Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Bn v kh nng ng dng l thuyt h phng vo phn tch
v iu khin h phi tuyn
About the Applicability of Flat Systems Theory in Analysis
and Control of Nonlinear Systems
Nguyn Don Phc
i hc Bch khoa H Ni
e-mail: phuocnd-ac@mail.hut.edu.vn

Tm tt
L thuyt h phng mang li nhiu c hi song cng
khng t thch thc cho vic thc hin cc bi ton iu
khin. Bi bo ny tp trung vo vic bn lun v cc c
hi cng nh nhng vn m cn phi gii quyt
ca l thuyt h phng, t c c mt ci nhn
khch quan hn v kh nng ng dng hiu qu l thuyt
h phng vo phn tch v iu khin h phi tuyn.
Abstract
Theory of flat systems has provided many opportunities,
but not few challenges for solving of analysis and control
problems. This article focuses on appreciations of these
opportunities and from this ahead on some open theory
problems to carry out. With these appreciations, the
paper provides also an objective view of applicability of
flat systems theory in analysis and control of nonlinear
systems.
1. t vn
Khi nim h phng trn c a ra ln u bi
Fliess (1989). N c n nhn nh mt hng m
cho vic gii quyt cc bi ton iu khin tuyn tnh
ha chnh xc bng b iu khin phn hi trng thi
ng, tc l b iu khin m bn thn n cng c
ng hc biu din bi c tnh ca cc trng thi
ring trong n [4],[5],[6],[9],[14]. Mt lp nh ca
bi ton ny l iu khin tuyn tnh ha chnh xc
bng b iu khin phn hi trng thi tnh, c
gii quyt kh trn vn nh cng c hnh hc vi phn
[11],[13]. c bit hn na, li gii ca lp cc bi
ton nh ny cho h MIMO (nhiu vo, nhiu ra) cn
a n mt hiu ng ph rt p l h tuyn tnh thu
c c dng tch knh gm nhiu h SISO (mt vo,
mt ra) c lp vi nhau. Bi vy trong nhiu ti liu
n cn c gi l phng php iu khin tch knh
trc tip.
Tuy nhin, nhng phng php iu khin tuyn tnh
ha chnh xc bng b iu khin phn hi trng thi
tnh nh vy li c cc yu cu kh cht ch v i
tng iu khin, chng hn nh i tng phi l
pha cc tiu, c tng cc phn t ca vector bc tng
i ti thiu bng bc ca m hnh .. c bit, y
li l nhng gi thit khng bao gi to ra c bng
b iu khin tnh, v vi b iu khin phn hi trng
thi tnh ta khng th bin c mt h ang l pha
khng cc tiu tr thnh pha cc tiu, cng nh
khng th lm thay i c vector bc tng i ti
thiu ca i tng iu khin.
Cc iu hn ch ny dn chng ta mt cch hon
ton t nhin ti hng nghin cu tip theo ca iu
khin tuyn tnh ha chnh xc tnh l vi lp cc i
tng khng tha mn nhng gi thit nu trn, ngi
ta cn phi b sung thm cho n nhng bin trng thi
mi theo cu trc truyn ngc, sao cho i tng m
rng vi cc bin trng thi mi b sung thm ny
li tha mn cc gi thit c xy dng trn nn
hnh hc vi phn, t li c th p dng c
phng php tuyn tnh ha chnh xc bng b iu
khin phn hi trng thi tnh.
Mt cch nhn khc cho hng gii quyt trn l khi
ghp chung b iu khin phn hi trng thi tnh thu
c vi cc bin trng thi b sung thm cho i
tng ta s c b iu khin phn hi trng thi ng
lm h kn tr thnh tuyn tnh hoc t nht cng ch
sai khc h tuyn tnh mt php i trc ta
(hnh H1). Vi cch nhn nh vy, bi ton m rng
ca iu khin tuyn tnh ha chnh xc c t ra
y l phi xc nh b iu khin ng, thay cho b
iu khin tnh v mt php i trc ta phi tuyn
thch hp, cn c gi l php i bin vi phi
(diffeomorphism), iu khin tuyn tnh ha chnh
xc c cho c nhng i tng phi tuyn pha
khng cc tiu hoc c vector bc tng i ti thiu
khng bng bc ca m hnh ., tc l nhng i
tng khng tha mn cc gi thit cn c ca
phng php c xy dng trn nn hnh hc vi
phn.






