DeThi LTDK LTDKNC

1.
Thi gian 90 pht, Khng c s dng ti liu,

1. Hy s dng hm rng lc (cn gi l hm trch mu) m t qu trnh trch mu
tn hiu cng nh hai sai s c bn gia nh Fourier lin tc v khng lin tc. T ,
hy trnh by ngha ng dng gim thiu cc sai s trong qu trnh tnh cc gi
tr hm mt ph S
u
( j n) , n=0, 1, , N ca tn hiu u(t) t cc gi tr u
0
, u
1
,
, u
N
ca n, trong u
k
= u(kT
a
) v T
a
l chu k ly mu.
2. Cho i tng bt nh khng cha thnh phn dao ng vi hm truyn t:
S( s) =
) (
2
2 1 0
s a s a a s
k
+ +
, a
0
, a
1
, a
2
, k l nhng tham s cha bit ph thuc t .
Ngi ta iu khin i tng ny bng b PID t chnh gin tip v mt b tin
x l M( s) lm gim qu iu chnh h kn.
a) Hy xy dng c cu nhn dng cho b iu khin thch nghi (di dng thut
ton). Nu r cn trch t nht bao nhiu mu tn hiu th c th xc nh
c cc tham s a
0
, a
1
, a
2
, k ca i tng.
b) Hy xy dng c cu chnh nh cc tham s cho hai b iu khin trn.
c) Cn c gi thit g v tc thay i cc tham s a
0
, a
1
, a
2
, k (nhanh/chm nh
th no) h thng thch nghi trn lm vic c hiu qu)?.
Gi : Nu c:
S( s) =
) 1 )( 1 (
2 1
s T s T Ts
k
+ +

th M(s) =
s T
2
4 1
1
+
v b iu khin PID: )
1
1 ( s T
s T
k
D
I
p
+ + ti u i xng s c:
T
I
= T
1
+4T
2
, T
D
=
2 1
2 1
4
4
T T
T T
+
, k
p
=
2
2
2 1
8
) 4 (
kT
T T T +

3. Hy xy dng c cu chnh nh tham s cho b iu khin phn hi tn hiu ra y:
u

= p
1
wp
2
y
iu khin i tng bt nh (tn hiu vo l u v tn hiu ra l y):
S(s) =
Ts s
k
+
2
, k, T l hai hng s cha bit.
sao cho h kn bm c theo m hnh mu:
G( s) =
s 3 1
1
+
,

Xc nhn ca B mn KT:

2.
Thi gian 90 pht. Khng c s dng ti liu,

1. Ti sao phng php tm nghim phng trnh YuleWalker xc nh tham s m
hnh AR ca i tng khng lin tc khi i tng c tn hiu u vo l n trng li
c gi phng php nhn dng (ch ra sai lch no c s dng v nghim ca
YuleWalker s lm cho sai lch c gi tr nh nht). T , hy nu ngha ca
phng trnh YuleWalker i vi vic nhn dng ch ng tham s m hnh ARMA
ni chung.
S( s) =
3
3
2
2 1
1 s a s a s a
k
+ + +
, a
1
, a
2
, a
3
, k l cc tham s cha bit ph thuc t .
Ngi ta iu khin i tng ny bng b PID t chnh gin tip.
c cc tham s a
1
, a
2
, a
3
, k ca i tng.
b) Hy xy dng c cu chnh nh cc tham s b iu khin PID.
1
, a
2
, a
3
, k (nhanh/chm nh
Gi : Nu c:
S( s) =
) 1 )( 1 )( 1 (
3 2 1
s T s T s T
k
+ + +

th b iu khin PID: )
1
1 ( s T
s T
k
D
I
p
+ + ti u ln s l:
T
I
= T
1
+T
2
, T
D
=
2 1
2 1
T T
T T
+
, k
p
=
3
2 1
2kT
T T +

u

= p
1
w+p
2
y
S(s) =
Ts s
k
+
2
G( s) =
s 5 1
1
+
,

Xc nhn ca B mn KT:
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
=
0 1
4 0

x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.
1. (1 im) Hy thit k b iu khin phn hi trng thi sao cho vi n, h thng
c hai im cc mi l s
1
= s
2
= 2.
2. (1 im) Hy xc nh b quan st trng thi Luenberger tnh xp x x
~
x
trng thi ca i tng vi hai im cc cho trc l
1
= 4 v
2
= 5.
3. (1,5 im) V s khi m t h kn bao gm i tng cho, b iu khin
phn hi trng thi tm c cu 1 v b quan st trng thi Luenberger tm
c cu 2. Vit phng trnh trng thi v a thc c tnh cho h kn .
4. (0,5 im) C th c bao nhiu b iu khin phn hi trng thi tha mn yu
cu nu trong cu 1?.

2.
2. (2 im) Bit rng G
1
=G
2
=G
3
=G
4
=1 v G
5
=
2
1
+ s
dt
t dh ) (
.
3. (2 im) Bit rng G
1
=G
3
=G
4
+G
5
=1 v G
2
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


dt
x d
=
1 2
0 1

x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.
c hai im cc mi l s
1
= 2, s
2
= 4.
~
x
1
=
2
= 5.
cu nu trong cu 1?.
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
thi li ( 1)
2. (2 im) Bit rng G
1
=G
4
=1 v G
2
+G
3
l khu tch phnqun tnh bc nht
c ng th c tnh tn binpha cho hnh 2. Hy tnh hm trng lng
g( t ) v hm qu h( t ) ca h.
3. (2 im) G
1
=k, G
4
=1 v G
2
+G
3
=
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


dt
x d
=
0 2
1 3

x+
1
2

u, y=x
2
, trong x=

2
1
x
x
.
c hai im cc mi l s
1
= 2+5j, s
2
= 25j.
~
x
1
=
2
= 5.
cu nu trong cu 1?.

thi li ( 2)
2. (2 im) Bit rng G
1
=G
4
=1 v G
2
+G
3
l khu tch phnqun tnh bc nht
c ng th c tnh tn binpha cho hnh 2. Hy tnh hm trng lng
g( t ) v hm qu h( t ) ca h.
3. (2 im) G
1
= G
4
=1 v G
2
+G
3
=
1 2
(1 )(1 )
k
T s T s + +
. Tm iu kin cho k, T
1
, T
2

h kn c dng dao ng bc hai. Xc nh thi gian qu T
5%
ca h v sai
lch tnh khi tn hiu vo l 1(t).


dt
x d
=
0 2
1 1

x+
1
2

u, y=x
2
, trong x=

2
1
x
x
.
c hai im cc mi l s
1
= 3+2j, s
2
= 32j.
~
x
1
=
2
= 4.
cu nu trong cu 1?.

Hnh 1
u y
G
1

G
4
G
3
G
2
ImG
Hnh 2
2 ReG 1
=1
=0
=
Hnh 1
u y
G
1
G
4
G
3
G
2
ImG
Hnh 2
4 ReG 2
=1
=0
=
1.
Thi gian 90 pht
c s dng ti liu,

1. a) (1 im) c th p dng c phng php bin phn th bi ton ti u cn
phi tha mn nhng iu kin no?.
b) (3 im) Cho i tng vi mt tn hiu vo u m t bi

dt
x d
= u x

1
0
0 1
2 0
, trong x =

2
1
x
x
l vector bin trng thi.
Hy xc nh b iu khin phn hi trng thi hon ton n nh i tng
theo quan im ti u nng lng, tc l vi b iu khin , khi c mt nhiu
tc ng tc thi nh bt h ra khi im cn bng 0 th sau h c kh nng
t quay v im cn bng 0 v nng lng cn thit cho qu trnh t quay v tnh
theo
Q=

0
2
2
1
10 6
2 4
2
1
dt u x x
T

l nh nht.
(Gi : x
T
Ex=x
T
E
T
x)
2. (2 im) Cho bi ton ti u tnh
Q =
2 1 2 1
2
2
2
1
2 10 8 2 u u u u u u + + min
a) Hy tm nghim bi ton theo phng php Newton/Raphson vi 2 bc tnh k t
im xut pht ty c chn trc.
b) C nhn xt g v nghim tm c.
3. iu khin i tng bt nh (tn hiu vo l u v tn hiu ra l y):
S(s) =
Ts
k
+ 3
ngi ta s dng b iu khin:
u

= p
1
wp
2
y
a) (3 im) Hy xy dng c cu chnh nh sao cho h kn bm c theo m hnh
mu (bin lun bi ton c nghim):
G( s) =
s 4 1
1
+
,
b) (1 im) C th xem c cu chnh nh tm c chnh l khu nhn dng tham s
m hnh i tng c khng v ti sao?

2.
Thi gian 90 pht
c s dng ti liu,

1. a) (1 im) c th p dng c phng php quy hoch ng ca Bellman th bi
ton ti u cn phi tha mn nhng iu kin no?.
b) (3 im) Cho h m t bi
x
k+1
= ax
k
+bu
k
, k=0, 1, 2, 3
trong a,b l hai hng s cho trc. Hy xc nh dy tn hiu iu khin
u
0
, u
1
, u
2
, u
3
a h t mt im trng u x
0
ty , nhng cho trc ti c
im trng thi x
4
bt k v chi ph cho qu trnh chuyn i trng thi tnh
theo
Q=

=
+
3
0
2 2
) (
2
1
k
k k
u x
l nh nht.
Q =
2 1 2 1
2
2
2
1
14 5 2 u u u u u u + + min
S(s) =
Ts
k
+ 2
u

= p
1
wp
2
y
G( s) =
s 6 1
1
+
,

Thi gian 90 pht
c s dng ti liu,

1. Cho bi ton ti u tnh
Q =
2 2
1 2 1 2 1 2
2 5 14 u u u u u u + + min vi u=( u
1
, u
2
)
T

a) (1,5 im) Hy xc nh u
2
theo phng php Newton/Raphson vi 2 bc tnh k
t im xut pht u
0
ty c chn trc.
b) (1 im) Hy ch rng u
2
tm c bc a) l nghim u* ca bi ton cho.
2. Cho i tng vi mt tn hiu vo u v hai bin trng thi m t bi

dt
x d
=

0 0
1 0
x +

1
0
u, trong x =

2
1
x
x
a) (2,5 im) Hy xc nh b iu khin phn hi trng thi hon ton n nh
i tng theo quan im ti u nng lng, tc l vi b iu khin , khi c
mt nhiu tc ng tc thi nh bt h ra khi im cn bng 0 th sau h c
kh nng t quay v im cn bng 0 v nng lng cn thit cho qu trnh t
quay v tnh theo
Q =

+ +
0
2 2
2
2
1
) (
2
1
dt bu ax x , a, b > 0
l nh nht.
b) (0,5 im) Hy ch rng vi b iu khin tm c, h kn l n nh.
c) (0,5 im) Hy vit li b iu khin phn hi trng thi tm c di dng phn
hi tn hiu ra v t ch rng bn thn b iu khin l khng n nh.
3. Cho i tng tuyn tnh

dt
x d
=
2
2
1 2 1 1 2 2
x
x x u x d x d

+ + +

c d
1
( t ) , d
2
( t ) l hai tham s bt nh ph thuc thi gian.
a) (2,5 im) Hy xy dng b iu khin thch nghi h kn lun bm c theo
m hnh mu:
m
dx
dt
=

1 1
1 0
x
m
+

1
0
w
b) (0,5 im) Vi b iu khin tm c, ngi ta c th xc nh c hai tham s
bt nh d
1
( t ) , d
2
( t ) ca i tng c khng v ti sao.
4. (1 im) Hy ch rng i tng c hm truyn t S( s) =
2
1
s
s
khng th iu
khin n nh c theo nguyn l phn hi u ra bng mt b iu khin n nh.

Thi gian 90 pht
c s dng ti liu,

Q =
2 2
1 2 1 2 1 2
2 5 14 u u u u u u + + min vi u=( u
1
, u
2
)
T

2
t im xut pht u
0
ty c chn trc.
b) (1 im) Hy ch rng u
2

dt
x d
=

0 0
1 0
x +

1
0
u, trong x =

2
1
x
x
a) (2,5 im) Hy xc nh b iu khin phn hi trng thi hon ton n nh
i tng theo quan im ti u nng lng, tc l vi b iu khin , khi c
mt nhiu tc ng tc thi nh bt h ra khi im cn bng 0 th sau h c
kh nng t quay v im cn bng 0 v nng lng cn thit cho qu trnh t
quay v tnh theo
Q =

+ +
0
2 2
2
2
1
) (
2
1
dt bu ax x , a, b > 0
l nh nht.
3. Cho i tng tuyn tnh

dt
x d
=
2
2
1 2 1 1 2 2
x
x x u x d x d

+ + +

c d
1
( t ) , d
2
( t ) l hai tham s bt nh ph thuc thi gian.
a) (2,5 im) Hy xy dng b iu khin thch nghi h kn lun bm c theo
m hnh mu:
m
dx
dt
=

1 1
1 0
x
m
+

1
0
w
b) (0,5 im) Vi b iu khin tm c, ngi ta c th xc nh c hai tham s
bt nh d
1
( t ) , d
2
( t ) ca i tng c khng v ti sao.
4. (1 im) Hy ch rng i tng c hm truyn t S( s) =
2
1
s
s
khng th iu
khin n nh c theo nguyn l phn hi u ra bng mt b iu khin n nh.

