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CHNG 10: CC CNG C KHC CA MATLAB

1.SIMULINK
1.KhingSinulink:khingSimulinktatheoccbcsau:

khingMATLAB
click vo icon ca Simulink trn MATLAB toolbar hay nh lnh
SimulinktrongcasMATLAB.
LcnytrnmnhnhxuthincasSimulinkLibraryBrowser,trong
cccthvincckhicaSimulink.

2.Tomtmhnhmi:tomtmhnhmi,clickvoicontrncas
Simulink Library Browser hay chn menu File | New | Model trn ca s
MATLAB.

3.Thayimtmhnhc:TacthclickvoicontrncasSimulink
LibraryBrowserhaychnOpentrncasMATLAB.Filechamhnhs
mvtacththayiccthngscngnhbnthnmhnh.

4. Chn mt i tng: chn mt i tng, click ln n. Khi ny i


tngscmthnhchnhtcccgclcchtbaoquanh.

5.Chnnhiuitng:Tacthchnnhiuitngcnglcbngcch
dng phm Shift v chut hay v mt ng bao quanh cc i tng
bngcchbmchutkothnhhnhchnhtvthkhihnhchnht
baolyccitngcnchn.

6. Chn tt c cc i tng: chn tt c cc i tng trong ca s ta


chnmenuEdit|SelectAll.

7.Cckhi:KhilccphntmSimulinkdngtomhnh.Tacth
mhnhhobtkmththngnghcnobngcchtomilinhgia
cckhitheocchthchhp.Khitomtmhnhtacnthyrngcckhi
ca Simulink c 2 loi c bn: khinhn thy v khikhng nhn thy.Cc
khikhngnhnthycngvaitrquantrngtrongvicmphngmt
hthng.Nutathmhayloibmt khikhngnhnthyc ta thay
ithuctnhcamhnh.Cckhinhnthyc,ngcli,khngng
438

vaitrquantrngtrongmhnhho.Chngchgiptaxydngmhnh
mt cch trc quan bng ho. Mt vi khi ca Simulink c th l thy
c trong mt s trng hp v li khng thy c trong mt s trng
hpkhc.Cckhinhvycgilcckhinhnthyciukin.

8.Copycckhitmtcassangmtcaskhc:Khitaxydngmt
mhnhtathngphicopycckhitthvinkhicaSimulinksangca
smhnh.lmvicnytatheoccbcsau:

mcasthvinkhi
kokhitamundngtcasthvinvocasmhnhvth
TacthcopycckhibngcchdnglnhCopy&Pastetrongmenu
Editquaccbcsau:

chnkhitamuncopy

chnCopytmenuEdit

lmchocascncopytihotng

chnPastetmenuEdit
Simulink gn mt tn cho mi bn copy. Nu n l khi u tin trong m
hnhthtncangingnhtrongthvinSimulink.Nunlbnth2
hayth3thsaunscchs1hay2v.v.Trncasmhnhcli.
hinthlinytcasMATLABnhvo:
set_param(<modelname>,showgrid,on)
thayikhongcchlinhlnh:
set_param(<modelname>,gridspacing,<numberofpixels>)
Vd:thayilithnh20pixels,nhlnh:
set_param(<modelname>,gridspacing,20)
nhnbnmtkhitagiphmCtrlvkokhitimtvtrkhcvth.

9. M t thng s ca khi: m t thng s ca khi ta dng hp thoi


Block Properties. hin th hp thoi ny ta chn khi v chn Block
PropertiestmenuEdit.Tacthnhppchutlnkhihinthhp
thoiny.HpthoiBlockPropertiesgm:
Description:Mtngngnvmcchcakhi.
Priority:thchinquynutincakhisovicckhikhctrong
mhnh.
Tag:trngvnbnclucngvikhi
Openfunction:cchmMATLABcgikhimkhiny
439

Attributes format string: Thng s ny s m t thng s no c


hinthdiiconcakhi.

10.DeletingBlocks:Munxomthaynhiukhitachnkhivnhn
phmDel.

11.Thayihngcakhi:Tacthxoayhngcakhibngvomenu
Formatri:
o

chnFlipBlockquaykhi180 .
o

chnRotateBlockquaykhi90 .

12.nhlikchthccakhi:thayikchthccakhitaacon
tr chut vo mt gc ca khi ri bm v ko cho n kch thc mong
munrith.

13.Xltnkhi:Mikhictn,philduynhtvphichatnhtmt
kt.Mcnhtnkhinmdikhi.Vitnkhitacththchincc
thaotcsauy:
Thayitnkhibngcchbmchutvotncvnhplitn
mi. Nu mun thay i font ch dng cho tn khi hy chn khi v vo
menuFormatvchnFont.
Thayivtrttnkhitdilntrnhayngclibngcch
kotnkhitivtrmongmun.
KhngchohinthtnkhibngcchvomenuFormatvchnHide
NameshayShowNames

14.Hinthccthngsbndikhi:TacthbtSimulinkhinthmt
hay nhiu thng s bn di khi. lm iu ny ta nhp vo mt dng
votrngAttributesformatstringhpthoiBlockProperties.

15.Ctcckhi:ctkhikhistabmphmShiftvkokhinv
trmi.

16.Nhpvxutccvect:Huhtcckhichpnhnilnguvol
vec t hay v hng v bin i thnh i lng u ra l vec t hay v
hng.Tacthxcnhuvononhnilngvectbngcchchn

440

mc Wide Vector Lines t menu Format. Khi tu chn ny c chn, cc


ngnhnvectcvmhnccngmangsliuvhng.Nu
tathyimhnhsaukhichnWideVectorLinestaphicpnhthnhv
bngcchchnUpdateDiagramtmenuEdit.KhingliSimulinkcng
cpnhts.

17. M rng v hng cc u vo v cc thng s: M rng v hng l


bin i i lng v hng thnh vec t vi s phn t khng thay i.
Simulinkpdngmrngvhngchoccilngvovthngsi
vihuhtcckhi.

Mrnguvo:khidngkhivinhiuuvotacthtrnln
ccilngvectvilngvhng.Khinyccuvovhng
cmrngthnhvectvisphntnhcauvovect,ccphnt
uctrsnhnhau
Mrngthngs:tacthctccthngsivikhicvec
thothnhilngvecthayilngvhng.Khitactccthng
s vec t, mi mt phn t thng s c kt hp vi phn t tng ng
trongvectuvo.Khitactccthngsvect,Simulinkpdngm
rngvhngbinichngthnhvectckchthcphhp.

18.Gnutinchokhi:Tacthgnutinchokhikhngnhn
thytrongmhnh.Khicutincaohncnhgitrckhic
utinnhhn.Tacthgnutinbngcchdnglnhtngtc
haydngchngtrnh.dngchngtrnhtadnglnh:

set_param(b,Priority,n)
Trongblkhivnlmtsnguyn,scngthp,utincngcao.
gn u tin bng lnh ta nhp u tin vo trng Priority trong
hpthoiBlockPrioritiescakhi.

19.SdngDropShadows:TacththmDropShadowvokhichn
bngcchchnShowDropShadowtmenuFormat

20. Tomt thvin: to mt th vin,chn Library t menu conNew


ca menu File. Simulink s hin th mt ca s mi, c tn l Library :
untitled.
441

21.Thayimtthvinc:Khitammtthvin,ntngkhov
ta khng th thay i cc thnh phn ca n c. Mun m kho ta chn
UnlocktmenuEdit.

22.Copymtkhitthvinvomhnh:Tacthcopymtkhitth
vinvomhnhbngcopyhaypastehaykonvthvocasmhnh.

23. V ng ni gia cc khi: ni cng ra ca mt khi vi cng vo


camtkhikhctalmnhsau:

tcontrchutlncngracakhiutin,contrcdngdu+
nhnvgichut
kocontrchutticngvocakhithhai
thchut
vnggpkhc,nhnphmShiftkhiv.

24. V ng nhnh: ng nhnh l ng ni t mt ng c v


mangtnhiucanticngvocamtkhi.
thmngnhnhtalmnhsau:
acontrchuttingcnphnnhnh
nhnphmchutngthinhnphmCtrl
kocontrchutticngvotiptheovthchutvaphmCtrl.
TuynhintacthdngphmphichutthayvdngphmCtrlvphm
trichut.

25.Chnkhivomtng:Tacthchnmtkhivomtngbng
cchkovthkhilnngni.Khimtachnvochcmtu
vovmtura.

26. Nhn ca tn hiu: Ta c th gn nhn cho tn hiu ghi ch cho m


hnh. Nhn c th nm trn hay di ng ni nm ngang, bn phi hay
bntringnithngng.
27.Sdngnhntnhiu:tonhntnhiu,bmpchutlnng
ni v ghi nhn. di chuyn nhn, sa mt nhn, click ln nhn ri nh
nhnmisaukhixanhnc

442

28.Ghich:Ghichlonvnbncungcpthngtinvmhnh.Tac
ththmghichvobtktrngnocamhnh.tomtghich,nhn
pchutvovngtrngcamhnh.Khinytrnmnhnhxuthinmt
hnhchnhtcconnhytrong.Tacthnhvnbnghichvokhung
ny.Khimundichuynphnghichnmtvtrkhc,tabmchutvo
vkonvtrmirithchut.samtghich,bmchutvon
hinthkhungvnbnvbtusa.

29.Cckiudliu:Simulinkchpnhncckiudliusau:
double
sthcvichnhxcgpi
single
sthcvichnhxcn
int8
snguyncdu8bit
uint8
snguynkhngdu8bit
int16
snguyncdu16bit
uint16
snguynkhgdu16bit
int32
snguyncdu32bit
uint32
snguynkhngdu32bit

30. Cc kiu d liu ca cc khi: Cc khi u chp nhn kiu d liu


double.

31.Mtcckiudliudngchothamskhi:Khinhpvothamsca
mtkhi,kiudliucancngidngmtbnglnhtype(value)
vitypeltncakiudliuvvaluelgitrcathams.
Vd:single(1.0)
dliulsthcctrl1

int8(2)

dliulsnguynctrl2

int32(3+2i)
dliulsphc,phnthcvphnolsnguyn
32bit

32.Totnhiuckiudliucmt:Tacthemvomhnhmt
tnhiuckiudliucmtbngmttrongccphngphpsauy:

nptnhiuckiudliumongmuntMATLAB

tomtkhihngvtthngscanckiudliumongmun.

sdngkhibinikiudliu

443

33. Hin th cc kiu d liu ca cng: hin th kiu d liu ca cng


trongmhnh,tachnPortDataTypestmenuFormat.

34.Tnhiuphc:Mcnh,ccgitrcatnhiuSimulinklsthc.Tuy
nhinccmhnhc thtovxlcctn hiulsphc.Tacth a
mttnhiulsphcvomhnhbngmttrongccphngphpsau:
nptnhiuphctMATLAB
tomtkhihngtrongmhnhvchongitrphc.
tomttnhiuthctngngviphnthcvphnocatnhiu
phc v kt hp cc phn ny thnh tn hiu phc bng cch s dng khi
binitnhiuthcothnhtnhiuphc.
Ta c th x l tn hiu phc nh cc khi chp nhn tn hiu phc.
PhnlncckhicaSimulinkchpnhntnhiuvolsphc.

35. To mt h thng con bng cch thm khi h thng con: to mt


khi h thng con trc khi thm cc khi trong n ta phi thm khi h
thngconvomhnhrithmcckhitonnhthngconnyvokhi
hthngconbngcchsau:

copykhihthngcontthvinSignal&Systemvomhnh
mkhihthngconbngcchclickplnn
trongcaskhiconrng,tohthngcon.Sdngcckhiinport
biudinuvovcckhioutportbiudinura.

