Phng php tuyn tnh ha chnh xc

- Tuyn tnh ha chnh xc h tr thnh tuyn tnh trong ton b KGTT

Xt h affine c m hnh (1 u vo)
( ) ( ) ;
n
x f x h x u x = + e
Vi ( ) f x : cc vector hm
( ) g x : vector ct theo bin x
- Tm b iu khin phn hi trng thi tnh ( , ) u r x w = v php i bin ( ) z m x = h kn l
tuyn tnh, dng chun iu khin.
TK
x(t)
B K
u(x,w)
Php bin i
z = m(x)
w
u x
z

1 2 3 1
0 1 0 0
0
0 0 1 0
0
0 0 0 1
1
n
z Az Bw z
a a a a

| |
| |
|
|
|
|
|
= + = +
|
|
|
|
\ .
|

\ .
w
B iu khin tuyn tnh ha chnh xc bo m tnh cht tuyn tnh cho h thng trong ton b
khng gian trng thi.
- iu kin tn ti b iu khin
Tn ti u vo o ( ) y x = cho h phi tuyn affine vi n h s c bc tng i r = n (bc ca
m hnh)
+
{ }
1
( ), ( ),..., ( )
n
f f
span h x ad h x ad h x

A = ; dim n A=
+
{ }
2
( ), ( ),..., ( )
n
f f
D span h x ad h x ad h x

=
Trong tch Lie:
| | : ,
f
f
h
ad h f h f h
x x
c
c
= =
c c

D xon D ng tch Lie
| |
, f h D e
D xon lun tn ti (x) c xc nh t
2
( )
( ), ( ),..., ( ) 0
n T
f f
x
h x ad h x ad h x
x

c
( =

c

- Php bin i vi phi:
0
1
2
1
1
( )
( )
( )
( )
( )
Trong o
f
f
f
k k
n
f f f
f n
x z
L g g
L x z
g
z m x L g f
x
L g L L g
L x z

| | | | =
| |
c
| |
= = = =
| |
c
| |
|
=
\ . \ .

Yu cu:
1
( )
( )
det 0 ( )
trn (khavi vohan lan)
eton tai
z m x
m x
x x m z
dx

=

c | |
= =
|

\ .

- Cc bc thit k b iu khin:
1. Kim tra iu kin tn ti ( ) y x = cho h ( ) ( ) x f x h x u = +
2. Xc nh php bin i vi phi ( ) z m x =

1
2
1
( )
( )
( )
( )
f
n
f n
x z
L x z
z m x
L x z

| | | |
| |
| |
= = =
| |
| |
|
\ . \ .

3. Xy dng b iu khin phn hi trng thi ( , ) u r x w =

0
1
( )
1
( )
vi
n
k
k f
k
n n
h f
w a L x
u a
L L x

= =

Trong cc hng s a
0
, a
1
,..., a
n
c tnh t nhng im cc mong mun cho trc ca h
tuyn tnh
1 2 3 1
0 1 0 0
0
0 0 1 0
0
0 0 0 1
1
n
z Az Bw z
a a a a

| |
| |
|
|
|
|
|
= + = +
|
|
|
|
\ .
|

\ .
w
Theo cng thc:
1
1 2 0 1 1
( )( )...( ) ...
n n
n n
s s s s s s a a s a s s

= + + + +

Bi ton: Cho h bc hai:
2
1 2
2
2 1 2

n
x x u
x
x x x
= +

= +

Xc nh b iu khin tuyn tnh ha chnh xc h trn
- Biu din li m hnh i tng
2
1 2
2
2 1 2
1
( ) ( )
0
x x
x u f x h x u
x x x
| | | | | |
= = + = +
| | |
+
\ . \ . \ .

Vy
2
2
2
1 2
1
( ) ; ( )
0

x
f x h x
x x
| | | |
= =
| |
+
\ . \ .

xc nh b iu khin tuyn tnh ha chnh xc h cho
Bc 1: Kim tra iu kin tn ti y = (x)
+
( )
1
,
f
span h ad h A =
Ta c:
2
2
0 2 1 0
1 2 0 1
f
f x
h
ad h f h
x x x
c
( ( ( c
= = =
( ( (
c c



1
1 0
,
0 1
span
| | ( (
A =
|
( (

\ .

C
1 0
det 1 0
0 1
| |
= =
|

\ .
. Vy
1
dim 2 bac tng oi cua he n A = = =
+
1
( )
0
D span h span
| | (
= =
|
(
\ .

Do
| | , 0 xoan h h D D = e . Nh vy tn ti y = (x)
+ Xc nh (x)

1 2
1 1
( ) ( )
0 0
0 0
T
h
x x x x
x x

| | ( | | c c
c c
= = =
| | (
c c c c
\ . \ .

n gin chn:
1
2
2
0
1
x
x
x

c
=

=
c

Bc 2: Xc nh php bin i vi phi z = m(x)

1 2
2
( )
f f
z x
z m x
L z L


= = | |
= =
|
=
\ .

C:
| |
2
2 2
1 2
2
1 2
0 1
f
x
L f x x
x x x

(
c
= = = +
(
c +


1 2
2
1 2 2
( )
z x
z m x
x x z
| | | |
= = =
| |
+
\ . \ .

