Dieu Khien Tu Dong - Ngan Hang de Thi

7/31/2019 Dieu Khien Tu Dong - Ngan Hang de Thi

1/53

Bn cng bcho sinh vini hc txa. Chsdng cho mc ch hc tp. 1

NGN HNG THIMn: CSIU KHIN TNG

Dng cho hHTX, ngnhin t- Vin thngS tn ch: 3

CHNG 1. M T TON HC H THNG IU KHIN TNG /Chohthngiukhincskhinhhnhv,tnhiu l

Tnhiuvo Tnhiura Tnhiuphnhi Tnhiuiukhin /Chohthngiukhincskhinhhnhv,khiCsthhin:

itngiukhin Biukhin Thitbo Khngcvaitrrrng /Hthngtuyntnhlhthngm: Chaikhultuyntnh Cmtkhultuyntnh Ttccctnhiutronghthngltuyntnh Ttccckhutronghthngultuyntnh /Sailchtnhlsailchcahthngtrngthixclp,nghaysai? ng sai /trngthixclp,sailchtnhl: Sailchgiatnhiuchovtnhiuiukhin Sailchgiatnhiuovtnhiucho

HC VIN CNG NGH BU CHNH VIN THNG

Km10 ng Nguyn Tri, H ng-H Ty

Tel: (04).5541221; Fax: (04).5540587Website: http://www.e-ptit.edu.vn; E-mail: [email protected]


2/53


Sailchgiatnhiuovtnhiuiukhin Sailchgiatnhiuchovtnhiuo /NghimathctscaPTTcgilccimkhng(zero)? ng Sai

/NghimathcmuscaPTTcgil? Ccimun Ccimcc Ccimcctr Ccimkhng

/Hthngcmtnhhnhvtngngvitrnghp 1D = khimtntrongkhnggiantrngthi?

ng Sai /Hmtruyntcahthngtronghnhtrn?

( )( )

( )1h

kh

W pW p

W p=

+

( )( )

1

1k

h

W pW p

=+

( )( )

( )21h

k

h

W pW p

W p=

+

( ) ( )( )1

hkh

W pW pW p

=

/Hthngphituyncthpdngnguynlxpchng? ng Sai

/ctnhbintnlogarithmcxcnhtheocngthcnosauyvi ( )A lctnhbintn?

( ) ( )30lgL A =

( ) ( )lgL A =


3/53


( ) ( )20lgL A =

( ) ( )10lgL A =

/Tmhmtruynttngngcagraphtronghnhtrn?

1 2.W W

1 2W W

1 2W W

1 2W W+

/athcctrngcahthngl: Milinhgiatnhiuravtnhiuvocahthng Lmuscahmtruyntcaitngiukhin Muscahmtruynt Tscahmtruynt

/BiniLaplacecahm ( )1 t ? p

21 p

1

1 p

/BiniLaplacecahm ( )t ?

21 p

1 p 1

p

/Hthngcmttrongkhnggiantrngthidng:

Ax Bu

y Cx Du

= +

= +

trong ,x x l: Ccvectorbintrngthi uvo Ccmatrnbintrngthi ura

/Mththngiukhintnggmnhngthnhphncbnno? itngiukhin,thitbiukhinvthitbolng Thitbiukhin,thitbolng itngiukhin,thitbiukhin


4/53


itngiukhin,thitbolng /Tnhiuiukhincamththngiukhintngcphnhiml: Gitrmongmun Gitroc Sailchgiagitrmongmunvgitroc

Tnggiagitrmongmunvgitroc /Hmtruyntcahthngl: TsgiatnhiuravtnhiuvocahthngbiudintheobiniLaplaceviiukinukhngi Tsgiatnhiuravtnhiuvocahthng Tsgiatnhiuravtnhiuvocahthngbiudintheothigian TsgiatnhiuravtnhiuvocahthngbiudintheobiniLaplaceviiukinutrittiu /Scutrctrngthicahlintctronghnhtrncdngbiudinh

thngcmttheophngtrnhtrngthitheodngnosauy?

Ax Bu

y Cx Du= += +

Ax Bu

y Dx Cu

= +

= +

Dx Bu

y Cx Au

= +

= +

Bx Au

y Cx Du

= +

= +

/Graphtnhiunhhnhtrnbiuthhmtruynt ijWbngbaonhiu?

ij i jW X X= +

ij j iW X X=

ij i jW X X=


5/53


ij i jW X X=

/Tmhmtruynttngngcagraphtronghnhtrn?

1 2

1 2

.

1 .

W W

W W+

1

1 21 .

W

W W+

1 2

1 21 .

W W

W W

+

+

2

1 21 .

W

W W+ /Du?tronghnhtrnchmtruynt?

2 3U U

2U

2U

3 2U U

/Hmtruyntcahnhhnhtrn?

1 2 3. .W W W W =

1 2 3W W W W = + +

2

1 2 3

WW

W W W=

+ +

1

2 3

WW

W W=

+

/Hmtruyntcahnhhnhtrn?


6/53


2

1 2 3

WW

W W W=

+ +

1

2 3

WW

W W=

+

1 2 3. .W W W W =

1 2 3

W W W W = + +

/Du?tronghnhtrnlgchngtngngnhau?

1 W

2W

2W

W /ctnhbintn(BT)cahthngcxcnhtheocngthcnodiyvi:

( ) ( ),R I

lnltlphnthc,phnocahmtruyntnscah?

( ) ( ) ( )A R I = +

( ) ( ) ( )2 2A R I =

( ) ( ) ( )A R I =

( ) ( ) ( )2 2A R I = +

/ctnhphatn(PT)cahthngcxcnhtheocngthcnodiyvi:

( ) ( ),R I

lnltlphnthc,phnocahmtruyntnscah?

( ) ( )

( )arg R

I

=


7/53


( )( )( )

argI

R

=

( )( )( )

argI

R

=

( ) ( )

( )arg R

I

=

/Du?tronghnhtrnlgchngtngngnhau?

2

W 2W

W

1 W /Du?tronghnhtrnlgchngtngngnhau?

1 W

W

2W

2

W /Du?tronghnhtrnlgchngtngngnhau?

2W

2

W

1 W

W

/Tmhmtruyntcahthngtronghnhtrn?


8/53


3 1 313

1 21

X W WWX W

= =

3 1 313

1 21

X W WW

X W

+= =

3 1 313

1 21

X W WW

X W= =

3 1 313

1 21

X W WW

X W= =

+

/BiniLaplaceca ( )1 1p p + ?