36.Tohthngconbngcchnhmcckhic:Numhnhcata
c mt s khi m ta mun nhm thnh khi h thng con th ta c th
nhm
cckhinythnhkhihthngconbngsau:
baocckhivngnigiachngbngmtngtnt(bm
chutvkotgcnyngckiacacckhi)rithchut
chnCreateSubsystemtmenuEdit

37. Gn nhn cho cc cng ca h thng con: Simulink gn nhn cho cc


cngcahthngcon.Nhnltncacckhiinportvoutportnikhih
thng con vi cc khi bn ngoi qua cc cng ny. Ta c th du cc nhn
ny bng cch chn khi h thng con ri chn Hide Port Labels t menu
Format. Ta cng c th du mt hay nhiu nhn bng cch chn cc khi
444

inporthayoutportthchhptrongkhihthngconvchnHideNamet
menuFormat

38.Mphngmtphngtrnh:PhngtrnhdngbiniCelcius
thnhFahrenheitl:

TF=(9/5)TC+32
Trchttakhostcckhicntomhnh:
khiramptrongthvinSourcesinputtnhiunhit
khiConstanttrongthvinSourcestohngs32
khiGaintrongthvinMathtorahs9/5
khiSumtrongthvinMathcnghaiilng
khiScopetrongthvinSinkshinthktqu.
Tiptaacckhivocasmhnh,gnccgitrthngschoGain
v Constant bng cch nhp p ln chng m khi. Sau ta ni cc
khi.KhiRampanhitCelciusvmhnh.Mkhinyvthayi
gi tr khi gn Initial output v 0. Khi Gain nhn nhit ny vi h s
9/5.KhiSumcnggitr32viktquvaranhitFahrenheit.Khi
Scope xem kt qu. S m phng nh sau. By gi Start t menu
Simulationchysimulation.Simulationchy10giy,tngngvinhit
Celciusbinit0n10o.

39.Mphngmthphngtrnhtuyntnh:Taxthphngtrnhtuyn
tnhchain:
z 1 + z 2 = 1

z 1 + z 2 = 1

mphngtadngcckhi:
haikhiAlgebricConstrainttrongthvinMathgiiphngtrnh
haikhiSumtrongthvinMathtophptnh
haikhiDisplaytrongthvinSinkhinthgitrnghim
445

khiConstanttrongthvinSourcestogitr1

40.Mphngmtphngtrnhbccao:Taxtphngtrnh:

x2+3x+1=0
mphngtadngcckhi:
khiAlgebricConstrainttrongthvinMathgiiphngtrnh

khiDisplaytrongthvinSinkhinthtrscanghim
khiConstanttrongthvinSourcestogitr1
khiSumtrongthvinMathtophpcng
2
khiMathFunctiontrongthvinMathtohmx
khiGaintrongthvinMathtohs3
Smphngnhsau

446

41. M phng h thng lin tc n gin: Ta m hnh ho h m t bi


phngtrnhviphn

x( t ) = 2 x( t ) + u( t )
viu(t)lmtsnghnhchnhtcbinbng1vtns1rad/s.m
phnghtadngcckhi:
khiGaintrongthvinMathtohs2
khiSumtrongthvinMathtophptnh
khiScopetrongthvinSinkxemktqu
khiSignalGeneratortrongthvinSourcestongun
khiIntegratortrongthvinContinuoustchphn
Smphngnhsau:

42.Mphnghphngtrnhviphnbccao:Taxthmtbiphng
trnhviphnbchaisau:
d2x
dx
+3
+ 2 x( t ) = 4 u( t)

2
dt
dt
Trongu(t)lhmbcnhy,x(0)=0vx(0)=0.BiniLaplacecah
chota:

p X(p)+3pX(p)+2X(p)=4U(p)
Hmtruyncahl:
4

T( p) = 2
p + 3p + 2
Tamphnghbngccphnt:
khiSteptrongthvinSourcestohmbcnhyu(t)
khiTransferFcntrongthvinContinuoustohmtruyn
khiScopetrongthvinSinkxemktqu
Smphngnhsau:
447


43.Mphnghciukinukhckhng:

a.Phngtrnhviphncp1:Taxthmtbiphngtrnh:
dx
+ x( t) = 0

dt
iukinucahlx(0)=1.Tacntmx(t)trongon0t10s.Doiu
kinukhckhngnntabiniphngtrnhvdngkhnggiantrng
thi.
dx = Ax + B

dt
y = Cx + Du

Trongxlbintrngthi,ultnhiuvo,yltnhiura.

Chny(t)=x(t)tac:
dx
= x( t )

dt

y(t)=x(t)
NhvyA=1;C=1;u(t)=0;B=0vD=0.Smphnggmccphn
t:
khiStateSpacetrongthvinContinuous
khiScopetrongthvinSink
Smphngnhsau:

b.Phngtrnhviphncpcao:Taxthmtbiphngtrnh:

d2x
dx

+
3
+ 2 x( t ) = 4 u( t)
dt 2
dt
Trongu(t)lhmnv,x(0)=1vx(0)=2.

448

dx1
. Nh
dt
2
dx 2 d 2 x 1 d x
vyiukinul:x1(0)=1vx2(0)=2.Ngoira
=
=

dt
dt
dt
dx 2

+ 3x 2 ( t ) + 2x1 ( t ) = 4u( t )
dt
Phngtrnhcphaicavhaiphngtrnhcp1:
dx1 =x ( t )
2
dt

dx 2

= 3x 2 ( t ) 2x1 ( t ) + 4 u( t)

dt

dx 2
dt
Vitdidngmatrntac:
dx1
1 x1 ( t ) 0
dt 0
=

dx 2 2 3 x ( t ) + 4 u( t )
2

dt
x1 ( t )
y( t ) = [1 0 ]

x 2 ( t )

Ta cng dng h khng giantrng thi. Ta t x1 = x , x2 =

Thnytasuyraccmatrncahkhnggiantrngthil:
1
0
0
A=
B
=

4 C = [1 0] D = 0
2 3

Smphnggmcckhisau:
khiStateSpacetrongthvinContinuous
khiScopetrongthvinSink
Smphngnhsau

44.Mphnghchobiskhi:Xtmthccutrcskhinh
sau:

449


1
+
k

s2 + s

Tamphnghbngccphnt:
khiSteptrongthvinSources
khiGaintrongthvinMath
khiTransferFcntrongthvinContinuous
Smphngnhsau

45.Mhnhhohphituyn:

a.Hchobiphngtrnhviphncpcao:TaxtphngtrnhValder
Pol:

y (1 y 2 )y + y = 0
iukinuy(0)=2vy(0)=0

Taty=y1vy=y2vcchphngtrnhviphncp1:
y1 = y 2

y2 = (1 y 12 ) y 2 y 1
Hphngtrnhcmphngbngccphntsau:
khihmFcntrongthvinFunctions&Tablestohm
khiProducttrongthvinMathtophpnhn
haikhiIntegratortrongthvinContinous
khiSumtrongthvinMath
khiMuxtrongthvinSignal&Systemstrntnhiu
khiScopetrongthvinSinkxemktqu.
Smphngnhsau:

450

b. H m t bng h phng trnh vi phn: Ta xt h m t bng h


phngtrnhviphnsau:
a1 = a 2

a
sin(
a
)
0
.
2
a
1
2
2

viiukinula1(0)=a2(0)=1.3
Tamphnghbngccphnt:
haikhiIntegratortrongthvinContinous
khiFcntrongthvinFunctions&Tables
khiGaintrongthvinMath
haikhiScopetrongthvinSink
khiSumtrongthvinMath
Smphngnhsau:

451

46.Lumhnh:Tacthlumhnhbngcchchn Savehay Saveast


menuFile.Tadng Savekhimmhnhc,savluli. Saveasdngkhi
m hnh c ten l untitled ngha l cha c t tn. Simulink s lu m
hnhbngmtfilectnvphnmrngl.mdl.

47.Inskhi:Tacthinskhibngcchchn Printtmenu File.


KhinyhpthoiPrintsxuthin.Nchophpta:
chinhthnghinhnh

inhthnghinhnhvcchthngdintrongphnlpmhnh
inhthnghinhnhvcchthngtrnntrongphnlpmhnh
inttccchthngtrongmhnh
inmimhnhmtkhungoverlay

48.Duytquamhnh:CasModelBrowserchophpta:
duytquamhnhcphnlp
mcchthngtrongccmhnh
xcnhnidungcckhitrongmtmhnh
hin th Model Browser, chn n t menu View. Ca s xut hin
cchialm2phn.PhatrilBrowser.Cutrccycamhnhhinth
bnphi.Midu+tngngvimththngcon.

2.SYMBOLICMATLABTOOLBOX
1. Khi nim chung: Symbolic Math Toolboxes kt hp tnh ton bng ch
vomitrngMATLAB.Cctoolboxnybsungcctinchsvth
vicckiutnhtontonhckhcnhau.

Tinch
Nidung
Calculus
o hm, tch phn, gii hn, tng v chui
Taylor
LinearAlgebra
nghcho,nhthc,gitrring,phntchv
dngchnhtccamatrn.
Simplification
phngphprtgnccbiuthcis
SolutionofEquations
gii bng ch v bng s cc phng trnh i
svviphn
VariablePrecision
nhgichnhxccaccbiuthcis
Arithmetic
452

Transform
biniLaplace,Fourriervz
Special
Mathematical cc hm ton hc c bit ca cc ng dng
Function
tonhckinhin

nglctnhtonnmdicctoolboxlnhnMaple,mththng
tnhtoncphttrinutintrngihcWaterloo,Canadavsau
ti Eidgenroessiche Technische Hochschule Zurich, Thu s. Maple c
thngmihovhtrcacngtyWaterlooMaple.

2.KhingTOOLBOX:
a.Ccitngch:Trongphnnychngtasxemxtcchtov
dng cc i tng ch. Chng ta cng s xem xt cc bin ch mc nh.
SymbolicMathToolboxnhnghamtkiudliuMATLABmigili
tngchhaysym.Bntrong,mtitngchlmtcutrcslium
nlubiudinchuicckt. SymbolicMathToolboxdngccitng
chbiudinccbinch,ccbiuthcch,ccmatrnch.
b. To cc bin v cc biu thc ch: Lnh sym cho php ta xy dng
ccbinvccbiuthcch.Vdlnh:

x=sym(x)
a=sym(alpha)

toraccbinchlxvavixlxvalalpha.

Gi s ta mun ta mun dng bin ch biu din t l vng


1+ 5
=
.Tadnglnh:
2

rho=sym((1+sqrt(5))/2)

Bygitacththchinccphptonkhcnhauvirho.Vd:

f=rho^2rho1

f=
(1/2+1/2*5^(1/2))^23/21/2*5^(1/2)

Tartgnbiuthc:
453

simplify(f)
ans=
0

Bygigistamungiiphngtrnhbc2 f = ax 2 + bx + c .Phtbiu:

f=sym(a*x^2+b*x+c)

gn biu thc ch ax2 + bx + c cho bin f. Tuy nhin trong trng hp ny


SymbolicMathToolboxkhngtoraccbintngngviccshnga,b,
cvxtrongbiuthc.thchinccphptonbngch(vdtchphn,
ohm,thaythv.v)trnftaphitoccbinmtcchrrng,nghal
cnvit:

a=sym(a)
b=sym(b)
c=sym(c)
x=sym(x)

haynginl:

symsabcx

Ni chung l ta c th dng sym hay syms to cc bin ch nhng nn


dngsymstitkimthigian.