Kim tra iu kin: z = m(x) l trn, do
2
xe ( kh vi v hn ln)
2
1
( )
0 1
( )
det 1 0
1 2
latrn, do (ekhavi vohan an)

l x z x
m x
x x
m e

| | | | c
= = =
| |
c
\ . .
=
\
php bin i l 1-1
tn ti
1
( ) x m z

=


Bc 3: Xy dng b iu khin tnh phn hi trng thi ( , ) u r x w =

( )
2
0 1
1
( )
f f
h f
u a a L L w
L L x

= +
Trong :
2
( ) x x = ; w : tn hiu vo h kn
TK
x(t)
B K
u(x,w)
Php bin i
z = m(x)
w
u x
z


| |
2
1 2 2
1
1 2 1
0
f h f
L x x L L x
(
= + = =
(



( ) | |
2
2 2 3 2
2 2 2 1 2
2
1 2
1 2 2 2
f f f
x
L L L x x x x x
x x

(
= = = + +
(
+


Vy b iu khin u(x,w) l:
( )
2 3 2
0 2 1 1 2 2 2 1 2
( , ) (2 2 ) u x w a x a x x x x x x w
(
= + + + +


Trong a
0
, a
1
c chn t v tr im cc mong mun
Chn
1 2
3 s s = =
1 2 2 2
1 2 1 0
0
6
( )( ) ( 3) 6 9
9
a
s s s s s s s s a s a
a
=
= + = + + = + +

=

- Xc nh m hnh h kn:
TK
x(t)
B K
u(x,w)
Php bin i
z = m(x)
w
u x
z

C
2
1 2 2
2 2
1 2 2 1 2
, ( )
z x x u
x z m x
x x z x x
| | + | | | |
= = = =
| | |
+ +
\ . \ . \ .

2 2
1 1
1 1 2 1 2
2
1 2 1 2 2 1
z x
x z z z z
x
z z x x x z
= | | = + +
=
|
= + =
\ .


2
1 2 1 2 2
2 3 2
2 1 2 2 2 1 2 2 0 2 1 1 2 0 1 1 2
( )
2 2 2 ( )
z x x x z
z x x x x u x x x a x a x x w a z a z w
= = + =
= + = + + + = + + = +

Vy m hnh h kn:
0 1
0 1 0
1
z z w Az Bw
a a
| | | |
= + = +
| |

\ . \ .


iu khin thch nghi theo m hnh mu
Bi ton: Cho h tuyn tnh
( ) ( ) : A vector tham sohang bat nh x x B u G x u u = + +
Tm b iu khin h n nh
( )
0, x x u <
- T tng:
+ s dng m hnh mu =A
m m
x x Bw + v tm b iu khin lun c
m
x x
M hnh mu c chn xut pht t cc yu cu cht lng cho h thng
+ Cu trc b iu khin: nguyn tc b bt nh nh c cu chnh nh m bo vn gi c
cht lng nh trng hp bit
Trng hp h tuyn tnh l khng n nh: phi thit k b iu khin phn hi trng thi lm n
nh i tng khng cha thnh phn bt nh.
- Cc bc thit k:
1. Tm b iu khin phn hi trng thi cho i tng x Ax Bu = +
( ) A BK l bn; s
dng cc phng php bit: gn im cc
Trong im cc mong mun nh trong m hnh mu ca h ( )
m m
x A BK x Bw = + c
chn xut pht t yu cu cng ngh (ch tiu cht lng t ra)
2. Xc nh c cu chnh nh p nh p dung t tng Lyapunov
- Cu trc h thng

m
e x x = ; ( ) A A BK =
- Ni thm v chn m hnh mu theo ch tiu cht lng t ra
+ n nh: chn A
m
bn
+ Khng ph thuc
+ Qu trnh qu tt nhanh: s
i
(im cc) xa
+ Qu trnh t do tt dn m khng sinh ra dao ng im cc nm trn trc thc
(Bi ton chn im cc trnh by chuyn 3)



ng dng iu khin thch nghi h c tham s hng bt nh
- M hnh : ( , , ) ( ) ( ) ( ) x f x u f x G x H x u u u = = + +
Trong
| |
1 2
, ,...,
T
m
u u u u = l vector tham s hng bt nh
Mc ch: tm b iu khin lm h GAS (Global Asymptotic Stable)
- T tng:
+ Gi s bit tm b iu khin r
1
(x,) h GAS, p dng t tng Lyapunov tm hm
CLF V
1
(x,)xc nh dng theo x ,
+ Do l cha bit, dng c b iu khin phi a thm vo c cu chnh nh m
bo 0 x v b chn
- Cc phng php thit k
1. Gi s c , p dng t tng Lyapunov tim hm CFL V
1
(x,) xc nh dng theo x
b iu khin GAS r
1
(x,)
2. Thay bi ( )
n
p t e . Ta c
1
1
( , )
( , )
V x p
r x u
xc nh dng theo x v tm quy lut thay i p
(tm p ) sao cho 0 x v b chn
- Cu trc h thng
TK
x(t)
B K
u = r(x,p) + w
w
u x
( )
C cau chnh nh p
p


iu khin thch nghi b bt nh cho i tng phi tuyn affine nm tn hiu vo
| |
( ) ( ) ( ) x f x H x u x u = + +u
Ma trn H(x) c cc vector ct l h(x); : vector tham s hng bt nh
(x) c cc vector hng ( );1
T
k
x k p s s
; ;
n m p
x u u e e e
1. Thit k b iu khin ( , ) u r x w = v php bin i vi phi ( ) z m x = tuyn tnh ha
chnh xc n thnh h tuyn tnh bt nh
( ) ( )
dz
Az B w x
dt
u = + +O (*)
c A l ma trn bn
2. Thit k b iu khin b bt nh cho i tng tuyn tnh (*) theo nguyn tc bm m
hnh mu GAS
'
m
m
dz
Az Bw
dt
= +
Trong : ' w w , = v ( ) x p , = O l tn hiu b; p : tn hiu chnh nh