1.

Thi gian 90 pht, c s dng ti liu,

Bi 1: Cho h kn m t hnh 1.
1. (1 im) Hy xc nh hm truyn t tng ng G(s) ca h.
2. (2 im) Bit rng G
1
=G
2
=G
3
=G
4
=1 v G
5
=
1
1
+ s
. Hy tnh hm trng lng
g( t) v hm qu h( t) ca h. T kim tra li quan h g (t) =
dt
t dh ) (
.
3. (2 im) Bit rng G
1
=G
3
=G
4
+G
5
= 1 v G
2
l khu tch phnqun tnh bc
nht c hm qu h
2
( t) cho hnh 2. Hy xc nh k h kn l mt khu dao
ng bc 2 tt dn. T tnh c th qu iu chnh h
max
v thi gian qu
T
5%
ng vi k= 2.
4. (1 im) G
1
=k, G
3
=G
4
+G
5
=1 v G
2
=
1 2
1
(1 ) T s T s +
. Tm iu kin cho T
1
, T
2

h kn c dng dao ng bc hai. Chng minh rng thi gian qu T
5%
ca h
khng ph thuc hng s k.











Bi 2: Cho i tng c m hnh trng thi.

dt
x d
=
1 2 1
0 1 0
1 4 3

x+
1
1
0





u, y =x
1
, trong x =
1
2
3
x
x
x





.
1. (1 im) Hy kim tra tnh iu khin c ca i tng nh tiu chun Kalman.
2. (1 im) Hy kim tra tnh quan st c ca i tng nh tiu chun Hautus.
3. (2 im) Hy xc nh b iu khin phn hi trng thi R h kn nhn cc gi
tr cho trc s
1
= s
2
=1 v s
3
=2 lm im cc.
4. (1 im) Hy vit hm truyn t ca h kn bao gm i tng cho v b iu
khin phn hi trng thi tm c cu 3. T ch ra rng b iu khin phn
hi trng thi khng lm thay i c bc tng i ca i tng.




2.
Thi gian 90 pht, c s dng ti liu,
Bi 1: Cho h kn m t hnh 1.
1. (1 im) Hy xc nh hm truyn t tng ng G(s) ca h.
2. (2 im) Bit rng G
1
=G
2
=G
3
=G
4
=1 v G
5
=
2
1
+ s
. Hy tnh hm trng lng
g( t) v hm qu h( t) ca h. T kim tra li quan h g( t) =
dt
t dh ) (
.
3. (2 im) Bit rng G
1
=G
3
=G
4
+G
5
=1 v G
2
l khu tch phnqun tnh bc
nht c ng th Bode L
2
() cho hnh 2. Hy xc nh T h kn l mt
khu dao ng bc 2 tt dn. T tnh c th qu iu chnh h
max
v thi
gian qu T
5%
ng vi T =0,1.
5. (1 im) G
1
=k, G
2
=G
3
=1 v G
4
+G
5
=
1 2
1
(1 ) T s T s +
. Tm iu kin cho T
1
, T
2

h kn c dng dao ng bc hai. Chng minh rng thi gian qu T
5%
ca h
khng ph thuc hng s k.











Bi 2: Cho i tng c m hnh trng thi.

dt
x d
=
1 0 1
2 1 4
1 0 3

x+
1
0
1





u, y=x
3
, trong x=
1
2
3
x
x
x





.
1. ((1 im) Hy kim tra tnh iu khin c ca i tng nh tiu chun Hautus
2. (1 im) Hy kim tra tnh quan st c ca i tng nh tiu chun Kalman.
3. (2 im) Hy xc nh b iu khin phn hi trng thi R h kn nhn cc gi
tr cho trc s
1
= 1 v s
2
= s
3
=2 lm im cc.
4. (1 im) Hy vit hm truyn t ca h kn bao gm i tng cho v b iu
khin phn hi trng thi tm c cu 3. T ch ra rng b iu khin phn
hi trng thi khng lm thay i c bc tng i ca i tng.


Hnh 1
u y
G
1
G
2
G
3

G
4

G
5

h
2
( t)
t
Hnh 2
2
k
1
Hnh 1
u y
G
1

G
2
G
3

G
4

G
5
L
2
( )

Hnh 2
4
T
1

20dB/dec
40dB/dec