T y, mt cu hi t ra l nhng i tng iu
khin phi tuyn no s tn ti b iu khin ng
tuyn tnh ha chnh xc c cho n. Tuy rng ngi
ta cha xc nh c cu tr li trn vn v iu kin
cn v , song iu kin i tng phi tuyn
pha khng cc tiu hay c vector bc tng i ti
thiu khng bng bc ca m hnh vn c th tuyn
tnh ha chnh xc c l c v l nhng h
phi tuyn phng.
Xt h phi tuyn dng, c m tn hiu vo u
1
, . ,u
m

c vit chung li thnh vector u =(u
1
, . ,u
m
)
T
v
H1: Cu trc h iu khin tuyn tnh ha chnh xc
x u
w
z
i tng
iu khin
B iu
khin ng
i trc
ta
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
n trng thi x
1
, . ,x
n
cng c vit chung li thnh
x =(x
1
, . ,x
n
)
T
, trong T l k hiu php chuyn
v, m t bi:
( , )
dx
f x u
dt
= (1)
vi ( )
1
( , ) ( , ) , , ( , )
T
n
f x u f x u f x u = l vector ca
cc hm nhiu bin. H (1) s c gi l phng, nu
tn ti vector hm (gi l tn hiu ra phng):

(1) ( )
( , , , , )
p
y x u u u = (2)
trong p l mt s nguyn dng hu hn v

( )
k
k
k
d u
u
dt
= , k=1,2, . ,p
sao cho t cng c cc php bin i ngc:

(1) ( )
(1) ( )
( , , , )
( , , , )
q
r
x y y y
u y y y
o
|

(3)
vi q, r cng l nhng s nguyn dng hu hn.
nh ngha trn c ly t [9] v bn cnh n cn c
mt s cc nh ngha khc na, ch yu l b
sung thm tnh nh nht ca cc s nguyn dng p, q
v r. Chng hn nh [4] cn c thm r>q v iu
kin c lp vi phn gia cc hm
(1) ( )
, , ,
r
y y y c
trong (3), tc l gia chng khng tn ti mt quan h
i s h() no tha mn:

(1) ( )
( , , , ) 0
r
h y y y =
v ti liu [6] th cn chi tit hn vi s b sung:

(1) ( )
(1) ( 1)
( , , , )
( , , , )
q
q
x y y y
u y y y
o
|
+

(4)
thay cho q v r trong (3).
Theo nh ngha nh trn v h phng, c th thy
ngay rng t tn hiu u ra mu mong mun
m
y cho
trc, ta c th xc nh c tn hiu t u vo:

(1) ( 1)
( , , , )
q
m m m
u y y y |
+
= (5)
u ra y ca h bm theo c tn hiu mu
m
y
mong mun sau mt khong thi gian hu hn, nu
trong ln cn
m
y hm ( ) | l n tr, v vi:

(1) ( )
( , , , )
q
m m m
x y y y o = (6)
ta cng cn xc nh c lun c tnh cht ng hc
ca h trong ch iu khin bm .
Tuy nhin s cn c nhiu vn t ra vi l thuyt
h phng. Chng hn, khi so snh vi cc l thuyt h
phi tuyn khng phng khc, s ny sinh mt s cu
hi nh sau:
Vi suy ngh ban u nh th no ngi ta li c
c nh ngha h phng v ngoi nh ngha
cn c kh nng no khc kim tra c tnh
phng ca mt h phi tuyn bt k hay khng?
Vi khi nim h phng th vic phn tch cht
lng ng hc ca n, bao gm xc nh im
cn bng, kim tra tnh n nh Lyapunov, min
n nh, tnh n nh IOS, tnh iu khin c v
quan st c (vi u ra phng), tnh ng hc
khng . c thc hin c khng v nu c th
s nh th no?
Bng cch p dng l thuyt h phng, ta c th
b sung c g thm cho bi ton iu khin h
phi tuyn so vi cc l thuyt khc.
Bi bo ny s tp trung tr li cc cu hi trn, c th
l tm hiu ngun gc ca nh ngha h phng, kh
nng iu khin bm, iu khin tuyn tnh ha chnh
xc cho h phng v kh nng ng dng l thuyt h
phng vo phn tch cht lng h phi tuyn.
2. Ni dung chnh
2.1 Ngun gc ca nh ngha h phng
Theo th t thi gian, ch sau khi khi nim h phng
c a ra bi Fliess (1989), sau hon thin dn
vi cc cng trnh [4],[6],[9], th hn 10 nm sau
(1999), quan h gia h phng v php bin i tng
ng LieBacklund mi c cng b bi [5]. Tuy
nhin, theo ca tc gi bi bo ny th mi quan h
gia h phng vi php bin i tng ng
LieBacklund mi l im mu cht cho kh nng
iu khin tuyn tnh ha chnh xc h phng, do
n cng l im quyt nh cho kh nng ng dng
ca l thuyt h phng vo thc t. Bi vy, ngun
gc ra i ca khi nim h phng trnh by sau y
s c b cc li theo trnh t ngc thi gian c
th gip ta hiu r hn ngha ng dng ca l thuyt
mi ny.
Trc tin ta nh li bi ton phn tch v iu khin
h phi tuyn kinh in cho h t tr:
( , )
dx
f x t
dt
= (7)
kho st tnh cht ng hc ca h t tr (7) ny,
tc l kho st dng nghim x(t) ca n vi iu kin
u x(0)=x
0
ty cho trc, m khng cn phi xc
nh nghim , ngi ta a ra nh x:

0 0
( ) ( )
f
t
x x t x = u
v pht hin ra rng nh x
0
( )
f
t
x u li l nghim
ca h phng trnh vi phn:

( )
( , )
( ) ( )
f
t
f f
t t
x x
f x t
x x d
dt x x x
=u
| |
| | c
cu cu
|
= |
| |
c c c
|
\ .
\ .

tha mn iu kin u
0
( )
f
x x u = .
Pht hin ny, cng nh nhng kt lun khc v tnh
cht ca nh x , c tm tt li trong [13], m
nh im l cc kt lun c rt ra trn nn hnh
hc vi phn thng qua kho st khng gian tip tuyn
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
( ) x A ca a tp ( )
f
t
x u trong khng gian R
n
trnh
by ti liu [11], a ta n c cc phng
php phn tch tnh iu khin c, quan st c,
tnh pha cc tiu. v nht l phng php iu khin
tuyn tnh ha chnh xc h khng t tr dng affine:
( ) ( )
dx
f x H x u
dt
= + , ueR
m
(8)
trong
( )
1
( ) ( ) , , ( )
m
H x h x h x = .
Mong mun s dng c c nhng thnh qu thu
c t nh x ( )
f
t
x u ca h t tr (7) cho nhng h
khng t tr:
( , )
dx
f x u
dt
= , ueR
m
(9)
ti liu [9] s dng cu trc m hnh Brunovsky
biu din li h khng t tr (9) thnh h t tr trong
khng gian v hn chiu:

( )
( )
( )
d t
F t
dt

= (10)
trong

(1)
x
u
u

| |
|
|
=
|
|
|
\ .
v
(1)
(2)
( , )
( )
f x u
u
F
u

| |
|
|
=
|
|
|
\ .

Tuy nhin, vic s dng m hnh Brunovsky mt cch
tng qut ny li y ti hu qu rng a tp tng
ng ( )
F
t
u ca (10) s c s chiu bng v hn, do
cc kt lun c v ( )
f
t
x u hu hn chiu cng
s khng cn hin nhin ng cho ( )
F
t
u . T y,
ngi ta tin thm mt bc na l ch gii hn xt
cc h khng t tr (9) tng ng vi h c m hnh
Brunovsky biu din c bng hnh chiu ca n
trong khng gian hu hn chiu nh mt php bin
i kh nghch (exogenous tranformation).
H khng t tr (9) c gi l tng ng vi h:
( , )
dz
g z w
dt
= , veR
p
(11)
c m hnh Brunovsky:

( )
( )
( )
d t
G t
dt
,
, = (12)
trong

(1)
z
w
w
,
| |
|
|
=
|
|
|
\ .
v
(1)
(2)
( , )
( )
g z w
w
G
w
,
| |
|
|
=
|
|
|
\ .

