CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM

Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 1

Bi tp v tiu chun n nh i s
Routh Hurwitz


Bi tp 1: Cho h thng nh Hnh 1. H thng vng kn c
n nh khng?




Gii:
PTT:
( ) ( )
( )( )( )
0
3 2
1 0
1000
1 0
2 3 5
10 31 1030 0
C
G s G s
s s s
s s s
+ =
+ =
+ + +
+ + + =



( )( )( )
1000
( )
2 3 5
( ) 1
O
C
G s
s s s
G s
=
+ + +
=
Hnh 1
C(s)

R(s)

G
C
(s) G
o
(s)
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 2

Dng tiu chun Routh
Bng Routh:
S
3
1 31
S
2
101 1030103
S
1
-72 0
S
0
1030 0

( hng s
2
ta chia cc h s cho 10 d tnh ton m
khng nh hng n kt qu)
Kt lun: Ct 1 bng Routh i du 2 ln nn h thng
khng n nh, 2 cc bn phi mpp.

Dng tiu chun Hurwitz
Ma trn Hurwitz:
10 1030 0
1 31 0
0 10 1030
H =
Cc nh thc con:
1
2
3 2
1 0
10 1030
310 1030 720 0
1 31
1030* 0
= >
= = = <
= <

Kt lun: V tt c cc nh thc con khng dng nn
h khng n nh.
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 3

Bi tp 2: Xt n nh ca PTT sau:
5 4 3 2
2 3 6 5 3 0 s s s s s + + + + + =

Gii:
Bng Routh:
S
5
1 3 5
S
4
2 6 3
S
3
0
7/2 0
S
2
6 7

0
3 0
S
1
42 49 6

12 14
0
0 0
S
0
3 0 0

Kt lun: PTT khng n nh, c 2 nghim bn phi
mpp.

Bi tp 3: Xt n nh ca PTT sau:
5 4 3 2
7 6 42 8 56 0 s s s s s + + + + + =

Gii:
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 4

Bng Routh:
S
5
1 6 8
S
4
71 426 568
S
3
041 0123 000
S
2
3 8 0
S
1
1/3 0 0
S
0
8 0 0
Hng s
3
c cc h s bng 0 lp a thc ph
( )
( )
4 2
3
6 8
4 12
A s s s
dA s
s s
ds
= + +
= +

Kt lun: PTT n nh v cc h s ct 1 bng Routh
dng.

Bi tp 4: Cho h thng nh Hnh 4. H thng vng kn c
n nh khng?



S: H thng khng n nh, 2 cc bn phi mpp.
( )
3 2
200
( )
6 11 6
( ) 1
O
C
G s
s s s s
G s
=
+ + +
=
Hnh 4
C(s)

R(s)

G
C
(s) G
o
(s)
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 5

Bi tp 5: Cho h thng nh Hnh 5. H thng vng kn c
n nh khng?



S: H thng khng n nh, 2 cc bn phi mpp.

Bi tp 6: Cho h thng nh Hnh 6. Tm K h thng
vng kn n nh?



S: 0 < K < 1386.




( )
0
4 3 2
1
( )
2 3 2 3 2
( ) 1
c
G s
s s s s s
G s
=
+ + + +
=
Hnh 5
C(s)

R(s)

G
C
(s) G
o
(s)
( )( )
0
( )
7 11
( ) 1
c
K
G s
s s s
G s
=
+ +
=
Hnh 6
C(s)

R(s)

G
C
(s) G
o
(s)
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 6

Bi tp 7: Cho h thng nh Hnh 7. Tm K h thng
vng kn n nh?



S: 0 < K < 2.

Bi tp 8: Xt n nh ca h thng c cho bi h
PTTT sau:
[ ]
0 3 1 10
2 8 1 0
10 5 2 0
1 0 0
x x
y x

( (

( (
= +

( (

( (

Tnh TT: det(sI-A)=0 ri dng tiu chun Routh hoc
Hurwitz.
S: H thng khng n nh, 1 cc bn phi mpp.

( )
( )( )
0
20
( )
2 3
( ) 1
c
K s
G s
s s s
G s
+
=
+ +
=
Hnh 7
C(s)

R(s)

G
C
(s) G
o
(s)
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 7

Bi tp 9: Xt n nh ca h thng c cho bi h
PTTT sau:
[ ]
2 1 1 0
1 7 1 0
3 4 5 1
0 1 0
x x
y x

( (

( (
= +

( (

( (

Tnh TT: det(sI-A)=0 ri dng tiu chun Routh hoc
Hurwitz.
S: H thng khng n nh, 2 cc bn phi mpp.