1t

e

1te+

1t

e

1te

/Hmtruyntcahthngtronghnhtrn?

2 3 4

1 2 5 1 2 3 4

. .

1 . . . . .

W W W

W W W W W W W + +

1 2 3

1 2 5 1 2 3 4

. .

1 . . . . .

W W W

W W W W W W W + +

1 3 4

1 2 5 1 2 3 4

. .

1 . . . . .

W W W

W W W W W W W + +

1 2 3 4

1 2 5 1 2 3 4

. . .

1 . . . . .

W W W W

W W W W W W W + + /Theonhltihn(nutnti)trongbiniLaplace,iunosauylng?

( ) ( )0 lim .

p

x t p X p

= =

( ) ( )0 limp

x t X p

= =


9/53


( ) ( )20 lim .p

x t p X p

= =

( ) ( )0

0 lim .p

x t p X p

= =

/Theonhltihn(nutnti)trongbiniLaplace,iunosauylng?

( ) ( )0

limp

x t X p

= =

( ) ( )0

lim .p

x t p X p

= =

( ) ( )lim .p

x t p X p

= =

( ) ( )2

0

lim .p

x t p X p

= =

/Hmtruyntcahthngtronghnhtrn?

( ) 1 32 3 1 21

W WW p

W W W W =

+ +

( ) 1 2 3

2 3 1 21W W WW p

W W W W = + +

( ) 2 32 3 1 21

W WW p

W W W W =

+ +

( ) 1 22 3 1 21

W WW p

W W W W =

+ +

/ 3 1X X

tronghnhtrnbngbaonhiu?

3 113

1 21

X WW

X W= =

3 1 313

1 21

X W WW

X W= =

+

3 313

1 21

X WW

X W

= =

3 1 313

1 21

X W WW

X W= =


10/53


11/53


CHNG 2. C TNH NG HC CA CC KHU CBN

/ctnhtnhcaphntlmiquanhgiatnhiuravtnhiuvocaphnttrngthixclp? Sai ng

/PhngtrnhviphnbiudinkhunguynhmviKlhstruyncaphnt?

y K x=

y x K=

y Kx=

1y Kx=

/Phngtrnhviphnbiudinkhutchphnvi iT lhngsthigiantchphn?

iy T dx=

.iy T x dt=

1

i

y dxT

=

1.

i

y x dtT

=

/Phngtrnhviphnbiudinkhuviphnvi dT lhngsthigianviphn?

2d

dxy T

dt=

1

d

dxy

T dt=

d

dxy T

dt=

2d

dxy T

dt=

/Muntmhmtruynttnscahthnghocphnt,tathaybin p bngbaonhiuvohmtruyntcan?

j

je

j /Khitnhtheodecibel,ctnhbintnlogarithm(BTL)cxcnhtheocngthcno?

( ) ( )10lgL A =

( ) ( )lgL A =


12/53


( ) ( )2lgL A =

( ) ( )20lgL A =

/Cckhunghccbnctnhchtnosauy? Cnhiutnhiuvovnhiutnhiura

Cnhiutnhiuvovmttnhiura Cmttnhiuvovnhiutnhiura Chcmttnhiuvovmttnhiura /Nuhmqucakhukhuchi:

( ) ( ).1h t k t =

thhmtrnglng ( )k t bngbaonhiu? k

( ) ( ).k t k t =

( ) .k t k t =

( ) ( ).1k t k t =

/Tnhiubcthangnvcthcbiudinnhhnhtrn?

Sai ng /Tnhiuxungnv(xungDiract)cthcbiudinnhhnhtrncngkhng?

ng Sai /Vctnhbintnlogarithmbngcchtuyntnhhatngon? ng Sai /Trongkhutchphn,ctnhphatncgitrbngbaonhiu?

2

4

2


13/53


/Hm( )t

?

Lhmxungnvcphttithiim t = Lhmbcthangnvcphttithiim t = Lhmbcthangnvcphttithiim t =

Lhmxungnvcphttithiimt =

/Khutchphnccimg? Ctnhchtnh

Tnhiurasmphahntnhiuvomtgc 2 Cbacimtrn Khuchitnhiuvolnkln

/Nukhudaongbc2chscndu 1 > thnsthhintnhchtgcakhudaong?

Khudaongdaongvibinkhngi Daongrtmnhvbnhthnghsnythng


14/53


/Hmtrnglnglphnngcaphntkhitnhiutcnguvol ( )t ,

nuhmtruyntcaphntl ( )W p thhmquctnhtheocngthcno?

( )

( )

2

1L h t

W p=

( )

( )W pL h t

p=

( ) ( )L h t W p=

( )( )1

L h tW p

=

/Trongkhukhuchi,miquanhvphagiatnhiuvovtnhiural? Haitnhiuvovralngphavinhau Tnhiuvosmphahnsovitnhiuramtgcl

Tnhiuvochmphahnsovitnhiuramtgcl 2 Tnhiuvosmphahnsovitnhiu /Trongkhutchphn,miquanhvphagiatnhiuvovtnhiural? Tnhiuvosmphahnsovitnhiuramtgcl

Tnhiuvochmphahnsovitnhiuramtgcl 2

Tnhiuvosmphahnsovitnhiuramtgcl 2 Haitnhiuvovralngphavinhau

/Trongkhuviphn,miquanhvphagiatnhiuvovtnhiural?

Tnhiuvosmphahnsovitnhiuramtgcl 2 Tnhiuvosmphahnsovitnhiuramtgcl

Tnhiuvochmphahnsovitnhiuramtgcl 2 Haitnhiuvovralngphavinhau /Khivctnhbintnlogarithm,tnsctcxcnhtheocngthcno?

1c T =

21

cT =

cT =

20.logc T =

/ctnhbintnlogarithmcamtkhu ( ) 0L < khino?

( ) 0A

( )A =


15/53


16/53


( )3 2

10 4

8 5h

pW p

p p

+=

+ Chobithhgmnhngkhucbnno? Mtkhutchphn,haikhuquntnhbc1vmtkhuviphn Haikhutchphn,haikhuquntnhbc1vmtkhuviphn Haikhutchphn,mtkhuquntnhbc1vhaikhuviphn Haikhutchphn,mtkhuquntnhbc1vmtkhuviphnbc1 /Viiukingthmtkhuquntnhbcnhtlmvicnhmtkhunguynhm?