1.
Thi gian 90 pht
c s dng ti liu,


dt
x d
= u x

1
0
0 1
2 0
, trong x =

2
1
x
x
theo
Q=

0
2
2
1
10 6
2 4
2
1
dt u x x
T

l nh nht.
(Gi : x
T
Ex=x
T
E
T
x)
Q =
2 1 2 1
2
2
2
1
2 10 8 2 u u u u u u + + min
c) Hy tm nghim bi ton theo phng php Newton/Raphson vi 2 bc tnh k t
d) C nhn xt g v nghim tm c.
S(s) =
Ts
k
+ 3
u

= p
1
wp
2
y
G( s) =
s 4 1
1
+
,

2.
Thi gian 90 pht
c s dng ti liu,

x
k+1
= ax
k
+bu
k
, k=0, 1, 2, 3
u
0
, u
1
, u
2
, u
3
0
im trng thi x
4
theo
Q=

=
+
3
0
2 2
) (
2
1
k
k k
u x
l nh nht.
Q =
2 1 2 1
2
2
2
1
14 5 2 u u u u u u + + min
c) Hy tm nghim bi ton theo phng php Newton/Raphson vi 2 bc tnh k t
d) C nhn xt g v nghim tm c.
S(s) =
Ts
k
+ 2
u

= p
1
wp
2
y
G( s) =
s 6 1
1
+
,

1.
Thi gian 90 pht
c s dng ti liu,

Q =
2 2
1 2 1 2 1 2
3 3 3 9 u u u u u u + + + + min vi u=( u
1
, u
2
)
T

2
t im xut pht u
0
ty c chn trc.
b) (1 im) Ti sao c th khng nh c Q( u
0
) Q( u
1
) m khng cn phi tnh
gi tr hm Q ti nhng im .
c) (0,5 im) Hy ch rng u
2

dt
x d
=
0 1
2 0

x +

1
0
u,
y = x
1

trong x =( x
1
, x
2
)
T
a) (2,5 im) Hy xc nh b iu khin phn hi trng thi LQR vi
Q =
2
0
1 2 1
1 6 2
T
x x u dt
min
b) (1 im) Hy ch rng vi b iu khin tm c, h kn l n nh.
S(s) =
1 2
1
(1 ) s +
,
1
,
2
l hai hng s cha bit.
u

= p
1
wp
2
y
mu (bin lun bi ton c nghim). Bin lun theo tham s
1
,
2
.
G( s) =
1
1 2s +
,
m hnh i tng c khng v gii thch ti sao?

2.
Thi gian 90 pht
c s dng ti liu,

Q =
2 2
1 2 1 2 1 2
2 5 14 u u u u u u + + min vi u=( u
1
, u
2
)
T

2
t im xut pht u
0
ty c chn trc.
0
) Q( u
1
) m khng cn phi tnh
c) (0,5 im) Hy ch rng u
2

dt
x d
=
0 2
1 0

x +

1
0
u,
y = x
1

trong x =( x
1
, x
2
)
T
a) (2,5 im) Hy xc nh b iu khin phn hi trng thi LQR vi
Q =
2
0
4 2 1
4 4,5 2
T
x x u dt
min
l nh nht.
S(s) =
1
2
3 s
+
,
1
,
2
u

= p
1
w+p
2
y
mu (bin lun bi ton c nghim). . Bin lun theo tham s
1
,
2
.
G( s) =
1
1 2s +
,

thi ca KSTN
Ngy 17.1.2005. Thi gian 90 pht.
c s dng ti liu.

Q =
2 2
1 2 1 2 1 2
3 3 3 9 u u u u u u + + + + min vi u=( u
1
, u
2
)
T

a) (1 im) Hy xc nh u
2
theo phng php Newton/Raphson vi 2 bc tnh k t
im xut pht u
0
ty c chn trc.
0
) >Q( u
1
) m khng cn phi tnh
c) (1 im) Hy ch rng u
2

dt
x d
=
0 1
2 0

x +

1
0
u,
y = x
1

trong x =( x
1
, x
2
)
T
a) (2 im) Hy xc nh b iu khin phn hi trng thi LQR vi
Q =
2
0
1 2 1
1 6 2
T
x x u dt
min
c) (1 im) Hy vit li b iu khin phn hi trng thi tm c di dng phn
hi tn hiu ra v ch rng b iu khin l khng n nh.
3. (2,5 im) Cho i tng khng lin tc m t bi
x
k+1
= ax
k
+bu
k
vi a, b l hai tham s
Hy xc nh dy gi tr tn hiu iu khin { u
0
, u
1
, u
2
} a h i t x
0
=5 v
im trng thi cui x
3
thuc ng thng x
3
+( a+b) x
2
=0 v chi ph cho qu trnh
tnh theo Q=
2
2 2
0
( )
k k
k
x u
=
+
l nh nht.
4. (1 im) Cho i tng c m t bng hai hm truyn t l S
1
( s) v S
2
( s) hai
im lm vic khc nhau. C tn ti hay khng mt b iu khin R( s) lm n nh
i tng c hai im lm vic .

thi
Thi gian 90 pht.
c s dng ti liu.

Q =
2 2
1 2 1 2
2 4 u u u u + + min vi u=( u
1
, u
2
)
T

2
theo phng php Gauss/Seidel vi 2 bc tnh k t
im xut pht u
0
=
1
0

.
b) (1,5 im) Hy xc nh u
2
theo phng php Gauss/Seidel vi 2 bc tnh k t
im xut pht u
0
=
0
2

.
c) (1 im) Nu nhn xt v cc kt qu thu c hai bc trn.
2. a) (1 im) Vi nhng bi ton ti u ng no th ta c th p dng c nguyn l
cc i, song li khng p dng c phng php bin phn.
b) (2,5 im) Hy xc nh b iu khin phn hi trng thi LQR vi

dt
x d
=
0 3 1
1 0 0
x u

+

trong x =( x
1
, x
2
)
T
Q=
2
0
2 3 1
3 7 2
T
x x u dt
min
c) (2,5 im) Hy xc nh qu o trng thi ti u tc ng nhanh cho bi ton

dt
x d
=
0 1 0
0 0 1
x u

+

bit rng im trng thi u x
0
l ty , nhng cho trc v im trng thi
cui l x
T
=
2
2

thi
Thi gian 90 pht.
c s dng ti liu.

Q =
2 2
1 2 1 2 1 2
3 3 3 9 u u u u u u + + + + min vi u=( u
1
, u
2
)
T

2
im xut pht u
0
ty c chn trc.
0
) >Q( u
1
) m khng cn phi tnh
2

dt
x d
=
0 1
2 0

x +

1
0
u,
trong x =( x
1
, x
2
)
T
a) (2 im) Hy xc nh b iu khin phn hi trng thi LQR vi
Q =
2
0
2 3
3 12
T
x x u dt
min
x
k+1
= x
k
+u
k
, k=0, 1, 2
u
0
, u
1
, u
2
0
=6 ti c im trng thi x
3
=0
v chi ph cho qu trnh chuyn i trng thi tnh theo
Q=
2
2 2
0
1
( )
2
k k
k
x u
=
+

l nh nht.

thi
Thi gian 90 pht.
c s dng ti liu.

Q =
2 2
1 2 1 2 1 2
2 5 14 u u u u u u + + min vi u=( u
1
, u
2
)
T

2
im xut pht u
0
ty c chn trc.
0
) >Q( u
1
) m khng cn phi tnh
2
b) (2 im) Hy xc nh b iu khin phn hi trng thi LQR vi

dt
x d
= u x

1
0
0 1
2 0

trong x =( x
1
, x
2
)
T
Q=
2
0
8 8 1
8 20 2
T
x x u dt
min
c) (1 im) Hy ch rng vi b iu khin tm c, h kn l n nh.
3. (3 im) Cho h m t bi
x
k+1
=
1
2
x
k
+u
k
, k=0, 1, 2
u
0
, u
1
, u
2
0
=4 ti c im trng thi x
3
=0
v chi ph cho qu trnh chuyn i trng thi tnh theo
Q=
2
2 2
0
( 2 )
k k
k
x u
=
+

l nh nht.

thi s 1
c s dng ti liu.

1. Cho i tng SISO tuyn tnh c hm truyn t S( s) =
2
1
4
s
s
.
a) (2 im) Hy xc nh tp tt c cc b iu khin R( s) lm n nh i tng.
b) (2 im) Hy xc nh mt b iu khin n nh trong s cc b iu khin tm
c cu a) iu khin n nh mnh i tng cho.
2. Cho i tng phi tuyn c mt tn hiu vo u, m t bi

2
1 2
2
1 2 3
2 2
1 2 3
( )
x x
dx
x x x
dt
x x x u

+

= +

+ +

,
1
2
3
x
x x
x

=

a) (2 im) Hy xc nh b iu khin phn hi trng thi tnh u( x, w) lm i
tng n nh tim cn ton cc ti gc (theo ngha Lyapunov).
b) (2 im) Hy xc nh b iu khin phn hi trng thi tnh u( x, w) v mt php
i bin z=m( x) tng ng h kn bao gm i tng cho, b iu khin, khi
chuyn sang bin trng thi mi l z s c m hnh

2 1 0 0
0 3 1 0
1 0 1 1
dz
z w
dt

= +

c) (1 im) Bit rng h tuyn tnh thu c cu b) c tn hiu u ra l y=z
2
. Hy
kim tra tnh pha cc tiu ca h.
3. (1 im) Cho i tng SISO tuyn tnh c m hnh trng thi:

T
dx
Ax bu
dt
y c x
= +

trong u l tn hiu vo, y l tn hiu ra. Chng minh rng mi b iu khin phn
hi trng thi tnh u=wRx vi R l mt vector hng c cc phn t l hng s (b
iu khin phn hi trng thi tnh), khng lm thay i c bc tng i ca i
tng cho.

thi s 2
c s dng ti liu.

1. Cho i tng SISO tuyn tnh c hm truyn t S( s) =
2
2
9
s
s
.
a) (2 im) Hy xc nh tp tt c cc b iu khin R( s) lm n nh i tng.
b) (2 im) Hy xc nh mt b iu khin n nh trong s cc b iu khin tm
2. Cho i tng phi tuyn c mt tn hiu vo u, m t bi

1 2
2
1 2 3
2 2
1 2 3
( )
x x
dx
x x x
dt
x x x u
+

= +

+

,
1
2
3
x
x x
x

=

a) (2 im) Hy xc nh b iu khin phn hi trng thi tnh u( x, w) lm i
tng n nh tim cn ton cc ti gc (theo ngha Lyapunov).
b) (2 im) Hy xc nh b iu khin phn hi trng thi tnh u( x, w) v mt php
i bin z=m( x) tng ng h kn bao gm i tng cho, b iu khin, khi
chuyn sang bin trng thi mi l z s c m hnh

1 2 0 0
1 0 1 0
1 1 3 1
dz
z w
dt

= +

c) (1 im) Bit rng h tuyn tnh thu c cu b) c tn hiu u ra l y=z
1
. Hy
kim tra tnh pha cc tiu ca h.
3. (1 im) Cho i tng SISO tuyn tnh c m hnh trng thi:

T
dx
Ax bu
dt
y c x
= +

trong u l tn hiu vo, y l tn hiu ra. Chng minh rng mi b iu khin phn
hi trng thi tnh u=wRx vi R l mt vector hng c cc phn t l hng s (b
iu khin phn hi trng thi tnh), khng lm thay i c bc tng i ca i
tng cho.

1
Thi gian 90 pht, c s dng ti liu.
Bi 1: Cho h kn m t hnh 1, trong G( s) =
2 3 4
1
3 6 2 s s s s + + + +

1. (1 im) Hy xc nh s cc im cc khng nm bn tri trc o ca G( s) .
2. (1 im) Bit rng G( s) c ng th G( j ) vi 0 cho hnh 2. Hy xc
nh (c bin lun) v chiu bin thin theo v ch th chiu bin thin bng
chiu ca mi tn trn th.
3. (1 im) Hy xc nh ta cc im A v B trn th G( j ) .
4. (1 im) Hy s dng tiu chun Nyquist xc nh hng s khuch i k lm
h kn n nh.
5. (1 im) Hy s dng tiu chun Routh xc nh hng s khuch i k lm h
kn n nh.


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.

Xc nhn ca B mn KT:

2
Bi 1: Cho h kn m t hnh 1, trong G( s) =
2 3 4
1
1 2 2 4 s s s s + + + +

1. (1 im) Hy xc nh s cc im cc khng nm bn tri trc o ca G( s) .
2. (1 im) Bit rng G( s) c ng th G( j ) vi 0 cho hnh 2. Hy xc
nh (c bin lun) v chiu bin thin theo v ch th chiu bin thin bng
chiu ca mi tn trn th.
3. (1 im) Hy xc nh ta cc im A v B trn th G( j ) .
4. (1 im) Hy s dng tiu chun Nyquist xc nh hng s khuch i k lm
h kn n nh.
5. (1 im) Hy s dng tiu chun Routh xc nh hng s khuch i k lm h
kn n nh.


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.

Xc nhn ca B mn KT:

u
Hnh 1
y
Hnh 2
k G
A B
Re(G)
Im(G)
u
Hnh 1
y
Hnh 2
k G
A B
Re(G)
Im(G)
thi mn L thuyt KT nng cao
Ngy thi: 29.1.2000.
Thi gian thi: 90 pht
1 (Th sinh c s dng ti liu)
1. Mt h thng m t c bi mt m hnh vi hai tham s a, b l nghim ca
3 1 3 1 1 3 1 3 2 2
2 2 2 2 2 2 2 2
2( ) ( )( ) ( ) a b a b a b a b + + + + + + min.
a) xc nh tham s a, b ngi ta p dng phng php Gauss/Seidel vi im
xut pht a=2, b=2. Sau hai bc tnh ngi ta c th thu c kt qu g?
b) Hy xoay trc ta mt gc
6
v p dng li Gauss/Seidel vi cng im xut

pht nh bc a). Nghim sau hai bc tnh bng bao nhiu? v c phi l kt
qu ng khng?.
2. Cho i tng vi mt tn hiu vo u m t bi

0 3 1
1 0 0
x x u
B A

= +

`
_
, trong x =
1
2
x
x

a) Hy ch rng i tng khng n nh
b) Hy xc nh b iu khin phn hi trng thi hon ton n nh i tng
theo quan im ti u nng lng, tc l vi b iu khin , khi c mt nhiu tc
ng tc thi nh bt h ra khi im cn bng 0 th sau h c kh nng t
quay v im cn bng 0 v nng lng cn thit cho qu trnh t quay v tnh
theo

2
0
10 0 1
[ ]
0 8 2
T
Q x x u dt
C

= +

_

l nh nht.
3. Mt h thng tuyn tnh tham s thay i c phng trnh c tnh
A(p)=
2 3
0 1 2 3
a a p a p a p + + +
a) Xt tnh n nh ca h khi 10a
0
30, 30a
1
50, 20a
2
60, 10a
3
15
b) Hy ch rng vi
i i i
a a a
+
, i=1,2,3 th cn v h n nh l
0
0 a
> v a
thc K
4
(p)=
2 3
0 1 2 3
a a p a p a p
+ +
+ + + l a thc Hurwitz.

