H1

Cách 1:

R(s) Y(s)
G

H2

H1

R(s) Y(s)
G

H2 G

R(s) Y(s)
H 1 +G
1+ H 2 G

3 2
s + 12 s +2 6 s+6 0
 G ( s) = 4 3 2
s +1 2 s +2 2 s +2 6 s + 44

Cách 2 : Maison formula

P1=H 1; P2=G

L=−G H 2;

Δ 1=Δ 2=1; Δ=1+G H 2

 H 1 +G
 G( S )=
1+G H 2
Cách 3:
sys=append(1,g,h1,h2,1);
Q1=[1 0 0;
2 1 -4;
3 1 -4;
4 2 0;
5 2 3];
in = 1; out =5;
sys=connect(sys,Q1,in,out);
sys=minreal(tf(sys))

cách 4:

[a b c d ] = linmod('test1');
sys = ss(a,b,c,d);
sys = tf(sys);
sys = minreal(sys)

PTVP :

Y (s ) 3 2
s +12 s +2 6 s +6 0
Ta có : =
R (s ) 4 3 2
s +1 2 s + 22 s +2 6 s+ 44

=> ( s +12 s +2 2 s +2 6 s+ 44 )∗C (s )=( s +12 s +26 s+ 6 0 )∗R( s)

4 3 2 3 2

=> y ( 4) ( t )+1 2 y (3 ) ( t )+ 22 y (2 ) ( t ) +2 6 y (1) ( t )+ 44 y ( t )=r (3 ) ( t ) +12 r (2) ( t )+2 6 r ( 1) ( t ) +6 0 (*)

Ta có : x 1= y ; x 2=x 1−β 1 r ; x 3=x 2−β 2 r ; x 4 =x3 −β3 r ; x 4 =−12 x 4 −22 x 3−26 x 3 −44 x 1 + β 4 r
' ' ' '

 y=x 1 ; y (1 )=x 2+ β1 r ; y (2 )=x 3+ β 2 r + β 1 r (1) ; y (3 )=x 4 + β 3 r + β 2 r ( 1) + β 1 r ( 2);

( 4) ( 1) ( 2) ( 3)
y =−12 x 4 −22 x 3−26 x 3 −44 x 1 + β 4 r + β 3 r + β 2 r + β 1 r (**)Thay (**) vào (*) và đồng nhất
 phương trình ta có :

{ {
β 1=1 β 1=1
β2 +12 β 1=12 =¿ β 2=0
β 3+12 β 2+ 22 β 1=26 β3 =4
β 4 +12 β 3 +22 β 2+26 β 1=60 β 4=−14

Dạng ma trận :

[ ][ ][ ] [ ] []
'
x1 0 1 0 0 x1 −1 x1
x '2 0 0 1 0 x2 x
= + 0 r và y=x 1= [ 1 0 0 0 ] 2
x3
' 0 0 0 1 x3 4 x3
' −44 −26 −22 −12 x 4 −14 x4
x4

Sử dụng Matlab để kiểm tra lại :

a = [0 1 0 0

0010

0001

-44 -26 -22 -12];

b = [1;0;4;-14];

c = [1 0 0 0];

d = 0;

sys = ss(a,b,c,d);

sys = tf(sys)

evalfr(sys,1)

[ ][]
0 1 0 0 −1
0 0 1 0 0
A= ; B= ; C=[ 1 0 0 0 ] ;D = [0]
0 0 0 1 4
−44 −26 −22 −12 −14

det ( sI− A +BC )

Ta sử dụng công thức : G ( s) = −1+ D (1)
det ⁡(sI −A )
 [ ][ ][ ]
1 0 0 0 0 1 0 0 s −1 0 0
0 1 0 0 0 0 1 0 0 s −1 0
Ta có : sI-A = s − =
0 0 1 0 0 0 0 1 0 0 s −1
0 0 0 1 −44 −26 −22 −12 44 26 22 s+12

[ ][ ] [ ]
s −1 0 0 −1 s+ 1 −1 0 0
0 s −1 0 0 s −1 0
sI− A+ BC = + 0 [ 1 0 0 0 ]=
0 0 s −1 4 4 0 s −1
44 26 22 s+12 −14 30 26 22 s +12

4 3 2 3 2
s +13 s +34 s + 52 s+104 s + 12 s +2 6 s+6 0
 (1)  G ( s)= 4 3 2
−1 G ( s)= 4 3 2
s +1 2 s +2 2 s + 26 s+ 44 s +1 2 s +2 2 s +2 6 s + 44