnh 4.2):
1 khi 0 t < T = NTa
w( t ) = 1( t ) 1( t NTa ) =
0 khi t [0, T )

Bit c nguyn nhn nh vy nn ni chung, lm gim sai s r r ngi ta thay

hm ca s xung vung trn bng mt hm ca s khc sao cho c c:
sup X a ( j ) X ( j ) min

(4.9)

w( t )

{ x k } w(t)

{xk}

w(t)

t
Ta

Hnh 4.2: Nguyn nhn ca sai s r r (leakage)

Tuy rng cho ti nay vn cha c c li gii thc s ca bi ton ti u (4.9) nu

trn c tm thy, thm ch ch cho mt lp cc tn hiu { x k } nht nh, song ngi ta
cng a ra c mt vi hm ca s c th tm chp nhn c nh sau:

376

t 1
khi 0 t < T
1 2
Bartlett w 1 (t) =
T 2
0
khi t [0, T )

(2 t T )

khi 0 t < T
0,5 + 0,5 cos
Hanning w 2 (t) =
T
0
khi t [0, T )

( 2t T )
2 (2t T )

+ 0,08 cos
khi 0 t < T
0,42 + 0,5 cos
Blackman w 3 (t) =
T
T
0
khi t [0, T )

Cui cng, kt thc mc ny, ta cng nn bit n mt h tr rt hu hiu

thc hin nhanh cng thc DFT (4.7) l k thut Fourier nhanh (FFT), c p dng khi
N c dng ly tha ca 2, tc l N=2 p . Khi N=2m l s chn th vi:
P0 ( q0 ) =

N 1

xk q0k vi q0 = e

2
N

k=0

cng thc (4.7) tr thnh:

P00 ( q1n ) + q0n P01 ( q1n ) nu 0 n < m
X a ( jn a ) = P0 ( q0n ) =
n m
nm
nm
P00 ( q1 ) q0 P01 ( q1 ) nu m n < N
trong
m 1
m 1
N
q1 = q02 , P00 ( q1 ) = x2 k q1k , P01 ( q1 ) = x2 k +1 q1k v m =
2
k=0
k=0

(4.10)

Quan h (4.10) c tn gi l cnh bm (Butterfly). N cho php ta thc hin c cng

thc DFT (4.7) ch vi mt na s php nhn so vi khi tnh trc tip. Nu m li l s
chn th bng cch p dng tip quan h cnh bm (4.10) cho hai a thc con P00 ( q1n )
v P01 ( q1n ) , s php tnh nhn s gim tip cn . C nh vy cho trng hp N=2 p th
cui cng s php tnh nhn phi thc hin ch cn li l 2pN so vi N 2 ban u v do
tc tnh ton thc hin cng thc DFT (4.7) cng c tng ln nhiu ln.
Php bin i Z thun

Nh trnh by chng 2, mc 2.1.3 th php bin i Z chnh l mt trng hp

ring ca php bin i Laplace, c p dng cho tn hiu causal, khng lin tc {x k } ,
vi x k = 0 khi k < 0 , trong tn hiu khng lin tc { x k } c nhn nhn nh hm m
rng theo ngha (4.2). Vi s dn dt nh vy, cng thc nh ngha php bin i Z
cng c suy ra t (2.19) ca php bin i Laplace v c dng nh sau:
X ( z ) = Z { xk } =

sT
xk z k trong z = e a v T a l chu k trch mu

(4.11)

k =0

377

Hm X(z) trong (4.11) c gi l nh Z ca tn hiu causal khng lin tc { x k } v Z { }

l k hiu ca php bin i Z. V bn cht ca n chnh l php bin i Laplace nn
php bin i Z cng c nh x ngc c suy ra mt cch tng t l:
{xk} =Z

{X(z)} =

1
2 j

X ( z) z

k 1

dz , k=0,1,2,

(4.12)

vi C l ng cong kn trong mt phng phc bao tt c cc im cc ca X(z) theo

chiu dng.
Php bin i Z: {x k }

X(z) c nhng tnh cht c bn sau:

1) Php bin i Z c y cc tnh cht c bn ca php bin i Laplace:

a)

Tuyn tnh: Z { axk + byk } = aZ { xk } + bZ { yk } , a, b R

b)

Ni x: {x k }{y k } Z {x k } Z {y k }

c)

nh ca tch chp bng tch ca hai nh Z { xk i yi } = Z { xk }Z { yk }

i=0

2) K hiu X(z) l nh Z ca dy {x k }, k=0,1,2,. Khi :

m

a)

(Php dch tri): Dy {y k } vi y k =x k m s c nh l Y(z)=z

b)

m 1

(Php dch phi): Dy {y k } vi y k =x k+m s c Y ( z ) = zm X ( z ) xi z i

i=0

c)

z
(Tnh ng dng): Dy {y k } vi y k =a k x k s c Y ( z ) = X
a

d) (Tnh t l): Dy {y k } vi yk =

xk
1
c Y ( z ) =
Ta
kTa

X(z).

X ( z ')

z ' dz '
z

z 1
X ( z)
z

e)

(Hiu li): Dy {y k } vi y k =x k x k 1 c Y ( z ) =

f)

(Hiu tin): Dy {y k } vi y k =x k+1 x k c Y(z)=(z1)X(z)zx 0 .

g)

(Tng): Dy {y k } vi yk =

xi c Y ( z ) =

i =0

z
X ( z)
z 1

h) (Tch phn): Dy {y k } vi y k =kT a x k c Y ( z ) = zTa

dX ( z )
dz

3) Cc nh l v gii hn:
a)

x0 = lim X ( z )

b)

Nu dy {x k }, k=0,1,2, hi t th lim xk = lim( z 1) X ( z )

z 1

4) K hiu {x k }, k=0,1,2, l dy gi tr trch mu ca tn hiu x(t) vi chu k trch

mu Ta. Khi gia nh Laplace X(s) ca x(t) v X(z) ca {x k } c quan h:
378

X ( z ) z = esTa =

1
1
x( +0) +
Ta
2

X ( s jk

k =

2
)
Ta

(4.13)

5) nh X(z) ca mt s dy {x k }, k=0,1,2, c bit:

z
za

a)

Dy {x k } vi x k =a k c X ( z ) =

b)

Dy {x k } vi xk = Ckn 1 ak n +1 c X ( z ) =

(4.14)
z

(4.15)

( z a )n

V d 4.2: Minh ha php bin i Z

Tn hiu khng lin tc {x k } = { 1 , 1 , } c c t vic trch mu tn hiu bc

thang n v 1(t) s c nh l:
X ( z ) = 1 + z 1 + z2 +

(z1)X(z) = z

zX ( z ) = z + 1 + z1 + z2 +

X ( z) =

z
z 1

V d 4.3: Minh ha php bin i Z

Cho tn hiu { x k } vi xk = e

kTa

c nh Z X ( z ) c xc nh theo v d 4.2 v tnh

cht ng dng ca php bin i Z nh sau:

x k = ( eTa )k v Z { 1 } =

z
z 1

X(z) =

z
z eTa

V d 4.4: Minh ha php bin i Z

xc nh nh Z ca { x k } vi x k = cos( k T a ) ta i t kt qu ca v d 4.3 bng

cch thay eTa bi e jTa :

Z{ e

jTa

} =

z
ze

j Ta

v Z { e j kTa } =

z
z e jTa

ri s dng tnh cht tuyn tnh ca php bin i Z, s c:

e j kTa + e j kTa
1
z
z

}=
+

2
2 z e jTa z e jTa

2 z 2 cos( Ta )
z2 z cos( Ta )
z
=
=

2 ( z e jTa )( z e jTa ) z2 2 z cos( Ta ) + 1

Z {cos( kTa )} = Z {

V d 4.5: Minh ha php bin i Z

Tng t nh v d 4.4 nhng cho { x k } vi x k = sin( k T a ) ta c:

Z {sin( kTa )} = Z {

z sin( Ta )
e j kTa e j kTa
}= 2
2j
z 2 z cos( Ta ) + 1

379

V d 4.6: Minh ha php bin i Z

nh Z ca x k =kT a thu c t vic trch mu tn hiu tng u x(t)=t1(t) c xc

nh nh tnh cht v nh ca tch phn nh sau:

kT a =1kT a v Z{1}=

z
z 1

Z { k T a } = zTa

zTa
d z

=
dz z 1 ( z 1)2

V d 4.7: Minh ha php bin i Z

k

Nu xem tn hiu khng lin tc { ( k+1)T a } nh tng hu hn k+1=

th t kt

i= 0

z
v tnh cht nh ca tng ta c:
z 1
z2Ta
z
z
z
Z {( k + 1)Ta } = TaZ { k + 1} = Ta
Z {1} = Ta

=
z 1
z 1 z 1 ( z 1)2

qu v d 4.2 l Z{ 1 } =

V d 4.8: Minh ha php bin i Z

Gi nh ca { x k } l X(z). Khi { y k } vi y k =x k x k m s c nh l:
Y(z) = Z{x k x k m } = Z{x k }Z{x k m } = X(z)Z{x k m }
p dng cng thc php dch tri c:

Y(z) = X(z)z

X(z) =

zm 1
zm

X(z)

Php bin i Z ngc

Theo tnh cht ni x ca php bin i Z th t X(z) ta cng s xc nh c duy

nht mt tn hiu { x k } nhn X(z) lm nh Z. C ba phng php c bn thng dng
tm nh ngc { x k } = Z

{X(z)} l:

Phng php residuence.

Phng php bin i ngc hm hu t.

Phng php phn tch X ( z ) thnh chui.

1) Phng php residuence:

Phng php ny c xy dng trc tip t cng thc nh ngha (4.12) v php
bin i Z ngc. Cng ging nh phng php residuence khi tm nh ngc ca php
bin i Laplace trnh by ti mc 2.1.4 ca chng 2, th nu hm phc X(z)z k

ch

c q im cc hu hn z 1 , z 2 , , z q ri nhau v ngoi nhng im cc , hm

X(z)z k

c tnh gii tch, ng cong ly tch phn C trong (4.12) s thay c bng q

ng cong kn C i , i=1,2, , q vi mi ng cong ny ch bao mt im cc z i theo

chiu dng. Khi cng thc (4.12) tr thnh:

380

xk =

1
k 1
X ( z ) z dz

2
j Ci
i =1

(4.16)

K hiu
Res X ( z ) z k 1 =
zi

1
k 1
X ( z ) z dz
2 j Ci

(4.17)

l gi tr residuence ti im cc z i , i=1,2, , q th n s c tnh bi:

Res X ( z ) z k 1 =
zi

d li 1[ X ( z ) z k 1 ( z zi )li ]
1
lim
( li 1)! z zi
dzli 1

(4.18)

vi l i l bc ca im cc z i . Thay (4.17), (4.18) vo (4.16) ta i n:

xk =

d li 1[ X ( z ) z k 1 ( z zi )li ]
1
lim
dzli 1
i =1 ( li 1)! z zi

X ( z ) z k 1 =
Res
z

i =1

(4.19)

Tm li, phng php residuence gm cc bc:

a)

Xc nh tt c cc im cc z i ca X(z)z k

b)

Tm gi tr residuence ca X(z)z

c)

Tnh x k theo (4.19).

k1

cng nh bc l i ca chng.

ti cc im cc theo (4.18).

V d 4.9: Minh ha php bin i Z ngc

Hy tm { x k } c nh X ( z ) =

z(1 a)
z2 z(1 + a) + a

. Do X(z) c hai im cc l z 1 =1, z 2 =a

c bc bng 1 (chng l nghim n ca phng trnh z 2 z ( 1 + a ) + a = 0 ) nn:

Res X ( z ) z k 1 = lim X ( z ) z k 1 ( z 1) = lim
z 1

z1

= lim

z 1

z 1

z a

= lim

z a

z2 z(1 + a) + a

z k (1 a)( z 1)
z k (1 a)
= lim
=1
z 1 ( z a)
( z 1)( z a)

Res X ( z ) z k 1 = lim X ( z ) z k 1 ( z a) = lim

z2

z k (1 a)( z 1)

z a

z k (1 a)( z a)
z2 z(1 + a) + a

z k (1 a)( z a)
z k (1 a)
= lim
= ak
z a ( z 1)
( z 1)( z a)

Bi vy

x k = 1a k vi k 0.
V d 4.10: Minh ha php bin i Z ngc

Tm { x k } c nh
X ( z) =

z2 z
2

z 7 z + 10

z( z 1)
( z 2)( z 5)

381

Do X(z) c hai im cc l z 1 =2 v z 2 =5 c bc bng 1 nn vi:

Res X ( z ) z k 1 = lim

z 2

z1

z k ( z 1)
2k
=
v
z 5
3

Res X ( z ) z k 1 = lim
z2

z 5

z k ( z 1) 4 k
= 5
z2
3

ta c:
xk =

2k 4 k
+ 5 vi k 0.
3 3

2) Phng php bin i ngc hm hu t:

Da vo tnh tuyn tnh ca php bin i Z ta c th xc nh { x k } t nh X(z)
ca n bng cch phn tch X(z) thnh tng tuyn tnh ca nhng phn c bn c dng
quen bit nh hai cng thc (4.14) v (4.15). Khi { x k } s l tng tuyn tnh ca cc
tn hiu khng lin tc tng ng.
minh ha cho phng php ny, ta xt X(z) c dng hm hu t:
X ( z) =

B( z )
A( z )

X ( z)
B( z )
=
z
zA( z )

v gi s hai a thc B(z), zA(z) l nguyn t cng nhau (khng c chung nghim) v
a thc zA(z) mu s c cc im cc z 1 , z 2 , , z n khc nhau i mt. Khi X(z)
s phn tch c thnh tng tuyn tnh cc thnh phn ti gin:
X ( z) =

ci z
X ( z)
vi h s Heaviside ci = lim ( z zi )
z
z

z
z
i
i =1
i

Suy ra, vi (4.14) ta c:

xk =

ci zik

i =1

Xt tip trng hp a thc zA(z) c nghim bi. Khng mt tnh tng qut nu ta
cho rng n c nghim z 1 bi q v nq nghim cn li z q +1 , z q +2 , , z n khc nhau i
mt. Khi tng tuyn tnh cc thnh phn ti gin tng ng s l:
X ( z) =

c1,i z
i

i =1 ( z z1 )

ci z
z
i = q +1 zi

Suy ra, vi (4.14) v (4.15), tn hiu { x k } s l:

xk =

i =1

i = q +1

c1,iCki1 z1k i+1 + ci zik

(4.20)

V d 4.11: Minh ha php bin i Z ngc

Xt hm X ( z ) =
phn ti gin ta c:
382

z( z2 + z + 37)
3

( z 2) ( z 1)

. Phn tch

X ( z)
thnh tng tuyn tnh cc thnh
z

X ( z)
3
4
7
3
=
+
+
+
z
z 2 ( z 2)2 ( z 2)3 z 1

X ( z) =

3 z
4z
7z
3z
+
+
+
z 2 ( z 2)2 ( z 2)3 z 1

ta s c vi cng thc (4.20):

xk = 3Ck0 2k + 4Ck1 2k 1 + 7Ck2 2k 2 + 3 1k = 3 2k + 4 k 2k 1 + 7

k( k 1) k 2
2
+3
2

= 3 2k + k 2k +1 + 7 k( k 1)2k 3

3) Phng php phn tch chui:

C s ca phng php ny l cng thc nh ngha (4.11) v tnh ni x ca php
bin i Z. Nu X(z) cho phn tch c thnh chui theo z
X ( z) =

B( z )
= c0 + c1 z1 + c2 z2 +
A( z )

ck z k

k=0

chng hn bng cch chia trc tip hai a thc B(z), A(z) cho nhau, th t tnh ni x
ca Z{ }, ta c x k = c k .
V d 4.12: Minh ha php bin i Z ngc

T X ( z ) =

z
2

z 1,6 z + 0,8

v sau khi thc hin nhiu ln php chia a thc ta c:

X ( z ) = z1 + 1,6 z2 +
Suy ra
x 0 =0 , x 1 =1 , x 2 =1,6 ,

Chui v tnh hi t ca chui

Do nh X(z) ca tn hiu khng lin tc { x k } nh ngha bi (4.11) c dng chui

nn cng s l hu ch nu ta n nhanh li mt s kin thc c bn ca chui v tnh hi
t ca n.
Xt dy s { x k } trong khng gian metric X . Khi , chui c hiu l
nh ngha ny th chui cng c xem nh mt dy { s n } vi sn =
{ s n } hi t th chui
Chui

xk . Theo

k =1

xk v nu dy

k =1

xk s c gi l hi t.

k =1

xk c cc tnh cht sau:

k =1

1) Cn chui hi t l lim xk = 0 . Nu c thm sgn( x k ) = sgn( x k 1 ), gi l dy o

k

du, th n cn l iu kin (chui o du hi t khi v ch khi lim xk = 0 ) .

k

383

2) Nu cc phn t ca chui tha mn x k = x k 1 + a vi a l hng s, th c gi l

n
n( x1 + xn )
a
chui cng. Chui cng c sn = xk =
= nx1 + n( n 1) .
2
2
k =1
3) Nu cc phn t ca chui tha mn x k =ax k 1 =a n
l chui nhn. Chui nhn c sn =

xk = x1

k =1

1 a
1a

x 1 vi a l hng s, th c gi

(khi a 1 ) . Nh vy chui nhn

vi a 1 hi t khi v ch khi | a | < 1 .

4) Nu c lim

5) Nu chui

4.1.3

xk +1
< 1 hoc c lim k xk < 1 th chui s hi t.
k
xk

k =1

k =1

xk hi t th chui xk cng hi t (gi l hi t tuyt i).

Php bin i z

K hiu X(s) l nh Laplace ca mt tn hiu causal x(t) v X(z) l nh Z ca tn

hiu khng lin tc { x k } thu c t x(t) thng qua vic trch mu tn hiu theo m
hnh (4.2). Nu nh rng c bi ton t ra l tm X(z) t X(s) th ta c th thc hin
tun t cc bc sau:

Xc nh ngc x(t) t X(s) nh php bin i Laplace ngc.

Trch mu x(t) vi chu k Ta thnh { x k } nh cng thc trch mu (4.2).

Tnh X(z) t { x k } .
Nhng do gia tn hiu xung { x k } v tn hiu lin tc x(t) c quan h (4.2) nn gia

hai nh X(z) v X(s) cng tn ti mt mi quan h tng ng. M t mi quan h

l cng thc (4.13), tc l:
X ( z) =

1
z
x( +0) +
2
2 j

c + j

c j

X ( s)
z esTa

(4.21)

ds

T (4.13) v (4.21) ta cn thy X(z) l mt hm tun hon vi chu k phc

2
.
Ta

C hai cng thc (4.13) v (4.21) u cho php xc nh trc tip X(z) t X(s) m
khng phi tin hnh ba bc va nu trn, trong (4.21) c nhiu ngha ng dng
hn. C hai cng thc u m t php bin i z : X(s)

X(z)= z {X(s)}.

Php bin i t z theo (4.13) v (4.21) l khng kh nghch (khng n nh), tc l

c th c nhiu hm phc X 1 (s), X 2 (s), c chung mt nh X(z). iu l cng d
hiu v cc tn hiu lin tc x 1 (t), x 2 (t), tha mn x 1 (kT a ) = x 2 (kT a ) = s c cng
mt kt qu { x k } sau khi trch mu (hnh 4.3).

384

x(t)
L

{xk}
L

X(s)

Z
z

x(t)
Z

X(z)

t
Ta

Hnh 4.3: Ton t z khng phi l n nh.