Xc nhn ca B mn KT:

thi mn L thuyt KT nng cao
Ngy thi: 29.1.2000.
1. H thng vi mt tn hiu vo u m t bi
x
k+1
=2x
k
u
k
.
Hy xc nh dy tn hiu iu khin u
0
, u
1
, u
2
, u
3
sau sau 4 bc iu hin h i
c t x
0
=6 v gc ta v nng lng tiu th tnh theo

( )
3
2
0
2
k k
k
Q x u
=
= +

l nh nht.

0 2 1
1 0 0
x x u
B
A

= +

`
_
, trong x =
1
2
x
x

theo

2
0
13 0 1
[ ]
2 0 12
T
Q x x u dt
C

= +

_

l nh nht.
A(p)=
2 3 4
0 1 2 3
a a p a p a p p + + + +
0
30, 20a
1
100, 20a
2
70, 7a
3
16
b) Hy ch rng vi
i i i
a a a
+
, i=1,2,3 th cn v h n nh l 0
0
>
a v hai
a thc
K
3
(p)=
2 3 4
0 1 2 3
a a p a p a p p
+ +
+ + + +
K
4
(p)=
2 3 4
0 1 2 3
a a p a p a p p
+ +
+ + + +
l nhng a thc Hurwitz..

Xc nhn ca B mn KT:

Mn thi: L thuyt iu khin nng cao ( 1)
Thi gian: 90 pht
Th sinh c s dng ti liu

Bi 1: (iu khin thch nghi)
Dng phng php thch nghi nhn dng i tng
bng m hnh ca khu qun tnh (hnh bn). Xy dng
angrt chnh nh cc thng s K v T sao cho ch tiu
cht lng nh gi l J(K,T) =
2
1
2
t cc tiu. V
s thc hin cc angrt trn.
So snh h thch nghi xy dng theo phng php gii tch v h cc tr c tn hiu tm v
chinhs xc, v tc chnh nh, v tnh gin n v gii thch.
Bi 3: (Nhn dng h thng iu khin)
Cho mt i tng c mt tn hiu vo u(t) v mt tn hiu ra y(t) c gi thit l tuyn
tnh.
1. Hy vit thut ton nhn dng on-line xc nh cc tham s ca m hnh ARMA:
G(z)=
1
1
1
1
1
1
m
m
n
n
b z b z
K
a z a z

+ + +
+ + +

trong c bc n, m bit trc, sao cho:
a) Gi tr trung bnh ca bnh phng sai lch u ra l nh nht.
b) Khng b nh hng bi nhiu (egodic) tc ng ti u ra v khng tng quan
vi tn hiu vo.
c) Gi tr trung bnh bnh phng ca cc sai lch ngoi suy xui v ngc l nh
nht.
2. Hy gii thch k ti sao thut ton va trnh by c tc dng lm cho gi tr trung
bnh ca bnh phng sai lch u ra l nh nht.

Mn thi: L thuyt iu khin nng cao ( 2)
Thi gian: 90 pht
Th sinh c s dng ti liu

Dng phng php thch nghi nhn dng i tng l
khu phi tuyn tnh i qua gc ta x=0, y=0. M hnh
l mt khu khuch i. Vit angrt ,v s thc hin
vi ch tiu cht lng nhn dng J(K)= t cc tiu.
Lin h vi phng php tuyn tnh ha iu ha.
Vit angrt thch nghi chnh nh T
i
b iu chnh
thch nghi theo hnh di sao cho ch tiu cht lng. J(T
i
) =
2
1
2
t cc tiu. V s
thc hin angrt trn.

Bi 3: (Nhn dng h thng iu khin)
Cho mt i tng c mt tn hiu vo u(t) v mt tn hiu ra y(t) c gi thit l tuyn
tnh.
1. Hy vit thut ton nhn dng on-line xc nh cc tham s ca m hnh ARMA:
G(z)=
1
1
1
1
1
1
m
m
n
n
b z b z
K
a z a z

+ + +
+ + +

trong c bc n, m bit trc, sao cho:
a) Gi tr trung bnh ca bnh phng sai lch u ra l nh nht.
b) Khng b nh hng bi nhiu (egodic) tc ng ti u ra v khng tng quan
vi tn hiu vo.
c) Gi tr trung bnh bnh phng ca cc sai lch ngoi suy xui v ngc l nh
nht.
2. Hy gii thch k ti sao thut ton va trnh by li khng b nh hng bi nhiu
tc ng u ra nu nhiu khng tng quan vi tn hiu u vo.

i tng
nhn dng

1 + Ts
K

x
y
y
m
y

x
K
x
y
y
m
1
n
i
T s
Ts
+
1 2
( 1)( 1)
K
T s T s + +
x e y u
T
n
T
i

thi li mn L thuyt iu khin t ng nng cao
Th sinh c s dng ti liu.

1

Phn iu khin thch nghi

Mt h iu chnh t ng m i tng cha bit (s khi nh hnh v). Hy nhn
dng i tngt heo phng php thch nghi vi m hnh bc 1 bao gm:
1. Xc nh ch tiu cht lng c th theo sai lch :
J( K
1
, T
1
) =f ( ) =?
2. Xc nh algorith thch nghi i vi K
1
v T
1
.
3. V s thc hin algorith ni trn.

Phn nhn dng

1. Th no l mt m hnh khng tham s, m hnh tham s c cu trc, m hnh tham
s khng cu trc.
2. nhn dng i tng bng m hnh khng tham s trn c s quan st cc tn hiu
vo/ra vi {u
k
} l dy cc gi tr ca tn hiu vo v {y
k
} l dy cc gi tr ca tn hiu
ra ngi ta tnh dy gi tr phc ca hm truyn t theo cng thc
G(jn)=
( )
( )
uy
u
S jn
S n

a) Hy ch rng G(jn) tnh c khng b nh hng bi nhiu tc ng ti u ra
nu nhiu khng tng quan vi tn hiu u vo.
b) Ngi ta phi p dng cc phng php g lm gim sai s Lag trong G(jn)
v ti sao?

thi li mn L thuyt iu khin t ng nng cao
Th sinh c s dng ti liu.

2

Phn iu khin thch nghi

H iu chnh c s nh hnh v. Hy
1. Xc nh ch tiu cht lng c th theo sai lch e.
J( K
c
) =f ( e) =?
2. Xc nh algith thch nghi i vi K
c
.
3. V s thc hin algith ni trn.

Phn nhn dng

1. Th no l sai s r r v sai s trng ph. Hy ni r nguyn nhn ca hai loi sai s
.
2. Trong nhn dng ngi ta thng hay phi xc nh nh Fourier ri rc X(jn) ca
tn hiu x(t) t dy cc gi tr o c ca n {x
k
} v tt nhin trong X(jn) c th c
cha c hai loi sai s r r v trng ph. Vi nhng lp tn hiu x(t) nh th no th
trong X(jn) s khng c c hai sai s . Ti sao?.

i tng .C B .C

1
1
1
K
T s +

x
e u y

K
c

1
1
( 1)
K
T s s +
x
e u
y
thi mn L thuyt KT nng cao. Phn 1: iu khin ti u.
Ngy thi: 12.1.2001.

(Phi lm 2 trong s 3 bi v c s dng ti liu)

1. Cho hm mc tiu phi tuyn vi hai bin
1 2
, u u :
Q=
2 2
1 2 1 2 1 2
7 5 12 33 39 u u u u u u + + +
a) Hy p dng thut ton tm nghim ti u bng cch xc nh bc tm ti u
ln lt theo hai hng
1
1
0
h

=

,
2
2
1
h

=

.
b) Hy ch rng nghim tm c l nghim chnh xc.
2. Mt thit b nn kh c m t bi

1 k k k
x x u
+
=
Hy tm dy tn hiu iu khin { }
k
u , k=1,2, ,N (N cho trc trc) sao cho kh
c nn t p sut ban u
1
p bit n p sut
N
p mong mun v nng lng
tiu th tnh theo Q=
( )
2
0
1
N
i
i
u
=

l nh nht.
3. Mt i tng c m t bi

0 0
1 2 1
b
x x u

= +

` , trong b l tham s m hnh.
Hy tm b iu khin phn hi m trng thi sao cho khi khng b tc ng, h kn
thu c lun c xu hng tin v trng thi
0
0

v nng lng cn thit cho qu
trnh v
0
0

nh vy tnh theo
Q=
2
0
8 1 1
1 21 8 2
T
x x u dt
b

l nh nht. Tm iu kin cho tham s b bi ton c li gii.

Xc nhn ca b mn

thi mn L thuyt KT nng cao. Phn 1: iu khin ti u.
Ngy thi: 12.1.2001.

(Phi lm 2 trong s 3 bi v c s dng ti liu)

1. Cho hm mc tiu phi tuyn vi hai bin
2 1
, u u :
Q=
2 2
1 2 1 2 1 2
7 5 12 33 39 u u u u u u + + +
a) Hy p dng thut ton tm nghim ti u bng cch xc nh bc tm ti u
ln lt theo hai hng
1
1
0
h

=

,
2
2
1
h

=

.
b) Hy ch rng nghim tm c l nghim chnh xc.
2. Mt thit b nn kh c m t bi

k k k
u x x =
+1

Hy tm dy tn hiu iu khin { }
k
u , k=1,2, ,N (N cho trc trc) sao cho kh
c nn t p sut ban u
1
p bit n p sut
N
p mong mun v nng lng
tiu th tnh theo Q=
( )
2
0
1
N
i
i
u
=

l nh nht.
3. Mt i tng c m t bi

0 0
1 2 1
b
x x u

= +

` , trong b l tham s m hnh.
Hy tm b iu khin phn hi m trng thi sao cho khi khng b tc ng, h kn
thu c lun c xu hng tin v trng thi
0
0

v nng lng cn thit cho qu
trnh v
0
0

nh vy tnh theo
Q=
2
0
8 1 1
1 21 8 2
T
x x u dt
b

l nh nht. Tm iu kin cho tham s b bi ton c li gii.

Xc nhn ca b mn


0 3 1
2 0 0
x x u

= +

` , trong x =

2
1
x
x
theo
Q=
2
0
7 0 1
0 8 2
T
x x u dt

l nh nht.
2. Mt i tng phi tuyn c m hnh
1 1 2
2
( 3)
2
x x x
x
x u
+ +
=

+

`
a) Hy ch rng i tng khng n nh ti gc ta .
b) Hy tm b iu khin tnh, phn hi trng thi hon ton h n nh ti gc
ta v m hnh tuyn tnh gn ng ti c hai im cc l 2 v 3.
c) Xc nh min n nh ca h kn nh hm Lyapunov.
3. Cho i tng c m hnh G(s) =
0 1
1 2

m
m
n
n
b b s b s
a a s a s
+ + +
+ + +
. Chng minh rng

a) nu n

>m th hm qu ca i tng phi i t 0.
b) nu nm>1 th hm qu ca i tng phi i t 0 vi vn tc ti cng bng
0.

Xc nhn ca B mn KT:

1. H thng vi mt tn hiu vo u m t bi
x
k+1
=2x
k
u
k
.
Hy xc nh dy tn hiu iu khin u
0
, u
1
, u
2
, u
3
sau sau 4 bc iu hin h i
c t x
0
=6 v gc ta v nng lng tiu th tnh theo

( )
3
2
0
2
k k
k
Q x u
=
= +

l nh nht.
2
2 1 2
2
(3 )
x u
x
x x x
+
=

+

`
a) Hy ch rng i tng khng n nh ti gc ta .
b) Hy tm b iu khin tnh, phn hi trng thi hon ton h n nh ti gc
ta v m hnh tuyn tnh gn ng ti c hai im cc l 2 v 3.
c) Xc nh min n nh ca h kn nh hm Lyapunov.
A(p)=
2 3 4
0 1 2 3
a a p a p a p p + + + +
0
30, 20a
1
100, 20a
2
70, 7a
3
16
b) Hy ch rng vi
i i i
a a a
+
, i=1,2,3 th cn v h n nh l 0
0
>
a v hai
a thc
K
3
(p)=
2 3 4
0 1 2 3
a a p a p a p p
+ +
+ + + +
K
4
(p)=
2 3 4
0 1 2 3
a a p a p a p p
+ +
+ + + +
l nhng a thc Hurwitz..

Xc nhn ca B mn KT:


+ + +
=
1
2 1 1
2
) 3 (
x
u x x x
x` ,
a) Hy ch rng h c im cn bng l gc ta .
b) Tm m hnh tuyn tnh tng ng ca h ti gc ta v chng minh rng h
khng n nh ti .
c) Trn c s m hnh tuyn tnh tng ng c, hy xc nh b iu khin phn
hi m trng thi hon ton n nh i tng ti gc theo quan im ti u
nng lng, tc l vi b iu khin , khi c mt nhiu tc ng tc thi nh
bt h ra khi im cn bng 0 th sau h c kh nng t quay v im cn
bng 0 v nng lng cn thit cho qu trnh t quay v tnh theo
Q=

0
2
7 0
0 8
2
1
dt u x x
T

l nh nht.
d) Hy s dng hm Lyapunov V(x)=
2
2
2
1
4x x + tm min n nh ca h kn
gmi tng phi tuyn cho v b iu khin ti u phn hi trng thi tm
c cu c).
2. Xc nh xemh thng no trong s hai h thng c m hnh sau l h phi tuyn. Gii
thch ti sao.
a)
+ +
+
+ +
=
2 3 2
1 2
3
1 2
2
1
sin 4 3
u x x
x x t
t u x t x
x` .
b)
+
+
=
2 1
2 1
x x
u x x
x`

Xc nhn ca B mn KT:

1. Trong cc h thng sau th h thng no l phi tuyn. Gii thch ti sao.
a)
+
+
=
2
3
1
2
) 2 cos(
x t x
u x t
x`
b)
+
+
+ +
=
u x
x x t
u x x x
x
3
2
3
1
2
3 2 1
`
c)
+
+
+ + +
=
u x
u x t
u x x t x t
x
2
1
2
3 2 1
3
2
) 4 sin(
`
+
+
=
2 1 2
2
) 3 (
2
x x x
u x
x`
a) Xc nh m hnh tuyn tnh tng ng ca i tng ti ln cn gc ta .
b) Hy ch rng i tng khng n nh ti gc ta .
c) Hy tm b iu khin tnh, phn hi trng thi hon ton bng phng php
Roppenecker h n nh ti gc ta v m hnh tuyn tnh gn ng ti
ca n c hai im cc l 2 v 3.
d) Xc nh min n nh ca h kn gm i tng phi tuyn cho v b iu khin
xc nh c cu c) nh hm Lyapunov V(x)=
2
2
2
1
9 x x + .