2.Binigiasvch:
a.Toccbinthcvphc:Lnhsymchophptamtccthuctnh

tonhccaccbinchbngcchdngtuchnreal.Phtbiu:

x=sym(x,real);
y=sym(y,real);

hayhiuquhn:

symsxyreal
454

z=x+i*y

torabinchxvycthuctnhlsthc.cbit:

f=x^2+y^2

thcslskhngm.Nhvyzlbinphcvcclnh:

conj(x)
conj(z)
expand(z*conj(z))

choktqu:

returnthecomplexconjugatesofthevariables
x
xi*y
x^2+y^2

Lnh conj l ton t to s phc lin hp. xa thuc tnh real ca x ta


dnglnh:

symsxunreal
hay:
x=sym(x,unreal)

Lnhclearxkhngxothuctnhsrealcax.
b.Tocchmtrutng:Nutamuntomthmtrtng(ngha
lmthmkhngxcnh)f(x)cndnglnh:

f=sym(f(x))

Khinyfhotngnhlf(x)vcthxlbngcclnhtoolbox.Vd
tnhviphnbc1tavit:

df=(subs(f,x,x+h)f)/h
455

hay

symsxh
df=(subs(f,x,x+h)f)/h

trv:
df=
(f(x+h)f(x))/h

ngdngnycahmsymsrthuchtrongbiniFourrier,Laplacev
z.
c.DngsymtruycpcchmcaMaple:Tacthtruycphmgiai
thak!caMaplekhidngsym.

kfac=sym(k!)

tnh6!hayk!tavit:

symskn
subs(kfac,k,6)
ans=
720
subs(kfac,k,n)
ans=
n!

haynutnh12!tacngcthvit:

prod(1:12)

d.Vdtomatrnch:Mtmatrnvnglmatrnmhngsauc
cbngcchdchccphntcahngtrci1ln.Tatomtmatrn
vngAbngccphnta,bvc:

symsabc
A=[abc;bca;cab]
456

ktqu:
A=
[a,b,c]
[b,c,a]
[c,a,b]

DoAlmatrnvngtngmihngvctnhnhau:

sum(A(1,:))
ans=
a+b+c
sum(A(1,:))==sum(A(:,2))
ans=
1

BygitathayA(2,3)bngbetavbbngalpha:

symsalphabeta

A(2,3)=beta;
A=subs(A,b,alpha)
A=
[a,alpha,c]
[alpha,c,beta]
[c,a,alpha]

T v d ny ta thy dng cc i tng ch cng tng t nh dng s


trongMATLAB.
e.Binchmcnh:Khidngcchmtonhc,vicchnccbinc
lpthngrtrrng.Vdxembngsau:

Hmtonhc
LnhMATLAB
f=xn
f=x^n
g=sin(at+b)
g=sin(a*t+b)
h=Jv(z)
h=besselj(nu,z)

457

Nutatmohmcacchmnynhngkhngmtbinclp
(nghalohmtheobinno)thktqul:
f=nxn1
g=acos(at+b)
h=Jv(z)(v/z)Jv+1(z).
Nhvyccbinclplx,tvz.MATLABhiuccbinclpl
ccchthngvnmcuibngchcinhx,y,z.Khikhngthycc
chciny,MATLABstmchgnnhtvcoilbinclp.Ccbin
khcnhn,a,bvvccoilhnghaythngs.Tuynhintacthly
ohmcaftheonbngcchvitrbinclpra.Tadngcclnhsau
toracchm:

symsabnnutxz
f=x^n;
g=sin(a*t+b);

ohmhmftavit:
diff(f);

ans=

x^n*n/x

Trongvdtrnxlbinclp.Numuntnhohmcaftheontacn
vit:

diff(f,n)

ans=

x^n*log(x)

4.Tocchmtonhcbngch:
a.Dngccbiuthcch:Cclnh:

symsxyz
r=sqrt(x^2+y^2+z^2)
t=atan(y/x)
f=sin(x*y)/(x*y)

458

toraccbiuthcchr,tvf.Tacthdngcclnhdiff,int,subshaycc
lnhSymbolicMathToolboxkhcxlccbiuthcnhvy.
b.ToccMfile:Mfilechophptadngcchmtngquthn.Vd
tamuntorahmsinc=sin(x)/xtasvitmtMfilecnidungnhsau:

functionz=sinc(x)
ifisequal(x,sym(0))
z=1;
else
z=sin(x)/x;
end

Tacthmrngccvdnhvychocchmvbinkhcnhau.

5.Tnhton:
a.ohm:Tatobiuthcch:

symsax
f=sin(a*x)

Vyth:

df=diff(f)

tnhohmcahmf(x)theox.Ktqul:

df=
cos(a*x)*a

tnhohmcaftheoatavit:

dfa=diff(f,a)

ktqu:

dfa=
459

cos(a*x)*x

Hmtonhc
f=xn
f=nxn1
g=sin(at+b)
g=acos(at+b)

LnhMATLAB
f=x^n
diff(f)haydiff(f,x)
g=sin(a*t+b)
diff(g)haydiff(g,t)

tnhohmbc2caftheoxvatavit:

diff(f,2)
ans=
sin(a*x)*a^2
diff(f,x,2)
ans=
sin(a*x)*x^2

Hmdiffcthdngislmatrn.Trongtrnghpnyohmc
thchintrntngphnt.Vd:

symsax
A=[cos(a*x),sin(a*x);sin(a*x),cos(a*x)]

ktqu:
A=
[cos(a*x), sin(a*x)]
[sin(a*x), cos(a*x)]

lnh:

dy=diff(A)

choktqu:
dy=
[sin(a*x)*a,
cos(a*x)*a]
sin(a*x)*a]
[cos(a*x)*a,
460

TakhostbinittoEuclid(x,y,z)sangtocu(r,,)thchin
bngcccngthc:
x=rcoscos
y=rcossin
z=rsin
tnhmatrnJacobiJcaphpbininytadnghm jacobian.nh
nghatonhccaJl:
( x , y , z )
J=

(r , , )
dvittadngktlthaychovfthaycho.Cclnh

symsrlf
x=r*cos(l)*cos(f);
y=r*cos(l)*sin(f);
z=r*sin(l);
J=jacobian([x;y;z],[rlf])

chotaktqu:

J=
[cos(l)*cos(f), r*sin(l)*cos(f),r*cos(l)*sin(f)]
[cos(l)*sin(f),
r*sin(l)*sin(f), r*cos(l)*cos(f)]

r*cos(l),

0]
[sin(l),

vlnh:

detJ=simple(det(J))

cho:
detJ=
cos(l)*r^2

Chlisthnhtcahmjacobianphilvectctvisthhai
lvecthng.HnnadonhthccamatrnJacobianlbiuthclng
gickhphctpnntadnglnhsimplethaythvrtgn.
Bngsautnghphmdiffvhmjacobian
461


Tonttonhc
f=exp(ax+b)
df

dx
df

da
d2f

d 2a
r=u2+v2
t=arctan(v/u)
J=

( r , t )

( u , v )

LnhMATLAB
symsabx
f=exp(a*x+b)
diff(x)hay
diff(f,x)
diff(f,a)

diff(f,a,2)
symsrtuv
r=u^2+v^2
t=atan(v/u)
J=jacobian([r;t],[u,v])

b.Giihn:ohmcamthmlgiihnsauynuntnti:
f ( x + h ) f ( x)

f ( x) = lim
h 0
h
Symbolic Math Toolbox cho php gii hn ca mt hm mt cch trc tip
hn.Lnh:

symshnx
dc=limit((cos(x+h)cos(x))/h,h,0)

choktqu:

dc=
sin(x)
v:

limit((1+x/n)^n,n,inf)

cho:
ans=
exp(x)
462

minh ho 2 trong s cc gii hn quan trng ca ton hc: o hm(trong


trnghpcosx)vhmm.Trongkhinhiugiihn:
lim f( x)
x a

l hai pha(ngha l kt qu nh nhau cho d x tin ti bn phi hay bn


tricaa)licnhnghmgiihnphivtrikhcnhau.Do3giihn:
1
1
1
lim , lim , lim
x0 x
x 0 x
x +0 x
cho3ktqukhcnhau:khngxcnh,v+
Trong trng hp khng tn ti gii hn Symbolic Math Toolbox tr v kt
quNaN.Vd:

limit(1/x,x,0)

cho:
ans=
NaN
Lnh:

limit(1/x,x,0,left)

cho:

ans=
inf

Lnh:

limit(1/x,x,0,right)

cho:

ans=
inf

Nhvylimit(f)tngngvilimit(f,x,0).Bngsauchoccgiihn:

463

Hmtonhc
LnhMATLAB
lim f( x)
limit(f)
x 0
lim f( x)

limit(f,x,a)haylimit(f,a)

lim f( x)

limit(f,x,a,left)

lim f( x)

limit(f,x,a,right)

x a

x a

x+a

c. Tch phn: Nu f l mt biu thc ch th int(f) tm mt biu thc


khc F sao cho diff(F) = f. Nh vy int(f) cho ta tch phn bt nh ca f.
Tngtnhohm int(f,v)lytchphntheobinclpv.Tacbng
sau:

Hmtonhc
LnhMATLAB
n +1
x
int(x^n)hay
n
x dx = n + 1
int(x^n,x)

int(sin(2*x),0,pi/2)hay
2
int(sin(2*x),x,0,pi/2)
sin( 2x)dx = 1
0

g=cos(at+b)
1
g( t)dt = a sin(at + b)

g=cos(a*t+b)
int(g)hay
int(g,t)

KhiMATLABkhngtmctchphnnvitlilnhnhpvo.Vd:

symsx
f=exp((k*x)^2);
int(f,x);
ezplot(f)

tnhtchphnbtnhcahm.tnhtchphnxcnhtavit:

symsx
f=exp((k*x)^2);
a=int(f,x,0,1);
a=double(a)

464

d.Tnhtng:Tacthtnhtngbiuthcchkhichngtntibng
cchdnglnhsymcum.Vdchui:
1
1
1 + 2 + 2 +
2
3
chotngl2/6cnchui:

1+x2+x3+...
chotngl1/(1x).Cctngctnhnhsau:

symsxk
s1=symsum(1/k^2,1,inf)
s2=symsum(x^k,k,0,inf)

e.ChuiTaylor:Chohmf(x).Phtbiu:

T=taylor(f,8)

choktqu:
T=
1/9+2/81*x^2+5/1458*x^4+49/131220*x^6

lkhaitrinTaylorcaf(x)lncnx=0(khaitrinMacLaurin)ccha8s
hngkhc0.Phtbiu:

symsx
g=exp(x*sin(x))
t=taylor(g,12,2)

torakhaitrinTaylorcaf(x)tix=2vchan12shngkhc0.Tav
cc hm ny ln cng mt th thy c kh nng xp x ca chui
Taylorvihmthcg:

xd=1:0.05:3;
yd=subs(g,x,xd);
ezplot(t,[1,3]);
holdon;
plot(xd,yd,r.)
465

title(XapxiTaylor);
legend(Ham,Taylor)
Xap xi Taylor

Ham

Taylor
6

1
1
1.5
2
2.5
3

x
Tiptadnglnhpretty(T)inktqudidngccbiuthctonhc
dc.