3Ta

5Ta

Mc d khng phi l n nh, song php bin i z l tuyn tnh nn thc hin
cng thc (4.13) hoc (4.21) ta hon ton s dng c phng php residuence:
X ( z) =

1
X ( s)
x( +0) + z Res
sk z esTa
2

vi | z | > eaTa

trong a l bn knh hi t tch phn Laplace. Ngoi ra, ta cng c th p dng tnh
cht tuyn tnh xc nh X(z)= z { X (s)} bng cch phn tch X(s) thnh tng tuyn
tnh ca nhng thnh phn X 1 (s), X 2 (s), n gin, quen bit:
X ( s) =

di X i ( s) = d1 X1 ( s) + d2 X2 ( s) +

i =1

+ dn X n ( s)

ri chuyn ring tng thnh phn thnh X 1 (z)= z {X 1 (s)}, X 2 (z)= z {X 2 (s)}, , chng
hn nh thng qua vic tra bng. nh X ( z ) cn tm s l tng tuyn tnh ca nhng
thnh phn ny:
n

X ( z ) = Z { X ( s)} = Z { di X i ( s)} =
i =1

i =1

i =1

di Z { X i ( s)} = di X i ( z)

Ch : tin cho vic tm ngc X(z) t X(s) rt nhiu ti liu cung cp cc

bng tra cho nhng tn hiu mu, n gin. Mt bng tng t cng c trong quyn sch
ny trong phn ph lc.

Php bin i z c mt s tnh cht c bn sau:

1) Nu G(s) l hm thchu t th G(z) = z { G (s)} cng l hm thchu t.
2) Nu G(s) c mt im cc s k th tng ng G(z) s c mt im cc zk = eskTa
3) ng vi hai im cc s k , s m ca G(s) tha mn sk sm =

2 nj
, n Z ch c mt
Ta

im cc zk = e skTa trong G(z).

4) Nu G(s) l hm bn th tt c cc im cc z k ca G(z) u nm trong ng trn
n v, tc l | z k | < 1 .
5) Nu G ( s ) l hm hp thc (bc ca t s khng ln hn bc ca mu s) th G ( z )
cng l hm hp thc.
385

6) Ni chung bc ca a thc mu s trong G(z) bng bc ca a thc mu s trong

2 nj
th bc ca
G(s). Nu G(s) c t nht hai im cc s k , s m tha mn sk sm =
Ta
a thc mu s trong G(z) s nh hn bc ca a thc mu s trong G ( s ) .

4.2 Xy dng m hnh ton hc

4.2.1

Khi nim h khng lin tc

H khng lin tc l h c cc tn hiu vo ra l nhng tn hiu khng lin tc.

Nhng tn hiu ny u c min xc nh l tp im khng lin thng vi nhau, v d
nh tn hiu xung (khng lin tc u). Ngc li, h ri rc l h c cc tn hiu vo ra
vi min gi tr l tp im khng lin thng (tn hiu ri rc). phn bit r s khc
nhau gia h khng lin tc v h ri rc, ta s ly vic trch mu tn hiu x(t) v a
vo b iu khin trong my tnh hay thit b s nh vi x l, vi iu khin lm v d.
Trc tin x(t) c "trch" mu thnh tn hiu khng lin tc { x k } , vi x k =x(kT a ),
chuyn vo my tnh. Vic trch mu ny c thc hin bi cc b chuyn i s
ADC (digital analog converter). Nhng do my tnh khng lm vic vi s v t v vi
cc s hu t n cng ch c th x l c trong mt di gi tr nht nh, nn v tnh,
gi tr x k b ADC chuyn thnh s hu t xk xk gn nht thuc di gi tr lm vic
thch hp a vo my tnh. Do tp cc s hu t l khng lin thng nn bn cht
vic chuyn i s thc x k thnh s hu t gn nht xk chnh l qu trnh ri rc ha
tn hiu { x k } thnh { xk } . Tn hiu { xk } cui cng ny c dng thch hp vi my tnh
(thit b s) v l mt tn hiu s (va khng lin tc, va ri rc).
Mc d u vo ca b iu khin trong my tnh c v nh l tn hiu khng lin
tcri rc { xk } , song trong qu trnh x l, gi tr xk ny lun c lu gi li trong
b m hoc thanh ghi gia hai ln trch mu, b iu khin c th s dng n nhiu
ln trong khong thi gian , ch khng nht thit ch s dng ng mt ln duy nht
vo thi im t= kT a , tc l c nhng thi im khc trong khong thi gian gia hai
ln trch mu kT a t<(k+1)T a tn hiu u vo ca b iu khin vn c gi tr l xk .
iu ny ch rng b iu khin khng thun ty lm vic vi tn hiu khng lin
tcri rc { xk } m l vi tn hiu lin tcri rc x( t ) c to t { xk } nh sau:
x( t ) =

xk 1( t kTa ) 1( t ( k + 1)Ta

(4.22)

k =

C th thy vic lin tc ha tn hiu s { xk } thnh tn hiu lin tcri rc x( t )

theo cng thc (4.22) nh thanh ghi hay b m trong my tnh chnh l qu trnh ni
suy BSpline bc 0. Do cc thanh ghi hay b m lu gi gi tr xk ny c gi l
386

khu gi tn hiu bc 0. Khu gi tn hiu bc 0, c k hiu l ZOH (Zero Order

Holding), c m hnh ton hc l hm ca s xung vung v c hm truyn l (hnh 4.4):
GZOH( s ) = L { 1 ( t ) 1 ( t T a ) } =

1 e sTa
s

(4.23)

Khng lin tcri rc

Lin tcri rc

{ xk }

{ xk }

x( t )
x( t )

GZOH(s)

Ta

Ta
Hnh 4.4: Tn hiu khng lin tcri rc v tn hiu lin tcri rc

Hnh 4.5 m t li mt cch trc quan nhng iu va c trnh by ti v d trn.

h ri rc hnh bn phi, nu ghp chung GZOH(s) vi G ( s ) thnh:

G( s) = GZOH ( s)G( s) =

1 e sTa
G( s )
s

(4.24)

th G( s) c cc tn hiu vo/ra khng lin tc nn n l h khng lin tc.

H khng lin tc

u(t) { u k }

y(t)
G(s)

H ri rc

u(t) { uk }

{y k }

Trch mu

Trch mu
v ri rc

Hnh 4.5: Phn bit h khng lin tc v h ri rc

4.2.2

u( t )
GZOH(s)

G(s)

y(t) { yk }

H khng lin tc ri rc

Phng trnh sai phn, hm trng lng v hm truyn

Phng trnh sai phn

Tng t nh h lin tc tuyn tnh vi m hnh phng trnh vi phn (2.28) biu
din quan h vora, th h khng lin tc c tn hiu vo { u k } , tn hiu ra { y k } , ta
cng c phng trnh sai phn:
yk + a1 yk 1 +

+ an yk n = b0uk + b1uk 1 +

+ bmuk m

(4.25)

trong a i , b j l cc tham s ca m hnh.

387

M hnh sai phn (4.25) c th c xc nh trc tip t h nu nh cu trc ha l

bn trong h l r v cc nh lut cn bng gia chng l cng bit. Khi nhng
gi thit nu trn khng c tha mn, ngi ta chuyn sang p dng cc phng php
nhn dng c c (4.25). Tuy nhin thng s dng hn c l k thut s ha m
hnh vora dng phng trnh vi phn (2.28) nh cng thc tnh xp x o hm:
xk xk 1 xk 1 xk 2

Ta
Ta
x 2 xk 1 + xk 2
,

= k
Ta
dt2
Ta2

d2 x

dx xk xk 1

,
Bn tri:
dt
Ta

dx xk +1 xk
d2 x

Bn phi:
dt
Ta
dt2

xk + 2 xk +1 xk +1 xk

2 xk +1 + xk
Ta
Ta
x
= k+2
,
Ta
Ta2

Vi m hnh phng trnh sai phn, ta d dng xc nh c p ng { y k } u ra

khi c kch thch { u k } u vo v trng thi u y 0 , y 1 , , y n 1 ca h, trc tip
trn min thi gian m khng cn phi c bt c mt cng c ton hc no khc.
1) Tnh trc tip: T (4.25) ta c ngay cng thc lp xc nh gi tr ca tn hiu
{ y k } u ra nh sau:
yk = b0uk + b1uk 1 +

+ bmuk m ( a1 yk 1 +

+ an yk n )

Tuy nhin vi cng thc lp ny ta ch c th c c gi tr y k , k=n,n+1, ch kh

c kh nng s dng chng vo vic phn tch cht lng h thng sau ny.
2) Tnh gin tip: Do phng trnh sai phn (4.25) l tuyn tnh nn nghim {y k } ca
n s l tng ca hai thnh phn gm nghim phng trnh thun nht, cn gi l
p ng t do, v nghim ring, gi l p ng cng bc.
a)

Nghim thun nht c hiu l nghim ca:

yk + a1 yk 1 +

+ an yk n = 0

(4.26)

Gi s n c dng yk = c z k vi c l hng s. Khi (4.26) tr thnh:

c z k n ( zn + a1 zn 1 +

+ an ) = 0 zn + a1 z n 1 +

+ an = 0

(4.27)

nn nghim ca (4.26) phi l:

yk = c1 z1k + c1 z2k +

+ cn znk

(4.28)

vi z 1 , z 2 , , z n l nghim ca a thc (4.27), gi l a thc c tnh ca h,

khi cc nghim ny l khc nhau i mt. Trong trng hp a thc c tnh
(4.27) c nghim bi, chng hn c nghim z 1 bi q, th thnh phn c1 z1k tng
ng ca (4.28) s c thay bi z1k ( c1,1 + c1,2 k +
yk = z1k ( c1,1 + c1,2 k +

388

+ c1, q kq 1 ) + cq +1 zqk+1 +

+ c1,q kq 1 ) , tc l:
+ cn znk

(4.29)

b)

Nghim ring: L mt nghim ca (4.25). Nghim ring ny thng c tm

bng cch gi nh trc cu trc ca y k theo u k bit nhng c cc tham s
bt nh. Sau ta s xc nh cc tham s bng cch thay vo (4.25) ri
ng nht cc h s ca hai v. Bng sau gii thiu mt s cu trc ca y k vi
A v Ai l tham s cha bit, c chn theo u k :
u k =d

y k =A

u k =dk

y k =A 1 k+A 2

u k =d k

u k =A 1 d k +A 2

u k =d k cos(k )

yk = A1 A2k cos( k + A3 )

u k =d k sin(k )

yk = A1 A2k sin( k + A3 )

uk = d k ci ki

c)

i=0

yk = d k Ai ki
i=0

Nghim tng qut: L tng ca nghim thun nht v mt ring. Trong c hai
trng hp ca nghim thun nht (4.28) v (4.29) th nghim tng qut ny
lun c n hng s cn phi xc nh, v d c 1 , c 2 , , c n ca (4.28), hay c 1,1 ,
c 1,2 , , c 1,q , c q+1 , c q+2 , , c n ca (4.29). Chng s c xc nh t n
trng thi u cho y 0 , y 1 , , y n 1 nh n phng trnh cn bng ca
nghim tng qut.

V d 4.13: Xc nh p ng t phng trnh sai phn

Cho h lin tc c m hnh vora:

d2 y
dt

dy
+ y = 2u
dt

Tn hiu vo, ra ca h c trch mu vi chu k Ta=0,5s thnh { u k } v { y k } . Khi h

tr thnh khng lin tc. Tng ng, nu s dng cng thc xp x o hm bn tri ta
s c phng trnh sai phn:
yk 2 yk 1 + yk 2
Ta2

yk yk 1
+ yk = 2uk
Ta

7 yk 10 yk 1 + 4 yk 2 = uk

vi a thc c tnh:
7 z2 10 z + 4 = 0 z1 = 0,7 + 0,25 j = 0,74 e j 0,1 v z2 = z1 = 0,74 e j 0,1
Vy h c nghim thun nht l:
yk = c1 z1k + c2 z2k

Gi s h c tn hiu u vo l u k =1. Vy th vi nghim ring dng y k =A ta s c:

7A10A+4A=1 A=1 y k =1
Suy ra nghim tng qut ca h l (p ng ca h):
yk = c1 z1k + c2 z2k + 1

v nu h c trng thi u y 0 =y 1 =0 th:

389

 c1 + c2 + 1 = 0

0.7( c1 + c2 ) + 1 + j 0,25( c1 c2 ) = 0

c = 0,5 + 0,6 j = 0,8 e j 0,3

1
j 0,3
c2 = 0,5 0,6 j = 0,8 e

yk = c1 z1k + c2 z2k + 1 = 1,2 cos ( (0,3 + 0,1k) ) + 1

Dy gi tr hm trng lng (hm trng lng)

Hm trng lng {g k } ca h khng lin tc vi m hnh vora (4.25) c hiu l

p ng u ra khi u vo c dng dy xung dirac { k } = { 1 , 0 , 0 , } v h ang
trng thi u bng 0. Do mi dy gi tr tn hiu vo {u k }, k=0,1, bt k lun biu
din c di dng tng tuyn tnh ca cc dy xung dirac { k } :
uk =

ui k i , k=0,1,

i=0

v h l tuyn tnh, nn tn hiu ra {y k } tng ng cng s l tng tuyn tnh ca cc

p ng thnh phn g k , k=0,1,, tc l
yk =

ui gk i , k=0,1,

(4.30)

i =0

Nh vy, hm trng lng {g k } l mt m hnh m t h, n cho php ta xc nh c

tn hiu ra {y k } t tn hiu vo {u k } khi h c trng thi u bng 0, theo cng thc tch
chp (4.30).
Hm truyn

uk

Xt h tuyn tnh khng lin tc m t hnh 4.6 vi

tn hiu vo {u k }, tn hiu ra {y k }. Hm truyn ca h c

uk

hiu l:
G( z ) =

Y ( z)
U ( z ) trng thi u=0

G(s)

y yk

G(z)

yk

Hnh 4.6: S khi

trong U(z), Y(z) l nh Z ca cc tn hiu {u k }, {y k }. V h l tuyn tnh nn hm

truyn G(z) c nh ngha nh trn hon ton khng ph thuc tn hiu vo v ra.
Tht vy, gi s rng vi cp tn hiu vo ra {u k } 1 , {y k } 1 ta c hm truyn G 1 (z) v vi
cp {u k } 2 , {y k } 2 ta c hm truyn G 2 (z). Vy th vi cp tn hiu {u k }={u k } 1 +{u k } 2 v
{y k }={y k } 1 +{y k } 2 , cng nh U 1 , Y 1 ,U 2 , Y 2 l nh Z ca {u k } 1 , {y k } 1 , {u k } 2 , {y k } 2 , tc
l U=U 1 +U 2 , Y=Y 1 +Y 2 , hm truyn G =

Y
ca n phi tha mn:
U

GU = Y G(U1 + U2 ) = Y1 + Y2 = G1U1 + G2U2 , U1 , U2 G = G1 = G2

390

Tnh cht khng ph thuc vo tn hiu vo v ra ca hm truyn ni ln rng hm

truyn cng l m hnh m t h. Cng vi hm truyn G(z) th khi bit tn hiu vo
{u k } ta lun xc nh c tn hiu ra {y k }:
{ yk } = Z 1 {G( z )U ( z )} = Z 1 {G( z )Z {uk }}

G( z ) : {uk }

(4.31)

Xt tip trng hp h c m hnh hm truyn G(z) v c kch thch u vo

bng tn hiu dy xung dirac { u k } = { k } = { 1 , 0 , 0 , } . Khi , do nh Z ca tn hiu u
vo l U(z)=1 nn t cng thc (4.31) ta c ngay:
{ yk } = Z 1 {G( z )U ( z )} = Z 1 {G( z )} = { gk }

(4.32)

Bi vy hm gc trong min thi gian ca hm truyn G(z) chnh l dy hm trng

lng {g k } ca h. Ni cch khc, nu c dy hm trng lng {g k } ta cng s c hm
truyn G(z)=Z{g k }. Vi kt qu ny v cng vi iu hin nhin rng (hnh 4.7):
G(z) = z { G (s)}
th hm trng lng {g k } cng chnh l dng khng lin tc ca hm trng lng g(t)
sau khi c trch mu vi cng chu k trch mu T a ca tn hiu vo, ra:
{g k }=g(t)s(t)

(4.33)

G(s)

g(t)

(tkT a )

Hnh 4.7: Xc nh hm truyn cho h

khng lin tc.

{gk}

G(z)

Ch : Mc d vit G(z), song khng c ngha l hm truyn G(z) thu c t G(s)

ch n gin bng cch thay s = z trong G(s). Thc cht G(z) l nh Z ca { g k } nn n

c xc nh t G(s) qua cc bc (hnh 4.7):
1) Xc nh g(t) = L

{G(s)}.

2) Trch mu g(t) vi chu k Ta thnh hm trng lng {g k }.

3) Chuyn {g k } sang min phc nh php bin i Z c G(z).
C ba bc tnh trn c th c thay th n gin nh php bin i tch:
z : G(s)

G(z)=Z{g k }=Z{g(t)s(t)}=Z { L

G(z) = z {G(s)} =

1
z
g( +0) +
2
2 j

c + j

c j

G( s )
z esTa

{G(s)}s(t) }

ds

(4.34)

c suy ra t (4.21).
391

Cui cng, hm truyn cn c th c xc nh t m hnh phng trnh sai phn

(4.25) bng cch chuyn c hai v ca (4.25) sang min phc nh php bin i Z, ri lp
t s nh Z ca tn hiu ra chia cho nh Z ca tn hiu vo:
G( z ) =

b0 + b1 z 1 +
1 + a0 z

+ a1 z

+ bm z m
+

+ an z

b0 z n + b1 zn 1 +
n

z + a0 z

n 1

+ a1 z

n 2

+ bm zn m
+

(4.35)

+ an

V d 4.14: Xc nh hm truyn thng qua hm trng lng

Xt h lin tc c hm truyn:
G(s) =

1
(1 + 2s)(1 + s)

Gi s tn hiu vo ra u(t), y(t) c trch mu vi chu k Ta . Khi h tr thnh

khng lin tc. Ta s s dng cng thc (4.33) xc nh m hnh hm trng lng cho
h khng lin tc . Trc tin ta cn phi xc nh hm trng lng g(t) ca h lin
tc cho:
g( t ) = L1 {

Vy

1
} = e t e0,5 t
(1 + 2s)(1 + s)

gk = e kTa e0,5 kTa

G( z ) = Z { e kTa e0,5 kTa } =

z
ze

Ta

z
z e0,5Ta

Hnh 4.8 l th biu din hm trng lng { g k } ca h ng vi Ta=0,5s.

{gk}

Hnh 4.8: Minh ha v d 4.14

V d 4.15: Xc nh hm truyn nh php bin i z

Xt h lin tc c hm truyn:
G(s) =

2s + 11

s2 + 3s + 2

Khi tn hiu u(t), y(t) c trch mu vi chu k Ta=0,1s , h tr thnh khng lin tc.
Ta s xc nh hm truyn G(z) ca h khng lin tc nh php bin i z .
Phn tch G(s) thnh tng tuyn tnh cc hm n gin c:

392

G(s) =

7
9
+
s + 2 s +1

T y suy ra (nh bng tra cc tn hiu c bn):

Z{

1
z
z
}=
=
s+2
z 0,8
z e2Ta

G( z ) =

Vy

Z{

1
z
z
}=
=
s +1
z 0,9
z eTa

7 z
9z
2 z2 0,9
+
= 2
z 0,8 z 0,9 z 1,7 z + 0,72

Mt s kt lun chung

Trn y ta lm quen c vi cc dng m hnh khc nhau ca h khng lin

tc SISO vi tn hiu vo, ra l {u k }, {y k }, bao gm phng trnh sai phn, hm trng
lng v hm truyn, cng nh nhng quan h gia chng. tin cho vic tra cu sau
ny, ta s tng kt nhanh li y nhng quan h :

Phng trnh sai phn (4.25) c quan h vi phng trnh vi phn (2.28) ca h
tuyn tnh lin tc tng ng thng qua cc cng thc xp x o hm bn tri v
bn phi, chng cn c gi l cng thc xp x loi 1 v loi 2. Phng trnh sai
phn (4.25) cng c quan h (4.35) vi hm truyn G(z).