Xc nhn ca B mn KT:

Bi 1: Cho i tng m t bi u x h x f x + = ) ( ) ( ` , trong x R
n
.

1. Hy trnh by cc gi thit cn c i tng c th c tuyn tnh ha chnh xc
cng nh cc bc ca thut ton xc nh (x),(x), T(x) sao cho vi chng h kn c
dng

v z t z
dt
d
=
1
0
0
0 0 0 0
1 0 0
0 1 0
) (
.
. . .

2. Xc nh b iu khin tuyn tnh ha chnh xc cho i tng
+
=
u x x
x x
x
t x
dt
d
3 1
3
2
2
2
) ( .
3. K hiu T(x) =
) (
) (
1
x
x
n
. . Chng minh rng iu kin cn tuyn tnh ha chnh xc

i tng trong mt min trng thi l phi c
=
=
=
0 ) (

0 ) (
0 ) (
1
2
1
1
x L L
x L L
x L
n
f
h
f h
h
.
v
0 ) (
1
1
x L L
n
f
h
.

Bi 2: Cho i tng m t bi u x h x f x + = ) ( ) ( ` , trong x R
n
.

x i tng phi tuyn
u x h x f x ) ( ) ( + = `
u
T(x) (x)+(x)v
z v
1.
Thi gian 90 pht
c s dng ti liu

Bi 1: Cho h thng c tham s thay i m t bi hm truyn t
G(s) =
5
5
4
4
3
3
2
2 1 0
3
3
2
2 1
1
s a s a s a s a s a a
s b s b s b
+ + + + +
+ + +
, a
i
, b
i
R

trong 0 <

i
a a
i

+
i
a , i = 1, 2, 3, 4, 5 v
i
a ,
+
i
a l nhng s thc cho trc. Chng
minh rng hai pht biu sau l tng ng:
c) H n nh.
d) Ba a thc
5
5
4
4
3
3
2
2 1 0
+ + +
+ + + + +

5
5
4
4
3
3
2
2 1 0
+ + + +
+ + + + +

5
5
4
4
3
3
2
2 1 0
+ + +
+ + + + +
l nhng a thc Hurwitz (c nghim nm bn tri trc o).

Bi 2: Xc nh tnh n nh ca h m t bi
G(s) =
2
3
2
3
2
2
1
) ( ) 1 (
1
s s a
a
e a a + + + +
, a
i
[1,2].

Bi 3: Ngi ta cn c b iu khin tnh phn hi u ra
iu khin mt i tng sao cho h kn c cc im cc
nm trong min D (hnh bn).
e) Hy xy dng hm pht v t pht biu cc bc
ca thut ton tm b iu khin.
f) Gii thch ti sao min D thng c dng i xng qua
trc thc.

2.
Thi gian 90 pht
c s dng ti liu

Bi 1: Cho h thng c tham s thay i m t bi hm truyn t
G(s) =
4
4
3
3
2
2 1 0
2
2 1
1
s a s a s a s a a
s b s b
+ + + +
+ +
, a
i
, b
i
R

trong 0 <

i
a a
i

+
i
a , i = 1, 2, 3, 4 v
i
a ,
+
i
a l nhng s thc cho trc. Chng minh
rng hai pht biu sau l tng ng:
g) H n nh.
h) Hai a thc
4
4
3
3
2
2 1 0
s a s a s a s a a
+ + +
+ + + +

4
4
3
3
2
2 1 0
s a s a s a s a a
+ + +
+ + + +
l cc a thc Hurwitz (c nghim nm bn tri trc o).

Bi 2: Xc nh tnh n nh ca h m t bi
G(s) =
4 3
3
2
1 0
21
1
s s a s s a a + + + +
,
trong 8 a
3
10 v (a
0
3)
2
+ (a
1
3)
2
1.

Bi 3: Ngi ta cn c b iu khin tnh phn hi u ra
iu khin mt i tng sao cho h kn c cc im cc
nm trong min D (to bi na ng trn v hai on
thng (hnh bn).
i) Hy xy dng hm pht v t pht biu cc bc
ca thut ton tm b iu khin.
j) Gii thch ti sao phi c gi thit l bin ca min
D trn tng khc.

j
1 3
2
D
2
2
2

j
1 4
D
2
1.
Thi gian 90 pht
c s dng ti liu

Bi 1: Cho i tng tham s ri c hm truyn t
G(s) =
2 2
2
s bs a
a
+ +

trong 2a4 v 1b3. i tung c iu
khin bng b iu khin c m hnh
R(s) =
sT
k
+ 1

theo nguyn tc phn hi u ra (hnh bn). Hy xc nh cc tham s k v T ca b iu
khin h c n nh.

Bi 2: Mt h thng c m hnh G(s) =
3
3
2
2 1 0
s a s a s a a
k
+ + +
.
a) Hy xc nh tnh n nh ca h vi 10a
0
30, 30a
1
50, 20a
2
60, 10a
3
15.
b) Chng minh rng nu
i
a a
i
+
i
a v
0
a >0 th cn v h n nh l a
thc sau
K(s) =
+ +
+ + +
3 2
2
1
3
0
a s a s a s a
l a thc Hurwitz.

2 2
2
s bs a
a
+ +
sT
k
+ 1
1.
Thi gian 90 pht
c s dng ti liu, tr quyn L thuyt iu khin t ng. H tuyn tnh ca
tc gi Nguyn Thng Ng

u x x

=
1
0
0 1
2 0
` , trong x =

2
1
x
x
Hy xc nh b iu khin phn hi trng thi hon ton n nh i tng theo
quan im ti u nng lng, tc l vi b iu khin , khi c mt nhiu tc ng
tc thi nh bt h ra khi im cn bng 0 th sau h c kh nng t quay v
im cn bng 0 v nng lng cn thit cho qu trnh t quay v tnh theo
Q=

0
2
2
1
5 , 6 3
1 5 , 1
2
1
dt u x x
T

l nh nht.
(Gi : x
T
Ex=x
T
E
T
x)
Q = 20 2 10 8 2
2 1 2 1
2
2
2
1
+ + + u u u u u u min
3. Tm tt cc bc xy dng h thch nghi theo phng php tng qut v iu kin
hi t ca algrt thch nghi
p dng phng php ny vo chuyn m em thc hin trn my tnh, nhng
kt lun v phn tch c rt ra t th nghim lun ny.

2.
Thi gian 90 pht
c s dng ti liu, tr quyn L thuyt iu khin t ng. H tuyn tnh ca
tc gi Nguyn Thng Ng

u x x

=
1
0
0 1
2 0
` , trong x =

2
1
x
x
Hy xc nh b iu khin phn hi trng thi hon ton n nh i tng theo
quan im ti u nng lng, tc l vi b iu khin , khi c mt nhiu tc ng
tc thi nh bt h ra khi im cn bng 0 th sau h c kh nng t quay v
im cn bng 0 v nng lng cn thit cho qu trnh t quay v tnh theo
Q=

0
2
2
1
10 6
2 4
2
1
dt u x x
T

l nh nht.
(Gi : x
T
Ex=x
T
E
T
x)
Q = 28 14 5 2
2 1 2 1
2
2
2
1
3. Tm tt cc bc xy dng h thch nghi theo phng php tng qut v iu kin
hi t ca algrt thch nghi
p dng phng php ny vo chuyn m em thc hin trn my tnh, nhng
kt lun v phn tch c rt ra t th nghim lun ny.

1.
Thi gian 90 pht. c s dng ti liu,

Bi 1: Cho h c s khi m t hnh 1.
1. Hy xc nh hm truyn t tng ng ca h.
2. Cho H
1
= H
2
= 1, H
3
= k, G
1
=
) 2 (
1
+ s s
v G
2
=
1 5 , 0
4
2
+ +
+
s s
s
. Hy tm iu kin
cho tham s k h n nh.

Bi 2: Xt mt h thng hiu khin cho hnh 2. B iu khin l R(s)=
s 2
1
.
1. Hy xc nh hm truyn t G(s) ca i tng nu n c ng c tnh tn
logarith L() cho hnh 3.
2. Hy xc nh hm qu h(t) ca h kn. H c qu iu chnh v thi gian qu
T
5%
bng bao nhiu ?.
3. Nu b kch thch bng tn hiu t1(t) u vo th h c sai lch tnh khng, ti sao
v nu c th bng bao nhiu ?.

Bi 3: Cho i tng m t bi
dt
x d
=

0 1
1 0
x+

1
0
u , y=( 1 2) x
trong x=

2
1
x
x
l vector bin trng thi, u l tn hiu vo, y l tn hiu ra.
1. Kim tra tnh iu khin c, quan st c v tnh n nh ca i tng.
2. Hy xc nh b iu khin phn hi trng thi (m) sao cho h c c cht lng
ng vi hai im cc ti v tr s
1
=s
2
=1.
3. Xc nh hm truyn t G( s) ca h kn. Khi no th hm truyn t s tng
ng vi m hnh trng thi ca h kn.

2.
Bi 1: Cho h kn m t hnh 1. Bit rng h h vi hm truyn t G
h
(s) c ng c
tnh tn bin-pha cho hnh 2.
1. Hy xc nh tham s T cho G
h
(s) nu bit G
h
(s)=
) 1 (
1
Ts s +
.
2. Hy xc nh hm qu h(t) ca h kn. H c qu iu chnh v thi gian qu
T
5%
bng bao nhiu ?.
3. Nu b kch thch bng tn hiu t1(t) u vo th h c sai lch tnh khng, ti sao
v nu c th bng bao nhiu ?.

Bi 2: Cho h c s khi m t hnh 3.
1. Hy xc nh hm truyn t tng ng ca i tng.
2. Cho H
1
= 1, H
2
= 1, H
3
=k, G
1
= G
2
=
1
1
2
+ +
+
s s
s
. Hy tm iu kin cho tham s k
h n nh .

Bi 3: Cho i tng m t bi
dt
x d
=

1 2
1 0
x+

1
0
u , y=( 1 0) x
trong x=

2
1
x
x
l vector bin trng thi, u l tn hiu vo, y l tn hiu ra.
1. Kim tra tnh iu khin c, quan st c v tnh n nh ca i tng.
2. Hy xc nh b iu khin phn hi trng thi (m) sao cho h c c cht lng
ng vi hai im cc ti v tr s
1
=s
2
=2.
3. Hy chuyn b iu khin phn hi trng thi thu c cu 2. thnh b iu
khin phn hi tn hiu ra. C nhn xt g t hm truyn t ca b iu khin
phn hi tn hiu ra .

L()

G
1

Hnh 1
G
2
H
1

H
2
H
3

R(s) G(s)
Hnh 2
Hnh 3
8
1
ImG
h

G
1
Hnh 3
G
2
H
1
H
2
H
3
G
h
(s)
Hnh 1
Hnh 2
ReG
h

4
1.

Bi 1: Cho h kn m t hnh 1. B iu khin c hm truyn t R(s) v hm truyn
t ca i tng iu khin l S(s).
1. Bit R(s) = k, V(s) = 1 v S(s) l khu tch phnqun tnh bc hai c hm qu
h(t) cho hnh 2.
a) Hy xc nh k h kn l mt khu dao ng tt dn vi T
5%
=12s
b) Xc nh h(t) ca h kn vi k tm c.
2. Cho R(s) l b iu khin PID v V(s) l b iu khin tin x l. Hy xc nh cc
tham s cho b iu khin R(s) cng nh V(s).
3. Hy xc nh sai lch tnh ca h kn vi R(s) tm c cu 2) v V(s)=1 khi tn
hiu vo l w( t ) =t 1( t ) .


dt
x d
=

0 2
1 1
x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.

1. Hy xc nh tnh n nh, tnh iu khin c v tnh quan st c ca i
tng.
2. Hy thit k b iu khin phn hi trng thi sao cho vi n, h thng s c hai
im cc mi l s
1
= 1 v s
1
= 2. Vit phng trnh trng thi ca h kn.
3. Hy xc nh b quan st trng thi Luenberger tnh xp x x
~
x trng thi
ca i tng vi hai im cc cho trc l
1
= 1 v
2
= 2.
4. Hy xc nh a thc c tnh ca h kn (a thc mu s ca hm truyn t h
kn), tc l ca h bao gm i tng cho, b iu khin phn hi trng thi
tm c cu 2 v b quan st trng thi Luenberger tm c cu 3.

Xc nhn ca B mn KT:

2.

Bi 1: Cho h kn m t hnh 1. B iu khin c hm truyn t R(s) v hm truyn
t ca i tng iu khin l S(s).
1. Bit R(s) = k, V(s) = 1 v S(s) l khu tch phnqun tnh bc hai c ng c
tnh tn Bode cho hnh 2.
a) Hy xc nh k h kn l mt khu dao ng tt dn vi T
5%
=24s
b) Xc nh h(t) ca h kn vi k tm c.
2. Cho R(s) l b iu khin PID v V(s) l b iu khin tin x l. Hy xc nh cc
tham s cho b iu khin R(s) cng nh V(s).
3. Hy xc nh sai lch tnh ca h kn vi R(s) tm c cu 2) v V(s)=1 khi tn
hiu vo l w( t ) =t 1( t ) .


dt
x d
=

0 1
1 0
x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.

1. Hy xc nh tnh n nh, tnh iu khin c v tnh quan st c ca i
tng.
2. Hy thit k b iu khin phn hi trng thi sao cho vi n, h thng s c hai
im cc mi l s
1
= 1 v s
1
= 2. Vit phng trnh trng thi ca h kn.
3. Hy xc nh b quan st trng thi Luenberger tnh xp x x
~
x trng thi
ca i tng vi hai im cc cho trc l
1
= 1 v
2
= 2.
4. Hy xc nh a thc c tnh ca h kn (a thc mu s ca hm truyn t h
kn), tc l ca h bao gm i tng cho, b iu khin phn hi trng thi
tm c cu 2 v b quan st trng thi Luenberger tm c cu 3.

Xc nhn ca B mn KT:

h(t)
t Hnh 1
Hnh 2
0,5
w y
R(s) S(s)
0,15
0,1
V(s)
L()
Hnh 1
Hnh 2
0,5
w y
R(s) S(s)
10
V(s)
20dB/dec
40dB/dec
1 (thi li).

