BI TP V NH LM TRN GIY

Bi 1: Cho h thng nh la ca ng c t nh hnh 1. Bit tham s p bng 0

hoc bng 2. Hy xc nh K h kn n nh trong 2 trng hp.

Hnh 1
Bi 2: Mt h thng hi tip m n v vi
0
C
(s)0(s) =
K(s +2)
s(1 +ts)(1 +2s)

c 2 tham s cn phi la chn. Hy xc nh v v vng n nh cho h thng
ny.
Bi 3: H thng iu khin cao ca tn la phng phi thuyn khng gian nh
hnh 2.

Hnh 2
Hy xc nh tm li K v tham s m h thng kn n nh. V vng n nh.
BI TP V NH LM TRN GIY
Bi 4: H thng iu khin robot nh hnh 3.

Hnh 3
B iu khin tch phn t l
0
C
(s) = K
P
+
K
I
s

Hy xc nh tm gi tr K
P
v K
I
h kn n nh. V vng n nh.

Bi 5: H thng iu khin gc quay camera nh hnh 4.
BI TP V NH LM TRN GIY

Hnh 4
Hy xc nh tm gi tr K
P
> 0

v K
I
> 0

h kn n nh. V vng n nh.






BI TP V NH LM TRN GIY
Bi 5: H thng iu khin nh hnh 5.

Hnh 5
Hy xc nh tm gi tr K

0 h kn n nh. V vng n nh.

Bi 6: 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 u
y x

( (

( (
= +

( (

( (

Bi 7: 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 u
y x

( (

( (
= +

( (

( (