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1. iu khin ti u gii quyt vn g ?

- l mt h iu khin c thit k ch lm vic tt nht l h lun trng


thi ti u theo mt tiu chun cht lng no ( t c gi tr cc tr ) .
Trng thi ti u c t c hay khng ty thuc vo yu cu cht lng
t ra , vo s hiu bit v i tng v cc tc ng ln i tng , vo
iu kin lm vic ca h iu khin
+ tn hiu sai lch
+ tn hiu nhiu
+ ti u tc ng nhanh ( thi gian ti thiu )
+ nng sut ti u
+ Tn hao nng lng trong h thng nng lng ti thiu
+ h ti u tc ng nhanh th yu cu i vi h l nhanh chng chuyn t trng
thi ny sang trng thi khc vi thi gian qu nh nht , ngha l cc tiu ha
thi gian qu

2. Xy dng cc bc gii bi ton iu khin LQR lin tc

3. iu khin m gm c cc khu c bn no? S khi, gii thch


S khi chung ca b iu khin m gm 3 khi: Khi m ho, thc hin
lut hp thnh, Khi gii m.
S khi h iu khin m

Vo

Khi m
ho

Thc hin
lut hp
thnh

Khi gii
m

Ra

- Khi m ho
Nhim v bin i cc tn hiu r o c c (V d tc , nhit ,..)
thnh cc gi tr ngn ng ph hp (V d gi tr l "qu chm" trong cc tp m
ca bin tc , "qu thp" trong cc tp m ca bin nhit ...)
- Khi hp thnh
Nhim v bin i gi tr m ho cc bin ngn ng u vo thnh cc khi
gi tr ca bin ngn ng u ra theo cc lut hp thnh no . Bao gm tp cc
lut "Nu... th" da vo cc lut m c s ngi ta thit k cho thch hp vi tng
bin gi tr ca bin ngn ng theo quan h m Vo/ra.
- Khi gii m
Bin i cc gi tr u ra thnh cc gi tr r iu khin i tng.Thc
hin lut hp thnh l phn ct li ca b iu khin m v n c kh nng m
phng nhng suy ngh, suy on ca con ngi t c mc tiu iu khin
nh mong mun no .
Do b iu khin m c bn ch c kh nng x l cc gi tr tn hiu hin
thi nn n thuc nhm cc b iu khin tnh. Tuy vy m rng min ng
dng ca chng vo cc bi ton iu khin ng, cc khu ng hc cn thit s
c ni thm vo b iu khin m c bn. Cc khu ng hc ch c nhim
v cung cp thm cho b iu khin m c bn cc gi tr o hm hay tch phn
ca tn hiu.

4. C bao nhiu phng php gii m? Trnh by cng thc tnh ca phng
php gii m trng tm. Gii thch.
C hai phng php gii m:
- Phng php cc i
+ nguyn l trung bnh
+ nguyn l cn tri
+ nguyn l cn phi
- Phng php trng tm
+ Phng php trng tm cho lut Sum-Min
+ Phng php cao
Trnh by cng thc:

a)Gii m theo phng php trng tm


Phng php im trong tm s cho ra kt qu y' l honh ca im trng
tm min c bao bi trc honh v ng B'(y).
Cng thc xc nh y' theo phng php trng tm nh sau:

y
y' =

( y )dy

B'

( y )dy

y
S

Trong S l min xc nh ca tp m B'

B'

B2

B1

y
y'
S

Hnh 2.3 - Gi tr r y' l honh ca im trng tm

Phng php trng tm c u im l tnh n nh hng ca tt c cc lut


iu khin n gi tr u ra tuy vy c nhc im l khi gp cc dng hm lin
thuc hp thnh dng i xng th kt qu sai nhiu v gi tr tnh c li ng
vo ch thp nht thm tr bng 0, iu ny hon ton sai v suy ngh thc t.
Cng thc trn cho php xc nh y' vi s tham gia ca tt c cc tp m
u ra ca mi lut iu khin mt cch bnh ng v chnh xc, tuy nhin n
khng th hin c tho mn ca cc lut iu khin quyt nh v thi gian
tnh lu. Thm vo kh nng gi tr y' xc nh li c ph thuc nh nht,
thm ch c th bng 0. trnh nhng trng hp nh vy, khi nh ngha hm
lin thuc cho tng gi tr m ca bin ngn ng nn sao cho min xc nh
ca gi tr m u ra l mt hm lin thng.

5. Nu m hnh 1 n ron nhn to, gii thch.


Noron nhn to l mt n v tnh ton c nhiu u vo v mt u ra.

Mt nron l mt n v x l thng tin v l thnh phn c bn ca mt mng


nron. Cu trc ca mt nron c m t trn hnh di.