Bi 1: Tm nghim bi ton ti u sau:
x
k+1
=2x
k
+u
k
vi x
0
=4 v x
4
=1
Q= ( )
=
+
3
0
2 2
k
k k
u x mi n

Bi 2: Thit k b iu khin ti u phn hi trng thi cho bi ton sau:
dt
x d
=

0 1
2 0
x+

1
0
u
Q=

0
2
2
1
5 , 6 3
1 5 , 1
2
1
dt u x x
T
mi n

Bi 3: Cho i tng c m hnh tham s khng bit trc:
S(s)=
1 + s
k

Ngi ta s dng b iu khin l khu khuch i:
R(s)=
iu khin thch nghi i tng trn sao cho h thng (h kn) lun c hm
truyn t mong mun:
G(s)=
1
1
+ s

Hy xc nh c cu chnh nh tham s cho b iu khin vi ch tiu c lng
2
2
e
.

2 (thi li).

Bi 1: Tm nghim bi ton ti u sau:
x
k+1
=x
k
+2u
k
vi x
0
=5 v x
4
=0
Q= ( )
=
+
3
0
2 2
k
k k
u x mi n

Bi 2: Thit k b iu khin ti u phn hi trng thi cho bi ton sau:
dt
x d
=

0 1
2 0
x+

1
0
u
Q=

0
2
2
1
10 6
2 4
2
1
dt u x x
T
mi n

Bi 3: Cho i tng c m hnh tham s khng bit trc:
S(s)=
1 + s
k

Ngi ta s dng b iu khin l khu khuch i:
R(s)=
iu khin thch nghi i tng trn sao cho h thng (h kn) lun c hm
truyn t mong mun:
G(s)=
1
1
+ s

Hy xc nh c cu chnh nh tham s cho b iu khin vi ch tiu c lng
| e| .

1 (thi li).

2. (3 im) Bit rng G
1
=G
2
=G
3
=G
4
=1 v G
5
=
1
1
+ s
dt
t dh ) (
.
3. (2 im) Bit rng G
1
=G
3
=G
4
+G
5
=1 v G
2
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.


dt
x d
=

0 3
1 2
x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.
s c hai im cc mi l s
1
= 1 v s
2
= 3.
~
x
1
= 1 v
2
= 2.
cu nu trong cu 1?.

Xc nhn ca B mn KT:

2 (thi li).

2. (3 im) Bit rng G
1
=G
2
=G
3
=G
4
=1 v G
5
=
2
1
+ s
dt
t dh ) (
.
3. (2 im) Bit rng G
1
=G
3
=G
4
+G
5
=1 v G
2
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.


dt
x d
=

0 4
1 3
x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.
1
= 1 v s
2
= 2.
~
x
1
= 1 v
2
= 3.
4. (0,5 im) C th c bao nhiu b quan st trng thi Luenberger tha mn yu
cu nu trong cu 2?.

Xc nhn ca B mn KT:

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
1 (thi li).

1. (1,5 im) Hy xc nh hm truyn t tng ng G(s) ca h.
2. (1,5 im) Cho H
1
= H
2
= 1, H
3
= k, G
1
=
) 2 (
1
+ s s
v G
2
=
1 5 , 0
4
2
+ +
+
s s
s
. Hy tm
iu kin cho tham s k h n nh.
3. (1,5 im) Bit rng H
1
=H
2
=0, H
3
l ty v G
1
G
2
=
2
1
+
+
s
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 ) (
.
4. (2 im) Bit rng H
1
=H
2
=0, H
3
l ty v G
1
G
2
l khu tch phn qun tnh
bc nht c ng c tnh qu h
12
( t ) cho hnh 2. Hy xc nh hm qu
h(t) ca h kn. H c qu iu chnh h
max
v thi gian qu T
5%
bng bao
nhiu ?. Nu b kch thch bng tn hiu u=t 1( t ) u vo th h c sai lch tnh
khng, ti sao v nu c th bng bao nhiu ?.


dt
x d
=

0 3
1 2
x+

1
0
u, trong x=

2
1
x
x
.
1. (2,5 im) Hy thit k b iu khin phn hi trng thi sao cho vi n, h thng
1
= 1 v s
2
= 3.
2. (1 im) C th c bao nhiu b iu khin phn hi trng thi tha mn yu cu
nu trong cu 1?.

Xc nhn ca B mn KT:

2 (thi li).

1. (1,5 im) Hy xc nh hm truyn t tng ng G(s) ca h.
2. (1,5 im) Cho H
1
= 1, G
1
=H
2
=
) 2 (
1
+ s s
, H
3
= k v G
2
=
1 2
1
2
+ + s s
. Hy tm
iu kin cho tham s k h n nh.
3. (1,5 im) Bit rng H
2
=H
3
=0, H
1
=1 v G
1
G
2
=
4
1
+
+
s
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 ) (
.
4. (2 im) Bit rng H
2
=H
3
=0, H
1
=1 v G
1
G
2
l khu tch phn qun tnh bc
nht c ng c tnh qu L
12
( ) cho hnh 2. Hy xc nh hm qu
h(t) ca h kn. H c qu iu chnh h
max
v thi gian qu T
5%
bng bao
nhiu ?. Nu b kch thch bng tn hiu u=t 1( t ) u vo th h c sai lch tnh
khng, ti sao v nu c th bng bao nhiu ?.


dt
x d
=

0 4
1 3
x+

1
0
u, trong x=

2
1
x
x
.
1. (2,5 im) Hy thit k b iu khin phn hi trng thi sao cho vi n, h thng
1
= 1 v s
2
= 2.
nu trong cu 1?.

Xc nhn ca B mn KT:

Hnh 1
u y
h
12
( t )
t
Hnh 2 8
1
2
G
1
G
2

H
1
H
2

H
3
Hnh 1
L
12
( )
Hnh 2
1 0, 25
20dB/dec
40dB/dec
u y
G
1
G
2

H
1

H
2
H
3

1.


dt
x d
= u x

1
0
0 1
2 0
, trong x =

2
1
x
x
theo
Q=

0
2
2
1
5 , 6 3
1 5 , 1
2
1
dt u x x
T

l nh nht.
(Gi : x
T
Ex=x
T
E
T
x)
Q = 20 2 10 8 2
2 1 2 1
2
2
2
1
b) C nhn xt g v nghim tm c v gii thch ti sao.
3. a) (1 im) c th p dng c nguyn l cc i ca Pontryagin th bi ton ti
u cn phi tha mn nhng iu kin no?.
b) (3 im) Cho h c mt tn hiu vo u m t bi

dt
x d
= u x

1
0
0 0
1 0
, trong x =

2
1
x
x
v | u| 1.
Hy xc nh tn hiu iu khin u a h t mt im trng u x
0
ty ,
nhng cho trc v c mt im trng thi bt k no tha mn x
2
=0 trong
khong thi gian ngn nht. V v bin lun qu o trng thi tng ng vi tn
hiu iu khin tm c.

Xc nhn ca B mn KT:

2.


dt
x d
= u x

1
0
0 1
2 0
, trong x =

2
1
x
x
theo
Q=

0
2
2
1
10 6
2 4
2
1
dt u x x
T

l nh nht.
(Gi : x
T
Ex=x
T
E
T
x)
Q = 28 14 5 2
2 1 2 1
2
2
2
1
a) Hy tm nghim bi ton theo phng php Newton/Raphson vi 2 bc tnh k
t im xut pht ty c chn trc.
b) C nhn xt g v nghim tm c v gii thch ti sao.
x
k+1
= ax
k
+bu
k
, k=0, 1, 2, 3
u
0
, u
1
, u
2
, u
3
0
im trng thi x
4
theo
Q=

=
+
3
0
2 2
) (
2
1
k
k k
u x
l nh nht.

Xc nhn ca B mn KT:

1.
Thi gian 90 pht, Khng c s dng ti liu,

1. Hy s dng hm rng lc (cn gi l hm trch mu) m tqu trnh trch mu
tn hiu. T , hy trnh by ni dung hai sai s c bn gia nh Fourier lin tc v
khng lin tc cng nh xut cc k thut gim thiu hai sai s .
S( s) =
) (
2
2 1 0
s a s a a s
k
+ +

trong a
0
, a
1
, a
2
, k l nhng tham s cha bit v ph thuc t . Ngi ta iu
khin i tng ny bng b PID t chnh gin tip v mt b tin x l M( s) lm
gim qu iu chnh h kn.
c cc tham s a
0
, a
1
, a
2
, k ca i tng.
b) Hy xy dng c cu chnh nh cc tham s cho hai b iu khin trn.
0
, a
1
, a
2
, k (nhanh/chm nh
Gi : Nu c:
S( s) =
) 1 )( 1 (
2 1
s T s T Ts
k
+ +

th b iu khin PID: )
1
1 ( s T
s T
k
D
I
p
+ + ti u i xng s l:
T
I
= T
1
+4T
2
, T
D
=
2 1
2 1
4
4
T T
T T
+
, k
p
=
2
2
2 1
8
) 4 (
kT
T T T +

v b iu khin tin x l s l: M(s) =
s T
2
4 1
1
+

u

= p
1
wp
2
y
S(s) =
Ts
k
+ 1
2
G( s) =
s 3 1
1
+
,

Xc nhn ca B mn KT:
2.
Thi gian 90 pht. Khng c s dng ti liu,

1. Ti sao phng php tm nghim phng trnh YuleWalker xc nh tham s m
hnh AR ca i tng khng lin tc khi i tng c tn hiu u vo l n trng li
c gi phng php nhn dng (ch ra sai lch no c s dng v nghim ca
YuleWalker s lm cho sai lch c gi tr nh nht). T , hy nu ngha ca
phng trnh YuleWalker i vi vic nhn dng ch ng tham s m hnh ARMA
ni chung.
S( s) =
3
3
2
2 1
1 s a s a s a
k
+ + +

trong a
1
, a
2
, a
3
, k l nhng tham s cha bit v ph thuc t . Ngi ta iu
khin i tng ny bng b PID t chnh gin tip.
c cc tham s a
1
, a
2
, a
3
, k ca i tng.
b) Hy xy dng c cu chnh nh cc tham s b iu khin PID.
1
, a
2
, a
3
, k (nhanh/chm nh
Gi : Nu c:
S( s) =
) 1 )( 1 )( 1 (
3 2 1
s T s T s T
k
+ + +

th b iu khin PID: )
1
1 ( s T
s T
k
D
I
p
+ + ti u ln s l:
T
I
= T
1
+T
2
, T
D
=
2 1
2 1
T T
T T
+
, k
p
=
3
2 1
2kT
T T +

u

= p
1
w+p
2
y
S(s) =
Ts
k
+ 1
2
G( s) =
s 5 1
1
+
,

Xc nhn ca B mn KT:

1.

2. (1 im) Cho bit G
1
=k, G
4
=0, G
5
=1 v G
2
G
3
=
n
n
m
m
s a s a
s b s b
+ + +
+ + +
1
1
1
1
. Vy th
vi u( t ) =1( t ) h c sai lch tnh khng v nu c th bng bao nhiu?.
3. (2 im) Cho bit G
1
=3, G
2
=G
5
=1, G
4
=0 v G
3
=
2
1
1
s s + +
. Hy tnh qu
iu chnh h
max
v thi gian qu T
5%

4. (2 im) Cho bit G
2
l b iu khin PID, G
1
l b iu khin tin x l,
G
5
=0, G
4
=1 v i tng G
3
=
2
) 1 ( Ts s
k
+
c hm qu h
3
( t ) cho hnh 2.
Hy xc nh G
1
v G
2
sao cho h kn qu iu chnh tng i nh nhng li
c d tr n nh ln nht.


dt
x d
=

0 2
1 1
x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.
c hai im cc mi l s
1
= 1 v s
2
= 2.
2. (1 im) Vi b iu khin phn hi trng thi tm c, th khi u( t ) =1( t ) , h kn
c sai lch tnh khng v nu c th bng bao nhiu?.
nu trong cu 1?.

Xc nhn ca B mn KT:

2.

2. (1 im) Cho bit G
1
=k, G
4
+G
5
=1 v G
2
G
3
=
n
n
m
m
s a s a
s b s b
+ + +
+ + +
1
1
1
1
. Vy th vi
u( t ) =1( t ) h c sai lch tnh khng v nu c th bng bao nhiu?.
3. (2 im) Cho bit G
1
=2, G
4
=G
5
=1 v G
2
G
3
=
2
1
1
s s + +
. Hy tnh qu iu
chnh h
max
v thi gian qu T
5%

4. (2 im) Cho bit G
1
l b iu khin PID, G
4
=G
5
=
2
1
, G
2
=
) 10 1 )( 3 1 (
1
s s + +
v
G
3
=
Ts
k
+ 1
c hm qu h
3
( t ) cho hnh 2. Hy xc nh G
1
sao cho h kn c
di tn s thp m ti hm truyn t ca h kn G( s) tha mn | G( j ) | , cng
rng cnh tt.


dt
x d
=

0 1
2 1
x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.
c hai im cc mi l s
1
= 1 v s
2
= 2.
2. (1 im) Vi b iu khin phn hi trng thi tm c, u( t ) =1( t ) , h kn c sai
lch tnh khng v nu c th bng bao nhiu?.
nu trong cu 1?.

Xc nhn ca B mn KT:

h
3
( t )
t
Hnh 2
4
2
1
Hnh 1
u y
G
1
G
2
G
3

G
4
G
5
h
3
( t )
t
Hnh 2
5
2
Hnh 1
u y
G
1
G
2
G
3
G
4
G
5
1.
Thi gian 90 pht
c s dng ti liu,


dt
x d
= u x

1
0
0 1
2 0
, trong x =

2
1
x
x
theo
Q=

0
2
2
1
10 6
2 4
2
1
dt u x x
T

l nh nht.
(Gi : x
T
Ex=x
T
E
T
x)
Q =
2 1 2 1
2
2
2
1
2 10 8 2 u u u u u u + + min
im xut pht ty c chn trc
S(s) =
Ts
k
+ 3
u

= p
1
wp
2
y
G( s) =
s 4 1
1
+
,

2.
Thi gian 90 pht
c s dng ti liu,

x
k+1
= ax
k
+bu
k
, k=0, 1, 2, 3
u
0
, u
1
, u
2
, u
3
0
im trng thi x
4
theo
Q=

=
+
3
0
2 2
) (
2
1
k
k k
u x
l nh nht.
Q =
2 1 2 1
2
2
2
1
14 5 2 u u u u u u + + min
S(s) =
Ts
k
+ 2
u

= p
1
wp
2
y
G( s) =
s 6 1
1
+
,

1.