Hm truyn G(z) c quan h (4.32) vi hm trng lng { g k } v (4.34) vi hm

truyn G(s) ca h tuyn tnh lin tc tng ng. Ch rng bn cnh quan h
(4.34) i khi ngi ta cn s dng nhng cng thc khc xy dng hm truyn
h khng lin tc G(z) t hm truyn G(s) ca h lin tc tng ng, chng hn:
a)

thay s trong hm truyn h lin tc G(s) bng

b)

thay s =

c)

thay s trong G ( s ) bng

z 1
,
Ta

z 1
trong hm truyn G(s) ca h lin tc tng ng,
Ta z
2( z 1)
(cng thc Tustin),
Ta ( z + 1)

song vic s dng php bin i z vi cng thc (4.34) vn c s dng nhiu
nht. L do n gin ch l v khi G(z) c bn cht ng hc ging nh G(s) ca
h lin tc gc m iu ny khng c c cc php bin i khc.
Ngoi ra, khi ci t mt h lin tc vi hm truyn G(s) ln cc thit b s, nh vi
x l, vi iu khin hay my tnh, th sau khi trch mu, tn hiu khng lin tc {u k }
u vo lun c lu gi vo b m hoc thanh ghi trong qu trnh x l. Ni cch
khc u vo ca h lin tc G(s) lc ny
u( t )
u(t) { u k }
y(t) { y k }
s l tn hiu lin tc (hnh 4.9):
G(s)
GZOH
u( t ) = uk khi kTa t < (k+1)Ta
ch khng cn l tn hiu khng lin tc

Hnh 4.9: Cu trc ci t h vo thit b s

393

{u k }. Bi vy khi xc nh hm truyn G(z) cho h khng lin tc tng ng, ta phi

lun lu tm ti s c mt ca b m nh mt khu ni suy BSpline ZOH vi hm
truyn> Ni cch khc, thay v G(z), ta phi xc nh:
GZOH ( s) =

1 e sTa
s

G( z ) = Z {G ZOH ( s)G( s)} = Z {

4.2.3

(1 e sTa )G( s)
z 1 G( s )
Z{
}=
}
s
z
s

vi

z = esTa

M hnh trng thi

Ging nh h lin tc, h tuyn tnh khng lin tc cng c m t bi phng

trnh trng thi c cu trc chung nh sau:

x k +1 = Ax k + Buk

y k = Cx k + Duk

(4.36)

trong , nu A , B , C , D l nhng ma trn hng th h c gi l tham s hng, ngc

li nu chng ph thuc thi gian (ph thuc ch s k) th h c gi l khng dng v
khi ph thuc tham s khng gian th h c gi l tham s ri. Vector x k c gi l
vector trng thi ca h, chng khng nht thit phi mang mt ngha vt l no ,
nn cng khng bt buc phi l tn hiu. S chiu ca x k cng s l bc ca m hnh
(v l bc ca h). Cu trc m hnh trng thi trn dng chung c cho c h khng
lin tc SISO v h khng lin tc MIMO.
Xc nh m hnh trng thi t phng trnh sai phn

Xt h khng lin tc c m hnh vora l phng trnh sai phn (4.25). B sung
cc h s bm +1 =

= bn = 0 , c:

yk + a1 yk 1 +

+ an yk n = b0uk + b1uk 1 +

+ bnuk n

v s dng k hiu q xk = xk +1 cho php dch phi, phng trnh sai phn (4.25) s l:
yk n ( qn + a1qn 1 +

n 1

yk n b0 q + b1 q
+
=
uk n
A( q)

+ an ) = uk n ( b0 qn + b1 qn 1 +
+ bn

+ bn )

vi A( q) = qn + a1 qn 1 +

+ an

Gi

xk n,1 =

uk n
q uk n
qn 1 uk n
, xk n,2 =
, , xk n,n =
A( q)
A( q)
A( q)

ta c

qxk n,1 = xk n,2 , qxk n,2 = xk n,3 , , qxk n,n = xk n,n 1

uk n = A( q) xk n,1 = qxk n,n + a1 xk n,n +

394

+ an 1 xk n,2 + an xk n,1

(4.37)

Suy ra
0
xk n,1

0
xk n,2
q
=

0
xk n,n

an

an 1

an 2

0
xk n,1 0

0
x
k n,2 + uk n
0

1
xk n,n 1

a1

K hiu tip
0

A=

an

an 1

an 2

0
xk n,1
0

0

xk n,2
,B= , x

k n =
0

1
xk n,n
a1

(4.38)

th phng trnh trn s vit li c thnh:

x k n +1 = qx k n = Ax k n + Buk n

x k +1 = Ax k + Buk

(4.39)

Mt khc ta li c:
qnuk n
qn 1uk n
u
+ b1
+
+ bn k n = bn xk n,1 +
A( q)
A( q)
A( q)
= ( bn b0 an ) xk n,1 +
+ ( b1 b0 a1 ) xk n,n + b0uk n

yk n = b0

+ b1 xk n,n + b0 qxk n,n

Bi vy, nu k hiu:
C = ( bn anb0 , bn 1 an 1b0 ,

, b1 a1b0 ) , D = b0

(4.40)

s c:
y

k n

= Cx k n + Duk n

y = Cx k + Duk

(4.41)

Ghp chung (4.39) v (4.41) ta c m hnh trng thi:

x k +1 = Ax k + Buk

yk = Cx k + Duk

(4.42)

vi cc ma trn A , B , C , D cho bi (4.38) v (4.40).

T m hnh (4.42) ca h khng lin tc ta cn xc nh c trc tip p ng { y k }
ca h trong min thi gian nh sau:

x k = Ax k 1 + Bu k 1 = A ( Ax k 2 + Buk 2 ) + Bu k 1 = A2 x k 2 + ( ABuk 2 + Buk 1 )

= A2 ( Ax k 3 + Buk 3 ) + ( ABuk 2 + Bu k 1 )

= A3 x k 3 + A2 Bu k 1 + ABu k 2 + Buk 1 =

k 1

y = C A k x0 + A k i 1 Bui + Du k
k
i
0
=

= A k x0 +

k 1

A k i1 Bui

(4.43)

i =0

(4.44)

395

Xc nh m hnh trng thi t hm truyn

Xt h khng lin tc c hm truyn G ( z ) cho bi (4.35) dng thchu t v khng

mt tnh tng qut nu ta cho rng a thc t s c cng bc nh a thc mu s:

G( z ) =

b zn + b zn 1 +
+ bn
Y ( z)
= n 0 n 1 1
U ( z ) z + a0 z
+ a1 zn 2 +
+ an

Do hm truyn ny c cu trc hon ton ging nh m hnh (4.37) ca phng trnh sai
phn, nn m hnh trng thi tng ng ca n cng s l (4.42) vi:
0

0
A=

0
a
n

an 1

an 2

0
0

0

, B = , C = ( bn anb0 ,
0

1

1

a1

, b1 a1b0 ) , D = b0

Xc nh m hnh trng thi h khng lin tc t m hnh trng thi h lin tc

Xt bi ton xc nh m hnh trng thi cho h khng lin tc MIMO c tn hiu

vo v ra {uk } , { y } , nh m t hnh 4.10b, khi phi tch hp h MIMO lin tc ln
k

thit b s (hnh 4.10a) c n s tham gia ca khu ni suy BSpline bc 0 (khu

ZOH) vi dng tn hiu vora m t hnh 4.11, tc l vi:

u( t ) = uk khi kTa t < (k+1)Ta

GZOH( s ) =

1 e sTa
s

a)

{uk }

b)

GZOH(s)

dx
{y }
u( t )
= Ax + Bu y( t )
k
dt

y = Cx + Du

{uk }

{y }
x
k
k +1 = Ax k + Bu k

=
+
y
Cx
Du
k
k
k

Hnh 4.10: M hnh trng thi tng ng ca h khng lin tc.

u( t )

{uk}

t
Ta

3Ta

5Ta

7Ta

9Ta

t
Ta

3Ta 5Ta

Hnh 4.11: Tn hiu vora ca khu ZOH

396

7Ta

9Ta

Bt u t phng trnh trng thi h MIMO lin tc tuyn tnh:

dx
= Ax + Bu

dt
y = Cx + Du

(4.45)

ta c
t

x( t ) = e At x0 + e A( t ) Bu( )d
0

x k = x( kTa ) = e AkTa x0 +

kTa

A( kT )
e a Bu( )d

x k +1 = x(( k + 1)Ta ) = e A( k +1)Ta x0 +

( k +1)Ta

e A(( k +1)Ta ) Bu( )d

kTa

( k +1)Ta
= e ATa e AkTa x0 + e A( kTa ) Bu( )d + e A(( k +1)Ta ) Bu( )d

kTa
0

= e ATa x k +

( k +1)Ta

e A(( k +1)Ta ) Bd uk v u( ) = uk khi kTa < ( k + 1)Ta

kTa

= e ATa x k +

Ta

At
e Bdt uk vi t = ( k + 1)Ta

Bi vy, sau khi so snh vi m hnh trng thi ca h khng lin tc tng ng:
x
k +1 = Ax k + Bu k

y
k = Cx k + Duk

(4.46)

ta c
A = e ATa v B =

Ta

Ta

At
At
e Bdt = e dt B

(4.47)

Tng t nh cng thc (4.43), t m hnh trng thi (4.46) ca h khng lin tc
ta cng xc nh c vector trng thi v p ng ca h nh sau:
k 1

k
k i 1
Bui
x k = A x0 + A
i =0

k 1

y = C Ak x +
A k i1 Bui + Duk

0
k
i =0

(4.48)

V d 4.16: Xc nh m hnh trng thi h khng lin tc

Xt h SISO lin tc vi m hnh trng thi:

dx 1 0
1
=

x + u
dt 0 2
1

=
(1
,
1)
y
x

1 0
1
A=
, B = , C = (1 , 1) , D = 0
0 2
1

397

trong u = uk khi kTa t < (k+1)Ta v T a = 0,1s. T kt qu:

e t
e At = L1 {( sI A )1 } =
0

e
2 t

ta c
e0,1
A = e ATa =
0

B=

0,1 t

0 0,9
0
=

0,2
0
0,81

1 e0,1
0,1 t
0 1
e

0,1
dt =
dt = 1
=
0,2 0,095
2 t 1
2 t

e
(1 e
0 e

Vy m hnh khng lin tc ca h l:

0
0,9
0,1
x k +1 =
xk +
uk
0
0,81

0,095
y = (1 , 1) x
k

Xc nh hm truyn t m hnh trng thi

T m hnh trng thi (4.42) ca h SISO khng lin tc v sau khi chuyn hai v
ca phng trnh th nht sang min phc nh php bin i Z, ta c:
zX(z)=AX(z)+BU(z)

(zIA)X(z)=BU(z)

X(z)=(zIA)

BU(z)

Thay kt qu trn vo phng trnh th hai cng c chuyn sang min phc nh
php bin i Z, ta thu c hm truyn:
Y(z)=CX(z)+DU(z)=[C(zIA)

G( z ) =

B+D]U(z)

Y ( z)
= C( zI A )1 B + D
U ( z)

(4.49)

v vi cng thc tnh nh thc ma trn khi ca Schur cho ma trn:

zI A B
zI A B
1
P=
det P = det
= det( zI A )det D + C( zI A ) B
D
D
C
C
det P

(4.50)
G( z ) = C( zI A )1 B + D = det C( zI A )1 B + D =
det( zI A )

ta thy ngay c rng im cc ca h chnh l nghim ca det(zIA)=0 v im

khng ca h l nghim ca det( P ) = 0 .
Trong trng hp s dng m hnh trng thi (4.46) thay v (4.42) ca h khng
lin tc, tc l cho h lin tc (4.42) nhng c thm khu ZOH u vo, th hm
truyn s l:
G( z ) = C( zI A )1 B + D =

398

z 1 C( sI A )1 B + D
Z{
}
z
s

trong A , B , C , D l cc ma trn h thng ca m hnh trng thi (4.45) h lin tc

tng ng sau khi trch mu tn hiu vora, vi s tham gia ca khu ZOH v hai ma
trn A, B c xc nh t A , B theo cng thc (4.47).
V d 4.17: Xc nh hm truyn

H khng lin tc thu c t v d 4.16 c hm truyn l:

G( z ) =

Y ( z)
1,052 z 0,117
=
U ( z ) ( z 0,9)( z 0,81)

Xc nh hm trng lng t m hnh trng thi

T cng thc (4.48) m t p ng ca h SISO khng lin tc c m hnh trng

thi (4.42) v vi gi thit rng trng thi u bng 0 (x 0 =0), cng nh tn hiu khng
lin tc u vo l dy xung dirac { k } = { 1 , 0 , 0 , } , ta c:
D khi k = 0
gk = k 1
CA B khi k 1

(4.51)

ng nhin rng cng thc (4.51) trn cng c p dng tnh hm trng lng cho
m hnh (4.42) ly t phng trnh sai phn (4.25), trong ta ch cn thay A, B bi A
v B c cc phn t ly t phng trnh sai phn theo (4.38).
S dng tip cng thc CayleyHamilton nh l 3.8 cho vic thc hin (4.51) th:
p( A ) = a0 I + a1 A +

+ an 1 A n 1 + A n = (ma trn c cc phn t 0)

a0 A k n 1 + a1 A k n +

+ an 1 A k 2 + A k 1 = , k > n (nhn 2 v vi A k n 1 )

a0CA k n 1 B + a1CA k n B +

a0 gk n + a1 gk n +1 +

gk = a0 gk n a1 gk n +1

+ an 1CA k 2 B + CA k 1 B = 0 , k > n

+ an 1 gk 1 + gk = 0 , k n
an 1 gk 1 , k n

(4.52)

trong a 0 , a 1 , , a n 1 l cc h s ca a thc c tnh ca h. Do gi tr g k ca

hm trng lng {g k } hon ton c xc nh lp t n gi tr bit ca n trc .
Hn na vi (4.52) ta cn xc nh c tham s a 0 , a 1 , , a n 1 ca m hnh t hm
trng lng {g k }. Cc h s cn c tn gi l h s Markov.

4.2.4

i s s khi h khng lin tc

V nguyn tc, vic bin i s khi ca mt h khng lin tc cng c thc

hin ging nh h lin tc c trnh by mc 2.2.3 ngoi tr mt iu lun cn
phi c ch l cc khi khng lin tc phi c cc tn hiu vo, ra dng xung (khng
lin tc, u) v cng ch khi khng lin tc mi c php bin i z : G(s)

G(z).

399

Hai khi ni tip:

Hnh 4.12a) v 4.12b) m t h thng khng lin tc gm hai khi mc ni tip.

Trong khi hnh 4.12a) c khu trch mu nm gia hai khi th hnh 4.12b) hai khi
c ni trc tip vi nhau.
1) C hai khi G 1 (s), G 2 (s) hnh 4.12a) u l nhng khi khng lin tc nn:
G 1 (z)=

X ( z)
Y ( z)
= z {G 1 (s)}=G 1 (z) v G 2 (z)=
= z {G 2 (s)}=G 2 (z)
U ( z)
X ( z)

Suy ra hm truyn tng ng ca chng l:

G(z) =

Y ( z) Y ( z) X ( z)
=
= G 2 (z)G 1 (z) G(z) = z { G 2 (s) } z { G 1 (s) }
U ( z) X ( z) U ( z)

2) C hai khi G 1 (s) v G 2 (s) hnh 4.12b) khng phi l khng lin tc, v x(t) l tn
hiu ra ca G 1 (s) ng thi cng l tn hiu vo ca G 2 (s) l tn hiu lin tc.
Nhng ton b h thng vi hm truyn G 2 (s)G 1 (s) li l h khng lin tc, bi
vy hm truyn tng ng G(z) cho c h s phi l:
G(z) = z { G 2 (s)G 1 (s) }
a)

u(t) u k

x(t) x k
G 1 (s)

y(t) y
k

b)

u(t) u k

G 2 (s)

G(z) = z { G 2 (s) } z { G 1 (s) }

x(t)
G 1 (s)

y(t) y k
G 2 (s)

G(z) = z { G 2 (s)G 1 (s) }

Hnh 4.12: Ni tip hai khi (ch s khc nhau v hm truyn tng ng).

Hai khi song song:

H gm hai khi ni song song c m

t trong hnh 4.13 c tn hiu vo ra u
dng xung (khng lin tc v u). Cc tn
hiu ny cng l tn hiu vo/ra ca tng
khi. Bi vy m hnh khng lin tc G(z)
chung cho c h s l:
G( z ) = Z {G1 ( s)} Z {G2 ( s)}

u(t)

uk

G 1 (s)

y(t)

G 2 (s)

yk

Hnh 4.13: H c hai khi song song.

= G1 ( z ) G2 ( z )
H hi tip:

Hnh 4.14 m t h hi tip vi hai trng hp khc nhau: Tn hiu hi tip v l

xung (hnh 4.14a) v l lin tc (hnh 4.14b). c hai trng hp, tn hiu u(t) c v
400

nh khng c trch mu. Song do trong e(t) c cha u(t) nn khi trch mu e(t) ta
trch mu lun c u(t). Nh vy h thng c tn hiu vo khng lin tc. Cng thm vic
trch mu y(t), h cng c tn hiu ra khng lin tc. Bi vy h hi tip cho chnh l
h khng lin tc v m t ton b h hi tip trn ta c nh G(z) c tnh nh sau:
1) Trng hp hi tip tn hiu xung { y k } nh hnh 4.14a):
Y(z) = z {G 1 (s)}E(z) = G 1 (z)E(z)

vi E(z) l nh Z ca { e k }

= G 1 (z) [ U(z) X(z) ] = G 1 (z) [ U(z) G 2 (z)Y(z) ]

Suy ra

[ 1 G 1 (z)G 2 (z)Y(z) ] Y(z)=G 1 (z)U(z) G(z) =

G1 ( z )
Y ( z)
=
U ( z ) 1 G1 ( z )G2 ( z )

2) Trng hp hi tip tn hiu lin tc y(t) nh hnh 4.14b):

Y(z) = G 1 (z)E(z)=G 1 (z) [ U(z) z { X(s) } ] = G 1 (z) [ U(z) z { G 2 (s)Y(s) } ]
= G 1 (z) [ U(z) z { G 2 (s)G 1 (s) } E(z) ] = G 1 (z) [ U(z) z { G 2 (s)G 1 (s) }
Vy G(z) =

a)

u(t)

G1 ( z )
1 z {G1 ( s)G2 ( s)}

e(t)

Y ( z)
G1 ( z )

y(t)

ek

yk

b)

u(t)

G1(s)
x(t)

G(z) =

e(t)

G2(s)

z {G1 ( s)}
1 z {G1 ( s)}z {G2 ( s)}

y(t)

ek

yk

G1(s)
x(t)

G(z) =

G2(s)

z {G1 ( s)}
1 z {G1 ( s)G2 ( s)}

Hnh 4.14: H hi tip.

V d 4.18: Bin i s khi

u(t) e(t)

ek

Hnh 4.15: Minh ha cho v d 4.18

G 1 (s)

xk

G 2 (s)

y(t)

yk

G 3 (s)

Xt h c m hnh s khi cho trong hnh 4.15. T s khi ta c:

Y(z) = z { G 1 (s)G 2 (s) } E(z) = G 1 (z)G 2 (z)E(z)

401

= G 1 (z)G 2 (z) [ U(z) z { G 3 (s)G 2 (s)X(s) } ]

= G 1 (z)G 2 (z) [ U(z) z { G 3 (s)G 2 (s) } X(z) ]
= G 1 (z)G 2 (z) [ U(z) z { G 3 (s)G 2 (s) } G 1 (z)E(z) ]
= G 1 (z)G 2 (z) [ U(z) z { G 3 (s)G 2 (s) } G 1 (z)
Vy

G(z) =

Y ( z)
G1 ( z )G2 ( z )

G1 ( z )G2 ( z )
Y ( z)
=
U ( z ) 1 + z {G2 ( s)G3 ( s)} G1 ( z )

V d 4.19: Bin i s khi khi ci t ln thit b iu khin s

Khi ci t mt h thng vi hm truyn G(s) ln my tnh (hoc cc b vi x l, vi

iu khin), h s c cu trc s khi nh hnh 4.16 m t, trong GZOH(s) l hm
truyn ca khu gi tn hiu bc 0:
GZOH(s) =

1 e sTa
s

Ton b h thng trong my tnh s c hm truyn

G( s) = (1 e sTa )

G( s )
s

Nhng do h thng G( s) trong my tnh c tn hiu u vo { u k } , u ra { y k } u l tn

hiu xung (khng lin tc v u) nn n cng l mt h khng lin tc v nh vy bn
cnh hm truyn G( s) dng lin tc n cn c m hnh khng lin tc nh sau:
G( z ) = z { G( s) } = (1z

) z{

G( s )
z 1 G( s )
} =
z{
}
s
z
s

Hnh 4.16: Ci t h thng vo my tnh.