nu gia hai m hnh Brunovsky (10) v (12) ca
chng tn ti php i bin kh nghch (php bin i
tng ng LieBacklund):
( ) , = +
1
( ) ( ) , ,

= + = u (13)
Ch rng hai h phi tuyn (9), (11) tng ng
theo ngha (13) nh trn khng bt buc chng phi
c cng bc cng nh khng cn phi c cng s tn
hiu u vo. Ngoi ra, mt h phi tuyn khng t tr
lun tng ng vi chnh n v hai h phi tuyn
cng tng ng vi h th ba cng s tng ng
vi nhau.
Thu hp tip, ngi ta li gii hn h tng ng
(11) ca (9) c dng tuyn tnh iu khin c:
( , )
dz
g z w Az Bw
dt
= = + (14)
Khi , t quan h tng ng (13) gia h phi
tuyn (9) v h tuyn tnh (14) ta cng s n c
cc cng thc nh ngha (2) v (3) ca h phng.
Bng vic dn dt nh ngha h phng t tnh tng
ng LieBacklund vi h tuyn tnh iu khin
c nh trn, ta thy c rng:
Mi h tuyn tnh iu khin c cng l h
phng.
Tnh phng ca h phi tuyn l bt bin vi mi
php i trc ta trong khng gian trng thi.
mi h phi tuyn phng lun tn ti t nht mt
php bin i tng ng (13) chuyn n v
c thnh h tuyn tnh iu khin c.
Mi h phi tuyn phng tng ng vi nhau
theo ngha (13) lun c chung mt m hnh tuyn
tnh ha chnh xc (14).
2.2 Kh nng kim tra tnh phng
Cho ti nay, khng c mt tiu chun kim tra tnh
phng no c cng b trong [4][6],[9],[14],[15]
l c kh nng s dng c. Ni cch khc hu nh
khng c mt tiu chun no kim tra tnh phng ca
h phi tuyn (9) m khng cn phi i tm tn hiu ra
phng y cng nh quan h tng ng (13) gia n
vi h tuyn tnh (14) iu khin c.
Hin nay, kim tra tnh phng ca h phi tuyn (9)
ngi ta u phi i t nh ngha ca n, tc l phi
m mm i tm tn hiu ra phng y theo cng thc
(2) tha mn cc iu kin kh nghch (3) hoc (4),
chng hn nh cc bi ton ng dng l thuyt h
phng cng b trong [1],[3],[7],[8],[10],[12].
Hin nhin, vic tm m mm tn hiu ra phng l
khng c bn v n ging nh vic ta phi i tm
nghim cho mt bi ton m khng bit trc c
rng bi ton c nghim hay khng. Nu may mn
tm c tn hiu ra phng y th ta kt lun c rng
h phi tuyn ang kho st l h phng. Ngc li,
nu khng tm c, ta vn khng th bit c h c
phng hay khng. gi cho vic i tm tn hiu ra
phng, cc ti liu [4][6] cung cp mt s tnh
cht ca tn hiu ra phng y , nhng cng khng c
nhiu ngha ng dng, chng hn nh cc gi rng
s phn t ca tn hiu ra phng phi bng s tn hiu
vo u ca h, hoc h phi tuyn phng (9) l h tng
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
ng LieBacklund vi h c s (trivial system),
c hiu l h (11) c tn hiu ra y sao cho m hnh
Brunovsky (12) ca n tha mn:

(1) (2) (1) (2) (3)
( , , , ) ( , , , ) G y y y y y y =
m thc cht, nh [13] chng minh, n chnh l h
qu suy ra c t tnh iu khin c ca h tuyn
tnh (14). Nhng ti liu nghin cu h phng trn
u ch c th an i ngi s dng vi nhn nh rng
s cc h phng trong thc t l rt nhiu.
Bi vy, vic tm ra c mt tiu chun cn v
kim tra tnh phng cho h phi tuyn m khng cn
phi i xc nh tn hiu ra phng y ca n cng nh
khng phi i tm quan h tng ng (13) gia n
vi h tuyn tnh (14), l bi ton then cht cn phi
c gii quyt ngay, t c th thc y hn
na kh nng ng dng ca l thuyt h phng vo
thc t. Ta s gi y l bi ton m s 1.
2.3 Kh nng iu khin bm
Hu ht cc ng dng thc t ca l thuyt h phng
cng b trong [1],[3],[4][10],[12] u theo hng s
dng cng thc th hai trong (3) xc nh tn hiu
t u vo u ca h (9) sao cho tn hiu ra y ca h
bm theo c tn hiu mu mong mun
m
y . ng
nhin rng khi tn hiu ra y ca h cng phi l tn
hiu ra phng, hoc t nht cng phi xc nh c
mt cch duy nht t tn hiu ra phng. Nhng ng
dng thc t c kt qu thnh cng trong s cc ng
dng trn u tu chung mt im l h phi tuyn
phi bin i khng nhanh v tn hiu vo u t trc
tm c phi kh vi t nht p ln, cng nh hm
( ) | l n tr trong ln cn
m
y v m hnh h phi
tuyn l chnh xc. nhng h khng tha mn cc
gi thit ny, v d nh cc ng dng trnh by
trong [7],[8],[10],[12] cho i tng ng c, th khi
ch p dng thun ty tnh cht phng (3), h thu c
u khng c c cht lng mong mun, c th l
khng c c sai lch
m
y y nm trong di b chn
nh cho trc. Vi nhng ng dng khng thnh
cng , ngi ta phi b sung thm rt nhiu cc
b iu khin cascade khc khng lin quan ti
nguyn l phng, nhm ci thin cht lng h thng.
iu ny lm ta phn vn khng bit rng thc t
sau ny, cht lng m h thng t c l do
ta s dng nguyn l h phng, hay l do cc b
iu khin cascade b sung thm mang li. Hn th
na, nhng ng dng [7],[8],[10],[12] ny li hon
ton cha ti cc trng thi x ca h trong qu
trnh iu khin bm
m
y y , tc l hon ton cha
khng nh c trong qu trnh bm sai lch trng
thi:

(1) ( )
( , , , )
q
m m m m
x x x y y y o = (15)
ca h cng c tt dn hay khng.
V phng din l thuyt, cc ti liu [6],[9]
xut nguyn l chung thit k b iu khin b sai
lch trn c s phn tch chui Taylor ca cc hm
( ) o v ( ) | trong (3). T nguyn l chung , bi
bo ny s gii thiu mt phng php c th thit
k b iu khin b sai lch m hnh nh sau. tin
cho vic trnh by, ta s s dng k hiu:

(1) ( )
( , , , )
q
y y y = ,
(1) ( )
( , , , )
q
m m m m
y y y =
Khi tn hiu iu khin u
m
cn c u vo h
phng (9) vi u ra phng y bm theo c qu o
m
y mong mun s c xc nh t (3) nh sau:
( )
m m
u | = (16)
Tuy nhin, nh ni, do m hnh ca h l khng
chnh xc, hoc cc gi thit v tnh kh vi p, q ln
ca u
m
v
m
y khng c tha mn, nn mc d
c u
m
u vo song u ra ca h li vn c
m
y y = . Bi vy ta cn phi b thm u vo mt
lng tng ng vi sai lch tn hiu ra ny. Lng
d tha cn b c tnh xp x nh sau:

( )
( )
( ) ( )
( , )
m
m m m m
m
u u
r y y
|
| |
=
c
~ +
c
=

trong
( )
( )
( , )
m
m m
r y y
|
=
c
=
c
(17)






Hnh H2 m t h iu khin bm c xy dng theo
nguyn l phng. Ta c th thy ngay rng cht lng
bm ca h hon ton ph thuc vo chnh xc ca
tn hiu b (17), tc l ph thuc vo sai lch
m