2. (1 im) Cho bit G
1
=3, G
2
=1, G
5
=G
4
=0 v G
3
=
2
1
1
s s + +
. Hy tnh qu
iu chnh h
max
v thi gian qu T
5%

3. (2 im) Cho bit G
1
=k, G
5
=0 v G
h
=
2 3
2 3 4
1
G G
G G G
bc hai vi ng c tnh tn bin pha cho hnh 2. Hy xc nh k h kn n
nh.
4. (1 im) Cho bit G
1
l b iu khin PID, G
5
=G
4
=0 v i tng
G
2
G
3
=
2
2
(1 10 ) s s +
. Hy xc nh cc tham s cho b iu khin PID h kn c
d tr n nh ln nht.


dt
x d
=

0 2
1 1
x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.
c hai im cc mi l s
1
= s
2
= 2. C bao nhiu b iu khin nh vy?
2. (2 im) Hy thit k b quan st trng thi Luenberger c tc quan st ng
vi im cc mi l
1
=
2
= 4. C bao nhiu b quan st nh vy?
3. (1 im) Hy ch rng mi b iu khin phn hi trng thi tnh khng th lm
thay i c bc tng i ca i tng.

Xc nhn ca B mn KT:

2.

2. (1 im) Cho bit G
1
=2, G
4
=0, G
5
=1 v G
2
G
3
=
2
1
1
s s + +
. Hy tnh qu
iu chnh h
max
v thi gian qu T
5%

3. (2 im) Cho bit G
1
=k, G
4
=G
5
=0 v G
h
=G
2
G
3
bc ba vi ng c tnh tn bin pha cho hnh 2. Hy xc nh k h n nh.
4. (1 im) Cho bit G
1
l b iu khin PID, G
2
G
3
=
2
1
(1 3 )(1 10 ) s s + +
v
G
4
=G
5
=0. Hy xc nh tham s b iu khin PID sao cho h kn c di tn s
thp m ti hm truyn t ca h kn G( s) tha mn | G( j ) | 1, cng rng
cnh tt.


dt
x d
=

0 1
2 1
x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.
c hai im cc mi l s
1
=s
2
= 1. C bao nhiu b iu khin nh vy?
2. (2 im) Hy thit k b quan st trng thi Luenberger c tc quan st ng
vi im cc mi l
1
=
2
= 3. C bao nhiu b quan st nh vy?
3. (1 im) Hy xc nh bc tng i ca h kn bao gm i tng cho, b iu
khin tm c cu a) v b quan st tm c cu b).

Xc nhn ca B mn KT:

Hnh 1
u y
G
1
G
2
G
3

G
4
G
5
Hnh 2
ImG
h

ReG
h
4 2
Hnh 1
u y
G
1
G
2
G
3
G
4
G
5
Hnh 2
ImG
h

ReG
h
8 5
1. (Thi ngy 19.1.2006)

1. Cho i tng iu khin c m hnh trng thi:

dt
x d
=
2
1
x u
x u
+

+

, trong | u| 1 v x =

2
1
x
x
.
a) (0,5 im) Hy kim tra tnh iu khin c ca i tng cho bng tiu
chun Hautus.
b) (2,5 im) Hy xc nh b iu khin phn hi trng thi ti u tc ng nhanh
cho i tng (im cui l gc ta ).

dt
x d
=
2
1 2
4
8 2
x
x x u

+ +

, vi x =

2
1
x
x
.
a) (0,5 im) c th p dng c phng php bin phn th bi ton ti u ng
vi i tng trn cn phi tha mn nhng iu kin no?.
b) (2,5 im) Hy xc nh b iu khin phn hi m trng thi n nh i
tng theo quan im ti u nng lng, tc l khi c nhiu tc thi nh bt h
ra khi im cn bng 0 th sau h s t quay v 0 v nng lng chi ph tnh
theo:
Q=
2
0
6 6 1 1
7 8 2 2
T
x x u dt

l nh nht.
3. i tng hnh bn c hm truyn t:
S( s) =
2
1
( 2)
s
s

a) (2 im) Hy xc nh tp tt c cc b iu khin R( s) lm h kn n nh ni.
(mi hm truyn t t w, z ti e, u l nhng hm bn).
b) (1 im) Hy xc nh mt b iu khin R( s) c th trong s cc b iu khin
tm c cu a), sau tnh sai lch tnh lim ( )
t
e t
ca h kn khi n c kch
thch bi tn hiu w( t ) =z( t ) =1( t ) cc u vo.
c) (1 im) Hy xc nh mt b iu khin n nh trong s cc b iu khin tm

Xc nhn ca B mn KT:

2.

1. a) (0,5 im) c th p dng c phng php quy hoch ng ca Bellman th
bi ton ti u cn phi tha mn nhng iu kin no?.
b) (2.5 im) Cho h m t bi
x
k+1
=ax
k
u
k
vi a l hng s.
Hy xc nh cng thc truy hi tm dy tn hiu iu khin u
k
, k=1, 2, , N
(N cho trc) sao cho h i t trng thi u x
0
bit n trng thi cui x
N
mong
mun v nng lng tiu th tnh theo Q=
( )
1
2
0
N
i
i
u b
l nh nht, trong b l
hng s bit.

dt
x d
=
2
1
x u
x
+


2
1
x
x
.
chun Hautus.
3. i tng hnh bn c hm truyn t:
S( s) =
2
( 1)
s
s

a) (2 im) Hy xc nh tp tt c cc b iu khin R( s) lm h kn n nh ni.
(mi hm truyn t t w, z ti e, u l nhng hm bn).
b) (1 im) Hy xc nh mt b iu khin R( s) c th trong s cc b iu khin
tm c cu a), sau tnh sai lch tnh lim ( )
t
e t
ca h kn khi n c kch
thch bi tn hiu w( t ) =1( t ) v z( t ) =0 cc u vo.
c) (1 im) Hy xc nh mt b iu khin n nh trong s cc b iu khin tm

Xc nhn ca B mn KT:

w y
z
e u
R(s) S(s)
w y
z
e u
R(s) S(s)
1. (Thi ngy 21.1.2006)


dt
x d
=
2
1
1 x
x u

+


2
1
x
x
.
chun Hautus.
2. a) (0,5 im) c th p dng c phng php quy hoch ng ca Bellman th
bi ton ti u cn phi tha mn nhng iu kin no?.
b) (2.5 im) Cho h m t bi
x
k+1
=x
k
u
k

Hy xc nh cng thc truy hi tm dy tn hiu iu khin u
k
, k=0, 1, , N1
(N cho trc) sao cho h i t trng thi u x
0
bit n trng thi cui x
N
mong
mun (cho trc) v nng lng tiu th tnh theo Q=
1
2
0
N
i
i
u
l nh nht.
3. iu khin i tng bt nh, m t bi:
S( s) =
2
0 1 2
1
( ) s a a s a s + +
, vi 1a
0
2, 2a
1
4, 2. 5a
2
3
ngi ta s dng b iu khin PI c hm truyn t:
R( s) =
I
p
k
k
s
+
a) (2 im) Hy xc nh min tham s k
p
, k
I
h kn n nh bn vng v biu
din min gi tr trong mt phng ( k
p
, k
I
) .
b) (1 im) Hy xc nh c th mt b tham s k
p
, k
I
h kn n nh bn vng v
vi b tham s h kn s c sai lch tnh bng bao nhiu khi n c kch thch
bi tn hiu sin( 2t ) u vo.
4. (1 im) Chng minh rng tn ti b iu khin R( s) iu khin n nh ni i
tng m t bng hai m hnh S
1
( s) v S
2
( s) , trong S
1
( s) l hm bn, th cn v
l R( s) n nh mnh c i tng S
2
( s) S
1
( s) :

2. (Thi ngy 21.1.2006)


dt
x d
=
2
1
x u
x u

+


2
1
x
x
.
chun Hautus.

dt
x d
=
0 4 0
1 8 2
x u

+

, vi x =

2
1
x
x
.
a) (0,5 im) c th p dng c phng php bin phn th bi ton ti u ng
vi i tng trn cn phi tha mn nhng iu kin no?.
b) (2,5 im) Hy xc nh b iu khin phn hi m trng thi n nh i
tng theo quan im ti u nng lng, tc l khi c nhiu tc thi nh bt h
ra khi im cn bng 0 th sau h s t quay v 0 v nng lng chi ph tnh
theo:
Q=
2
0
12 12
14 16
T
x x u dt

l nh nht.
3. (3 im) Cho i tng bt nh, m t bi:
S( s) =
2
0 1 2
1
( ) s a a s a s + +
, vi
i i i
a a a
+
, i =0, 1, 2
Hy xc nh iu kin cho cc bin ,
i i
a a
+
ca a
i
i tng c th iu khin
n nh bn vng c bng mt b iu khin PI:
R( s) =
1
(1 )
p
I
k
T s
+
4. (1 im) Chng minh rng tn ti b iu khin R( s) iu khin n nh ni i
tng m t bng hai m hnh S
1
( s) v S
2
( s) , trong S
1
( s) l hm bn, th cn v
l R( s) n nh mnh c i tng S
2
( s) S
1
( s) :

1. (Thi li ngy 24.2.2006)


dt
x d
=
2
1
2 x u
x u

+


2
1
x
x
.
a) (2 im) Hy xc nh b iu khin phn hi trng thi ti u tc ng nhanh cho
i tng (im cui l gc ta ).
b) (1 im) a i tng t im trng thi u x
0
=
2
2

v c gc ta th
b iu khin ti u trn phi chuyn i gi tr ca u bao nhiu ln.

dt
x d
=
2
1
3x u
x
+

, vi x =

2
1
x
x
.
a) (2 im) Hy xc nh b iu khin phn hi m trng thi n nh i tng
theo quan im ti u nng lng, tc l khi c nhiu tc thi nh bt h ra
khi im cn bng 0 th sau h s t quay v 0 v nng lng chi ph tnh
theo:
Q=
2
0
0 1 1
1 8 2
T
x x u dt

l nh nht.
b) (1 im) H kn bao gm i tng cho v b iu khin ti u tm c c n
nh khng v ti sao. Hy xc nh cc im cc ca h kn.
3. iu khin i tng m t bi hm truyn t
S( s) =
2
0 1 2
1
( ) s a a s a s + +

ngi ta s dng b iu khin PI:
R( s) =
I
p
k
k
s
+
a) (3 im) Vi nhng gi tr k
p
, k
I
nh th no th h kn s n nh vi mi s
bin i tham s ca i tng 1a
0
2, 2a
1
4, 3a
2
4 (n nh bn vng).
Biu din min gi tr trong mt phng ( k
p
, k
I
) .
b) (1 im) Hy xc nh c th mt b tham s k
p
, k
I
h kn n nh bn vng v

2. (Thi li ngy 24.2.2006)


dt
x d
=
2
1
2
x u
x u

+


2
1
x
x
.
a) (2 im) Hy xc nh b iu khin phn hi trng thi ti u tc ng nhanh cho
i tng (im cui l gc ta ).
b) (1 im) a i tng t im trng thi u x
0
=
3
3

v c gc ta th
b iu khin ti u trn phi chuyn i gi tr ca u bao nhiu ln.

dt
x d
=
2
1
2x
x u

+

, vi x =

2
1
x
x
.
a) (2 im) Hy xc nh b iu khin phn hi m trng thi n nh i tng
theo quan im ti u nng lng, tc l khi c nhiu tc thi nh bt h ra
khi im cn bng 0 th sau h s t quay v 0 v nng lng chi ph tnh
theo:
Q=

0
2
2
1
10 6
2 4
2
1
dt u x x
T

l nh nht.
b) (1 im) H kn bao gm i tng cho v b iu khin ti u tm c c n
nh khng v ti sao. Hy xc nh cc im cc ca h kn.
3. iu khin i tng m t bi hm truyn t
S( s) =
2
0 1 2
1
( ) s a a s a s + +

ngi ta s dng b iu khin PI:
R( s) =
I
p
k
k
s
+
c) (3 im) Vi nhng gi tr k
p
, k
I
nh th no th h kn s n nh vi mi s
bin i tham s ca i tng 2a
0
3, 3a
1
5, 1a
2
4 (n nh bn vng).
Biu din min gi tr trong mt phng ( k
p
, k
I
) .
d) (1 im) Hy xc nh c th mt b tham s k
p
, k
I
h kn n nh bn vng v

1. (Thi ngy 26.5.2006). Thi gian 90 pht, c s dng ti liu.

1. Xt h thng vi s khi cho
hnh 1.
a) (1,5 im) Hy ch rng h c dao
ng n nh.
b) (2 im) Hy xc nh bin ca
dao ng n nh trn.

2. Xt h thng c s khi cho hnh 2, trong :

2
( , )
n
x
x
f x u
x
e u

=

+

.
,
1
n
x
x
x

=

. v g( e) =a
0
e+a
1
de
dt
+ +a
n1
1
1
n
n
d e
dt

a) (2 im) Hy xc nh cc hng s b, a
i
, i=0,1, n1 h n nh tim cn ton
cc ti gc ta , tc l mi qu o trng thi t do ca h x( t ) u tt dn (c
bin lun).
b) (1,5 im) Hy ch r tc tin v gc ca qu o trng thi t do x( t ) ph thuc
nh th no vo cc hng s b v a
i
, i=0,1, n1.
3. (3 im) iu khin i tng bt nh (tn hiu vo l u v tn hiu ra l y) m t
bi:

1 2
7
dy
y u
dt
+ = trong
1
,
2
u

= p
1
wp
2
y
mu. Bin lun theo tham s
1
,
2
.
5
dy
y w
dt
+ =

1. Xt h thng vi s khi cho hnh
1, trong b<0 v a>0 l hai hng s
cho trc.
a) (1,5 im) Hy ch rng h n nh
tim cn ton cc ti gc ta .
b) (1,5 im) Hy ch r tc tin v
gc ca qu o trng thi t do
ph thuc nh th no vo hai
hng s a v b.
2. Xt h thng c s khi cho hnh 2.

a) (1 im) Bit rng k=5 v n=3. Hy xc nh hng s a h c 1 dao ng duy
nht. Xc nh tnh n nh ca dao ng .
b) (1 im) Bit rng k=1 v n=3. Hy xc nh hng s a h c mt dao ng n
nh. Xc nh tn s v bin ca dao ng n nh .
c) (1,5 im) Hy xc nh quan h cn c gia cc hng s k, a v n h c 4 dao
ng. Dao ng no l n nh trong 4 dao ng (bin lun). V minh ha qu
o trng thi t do ca 4 dao ng trn cng vi cc qu o trng thi t do
thuc ln cn ca chng.
3. Cho i tng phi tuyn affine vi m hnh:

1 3
2
2 3
1 2 3
( , )
x x u
dx
f x u x x
dt
x x x
+

= = +

+

,
1
2
3
x
x x
x

=

a) (2 im) Hy xc nh b iu khin phn
hi trng thi u=wr( x) m t hnh 3
sao cho h kn n nh tim cn ton cc
ti gc.
b) (1,5 im) Hy ch rng, vi b iu khin tm c cu a), h khng nhng n
nh tim cn theo ngha Lyapunov m cn theo ngha b chn, tc l khi tn
hiu vo w( t ) b chn th trng thi x( t ) ca n cng b chn.