6.Rtgnbiuthc:Taxt3biuthckhcnhau:

symsx
f=x^36*x^2+11*x6
g=(x1)*(x2)*(x3)
h=x*(x*(x6)+11)6

Thchincclnhpretty(f),pretty(g),pretty(h)tanhnc:
f=x36x2+11x6

g=(x1)(x2)(x3)

h=x(x(x6)+11)6

C 3 biu thc ny l cc dng biu din ton hc khc nhau ca cng mt


hmtonhclathcbc3theox.Mimtdngthchhpvimt
dngtnhton.Dngthnhtfldngchungnhtthngcdngbiu
dinathc.Nnginlmtthptuyntnhcaccsmcax.Dng
th2,hmg,ldngphntchthnhthas.Nbiudinnghimcaa
thc.Tuynhinkhngphaiathcnocngcnghim,nghalcthphn
tchthnhthas.Dngth2ldngHornercaathc.Nrttindng
tnhtrscaathctimtgitrnocax.
466


SymbolicMathToolboxcungcpmtshmdngbiniccbiu
thc i s v lng gic thnh cc biu thc n gin hn. Chng gm:
collect,expand,horner,factor,simplify,vsimple.
a.collect:Phtbiu:
collect(f)
xemfnhmtathcgmccbinchxvgpttccchcngbcca
x.isth2cachrbinnhgpnucnhiuintrongbiuthc.Sau
ylmtsvd:

f
collect(f)
(x1)(x2)(x3)
x^36*x^2+11*x6
x*(x*(x6)+11)6
x^36*x^2+11*x6
(1+x)*t+x*t
2*x*t+t

b.expand:Phtbiu:
expand(f)
khaitrinbiuthc.Sauylmtsvd:

f
expand(f)
a*(x+y)
a*x+a*y
(x1)*(x2)*(x3) x^36*x^2+11*x6
x*(x*(x6)+11)6 x^36*x^2+11*x6
exp(a+b)
exp(a)+exp(b)
cos(x+y)
cos(x)*cos(y)sin(x)*sin(y)
cos(3*acos(x))
4*x^33*x

c.horner:Phtbiu:
horner(f)
binimtathcthnhdngHornerhaybiudinlngnhau.Vd:

f
horner(f)
x^36*x^2+11*x6 6+(11+(6+x)*x)*x
1.1+2.2*x+3.3*x^2
11/10+(11/5+33/10*x)*x

d.factor:Nuflathchshut,phtbiu:
467

factor(f)
biudinfnhltchcaccathccbcthphnvihshut.V
d:

f
factor(f)
x^36*x^2+11*x6 (x1)*(x2)*(x3)
x^36*x^2+11*x5 x^36*x^2+11*x5
x^6+1
(x^2+1)*(x^4x^2+1)

ylmtvdkhcvphntchathcxn+1thnhthas:

symsx;
n=1:9;
x=x(ones(size(n)));
p=x.^n+1;
f=factor(p);
[p;f].

trvmatrnviccathcctthnhtvccthasctth2:

x+1]
[x+1,

x^2+1]
[x^2+1,
[x^3+1, (x+1)*(x^2x+1)]
[x^4+1,x^4+1]
[x^5+1,(x+1)*(x^4x^3+x^2x+1)]
[x^6+1,(x^2+1)*(x^4x^2+1)]
[x^7+1,(x+1)*(1x+x^2x^3+x^4x^5+x^6)]
[x^8+1,x^8+1]
[x^9+1,(x+1)*(x^2x+1)*(x^6x^3+1)]
Hmfactorcthphntchccitngchcchasnguynthnhtha
s.Vd:

one=1
forn=1:11
N(n,:)=sym(one(1,ones(1,n)));
end
[Nfactor(N)]
468


choktqu:
[1,1]
[11,(11)]
[111,(3)*(37)]
[1111,(11)*(101)]
[11111,(41)*(271)]
[111111,3)*(7)*(11)*(13)*(37)]
[1111111,(239)*(4649)]
[11111111,(11)*(73)*(101)*(137)]
[111111111,(3)^2*(37)*(333667)]
[1111111111,(11)*(41)*(271)*(9091)]
[11111111111,(513239)*(21649)]

e. simplify: Hm simplify l mt hm mnh, dng rt gn cc biu


thc.Sauylmtsvd:

f
simplify(f)
x*(x*(x6)+11)6
x^36*x^2+11*x6
(1x^2)/(1x)
x+1
(1/a^3+6/a^2+12/a+8)^(1/3)
((2*a+1)^3/a^3)^(1/3)
symsxypositivelog(x*y)
log(x)+log(y)
exp(x)*exp(y)
exp(x+y)
cos(x)^2+sin(x)^2
1

f .simple: Hm simple a ra dng ngn nht c th c ca mt biu


thc.Hmnycnhiudng,midngtrvktqukhcnhau.Dng:
simple(f)
hinthdngngnnht.Vd:

symsx

simple(cos(x)^2+sin(x)^2)

Trongmtstrnghp,tapdngsimple2lnnhnchiuqurt
gncaohn.Vd:

469

symsa
f=(1/a^3+6/a^2+12/a+8)^(1/3);
simple(simple(f))

chota:
1/a+2
Trongkhilnh:

symsa

simple(f)

chota:
(2*a+1)/a
Hmsimplecbitchiuqutrnccbiuthclnggic.Sauylmt
svd:

f
simple(f)
cos(x)^2+sin(x)^2
1
2*cos(x)^2sin(x)^2
3*cos(x)^21
cos(x)^2sin(x)^2
cos(2*x)
cos(x)+(sin(x)^2)^(1/2)
cos(x)+i*sin(x)
cos(x)+i*sin(x)
exp(i*x)
cos(3*acos(x))
4*x^33*x

7.Thays:Taxtvdgiiphngtrnhbchaiax2+bx+c=0.Cclnh
thchinnhimvnyl:

symsabcx
s=solve(a*x^2+b*x+c);

Bygitamuntnhcthgitrcaxvia=1,b=2,c=4thdngcc
lnh:

a=1;
b=2;
c=4;
470

x=subs(s)
Lnhsubscthkthpvilnhdoubletnhtrscamtbiuthcch.
Gistac:

symst
M=(1t^2)*exp(1/2*t^2);
P=(1t^2)*sech(t);

vmunxemtrnthPvMkhcnhaunhthno.Tadngcclnh:

ezplot(M);
holdon;
ezplot(P)

Tuy nhin ta vn kh hnh dung c s sai khc gia hai ng cong. V


vy tt hn chng ta kt hp subs, double li trong chng trnh
ctcompsubs.m:

T=6:0.05:6;
MT=double(subs(M,t,T));
PT=double(subs(P,t,T));
plot(T,MT,b,T,PT,r.)
title()
legend(M,P)
xlabel(t);
grid

torathnhiumu.

8.Giiphngtrnh:
a.Giiccphngtrnhis:NuSlbiuthcchth:
solve(S)
tmgitrcabinkttrongSS=0.Vd:
symsabcx
S=a*x^2+b*x+c;
solve(S)
471

chota:
ans=
[1/2/a*(b+(b^24*a*c)^(1/2))]
[1/2/a*(b(b^24*a*c)^(1/2))]

ylvectchmccphntcanl2nghimcaphngtrnh.

Nutamuntmnghimvimtbincmt,taphichrbin
nhmtthngsph.VdnutamungiiStheobthphivit:

b=solve(S,b)

vnhncktqu:
b=
(a*x^2+c)/x
Ch rng v d ny gi thit phng trnh c dng f(x) = 0. Nu ta mun
giiphngtrnhcdngf(x)=q(x)taphisdngchui.cbitlnh:

s=solve(cos(2*x)+sin(x)=1)

cho4nghim:
s=
[0]
[pi]
[1/6*pi]
[5/6*pi]
Phngtrnhx^32*x^2=x1giptahiucchgiiphngtrnh.nhvo
lnh:

s=solve(x^32*x^2=x1)

chotaktqu:
s=
[1/6*(28+84*i*3^(1/2))^(1/3)+14/3/(28+84*i*3^(1/2))^(1/3)+2/3]
[1/12*(28+84*i*3^(1/2))^(1/3)7/3/(28+84*i*3^(1/2))^(1/3)
+2/3+1/2*i*3^(1/2)*(1/6*(28+84*i*3^(1/2))^(1/3)
14/3/(28+84*i*3^(1/2))^(1/3))]
472

[1/12*(28+84*i*3^(1/2))^(1/3)7/3/(28+84*i*3^(1/2))^(1/3)
+2/31/2*i*3^(1/2)*(1/6*(28+84*i*3^(1/2))^(1/3)
14/3/(28+84*i*3^(1/2))^(1/3))]
Tatnhgitrscanghim:

double(s)
ans=
2.24697960371747+0.00000000000000i
0.80193773580484+0.00000000000000i
0.554958132087370.00000000000000i

Nchothyttcccnghimcaphngtrnhlsthc.iunykhng
ng.Dnglnhvpaxcnhchnhxc:

vpa(s,10)

tora:
ans=

[2.246979604+.1e9*i]
[.8019377357+.3e9*i]
[.5549581323.5e9*i]
iu ny ngha l phn o ca s rt nh nhng khc 0. Ta xem mt v d
khc:

symsx
s=solve(tan(x)+sin(x)2);

Ktqulmtvect41.Nhtrn,tadnglnhdouble:

X=double(s)
X=
0.88628729156094

1.89793604072796

2.07662070137841

2.07662070137841

473

b.Hphngtrnhis:Bygitaxthphngtrnh.Gistac
hphngtrnh:
x 2 y 2 = 0

y
x

2
vtacntmxvy.Trchttatoraccitngcnthit:

symsxyalpha

Cnhiucchbiudinnghim.Mttrongcccchlvit:

[x,y]=solve(x^2*y^2,x(y/2)alpha)

vccktqu:
x=
[0]
[0]
[alpha]
[alpha]
y=
[2*alpha]
[2*alpha]
[0]
[0]
Sauvitvectnghim:

v=[x,y]

chota:
v=
[0,2*alpha]
[0,2*alpha]
[alpha,0]
[alpha,0]

Taxttipphngtrnh:
474

eqs1=x^2*y^2=1,x1/2*yalpha
[x,y]=solve(eqs1)

toraccnghim:
x=

[1/2*alpha+1/2*(alpha^2+2)^(1/2)]
[1/2*alpha1/2*(alpha^2+2)^(1/2)]
[1/2*alpha+1/2*(alpha^22)^(1/2)]
[1/2*alpha1/2*(alpha^22)^(1/2)]

y=

[alpha+(alpha^2+2)^(1/2)]
[alpha(alpha^2+2)^(1/2)]
[alpha+(alpha^22)^(1/2)]
[alpha(alpha^22)^(1/2)]
Cchgnccnghimnhtrnchthchhpvihctphngtrnh.Vih
cnhiuphngtrnh, solvetoramtcutrcmcctrngcanlcc
nghim.Takhosthphngtrnh:
u 2 + v 2 = a 2

u + v = 1
2
a 2a = 3
Lnh:

S=solve(u^2v^2=a^2,u+v=1,a^22*a=3)

Choktqu:
S=

a:[2x1sym]
u:[2x1sym]

v:[2x1sym]
CcnghimlcctrngcaS.l:
S.a
Tora:
ans=
[1]
475

[3]
Tng t ta tm c nghim u v v. Cu trc S by gi c th c x l
bngtrngvchstruycpnccphnringbitcanghim.Vd
nutamunkimtranghimth2,tacthdngphtbiusau:
s2=[S.a(2),S.u(2),S.v(2)]
trchthnhphnt2camitrng.
s2=
[3,5,4]
Phtbiu:
M=[S.a,S.u,S.v]
ToramatrnnghimM:
M=
[1,1,0]
[3,5,4]
mmihnglmtnghimcah.
Nuhphngtrnhltuyntnhtacthdngmatrngiih.Vd:

clearuvxy
symsuvxy
S=solve(x+2*yu,4*x+5*yv);
sol=[S.x;S.y]

v:

A=[12;45];
b=[u;v];
z=A\b

cho:
sol=
[5/3*u+2/3*v]
[4/3*u1/3*v]

z=
[5/3*u+2/3*v]
[4/3*u1/3*v]
476

Nhvytaccngmtnghimchodphngphpgiikhcnhau.
c. Gii phng trnh vi phn: Hm dsolve tnh nghim bng ch ca
phng trnh vi phn thng. Cc phng trnh c m t bng cc biu
thcchchaccchciDchccohm.KhiuD2,D3,...,Dntng
ng vi o hm cp 1,cp 2,..,cp n. Nh vy D2y trong Symbolic Math
d2 y
Toolboxl 2 .BinphthuclbincxlbiDvbinclpmc
dx
nhlt.NhvytnccbinktkhngccD.Cthdngbinc
lp khc bng cch ch ra n nh l thng s cui cng trong lnh dsolve.
iukinucthmtnhlmtphngtrnhph.Nuiukinu
khng c, nghim s cha cc hng s tch phn C1, C2 v.v. C php ca
dsolvecmttrongbngsau:

Cphp
Phmvi
y=dsolve(Dyt=y0*y)
Mtphngtrnh,mtnghim
[u,v]=dsolve(Du=v,Dv=u)
Haiphngtrnh,hainghim
S=dsolve(Df=g,Dg=h,Dh=f) Baphngtrnh,ralcutrc
S.f,S.g,S.h
nghim

Vd1:Tadnglnh:

dsolve(Dy=1+y^2)

vcktqu:
ans=
tan(tC1)
mtiukinu,tadng:

y=dsolve(Dy=1+y^2,y(0)=1)

vc:
y=
tan(t+1/4*pi)
Ch l y trong vng lm vic ca MATLAB nhng bin c lp t th
khng. Nh vy lnh diff(y, t) gy ra li. t t vo vng lm vic ca
MATLABphidngsymst
477

Vd2:Ccphngtrnhphituyncthcnhiunghim,thmchngay
ckhichoiukinu.

x=dsolve((Dx)^2+x^2=1,x(0)=0)

choktqu:
x=
[sin(t)]
[sin(t)]
Vd3:ylmtphngtrnhbc2vi2iukinu.Lnh:

y=simplify(dsolve(D2y=cos(2*x)y,y(0)=1,Dy(0)=0,x))

tora:
y=
2/3*cos(x)^2+1/3+4/3*cos(x)
giiphngtrnh:
d3u
=u

dx 3
u(0) = 1, u(0) = 1, u(0) =
tadngcclnhsau:

u=dsolve(D3u=u,u(0)=1,Du(0)=1,D2u(0)=pi,x)

d.Hphngtrnhviphn:Hm dsolve cthxlhphngtrnhvi


phn,chaykhngciukinu.Vdtachphngtrnh:

y=3f+4g

g=4f+3g
giihtadnglnh:

S=dsolve(Df=3*f+4*g,Dg=4*f+3*g)

NghimctnhvtrvdidngcutrcS:
S=

f:[1x1sym]

g:[1x1sym]
478

Tacthxcnhgitrcafvgbnglnh:

f=S.f
f=

exp(3*t)*(cos(4*t)*C1+sin(4*t)*C2)

g=S.g

g=

exp(3*t)*(sin(4*t)*C1cos(4*t)*C2)

Nutachociukinuthvit:

[f,g]=dsolve(Df=3*f+4*g,Dg=4*f+3*g,f(0)=0,g(0)=1)

f=
exp(3*t)*sin(4*t)
g=
exp(3*t)*cos(4*t)

BngsaumtmtvivdvcphpcaSymbolicMathToolbox.

Phngtrnhviphn
LnhMATLAB
dy
y=dsolve(Dy+4*y=exp(t),y(0)=1)
+ 4 y( t ) = e t

dt

y(0) = 1
d2 y
y=dsolve(D2y+4*y=exp(2*x),y(0)=0,
+ 4 y( x) = e 2 x
2

y(pi)=0,x)
dx
y(0) = 0 , y( ) = 0
d2 y
y=dsolve(D2y=x*y,y(0)=0,
xy
(
x
)
=
y(3)=besselk(1/3,2*sqrt(3))/pi,x)
dx 2
1

y(0) = 0 , y( 3) = K 1 ( 2 3 )
3
(phngtrnhAiry)

9.BiniFouriervFourierngc:
479


a.BiniFourier:BiniFourierdngbiniphngtrnhvi
phnthnhphngtrnhis.Cphp:

F=fourier(f)

F=fourier(f,v)

F=fourier(f,v,u)

TacthxemccbiniFouriertrongbngsau:

BiniFourier
LnhMATLAB
2
f=exp(x^2)
f ( x) = e x

fourier(f)cho:
2
F[f ]( w) = f( x)e iwxdx = e w / 4
pi^(1/2)*exp(1/4*w^2)

g( w ) = e w

F[g ]( t ) =
f( x) = xe

g( w)e

|x|

F[f ]( u) =

iwt

dt =

1 + t2

f( x)e

ixu

dx =

4i

(1 + u 2 )2 u

g=exp(abs(w))
fourier(g)cho
2/(1+t^2)

f=x*exp(abs(x))
f=x*exp(abs(x))cho
4*i/(1+u^2)^2*u

b. Bin i Fourier ngc: Khi bit hm nh Fourier dng bin i


Fourierngctatmchmgc.Cphp:

f=ifourier(F)
f=ifourier(F,u)
f=ifourier(F,v,u)

BiniFourierngc
LnhMATLAB
w2
symsareal
4a 2
f( w) = e
f=exp(w^2/(4*a^2))

a ( ax ) 2 F=ifourier(f)
F 1[f ]( x) = f( w)e iwxdw =
e

F=simple(F)cho
|x|
g( x ) = e
ha*exp(x^2*a^2)/pi^(1/2)
g=exp(abs(x))
480

F 1[g ]( t ) =

g(x)e

itx

dx =

1 + t2

f( w) = 2e |w| 1
1

F [f ]( t ) = f( w)e iwtdw =

2 ( t )(1 t 2 )
(1 + t )

ifourier(g)cho
1/(1+t^2)/pi

f=2*exp(abs(w))1
simple(ifourier(f,t))cho
(2pi*Dirac(t)pi*Dirac(t)*t^2)/
(pi+pi*t^2)

10.BiniLaplacevLaplacengc:

a. Bin i Laplace: Bin i Laplace dng bin i phng trnh vi


phnthnhphngtrnhis.Cphp:

laplace(F)
laplace(F,t)
laplace(F,w,z)

BiniLaplace
LnhMATLAB
4
f( t) = t
f=t^4

laplace(f)cho
24
L[f ] = F( t )e stdt = 5
24/s^5
s
0
1
g=1/sqrt(s)
g( s ) =

s
laplace(g)cho

1/(s^(1/2))*pi^(1/2)
L[g ]( t ) = g(s)e st ds =

s
0
at
f( t) = e
f=exp(a*t)

laplace(f)cho
1
L[f ]( x) = f( t )e txdt =

1/(x+a)
x+a
0

b.BiniLaplacengc:Khicnhcahm,tacthtmlihmgc

bngbiniLaplacengc.Cphp:

F=ilaplace(L)
F=ilaplace(L,y)
F=ilaplace(L,y,x)
481

BiniLaplacengc

LnhMATLAB

1
f=1/s^2

2
s
ilaplace(f)cho
c + i
1
t
L1[f ] =
f(s)e stds = t

2 i c i
1
g=1/(ta)

g( t ) =
ta
ilaplace(g)cho
c + i
1
x*exp(a*x)
L 1[g ] =
g( t )e xtdt = xe ax

2 i c i
1
f=1/(u^2a^2)
f( u) = 2

2
u a
ilaplace(f)cho
c + i
1
1
1
L 1[f ] =
g( u)e xudu =

1/(2*a*exp(a*x)) 1/(2*a*exp(

ax
ax
2 i c i
2ae
2ae
a*x))
f ( s) =

3.POWERSYSTEMBLOCKSET
1. Khi nim chung: Power System Blockset c thit k cung cp cho
chng ta cng c hiu qu v tin li m phng nhanh v d cc mch
in,cchthngin.Thvincanchaccphntcbncamch
innhmybinp,ngdy,ccmyinvccthitbintcng
sut.Giaodinhocungcpccthnhphncahthngin.Ccthnh
phn ny dc lu trong th vin powerlib. m th vin ny t ca s
MATLABtanhlnh powerlib.KhinyMATLABmmtcaschacc
khihthngconkhcnhau.Cchthngconnybaogm:
ElectricalSources
Elements
PowerElectronics
Machines
Connectors
Measuremets
Extras
Demos
Tacthmcchthngconnytoracccaschacckhim
tacncopyvomhnh.Mimtthnhphncbiudinbngmticon
cbit.

482

2.Mhnhhomtmchinngin:PowerSystemBlocksetchophpta
xydngvmphngmtmchinchaccphnttuyntnhcngnh
R
phituyn.Taxtmtmchinnhhnhv:
e= 2 .220sin(314+10)V

R=10
L
E

L=0.1H

C=100F
mphngmchinnytadngcckhi:
C
ngun,intr,inkhng,indungvdng
co.oinptadngkhiVmet.Nchotrstcthicainp.
thy c gi tr hiu dng ta dng khi RMS. Cc bc thc hin nh
sau:
Tmenu Filecacaspowerlibchn Newrichn Modelscha
mchinvgilctcircuit.mdl

Mthvin ElectricalSourcescopy ACVoltageSourceBlockvo


casctcircuit.mdl
Mhpthoi ACVoltageSourceBlockbngcchnhpplnn

nhpvobin,phasevtnstheoccgitrchotrongs.Chl
binlgitrmaxcainp.
Dokhiintrkhngcnncopykhi Series RLCBranchvtgi

trintrnhchovtLlvcngvClzero.
ThchintngtviphntLvC.

LykhioinptronghthngconMeasurement

xeminp,dngkhiScopecaSimulinkchun.MSimulinkv

copy khi Scope vo m hnh ctcircuit.mdl. Nu khi Scope c ni trc


tipviuracathitboinpnshinthinptheoV.
honthnhmchin,tacnniccphntvinhau

Smphng(lutrongctcircuit.mdl)nhsau:

483

Bygitacthbtumphngtmenusimulation.tavomenu
ny,chnccthngschoquatrnhmphngvbmntstart.
ddngchovicphntchtrngthixclpcamchinchng
ta, th vin powerlib cung cp giao din ho(GUI). Copy khi giao din
Powerguivocasctcircuit.mdlvnhnpvoiconmn.Midng
coilngracxcnhbngmichuitngngvitncan.
Ccbintrngthichinthtngngviccgitrxclpcadng
invinp.Tnccbinchatncckhi,btubngtipungIl
hay Uc_. Du quy c c s dng vi dng in v in p v cc bin
trngthicxcnhbnghngcacckhi:
dng in in cm chy theo hng mi tn tng ng vi du
dng
inptrntCbnginpratriinpvo
ChnmenuTool|SteadyStateVoltagesandCurrentsxemcctrsxc
lpcadnginvinp.