c nh hay khng c th b qua c tt c cc
o hm bc cao trong chui Taylor ca ( ) | . T
y v cng rt t nhin, ta i n bi ton m th 2
nh sau: "Vi tn hiu u ra
m
y mong mun no,
cng nh t trng thi u x
0
nh th no ca h
phng (9) th h thng iu khin hnh H2, s c
c ng thi c hai
m
y y v
m
x x , trong
x
m
c xc nh t
m
y theo (15)".
2.4 Kh nng iu khin tuyn tnh ha
iu khin tuyn tnh ha bng phn hi trng thi,
hay vn thng c gi l iu khin tuyn tnh ha
y
m
u
m
y
m
y
H2: iu khin bm theo nguyn l phng
B iu
khin (16)
H phng
(9)
B iu
khin (17)
463
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
chnh xc, l iu c k vng nht ca l thuyt h
phng khi ng dng gii quyt cc bi ton iu
khin h phi tuyn. N c xem nh l s m rng
ca phng php iu khin tuyn tnh ha chnh xc
c xy dng trn nn hnh hc vi phn [11]. S
khc nhau gia hai phng php ny l trong khi
phng php tuyn tnh ha chnh xc trn nn hnh
hc vi phn ch p dng c cho lp cc h phi
tuyn pha cc tiu, c vector bc tng i bng bc
ca m hnh v b iu khin phn hi trng thi thu
c l b iu khin tnh:
( , ) u r x w = (18)
th phng php trn nn nguyn l h phng, n c
th p dng c cho c nhng h phi tuyn pha
khng cc tiu, hoc khng cn c vector bc tng
i ti thiu ng bng bc m hnh, min rng h phi
tuyn l phng. B iu khin trng thi tuyn tnh
ha chnh xc thu c thng l mt khu ng hc
c vector trng thi v ring, m t bi:

( , , )
( , , )
dv
r v w x
dt
u h v w x

(19)
trong ( w, x) l hai vector tn hiu vo v u l
vector tn hiu ra ca b iu khin.





Cng vi b iu khin (19) trn, h phi tuyn phng
(9), tc h phi tuyn tng ng LieBacklund vi
h tuyn tnh (14) theo ngha (13), s to thnh mt h
kn hnh H3 m t bi:

( , ( , , ) ( , , )
( , , ) ( , , )
f x h v w x x f x v w d
v dt r v w x r x v w
| | | | | |
= = | | |
| |
\ . \ . \ .

c vector trng thi l ( x, v) v h kn ny ch sai
khc so vi h tuyn tnh (14) bng mt php i trc
ta phi tuyn (i bin vi phi):
( , ) z m x v =
Mc d bit rng l kh nng ng dng c k
vng nht ca l thuyt h phng, song vic trin khai
n thnh phng php tng qut gn nh b b tc.
Cc v d ng dng l thuyt h phng vo iu khin
tuyn tnh ha chnh xc cho mt s i tng thc t
c th, gii thiu trong [1],[6], mc d rt t, nhng
cng khng l gii c cht ch cho s hnh
thnh b iu khin ng phn hi trng thi (19) s
dng .
L do cho s b tc trn c th c gii thch t
ngun gc nh ngha h phng trnh by mc
2.1 v quan h cp th di n. ta c thy
s tn ti ca b iu khin phn hi trng thi (19)
c bt ngun t quan h tng ng (13) vi h
tuyn tnh (14) ca h phng (9). ta cng
c thy thm rng khi nim h phng vi hai cng
thc (2), (3) cng c ngun gc t chnh quan h ny.
Song quan h cp th bn di trc tip gia hai cng
thc nh ngha (2), (3) vi b iu khin (19) li
cha c. Bi vy c c b iu khin (19), theo
nguyn tc, ngi ta li phi ln ngc quan h tng
ng LieBacklund (13) t cng thc nh ngha (2)
v (3), m iu ny i hi phi bit trc h tuyn
tnh (14) tng ng, ri t mi c c b iu
khin (19). Vic ny c v ging nh hin tng
cha tm nghim bi ton m c c nghim .
Vy khai thng b tc ca ng dng l thuyt h
phng vo iu khin tuyn tnh ha chnh xc nh
trnh by trn, ta phi gii quyt c bi ton m
th 3 nh sau: "Xc nh quan h gia hai cng thc
nh ngha h phng (2), (3) v b iu khin tuyn
tnh ha chnh xc (19), tc l tm quan h qua li
gia cc vector hm ( ) , ( ) o , ( ) | v ( ) r , ( ) h ".
Cui cng, kt thc mc nh ny, ta cng nn ch
ti kt lun nu trong ti liu [2], rng mi h
phng c mt tn hiu vo u, tc l mi h phng (9)
c m=1, u iu khin tuyn tnh ha chnh xc
c bng b iu khin tnh (18) phn hi trng thi,
thay v b iu khin ng (19). Vi kt lun ta c
th trnh c kh khn khi iu khin tuyn tnh ha
chnh xc h phng c mt u vo m cha c li
gii ca bi ton m th 3 nu trn, bng cch s dng
phng php iu khin bit trn nn hnh hc vi
phn gii thiu ti liu [11].
2.5 Kh nng ng dng trong phn tch cht
lng h thng
Cng vic kho st cht lng ng hc h phng (9)
c thc hin ch yu da trn m hnh ngc (3)
ca tn hiu ra phng:

(1) ( )
( , , , ) ( )
q
x y y y o o = = (20)
N cho php ta xc nh c kh n gin cc tnh
cht c bn ca qu o trng thi x khi bit trc y
cng cc o hm bc cao ca n. Chng hn kim
tra tnh pha cc tiu ca h phng, ta ch cn kim tra:

(1) ( )
0
lim ( , , , ) 0
q
y
y y y o

=
c c tha mn hay khng.
Cng nh vy, kim tra tnh quan st c ca h
phng (9) khi tn hiu ra phng y ca n cho bi (2)
l o c, th vi (20), ta thy do ( ) o l nh x t
R
m(q+1)
vo R
n
, nn theo nh ngha "h (9) c
gi l quan st u c nu vi mi
/
x x = lun c
/
= ", h phng vi tn hiu ra phng o c s
l quan st u c nu c m(q+1)>n v ( ) o l
song nh (bijective). Tuy nhin pht biu trn ch l
iu kin v hn na cha tr li c cu hi v
tnh quan st c (khng u) ca h phng. Cc
nghin cu trong [6],[15] cn b ng cu hi ny.
H3: iu khin tuyn tnh ha chnh xc
x u
w
H phng
(9)
B iu
khin (19)
x
464
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011
VCCA-2011
H phi tuyn phng (9) s c gi l quan st c
(c th khng u) nu lun tn ti t nht mt
tn hiu vo u (tn hiu universal), sao cho khi c
/
x x = cng s c
/
= . Vi nh ngha nh vy,
hin nhin tr li cu hi v tnh quan st c ca
h phng mt cch tng qut, bn cnh quan h (20)
ta cn phi nghin cu thm v mi lin quan gia
( ) v ( ) | vi tn hiu vo u. Vy bi ton m th 4
c pht biu nh sau: Tm iu kin cn v cho
( ) , ( ) o , ( ) | h phng (9) l quan st c.
Ch rng cc l thuyt h phi tuyn khc ta c
y tiu chun kim tra tnh quan st c cho h
phi tuyn, chng hn nh vi h phi tuyn affine (8)
l tiu chun c xy dng trn nn hnh hc vi phn
gii thiu trong ti liu [11]. Bi vy ch ra c
kh nng ca l thuyt h phng trong ng dng t
nht khng thua km so vi cc l thuyt khng
phng khc, ta cn phi gii quyt c bi ton ny.
Cui cng, nhng tnh cht ng hc khc ch lin
quan ti quan h gia vector tn hiu vo u v trng
thi x ca h th cn hon ton b ng trong l thuyt
h phng, hoc nu c cp ti th cng ch trn
nhng h phng c th trong thc t. l cc tnh
cht n nh Lyapunov, tnh iu khin c.. Ta i
n bi ton m th 5 l bi ton gc cho bi ton
phn tch tnh n nh v iu khin c ca h
phng nh sau: C tn ti s t nhin s hu hn hay
khng, c:

(1) ( )
( , , , )
s
x u u u = (21)
v nu c th quan h qua li gia vector hm ( )
vi ( ) , ( ) o , ( ) | cn li c ca h phng (9) l
nh th no. Hin nhin trong trng hp ( ) | kh
nghch ta c ngay cu tr li
1
o |