Tnslmvic c < Tnslmvic 0>

Tnslmvic c >

Tnslmvic c = /Miquanhgiahmquvhmtrnglng? Hmqulcnbc2cahmtrnglng Hmtrnglnglohmcahmqu Hmqulohmcahmtrnglng Hmtrnglnglcnbc2cahmqu


17/53


CHNG 3. KHO ST TNH N NH CA H THNG /HTKTcgilnnhnusaukhibphvtrngthicnbngdotcngcanhiuthhthngsc: Tnhiuradaongvibinkhngi Tnhiuradaongvibintngdn

Tnhiurastiuchnhtrlitrngthicnbng Tnhiuratintivcng

/HTKTskhngnnhnusailch ( )e t thamn:

( )lim

te t

( )lim

te t

hngs

( )lim

te t

daongcbinkhngi

( )lim 0t e t /HTKTcmtbngphngtrnhviphnbc n ,nghimtngqutcaphngtrnhviphnsctrngchoqutrnhnocahthng? Qutrnhhotngcahthng Khngthktlun Qutrnhqu Qutrnhxclp /HTKTcmtbngphngtrnhviphnbc n ,nghimringcaphng

trnhviphnsctrngchoqutrnhxclpcahthng? Sai ng /MunxttnhnnhcamtHTKT,tachphixtqutrnhxclp,nghaysai? ng Sai /Vnggchchotronghnhtrnctrngchovngnocahthng?

Khngcthngtin Khngnnh nnh Bingiinnh /iukincnthitmtHTKTnnhlcchscaphngtrnhctrng? >0


18/53


Cmthsdng =0


19/53


Hkhngnnh /Munxtnnhcahthng,trchttaxt: LpnhthcHurwitz iukinhnnh LpbngRouth

iukincnhnnh /TiuchunRouthcsdngxtnnhcho: Chchohthngcphnhim Hhvhkn Chchohkn Chchohh /TiuchunHurwitzthngcsdngxtnnhchocchthngcphngtrnhctrng: Bcrtcao

Bcthp ( )4n < Chomihthng Bccao /QutrnhqucamtHTKTcmtnhhnhtrn,vyhthngl:

nnh,daong bingiinnh nnh,khngdaong Khngnnh /QutrnhqucamtHTKTcmtnhhnhtrn,ngs4mththngctnhchtg?

nnh,daong bingiinnh Khngnnh,khngdaong Khngnnh,daong


20/53


/TheotiuchunNyquist,nuhhnnhhaybingiinnh( 0k = ),lch

knsnnhnuctnhTBPcahhcquanhnhthnoviim ( )1, 0j Khngbaoquanh iqua Khngcquanhg

Baoquanh /BngRouthcxydngnhsau:

Hs 2b trongbngRouthctnhtheocngthcnosauy?

0 42

1 5

a ab

a a=

0 42

1 5

a aba a

=

0 22

1 3

a ab

a a=

1 32

0 2

a ab

b b=

/PhtbiunosauylngvtnhchtcabngRouth?

CthnhnhocchiaccshngtrncngmtctcabngRouthvimtsdngthktqutnhtonvnkhngthayi CthnhnhocchiaccshngtrncngmthngcabngRouthvimtsdngthktqutnhtonvnkhngthayi CththmmtsdngvomthngbtkcabngRouththktqutnhtonvnkhngthayi CthnhnhocchiaccshngtrncngmthngcabngRouthvimtsmthktqutnhtonvnkhngthayi

/Nu ip nmbntritrconhhnhtrnthgcquaycanquanhgctactnhnhthno?

( )-

arg j ip

=

( )-

arg j ip

=

( )-

arg j 2ip

=


21/53


( )-

arg j 2ip

=

/TheotiuchunMikhailope,nubiuvectorathcctnhnhhnhtrnthhthngnysnnhnuPTTcancbc:

3 2 5 4 /NungcongbaoimM1nhhnhtrnthtaningcongbaoimM1

mtgcbng?

2

2

/dtrnnhl? Gitrphnocanghimsgntrconhtsoviccnghimkhc Gitrphnthccanghimsgntrcthcnhtsoviccnghimkhc Gitrphnocanghimsgntrcthcnhtsoviccnghimkhc Gitrphnthccanghimsgntrconhtsoviccnghimkhc /PhtbiunosauylngvtnhchtcabngRouth? SlniducaccshngtrongctutincabngRouthbngsnghimcaphngtrnhctrngcphnthcbng0

SlniducaccshngtrongctutincabngRouthbngsnghimcaphngtrnhctrngcphnthcm SlniducaccshngtrongctutincabngRouthbngsnghimcaphngtrnhctrngcphnthcdng Khngnilniug /TheotiuchunHurwit,mththngcphngtrnhctnhbc2vicchsdngs: Lunbingiinnh Lunkhngnnh Lunnnh nnhtrongastrnghp


22/53


23/53


/TheotiuchunNyquist,nuhthnghcctnhtn-bin-phanhhnhtrnthhthngkntngngcnnhkhng?

C Khng

/Nubiuvector ( )J j baotmtamtgcbng k thbiuvectorca

( )1 J j+

sbaoimnomtgcbng k?

( )0, 0

( )1, 0j

( )1, 1j

( )1, 0j

/Chohthnghchmtruynt:

( )2

1

1hW p

Tp p=

+ + .Vi 2T = thhkntngngcnnhkhng? Khng C /nhthcHurwitzbc n ctnhtheocngthcnodiy?

2 3 5

0 2 4

1 3

0

0

0 0

0 0 0

n

n

a a a

a a a

a a

a

=

1 1 5

0 2 4

3 3

1

1

0 1

0 0 0

n

n

a a a

a a a

a a

a

=


24/53


1 3 5

0 2 4

1 3

0

0

0 0

0 0 0

n

n

a a a

a a a

a a

a

=

0 3 5

0 2 4

1 3

0

0

0 0

0 0 0

n

n

a a a

a a a

a a

a

=

/Hmtruyntcahhcdng:

( )2 1

hk

W p

p p=

+ + .

Viiukinnoca kthhkntngngnnh?

1k <

2k >

1k >

2k < /HTKTchmtruyntdng:

( ) ( )k 4 3 2

3 1W

3 4 2 6 2 1

pp

p p p p p

+=

+ + + +

Hthngl: nnh Khngnnh Khngthxtnnhc bingiinnh /HTKTchmtruyntdng:

( )( )2

k2

2 9 19W

6 8

p pp

p p

+ +=

+ + Xcnhccimcc,imkhngcahthng?

imkhng: 1 25.62; 2z z= = ,imcc: 1 24; 3.38p p= =

imkhng: 1 22; 4z z= = ,imcc: 1 25.62; 3.38p p= =

imkhng: 1 25.62; 4z z= = ,imcc: 1 22; 3.38p p= =

imkhng: 1 25.62; 3.38z z= = ,imcc: 1 22; 4p p= = /Chohthngcitngiukhin:

0 3 2

1

W ( ) 5 8 4p p p p= + + +

vbiukhin CW ( ) P Dp K K p= + (BPD)


25/53


Tmphngtrnhctrngcahthngkn?

