Cng kho st h thng trc khi c BK, vi hi tip m n v Ca s command ca matlab, to hm G

o >>sisotool Ca s SISO tool hin ra, vo Fileimport

 Ta c QNS v Bode

o xem p ng qu , POT v thi gian qu ta vo AnalysisResponse to step command

o Ta thy POT=80% v thi gian qu 2%>20s

 T s , ta thnh v li h thng, km theo b iu khin hi tip trng thi nh sau:

Ta thnh lp PTTT m t h h vi ng vo u(t), ng ra y(t)

 Cc ma trn h s

o Xt h thng vng kn hi tip trng thi: Lut iu khin: o U(t)=r(t)-k1x1-k2x2-k3x3=r(t)-kx (k m ma trn hng)

Ma trn iu khin c: o D thy rank(C)=3 H thng iu khin c

Ta tnh cc cc v zero theo yu cu h thng POT=16%, t(2%)=5s. Gii h pt sau 'exp(-*pi/sqrt(1-^2))=0.16' =1.25 =0.504 Cc cc h thng s1,2=-1.25+(-)j2.142 Chn s3=-12.5

 Dng Ackermann tm K

Xt li h thng sau khi c BK

D thy POT v time qu t yu cu.