Bygichnmenu Tool| InitialValueofStateVariables hinth


ccgitrkhiucaccbintrngthi.Ccgitrkhiunyct
btusimulationtrngthixclp.
Tiptheotatnhccbiudincakhnggiantrngthicamhnh
ctcircuitbnghmpower2sys.NhpdnglnhsauyvocasMATLAB:

[A,B,C,D,x0,states,inputs,outputs]=power2sys(ctcircuit);
484

Hm power2systrvmhnhkhnggiantrngthicamchtrong4
ma trn A, B, C, D, x0 l vec t cc iu kin u m ta va hin th vi
Powergui.Tncaccbintrngthi,ccilngvovccilngra
ctrvtrong3matrnchui.
Mtkhimhnhtrngthibit,ncthphntchctrongvng
tn s. V d cc mode ca mch ny c th tm t cc gi tr ring ca ma
trnA(dnglnhMATLABeig(A)):

eig(A)
ans=
1.0e+002*
0.5000+3.1225i
0.50003.1225i

H thng ny c dao ng tt dn v phn thc m. Nu ta dng Control


System Toolbox, ta c th v th Bode. Cc lnh MATLAB(lu trong
ctcircuitm.m)nhsau:

freq=0:1500;
w=2*pi*freq;
[bien,pha,w]=bode(A,B,C,D);
semilogy(w,mag1(:,2));
semilogy(w,mag1(:,2));

3.Mhnhhoqutrnhqu:Mttrongnhngphmvingdngca
PowerSystemBlocksetlsimulationqutrnhqutrongccmchin.
iunycthlmccvicudaockhvmchint.Taxtqu
trnh qu khi ng mt mch RL vo ngun in xoay chiu. S m
phng(lutrongcttransient.mdl)nhsau:

485


Trcqutrnhqu,cudao(cmphngbngphntbreaker)
trngthim.Saukhongthigian1.5chuk,cudaong,nimchRL
vongune= 2 sin314t.

4.Mhnhhongdydi:ngdydilngdycthngsri.
N c m phng bng khi Distributed Parameter Line. N c xy
dngtrncsxtqutrnhtruynsngtrnngdy.Taxtmtng
dydi1000kmcmhnh(lutrongctlongline.mdl)nhsau:

Khisdngmhnhtaphikhaibointr,indungvincm
cangdytrnmtnvdi,sphavchiudicangdy.

5.Mhnhhongdybngcconhnh:Mcchcamhnhny
l thc hin ng dy 1 pha vi thng s c tp trung trn tng on.
Khi PI Section Line thc hin ng dy truyn ti mt pha vi thng s
486

tptrungtrntngon.ivingdytruynti,intr,incm
vindungphnbutrnsutchiudi.Mtmhnhxpxngdy
thng s phn b c c bng cch ni nhiu on pi ging nhau. Khng
gingnhngdythngsricstrngthilvhn,mhnhtuyn
tnhcconcshuhncctrngthichophpmhnhkhnggian
trngthicdngrtrapngtns.Soncdngphthuc
votnscbiudin.Xpxttnhtthchintheophngtrnh:
Nv
fmax =

8l
Trong:
N:sonpi
v:tctruynsng(km/s=1/L(H/km)C(F/km)
l:chiudingdy(km)
Taxtngdytrnkhngdi100kmctctruynsng300000km/s,
tnslnnhtbiudinckhidng1onl375Hz.Mhnhngin
nydngtronghthngtruyntinnglng.Taxydngmhnh(lu
trongctpiline7_7.mdl)nhsau:

Tanhpintr,incmvindungtrnmtnvdivo3utin
cahpthoi.Nhpdivsonpimongmunvo2cui.

6.Mhnhhomyin:Ccmyinnmtrongthvin Machines.Cc
myincmphngdatrnccphngtrnhcbncanvc
chiathnh2dng:myintronghnvtngivmyintrongh
nvSI.taxtqutrnhmmybngintrmtngcinmtchiu.
Smphng(lutrongctdcmachine.mdl)nhsau:
487

7.Giithiuvintcngsut: PowerSystemBlocksetcthitk
simulationccthitbintcngsut.Chngtakhostmtmchinc
thyristor cung cp cho mt mch RL. S m phng (lu trong
ctthyristor.mdl)nhsau:

.
8. M hnh ho mch in 3 pha: Ta m hnh ho mt mch in 3 pha c
ngun i xng nhng ti khng i xng. S m phng (lu trong
ctthreephases.mdl)nhsau:

488


inpccngunctrhiudngl231V.TiphathnhtlR=1,
L=1H,phathhaiR=15,L=2Hvphath3lR=10,L=1HvC=
1F.

9. M hnh in khng h cm: Phn t in khng h cm thc hin mi


linhtgia2hay3dyqun.KhiMutualInductancethchinlinht
gia3dyqunringbit.Tamtintrvincmcatngdyqun
trnmcvothnhtcahpthoivintr,incmhcmtrnmc
vocuicng.Mhnhinnhsau(lutrongctmutualinduc.mdl):

Nu mc vo ca dy qun th 3 b b trng, ngha l ch c h cm


gia2dyqun.CcuvocakhiMutualInductancelcngcctnhti
mtthiim.
Dosimulationnncn:

Rs>0,Rs>Rm,Lm0,LsLm
489

intrcadyqunphidngvlnhnintrhcm.incmh
cmphikhc0nhngintrhcmcthbng0.Dyquncthth
ni,nghalkhngnivitngtrhayphncnlicamch.

10. M hnh nhnh RLC ni song song: Phn t ny thc hin nhnh RLC
nisongsong.KhiParallelRLCBranchthchinintr,incmvin
dung ni song song. b mt phn t R,L hay C ta phi t cc thng s
tngnglInf,Infv0.Tacthdnggitrmchoccthngs.c
p ng tn ca b lc tn s bc 7 660Hz ta dng mch nh trong file
ctpararlc.mdl.

Tngtrcamch:
V(s) RLCs 2 + Ls + R
Z(s) =
=

I(s)
LCs 2 + RCs
c p ng tn ca tng tr ta phi xc nh m hnh khng giantrng
thi(matrnABCD)cahthng(lutrongctpararlcm.m)

[A,B,C,D]=power2sys(ctpararlc);
freq=logspace(1,4,500);
w=2*pi*freq;
[Z,phaseZ]=bode(A,B,C,D,1,w);
subplot(2,1,1)
loglog(freq,Z)
grid
title(Bolocsonghaibac11)
xlabel(Tanso,Hz)
ylabel(TongtroZ)
490

subplot(2,1,2)
semilogx(freq,phaseZ)
xlabel(Tanso,Hz)
ylabel(PhaZ)
grid

11.MhnhtiRLCnisongsong:PhntnythchintiRLCnisong
song.Khi ParallelRLCLoadthchintituyntnhnhthpnisong
song ca cc phn t R, L v C. xc nh tham s ta nhp in p nh
mcvtnsnhmcvo2mcutin.Nhpcngsuttcdng,cng
sutphnkhngtrncundyvcngsutphnkhngtrntinvo3
mccui.Cccngsutphnkhngphidng.Titnsmt,tisc
tngtrhngvcngsuttlvibnhphnginptvo.Tatmcc
gi tr xc lp ca in p v dng in ti trong mch trong file
ctloadrclp.mdl.

12.MhnhnhnhRLCninitip:PhntnythchinnhnhRLCni
nitip. Khi SeriesRLCBranchthchinintr,incmvindung
ninitip.loitrR,LhayCtachochngbng0,0hayInf.Ccgitr
ny c th t l s m. Ta xt mt m hnh nh trong file ctserierlc.mdl.
Tngtrcanhnhl:
V(s) LCs 2 + RCs + 1
Z(s) =
=

I(s)
Cs
nhn c p ng tn s ca tng tr ta phi xy dng m hnh
khnggiantrngthicahthng:
491

[A,B,C,D]=power2sys(ctserierlc);
freq=logspace(1,4,500);
w=2*pi*freq;
[Y,phaseY]=bode(A,B,C,D,1,w);
Z=1./Y;
phaseZ=phaseY;
subplot(2,1,1)
loglog(freq,Z)
grid
title(Bolocsongbac5)
xlabel(Tanso,Hz)
ylabel(TongtroZ)
subplot(2,1,2)
semilogx(freq,phaseZ)
xlabel(Tanso,Hz)
ylabel(PhaZ)
grid

12.MhnhtiRLCninitip:PhntnythchintiRLCninitip
tuyntnh.

Khi Series RLC Load thc hin ti RLC ni ni tip tuyn tnh. Ta
nhpgitrinpvtnsnhmcvo2ucahpthoi.Nhpcng
suttcdng,cngsutphnkhngtrnincmvcngsuttcdngtrn
in dung vo 3 cui.Cc cng sut phn khng phi c tr s dng. Ti
tn s m t, ti c tng tr xc nh hng v cng sut ca n t l vi
492

bnhphnginptvo.Tatmgitrxclpcainpvdngin
catitrongfilectloadrlcs.mdl.

4.NGDNGMATLABTRONGIUKHINTNG
1.Ccdngmhnhhthng:xydngmhnhcahthng,MATLAB
cung cp mt s lnh. M hnh h thng m t bng hm truyn c xy
dngnhlnh tf(ts,ms)vitslathctsvmslathcmus.Hm
zpk(z, p, k) vi z l vec t im khng, p l vec t im cc v k l h s
khuychitonnmhnhimkhngimcc.Hm ss(a,b,c,d)via,
b,c,dlccmatrntonnmhnhkhnggiantrngthi.
V d: Ta to ra mt s m hnh nh cc lnh MATLAB sau(lu trong
ctspacestate.m):

clc
ts=[12];
ms=[154];
sys1=tf(ts,ms)
sys2=zpk([611],[51],3)
sys3=ss([12;34],[11;01],[01;12;31],0)

Ktqul:
Transferfunction:
s+2

s^2+5s+4
Zero/pole/gain:
3(s+6)(s1)^2

(s+5)(s1)

a=
x1x2
x112
x234
b=
u1u2
x111
493

x201

c=
x1x2
y101
y212
y331
d=
u1u2
y100
y200
y300
Continuoustimemodel.