Minh ha cho v d 4.19

u(t)

{uk}

u( t )
GZOH(s)

G(s)

y(t)

{yk}

V d 4.20: Xc nh hm truyn tng ng

Xt h c tn hiu vo { u k } v ra { y k } khng lin tc vi s khi cho hnh

4.17a. Nhim v t ra l tm hm truyn tng ng G(z) cho h.
Ta c hai phng php c bn xc nh G(z).
1) Tm G(z) trc tip t nh Z ca tn hiu:
K hiu cc nh Z ca nhng tn hiu khng lin tc {u k } , { e k } , { v k } , { y k } l:
E(z)=Z{e k } , U(z)=Z{u k } , V(z)=Z{v k } v Y(z)=Z{y k }
ta c t s khi:
402

a)

{uk}

{ek}

{vk}

G1(s)
G3(s)

b)

{uk}

{ek}

{uk}

{ek}

{uk}

{ek}

{yk}

{vk}

G1(s)

G2(s)

{vk}

G1(s)

G2(s)

G4(s)

G2(s)

G4(s)

G2(s)

v
G1(s)

{yk}

G2(s)

G4(s)

G3(s)

d)

G4(s)

G3(s)

c)

G2(s)

{vk}

{yk}

G2(s)

{yk}

G2(s)G4(s)
G2(s)G3(s)G4(s)
e)

{uk}

{ek}

z { G2(s)}

z { G1(s)}

{yk}

z { G2(s)G4(s)}
z { G2(s)G3(s)G4(s)}

f)

{uk}

{ek}

z { G1(s)}

1
1 z {G2 ( s)G4 ( s)}

z { G2(s)}

{yk}

z { G2(s)G3(s)G4(s)}

Hnh 4.17: Xc nh hm truyn tng ng. Minh ha cho v d 4.20

403

Y(z) = z { G2(s)} V(z)

V(z) = z { G1(s)} E(z)+ z { G2(s)G4(s)} V(z) V ( z ) =

z {G1 ( s)} E( z )

1 z {G2 ( s)G4 ( s)}

E(z) = U(z) z { G2(s)G3(s)G4(s)} V(z)

Thay phng trnh th 3 vo phng trnh th 2, c:
V ( z) =
=

z {G1 ( s)} U ( z ) z {G2 ( s)G3 ( s)G4 ( s)} V ( z )

1 z {G2 ( s)G4 ( s)}

z {G1 ( s)} U ( z )

1 z {G2 ( s)G4 ( s)} + z {G1 ( s)} z {G2 ( s)G3 ( s)G4 ( s)}

Thay tip vo phng trnh th nht, ta i n:

Y ( z ) = z {G2 ( s)}

G( z ) =

z {G1 ( s)} U ( z )

1 z {G2 ( s)G4 ( s)} + z {G1 ( s)} z {G2 ( s)G3 ( s)G4 ( s)}

z {G1 ( s)} z {G2 ( s)}

Y ( z)
=
U ( z ) 1 z {G2 ( s)G4 ( s)} + z {G1 ( s)} z {G2 ( s)G3 ( s)G4 ( s)}

2) Tm G(z) nh bin i s khi:

Chuyn nt chia tn hiu t sau ti trc khi G2(s) ta c hnh 4.17b. Ch rng
vic chuyn nt tn hiu t sau ti trc mt khi, ch c thc hin vi nhng khi
khng phi l khi trch mu hoc khi ZOH v c thc hin hon ton ging nh
trng hp h lin tc. Tip theo, ta chuyn nt chia tn hiu t sau khi G4(s) ti trc
khi G2(s) s c hnh 4.17c. Hnh 4.17d c suy ra t hnh 4.17c trn c s tnh cht
tuyn tnh ca khu trch mu tn hiu, tc l trch mu ca tng hai tn hiu s chnh
l tng ca cc kt qu trch mu ca hai tn hiu .
Khi tn hiu vo ra ca mt khi Gk(s) no u l tn hiu khng lin tc th ta
c php thay khi bng G k (z)= z { G k (s) } v chnh l hnh 4.17e. Hnh 4.17f l
kt qu rt gn ca hnh 4.17e v t y ta c ngay c hm truyn ca h.

4.3 Phn tch h khng lin tc

4.3.1

Phn tch tnh n nh

Qu trnh t do, iu kin cn v h n nh

Khi nim n nh ca h khng lin tc c m t bi hm truyn G(z) hay

phng trnh trng thi hon ton tng t nh h lin tc, tc l h s c gi l n
nh BIBO nu vi mi tn hiu vo { u k } b chn ( | u k | < , k ) , tn hiu u ra { u k } ca
h cng b chn ( | y k | < , k ) .
404

Ging nh h lin tc, tnh n nh ca h khng lin tc cng c nhn bit

thng qua qu trnh t do ca n. y l qu trnh c biu din bi p ng t do (tn
hiu vo bng 0) ca h khi i t im trng thi u khc 0. Nu s dng m hnh
trng thi (4.36) th vi (4.43), qu trnh t do s l (qu o trng thi t do):
x k = A k x0

(4.53)

Ngc li, nu s dng m hnh l hm truyn G(z) th qu trnh t do s chnh l hm

trng lng:
{gk}=Z

{ G(z)}

(4.54)

Theo nh ngha, hm trng lng { g k } l p ng u ra khi h ang trng thi u

bng 0 v c kch thch bng dy xung dirac { k } = { 1 , 0 , 0 , } u vo. Nh vy, t
c im ny ca dy xung dirac, kch thch s ch c tc dng nh bt h ra khi
trng thi 0, cn sau hon ton h vn ng t do vi p ng { g k } .
Ch : Trong mc 4,3 ny, m hnh trng thi h khng lin tc c s dng s l

(4.36) cho h MIMO hoc (4.42) cho h SISO. ng nhin iu ny hon ton khng
lm nh hng ti vic ng dng cho h c m hnh (4.46) vi c s tham gia thm ca
khu ZOH u vo, v khi ta ch cn thay A, B bi A v B .
nh l 4.1: h tuyn tnh khng lin tc, tham s hng, m t bi hm truyn G(z),
hoc m hnh trng thi (4.36), (4.42), cc pht biu sau l tng ng.

a)

H n nh BIBO.

b)

Qu trnh t do, tc l hm trng lng (4.54), hay qu o trng thi t do

(4.53), l tt dn (tin v 0).

c)

Hm truyn G(z) c tt c cc im cc z k nm bn trong ng trn n v,

tc l c |z k |<1, k.

d) Ma trn h thng A trong m hnh (4.42) c tt c cc gi tr ring z k nm bn

trong ng trn n v (|z k |<1, k).
Chng minh:
( b a ) : Khng mt tnh tng ta gi thit n im cc z i , i=1,2,,n ca G(z) l khc
nhau i mt. Khi nghim { g k } ca (4.54) phi c dng (4.20):
gk =

ci zik

i =1

v c lim gk = 0 th |z k |<1, k. Suy ra:

k

lim

Vy chui

gk zmax lim k n cmax = zmax < 1 vi zmax = max zi , cmax = max ci

k

gk l hi t v vi:

k=0

405

yk =

i=0

i=0

i=0

ui gk i uk gi uk gi

th khi { u k } b chn ta cng c tnh b chn ca {y k } .

( b c d ) : Xem phn chng minh trn cng nh quan h (4.50).
( a d ) : Khng mt tnh tng qut ta gi thit A c dng ng cho A = diag( z i ) . Khi
, vi quan h (4.44) v trng thi u x 0 =0 ta c:
k 1
k 1

yk = C A k i 1 Bui + Duk = C diag( z kj i 1 )Bui + Duk

i =0
i=0

k 1

= C diag( zij )Buk i 1 + Duk

i=0

T gi thit { y k } b chn vi mi dy { u k } b chn, ta suy ra c tnh hi t ca chui

ly tha

zij < , j v iu ny l tng ng vi |z j |<1, j.

i=0

Theo ni dung nh l trn, th kim tra tnh n nh ca mt h khng lin tc,

ta ch cn kim tra xem nghim ca a thc c tnh ca h, tc l a thc det( z I A )
ca m hnh trng thi, hoc l a thc mu s ca hm truyn G(z), k hiu l A(z),
c nm bn trong ng trn n v hay khng. Mt a thc:
+a n 1 z n

A(z) = det( z I A ) = a 0 +a 1 z+

+z n

c tt c cc nghim z i , i=1,2,,n nm bn trong ng trn n v ( | z i | < 1 ) , s c

gi l a thc bn (stable).
Xt a thc A(z) bc n v gi s z i , i=1,2,,n l nghim ca n. Theo nh l
Vieta, cc h s ca a thc A(z) s c quan h vi nghim z i ca n nh sau:
+ an z n = an ( z z1 )( z z2 )

A( z ) = a0 + a1 z +

= an zn zn 1 zi +
i =1

( z zn )

+ ( 1)n zi
i =1
n

i =1

i =1

an 1 = an zi v a0 = ( 1)n an zi

Suy ra:

nh l 4.2 (iu kin cn): Nu a thc:

A(z) = a0+a1z +

+anzn

l a thc bn th phi c | a 0 | < | a n | .

Chng minh:
T gi thit | z i | < 1 vi mi i ta c

406

zi < 1 do cng c:

i =1

|a0| = |an

i =1

i =1

zi | = | a n | zi < | a n |

Ch : nh l trn ch l mt tiu chun gip xc nh nhanh mt a thc A ( z ) c

th l a thc bn hay khng ch cha khng nh n chc chn s l a thc bn.

V d sau minh ha iu .
V d 4.21: nh l 4.2 ch l iu kin cn

a thc
2

A(z) = 0,8+4z+0,2z +z = (z+2j)(z2j)(z+0,2)

c a0 =0,8 v a 3 = 1 tha mn | a 0 | < | a 3 | nhng li khng phi l a thc bn v c hai
nghim z1,2 = 2j nm ngoi ng trn n v.

Tiu chun Schur-Cohn-Jury

Tiu chun SchurCohnJury c bt ngun t nh l sau:

nh l 4.3 (SchurCohn):

A0(z) = a0 + a1z +

+ anzn

l a thc bn th cn v l:
a0
< 1 v
an

A 1 (z) = A 0 (z)

a0
D 0 (z)
an

cng l a thc bn, trong D 0 (z) l a thc i ngu vi A 0 (z), tc l:

D 0 (z) = z n A 0 (z

) = a 0 z n +a 1 z n

+ a n 1 z+a n

Chng minh:
Xt a thc ph thuc tham s
C(z, ) = A 0 (z) D 0 (z)
Gi s rng C(z, ) c nghim z k nm trn ng trn n v ( | z k | = 1 ) . Vy th do:
D0 ( zk ) = A0 ( zk1 ) = A0 ( zk ) = A0 ( zk ) = A0 ( zk )
trong zk l gi tr phc lin hp ca z k v A0 ( z k ) l gi tr phc lin hp ca
A 0 (z k ), nn ta cng c
0 = C( zk , ) = A0 ( zk ) 1

tc l khi 1 th mi nghim z k vi | z k | = 1 ca C(z, ) cng l nghim ca A 0 (z).

Ngc li, nu z k vi | z k | = 1 l nghim ca A 0 (z) th do:
407

0 = A0 ( zk ) =

A0 ( zk )
zkn

= A0 ( zk1 ) = zkn A0 ( zk1 ) = D0 ( zk )

nn z k cng l nghim ca C(z, ). Nh vy vi mi 1 nghim nm trn ng trn

n v ca a thc C(z, ) cng chnh l nghim ca A 0 (z) v ngc li. Do nghim ca
A 0 (z) khng ph thuc nn cc nghim z k vi | z k | = 1 ca C(z, ) cng khng ph
thuc khi m 1. Kt lun ny ch r s cc nghim nm trn ng trn n v ca
C(z, ) l mt hng s vi mi 1.
By gi ta cho chy trong khong [ 0 , 1 ) :

Vi = 0 th do C(z,0)=A 0 (z) nn tt c nghim ca A 0 (z) cng l nghim ca

C(z,0). Gi s cc nghim nm trn ng trn n v ca chng l q .

Tng dn v gi s trong qu trnh tng dn nh vy s cc nghim nm bn

trong ng trong n v ca C(z, ) b thay i, tc l c mt nghim t bn trong
i ra ngoi hoc c thm nghim t bn ngoi i vo trong ng trn n v. Do
nghim ca C(z, ) thay i lin tc theo nn bt buc trong qu trnh dch
chuyn phi c lc chng nm trn ng trn n v. iu ny lm cho s
cc nghim nm trn ng trn n v ca C(z, ) c lc b thay i (ln hn
hoc nh hn q ) . iu ny tri ngc vi kt lun trn. Vy iu gi s l sai. Ni
cch khc A 0 (z) l a thc bn th cn v l C(z, ) cng phi l a thc bn
vi mi 0 < 1 .

Chn =

a0
< 1 s c C(z, )=A 1 (z). Do nu A 0 (z) l a thc bn th A 1 (z) cng l
an

a thc bn. Ngc li khi A 1 (z) l bn v < 1 th A 0 (z) cng phi bn.
M rng ra, a thc A 1 (z) cn vit c thnh:
A1 ( z ) = A0 ( z )

a0
a
D0 ( z ) = A0 ( z ) 0 zn A0 ( z1 )
an
an

a
a
= z a1 0 an 1 + a2 0 an 2 z +
an
an

a
+ an 0 a0 z n 1
an

do A 1 (z) s l a thc bn khi v ch khi a thc c bc thp hn

a
a
p 1 ( z ) = p1 ( z ) = a1 0 an 1 + a2 0 an 2 z +
an
an

a
+ an 0 a0 z n 1
an

cng l a thc bn. Vi nhn xt nh vy Jury xy dng thut ton kim tra xem:
A0 ( z ) = a0(0) + a1(0) z +

+ an(0) zn

c phi l a thc bn hay khng gm hai bc nh sau:

1) H dn bc ca A 0 ( z )

408

(4.55)

p 1 (z)= a0(1) + a1(1) z +

+ an(1)1 z n 1 vi

ai(1) = ai(0)

+1

p 2 (z)= a0(2) + a1(2) z +

+ an(2)2 zn 2 vi

ai(2) = ai(1)

+1

p n 1 ( z ) = a0( n 1) + a1( n 1) z

vi

2) Kim tra iu kin cn v i =

ai( n 1) = ai(+n12)

a0( i )
an( i) i

a0(0)

an(0)
i 1 ,

an(0)
a0(1)

an(1)1

a0( n 2)
a2( n 2)

0in1

an(1) i 2 , 0in2

a1( n i2) ,

i=0,1

<1, vi mi i=0,1, , n1.

Hai bc trn c ci t thnh thut ton rt tin li cho vic s dng di

dng bng, c tn gi l tiu chun SchurCohnJury cho a thc (4.55), nh sau:

0=

1=

n1=

a0(0)
an(0)

a0(1)
an(1)1

a0( n 1)
a1( n 1)

a0( 0 )

a1( 0 )

a2( 0 )

an(0)

an(0)
1

an(0)
2

a0(1) = a1(0) 0 an(0)

1

a1(1) = a2(0) 0 an(0)

2

a2(1) = a3(0) 0 an(0)

3

an(1)1

an(1) 2

an(1)3

a0(2) = a1(1) 1 an(1) 2

a1(2) = a2(1) 1 an(1)3

a2(2) = a3(1) 1 an(1) 4

a0( n 1)

a1( n 1)

a1( n 1)

a0( n 1)

Vi bng trn, a thc (4.55) s bn khi v ch khi gi tr tuyt i ca tt c cc s

hng i , i=0,1,,n1 trong ct u nh hn 1 (| i |<1, i).
V d 4.22: Minh ha tiu chun SchurCohnJury

Cho a thc
2

A(z) = 17z8z +28z +48z

Lp bng SchurCohnJury:

409

0,02
0,14
0,1
0,63

28

48

48

28

6,42

8,17

27,85

47,98

47,98

27,85

8,17

6,42

4,45

26,76

47,12

47,12

26,76

4,45

29,28

46,7

46,7

29,28

Do ct u u c tr tuyt i nh hn 1 nn a thc cho l a thc bn.

V d 4.23: Minh ha tiu chun SchurCohnJury

Xt a thc bc 2:
A(z) = a 0 +a 1 z+z 2
Lp bng SchurCohnJury:

a0

a1 a0 a1
1 a02

a0

a1

a1

a0

a 1 a 0 a 1

1 a02

1 a02

a 1 a 0 a 1

Vy h n nh th cn v l:
| a 0 | < 1 v | a 1 a 0 a 1 | < 1 a02

| a 0 | < 1 v |a 1 |<1+a 0

S dng cc tiu chun xt tnh n nh h lin tc

Trong chng 2 v 3 ta lm quen kh nhiu tiu chun xt tnh n nh h lin

tc trn c s kho st vng cha nghim a thc c tnh ca n (vng cha im cc
ca h), trong cc tiu chun nh ca RouthHurwitz, LienardChipart, Michailov l
kh thng dng. Cc tiu chun ny c nhim v xc nh xem nghim a thc c tnh
c nm bn tri trc o hay khng m khng cn phi trc tip i tm cc nghim .
Khc vi tiu chun xt n nh h lin tc, vic xt tnh n nh h khng lin tc
thng qua s phn b nghim a thc c tnh ca h li phi ch r nghim ca a thc
c tnh c nm trong ng trn n v hay khng (nh l 4.1, 4.3). Bi vy mun s
dng c nhng tiu chun xt tnh n nh h lin tc cho vic xt tnh n nh h
khng lin tc th cn thit ta phi tm c mt n nh chuyn cc im z nm bn
trong ng trn n v thnh mt im p nm bn tri trc o trong mt phng phc
410

(hnh 4.18a). Ch rng y ta k hiu i s l p ch khng phi l s nh h lin

tc l nhn mnh rng php bin i ch c ngha cho vic xt tnh n nh ch
hon ton khng phi l mt nh x chuyn i m hnh khng lin tc thnh m hnh
lin tc tng ng, chng hn nh khng th bng php bin i ny chuyn hm
truyn khng lin tc G(z) thnh hm truyn lin tc G(s).

a)

b)

j
p

pa

j
p

p+a

Hnh 4.18: Php bin i s dng cc tiu chun xt n nh h lin

tc cho vic xt tnh n nh h khng lin tc.

Hnh 4.18b) m t mt php bin i nh vy. Nu nh im p nm bn tri trc o

th vector p + a ( a > 0 ) s c di nh hn di ca vector p a , do t s:
z=

p+ a
p a

(4.56)

s cho ra mt vector z c di nh hn 1, hay z s nm trong ng trn n v. Ngc

li, khi p nm trn hoc bn phi trc o th do di vector p + a s bng hoc ln hn
di ca vector p a , dn n z theo (4.56) nm trn hoc ngoi ng trn n v.
Php bin i (4.56) l php bin i mtmt, tc l nh x ngc ca n:
p=

a( z + 1)
z 1

(4.57)

cng s chuyn i mt im z nm bn trong ng trn n v thnh mt im p nm

bn tri trc o. Ngi ta thng gi (4.57) l nh x lng tuyn tnh.
Vi nh x lng tuyn tnh (4.57) ta d dng kim tra ngay c tnh ng n
ca pht biu sau:
nh l 4.4: Cc pht biu sau l tng ng:

a)

a thc bc n
A(z) = a 0 +a 1 z+

+a n z n , (a n 0)

l mt a thc ng trn (c cc nghim z i , i=1,2, ,n nm bn trong

ng trn n v, | z i | < 1 ) .

