Ging vin: Nguyn c Hong

B mn iu Khin T ng
Khoa in in T
i Hc Bch Khoa Tp.HCM
Email: ndhoang@hcmut.edu.vn

MN HC
M HNH TON HC
H THNG LIN TC
CHNG 2
Phng trnh trng thi
Trng thi ca mt h thng l tp hp nh nht cc
bin (bin trng thi) m nu bit gi tr cc bin ny ti
t
0
v cc tn hiu vo t > t
0
, ta hon ton c th xc
nh c p ng ca h thng ti mi thi im t t
0
.

Vector trng thi :
| |
T
1 2 n
x x x ... x =
Phng trnh trng thi
S dng bin trng thi c th chuyn PTVP bc n m
t h thng thnh h gm n PTVP bc nht (h PTTT)

x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
= +

= +

Trong (h SISO)
11 12 1n
21 22 2n
n1 n2 nn
a a a
a a a
A
a a a
(
(
(
=
(
(

1
2
n
b
b
B
b
(
(
(
=
(
(

| |
1 2 n
C c c c =
D d =
V d 1: H thng gim xc
K C 1
y y y P(t)
m m m
= +
t
1
2
x y
x y
=

1 2
2 1 2
x x
K C 1
x y x x P(t)
m m m
=

= = +

Phng trnh trng thi

V d 1: H thng gim xc (tt)
1 1
2 2
u
x
x
B
A
0 1 0
x x
* *P(t)
K C 1
x x
m m m
( (
( (
( (
= +
( (
( (



| |
1
1
2
y
C
x
x
y x 1 0 *
x
(
= =
(

Phng trnh trng thi
V d 2: Mng RLC
t
1 2
2 2
x v (t)
P
x v (t)
1
=

TTT?

1 2
2
2
x v (t)
PTTT ?
x i(t)
=

Phng trnh trng thi

V d 2: Mng RLC (tt)
1
1 1
1
2 2
u
x
x
B
A
0 1 0
x x
* *v (t)
1 R
PTTT :
1
x x
LC L LC
( (
( (
( (
= +
( (
( (



1 1
1
2
2
2
u
x
x
B
A
1
0 0
x x
C
* *v (t)
1
x x 1 R
T
L
P
L
L
TT :
(
(
(
( (
(
= +
(
( (
(

(


(

Phng trnh trng thi
V d 3:
1 1 2 2 1 1 1 1 1
2 2 2 2 1
m y K (y y ) K y P(t) C y
m y K (y y )
= +
=
t
1 1
2 1
3 2
4 2
x y
x y
PTTT?
x y
x y
=

Phng trnh trng thi

TH1: V phi PTVP khng cha o hm tn hiu vo
H thng m t bi PTVP
n n 1
0 1 n 1 n 0
n n 1
d y(t) d y(t) dy(t)
a a a a y(t) b u(t)
dt dt dt

+ + + + =
t bin trng thi theo quy tc
Bin u tin bng tn hiu ra
Bin tip theo bng o hm
bin trc
1
2 1
n n 1
x (t) y(t)
x (t) x (t)
x (t) x (t)

=
=
=

TH1: V phi PTVP khng cha o hm tn hiu vo (tt)
PTTT
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
= +

= +

n n 1 n 2 1
0 0 0 0
0 1 0 0
0 0 1 0
A
0 0 0 1
a a a a
a a a a

(
(
(
(
=
(
(
(

(

0
0
0
0
B
0
b
a
(
(
(
(
=
(
(
(
(

| |
C 1 0 0 0 =
D 0 =
| |
T
1 2 n 1 n
x(t) x (t) x (t) x (t) x (t)

=

TH1: V phi PTVP khng cha o hm tn hiu vo (tt)
PTTT
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
= +

= +

2 1
0 0
0 1
0 1
A
a a
2 0.5
a a
(
(
(
= =
(
(



(

0
0
0
0
B b
3
a
(
(
(
= =
(
(

(

| |
C 1 0 =
D 0 =
1
2 1
x (t) y(t)
x (t) x (t)
=

Vit PTTT m t h thng c m t bng PTVP sau

2y(t) y(t) 4y(t) 6u(t) + + =

TH2: V phi PTVP cha o hm tn hiu vo
H thng m t bi PTVP
n n 1
0 1 n 1 n
n n 1
n 1 n 2
0 1 n 2 n 1
n 1 n 2
d y(t) d y(t) dy(t)
a a a a y(t)
dt dt dt
d u(t) d u(t) du(t)
b b b b u(t)
dt dt dt

+ + + + =
+ + + +
t bin trng thi theo quy tc
Bin u tin bng tn hiu ra
Bin tip theo bng o hm
bin trc tr 1 lng t l
vi tn hiu vo
1
2 1 1
n n 1 n 1
x (t) y(t)
x (t) x (t) u(t)
x (t) x (t) u(t)

=
= |
= |

TH2: V phi PTVP cha o hm tn hiu vo (tt)
PTTT
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
= +

= +

n n 1 n 2 1
0 0 0 0
0 1 0 0
0 0 1 0
A
0 0 0 1
a a a a
a a a a

(
(
(
(
=
(
(
(

(

1
2
n 1
n
B

|
(
(
|
(
= (
(
|
(
(
|

| |
C 1 0 0 0 =
D 0 =
| |
T
1 2 n 1 n
x(t) x (t) x (t) x (t) x (t)

=

TH2: V phi PTVP cha o hm tn hiu vo (tt)
Cc h s | c xc nh nh sau
0
1
0
1 1 1
2
0
n 1 1 n 1 2 n 2 n 1 1
n
0
b
a
b a
a
b a a a
a

| =
|
| =
| | |
| =

TH2: V phi PTVP cha o hm tn hiu vo (tt)
PTTT
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
= +

= +

2 1
0 0
0 1
0 1
A
a a
2 0.5
a a
(
(
(
= =
(
(



(

0
0
1 1 1
0
b
a 3
B
0 b a
a
(
(
(
(
= =
(
|
(

(

| |
C 1 0 =
D 0 =
1
2 1 1
x (t) y(t)
x (t) x (t) u(t)
=

= |

Vit PTTT m t h thng c m t bng PTVP sau

2y(t) y(t) 4y(t) 6u(t) 3u(t) + + = +



1
1 1 2
2
1 1 2
X (s) 10
sX (s) 5X (s) 10X (s)
X (s) s 5
x 5x 10x
= = +
+
= +
| |
1 1
2 2
3 3
1
2
3
x 5 10 0 x 0
x 0 0 1 * x 1 *u
x 1 0 1 x 0
x
y 1 0 0 * x
x

( ( ( (
( ( ( (
= +
( ( ( (
( ( ( (

(
(
=
(
(



Cho PTTT
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
= +

= +

Suy ra hm truyn ca h thng l

1
G(s) D C*(sI A) *B

= +
Mi quan h
gia cc m t ton hc
PTVP
Hm truyn PTTT