3 2( ) 5 (8 ) (4 ) 0D PA p p p K p K= + + + + =

3 2( ) 5 (8 ) (4 ) 0D PA p p p K K= + + + + + =

3 2( ) 5 (8 ) (4 ) 0D PA p p p K p K= + + + + + =

3 2( ) 5 (8 ) (4 ) 0D PA p p p K p K= + + + + =


26/53


CHNG 4. NH GI CHT LNG H THNG IU KHIN TNG

/Saistrngthixclpctnhtheocngthcno( ( )e t lsailchngcntntitrongqutrnhiukhin)?

( ) ( )0lim limt pe t pE p = =

( ) ( )

0lim lim

t pe t pE p

= =

( ) ( )2

0lim lim

t pe t p E p

= =

( ) ( )

0lim lim

t pe t E p

= =

/quiuchnhcaiukhincxcnhtheocngthcno?

max 0% 100y yy

=

max% 100y y

y

=

max% 100y y

y

=

% 100y y

y

=

/BiniLaplacecahm ( )u t kt = ?

k p

kp

2k p

2kp

/Muntmmcnnh,tathaybiuthcnosauyvophngtrnhctrngcahthng?

p j = +

p j = +

p j =

p j =

/NuHTKTcmtnhhnhtrnthmiquanhgia ( )E p v ( )Y p l?

( ) ( ) ( )hY p W p E p= +


27/53


( ) ( ) ( ).hE p W p Y p=

( ) ( ) ( ).hY p W p E p=

( ) ( ) ( )hE p W p Y p= +

/Muntrittiusailchtnhcahthng,thngthngngitasdngthmkhucbnnodiy? Tchphn Viphn Khuchi Khutr

/NunghimcaPTTnmtrongvnggchchonhhnhtrnthcgilg?

dtrnnh Hsnnh dtrdaong Hsdaong

/Vitnhiuvo ( ) ( )1u t t=

,saisxclpctnhtheocngthcno?

( )( )0

1lim

1p hp W p =

+

( )0

1lim

1p hW p =

+

( )0

lim1p h

p

W p =

+

( )( )

1lim

1p hp W p

=

+

/Thigianqu qdtcxcnhbngcchno?

Lthiimmhmqutgitrcci Lthiimmlnutinhmquttrsxclp Lthiimmhthngdaongnhiunht

Lthiimmhmqu ( )y t khngvtrakhibingiicamingiihn quanhtrsxclp /Nuhmtruynthcdng:

( ) 10 11

0 1

... 1

... 1

m mh r n r n r

b p b pkW pp a p a p

+ + +=+ + +

th rcgilg?


28/53


29/53


Thigiancquiuchnh Thigianpng /Nuhlkhuquntnhcdng

( )

1

kW p

Tp=

+

thsailchtnhbngbaonhiu,vitnhiuvo ( ) ( )1u t t= ?

1

1k =

2

1

1k =

+

1

1k =

+

1k = +

/Muntrittiusailchtnhtrongkhuquntnh( 0 = )thphimcnitipkhuquntnhvikhuchmtruyntnhthnotothnhhvsaicp1? p

2p

21 p

1 p /Nhntnocnhhnglnnvicxcnhsailchtnhcahthng?

Khutchphn dtrdaong dtrnnh Sailchtnh /DavonghimcaPTT,tacthnhgicphnnochtlngcaqutrnhqu.VynuttcccnghimcaPTTcphnbtrntrcthcthcthkhngnhqutrnhqucahthng: Chtlngqurtkm Cdaong Chtlngqurttt

Khngdaong

/Vitnhiuvo ( )u t kt = ,saisxclpctnhtheocngthcno?

( ) 20

1lim .

1p h

k

W p p =

+

( )0

1lim .

1p h

k

W p p =

+

( )

20

1lim .

1ph

k

W pp

=

+

( )

1lim .

1p h

k

W p p =

+


30/53


/Saisxclpcahthngchmtruynth:

( )h 21

W pp p k

=+ +

khiuvo ( ) ( )1u t t= lbaonhiu?

( )1k k+

( )1 k k+

k

1 k


31/53


CHNG 5. TNG HP H THNG IU KHIN TNG

/Biukhinviphn(D-Derivative)thngcdngtrongthct,nghaysai? Sai ng

/Biukhintl(P-Proportional)ctcdngnhmtkhu Tchphn Viphn Khutr Khuchi /Thayihskhuchicthtrittiusailchtnh? Sai ng

/Khixcnhcccthamstiucabiukhinmhthngiukhinvnkhngthamnccyucutra,chngtaphilmg? Chpnhnktqudkhngththamnyucutra Khngsdnghthngna Sdngbiukhinphctphn Thayicutrchthngiukhintng /Tnhiuiukhintheoquyluttlcxydngtheocngthcno,trongxltnhiura,eltnhiuvo?

px K=

.px K e=

1. .i

i

x K e dt e dtT

= =

x e= /Trongquyluttchphn,tnhiuiukhincxcnhtheobiuthc:

1. .i

i

x K e dt e dtT

= =

(trong 1i iT K= cgilhngsthigiantchphn).Vytisaouimcaquyluttchphnltrittiusailchtnh?

Vkhi iTcgitrrtlnth 0x =

Vgitriukhinx chtcgitrxclp(qutrnhiukhinktthc)khi 0e = Vgitriukhinx chtcgitrxclp(qutrnhiukhinktthc)khi e = Vgitriukhinx thayitheotchphncae

/Trongkhuviphn,tnhiuralunlunsmphahntnhiuvomtgc 2 .iunynilnuimcakhuviphnlctcngnhanh,iunghaysai? ng Sai


32/53


/BiukhinPDthngcdngchonhnghthngccimgnibt? Cnctcngnhanh Cnchnhxccao Khngcnhiutcng Cncnnhbnvng

/NitcngcaquylutPInhanhhnquylutPnhngchmhnquylutIlnghaysai? ng Sai /Khithayit0n thctnhphatncabiukhinPDsthayinhthno?