411

b)

Vi a > 0 a thc i ngu sau bo ton bc n:

p+ a
n
n 1
An ( p) = ( p a)n A
= a0 ( p a) + a1 ( p a) ( p + a) +

p
a

+ an ( p + a)n

+ an pn

= a0 + a1 p +

l Hurwitz (c cc nghim p i , i=1,2, ,n nm bn tri trc o, Re( p i ) < 0 ) .

V d 4.24: Minh ha nh l 4.4

xt a thc bc 3:
2

A(z) = 0,10,5z+0,2z +z

c phi l mt a thc bn hay khng, theo nh l 4.4, th cn v , ta xt tnh

Hurwitz ca a thc cng bc 3 (vi a = 1 ) :
2

A n (p) = 0,1(p1) 3 0,5(p1) 2 (p+1)+0,2(p1)(p+1) +(p+1) 3

2

= 0,4+3p+4p +0,6p

Lp cc ma trn:
3 0,6 0

0 ,
H 3 = 0,4 4
0
3 0,6

3 0,6
H2 =
,
0,4 4

H1 = 3

Do
det( H 3 ) = 7,056 > 0 ,

det( H 2 ) = 11,76 > 0,

det( H 1 ) = 3 > 0

nn A n (p) l a thc Hurwitz. Suy ra A(z) cho l a thc bn.

Khng nh trn c th c kim chng li trc tip t:
A(z) = (z 2 0,5)(z+0,2) = ( z

1
2

)( z +

) (z+0,2)

V d 4.25: Minh ha nh l 4.4

Xt li a thc bc 2 v d 4.23:
A(z) = a 0 +a 1 z+z 2
N c a thc i ngu tng ng cng bc 2 (vi a = 1 ) :
A n (p) = a 0 (p1) 2 a 1 (p1)(p+1)+(p+1) 2
= (a 0 +a 1 +1)+2(1a 0 )p+(a 0 a 1 +1)p 2
Bi vy A(z) s l a thc bn khi v ch khi cc h s (a 0 +a 1 +1), (1a 0 ), (a 0 a 1 +1)
ca A n (p) cng du v khc 0, tc l:
a 0 <1 v 1a 0 < a 1 < 1+a 0

412

Tiu chun Nyquist

Cc phng php xt tnh n nh trn y u s dng a thc c tnh ca h.

iu ny i hi khi p dng chng, bt buc ta phi c m hnh ca h di dng hm
truyn hoc m hnh trng thi v l im khc bit so vi tiu chun Nyquist. Vi
Nyquist ta c th kim tra c tnh n nh m khng cn n a thc c tnh ca h,
thay vo l ng th Nyquist G h (N) ca h h (hnh 4.19a), c hiu l ng
th ca hm truyn h h:

hay

G h (s) = G 1 (s)G 2 (s)

cho h lin tc

G h (z) = G 1 (z)G 2 (z)

cho h khng lin tc

khi bin s s hoc z chy dc trn bin N ca min kn N trong mt phng phc cha tt
c cc im cc khng n nh ca h h. Hn th na, mt s trng hp ring th
thm ch ta cn c th c c ng th ny bng thc nghim. Chng hn nh vi
h lin tc c hm truyn h h G h (s) khng c im cc no nm trn trc o th ng
Nyquist N s ch gm ton b trc o v na ng trn c bn knh v cng ln vi
chiu dng (cng chiu kim ng h) nh m t hnh 4.19b. Nu c thm gi thit
rng G h (s) l hp thc cht, th khi s chy trn na ng trn bn knh v cng ln ,
gi tr hm truyn bng 0, nn ng th Nyquist G h (N) cui cng li chnh l ng
th c tnh tn binpha:
G h (N)=G h (j ) ,
v ta hon ton c th xy dng c ng th hm c tnh tn ny bng thc
nghim vi cc bc thc hin c trnh by chi tit ti mc 2.2.5 ca chng 2.

a)

b)

G1

c)

s
N

G2

Hnh 4.19: ng Nyquist N cho a) h

lin tc v b) h khng lin tc

Tiu chun Nyquist ca h lin tc vi cc u im nu trn hon ton chuyn giao

c sang cho h khng lin tc bng vic sa i li min N trong mt phng phc
cha tt c cc im cc khng n nh ca h h. h khng lin tc c hm truyn h
h G h (z) khng c im cc nm trn ng trn n v, th min N ny s gm hai

413

ng trn, ng trn th nht l ng trn n v vi chiu ngc kim ng h v

ng trn th hai l ng trn c bn knh v cng ln vi chiu cng kim ng h
to thnh min N c bin N ca n theo chiu dng l chiu m theo , min N lun
nm pha bn phi (hnh 4.19c).
Nh vy, ng th Nyquist G h (N) trng hp khng lin tc s l ng
th G h (z) khi z chy kn hai ng trn trn. Ging nh h lin tc, nu hm truyn

h h G h (z) l hp thc cht (theo z 1) th do khi z chy dc trn na ng trn bn

ngoi vi bn knh v cng ln G h (z) lun c gi tr l:
G h (z) = 0
nn cui cng ton b ng th Nyquist G h (N) ch cn tp trung li khi z chy trn
ng trn n v:
Gh ( N ) = Gh ( e j ) vi 0 2

(4.58)

Ngoi ra, do c Gh ( z ) = Gh ( z ) , trong a l s phc lin hp ca a, nn ng th

Nyquist (4.58) trn s c dng i xng qua trc thc. Bi vy ta ch cn xy dng
G h (N) vi 0 ri sau ly thm phn i xng qua trc thc l c.
Sau khi c c ng th Nyquist G h (N) ca h h cho trng hp khng
lin tc th tnh n nh ca h kn khng lin tc nh m t hnh 4.19a) s c xc
nh ging nh h lin tc (mc 2.3.3), m c th l:
nh l 4.5: Xt h kn, khng lin tc, cho hnh 4.19a. Nu hm truyn G h (z) ca h

h c m im cc khng nm bn trong ng trn n v v khng c im cc no

nm trn trng trn n v th h kn s n nh khi v ch khi ng th
Nyquist G h (N) xy dng theo (4.58) bao im 1+j0 ng m ln theo chiu ngc
kim ng h.
ng nhin pht biu trn cng ng cho c trng hp h kn hnh 4.19a) c
G 1 (z) l cho (hm truyn ca i tng) v G 2 (z)=k l cn phi xc nh h kn
n nh (hm truyn ca b iu khin). Khi , nu ta chuyn G h (N)=kG 1 (N) thnh
th Nyquist ca ring khu G 1 (N) bng cch gim n v o ca trc thc cho khu
G 1 (N) i k ln, s c:
nh l 4.6: Xt h kn, khng lin tc, cho hnh 4.19a) vi G 2 (z)=k. Nu hm truyn

G 1 (z) c m im cc khng nm bn trong ng trn n v v khng c im cc

no nm trn trng trn n v th h kn s n nh khi v ch khi ng th
1
Nyquist G 1 (N) bao im + j 0 ng m ln theo chiu ngc kim ng h.
k
414

4.3.2

Tnh iu khin c v quan st c

Phn tch tnh iu khin c

Xt h MIMO khng lin tc, bc n, m t bi:

x k +1 = Ax k + Buk

y k = Cx k + Duk

(4.59)

vi m tn hiu vo, ghp chung li thnh vector {uk } v r tn hiu ra cng c vit
chung thnh vector { y } . H (4.59) s c gi l:
k

iu khin c nu ng vi mi im trng thi u x 0 R n cho trc bao gi ta

cng tm c dy hu hn gm N cc vector {u 0 , u 1 , , u N 1 } a c h
i t x 0 v ti gc ta 0.

t ti c nu ng vi mi im trng thi cui x N R n cho trc bao gi ta

cng tm c dy hu hn gm N cc vector {u 0 , u 1 , , u N 1 } a c h
t gc ta 0 ti c x N .

iu khin c hon ton nu ng vi mi im trng thi u x 0 R n v mi

im trng thi cui cho trc x N R n bao gi ta cng tm c dy hu hn gm
N cc vector {u 0 , u 1 , , u N 1 } a c h i t x 0 v ti c x N .

Theo nh ngha va nu th r rng h s iu khin c hon ton khi v ch khi

n ng thi iu khin c v t ti c. Vi cng thc (4.43) th t m hnh (4.59)
ta c:
x k = A k x0 +

k 1

A ki1 Bui

(4.60)

i=0

Bi vy, kim tra tnh iu khin c, ta ch cn xc nh xem ng vi x N =0 v

x 0 R n ty , phng trnh:
N

0 = A x0 +

N 1

k i 1

i=0

Bui

A x0 = A

N 1

B,A

N 2

B,

u0

,B

N 1

(4.61)

c nghim {u 0 , u 1 , , u N 1 } vi mt s N hu hn hay khng.

Xem A N v

( B , AB ,

, A N 1 B

l hai nh x tuyn tnh th r rng (4.61) c

nghim {u 0 , u 1 , , u N 1 } vi mt s hu hn N v vi mi x 0 R n khi v ch khi:

Im( A N ) Im A N 1 B , A N 2 B ,

, B , vi Im() l khng gian nh

(4.62)

S dng nh l CayleyHamilton cho nh l 3.8 th khi Nn, ma trn A N s ph

thuc tuyn tnh theo A, A 2 ,

, An

, ni cch khc mt s hu hn N tha mn

415

(4.62) l lun tn ti v vic c nhiu hn n gi tr tn hiu iu khin l khng cn

thit. V vy (4.62) s tng ng vi:

dim Im( A n ) dim Im A N 1 B , A N 2 B ,

,B

Ta i n:
nh l 4.7: Cn v h (4.59) iu khin c l:

, A n 1 B , v dim Im( i ) = Rank( i )

Rank( A n ) Rank B , AB ,

(4.63)

Tng t, kim tra tnh t ti c ca h (4.59) ta phi kim tra xem phng
trnh (4.60) ng vi x N R n ty nhng cho trc v x 0 =0
xN =

N 1

N i 1

i =0

Bui

xN = A

N 1

B,A

N 2

B,

u0

,B

N 1

c nghim hay khng. iu ny cng dn n:

nh l 4.8: Cn v h (4.59) t ti c l:

Rank B , AB ,

, A n 1 B = n

(4.64)

So snh (4.63) v (4.64) ta cn nhn thy:

iu kin (4.63) h iu khin c v (4.64) h t ti c ch tng

ng vi nhau khi Rank(A n )=n, tc l khi ma trn A n khng suy bin. Ni cch
khc, ch khi A n khng suy bin th ging nh h lin tc, h s iu khin c
hon ton nu n iu khin c.

Nu A n suy bin th Rank(A n )<n. Do khi h t ti c th n cng s iu

khin c, nhng ngc li nu h ch iu khin c th khng c ngha l n
cng t ti c v do cng khng iu khin c hon ton. y chnh l
iu khc bit so vi h lin tc.

V d 4.26: iu khin c, nhng khng iu khin c hon ton

Xt h c mt u vo m t bi:
1 2
2
x k +1 =
x k + uk
0,5 1
1

H ny c
1 2 2 4
=
A B =
0,5 1 1 2

416

1 2 1 2 2 4

=
, A 2 =
0,5 1 0,5 1 1 2

2 4
=1
Rank(B , AB) = Rank(A 2 ) = Rank
1 2
nn n iu khin c. Nhng v

Rank(B , AB) = 1 2
nn n khng t ti c, do n khng iu khin c hon ton. Chng hn nh
2
vi x N = th do phng trnh:
0
u 2
(B , AB) 0 =
u1 0

2 4 u0 2

=
1 2 u1 0

v nghim nn khng tn ti {u 0 , u 1 } a h t gc ta 0 ti c x N .

nh l 4.9: Cc pht biu sau cho h (4.59) l tng ng:

a)

iu khin c hon ton.

b)

t ti c.

c)

(Kalman) Rank B , AB ,

, A n 1 B = n

d) (Hautus) Rank( z I A, B ) = n vi mi z C

(4.65)

Chng minh:
Tnh tng ng ca a), b) v c) c khng nh trong nh l 4.7 v nh l
4.8, cng nh cc nhn xt v hai cng thc (4.63) v (4.64) ca chng. Ch cn li kt
lun d) l phi chng minh. Song ta c th thy ngay pht biu c) v d) l hon ton
ging nh tiu chun Kalman v tiu chun Hautus v tnh iu khin c (hon ton)
ca h lin tc (mc 3.3.3), nn chng l tng ng.

V d 4.27: Va iu khin c, va iu khin c hon ton

Xt h vi mt u vo m t bi:
1 2
2
x k +1 =
x k + uk
0
1

H ny c
1 2 2 4
2 4
= Rank( B , A B ) = Rank
= 2
AB=
0
1
1
1

1 1

nn n va iu khin c, va t ti c, tc l iu khin c hon ton.

Phn tch tnh quan st c

Tip theo ta phn tch tnh quan st c ca h tham s hng c m hnh trng
thi (4.59). ngha ca vic phn tch nh sau: Gi s rng ti thi im k = 0 h

417

ang trng thi x 0 R n no v ta phi xc nh x 0 thng qua vic o cc tn hiu

vo ra {uk } , { y } . Nu ta c th lm c vic thng qua quan st (o) cc tn hiu
k

vo v ra trong mt khong thi gian hu hn, tc l t hu hn cc gi tr o c ca

tn hiu vora {u 0 , u 1 , , u N 1 } v { y , y , , y
0

N 1

} , th h s c gi l quan st

c.
Thay quan h (4.60) vo phng trnh th hai ca (4.59) c:
k 1

y = CA k x0 + C A k i 1 Bui + Duk
k

i=0

CA k x0 = y
k

k 1

CA k1 i Bui Duk

i=0

Cho k chy t 0 n N1 s c:

y
C
0

CA

x =
1

CA N 1

N 1

Nhng v vi k n ma trn A k s ph thuc tuyn tnh theo A, A 2 , , A n

, nn thc

cht phng trnh trn ch cn l:

y
C
0

CA

x =
1

y
CA n 1

n 1

(4.66)

T y ta thy im trng thi x 0 s xc nh c chnh xc nu nh x (4.66) c min

nh l ton b khng gian trng thi v khi kt hp vi tnh tng ng gia tiu
chun Kalman v tiu chun Hautus pht biu cho m hnh h lin tc, s n c:
nh l 4.10: Cc pht biu sau cho h (4.59) l tng ng:

a)

H quan st c.

b)

CA = n
(Kalman) Rank

CA n 1

c)

(Hautus) Rank

zI A
=n
C

V d 4.28: Xc nh tnh quan st c

Cho h SISO bc 2, m t bi:

418

(4.67)

vi mi z C

(4.68)

1 0
1
x k +1 =
x k + uk v yk = (2 , 1) x k + uk
2 1
0

H ny c:
C
2 1
= 2
Rank
= Rank
CA

4 1

nn n quan st c, tc l mi im trng thi x 0 R 2 ca n s c xc nh t hu

hn cc gi tr tn hiu {u 0 , u 1 } v {y 0 , y 1 } nh cng thc (4.66):
y0 y0 u0
C
=

x0 =
CA
y1 y1 2u0 u1

x0 =

y0 u0
2 1

x0 =
4 1
y1 2u0 u1

1 1 1 y0 u0

2 4 2 y1 2u0 u1

Tip tc, ta cn thy, do t (4.67) cn c:

T

C
C

CA
CA

T
T T
Rank
= Rank C , A C ,
= Rank

CA n 1
CA n 1

, ( AT )n 1 CT

nn cng c c khng nh sau (tng t nh h lin tc):

nh l 4.11: h (4.59) quan st c th cn v l h i ngu:
T
T
x
k +1 = A x k + C u k

T
T
y k = B x k + D u k

t ti c, tc l iu khin c hon ton.

Xt ring h SISO khng lin tc vi m hnh:
x k +1 = Ax k + Buk

yk = Cx k + Duk

(4.69)

Vi cng thc (4.49) th h trn c hm truyn:

G( z ) = C( zI A )1 B + D
Nhng v G(z) l hm v hng (ma trn 11) nn c G(z)=G T (z). Suy ra:

G( z ) = C( zI A )1 B + D = BT ( zI AT )1 C T + DT = BT ( zI AT )1 CT + D
v do bn cnh m hnh (4.69), n cn c m hnh trng thi i ngu tng ng:
T
T
x
k +1 = A x k + C uk

T
yk = B x k + Duk

(4.70)

419

iu ny dn ta n kt lun rng mi h SISO khng lin tc vi hm truyn dng

thchu t:
G( z ) =

b0 zn + b1 z n 1 +

z + a0 zn 1 + a1 z n 2 +

+ bn

+ an

th bn cnh m hnh trng thi (xem li mc 4.3.2):

1
0
0
0
0

0
1
0

0
x

x + uk
=
k +1
k 0

0
0
0
1

a a

a
a

n
n
n

2
1

, b1 a1b0 ) x k + b0uk
yk ( bn anb0 ,

(4.71)

c gi l m hnh chun iu khin, n cn c m hnh trng thi tng ng khc

theo cu trc (4.70), c gi l m hnh chun quan st, nh sau:

1
x

=
k +1

y = ( 0 ,

a0

a1
bn anb0

x +
uk
k

0 an 2
b1 a1b0

1 an 1

0
0

(4.72)

, 0 , 1) x k + b0uk

V d 4.29: Minh ha nh l 4.11

Xt h c m hnh trng thi dng chun quan st (4.72). Khi vi:

0

1
A=

0
0

0
0
0
0

a0

a1
, C = (0 ,

0 an 2
1 an 1
0
0

, 0 , 1)

ta c

CA = ( 0 ,

CA2 = ( 0 ,

420

1
, 0 , 1)

0
0

0
0
0
0

a0

a1
= (0 ,

0 an 2
1 an 1
0
0

, 0 , 1 , an 1 ) A = 0 ,

, 0 , 1 , an 1 )

, 0 , 1 , an 1 , an 2 + an2 1

CA n 1 = 1 , an 1 , an 2 + an2 1 ,

nn
C
0

CA
= Rank 0
Rank

1
CA
1

" 0 1

" 1
=n
% # #

"

(v c nh thc khc 0)

v do n quan st c (cc du l ch nhng gi tr c xc nh t b tham s a 0 ,

a 1 , , a n 1 ).
H i ngu vi n c m hnh trng thi chun iu khin (4.71) c cng hm

truyn G(z). Kim tra tng t ta cng thy h (4.71) l iu khin c hon ton.

4.3.3

Chu k trch mu v cht lng h thng

Hin tng trng ph

Xt tn hiu lin tc x(t). Bn cnh thng tin trong min thi gian m tn hiu
truyn ti ngi ta cn quan tm c bit ti thng tin trong min tn s ca tn hiu
c phn nh qua nh Fourier X(j ) ca n nh ngha bi cng thc (2.13) cho
chng 2. Vn t ra trong qu trnh khng lin tc ha tn hiu lin tc x(t) thnh
tn hiu khng lin tc { x k } , theo ngha x k =x(kT a ), k= , 1,0,1 , l cn phi chn
chu k trch mu T a nh th no sai lch thng tin tn s gia X(j ) ca tn hiu gc
x(t) v X a (j ) ca tn hiu khng lin tc { x k } l nh nht. Cu tr li cho vn ny
c a ra mc 2.1.2 vi cng thc trng ph, cn gi l nh l Shannon
Katelnikov (hnh 4.20):
X a ( j ) =

X ( j( n

n =

2
))
Ta

v t cng thc trng ph ny ta n ngay c chu k trch mu ca Nyquist nh sau:

nh l 4.12: Nu tn hiu lin tc x(t) c nh Fourier X(j ) tha mn | X(j ) | = 0 khi

[ , ] th vi chu k trch mu Ta <

a)

b)

X(j )

s c X a (j )=X(j ) khi [ , ] .