1 1
1
1
1
s
1
s
e e u
Hnh 1
e
a
e
u
u
( )
(1 10 )(1 20 ) (1 10 )
k
G s
s s ns
=
+ + +
a
Hnh 2
1 1
u
( , )
dx
f x u
dt
=
Hnh 3
w x
r( x)
e s
s
u
u
1
( , )
dx
f x u
dt
y x

b
b
s=g( e)
Hnh 2
y
e
e
u
u
1
s
1
s
a
a
b
Hnh 1

1. Xt h thng c s khi cho hnh
1 vi a>0, b>0 v c>0.
a) (1,5 im) Hy ch rng khng
ph thuc trng thi u, mi qu
o trng thi ca h u tin
tim cn v gc ta .
b) (1,5 im) Hy xc nh mt b
iu khin m c quan h vora
u( e) l khu khuch i bo ha ging nh hnh 1 vi |e|10.

a) (1,5 im) Hy xc nh cc hng s a, b v k h n nh tim cn ton cc ti
gc ta , tc l mi qu o trng thi t do ca h x( t ) u tt dn (c bin
lun).
nh th no vo cc hng s a, b v k.
c) (1 im) Hy xy dng b iu khin m c quan h vora l khu rle hai v tr
u=ksgn( e) .
3. H hnh 3 c khu phi tuyn vi f ( e) l hm l.

a) (2 im) Hy xc nh iu kin cho khu phi tuyn u=f ( e) h kn l n nh
tim cn ton cc ti gc (theo ngha n nh tuyt i).
b) (1 im) Bit f ( e) l hm l nh hnh 4 ( b>a, dc) . Hy xc nh iu kin cho
a,b,c,d v mt b iu khin m tng ng h kn l n nh tim cn ton cc
ti gc.

1. Xt h thng c s khi cho
hnh 1 vi a>0, b<0 v c<0.
a) (1,5 im) Hy ch rng h c dao
ng n nh.
b) (1,5 im) Hy xc nh mt b
iu khin m c quan h vora
u( e) l khu rle hai v tr c tr
ging nh hnh 1 vi |e|15.

a) (1,5 im) Hy xc nh cc hng s a, b v k h n nh tim cn ton cc ti
gc ta , tc l mi qu o trng thi t do ca h x( t ) u tt dn (c bin
lun).
nh th no vo cc hng s a, b v k.
c) (1 im) Hy xy dng b iu khin m c quan h vora l khu rle hai v tr
u=ksgn( e) .
3. H hnh 3 c khu phi tuyn vi f ( e) l hm l nh hnh 4 ( a>b) .

a) (2 im) Hy xc nh iu kin cho khu phi tuyn u=f ( e) h kn l n nh
tim cn ton cc ti gc (theo ngha n nh tuyt i).
b) (1 im) Bit f ( e) l hm l nh hnh 4 ( b>a, dc) . Hy xc nh iu kin
cho a,b,c,d v mt b iu khin m tng ng h kn l n nh tim cn ton
cc ti gc.

1
1
a
a
b
s
c
s
e e u
Hnh 1
u
e u
Hnh 2
x
3
x
2
x
1
a
b
3 3
x dx
e u
dt

= +
u=ksgn( e)
1
s
1
s
1 1
1
1
1
s
1
s
e e u
Hnh 1
e u
Hnh 2
x
3
x
2
x
1

3
3
cos( )
dx
x u
dt
= +
u=ksgn( e)
b
s
a
s
u=f ( e)
e u
2
1
( )
2 1
s
G s
s s
+
=

Hnh 3
f ( e)
e
a
b
c
d
Hnh 4.
u=f ( e)
e u
2
2 1
( )
3
s
G s
s s
=
+
Hnh 3
f ( e)
e
a
b
c
c
Hnh 4.
thi li (ngy 28.6.2006). Thi gian 90 pht, c s dng ti liu.
1. Cho h kn m t hnh 1, trong G( s) =
2
4 3 2
2
2 3 6 1
s
s s s s
+
+ + + +

a) (0,5 im) Hy xc nh s cc im cc khng nm bn tri trc o ca G( s) .
b) (1 im) Bit rng G( s) c ng th G( j ) vi cho hnh 2. Hy v
li ng th G( j ) nhng ch ng vi 0 cng vi chiu mi tn ch
chiu tng theo (c bin lun).
c) (1,5 im) Hy xc nh ta cc im A, B, C v D trn th G( j ) .
d) (1 im) Hy s dng tiu chun Nyquist xc nh hng s khuch i k lm h
kn n nh.
e) (0,5 im) Hy s dng tiu chun Routh xc nh hng s khuch i k lm h
kn n nh v so snh vi kt qu tm c cu 4.
2. Cho i tng c m hnh trng thi.

dt
x d
=
0 0 1
1 1 2
0 1 0

x+
0
1
0

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

.
a) (1 im) Hy kim tra tnh iu khin c ca i tng bng tiu chun
Hautus.
b) (1,5 im) Hy xc nh im khng ca i tng v kim tra tnh pha cc tiu
ca n.
c) (1,5 im) Hy xc nh b iu khin phn hi trng thi R h kn nhn cc
gi tr cho trc s
1
= s
2
=s
3
=3 lm im cc.
d) (1,5 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 im khng ca i tng.
1. Cho h kn m t hnh 1.

a) (2 im) Bit rng
2
1
( )
( 3)
s
G s
s
. Hy xc nh iu kin cho khu phi tuyn

u=f ( e) h kn l n nh tim cn ton cc ti gc ta .
b) (2 im) Hy xc nh t nht mt b iu khin m c quan h vo ra phi tuyn
u=f ( e) tha mn iu kin tm c cu a).
c) (2 im) Bit rng u=f ( e) l khu ba v tr c tr m t hnh 2 v
3
( )
(1 )
k
G s
s
=
+
. Hy xc nh iu kin cn cho k h c dao ng t do n nh
v xc nh bin , tn s ca dao ng n nh .
d) (1 im) Tng t nh cu b), nhng
6
( )
(1 )
k
G s
s s
=
+
. Hy xc nh iu kin
cho k h c ng 4 dao ng. V minh ha (c bin lun) cc qu o trng
thi t do ca 4 dao ng cng cc qu o trng thi t do thuc ln cn ca
chng.
a) (1,5 im) Hy xc nh b iu khin trt u=f ( w, y) lm h kn n nh tim
cn ti gc.
b) (1,5 im) Hy xc nh b iu khin trt c tnh phi tuyn tnh u=f ( w, y) lm
h kn n nh tim cn ti gc.

Hnh 1
u
y
k
G
B
A
Re(G)
Im(G)
Hnh 2
C
D
u=f ( e)
e u
Hnh 1
f ( e)
e
1
1
Hnh 2.
G( s)
1
1
u=f ( w, y)
u
Hnh 3
3 2
3 2
sin( ) cos( )
y d y d y dy
e u
dt dt dt

= + + +
w
y
a) (1,5 im) Hy xc nh iu kin cho cc tham s k, a
0
, a
1
cho b iu khin
h kn n nh tim cn ton cc ti gc.
b) (1,5 im) B iu khin vi cc tham s k, a
0
, a
1
tm c cu a) cn c th
iu khin n nh tim cn ton cc ti gc cho nhng i tng no ngoi i
tng cho hnh 1.
c) (1,5 im) Bit rng a
0
>0, a
1
>0 v k=5. Khi tn hiu ch o w( t ) cn tha
mn iu kin g c lim ( ) ( ) 0
t
w t y t
=

2. (2,5 im) Hy xc nh im cn bng, tnh n nh ti cc im cn bng v kh
nng t dao ng ca h m t hnh 2.

3. H hnh 3 c khu phi tuyn vi f ( e) l hm l nh hnh 4.

a) (2 im) Cc hng s a, b, c, d phi tha mn quan h g h n nh tim cn
ton cc ti gc (theo ngha n nh tuyt i).
b) (1 im) Hy xc nh mt b iu khin m c quan h vora u=f ( e) tm c
cu a) lm h n nh tim cn ton cc ti gc, bit rng 3 e c .

a) (1,5 im) Bit rng
2
2 1
( )
( 2)
s
G s
s
. Hy xc nh iu kin cho khu phi

tuyn u=f ( e) h kn l n nh tim cn ton cc ti gc ta .
b) (1,5 im) Hy xc nh t nht mt b iu khin m c quan h vo ra u=f ( e)
dng phi tuyn tha mn iu kin tm c cu a).
c) (1,5 im) Bit rng u=f ( e) l khu ba v tr c tr m t hnh 2 v
3
( )
(1 2 )
k
G s
s
=
+
. Hy xc nh iu kin cho k h c 2 dao ng trong c
mt dao n nh. Xc nh bin , tn s ca dao ng n nh .
d) (1,5 im) Vi kt qu tm c cu c), hy bin lun v v minh ha qu o
trng thi t do m t hai dao ng c trong h cng nh cc qu o trng thi
t do khc thuc ln cn cc dao ng .
e) (1 im) Hy xy dng mt b iu khin m c ng c tnh quan h vo ra
ging nh m t hnh 2.
2. Cho h kn m t hnh 3, trong k>0 v a>0.
a) (1 im) Hy ch rng h l n nh tim cn ton cc ti gc.
b) (2 im) Khi w=0, hy bin lun ch r tc tt dn ca u ra y( t ) ph
thuc nh th no vo hai h s a v k.

u=f ( e)
e u
Hnh 1
f ( e)
e
1
1
Hnh 2.
G( s)
1
1
e
u
a
a
e
1
s
Hnh 3
y
1
s
u
k
w
u
Hnh 1
w y e
u=ksgn
2
0 1
2
de d e
a e a
dt dt

+ +

3 2
3 2
sin( )
y d y d y dy
e u
dt dt dt

= + + +

1
1
1
1 s +
1
s
e e u
Hnh 2
u
w
1
1
u=f ( e)
e u
2
2
( )
1
s
G s
s s
+
=

Hnh 3
f ( e)
e
a
b
c
d
Hnh 4.
thi li 1 (ngy 23.9.2006).
Thi gian 90 pht. Ch c s dng ti liu quy nh l 1 t giy t tm tt kin thc
t trc v np li t giy cng vi bi thi. Ni dung ca t giy ny s c nh gi
ti a l 1,5 im, nhng t ging nhau u khng c im.

Xt mt i tng iu khin c m hnh trng thi:

dt
x d
=
0 0 1
1 1 2
0 1 0

x+
0
1
0

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

.
1. (1 im) Tnh n nh ca mt h thng l g? Hy kim tra tnh n nh ca i
tng trn.
2. (1,5 im) Tnh iu khin c ca mt h thng iu khin l g? Ti sao ngi ta
cn phi kim tra tnh iu khin c ca h thng? Hy kim tra tnh iu khin
c ca i tng trn.
3. (1 im) Hy vit phng trnh trng thi ca i tng i ngu vi i tng
cho.
4. (3 im) Hy xc nh b iu khin phn hi trng thi R h kn nhn cc gi tr
cho trc s
1
= s
2
=3, s
3
=4 lm im cc.
5. (1 im) Hy xc nh m hnh trng thi ca h kn bao gm i tng iu khin
cho trn v b iu khin phn hi trng thi tm c cu 4.
6. (1 im) Hy ch rng qu trnh t do ca h kn lun tin v gc ta vi tc
khng nh hn tc ca hm e
3t
.

thi li 2 (ngy 23.9.2006).
Thi gian 90 pht. Ch c s dng ti liu quy nh l 1 t giy t tm tt kin thc
t trc v np li t giy cng vi bi thi. Ni dung ca t giy ny s c nh gi
ti a l 1,5 im, nhng t ging nhau u khng c im.

Xt mt i tng iu khin c m hnh trng thi:

dt
x d
=
2 0 0
1 0 1
2 1 0

x+
1
1
2

u, y=x
1
=( 1 0 0) x trong x=
1
2
3
x
x
x

.
1. (1 im) Tnh n nh ca mt h thng l g? Hy kim tra tnh n nh ca i
tng trn.
2. (1,5 im) Tnh quan st c ca mt h thng iu khin l g? Ti sao ngi ta cn
phi kim tra tnh quan st c ca h thng? Hy kim tra tnh quan st c ca
i tng trn.
3. (1 im) im cc l g v cc cht lng ng hc ca h thng nh tnh n nh,
thi gian qu , bin dao ng ca qu trnh t do... c mi quan h nh th no
vi v tr im cc ca h?
4. (1 im) Hy vit phng trnh trng thi ca i tng i ngu vi i tng
cho.
5. (3 im) Hy xc nh b quan st trng thi c c gi tr trng thi x xp x
vi trng thi x ca i tng, ng thi tha mn 0 x x vi tc tng ng vi
cc im cc s
1
= s
2
=4, s
3
=5 cho trc.
6. (1 im) Hy ch rng 0 x x c tc khng nh hn tc ca hm e
4t
.
thi LTKT (20.11.2006)
1. (1 im) Hy xc nh hm truyn t tng ng G( s) ca h.
2. (2 im) Bit rng hm truyn t tng ng G( s) tm c cu 1 c tt c
hai im cc s
1
=1, s
2
=2, mt im khng s
3
=1 v h s khuch i tnh
G( 0) =3. Hy xc nh v v th hm qu h( t ) ca n v ch ra tnh pha
khng cc tiu ca h c th c nhn bit t dng th h( t ) nh th no?
3. (1,5 im) Bit rng G
3
=
k
s
, G
4
=
2 2
1
(1 3 ) (1 2,5 16 ) s s s + + +
v G
1
=G
2
=G
6
+G
7
=1,
G
5
=0. Hy xc nh hng s khuch i k h n nh.
4. (1 im) Bit rng G
2
=G
6
=1, G
5
=G
7
=0 v i tng iu khin G
4
=
2
(1 )
k
s Ts +

c hm qu h
4
( t ) cho hnh 2. Hy xc nh khu qun tnh bc nht tin x
l G
1
v b iu khin PID G
3
h n nh vi d tr n nh tng i ln
cng nh qu iu chnh tng i nh.