T 2 n0

Bng 2 ,khngthayi

T 2 n 2 T0n 2 /Trongcngnghip,quyluttl(P)thngcdngchonhnghthngccimg? Yucutcngrtnhanh Chophptntisailchtnh Khngnnh Yucuchnhxccaiukhinphicao

/Nivtcng,quylutPIDcncthnhanhhncquyluttl,iunghaysai? Sai ng /ctnhcakhutchphnltnhiuracanlunchmphasovitnhiuvo

mtgc 2 ,iunynghal: Quyluttchphnctcngnhanh Quyluttchphnctcngchm Quyluttchphnctcngnnh

Khngcnghag /Hskhuychicabiukhintlcnglnthhthng Hthngstinnbingiinnh Cngnnhhn Khngnhhngntnhnnhcahthng Cngmtkhnngnnh /Tcdngcakhutchphntrongbiukhin? Lmtngtccabiukhin Rtngnqutrnhqucahthng Lmgimtccabiukhin Trittiusailchtnh


33/53


/Chcnngcakhuviphntrongbiukhin(nuchnngthngschon)? Hnchtcdngcakhuviphn Lmtngtnhnnhcahthng Cithinqutrnhqu Trittiusailchtnh

/Mcchcaphngphpbnhiuphtillmchohthng Lmtngnhhngcanhiu Btbinvitcng Lmgimnhhngcanhiu Khngcmcchnorrt /cimcahthngiukhinchngtrnh? Tnhiurathayilintc Tnhiuvocgicnh Tnhiuvothayilintc Tnhiuracgicnh

/Trongcutrccahthngiukhintngthngthngcmythitbiukhin? 3 2 5 4 /Kthpquyluttlviquyluttchphntoraquyluttl-tchphn.VybiukhinPIccimgnibt? Ctcngchmnhngtrittiucsailchd

Ctcngnhanhnhngkhngtrittiucsailchd Vactcngnhanh,vatrittiucsailchd Ctcngchmvkhngtrittiucsailchd /Xcnhcchngsthigiantchphn,viphntrongbiukhinPIDctnhiuiukhindng:

1. . . . .p I d P d

i

de dex K e K e dt K K e e dt T

dt T dt

= + + = + +

d p iT K K=

, p d pT K K=

i p iT K K=

, d d pT K K=

i p iT K K=

, d p dT K K=

i i pT K K=

, d d pT K K=

/GclchphagiatnhiuravtnhiuvotrongbiukhinPID? 0

2

2

Nmtrongkhongt2n

2

/Hmtruyntcaquyluttl-vitchphncdng?


34/53


( )1

1 ..

p di

W p K T pT p

= + +

( )1 1

1 ..

pi d

W p K pT p T

= + +

( ) 1 .ip dTW p K T p

p = + +

( )1

1 ..

p id

W p K T pT p

= + +

/Hthngbtbinvinhiuphticxydngnhhnhtrn.Xcnhhm

truyntcakhu ( )bW p ?

( )( ) ( )

( )1 2

3

.b

W p W pW p

W p=

( )( )

( ) ( )3

1 2.b

W pW p

W p W p=

( )( ) ( )

( )1 2

3

.b

W p W pW p

W p=

( )( )

( ) ( )3

1 2.b

W pW p

W p W p=

/Hthngiukhintngnhhnhtrn.itngiukhincathitbiukhin

( )1mW p phicxcnhtheocngthcno?

( )( )

( ) ( )2

12 21 .

md

m

W pW p

W p W p=

+

( )( ) ( )

( )2 1

12

.md

W p W pW p

W p=

( )( ) ( )

( ) ( )2 1

12 2

.

1 .

md

m

W p W pW p

W p W p=

+

( ) ( ) ( )( ) ( )

2 11

2 2

.1 .

md

m

W p W pW pW p W p

=


35/53


36/53


/Khitnghphthngiukhintngnhhnhtrn,vnctralmboqutrnhqu

camchvngtrong ( ) ( )( )2 2mW p W p phixyranhthnosovimchvngngoi

(mchvngchnhvithitbiukhin ( )1mW p )?

Nhanhhnrtnhiu Bng Chmhnrtnhiu Khngbrngbuclnnhau /Hthngtuyntnhcmtbiphngtrnhtrngthicp2:

[ ]

1 2 1. .

1 1

1 0 .

x x uk

y x

= +

=

Vigitrnoca kthhthngiukhinchonton? 2k

3k

4k

5k /Hthngtuyntnhcmtbiphngtrnhtrngthicp2:

[ ]

1 2 1. .

1 1

1 0 .

x x u

k

y x

= +

=

Vigitrnoca kthhthngquanstchonton? 2k

1k

3k Mik


37/53


CHNG 6. M T TON HC H RI RC /Nutimtmtxchno,tnhiukhngctruynilintcthhlginon,iunghaysai? ng Sai

/Vicchuyntnhiutlintcthnhginoncgil Tuyntnhhatngon Lngtha Phituynhangcong Rirchatngon /Trongphngphplngthatheothigian,phplngtcthchintheo: Nhngkhongthigianbngnhau Nhngmcbngnhau Nhngkhongthigianthayi

Nhngmcnhtnh,phthucvotnhiuvo /Trongcchthngrircthngthng,ngoiphntxung,ccphntkhccnlitronghthnglccphnt Rirctuyntnh Phituyn Lintctuyntnh Ty /Hnhtrnlphngphplngthatheo

Hnhp Mc Bin Thigian

/Skhicamththngrirccchratrnhnhtrn.Khu ( )LGW p ccimg?

Lngthatnhiutheomc Lngthatnhiutheothigian

LmchogitrhmrircthayitrongkhongthigianT TrongkhongthigianT,gitrhmrirccgikhngi

/Saiphncp1ctnhtheocngthc?


38/53


( ) ( ) ( )1i x i x i = +

( ) ( ) ( )1i x i x i = + +

( ) ( ) ( )1 1x i x i x i = +

( ) ( ) ( )2i x i x i = +

/Qutrnhnghccamththngrirccthcmtbiphngtrnhviphn,nghaysai? ng Sai /Hmtruynttronghrircltsgiatnhiuravtnhiuvocbiudintrongminno? TrongminZviiukinutrittiu TrongminLaplacerircviiukinutintivcng

TrongminLaplaceviiukinutrittiu Trongminthigian

/ViccgitrT (thigianctmu)khcnhauthktquchuynhthngtminlintcsangminrirctngngskhcnhau,nghaysai? ng Sai /iukingphngtrnhsaiphnsaucbcn ?

( ) ( ) ( ) ( ) ( )0 1 11 ... 1n na y i n a y i n a y i a y i u i+ + + + + + + =

0na

0, 0na a

00, 0na a =

00; 0na a=

/Phngtrnhtrngthimthrirchnhtrncdng?