X a (j )

2
Ta

Hnh 4.20: Minh ha chu k trch mu Nyquist

421

Chn chu k trch mu ng nht im cc

Xt h lin tc n nh, c th l MIMO, m t bi:

dx
= Ax + Bu

dt
y = Cx + Du

(4.73)

Khi , h khng lin tc tng ng vi chu k trch mu T a ca tn hiu vora thnh

{uk } , { y } c s tham gia ca khu ZOH u vo (hnh 4.10a) s c m t bi (4.46),
k

tc l:
x
k +1 = Ax k + Bu k

y k = Cx k + Duk

trong A = e ATa v B =

Ta

At
e Bdt

(4.74)

K hiu s 1 , , s n l gi tr ring ca A, tc l im cc ca h lin tc (4.73) v gi M

l ma trn modal ca A. Vy th:
M 1 AM = M 1 e ATa M = diag( esiTa )

diag( i ) = diag( esiTa )

trong 1 , , n l gi tr ring ca A . T y ta suy ra c chu k trch mu:

Ta =

ln i
si

Quan h gia chu k trch mu v tnh iu khin c, quan st c

Tip theo, mc ny, chng ta s kho st s nh hng ca thi gian trch mu

T a ti tnh iu khin c v quan st c ca h.
nh l 4.13: Xt h lin tc SISO c m hnh trng thi (4.73) vi B l vector ct, C l
vector hng v D l hng s thc. Khi m hnh khng lin tc tng ng (4.74)

vi s tham gia ca khu ZOH u vo cng c B l vector ct. Nu ma trn A

ca m hnh lin tc (4.73) c cp gi tr ring l s phc lin hp s 0 , s0 vi
s0 s0 = 2 j0 , th khi s dng thi gian trch mu:
Ta =

k
,
0

kZ

tnh iu khin c (hon ton), cng nh quan st c ca m hnh lin tc

(4.73) s b mt m hnh khng lin tc (4.74), tc l m hnh (4.74) khi s
khng iu khin c hon ton, hay s khng quan st c.
Chng minh:
Trc tin ta c th thy c rng khi s 0 l mt gi tr ring ca A th z0 = es0Ta
cng s l mt gi tr ring ca A = e ATa . Nhng do c:

422

e( s0 s0 )Ta = e2 jk = 1

es0Ta = e s0 Ta

nn A s c mt gi tr ring z0 = z0 bi hai. Mt khc, do A c hai vector ring ng vi

s 0 , s0 khc nhau c lp tuyn tnh, nn A cng s c hai vector ring c lp tuyn
tnh ng vi mt gi tr ring z0 = z0 bi hai. Suy ra:
Rank( z0 I A ) n 2

Rank( z0 I A , B) n 1

v B l vector ct (h SISO). Vy, theo tiu chun Hautus, h khng lin tc (4.74) l
khng iu khin c hon ton. Tng t, ta cng c c khng nh v tnh khng

quan st c ca (4.74).
Quan h gia chu k trch mu v tnh n nh

Xt h kn c s khi hnh 4.21a) vi s tham gia ca khu ZOH u vo

khu lin tc G(s). H kn ny c hm truyn h h l:
Gh ( s) = (1 e sTa )

G( s )
s

(4.75)

Nh vy h h c cha mt khu tr vi thi gian tr T a .

a)

u(t)

e(t) { e k }

GZOH(s)

G(s)

y(t)

Ta

ImG h

b)

Hnh 4.21: Nghin cu nh hng ca chu k

trch mu ti tnh n nh h thng.

G( j )
j

ReG h

G( s )
trong (4.75) ch c mt im cc
s
s=0 duy nht khng nm bn tri trc o. Do theo ni dung tiu chun Nyquist (nh
G( s )
, tc l khi
l 2.23 v 2.27), h kn vi hm truyn h h ch cha ring thnh phn
s

Gi s G(s) l n nh. Vy th thnh phn

c chu k trch mu T a =0, s n nh khi v ch khi ng th hm c tnh tn

G( j c )
G( j )
binpha
, 0 ct ng trn n v ti im ct c = arc
c gc ct
j
j c
ln hn , tc l c gc d tr n nh = + c > 0 nh minh ha hnh 4.21b.
By gi ta xt nh hng ca chu k trch mu T a >0 ti gc d tr n nh . T:
arcGh ( j ) = arc

Ta
G( j )
G( j )

+ arc(1 e j Ta ) = arc
+ arctan ctan

j
j
2

423

cng nh:
1 e j Ta 2 l b chn vi mi v Ta

cTa

) < 0 , gc d tr n nh s
2
gim v nu gc d tr n nh gim ti gi tr 0, h kn s mt n nh. Vy:

ta s thy nu tng chu k trch mu T a c ctan(

nh l 4.14: Xt h kn n nh cho hnh 4.21a) vi khu G(s) cng n nh. K hiu:

= + arc

G( j c )
vi
j c

G( j c )
=1
j c

l gc d tr n nh. Nu chu k trch mu T a ln lm cho:

arctan ctan c a <

2

th h kn s mt n nh.

4.4 Thit k b iu khin

4.4.1

Chn tham s cho b iu khin PID s

Cu trc b iu khin PID s

Hnh 4.22 biu din mt h thng iu khin c s dng b iu khin PID s, tc

l b iu khin PID c tn hiu vo ra dng s (khng lin tc v ri rc). Tn hiu u
ra ca b PID s l dy {u k } c a n iu khin i tng c hm truyn lin tc
S(s). Do {u k } l tn hiu khng lin tcri rc nn c th lm tn hiu iu khin
cho i tng lin tc ta cn phi lin tc ha n (trong min thi gian) bng b chuyn
i stng t ZOH vi hm truyn GZOH( s ) .

w(t)
Hnh 4.22: iu khin vi b
iu khin PID s.

e(t) {e k }
Ta

{u k }
GZOH( s )

PID s

u(t)

S(s)

y(t)

Ta

xc nh m hnh khng lin tc ca b PID s ta s i t m hnh lin tc ca

n trong min thi gian:

kp t
de( t )
de( t )
1 t
u( t ) = kp e( t ) +
e( )d + Td
= kp e( t ) +

e( )d + kpTd dt

T
dt
T
I 0
I 0

uP ( t )
uD ( t )
uI ( t )

424

Khi u vo e ( t ) ca PID s c thay bng dy {e k } c chu k trch mu Ta th:

Khu khuch i u P (t)=k p e(t) c thay bng ukP = kp ek U P (z)=k p E(z)

Khu tch phn uI ( t ) =

a)
b)
c)

Xp x loi 1: ukI =
Xp x loi 2: ukI =
Xp x loi 3: ukI =

kp

e( )d c thay bng (hnh 4.23):

TI 0

kpTa
TI
kpTa
TI
kpTa
TI

3) Khu vi phn uD ( t ) = kpTD

k 1

kpTa

i=0

TI

kpTa

i =1

TI

ei = ukI 1 +

ei = ukI 1 +

ek 1 U I ( z ) =
ek U I ( z ) =

kpTa
TI ( z 1)
kpTa z

TI ( z 1)

E( z )

E( z )

kpTa z + 1
ei 1 + ei
E( z )
U I ( z) =
2
2TI z 1
i =1
k

k pTD
de( t )
c thay bng ukD =
( ek ek1 )
dt
Ta

Thay cc cng thc xp x trn vo uk = ukP + ukI + ukD ta s c hm truyn ca b iu

khin PID khng lin tc:

Xp x loi 1:

Ta
T ( z 1)
+ D
GPID ( z ) = kp 1 +

T
z
Ta z
(
1)
I

Xp x loi 2:

Ta z
T ( z 1)
+ D
GPID ( z ) = kp 1 +

T
z
Ta z
(
1)
I

Xp x loi 3:

T ( z + 1) TD ( z 1)
+
GPID ( z ) = kp 1 + a

2TI ( z 1)
Ta z

ukI

Xp x loi 1

ukI

Xp x loi 2

ukI

kT a
k

(4.76)

Xp x loi 3

kTa
k

kTa
k

Hnh 4.23: Xp x khu tch phn trong PID

Xc nh tham s cho PID s bng thc nghim

Tng t nh phng php thc nghim ca ZieglerNichols, Takahashi cng

a ra mt phng php xc nh ba tham s k p , T I v T D ca PID s hoc t ng
th hm qu h(t) ca i tng S ( s ) hoc t gi tr ti hn k th v T th .

425

1) Xc nh t hm qu ca i tng:
iu kin p dng c phng php Takahashi l i tng phi n nh, c
hm qu h(t) i t 0 v c dng hnh ch S (khng c qu iu chnh).
Hnh 4.24 biu din dng h(t) chung cho nhng i tng c th p dng c
phng php Takahashi. T ng h(t) ta ly c cc gi tr:

k l h s khuch i ca i tng, c xc nh t h(t) theo k = lim h( t )

L l gi tr xp x thi gian tr. N l giao im ng tip tuyn vi h(t) ti im

un vi trc thi gian.

T l gi tr c trng cho qu trnh qu . N l thi gian cn thit ng tip

tuyn vi h(t) ti im un i c t 0 ti k.

T95% l im thi gian m h(t) t c gi tr 0,95k.

h(t)
k
0,95k
t

Hnh 4.24: Xc nh tham s ca PID s

theo phng php Takahashi.

T95%

Thi gian trch mu T a c th c chn t cc thng s ca h(t) cho i tng lin

tc c h(t) hnh 4.24 nh sau:

T
L
L
< 12 th
Ta .
L
5
2
T
Xc nh t T : Ta
10
T95%
T
Xc nh t T95% :
Ta 95%
20
10

Xc nh t L : Nu

Ni chung, nu thi gian trch mu T a c chn tha mn T a 2L th ba tham

s k p , T I v T D ca PID s s c xc nh t k, L v T theo phng php Takahashi
nh sau:
Nu ch s dng ring b P s:

Nu s dng b PI s:

kp =

0,9T
k( L + 0,5Ta )

Nu s dng b PID s:

kp =

2( L + 0,5Ta )2
L + Ta
1,2T
, TI =
, TD =
L + Ta
k( L + Ta )
2

426

kp =

T
k( L + Ta )

TI =

10
( L + 0,5Ta )
3

2) Xc nh t gi tr ti hn:
Bn cnh phng php xc nh tham s nh trn, v nu khng c c th
hm qu h(t) ca i tng th ta c th xc nh k p , T I v T D ca PID s nh sau:

Thay b iu khin PID s trong h kn (hnh 4.22) bng b khuch i k. Sau

tng k ti gi tr ti hn k th h kn c dao ng iu ha, tc l y(t)=h(t) c
dng hm tun hon. Xc nh chu k T th ca dao ng.

4.4.2

Xc nh k p , T I v T D ca PID s:
a)

Nu ch s dng ring b P s: k p = 0,5 k th

b)

Nu s dng b PI s: k p = 0,45 k th v T I = 0 ,83 T th

c)

Nu s dng b PID s: k p = 0,6 k th , T I = 0 ,83 T th v T D =0 ,125 T th

Cc phng php thit k trong min tn s

S dng nh x lng tuyn tnh thit k b iu khin

Trong chng 2 ta lm quen vi nhiu phng php thit k b iu khin lin

tc rt hu hiu nh phng php ti u ln (cn gi l ti u modul), ti u i
xng, cn bng m hnh . Cc phng php ny u c mt im chung l s dng
cng c phc (hm truyn) nn chng vn thng c xp vo lp cc phng php
thit k trong min tn s.
Mong mun s dng nhng phng php thit k trong min tn s ny tng
hp b iu khin khng lin tc, ngi ta ngh ra nh x lng tuyn tnh nhm
chuyn hm S(z) ca i tng sang min tn s p = + j v gn ging nh min s = + j
ca h lin tc, sau thit k b iu khin gi lin tc R(p) cho i tng S(p) bng
cc phng php thit k h lin tc bit ri cui cng li thng qua nh x lng
tuyn tnh chuyn ngc R(p) sang min Z thnh R(z) hnh 4.25.
Ta

GZOH(s)

R(z)
R(p)

S(s)

R(p)

S(p)

S(p)

Hnh 4.25: Chuyn h khng lin tc dang dng gi "lin tc" thit k b iu khin.

mc trc, khi xt tnh n nh h khng lin tc, ta c bit mt nh x

lng tuyn tnh (vi a = 1 ) , l:

z =

p +1
p 1

p =

z +1
z 1

427

nh x ny c s dng nhm kim tra tnh n nh h khng lin tc bng cc cng

c xt tnh n nh h lin tc.

Tuy nhin, i vi cng vic thit k b iu khin th nh x trn t ra khng ph

hp v n khng ti tnh tun hon ca:
z = esTa = e( + j )Ta

(vi chu k =

2
ca )
Ta

(4.77)

Bi vy ta cn c mt nh x lng tuyn tnh khc ph hp hn sao cho nh x ny gi

c bn cht ca cng thc (4.77) l chuyn nhng im z nm trong ng trn n v
ch vo mt "di bng" nm bn tri trc o (hnh 4.26). nh x l cng thc Tustin:
z=

2 + Ta p
2 Ta p

p=

2 z +1
Ta z 1

(4.78)

Im(z)
s

Re(z)

jv

p = + j v

s=+j

Hnh 4.26: Minh ha nh x lng tuyn tnh c s dng thit k b iu khin khng lin tc

Mc d nh x (4.78) to ra c mt di bng trong mt phng phc p = + j v c

dng "gn ging" nh trong mt phng s = + j , song s gn ging cng c ngha l
hon ton cha ging nhau. iu ny ta c th thy thng qua vic thay p = j v v
z = e j Ta vo cng thc (4.78) v c:
p=

2 z +1
Ta z 1

Ta
2 e j Ta + 1 2
=
j tan
Ta e j Ta 1 Ta
2
Ta
2
tan
v=
Ta
2
jv =

(4.79)

Cng thc hiu chnh thnh v theo (4.79) cn phi c lu tm khi s dng cc
phng php thit k b iu khin lin tc c cc gi tr tn s ct c hay cc tn s
gy 1 , 2 cho trc thit k b iu khin gi lin tc R(p), chng hn nh khi s
dng phng php thit k vi biu Bode.
Tng kt li, thut ton thit k b iu khin khng lin tc R(z) c s dng nh
x lng tuyn tnh (4.78) v cc phng php thit k h lin tc s gm cc bc:

428

z 1
S( s)
z{
}.
z
s

T hm truyn S(s) ca i tng, xc nh S(z) =

Chuyn S(z) thnh hm "lin tc" S(p) nh nh x lng tuyn tnh (4.78).

Thit k b iu khin R(p) "lin tc" cho i tng cng "lin tc" S(p) bng cc
phng php bit nh ti u ln, ti u i xng, cn bng m hnh, biu
Bode. Nu trong phng php thit k c s dng tn s ct c hay cc tn s
gy 1 , 2 cho trc th cng phi chuyn nhng gi tr cho trc sang min p
thnh tn s ct v c , tn s gy v 1 , v 2 tng ng nh cng thc (4.79).

Chuyn ngc R(p) tm c sang min Z nh nh x lng tuyn tnh (4.78).

V d 4.30: Minh ha thut ton thit k nh nh x lng tuyn tnh (4.78)

Cho i tng lin tc c hm truyn:

1
S(s) =
s(1 + s)
i tng c iu khin bng b iu khin khng lin tc theo s cu trc m t
hnh 4.25. Nh vy i tng thc s ca b iu khin khng lin tc R ( z ) s gm i
tng cho v b chuyn i stng t GZOH( s ) .
Nu Ta =0,2 giy th hm truyn trong min Z ca i tng ny l
S(z) =

0,02( z + 0,94 )
z 1
S( s)
z{
}=
( z 1)( z + 0,82)
z
s

S dng nh x lng tuyn tnh (4.78) ta c m hnh S(p) "gi lin tc" tng ng
ca S(z):
S(p) =

(1 + 0,0033 p)(1 0,1 p)

p(1 + 1,003 p)

Biu Bode ca S(p) l L S (v) c v minh ha trong hnh 4.27. T ng L h (v)

mong mun ca hm truyn h h L h (v) ta suy ra c ng L R (v) ca b iu khin
R(p) bng cch cng tr th.
L(v)
w

R(p)

S(p)

kR
v1

Hnh 4.27: Minh ha v d 4.30 v s dng

nh x lng tuyn tnh (4.78) thit
k b iu khin khng lin tc.

L R (v)

L h (v)

vs

v2

v3

L S (v)

429

Vi L R (v) tm c (cho trng hp v s = 2 , v 1 = 0,997 v v 2 = 3,27 ta suy ra

R(p) =

2(1 + 1,003 p)
1 + 0,31 p

Chuyn ngc R(p) li min Z cng vi nh x lng tuyn tnh (4.78) th b iu khin
khng lin tc cn tm s l
R(z) =

5,44( z 0,82 )
z 0,51

Thit k b iu khin khng lin tc theo m hnh mu

Ging nh thc hin cho i tng lin tc (chng 2, mc 2.4.3), y ta cng

xt bi ton iu khin i tng khng lin tc, m t bi:
S( z ) =

B( z ) b0 + b1 z +
=
A( z ) a0 + a1 z +

+ bm zm
+ an zn

vi hai b iu khin m ta phi thit k l

T ( z) =

C( z )
E( z )

R( z ) =

D( z )
E( z )

sao cho h kn (hnh 4.28) c c m hnh mu mong mun

Gm ( z ) =

Bm ( z )
Am ( z )
{w k }

Hnh 4.28: Ni dung bi ton thit k b

iu khin theo m hnh mu.

Ta

C
T=
E

{e k }

B
S=
A

R=

{y k }

D
E

Trc ht ta c th nhn thy ngay rng v c bn, khi so snh vi bi ton ca h

lin tc (mc 2.4.3), th y khng c s phn bit ln no, ngoi tr:

Cc a thc ca bin s c thay bng ca bin z .

Khi nim a thc Hurwitz c thay bng a thc bn, tc l a thc c tt c

cc nghim z nm bn trong ng trn n v.

Khi nim a thc phn Hurwitz c thay bng a thc phn bn (antistable),
tc l a thc tt c cc nghim z nm bn ngoi ng trn n v.