2.imccvimzerocahmtruyn:binihthngchobihm
truynthnhhchobiimcc,imzerovhskhuchidnghm
tf2zp.Tacngcthdnghmpole(sys)tmimcccahthngsysv
dunghmzero(sys)tmimkhngcahthngsys
TadngcclnhMATLABsau(lutrongctzp2tf.m):

z=[6;5;0];
k=1;
p=[3+4*i;34*i;2;1];
[ts,ms]=zp2tf(z,p,k)

K t qu l :

ts=

0111300
ms=

19458750

thy c s phn b im khng v im cc ca h thng trn


mt phng phc ta dng hm pzmap. Trc ca thi c chia li bng
lnhsgrid.Ccimkhngbiuthbngvngtrnvimccbiuthbng
du.TaxtcclnhMATLABsau(lutrongctpzmap.m):
clc

sys=zpk([611],[51],3)
axisequal
494

pzmap(sys)
sgrid

3. Khai trin hm truyn thnh tng cc phn thc n gin: Cho hm


truyn,tacthkhaitrinnthnhtngccphnthcnginbnglnh
residue.Hm residuechovectctccphndr,vectctccimccp
vphnnguynk.Ngcli,cr,p,ktacthtmhmtruynbngcclnh
MATLABsau(lutrongctresidue1.m):

r=[0.00.25*i;0+0.25*i;2];
p=[0+2*i;02*i;1];
k=2;
[ts,ms]=residue(r,p,k)

K t qu l :

ts=
2091
ms=
1144

4.Binihmtruynthnhkhnggiantrngthi:Chophngtrnhvi
phn:
d n 1y
dy
dn y
a n n + a n 1 n 1 + L + a1
+ a 0 y = u( t )

dx
dx
dx
tx1=y;x2=y;x3=yv.vtachphngtrnhtrngthi:
x=Ax+Bu

y=Cx+Du

gilphngtrnhkhnggiantrngthi
Numthiukhintngchobihmtruyntacthbiniv
khnggiantrngthibnglnhtf2ss.
Vd:Chohmtruyn:
s2 + 7s + 2

H(s) = 3

s + 9s 2 + 26s + 24
Ta bin h v dng khng giantrng thi bng cc lnh MATLAB sau(lu
trongcttf2ss.m):

495

ts=[172];
ms=[192624];
[a,b,c,d]=tf2ss(ts,ms)

Ktqul:
a=
92624
100
010
b=
1
0
0
c=
172
d=
0

5. Bin i khng gian trng thi thnh hm truyn: bin i h cho


di dng khng gian trng thi thnh hm truyn ta dng lnh ss2tf. Ta
xtcclnhsau(lutrongctss2tf.m)

a=[010;001;123];
b=[10;0;0];
c=[100];
d=[0];
[ts,ms]=ss2tf(a,b,c,d,1)

K t qu l :

ts=
010.0030.0020.00

ms=
1.003.002.001.00
Nhvyhmtruynl:
496

G(s) =

10(s 2 + 3s + 2)

s 3 + 3s 2 + 2 s + 1

6. Nghim ca phng trnh trng thi: tm nghim ca phng trnh


trngthitadnglnhlsim.
Vd:Chophngtrnhtrngthicamthtuyntnh
1
0 x1 1
x& 1 0

&

0
1 x 2 + 1 u( t )
x 2 = 0
x& 3 6 11 6 x 3 1

y=[110]x
Choiukinu x(0)=[10.50.5].Tm x(t),y(t)viu(t)lhmnv.Ta
dngcclnhMATLABsau(lutrongctlsim.m):

a=[010;001;6116];
b=[1;1;1];
c=[110];
d=0;
x0=[10.50.5];
t=0:0.05:4;
u=ones(1,length(t));
[y,x]=lsim(a,b,c,d,u,t,x0);
plot(t,x,t,y)

Doiukinunnnghimyxutphtt1.5
Khiu(t)lsin2ttatnhpngnhsau(lutrongctlsim1.m):

a=[010;001;6116];
b=[1;1;1];
c=[110];
d=0;
x0=[10.50.5];
t=0:0.05:4;
u=sin(2*pi*t);
[y,x]=lsim(a,b,c,d,u,t,x0);
plot(t,x,t,y)
497


7. Bin i s khi: Mt s khi iu khin thng rt phc tp. V
vytathngphibininvdngnginbnglnhconnect.
Vd:Xtskhisau:

1
4
1

+
+
1
0.5
s+3
s+4
- s+2

1
2
5
4
3

22

5 7

Xcnhphngtrnhtrngthivhmtruyncatonbs:
Gi ni v di l t s v mu s ca hm truyn ca khi th i. Ta c cc
lnh(lutrongctconnect.m):
n1=1;d1=1;
n2=.5;d2=1;
n3=4;d3=[14];
n4=1;d4=[12];
n5=1;d5=[13];
n6=2;d6=1;
n7=5;d7=1;
n8=1;d8=1;
nblocks=8;
blkbuild;
q=[10000
21678
32000
43000
54000
63000
74000
85000];
iu=[1];
iy=[5];
498

[A,B,C,D]=connect(a,b,c,d,q,iu,iy)

Ktqul:
A=
8.02.50.5
4.02.00
01.03.0
B=
0.5
0
0
C=
001
D=
0
[ts,ms]=ss2tf(A,B,C,D,1)
ts=
0002.0
ms=
1.013.056.080.0
Hmtruyncahl:
C(s)
1
= 3

2
R(s) s + 13s + 56s + 80

8. Ghp ni cc s khi: ghp ni to nn mt h thng t nhiu h


thngcontacthsdngmtskhnngnhsau:

u1
sys1
y1
sys1

y
u

u2

sys2
y2
sys2

a
b

z1
v1
y1
u1
sys1
u1

sys1
y
u
499
c
d
y2
u2
u2
sys2
z2
sys2
v2
v2

a.Ghptheohng:Ghptheohng(hnha)cnghalghpuraca
cc h thng con c u vo khc nhau. Hm sys(sys1, sys2) thc hin vic
ghpny.TaccclnhMATLABsau(lutrongctrow.m):

clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=[sys1,sys2]

b.Ghptheoct:Ghptheoct(hnhb)cnghalghpuracah
thng con c chung u vo. Ta c cc lnh MATLAB sau(lu trong
ctcolumn.m):

clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=[sys1;sys2]

c. Ghp theo ng cho: Khi ghp theo ng cho(hnh c), ta c h


thngmibomcchlycchthngconbanu.ghptadnglnh
append.CclnhMATLAB(lutrongctdiag.m)nhsau:

clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=append(sys1,sys2)

d. Ghp song song: Ta dng cch ghp nh trn hnh d. Hm parallel

dng ghp song song cc h thng con. Cc lnh MATLAB (lu trong
ctparallel.m)nhsau:

500

clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=parallel(sys1,sys2)

e.Ghptunt:Tadngcchghpnhtrnhnhe.Hm seriesdng
ghp tun t cc h thng con. Cc lnh MATLAB(lu trong ctseries.m)
nhsau:

clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=series(sys1,sys2)

f.Ghpcphnhi:Tadngcchghpnhhnhf.Hmfeedbackdng
ghp c phn hi cc h thng con. Cc lnh MATLAB (lu trong
ctfeedback.m)nhsau:

clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=feedback(sys1,sys2)

g.Sdnghmconnect:Hmconnecttoramhnhkhnggiantrng
thitcchthngcon.Cphpcahm:
sysc=connect(sys,Q,inputs,outputs)
Mththngthngcchodidngcckhi.Ngayckhiskhng
phctp,victmcmhnhkhnggiantrngthicahthngkhkh.
tmcmhnhkhnggiantrngthi,trchttadnghmappend:
sys=append(sys1,sys2,...,sysN)
m t mi h thng con sysj h thng dng ng cho. Tip n dng
lnh:
sysc=connect(sys,Q,inputs,outputs)

ni cc h thng con v rt ra m hnh khng gian trng thi sysc ca


tonbhthng.MatrnQchracchnicchthngcontrns.Mi
uvocasyscmthng,trongphntutincamihngls
501

u vo. cc phn t tip theo ca mi hng m t u vo ca h thng


clytu.Vduvo7lytura2,15v6tronguvoca
15mthhngtngngcaQl[72156].Hngnokhngphnt
ththms0.Tatmmhnhkhnggiantrngthicassau:

sys2

sys1
u1 2 x& = Ax + Bu 2
y1

10 1 +
u2 y = Cx + Du 3
y2
uc

1 s+5
- 3
4

2(s + 1) 4

s+2

sys3

Tacnniura1v4vouvo3(u2)vura3(y2)vouvo4nn
matrnQl:

Q = [3 1 -4

430];

Sc2uvotcchthngkhclucvu1(uvo1v2casys)v
2uraancchthngkhcly1vy2(ura2v3casys).Nh
vymatrninputsvoutputsl:

inputs=[12];
outputs=[23];

Cc l nh MATLAB th c hi n vi c bi n
nh sau:

clc
A=[9.020117.7791
1.69433.2138];
B=[.5112.5362
.0021.8470];
C=[3.28972.4544
13.500918.0745];
D=[.5476.1410

is

(l u trong ctconnectsys.m)

502

.6459.2958];
sys1=tf(10,[15],inputname,uc)
sys2=ss(A,B,C,D,inputname,{u1u2},...
outputname,{y1y2})
sys3=zpk(1,2,2)
sys=append(sys1,sys2,sys3)
Q=[314
430];
inputs=[12];
outputs=[23];
sysc=connect(sys,Q,inputs,outputs)

9.pngcahthngbchai:Dngchuncahmtruyncahthng
bchail:
1

G(s) = 2

s + 2n s + 2n
Trongnltnstnhinvlhsttcahthng.torahm
truynnykhibitnvtadnglnh.
Vd:Tmhmtruynvmatrntrngthicahthngbchaibitn=2.4
rad/sv=0.4.CclnhMATLAB(lutrongctord2.m)nhsau:

[ts,ms]=ord2(2.4,0.4)
[a,b,c,d]=ord2(2.4,0.4)

pngthctcahlmtdaongttdncdng:
1

c( t ) = 1 e n t sin( n t + )

Trong = 1 2 v = tan 1 ( / )
Tagitrlthigiandpngtt10%gitrcuin90%gitrcui;
thi gian t n nh l tp; nhanh o bng tr v tp; thi gian tt l ts.
Thigiantnnhcxcnhbngcchchoohmcac(t)bng0.

tp =

(4.1)
1 2
Gitrnh(percentovershootp.o)khikchthchlbcnhyl:

p.o = e

1 2

100

(4.2)
503

pngvikchthchbcnhytmcnhhm step cnpngvi


kchthchxungtmcnhhmimpulse
Vd1:Tmpngcakhubchaichmtruyn:
2n

G(s) = 2

s + 2n s + 2n
khin=5v=0.6.CclnhMATLAB(lutrongctstep.m)nhsau:

clc
ts=25;
ms=[1625];
sys=tf(ts,ms)
t=0:0.02:2;
c=step(sys,t);
plot(t,c)
xlabel(t(s));
ylabel(c(t));

Vd2:Chohcsnhhnhv:

d
C(s)

R(s)
s(s + 1)

1+es

Tm d v e p.o bng 40% v tp = 0.8s. Cc lnh MATLAB (lu trong


ctstep1.m)nhsau:

clc
po=40;
z=log(100/po)/sqrt(pi^2+(log(100/po))^2)%theo(42)
zn=0.27999799333504
tp=0.8;
wn=pi/(tp*sqrt(1z^2))%theo(41)
ts=wn^2;
ms=[12*z*wnwn^2];
sys=tf(ts,ms);
504

t=0:0.02:4;
c=step(sys,t);
plot(t,c)

Tskhitac:
C(s)
d
= 2

R(s) s + (de + 1)s + d

Phngtrnhctnhl:

s2+(de+1)s+d=s2+2ns+ 2n
Vi 2n =wn=0.28vz==4.0906tacd=16.733ve=0.077
Khi c mt hm truyn ta c th xc nh h s tt v tn s t nhin n
bnglnhdamp.
Vd3:Chohchmtruyn:
2 s 2 + 5s + 1
H(s) = 2

s + 2s + 3
Tm h s tt v tn s t nhin n. Cc lnh MATLAB (lu trong
ctdamp.m)nhsau:

h=tf([251],[123]);
damp(h)

Ktqul:
EigenvalueDampingFreq.(rad/s)
1.00e+000+1.41e+000i5.77e0011.73e+000
1.00e+0001.41e+000i5.77e0011.73e+000

10.pngtrongminthigiancahthng:
a.pgitrbanu:pnggitrbanumtphnngcah
khikhngckchthchduvonhngtnticcgitrbanucavect
trng thi x0. Phn ng c gi l chuyn ng t do ca h. p ng
ny c xc nh bng hm initial. Ta c cc lnh MATLAB tm p ng
banucamththng(lutrongctinitial.m)nhsau:

clc
a=[0.55720.7814;0.78140];
c=[1.96916.4493];
505

x0=[1;0]
sys=ss(a,[],c,[]);
initial(sys,x0)

b.pngxungDirac:Tatmpngcahthngvixungnhhm
impulse.CclnhMATLAB(lutrongctimpulse.m)nhsau:

clc
a=[0.55720.7814;0.78140];
b=[11;02];
c=[1.96916.4493];
sys=ss(a,b,c,0);
impulse(sys)

Hnhbntrilpngcaknhthnhtvhnhbnphilpngca
knhth2.

c.pngivihmbcnhy:tmpngcahthngivi
hm bc nhy ta dng hm step. Cc lnhMATLAB (lu trong ctstep2.m)
nhsau:

clc
a=[0.55720.7814;0.78140];
b=[11;02];
c=[1.96916.4493];
sys=ss(a,b,c,0);
step(sys)

d. p ng vi tn hiu bt k: tm p ng ca h thng i vi
hmbtktadnghmlsim.CclnhMATLAB(lutrongctlsim.m)nh
sau:

clc
[u,t]=gensig(square,4,10,0.1);
H=[tf([251],[123]);tf([11],[115])]
lsim(H,u,t)
506


Tadnghmgensigtomtxunghnhvung,trong4chukvlymu
sau0.1strong10chuk.