( ) ( ) ( )

( ) ( ) ( )

1 d d

d d

i A x i B u i

y i C x i D u i

+ = +

= +

( ) ( ) ( )

( ) ( ) ( )

1 d d

d d

i C x i B u i

y i A x i D u i

+ = +

= +


39/53


( ) ( ) ( )

( ) ( ) ( )

1 d d

d d

i A x i B u i

y i D x i C u i

+ = +

= +

( ) ( ) ( )

( ) ( ) ( )

1 d d

d d

i B x i A u i

y i C x i D u i

+ = +

= + /Cpcasaiphncaonhtluntrngvicpcaonhtcaphngtrnhsaiphnlnghaysai? Sai ng /Lngthatheomcl: Tnhiurallintc Tnhiuracchiathnhccmcbngnhauphthuctnhiuvo Tnhiuracchiathnhccmckhcnhauphthuctnhiuvo Tnhiurathayikhngngk /Hmtruyntcablugibc0(ZOH)?

( ) ( )-1 1 pLGW p e

p

= +

( ) ( )1 1 pLGW p e

p

= +

( ) ( )-1 1- pLGW p e

p

=

( ) ( )1

1-p

LGW p ep

=

/BiniZ cakhu1 p ?

( )1 1 z

( )11 1 z+

( )11 1 z

( )1

1 1 z

/Trong3phngphpchuynhthngtminlintcsangminrirc(dngbiniLaplace,tnhgnngohmcp1vphngphphnhthang),phngphpnochochnhxccaonht? Phngphphnhthang Tnhgnngohmcp1 Cbachochnhxcnhnhau DngbiniLaplace

/Nutnhiuvocakhu1

zl ( )2y i

+thtnhiuracanlg?

( )3y i +


40/53


( )1y i +

( )2y i +

( )4y i +

/Chohthngxungnhhnhtrn.ulbiuthcngbiudinmiquanhgiacctnhiutronghthng?

( ) ( ) ( ) ( ){ } ( ). .LG LT FHF z Z W p W p W p U z=

( ) ( ) ( ){ } ( ).LT FHF z Z W p W p E z=

( ) ( ) ( ) ( ){ } ( ). .LG LT FHF z Z W p W p W p Y z=

( ) ( ) ( ) ( ){ } ( ). .LG LT FHF z Z W p W p W p E z=

/Hthngcmttrongkhnggiantrngthiviccmatrntrngthitngngl:

0.5 3

2 1

kA

= ;

1

0B

=

; [ ]1 0C = .Vi kbngbaonhiuthhthngtrnliukhinchonton? 0k >

0k <

Migitrca k Khngtntigitrnoca khthngtrniukhinchonton /Miquanhgiaminz vminLaplace?

Tz e=

pz e=

pTz e=

pTz e= /Nuphngtrnhtrngthichchobit:

( ) ( ) ( )1 d dx i A x i B u i+ = +

thtacthxtcctnhgcahthng? Tnhnnh Khngthngtinxtmttrongccctnhcahthng Tnhquanstc Tnhiukhinc

/Nuphngtrnhtrngthichchobit:

( ) ( ) ( )d dy i C x i D u i= + thtacthxtcctnhgcahthng?


41/53


Tnhnnh Khngthngtinxtmttrongccctnhcahthng Tnhquanstc Tnhiukhinc /Cchbiniththnglintcsanghthngrirctrongkhnggiantrngthi

theophngphptnhgnngohmcp1?(TrongI lmatrnnv., , ,A B C D lccmatrntrngthitronghlintcv , , ,d d d d A B C D lccmatrn

trngthitronghrirc)

; ; ;d d d d A I A B TB C C D D= + = = =

; ; ;d d d d A I TA B TB C C D D= = = =

; ; ;d d d d A I TA B TB C C D D= + = = =

; ; ;d d d d A I TA B B C C D D= + = = =

/Cchbiniththnglintcsanghthngrirctrongkhnggiantrngthi

theophngphphnhthang?(TrongI lmatrnnv. , , ,A B C D lccmatrn

trngthitronghlintcv , , ,d d d d A B C D lccmatrntrngthitronghrirc)

1 1

. ; ; ;2 2 2

d d d d TA TA TA

A I I B I C C D D

= + = = =

1 1

. ; . . ; ;2 2 2

d d d d TA TA TA

A I I B I T B C C D D

= + = = =

1

. ; . . ; ;2 2 2d d d d

TA TA TAA I I B I T B C C D D

= + = = =

1

. ; . . ; ;2 2 2

d d d d TA TA TA

A I I B I T B C C D D

= + = = = /NuhthngiukhinxungtuyntnhcmhnhnhhnhtrnthhmtruyntcahhcxcnhtheocngthcnonuhmtruyntcakhuZOHl:

( ) ( )-1 1- pTLGW p e

p=

?

( ) ( ){ } ( )

( ). 1 .

LTLG LT

W p

Z W p W p z Z p

=

( ) ( ){ } ( ) ( ){ }1. 1 .LG LT LTZ W p W p z Z W p=

( ) ( ){ } ( ) ( )1. 1 . LTLG LTW p

Z W p W p z Zp

=

( ) ( ){ } ( ) ( )1. 1 . LTLG LTW p

Z W p W p z Zp

= +

/NuhthngiukhinxungtuyntnhcmhnhnhhnhtrnthhmtruyntcahkncxcnhtheocngthcnonuhmtruyntcakhuZOHl:


42/53


( ) ( )-1 1- pTLGW p e

p=

?

( )( )( )

( ){ }( ) ( ) ( ){ }1 . .

LTk

LG LT FH

Z W pY zW z

U z Z W p W p W p= =

+

( ) ( )( )

( ) ( ){ }( ) ( ){ }.

1 .LG LT

kLG FH

Z W p W pY zW zU z Z W p W p

= =+

( )( )( )

( ) ( ){ }( ) ( ) ( ){ }

.

1 . .

LG LTk

LG LT FH

Z W p W pY zW z


+

( )( )( )

( ) ( ){ }( ) ( ) ( ){ }

.

1 . .

LG LTk

LG LT FH

Z W p W pY zW z


/BiniZcakhu

( )1 p a+?

( )1 1 .aTe Z

( )11 1 .aTe Z

( )11 1 .aTe Z

( )11 1 .aTe Z +

/invoccvtr1,2,3,4tronghnhtrntheongthtnmtscu

trctrngthicahrirc?