Do , thut ton c mc 2.4.3 cho h lin tc nay s c sa i li thnh:

1) Kim tra iu kin v bc ca cc a thc:
deg A m deg B m deg A deg B 0

430

2) Phn tch a thc B(z) thnh B=B B + , trong B (z) l a thc bn v B + (z) l
a thc phn bn.
3) Kim tra iu kin B m = B + Bm
4) S dng thut ton Euclid m rng xc nh a thc tha s chung nh nht l
H(z) ca A(z) v B + (z) cng nh cc a thc X(z), Y(z), U(z), V(z) tha mn:
AX+B+Y=H
AU+B+V=0
5) Xc nh cc nghim:
E = E0 + UQ v

D=D 0 +QV

trong :
E0 = XAm , D 0 =YA m
v Q l mt a thc ty . D(z) l a thc c bc thp nht ta c th chn:

Q= D 0 div V

D= D 0 mod V

6) Xc nh E=B E v C = HBm
Thit k b iu khin deadbeat

Xt h kn khng lin tc vi s cu trc hnh 4.29 gm b iu khin c hm

1

truyn R(z) v i tng S(z). Do S(z) l hp thc theo z

(iu kin causal) nn

khng mt tnh tng qut nu ta cho rng n c bc n v:

S(z) =

b1 z1 + b2 z2 +
Y ( z)
=
U ( z ) 1 + a1 z1 + a2 z2 +

+ bn z n

(4.80)

+ an z n

tc l c:
y0 = lim U ( z )S( z ) = 0 nu u k =1, hay U ( z ) =
z

w(t)

{e k }

{u k }
R(z)

S(z)

Hnh 4.29: H thng iu khin deadbeat.

z
z 1

(4.81)

w(t)

y(t)

H c gi l deadbeat nu n tha mn:

Khi tn hiu u vo w(t) thay i t hng s ny sang hng s khc th sau ng

n bc iu khin tn hiu u ra cng t ti c hng s bng tn hiu u vo
431

(khng c sai lch tnh), trong n l bc ca m hnh h thng. Ni cch khc, h

c qu trnh qu l n bc.

ch xc lp, tn hiu u ra khng thay i ngay c trong khong thi gian

gia cc ln trch mu, tc l khi y(t) phi l hng s ch khng ring g dy

cc gi tr trch mu {y k } ca n.
B iu khin lm cho h thng tr thnh deadbeat c gi l b iu khin
deadbeat hay b iu khin c thi gian hiu chnh hu hn. Nhim v t ra ca bi
ton l phi xc nh R(z) sao cho h kn (hnh 4.29):
G( z ) =

Y ( z)
R( z )S( z )
=
W ( z ) 1 + R( z )S( z )

(4.82)

t c nhng yu cu ca mt h deadbeat. Nu nh rng t yu cu h deadbeat

ta c c hm truyn mong mun G(z) ca h kn th vi (4.80) ta cng s suy ra
c b iu khin R ( z ) theo nguyn tc cn bng m hnh nh sau:
R( z ) =

1
G( z )

S( z ) 1 G( z )

(4.83)

By gi ta s i vo phn thit k b iu khin deadbeat R(z). Xt vi w(t)=1(t)

v yu cu rng sau ng n bc iu khin tn hiu u ra y(t) ti c hng s bng
tn hiu u vo, tc l y k =1 khi k n v (4.81), tc l y 0 =0 nn dy {y k } phi c dng
{y k } = {0, y 1 , y 2 , , y n 2 , y n 1 , 1, 1, }

(4.84)

Suy ra
Y(z) = y 1 z

+ y2z

+ yn1z

n +1

z k

k=n

Y ( z)
z 1
G( z ) =
= Y ( z)
= Y ( z )(1 z1 )
W ( z)
z

= y1 z1 + y2 z2 +

= y1 z

+ yn 1 z n +1 +

+ ( y2 y1 ) z

= p1 z1 + p2 z2 +

k= n

z k (1 z1 )

+ ( yn 1 yn 2 ) z n +1 + (1 yn 1 ) z n

+ pn z n = P( z1 )

(4.85)

vi
n

pk = y1 + ( y2 y1 ) +

+ ( yn 1 yn 2 ) + (1 yn 1 ) = 1

k =1

Nu {y k } c dng nh (4.84) m t th tng ng {u k } cng phi c dng:

{u k } = {u 0 , u 1 , u 2 , , u n 2 , u n 1 , u n , u n , }
Do
U(z) = u 0 +u 1 z

432

+ u2z

+ un1z

n+1

+ un

z k

k= n

U ( z)
z 1
= U ( z)
= U ( z )(1 z1 )
W ( z)
z

= u0 + u1 z1 +

+ un 1 z n +1 + un

= u0 + (u1 u0 ) z1 +

k= n

z k (1 z1 )

+ (un 1 un 2 ) z n +1 + (un un 1 ) z n

= q0 + q1 z 1 + q2 z 2 +

+ qn z n = Q( z1 )

(4.86)

T (4.85) v (4.86) ta c:
S( z ) =

Y ( z ) Y ( z ) W ( z ) P( z1 )
=

=
U ( z ) W ( z ) U ( z ) Q( z1 )

sau so snh vi (4.80) s c

b1 z1 + b2 z2 +

+ bn z n

1 + a1 z 1 + a2 z 2 +

+ an z n

p1 z1 + p2 z2 +

+ pn z n

q0 + q1 z 1 + q2 z 2 +

+ qn z n

p1 1 p2 2
z +
z +
q0
q0
=
q
q
1 + 1 z 1 + 2 z 2 +
q0
q0

pn n
z
q0
q
+ n z n
q0

v y chnh l cng thc xc nh cc h s p 1 , , p n ca P(z

ca Q(z

) v q 0 , q 1 , , q n

) t b 1 , , b n v a 1 , , a n ca S(z) nh sau:

1) Xc nh q0 theo:
n

k =1

k =1

bk =

pk
1
=
q0 q0

k =1

pk =

1
q0

q0 = bk
k =1

2) Cn bng h s cc a thc t v mu vi nhau:

p k =q 0 b k

q k =q 0 a k , k = 1 , 2 , , n

3) Thay cc a thc G(z)= P(z

Q( z 1 )

tm c vo cng thc (4.83) ca

P( z 1 )
R(z) ta c hm truyn ca b iu khin deadbeat:
R( z ) =

) v S(z)=

1
G( z )
Q( z1 ) P( z1 )
Q( z1 )

1
S( z ) 1 G( z ) P( z ) 1 P( z ) 1 P( z1 )

(4.87)

Ch : B iu khin deadbeat c thit k cho trng hp w(t) c dng bc

thang trn y s mt tc dng deadbeat nu w(t) l cc tn hiu khc, chng hn nh
vi tn hiu tng u w(t)=t1(t). Ngoi ra, h c cc tn hiu bn trong l b chn
qu trnh qu th:

Cc im cc khng n nh (khng nm trong ng trn n v) ca i tng

S(z) khng th cn bng (b) c bi mt im khng ca R(z), v nu nh vy,
h vn c bn cht khng n nh gia nhng ln trch mu.

433

Cng nh vy, khng th cn bng cc im khng nm ngoi ng trn n v

ca S(z) bng im cc ca R(z).

nh l 4.15: Gi G(z) l hm truyn ca h deadbeat gm b iu khin R(z) v i

tng S(z) . Nu c im cc z k ca S(z) khng nm bn trong ng trn n v,

tc l c |z k |1, th n phi l im khng ca 1G(z). Ngc li tt c cc im
khng z l ca S(z) khng nm bn trong ng trn n v cng phi l im khng
ca G(z).
Chng minh:
Gi z k l im cc ca S(z) khng nm trong ng trn n v v k hiu:
S( z ) =

S0 ( z )
z zk

Vy th iu khng nh th nht c suy ra ngay t quan h:

z zk
1
R( z )S( z )
=
=
1 G( z ) = 1
z zk + R( z )S0 ( z )
1 + R( z )S( z ) 1 + R( z ) S0 ( z )
z zk
v R(z) khng c php cn bng z k , tc l R(z) khng nhn z k lm im khng.
Tng t, iu khng nh th hai cng c suy ra t quan h (4.82).

V d 4.31: Thit k b iu khin deadbeat

Xt h kn c:
1
S( s) =
s(1 + s)
Khi vi Ta = 1s th:
S(z) =

0,37 z1 + 0,26 z 2
z 1
S( s)
z{
}=
z
s
1 1,37 z 1 + 0,37 z2

Vy
P(z

) = p1z

+ p2z

Q(z

) = q0+ q1z

+ q2z

c
n

q0 = bk
k =1

1
= 1,58
0,37 + 0,26

p1 = 0,58 , p2 = 0,42 , q1 = 2,16 , q2 = 0,58

Suy ra b iu khin R(z) theo (4.87) l:
R(z) =

434

Q( z1 )
1

1 P( z )

1,58 2,16 z 1 + 0,58 z 2

1 0,58 z 1 0,42 z 2

4.4.3

Cc phng php thit k trong min thi gian

iu khin phn hi trng thi gn im cc

Ging nh h lin tc, kh nhiu cht lng h thng c quyt nh bi v tr

im cc, tc l gi tr ring ca ma trn A trong h khng lin tc, m t bi:
x k +1 = Ax k + Bu k
chng hn khi tt c cc im cc nm trong ng trn n v th h n nh, cc im
cc nm cng gn gc ta th qu trnh qu ca h cng ngn . Bi vy bi
ton iu khin sao cho h c c cht lng mong mun, m nhng cht lng lin
quan trc tip ti v tr im cc, ngi ta thng chuyn n v vic xc nh b iu
khin phn hi (trng thi) R nh m t trong hnh 4.30a, h kn vi m hnh:
x k +1 = ( A BR) x k + Bwk
nhn nhng gi tr cho trc z 1 , , z n ng vi cht lng mong mun , lm im
cc, tc l tm R t phng trnh:
det ( zI ( A BR)) = ( z z1 )( z z2 )

( z zn ) , z

(4.88)

Phng trnh (4.88) trn hon ton ng nht vi phng trnh 3.63 ca chng 3.
Do tm R t (4.88) ta li p dng c cc phng php bit t mc 3.4.1 nh
Ackermann, Roppennecker, modal .

a) w
k

uk

H khng
lin tc

b) u
k

xk

xk

H khng
lin tc

c) w
k

B quan
st

uk

H khng
lin tc

x k B quan
st

Hnh 4.30: Minh ha cc phng php

iu khin trong min thi gian

B quan st trng thi tim cn v k thut gim bc b quan st

Bi ton thit k b quan st cho h MIMO khng lin tc, bc n:

n
p
x
k +1 = Ax k + Buk , x k R , uk R

m
y k = Cx k + Duk , y k R

(4.89)

c t ra khi vector trng thi x k trong h l khng o c trc tip bng cm bin.
Ging nh h lin tc, ta li s dng b quan st c cu trc (hnh 4.30b):
x k +1 = Ax k + Buk + L( y Cx k Duk )
k

(4.90)

435

ri tm L c ek = x k x k 0 , trong sai lch quan st e k c m hnh:

ek +1 = ( A LC )ek
Bi ton tm L ny ng nht vi bi ton thit k b iu khin phn hi trng thi LT
gn cc im cc cho trc z 1 , , z n nm bn trong ng trn n v, cho h i ngu:
x k +1 = AT x k + CT u k
tc l:

det ( zI ( A LC )) = det zI ( AT CT LT ) = ( z z1 )( z z2 )

( z zn ) , z

(4.91)

Bi vy ta li p dng c cc phng php quen bit nh Ackermann, Roppennecker,

modal xc nh L.
B quan st (4.90) cng c bc n ging nh h cho. Tuy nhin, nu h (4.89) l
hp thc cht ( D = ) , c Rank( C ) = m vi m n l s tn hiu ra th do m trng thi
trong s n phn t ca x k c th xc nh trc tip t phng trnh th hai trong
(4.89) nn ta c th h bc ca b quan st (4.90) xung cn n m . Khng mt tnh tng
qut nu ta gi s m vector ct u tin trong C l c lp tuyn tnh. Khi , vi:
x1, k
= C1 x1,k + C2 x2, k , C1 R mm , x1,k R m
y = Cx k = ( C1 , C2 )
k
x2,k

th C1 l ma trn khng suy bin v m phn t u tin ca x k nm trong x1,k c xc

nh trc tip bi:
x1, k = C11 ( y C2 x2,k )

(4.92)

Do ch cn n m phn t cn li ca x k nm trong x2,k l phi quan st . Vit li

(4.89) sang bin trng thi mi:
x1,k C 1

= 1
x2, k

y
C11C2 y k
= C k

x
I
x2, k
2,k

y
x
k = C 1 1, k
x2,k
x2, k

y
x

x
k +1 = C 1 1,k +1 = C 1 A 1,k + C 1 Buk = C 1 AC k + C 1 Bu k

x2,k +1
x2,k
x2,k
x2,k +1
A1 y + A2 x2,k + B1 u k
A A2 y k B1
k

+ uk =
= 1

A
A
B
A
y
+ A4 x2,k + B2 u k
x
3
4
2

2, k
3 k

trong A 1 , A 2 , A 3 , A 4 , B 1 , B 2 l nhng ma trn con ca C 1 AC v C 1 B c s chiu

tng ng, ta c:
uk
x2, k +1 = A4 x2, k + ( B2 , A3 )
y
k

436

y = yk +1 A1 y B1 u k = A2 x2, k
k

Do , thay v phi s dng b quan st (4.90) bc n, ta s dng b quan st bc n m

cho vector trng thi con x2,k :
q

k +1

uk
= A4 q + ( B2 , A3 ) L( y A2 q )
k
k
k
y
k

(4.93)

vi L trong (4.93) l ma trn cn phi tm sao cho tt c gi tr ring ca A4 LA2 nm

bn trong ng trn n v, l iu kin cn v c q x2,k Cui cng, khi c
k

x2,k ta cng s c x1,k theo (4.92).

Ch : Do y

trong (4.93) c s dng y

k +1

nn cc bin trng thi q x2,k ch xc

k

nh c sau mt nhp chu k trch mu. Ni cch khc, khi s dng b quan st gim
x1, k 1
x k 1 .
bc (4.93) v (4.92), u ra ca b quan st hnh 4.30b) s l x k 1 =
q

k 1
Thit k b lc Kalman (quan st trng thi Kalman)

B quan st tim cn (4.90) c L c xc nh theo (4.91) khng p dng c cho

h tham s hng tc ng bi nhiu n k , v k :

x k +1 = Ax k + Buk + nk

y k = Cx k + Du k + vk

(4.94)

trong n k , v k c gi thit l hai tn hiu nhiu egodic, c k vng bng 0, khng

tng quan vi nhau, v k khng tng quan vi trng thi x k ca h, cng nh x k khng
tng quan vi tt c cc gi tr trng thi trc xi , i =1,2, , k 1, tc l c:

} = , M {x v } =
M { x x } = vi i =1,2, , k 1, M {n n } = N
M {nk } = M {vk } = 0 , M nk vi

T
k i

T
k i

T
i

ki

v M vk vi

} = V

ki

vi N v V l hai ma trn t tng ca n k , v k v l ma trn c cc phn t 0.

chnh sa li, Kalman xut s dng b quan st x k x k vi cu trc:
x / = Ax
k 1 + Bu k 1 vi x0 ty chn
k

/
/
x k = x k + Lk ( yk Cx k Du k )

(4.95)

cho tng thi im k = 1 , 2 , . Vector x k trong (4.95) c xem nh gi tr cn tri ca

x k ti thi im trch mu k . So vi b quan st tim cn (4.90) th trong (4.95) ta c

mt sa i nh l L y

k 1

Cx k 1 Duk 1

c thay bi Lk y Cx k Duk
k

tn

dng lun c cc gi tr y , uk va o thi im cui k vo vic xc nh x k . Ma

k

trn L k y s c tm sao cho k vng sai lch quan st l nh nht:

437

{ }
T

Q = M ek ek min vi

ek = x k x k

(4.96)

tm nghim L k ca bi ton ti u (4.96) trn, ta cn n nguyn l trc giao:

M { | X ( t ) a Y ( t ) | 2 }

min

M {( X ( t ) a Y ( t ) ) Y ( t ) } =0

trong X ( t ), Y ( t ) l hai qu trnh ngu nhin. N c suy ra t iu hin nhin rng

hm kh vi xc nh dng c gi tr nh nht ti im m o hm ca n ti c gi
tr bng 0. p dng nguyn l trc giao cho bi ton ti u (4.96), lc ny c vit
li thnh:
Q=M

{( x x )
k

( xk xk )

) (

/
/
/
/
= M xk x k Lk ( yk/ Cx k )
xk x k Lk ( yk/ Cx k ) vi yk/ = yk Duk

/
/
/
= M qk Lk yk
qk Lk yk min , vi qk = xk ( I LkC ) x k

ta c:
=M

{( q

) (

Lk yk/ ( yi/ )T , i = 1 , 2 , , k

Kt hp thm vi gi thit rng n k , v k c k vng bng 0, khng tng quan vi nhau v

/

v k khng tng quan vi trng thi x k ca h, do cng khng tng quan vi x k ,

cng nh n k khng tng quan vi yk v x k khng tng quan vi tt c cc gi tr
/

trng thi trc l xi , i =1,2, , k 1, bao gm c x k , ta cn c thm:

= M q Lk yk/
k

)( y

)( y

Cx k

iu ny dn n:

= M q Lk yk/
k

Cx k

/
/ T
= M x k ( I LkC ) x k Lk yk/ yk/ Cx k

/
/
/
= M x k x k LkC x k x k Lk vk C( x k x k ) + vk v yk/ = Cx k + vk

/
/
/
/
= M ( I LkC ) ek Lk vk Cek + vk vi ek = x k x k

)(

= ( I LkC ) M ( ek )( ek )T C T LkV
/

= ( I LkC ) PkC LkV vi Pk = M ( ek )( ek )

T

Suy ra:

438

v M ek vk =
/

( I LkC ) PkCT LkV =

Lk = PkCT CPkCT + V

Tip tc, ta xc nh P k :

{
= M {( Ae

Pk = M ( ek )( ek )T = M ( x k x k )( x k x k )T
/

k 1

+ n k 1 )( Aek 1 + n k 1 )T
T

{
}
v M {e n } =

= AM ek 1 ek 1 AT + M nk 1 nk 1 + 2 AM ek 1 nk 1
= AK k 1 AT + N

trong

K k 1 = M ek 1 eTk 1

T
k

Ngoi ra, t:
ek = x k x k
/

= x k x k Lk ( Cx k Cx k + vk )
/

= ek LkC( x k x k ) Lk vk
/

= ( I LkC )ek Lk vk

ta cn c:

/
/
T
K k = M ek ek = M ( I LkC )ek Lk vk ( I LkC )ek Lk vk

= ( I LkC ) M ( ek )( ek )T
/

}( I L C)
k

+ Lk M vk vk LTk , v M ek vk =
/

= ( I LkC ) Pk ( I LkC )T + LkVLTk

= ( Pk LkCPk ) I C T LTk + LkVLTk

= Pk LkCPk

PkCT LTk

+ LkCPkC T LTk + LkVLTk

= ( I LkC ) Pk PkC T LTk + Lk CPkCT + V LTk

= ( I LkC ) Pk PkC T LTk + PkC T CPkC T + V

) ( CP C
1

+ V LTk

= ( I LkC ) Pk

Vy b lc Kalman vi nhim v xc nh x k , k = 1 , 2 , c xem nh l gi tr

trng thi xp x cho x k , k = 1 , 2 , ca h (4.94), s c cu trc bao gm cc cng thc
tnh lp trn, c vit chung li nh sau:
1) Chn K0 v x0 ty .
2) Thc hin ln lt vi k = 1 , 2 , cc bc sau:

439

a)

Tnh P k = AK k 1 A T + N c s dng K k 1 t vng lp trc

b)

Tnh L k = P k C T ( CP k C T + V )

c)

Tnh K k = ( IL k C ) P k cho vng lp sau

d) Tnh x k = Ax k 1 + Buk 1 c s dng x k 1 t vng lp trc

e)

Tnh x k = x k + Lk y Cx k Duk
k

iu khin phn hi u ra theo nguyn l tch

H kn hnh 4.30c) gm b iu khin phn hi trng thi gn im cc R tha

mn (4.88) v b quan st trng thi (4.90), c phng trnh trng thi khi w k =0 l:
Ax k + BRq
A
x k +1
k
=

=
q LCx + ( A LC BR)q LC
k
k +1
k

xk
q
A LC BR k
BR

Suy ra, n c a thc c tnh:

zI A
det
LC

BR
BR

zI A + BR

= det

+
+
zI A + LC + BR
zI
A
BR
zI
A
LC
BR

BR
zI A + BR

= det

+
zI
A
LC

= det( zI A + BR)det( zI A + LC )

v n c:
nh l 4.16: H kn phn hi u ra hnh 4.30c gm b iu khin phn hi trng thi
R v b quan st trng thi (4.90) s c cc im cc l im cc ca b iu khin
phn hi trng thi (4.88) v ca b quan st trng thi.

nh l trn khng nh rng bi ton thit k b iu khin phn hi u ra lun

tch c thnh hai bi ton con l bi ton thit k b iu khin phn hi trng thi
v bi ton thit k b quan st trng thi.
M rng ra, tng t nh bn h lin tc (nh l 3.41), nu h kn phn hi
u ra nh m t trong hnh 3.40c l SISO, vi m hnh i tng iu khin:

x k +1 = Ax k + buk

T
yk = c x k + duk
v c b quan st tim cn (4.90) cng nh b phn hi trng thi gn im cc R, th n
s c hm truyn l:

zI A b
det T

c
d

G( z ) =
det( zI A + bR)
440

Thit k b iu khin deadbeat

Khi nim h deadbeat c gii thch ti ngay mc trc trong phn trnh by
cc bc thit k b iu khin deadbeat min tn s. Tuy nhin ta cha xt n
iu kin tn ti b iu khin. cng vic thit k b iu khin deadbead ni
chung, k c trong min tn s v min thi gian c th c kt qu th trc khi thc
hin cng vic tng hp b iu khin ta cn phi kim tra xem khi no s tn ti mt b
iu khin nh vy.
Hnh 4.31 m t h thng phn hi trng thi gm i tng SISO c m hnh:

x k +1 = Ax k + buk , B l vector ct

T
T
yk = c x k , c l vector hng

(4.97)

v hai b iu khin khuch i tnh R , V .