= , song ng
tic gi thit ny li thng khng c tha mn.
Ngoi ra, c th thy thm rng, nu c quan h
(21) trn, ta cn c th phn tch khng nhng tnh n
nh tim cn Lyapunov m cn c tnh n nh vi
khong thi gian hu hn ca h.
3. Kt lun
Mc d cc ti liu gc nghin cu v h phi tuyn
phng nh [4][6],[9],[14],[15] ha hn kh nhiu
kh nng ng dng ca l thuyt h phng trong c
phn tch cng nh iu khin h phi tuyn, song theo
kin ring ca tc gi bi bo ny th s mong i
nht ng dng l thuyt h phng thi im hin
ti chnh l iu khin tuyn tnh ha chnh xc h phi
tuyn, iu m cc phng php khc c xy dng
trn nn hnh hc vi phn cha gi quyt c trn
vn. Ni nh vy l v khi so snh vi cc l thuyt
iu khin khc, ta c th thy s tin b ca l thuyt
h phng l cha p ng c so vi nhng l thuyt
khng phng, in hnh l cc bi ton phn tch
tnh n nh, iu khin c .. S cha p ng
c c nu ln nm bi ton m.
Vy, th hin c r s vt tri ca l thuyt h
phng so vi cc l thuyt phn tch v iu khin h
phi tuyn khc, chng ta cn tp trung gii quyt nm
bi ton m trn v cng l nguyn ca tc gi
gi gm trong bi bo ny.
Ti liu tham kho
[1] Anene,E.C.; Aliyu,U.O.; Levine,J. and
Venayagamoorthy (2005): Flatnessbased
feedback linearization of a synchronous machine
model with static excitation and fast turbine
valving. IEEE trans. on Power Systems 14 (2005).
[2] Charlet,B.; Levine,J. (1989): On dynamic feedback
linearization. Systems & Control Letters vol.13,
143151.
[3] Dannehl,J.; Fuchs,F.W. (2008): Flatnessbased
voltage oriented control of three phase PWM
recitifiers. Proceeding of 13
th
. International
Conference of Power Electronics and Motion
Control, 2008.
[4] Fliess, M.; Levine, J.; Martin, P. and Rouchon, P.
(1995): Flatness and defect of nonlinear systems:
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[5] Fliess, M.; Levine, J.; Martin, P. and Rouchon, P.
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[6] Levine, J. (2009): Analysis and Control of
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my pht khng ng b ngun kp v xut cu
trc iu khin trn nguyn l h phng. n tt
nghip HBK H Ni.
[8] Hng,L.N.; Cng,N.V. (2010): Nghin cu l
thuyt h phng v xut cu trc iu khin cho
ng c tuyn tnh. n tt nghip HBK H
Ni.
[9] Martin, Ph.; Muray, R.M. and Roucho, P. (2003):
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[10] Nam, .P. (2011): Kho st kh nng s dng
nguyn l phng iu khin ng c tuyn tnh
kiu ng b kch thch vnh cu. Bo co chuyn
nghin cu sinh.
[11] Nijmeijer, H.; Schaft, A. (1990): Nonlinear
Dynamical Control Systems. Springer Verlag, 1990.
[12] Quang,N.V.; Thnh, N.D. (2011): Nghin cu
xut cu trc iu khin b chnh lu tch cc theo
nguyn l h phng. n tt nghip HBK H
Ni.
[13] Phc, N.D. (sp xut bn): Phn tch v iu
khin h phi tuyn. Nh xut bn Bch khoa.
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flat systems. Marcel Dekker.
[15] Trentelman,H.L. (2004): On flat systems behaviors
and observable image representations. Systems &
Control Letters 51 (2004) 5155.
465
PGS.TS. Nguyn Don Phc, tt
nghip i hc Tng hp k thut
Dresden nm 1981. T 1981-1982 l
k s nghin cu v pht trin ca
VEB Robotron, CHDC c. T
1983 n 1988 l cn b nghin cu
Vin 481 B Quc Phng (Vin Ht
nhn Qun i). Nm 1989-1990 l
cn b nghin cu Vin Nng lng nguyn t Quc gia.
T 10.1990 n 11.1993 l nghin cu sinh ti Vin L
thuyt cc h thng iu khin, trng i hc Tng hp
k thut Dresden, CHLB c v bo v hc v Dr.-Ing.
nm 1994. Nm 1994-1996 l cn b nghin cu Vin
Fraunhofer Dresden v m hnh ha v m phng,
CHLB c. T nm 1997 n nay l cn b ging dy
ca i hc Bch khoa H Ni v c phong hc hm
PGS nm 2003. Lnh vc nghin cu l: L thuyt h
ng hc phi tuyn; iu khin thch nghi phi tuyn v
Nhn dng.





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