, , ,d d d d B C A D

, , ,d d d d B C D A

, , ,d d d d B D A C

, , ,d d d d B A C D

/Phngtrnhsaiphnsau:

( ) ( ) ( ) ( )3 22 6 5 0y i y i y i y i + + + =

tngngviphngtrnhnotrong4trnghpdiy?

( ) ( ) ( )2 1 5 0y j y j y j+ = + + =

vi 1j i= +

( ) ( ) ( )2 1 5 0y j y j y j+ + =

vi 1j i= +

( ) ( ) ( )2 1 5 0y j y j y j+ + + =

vi 1j i= +

( ) ( ) ( )2 1 5 0y j y j y j+ + + =

vi 2j i= +


43/53


/Viiukinutrittiu,hmtruyntmatrncbiudindidngno?

( )( )

( )( )

1d d d

Y zW z C ZI A B

U z

= =

( )( )

( ) ( )

12

d d d

Y zW z C ZI A B

U z

= =

( )( )( )

( )d d dY z

W z C ZI A BU z

= =

( )( )( )

( )1

d d

Y zW z C ZI A B

U z

= =

/Chohiukhinlintctuyntnhcbiudindidngphngtrnhtrngthi:

[ ]

1

2

1

2

0.5 1.5 1.2 3 0

1 0 .

x ux

xy

x

= +

=

Vichuklymu ( )0.25T s= ,chuynhthngnysangdngrirctheophngphptnhgnngohmbcnht?

[ ]

1

2

1

2

1.125 0.375 0.25.

0.5 1.75 0

1 0 .

xu

x

xy

x

= +

=

[ ]

1

2

1

2

1.125 0.375 0.25.

0.5 1.75 0

1 0 .

xu

x

xy

x

= +

=

[ ]

1

2

1

2

1.125 0.375 0.25.0.5 1.75 0

1 0 .

x ux

xy

x

= +

=

[ ]

1

2

1

2

1 0.375 0.25.

0.5 1.75 0

1 0 .

xu

x

xy

x

= +

=


44/53


CHNG 7. PHN TCH V THIT K H THNG RI RC /xttnhnnhcamththngrirc,taphilmg? Tmnghimcaphngtrnhviphnbiudinhthng Tmnghimcaphngtrnhsaiphnbiudinhthng Lpmatrnquanstc

Lpmatrniukhinc /Nghimtngqutcaphngtrnhsaiphnctrngcho: Khngthngtinktlun Qutrnhqucahthng Qutrnhxclpcahthng Tnhiukhinccahthng /Tronghrirc,qutrnhxclpnhhngntnhnnhcahthng? ng Sai

/( )cos sinT j T +

luncmodulegiihnbngbaonhiu? 10 -1 1 0

/NuTz e=thvi 0 > tac:

1z >

1z <

1z >

1z =

/HrircsnnhnunghimcaPTTcahthng: Nmngoingtrnnv Nmtrongngtrnnv Nmtrnngtrnnv Nmgcta /Hrircsbingiinnhnu: PTTcmtnghimnmtrnngtrnnvvccnghimcnlinmtrongngtrnnv PTTcmtnghimnmngoingtrnnv TtcccnghimcaPTTnmngoingtrnnv TtcccnghimcaPTTnmtrongngtrnnv /Hrircskhngnnhnu: TtcccnghimcaPTTnmtrongngtrnnv PTTcmtnghimnmngoingtrnnv PTTcttcccnghimnmtrnngtrnnv PTTcmtnghimnmtrnngtrnnvvccnghimcnlinmtrongngtrnnv


45/53


/Mththngcgiliukhincnutacthtmcmtvectoriu

khin ( )u i chuynchthngtmttrngthibanubtk ( )0x nmttrng

thicuibtk ( )n ? Trongmtkhongthigianvhn

Trongmtkhongthigianhuhn

Phichuynvtrngthi ( )0 ngaylptc

Hduytrtrngthiim ( )x n

/Cthdngcctiuchunxtnnhchohlintcxtnnhchohrirc? ng Sai /Hrirctntikhnngnnhvtn.iunyhlintckhngc? Sai ng /iukincnmthrircnnhlcchscaPTTdng,nghaysai? Sai ng /Gishrirccathcctrng:

( ) 10 1 1...

l ll lA z a z a z a z a

= + + + + .

xtiukinnnhcahthngtheotiuchunJurytaphitm ( )1A ,thnghal:

Thay 1z = vo ( )A z

Thay 0z = vo ( )A z

Thay 1z = vo ( )A z

Thay 1l= vo ( )A z /TheotiuchunJury,munxttnhnnhcahrirccPTTdng:

1

0 1 1... 0l l

l la z a z a z a

+ + + + = ,hthngphithamnbaonhiuiukinrngbuc? 4l+

1l+

3l+

2l+

/Theophngphpbinibotonhnhdng,iukin1z >stngngvi

iukinnocav ? Nmbnphitrcotrongmtphngv Nmbntritrcotrongmtphngv

Nmtrntrcotrongmtphngv Nmtrongngtrnnvtrongmtphngv /Nghimringcaphngtrnhsaiphn


46/53


ctrngchoqutrnhqucahthng Khngchothngtinvnlunthayi Dngxttnhnnhcahthng ctrngchoqutrnhxclpcahthng /nhnghatnhiukhincvquanstccahrircgingvihlin

tc? ng Sai

/VipTz e= v

Tz e=thvi 0 > stngngvinghimcaphngtrnhnm

vtrnotrongmtphngz? Nmtrongngtrnnv Nmngoingtrnnv Cthnmbtcutrongmtphngz Nmtrnngtrnnv

/Vi pTz e= vT

z e

= thvi 0 = (nghimnmtrntrco jcamtphngphc)stngngvinghimccimgtrongmtphngz ? Nmgcta Nmbnngoingtrnnv Nmbntrongngtrnnv Nmtrnngtrnnv /GishrirccPTT:

1

0 1 1... 0l l

l la z a z a z a

+ + + + = .Theophngphpbinibotonhnhdng,tatbinph?

1

1

vz

v+=

1

1

vz

v

=

+

1

vz

v=

+

1vz

v

+=

/Mcchcaphngphpbinibotonhnhdng? dngcctiuchunisxtnnhchohlintc tngbccaphngtrnhctrng,lmchohthngnnhhn xtnnhchohrirc PTTcrtgnhn /Nhnxthrirckmnnhhnhlintclnghaysai? Sai ng /Cctiuchdngnhgichtlngqucahlintckhngcpdngchohrirc? Sai ng


47/53


/Nhngtiuchnosauydngnhgihthngtrongminkhnggiantrngthi? Tnhiukhincvquanstc Tnhiukhinc,tnhquanstcvthigianqu Tnhiukhinc,tnhquanstcvtnhnnh

Tnhiukhinc,tnhquanstcvquiuchnhcci /Saisxclpcahrirccxcnhtheocngthcnodiy?