Gi s h l deadbeat. Khi h s i c
t trng thi u x 0 bt k v gc ta sau
ng n bc iu khin (ng vi w = 0 ) , ni

wk

uk H khng xk

cch khc x n = 0 . Theo cng thc (4.43) th

trng thi x n t do ca h khi s l:
x n = ( A bR ) x n 1 = ( A bR)n x0

lin tc

yk

R
Hnh 4.31: iu khin deadbeat

Nh vy, c x n = 0 th phi c:
( A bR)n = , l ma trn c tt c cc phn t bng 0

(4.98)

R rng phng trnh trn ch c nghim R nu i tng (4.97) iu khin c hon

ton. Hn na, do ( A b R ) n = , c gi l ma trn nilpotent bc n, nn t nh l
CayleyHamilton, h kn phi c phng trnh c tnh:
det( z I ( A b R ) ) = z n

(4.99)

T y ta i n c khng nh:
nh l 4.17: Nu i tng SISO bc n (c n bin trng thi) m t bi (4.97) l iu
khin c hon ton th lun tn ti b iu khin deadbead R , V v h kn
deadbead hnh 4.31 s c im cc z = 0 bi n .
Ch : Theo ni dung nh l 4.17 th h kn c im cc bi n ti z = 0 . Vic c im
cc bi z = 0 s lm cho h kh nhy cm vi s thay i nh trong i tng iu khin.
Ni cch khc h deadbeat khng c tnh bn vng cao.

By gi ta chuyn sang vic thit k b iu khin deadbeat R , V . iu kin (4.99)

ni rng b iu khin R phi c chc nng gn c cc im cc:
z1 =

= zn = 0

441

Do , theo cng thc (3.68) ca phng php Ackermann, n s l:

R = sTAn

(4.100)

trong s l vector hng cui cng ca ( b , Ab , , A

T

s =(0, ,0,1)( b , Ab , , A

n1

b)

n1

b)

, tc l:

B iu khin V cn li c nhim v phi to ra c y k = w k ch xc lp. T

phng trnh trng thi ca h kn (hnh 4.31):
x k+1 = ( A bR) x k + bVwk

T
yk = c x k

ta c vi cng thc (4.44) v tnh cht (4.98), p ng u ra khi k n :

yk = c T

k 1

n 1

i=0

i=0

( A bR)ki 1 bVwi = c T ( A bR)n i1 bVwi

Gi thit tip gi tr tn hiu kch thch w k l hng s, tc l w 0 = w 2 =

yk = c T

n 1

( A bR)n i1 bVw = w V =

i =0

= w , ta s c:

n 1

( A bR)n i1 b

i =0

Ngoi ra, vi (4.98) ta cn c:

n 1

n 1

n 1

i=0

i =0
n 1

i=0
n 1

i =0
n 1

i =1
n 2

i =0

i=0

( I ( A bR)) ( A bR)ni1 = ( A bR)ni1 ( A bR)ni

=
=

( A bR)n i1 ( A bR)n i
( A bR)n i1 ( A bR)n i1

= ( A bR)0 = I

Vy:

V=

1
c

( I ( A bR))

(4.101)
b

Tng kt li, ta i n:
nh l 4.18: Hai b iu khin R , V cho bi (4.100) v (4.101) s lm cho h kn hnh

4.31 c c p ng y k = w , k n khi h c kch thch bng tn hiu hng w k = w

u vo.
ng nhin rng b iu khin deadbeat phn hi trng thi trn cng c th
chuyn c sang thnh b iu khin deadbeat phn hi u ra bng cch ghp thm
b quan st trng thi tim cn (4.90) hoc b lc Kalman vo trc khu phn hi
trng thi R .
442

4.4.4

Nhp mn iu khin d bo

Nguyn tc chung ca iu khin d bo (MPCmodel predictive control)

Hnh 4.32a m t h thng iu khin kn. Nguyn l lm vic ca b iu khin d

bo trong hnh c hiu nh sau. Ti thi im k hin ti v trn c s cc tiu ha mt
hm mc tiu Q no cho trc c xy dng t cht lng mong mun nh trc,
trong khong thi gian tng lai k , k +1, , k + N (hnh 4.32b) chng hn nh:
Q=

k+ N

( wi yi )2 + ui2 min

(4.102)

i= k

ta s xc nh c dy gi tr tn hiu iu khin tng lai u i , i = k , k +1, , k + N .

Trong s cc gi tr tn hiu iu khin tng lai tm c ta ch s dng u k lm tn
hiu iu khin thi im hin ti k. thi im k+1 tip theo, ta li lp li chu trnh
trn c u k +1 v c nh vy b iu khin d bo s phi thc hin lp bi ton ti u
(4.102) ti tng chu k trch mu. Hin nhin rng trong b iu khin d bo phi c:

Dy gi tr tn hiu t trc w k v cm bin o tn hiu ra y k

M hnh ton hc ca i tng.

Mt phim hm mc tiu, chng hn nh phim hm (4.102) v thut ton gii

bi ton ti u vi phim hm mc tiu .

Gi tr N trong (4.102) c gi l ca s d bo. C th thy ngay rng khi N = th vi

(4.102) cng phi c:
lim ( wi yi ) = 0 v

lim ui = 0

Suy ra h kn l n nh v c sai lch tnh bng 0.

iu khin d bo h SISO trong min phc
iu khin d bo

a)

b)

M hnh
i tng

wk

ek

Ti u
ha

N +1
u k i tng
iu khin

yk

t
k

k +1

k+N

Cm bin

Hnh 4.32: M t nguyn l iu khin d bo trn c s ti u tng on vi ca s trt

minh ha vic xy dng b iu khin d bo, ta xt h kn m t hnh 4.32a

vi lp i tng c hm truyn:

443

S( z ) =

b1 z1 + b2 z2 +

1 + a1 z

+ bm z m

(4.103)

+ an z n

trong b 1 0, b i , a j l nhng tham s hng bit. T m hnh i tng l hm

truyn (4.103) th:

b j uk j = yk + a j yk j = ( wk ek ) + a j ( wk j ek j )

j =1

j =1

j =1

ek = a j ek j
j =1

j =1

j =1

b juk j + wk + a j wk j

= a j ek j uk 1 + wk 1
j =1

trong
uk 1 =

j =1

j =1

b juk j v wk1 = wk + a j wk j

(4.104)

Suy ra
ek n +1 0

=
xk =
ek 1 0

ek an

1
0
an 1

F
= F x k 1 + c ( wk 1 uk 1 )

0
0

x
(w u )
+
k 1
1 k 1 0 k 1

a1
1
c

(4.105)

Bi vy, nu vit li cng thc trn di dng truy hi, s c:

x k + N = F x k + N 1 + c( wk + N 1 uk + N 1 )
= F F x k + N 2 + c( wk + N 2 uk + N 2 ) + c( wk + N 1 uk + N 1 )
uk + N 2
w
= F 2 x k + N 2 + ( Fc , c ) k + N 2

w
k + N 1 uk + N 1
wk uk

w
u
k +1
k +1

= F N x k + F N 1 c , F N 2 c , , c

wk + N 1 uk + N 1

v iu ny tng ng vi:
F N 1 c
x k+ N F N

N 1
x
F N 2 c

x
x = k + N 1 = F
+
k

k +1 F
c
D
C

444

Fc
c
0

0
( w u ) = Dxk + C ( w u )

(4.106)

trong
wk
uk

v u =

w=
w

k + N 1
k + N 1

wk + N
uk + N

(4.107)

By gi ta chuyn sang vic xy dng b iu khin d bo theo quy tc ti u tng

on ca s N nh sau. C sau mi chu k trch mu vi y k u ra, cng thm vi dy
gi tr tn hiu t {w k } c, ta cn phi xc nh c gi tr tn hiu iu khin uk ti
ng thi im , sao cho vi n c c:
Q = x T Sx + uT Ru min

(4.108)

trong S, R l hai ma trn i xng xc nh dng cho trc (Q l hm li). Thay x

t (4.106) vo hm mc tiu (4.108) ta c:
Q = ( Dx k + Cw Cu ) S ( Dx k + Cw Cu ) + uT Ru
T

V Q c dng ton phng nn c Qmin th cn v l:

0T =

T
T
Q
= 2 ( Dx k + Cw Cu ) SC + 2uT R = 2uT CT SC + R 2 ( Dx k + Cw) SC
u

u = C T SC + R

uk = (1 , 0 ,

, 0 ) u = (1 , 0 ,

uk =

1
(1 , 0 ,
b1

CT S ( Dx k + Cw)

, 0 ) CT SC + R

, 0 ) C T SC + R

C T S ( Dx k + Cw)

CT S ( Dx k + Cw)

j =2

b juk+1 j

(4.109)

vi C, D, x k , w xc nh bi (4.105), (4.106) v (4.107). Cng thc (4.109) cui cng ny

cng chnh l m hnh ton ca b iu khin d bo hnh 4.32a.
Tm li, b iu khin d bo ng vi phim hm mc tiu (4.108) iu khin
i tng (4.103) c nhim v thc hin thut ton sau:
1) Xy dng cc ma trn v vector F, c, D, C theo (4.105), (4.106)
2) Thc hin ln lt vi k = 1 , 2 , cc bc sau:
a)

o tn hiu ra y k

b)

Xy dng cc vector x k , w t w k , y k theo (4.104), (4.105), (4.107)

c)

Xc nh tn hiu iu khin u k theo (4.109)

Ch : Mc d thut ton trn ch dng cho lp i tng (4.103), song n cng

th hin nguyn l lm vic chung ca b iu khin d bo. ng vi mi lp i tng

445

khc nhau, s c cc cng thc (4.104), (4.105), (4.106), (4.107) khc nhau, do cng s
c cng thc tnh gi tr tn hiu iu khin u k khc nhau.
iu khin d bo h MIMO trong khng gian trng thi

Vi s h tr ca nguyn tc chung ca iu khin d bo trnh by trn, ta s

hon ton khng kh khn g khi phi thc hin bi ton iu khin d bo cho lp i
tng tuyn tnh MIMO c m hnh trng thi:
x k +1 = Ax k + Buk

m
y k = Cx k + Duk , u k R

(4.110)

sao cho h c c tn hiu ra y bm theo tn hiu mu mong mun t trc w k theo

k

ngha (4.102). Trc tin, t m hnh (4.110) ta c ngay c:

y

k+ N

= Cx k + N + Du k + N = C ( Ax k + N 1 + Bu k + N 1 ) + Du k + N
u

= CAx k + N 1 + ( CB , D ) k + N 1 = CA ( Ax k + N 2 + Buk + N 2 ) + ( CB , D ) k + N 1
uk + N
uk+ N
uk + N 2

= CA2 x k + N 2 + ( CAB , CB , D ) u k + N 1
u

k+ N

= CA N x k + CA N 1 B ,

uk

, CB , D
u

k + N 1
u

k+ N

Bi vy, khi vit li cho ton b khong thi gian d bo k,k+1, ,k+N s c:
ek + N wk + N y k + N

e
w
x = k + N 1 = k + N 1 k + N 1

e
w
y
k
k

N
N 1

wk + N
CA
CA
B

N 1
N 2
w

CA
B
= k + N 1 CA
xk

D
k

w
B
A

CB D uk

D
= w Ax Bu (4.111)
k
u

k
N
+

uk + N
u

trong l k hiu ca ma trn c tt c phn t u bng 0.

Thay vector x ca (4.111) vo hm mc tiu (4.108) c hai ma trn i xng v xc
nh dng S, R:
446

Q = w Ax k Bu

) S ( w Ax
T

Bu + uT Ru

ta thy, do Q l dng ton phng li, nn c Qmin, cn v phi l:

0T =

Q
= 2 w Ax k Bu
u

u = BT SB + R

uk = ( Im , ,

) (

SB + 2uT R = 2uT BT SB + R 2 Ax k + w

BT S Ax k + w

SB

, ) u = ( Im , ,

, ) BT SB + R

BT S Ax k + w

(4.112)

trong A, B, x k , w xc nh bi (4.111) v Im l ma trn n v m chiu, bng s

chiu tn hiu u vo ca i tng (4.110). Cng thc (4.112) cui cng ny cng chnh
l m hnh ton ca b iu khin d bo phn hi trng thi m t hnh 4.33.
wk

B iu khin
d bo phn
hi trng thi

Hnh 4.33: iu khin d bo bng

phn hi trng thi

(4.112)

u k i tng

iu khin
(4.110)

xk

Cu hi n tp v bi tp
1.

Tm p ng cho h 4 yk 6 yk 1 + 3 yk 2 = uk khi u vo l dy gi tr trch mu ca

tn hiu 1(t) v cc gi tr u l y 0 =1, y 1 =1.

2.

Hy xc nh nh X(z) ca {x k } vi
a) xk = 2

3.

b) x k = 2

k
cos
+
3
2

Hy tm tn hiu {x k } c nh X(z) sau y

a)

4.

b)

z ( 3 z 1)

8 z2 + 4 z
2

4z 5z + 1

c)

2 z 3 3 z 2 + 11 z
( z 1) 2 ( z + 2 )

Cho tn hiu xung {x k } c nh Z l X(z) . Chng minh rng nu c lim z m X ( z ) = M

z

th cng c x m = M.
5.

Cho tn hiu tun hon {x k } vi chu k N, tc l x k =x k + N . Chng minh rng:

X(z) =

6.

zN
z

N 1

xk z k

k=0

Cho hai tn hiu {x k } v {y k } . Gi X(z), Y(z) l nh ca chng. Gia {x k } v {y k }

phi c mi lin h g c X(z) = Y(z

7.

).

Ngi ta ci t cc h thng SISO c hm truyn G(s) cho sau y vo my

tnh. Hy xc nh hm truyn khng lin tc tng ng ca h.
447

a)
d)
8.

1 + 2s
(1 + 3s)(1 + 5s)

b)

2 s 2 2s + 3

e)

s(2s2 4 s + 1)

c)
f)

s(1 + 2s)3

s +1
2s2 + 3s + 4

3 s3 + 3s 2 4 s + 8
( s2 + 4 )( s2 + 2s + 2)

Chng minh rng:

a)

9.

1
0,2s(1 + s)(1 + 3s)

z{

GZOH ( s)
sa

} = GZOH(a)

eaTa
ze

aTa

b) z {

1
( s a)

} =

1
d k 1
z

k 1
aT
( k 1)! da
ze a

Hy xc nh hm truyn khng lin tc cho cc h c s khi sau:

a)

b)

G1

G1

G2

G2

G3

G3

Hnh 4.34: Cho bi tp 9

G5

G4

10. Cho h SISO c hm truyn G( z ) =

G5
z3 + 1
( z 0.5)3

G4

. Hy xc nh dy gi tr hm trng

lng {g k }, k=0,1,2, v t tm p ng {y k }, k=0,1,2, khi u k =1, k.

11. Chng minh rng hm truyn dng thchu t (4.35) ca h nhn qu (causal)

lun c bc a thc t s (theo z hoc z 1) khng ln hn bc a thc mu s. T

ch ra rng m hnh trng thi (4.42) ch m t c h nhn qu.
12. Xt h khng lin tc vi m hnh trng thi (4.42), Chng minh rng mi php bin
i tng ng (i trc ta ) x k = M x k , M khng suy bin, khng lm thay i
hm truyn (4.49) ca h.
13. Hy xt tnh n nh, iu khin c, t ti c v quan st c ca h c m
hnh trng thi sau:
a)

0,5 1 1
0

x k +1 = 0 1 2 x k + 0 u k
0 0 0
0,5

b)

1 / 3 1 0
0

xk+1 = 0 0 1 xk+ a uk v
0 0 1
1

y k = (1 , 0 , 0)x k

14. Cho h tuyn tnh SISO lin tc m t bi:

dx 1 1
0
=

x + u
0
1
dt

y = (2 , 1) x

448

y k = (1 , 0 , 0)x k

Tn hu vo u(t) ca h c trch mu thnh dy {u k }, k=0,1,2, vi chu k trch

mu T a =0,1, sau li c lin tc ha bng khu ZOH thnh u( t ) . Tn hiu u
ra y(t) ca h cng c trch mu thnh dy {y k }, k=0,1,2, vi cng chu k
trch mu. Hy xy dng m hnh trng thi khng lin tc tng ng v t l
hm truyn G(z) ca h.
15. Chng minh rng nu c (4.98) th cng s c (4.99).
16. Cho h khng lin tc m t bi:
x k +1 = Ax k + Bu k
Gi R l b iu khin phn hi trng thi lm h n nh ti u theo ngha:
Q=

T
T
x k Ex k + uk Fuk min

k =0

trong E l ma trn i xng (E T =E), bn xc nh dng ( E 0 ) v F l ma trn

i xng (F T =F), xc nh dng ( F > 0 ) . Chng minh rng b iu khin R s l:
R = ( F + BT PB)1 BT PA
trong P l nghim i xng, xc nh dng ca phng trnh:
P = E + AT PA AT PB( F + BT PB)1 BT PA
Ging nh h lin tc, b iu khin ti u R trn cho h khng lin tc cng c
tn gi l b iu khin LQR.
17. Cho i tng khng lin tc m t bi:
x k +1 = Ax k + Buk

yk = Cx k + Duk
Chng minh rng b iu khin ti u phn hi u ra xy dng theo nguyn l
tch nh m t hnh 4.30c, bao gm b iu khin phn hi trng thi ti u tm
theo bi tp 16 ng vi hm mc tiu:
Q=

T
T
x k Ex k + uk Fuk min

k =0

v b quan st trng thi tim cn (4.90), s khng lm thay i c tnh pha cc

tiu ca i tng
18. Chng minh rng b lc Kalman cng p dng c cho h tuyn tnh khng dng
m t bi
x k +1 = Ak x k + Bk u k + nk

y k = Ck x k + Dk u k + vk
vi n k , v k l hai tn hiu nhiu egodic, c k vng bng 0, khng tng quan vi
nhau, v k khng tng quan vi trng thi x k ca h, cng nh x k khng tng quan

449

vi tt c cc gi tr trng thi trc xi , i=1,2, ,k1. Khi b lc Kalman s

l:
Pk = Ak 1 K k 1 AkT1 + N k 1 vi K 0 ty chn

T
T
Lk = PkCk Ck PkCk + Vk

K k = ( I LkCk ) Pk
/
x k = Ak x k 1 + Bkuk 1 vi x0 ty chn

/
/
x k = x k + Lk y k Ck x k Dk uk

vi k=1,2, v M nk ni

450

}=N

k ki

, M vk vi

}=V

k ki

nh Laplace v nh Z ca mt s tn hiu c bn

x(t), t0

X(s)= L {x(t)}

(t)

1(t)

1
s
s
s

e at
te at
t n e at
a bt
ta bt
t 2 a bt
cos( t)
sin( t)

zTa
( z 1)2

( kTa )n
n!

n +1

1
sa

z( z + 1)Ta2
( z 1)3

z( z2 + 4 z + 1)Ta3
( z 1)4

zTa d
n 1

Z {( kTa}
n ! dz

n!
( s a)n +1
1
s b ln a

s
2

s2 + 2

( z eaTa )2
dn
z

n
aTa
da z e

(kT a ) n eakTa

bkTa

z abTa

zTa abTa

bkTa

(kT a ) a

(kT a ) 2 a

2
( s b ln a)

zeaTa Ta

1
( s b ln a)

z eaTa

kT a eakTa

( s a)2

bkTa

cos( kT a )
sin( kT a )

eakTa

s +

z
z 1

(kT a ) 3

(kT a ) 2

kT a

t3

X(z) = Z {x k } = z {X(s)}

t2

tn
n!

{1, 0, 0, 0,

x k = x(kT a ), k0

( z abTa )2
z( z + abTa )Ta2 abTa
( z abTa )3
z[ z cos( Ta )]
z 2 z cos( Ta ) + 1
2

z sin( Ta )
z2 2 z cos( Ta ) + 1

451

Ti liu tham kho

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