Bi tp 10: Cho h thng c hm truyn G
0
(s) sau:
( )
( )
0
4 3 2
0.25 0.435
3.456 3.457 0.719 0.0416
K s
G s
s s s s
+
=
+ + + +

Tm iu kin ca K h thng hi tip m n v n
nh.
S: -0.382 < K < 25.87.

Bi tp 11: Cho h thng c hm truyn vng kn G
k
(s)
sau:
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 8

( )
3 2
76.39
151.32 198 76.39
k
K
G s
s s s K
=
+ + +

Tm iu kin ca K h thng n nh.
S: 0 < K < 392.2.

Bi tp 12: Cho h thng c hm truyn vng kn G
k
(s)
sau:
( )
( )
( )
4 3 2
0.25 0.10925
3.483 3.465 0.25 2.4288 0.10925
k
s K
G s
s s s K s K
+
=
+ + + + +

Tm iu kin ca K h thng n nh.
S: 0 < K < 26.42.

Bi tp 13: Cho h thng c hm truyn G
0
(s) sau:
( )
( )( )
( )( )
0
3 5
2 4
K s s
G s
s s
+ +
=


Tm iu kin ca K h thng hi tip m n v n
nh.
S: K > 6/8.
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 9

Bi tp 14: Cho h thng c hm truyn G
0
(s) sau:
( )
( )( )
( )
0
2
2 2
3
K s s
G s
s
+
=
+

Tm iu kin ca K h thng hi tip m n v n
nh.
S: -1 < K < 3/4.

Bi tp 15: Cho h thng c hm truyn G
0
(s) sau:
( )
( )
( )
0
4
1
2
K s
G s
s s
+
=
+

Tm iu kin ca K h thng hi tip m n v n
nh.
S: Khng tn ti K.

Bi tp 16: Cho h thng c hm truyn G
0
(s) sau:
( )
( )( )( )
( )
0
2
2 4 5
3
K s s s
G s
s
+ +
=
+

CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 10

Tm iu kin ca K h thng hi tip m n v n
nh.
S: 1/54 < K < 3/40.

Bi tp 17: Cho h thng c hm truyn G
0
(s) sau:
( )
( )
( )
( )( )
0
2
2
1 4 1
K s
G s
s s s
+
=
+ +

Tm iu kin ca K h thng hi tip m n v n
nh.
S: Khng tn ti K.

Bi tp 18: Cho h thng c hm truyn G
0
(s) sau:
( )
( )( )( )
0
15 27 38
K
G s
s s s
=
+ + +

Tm iu kin ca K h thng hi tip m n v dao
ng.
S: K = 144690, tn s dao ng 44.73 rad/s.
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 11

Bi tp 19: Cho h thng sau:





Tm iu kin ca K h thng kn n nh.
S: -1/2 < K < 1.

Bi tp 20: Cho h thng sau:





Tm iu kin ca K h thng kn n nh.
S: 0 < K.
-
+
1
s

2s 1

2 2
R(s)

C(s)

Hnh 19
-
+
s 6
s 7

Ks 2
ss 1s 3

R(s)

C(s)

Hnh 20
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 12

Bi tp 21: Cho h thng sau:





Tm iu kin ca K h thng kn n nh.
S: -0.36772 < K.

Bi tp 22: Cho h thng sau:





Tm iu kin ca K h thng kn n nh.
S: -0.1429 < K < 1.1759.
Hnh 21
1
s 10
s

0.6s 9

Ks 1
s 4.85

-
+
R(s)

C(s)

0.7
s

1.7s 0.25

1
1
s 0.4
K
0.1
s 0.1

R(s)
C(s)

-
+
Hnh 22
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 13

Bi tp 23: Cho h thng sau:





Tm iu kin ca K h thng kn n nh.
S: 0 < K < 29908.07.

Bi tp 24: Cho h thng sau:





Tm iu kin ca K h thng kn n nh.
S: 0 < K < 1.0192.
10
s

10s 29

Ks 0.01s 6
ss 20s 100

Hnh 23
C(s)

-
+ R(s)

200
s

12s 100

Ks 0.6s 6
s 0.1s 100

500
ss 6

Hnh 24
C(s)

-
+ R(s)

CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 14

Bi tp 25: Cho h thng sau:





Tm iu kin ca K h thng kn n nh.
S: 0.00509 < K.

7570
s 62.61s 62.61

Ks 0.8s 103
s

Hnh 25
C(s)

-
+ R(s)