Hnh 1: Nron nhn to


Cc thnh phn c bn ca mt nron nhn to bao gm:
Tp cc u vo: L cc tn hiu vo (input signals) ca nron, cc tn
hiu ny thng c a vo di dng mt vector N chiu.
Tp cc lin kt: Mi lin kt c th hin bi mt trng s (gi l trng
s lin kt Synaptic weight). Trng s lin kt gia tn hiu vo th j vi nron k
thng c k hiu l wkj. Thng thng, cc trng s ny c khi to mt
cch ngu nhin thi im khi to mng v c cp nht lin tc trong qu
trnh hc mng.
B tng (Summing function): Thng dng tnh tng ca tch cc u
vo vi trng s lin kt ca n.
Ngng (cn gi l mt lch - bias): Ngng ny thng c a vo
nh mt thnh phn ca hm truyn.
Hm truyn (Transfer function) : Hm ny c dng gii hn phm
vi u ra ca mi nron. N nhn u vo l kt qu ca hm tng v ngng
cho. Thng thng, phm vi u ra ca mi nron c gii hn trong on [0,1]
hoc [-1, 1]. Cc hm truyn rt a dng, c th l cc hm tuyn tnh hoc phi
tuyn. Vic la chn hm truyn no l tu thuc vo tng bi ton v kinh
nghim ca ngi thit k mng. Mt s hm truyn thng s dng trong cc m
hnh mng nron c a ra trong bng 1 .

u ra: L tn hiu u ra ca mt nron, vi mi nron s c ti a l


mt u ra.
6. Nu m hnh mng perceptron.
Perceptron l mng nron n gin nht, n ch gm mt nron, nhn u
vo l vector c cc thnh phn l cc s thc v u ra l mt trong hai gi
tr +1 hoc -1.

Hnh 2: Perceptron
u ra ca mng c xc nh nh sau: mng ly tng c trng s cc
thnh phn ca vector u vo, kt qu ny cng ngng b c a vo hm
truyn (Perceptron dng hm Hard-limit lm hm truyn) v kt qu ca hm
truyn s l u ra ca mng.
Hot ng ca Perceptron c th c m t bi cp cng thc sau:
[Cong thuc]
v y = f(u - b) = Hardlimit(u - b); y nhn gi tr +1 nu u - b>0, ngc li y nhn
gi tr -1.
Perceptron cho php phn loi chnh xc trong trng hp d liu c th
phn chia tuyn tnh (cc mu nm trn hai mt i din ca mt siu
phng). N cng phn loi ng u ra cc hm AND, OR v cc hm c
dng ng khi n trong m u vo ca n ng (n m). N khng th phn
loi c u ra ca hm XOR.

7. Nu cc cu trc ca mng n ron nhn to

Cch thc kt ni cc nron trong mng xc nh kin trc (topology) ca


mng. Cc nron trong mng c th kt ni y (fully connected) tc l mi
nron u c kt ni vi tt c cc nron khc, hoc kt ni cc b (partially
connected) chng hn ch kt ni gia cc nron trong cc tng khc nhau. Ngi
ta chia ra hai loi kin trc mng chnh:
T kt hp (autoassociative): l mng c cc nron u vo cng l cc
nron u ra. Mng Hopfield l mt kiu mng t kt hp.

Hnh 3: Mng t kt hp
Kt hp khc kiu (heteroassociative): l mng c tp nron u vo v
u ra ring bit. Perceptron, cc mng Perceptron nhiu tng (MLP: MultiLayer
Perceptron), mng Kohonen, thuc loi ny.

Hnh 4: Mng kt hp khc kiu


Ngoi ra ty thuc vo mng c cc kt ni ngc (feedback connections) t
cc nron u ra ti cc nron u vo hay khng, ngi ta chia ra lm 2 loi kin
trc mng.
Kin trc truyn thng (feedforward architechture): l kiu kin trc mng
khng c cc kt ni ngc tr li t cc nron u ra v cc nron u vo; mng
khng lu li cc gi tr output trc v cc trng thi kch hot ca nron. Cc
mng nron truyn thng cho php tn hiu di chuyn theo mt ng duy nht; t
u vo ti u ra, u ra ca mt tng bt k s khng nh hng ti tng . Cc
mng kiu Perceptron l mng truyn thng.

Hnh 5: Mng truyn thng


Kin trc phn hi (Feedback architecture): l kiu kin trc mng c cc
kt ni t nron u ra ti nron u vo. Mng lu li cc trng thi trc , v
trng thi tip theo khng ch ph thuc vo cc tn hiu u vo m cn ph thuc
vo cc trng thi trc ca mng. Mng Hopfield thuc loi ny.

Hnh 6: Mng phn hi

8. Nu 1 s hm tc ng (activation function) ca mng n ron nhn to :

9) V d v cc ng dng ca lgic m
Cc h thng con ca t v cc phng tin giao thng khc, chng hn cc
h thng con nh ABS v qun l hi (v d Tokyo monorail)
My iu ha nhit
Phn mm MASSIVE dng trong cc tp phim Cha nhn (Lord of the Rings),
phn mm gip trnh din nhng i qun ln, to cc chuyn ng mt
cch ngu nhin nhng vn c th t
Camera
X l nh s (Digital image processing), chng hn nh pht hin bin (edge
detection)
Ni cm in
My ra bt
Thang my
My git v cc thit b gia dng khc
Tr tu nhn to trong tr chi in t
Cc b lc ngn ng ti cc bng tin (message board) v phng chat lc b
cc on vn bn khim nh
Nhn dng mu trong Cm nhn t xa (Remote Sensing)
Lgic m cng c tch hp vo mt s b vi iu khin v vi x l, v
d Freescale 68HC12.

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