11.pngtrongmintnscahthng:Chomthmtruyncamt
hthng,thaysbngjtachmtruynttnscahthng.rng
bngcahthng Bltnsmtibincaggimi1/2.Tns
ngvigitrmaxcaG()gilrvctrsl:
r = n 1 2 2
vctnhtnbinphacamththngtadnglnhfreqs.
Vd:Chohmtruyncamththngl:
4

G(s) = 2

s + 2s + 4
Tm c tnh tn binpha ca h thng bng cc lnh MATLAB(lu trong
ctfreqs.m):

w=0:0.01:3;
ms=[124];
ts=[4];
freqs(ts,ms,w);

Tacngcthtothnhsau(lutrongctfreqplot.m):

ts=[4];
ms=[124];
w=0:0.01:3;
g=freqs(ts,ms,w);
mag=abs(g);
pha=angle(g);
subplot(2,1,1);
loglog(w,mag);
gridon;
subplot(2,1,2);
semilogx(w,pha);
gridon

507

Ngc li khi c c tnh tn bin pha ta c th tm li c hm truyn


bnglnhinvfreqs.
Vd:Tmhmtruyncahthng(lutrongctinvfreqz.m):

ts=[123214];
ms=[12323];
[h,w]=freqz(b,a,64);
[tsm,msm]=invfreqz(h,w,4,5)

Tacngcthxydngctnhtnthco
Vd:Chohmtruyn:
10
G(s) = 3

s + 4.5s 2 + 9s + 10
Tm c tnh tn thc o ca h bng cc lnh MATLAB (lu trong
ctfreqsplot.m):

ts=[10];
ms=[14.5910];
w=[1:0.01:3];
h=freqs(ts,ms,w);
t=real(h);
a=imag(h);
subplot(2,1,1);
plot(w,t)
subplot(2,1,2);
plot(w,a)

vthBodecahthngtadnghmbode.ththnhtnht
lctnhbintnlogarit,cchiatheodB.ththhailctnhpha
tnlogaritchiatheo.
Ccdngcalnhbodegm:

bode(sys)

bode(sys,w)

[bien,pha,w]=bode(sys)
v th Bode ca mt h thng ta dng cc lnh MATLAB(lu trong
ctbode.m)nhsau:
508


clc
g=tf([10.17.5],[10.12900]);
figure(1)
bode(g)
figure(2)
bode(g,{0.1,100})
gd=c2d(g,0.5)
figure(3)
bode(g,r,gd,b)

Hm marginchobitdtrnnhcahthng.Dtrbingmlhs
khuychiFrmnutathmvohmtruyntcahhthhknva
tcgiihnnnh.Dtr phapmcnhnghalkhongcch
gcpharti180.Hmchobitgmtitnsophawcgvpmtitns
ctphawcp.Hm allmarginctcdngrnghnhm margin.Ccktqu
trvcaallmargingm:
GMFrequency:gitrtnsmtithphactngthngnm
ngang180
GainMargin: d tr bin gi tr o ca bin ti tn s
GMFrequency
PMFrequency:gitrtnsmtithbinctngthngnm
ngang0dB(ngvihskhuychi1)
PhaseMargin:dtrphakhongcchgc(>0)tvtrPMFrequency
n180.
DelayMargin:dtrthigiantrgitrthigiantrmnuvtqu,
hthngsmtnnh.
DMFrequency:gitrtnsngviDelayMargin.

Stable:=1khimachvngknnnh;bng0trongcctrnghpkhc.
Ccilngnycthcctthtobimargin.xcnh
dtrnnhcamththngcthtadngcclnhMATLAB(lutrong
ctmatgin6_32.m)nhsau:

clc
sys=zpk([],[111],4)
margin(sys)
509

allmargin(sys)

Ktquhthngnnh.NcDelayMargin=0.3s.Bygitagnchosys
mtkhongthigiantrlstabil.DelayMargin+0.01,nghalvtquthi
giantrnnh0.01s.Ktqutnhtoanmica allmarginsthngbotnh
khng n nh ca h thng. Cc lnh MATLAB (lu trong
ctnewstabil6_33.m)nhsau:

clc
sys=zpk([],[111],4)
margin(sys)
stabil=allmargin(sys)
sys.ioDelay=stabil.DelayMargin+0.01;
newstabil=allmargin(sys)

MtkhnngkhcmtctnhtnslthNyquist.Nbiu
din cc gi tr thc v o thuc hm truyn t phc ca mch vng h
F0(j)trongditns=0trnhtophc.ngcongdoccim
tothnhcgilquobinphaF0(j).Trncstiuchunnnh
Nyquisttacthrtraktlunvtnhnnhcahkn(cphnhinv
m)tthNyquist.vthNyquisttadnghm Nyquist.Taccc
lnhMATLAB(lutrongctnyquist6_34.m)nhsau:

clc
H=tf([251],[123])
nyquist(H)

12.Tnhnnh:Tiuchunnnhnirnghsnnhnuccnghim
caphngtrnhctnhcphnthcm.Phngtrnhctnhlathc
mu s ca hm truyn. Do vy ch cn tnh nghim ca a thc c tnh
bnglnhrootsltacthxcdnhhnnhhaykhng.
Vd:Xttnhnnhcahcphngtrnhctnhl:

s4+10s3+35s2+50s+24
CclnhMATLABl:

a=[110355024];
510

roots(a)
ans=
4.0000
3.0000
2.0000
1.0000
Nhvyhnnh.

13.nhy:nhycahthngcobngtsphntrmsthayi
cahmtruyntheosthayiphntrmcathngsb.Vdnhyca
hmtruynT(s)theobcxcnhbng:
T(s) / T(s) T(s) T(s)
=

S Tb =
b b
b / b
Khibgnn0tac:
T(s) b
S Tb =

b T(s)
nhytnhlgitrcaSkhit0.nhyngctnhbngcchthay
sbngjvvngStheo.BincaS(j)osaiscahthng.
Vd:Khosthiukhinnhhnhvsau:

Thitb

Bb
b

K
R(s)
C(s)

(s + 1)

Sensor

Trongbctrnhmcl4vhctrnhmcl0,5.TmnhyT(s)
theob,vmodulhmnhytheovihaigitrblK=2vK=0.5.Tm
nhyT(s)theoh,vmodulcahmnhytheohviK=2vK=0.5.
Hmtruyncahthngl:
Kb
(Ts) = 2

s + 1 + Kbh
Vib=4vh=0.5tacB=1+2K.
nhycaT(s)theobkhib=4vh=0.5l:
511

s+1
s+1
T(s) b
=
=

b T(s) s + 1 + Kbh s + 1 + 2K
Kbh
2K
T(s) h
S Th =
=
=

b T(s) s + 1 + Kbh s + 1 + 2K
CclnhMATLAB(lutrongctsensibility.m)nhsau:

k1=1;
k2=0.5;
ts=[11];
ms1=[11+2*k1];
ms2=[11+2*k2];
w=0:0.01:15;
stb1=abs(freqs(ts,ms1,w));
stb2=abs(freqs(ts,ms2,w));
subplot(2,1,1);
plot(w,stb1,w,stb2);
title(DonhaycuaTtheob);
ts1=2*k1;
ts2=2*k2;
stb1=abs(freqs(ts1,ms1,w));
stb2=abs(freqs(ts2,ms2,w));
subplot(212);
plot(w,stb1,w,stb2);
title(DonhaycuaTtheoh);

nhycahthngtheobgimkhihskhuchicavnghKtng
trong khi nhy theo h tng khi K tng. R rng l nhy theo b tng
nhanhbnngoiB.
14.Saisxclp:Khosthnhhnhv:

R(s)
G(s)
C(s)

H(s)

Hmtruyncahknl:
C(s)
G(s)
=

R(s) 1 + H(s)G(s)
S Tb =

512

Saiscahknl:

E(s)=R(s)H(s)C(s)=

R ( s)

1 + H(s)G(s)

Sdngnhlgitrcuitac:
sR(s)

e ss = lim

s 1 + G( s)H( s)
uvobcnhynv:
1
1
=

e ss =
1 + lim G(s)H(s) 1 + K p
s

uvotngtuyntnhnv:
1
1

e ss =
1 + lim sG(s)H(s) K v
s

uvoparabolnv:
1
1

e ss =
1 + lim s 2 G(s)H(s) K a
s

TacthdngSymbolicMathtnhccgiihntrn.

15.Phntchvthitkquonghim:Phngphpkinhintham
shokhuiukhincavngiuhnhlphngphpquonghim.
Qu o nghim l qu o im cc, hp thnh bi cc iu cc ca h
thng,phthucvohskhuychiphnhikvacbiuditrnmt
phngphcviphnthcRe()= trntrchonhxvphnoIm()=
trn trc tung y. v c qu o nghim ca h thng ta dung hm
rlocus.Taxththngsau:

u
y
Gc
G0

GM
k
Cphpcarlocusl

rlocus(sys[,k])

[r,k]=rlocus(sys)

r=rlocus(sys,k)

MhnhsystronglnhtrnlhmtruyntcahthnghGoGcGM
cxcnhbnglnhMATLAB:
sys=sysM*sysO*sysC

513

mchachskhuychiphnhik,lthamstuchnsckhai
boring.iucnghalsyscghpnibiccmhnhringl.Khi
gi rlocus(sys[, k]) m khng yu tr bin v ta nhn c th qu o
nghim ca sys. Nu ta khng khai bo cc h s khuych i trong vec t
thamstuchnk,MATLABstngquytnhgitrthchhp.Saukhi
dngrlocusvquoimcctatmccgitrlinquannimccbt
knmtnquobngcchnhpchutvomtimtrnquo.Lc
lnh rlocusfind c thc hin. Ta dng cc lnh MATLAB sau (lu trong
ctrlocus.m)vquonghimcamththng:

clc
sys=zpk([],[0.11j1+j],1)
rlocus(sys)
[r,k]=rlocus(sys)
sgrid

trc quan ta c th dng cng c thit k bng cch nhp lnh


sisotoolvocaslnhMATLAB.

514

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