( ) ( ) ( ) ( )1

1lim lim 1i z

e e iT z E z

= =

( ) ( ) ( ) ( )1

1lim lim 1i T z

e e iT z E z

= =

( ) ( ) ( ) ( )1lim lim 1

i T z T e e iT z E z

= =

( ) ( ) ( ) ( )11

lim lim 1

i T z

e e iT z E z

= = +

/Tiuchunnnhtheonguynlgcquaycahthngrirctngngvitiuchunnovxtnnhcahknvhhlintc? Mikhailope Routh Hurwitz Nyquist

/NuPTTcahrirccbc lththeotiuchunJury,taphilpbngJurycshngbngbaonhiu?

2 1l 2 2l

2 3l

2l /GishthngrirccPTTdng:

( ) 10 1 1... 0

l ll lA z a z a z a z a

= + + + + =

ththeotiuchunJury,iukincnkimtrautinbithchocnnhkhngl:

( )1 0A >

( )1 0A

/NuttcccnghimcaPTTphnbgcphntthIvIV(nghimphclunithnhcp)thtnsdaongcahthngnmtrongkhongno?

0 < <

2 0 < <

0 2< <


48/53


2 2 < < /MttrongnhngiukinhthngrirccphngtrnhctrngnnhtheotiuchunJuryl:

( )1 0A =

nu lchnv ( )1 0A < nu ll

( )1 0A > nu lchnv ( )1 0A < nu ll

( )1 0A nu ll

( )1 0A >

nu lchnv ( )1 0A =

nu ll /NunghimcaPTTlim5(nmtrntrcOC)nhhnhtrnthhthngsdaongvitnsbngbaonhiu?

2

2 / ulngbinthincatnhiurakhinghimcaPTTlim6trnhnhdi?


49/53


50/53


c b a d

/GishthngcPTTdng:22 3 4 0z z+ + = ,saukhidngphngphpbini

botonhnhdngtacphngtrnhtngngl:

28 4 3 0v v + =

29 4 3 0v v+ + =

29 4 3 0v v + =

29 4 3 0v v =

/iukinhthngcPTTbcnhtdng: 0 1 0a z a+ = nnhtheophngphpbotonhnhdngl?

0 1a a


51/53


/HthngxungcmttrongkhnggiantrngthisiukhinchontonkhivchkhimatrnM chngbngn .MatrnM cxydngthno?

( ) ( )

1 2' . ' . ...

n nd d d d d M A B A B B

=

1 2. ' . ' ... 'n nd d d d d M A B A B B =

1 2. . ... 1

n nd d d d M A B A B

=

1 2. . ...

n nd d d d d M A B A B B

=

/Vitnhiuvo ( ) ( )1u t t= ,saisxclpcahrirccxcnhtheocngthcno?

( ) ( ) ( ) ( ){ }1

1

lim 1 . .z LG LT FHe Z W p W p W p = +

( )( ) ( ) ( ){ }

1lim

1 . .z LG LT FHe

Z W p W p W p =

+

( )( ) ( ) ( ){ }

1lim

1 . .z T LG LT FHe

Z W p W p W p =

+

( )( ) ( ){ }11

lim1 .z LT FH

eZ W p W p

=+

/ HthngxungcmttrongkhnggiantrngthisiukhinchontonkhivchkhimatrnN chngbngn .MatrnN cxydngthno?

( )

1. ... .

nd d d d d N C A C A C

=

( )

1' ' '. ... .

nd d d d d N C A C A C

=

( )

1' '. ... .

n

d d d d d N C A C A C

=

( )

1' ' ' ' '. ... .

n

d d d d d N C A C A C =

/Chohthngcbiudintrongkhnggiantrngthidng:

( )( )

( )( )

( )

( ) [ ]( )( )

1 1

2 2

1

2

1 1 2 1

1 2 1 1

1 0

x i x iu i

x i x i

x iy i

x i

+ = + +

=

Matrniukhincvhngcamatrn?

3 1

1 1M

= , ( )rank 1M =


52/53


3 1

1 1M

= , ( )rank 2M =

3 1

1 1M

=

, ( )rank 2M =

3 1

1 1M

= , ( )rank 2M =

/Chohthngcbiudintrongkhnggiantrngthidng:

( )( )

( )( )

( )

( ) [ ]( )

( )

1 1

2 2

1

2

1 1 2 1

1 2 1 1

1 0

x i x iu i

x i x i

x iy i

x i

+ = + +

=

Matrnquanstcvhngcamatrn?

1 1

1 2N

= , ( )rank 2N =

1 1

0 2N

= , ( )rank 2N =

1 1

0 2N

= , ( )rank 3N =

1 1

0 2N

=

,

( )rank 2N =

/HmtruyntcabiukhinPIDs?

( )( )

( )

( ). 112 1 .

piPID d

k zk T zW z k

z T z

+= + +

( )( )

( )( )1 . 1

2 1 .

i dPID p

k T z k zW z k

z T z

+ = + +

( )( )

( )

( )1 . 12 1 .

d iPID p

k T z k zW z k

z T z

+ = + +

( )( )

( )( )1 . 1

2 1 .

p dPID i

k T z k zW z k

z T z

+ = + +

/Khitnhiuvo ( )u t t= ,saisxclpcahrirccxcnhtheocngthcno?

( )( ) ( ) ( ) ( ){ }1

lim1 1 . .z LG LT FH

Te

z Z W p W p W p =

+

( ) ( ) ( ) ( ) ( ){ }1

1

lim 1 1 . .z LG LT FHe z Z W p W p W p = +


53/53

( )( ) ( ) ( ){ }1

lim1 . .z LG LT FH

Te

Z W p W p W p =

+

( )( ) ( ) ( ) ( ){ }1

lim1 1 . .z LG LT FH

Te

z Z W p W p W p =

+ +

/Tmhmtruyntcahthngchotronghnhd?

( ) 2 32 3 1 21

W WW p

W W W W =

+ +

( ) 1 22 3 1 21

W WW p

W W W W =

+ +

( ) 1 3

2 3 1 21

W WW p

W W W W =

+ +

( ) 1 2 32 3 1 21

W W WW p

W W W W

=

+ +

Documents

Dieu Khien Tu Dong - Ngan Hang de Thi