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

dt
x d
=
8 8 2
4 3 2
3 4 1

x+
0
0
1

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

.
1. (1,5 im) Hy xc nh tnh n nh tnh iu khin c v quan st c ca
i tng.
2. (2 im) Hy xc nh b iu khin phn hi trng thi gn cc im cc s
1
=2,
s
2
=3 v s
3
=4 cho i tng trn.
3. (1 im) Hy so snh tc tt dn ca qu trnh t do ca h kn (gm i tng
v b iu khin phn hi trng thi thu c cu 2) so vi hm e
t
(nhanh hn
hay chm hn?).

thi. Thi gian 90 pht (ngy 28.12.2006). c s dng ti liu.
a) Hy xc nh iu kin cho cc tham s k, , h kn n nh tim cn ton
cc ti gc theo ngha Lyapunov, tc l c
( )
lim ( ) 0
i
t
y t
= , i =0, 1, 2 khi w( t ) =0.

b) B iu khin vi cc tham s k, , tm c cu a) cn c th iu khin n
nh tim cn ton cc ti gc cho nhng i tng no ngoi i tng cho
hnh 1.
c) Bit rng ==4 v k=10. Khi tn hiu ch o w( t ) cn tha mn iu kin
g c
( ) ( )
lim 0
i i
t
w y
= , i =0, 1, 2.

2. Xt i tng iu khin:

dt
x d
=
3
1 1 1 2
2
1 3
2
2 3
x x x x
x x
x x u

+

+

+

, trong x=
1
2
3
x
x
x

.
a) Hy ch rng h trn c cu trc truyn ngc vi h con:

1
2
x d
x dt

=
3
1 1 1 2
2
1
x x x x
x z

+

+

x, ng vi u vo o z=x
3

c hm CLF
2 2
1 1 2 1 2
1
( , ) ( )
2
V x x x x = + .
b) Hy xc nh b iu khin phn hi trng thi GAS cho i tng cho.
3. Cho i tng iu khin:

dt
x d
=
1 2 3
2
2 1
3
1
x x x
x x
x u
+

+

+

, trong x=
1
2
3
x
x
x

.
a) Hy xc nh b iu khin phn hi trng thi u=r( w, x) v php i bin
z=m( x) , trong z=( z
1
, z
2
, z
3
)
T
, lm h tr thnh tuyn tnh v n nh.
b) Hy ch rng h tuyn tnh thu c tha mn w z < < .

h
4
( t )
t
Hnh 2
4
2
1
Hnh 1
u
y
G
1
G
2
G
3
G
6

G
7

G
5

G
4

u
Hnh 1
w y e
u=ksign
2
2
de d e
e
dt dt

+ +

3 2
3 2
sin( ) cos( )
y d y d y dy
e u
dt dt dt

= + + +
thi LTKT ln 2 (6.1.2007)
Thi gian 90 pht. c s dng ti liu.
1. (1,5 im) Hy xc nh hm truyn t tng ng G( s) ca h.
2. Bit G
3
=G
5
=0, G
4
+G
6
=G
1
=1 v G
2
=kG
0
, trong G
0
=
2
2 3 4
4
2 4 2
s
s s s s
+ + + +

a) (1 im) Hy xc nh s cc im cc khng nm bn tri trc o ca G
0
.
b) (2 im) Hy v ng th Nyquist ca G
0
.
c) (1 im) Hy xc nh k h cho l n nh.


dt
x d
=
1 1 0
1 0 1
5 0 4

x+
0
0
1

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

.
i tng.
2. (1 im) i tng trn c phi l pha cc tiu khng?
3. (2 im) Hy thit k b quan st trng thi Luenberger c cc im cc cho trc
l s
1
=s
2
=s
3
=4.

thi LTKT ln 2 (6.1.2007)
Thi gian 90 pht. c s dng ti liu.
1. (1,5 im) Hy xc nh hm truyn t tng ng G( s) ca h.
2. Bit G
3
=G
5
=0, G
4
+G
6
=G
1
=1 v G
2
=kG
0
, trong G
0
=
2
2 3 4
4
2 4 2
s
s s s s
+ + + +

a) (1 im) Hy xc nh s cc im cc khng nm bn tri trc o ca G
0
.
b) (2 im) Hy v ng th Nyquist ca G
0
.
c) (1 im) Hy xc nh k h cho l n nh.


dt
x d
=
1 1 0
1 0 1
5 0 4

x+
0
0
1

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

.
i tng.
2. (1 im) i tng trn c phi l pha cc tiu khng?
3. (2 im) Hy thit k b quan st trng thi Luenberger c cc im cc cho trc
l s
1
=s
2
=s
3
=4.
Hnh 1
u
y
G
1

G
4
G
6
G
2
G
3

G
5

Hnh 1
u
y
G
1
G
4
G
6
G
2
G
3
G
5
thi li LTKT

2. (2 im) Cho bit G
4
=0, G
1
=k
1
, G
5
=1, G
2
=k
2
v G
3
=
2 3 4
1
1 2 3 6
s
s s s s
+ + + +
.
Hy xc nh k
1
v k
2
h l n nh v c sai lch tnh bng 0.
3. (2 im) Cho bit G
2
l b iu khin PID, G
1
l b iu khin tin x l,
G
5
=0, G
4
=1 v i tng G
3
=
2
) 1 ( Ts s
k
+
c hm qu h
3
( t ) cho hnh 2.
Hy xc nh G
1
v G
2
sao cho h kn qu iu chnh tng i nh nhng li
c d tr pha n nh ln nht.


dt
x d
=

0 2
1 1
x+

1
0
u, y=x
2
, trong x=

2
1
x
x
.
1. (2 im) Hy thit k b iu khin phn hi trng thi sao cho vi n, h s c
hai im cc mi l s
1
= 1, s
2
= 2. C bao nhiu b iu khin nh vy.
2. (1 im) B iu khin phn hi trng thi tm c cu 1 c lm thay i c
bc tng i ca i tng khng?
3. (2 im) Hy thit k b quan st Luenberger xc nh trng thi xp x x cho
vector trng thi x ca i tng sao cho sai lch x x tin v 0 nhanh hn e
3t
.

Xc nhn ca B mn KT:

1. H hnh 1 c khu phi tuyn vi f ( e) l hm l.

a) (2 im) Bit
2
2
( )
3
s
G s
s s
+
=

v khu phi tuyn f ( e) nh hnh 2. Cc hng s
a, b, c, d phi tha mn quan h g h n nh tim cn ton cc ti gc (theo
ngha n nh tuyt i).
b) (2 im) Bit
3 2
1
( )
7 16 12
G s
s s s
=
+ + +
v khu phi tuyn f ( e) nh hnh 3. Hng
s k phi tha mn iu kin g h c dao ng n nh. Xc nh bin v tn s
ca dao ng .
2. (2 im) Hy xc nh h cc qu o trng thi ti u tc ng nhanh cho i tng:
2
1
x u dx
x u dt
+
=

bit rng im trng thi cui l gc ta v | u| 1.
3. Xt h phi tuyn c m hnh trng thi:

3
1 1 2
1
2
2 1
2
1 2
x x x
x
d
x x z
dt
z
x x z u

+

= +

+ +

v y=x
1

a) (1 im) Hy xc nh bc tng i ca h.
b) (1,5 im) Hy ch rng h con:

3
1 1 2
2
1
x x x dx
dt
x z

+
=

+

trong x=
1
2
x
x

c hm CLF V( x) =
2 2
1 2
2 x x + .
c) (1,5 im) Hy xc nh b iu khin GAS cho h trn.

Xc nhn ca B mn KT:

h
3
( t )
t
Hnh 2
4
2
1
Hnh 1
u y
G
1
G
2
G
3

G
4
G
5
u=f ( e)
e u
Hnh 1
f ( e)
e
a
b
c
d
Hnh 2
G( s)
f ( e)
e
k
Hnh 3
1
thi (ngy 4.5.2007). Thi gian 90 pht, c s dng ti liu.
1. Xt h NL hnh 1.

a) (2 im) Bit
1
( )
( 1)
G s
s s
=
+
v
1
( ) 2 1 2 1
2
de de
f e e e
dt dt

= + + +

. Hy phn tch
tnh n nh v min n nh ca h bng phng php mt phng pha.
b) (1 im) C hay khng v khi no th xy ra hin tng trt trn ng chuyn
i trong h vi khu tuyn tnh v phi tuyn cho cu a).
c) (1,5 im) Cho
2
1
( )
3 1
s
G s
s s
=
+
v f ( e) l hm l nh hnh 2. Cc hng s a, b,
c, d phi tha mn iu kin g h l n nh tuyt i.
d) (1 im) Chn c th bn hng s a, b, c, d tha mn iu kin tm c cu c)
sau xy dng b iu khin m c ng c tnh f ( e) tng ng.
e) (1,5 im) Bit
2
1
( )
( 2 3)
G s
s s s
=
+ +
v khu phi tuyn f ( e) nh hnh 3. Hng s
k phi tha mn iu kin g h c dao ng n nh. Xc nh bin v tn s
ca dao ng .
2. Cho i tng m t bi:

2
1
6
x u dx
x dt
+
=

vi x =
1
2
x
x

.
a) (2 im) Hy xc nh b iu khin LQR theo quan im ti u nng lng, tc l
khi c nhiu tc thi nh bt h ra khi im cn bng 0 th b iu khin s
dn h quay v 0 v nng lng chi ph tnh theo:
Q=
( )
2 2
2
0
3x u dt

l nh nht.
b) (1 im) Hy ch rng h kn bao gm i tng cho v b iu khin LQR tm
c cu a) l n nh.

thi (ngy 19.5.2007). Thi gian 90 pht, c s dng ti liu.
1. Xt h cho hnh 1.

a) (2,5 im) Bit
2
1
( )
4
s
S s
s
. Hy xc nh tp O ca tt c cc b iu khin lm
h kn n nh (ni).
b) (1 im) Hy ch rng mi phn t R ca O lun c t nht mt im cc s
i
tha
mn Re(s
i
)>1.
c) (0,5 im) Hy xc nh trong O mt phn t vi n h kn t ph thuc nht
vo sai lch S ca m hnh i tng.
2. Cho h m t hnh 2, trong p
1
v p
2
l khu khuch i ca b iu khin tnh.
a) (2,5 im) Bit rng i tng c hm truyn t bt nh ( )
1
k
S s
Ts
=
+
, trong
k, T l hai tham s khng ph thuc thi gian khng bit trc. Hy xc nh c
cu chnh nh thch nghi cho p
1
v p
2
khng ph thuc vo k, T h kn lun n
nh, qu trnh t do tt nhanh hn e
2t
v c sai lch tnh bng 0.
b) (0,5 im) B chnh nh trn c s dng c hay khng khi hai tham s bt nh
k, T li ph thuc thi gian, v nu c th trong trng hp no?
3. (3 im) Cho i tng m t bi:

2 2
1 2 2 1 2
3
1 2
x x x u x x d dx
dt
x x

+ +
=

+

vi x =
1
2
x
x

.
trong d( t ) l tham s bt nh tha mn | d( t ) | 1. Hy xc nh b iu khin
phn hi trng thi mi qu o trng thi t do ca h kn lun tin v c ln
cn D={ xR
2
| x| <0, 01} ca gc ta .
(Gi : t z
1
=x
2
v z
2
=x
1
).

R( s)
e u
Hnh 1 Hnh 2
S( s)
y
p
1
e u
S( s)
y
p
2
u=f ( e)
e u
Hnh 1
f ( e)
e
a
b
c
d
Hnh 2
G( s)
f ( e)
e
k
Hnh 3
1
y

1. Bi ton iu khin bn vng vi H
l g? ngha ca n. Bi ton c thc hin

qua hai bc nh th no.
2. Bi ton chun l g? Hy nu phng php gii quyt bi ton chun.
3. Mc ch ca phng php tham s ha Youla l g? Hy nu mt ngha ng dng
khc ca n ngoi vic gii quyt bi ton bn vng vi H
.
4. Phng trnh Bezout l g v ngha ca n? Hy nu phng php gii phng
trnh Bezout.
5. Hy pht biu bi ton cn bng m hnh v nghim ca n trong cc trng hp c
bit (trng hp n gin).
6. Nu ngha ca phng php ni suy Nevannlinna trong bi ton iu khin bn
vng vi H
.
7. Hm nhy l g v ti sao ngi ta cn n khi nim hm nhy. Hy nu cch thc
hin bi ton thit k b iu khin lm h n nh v c ph thuc vi sai lch m
hnh i tng l nh nht.

1. h thng iu khin thch nghi theo m hnh mu l n nh ni th hm mc tiu
c s dng xc nh sai lch e0 (sai lch gia m hnh mu v h kn) cn cn
phi tha mn thm gi thit no (iu kin cn)?
2. Hy pht biu iu kin h thng iu khin thch nghi theo m hnh mu l
n nh ni.
3. iu khin thch nghi theo m hnh mu, ngi ta thng s dng b iu khin
ph thuc tham s c kh nng thay i c. S cc tham s thay i c ca b
iu khin c xc nh nh th no?
4. Trong iu khin thch nghi theo m hnh mu, ngi ta xc nh m hnh mu nh
th no (cu trc, h s khuch i, im cc ...) v c cu chnh nh tham s b iu
khin c thit k theo nguyn tc g?
5. Hm ISS-CLF l g? ngha ca n. Hy nu phng php cun chiu (backstepping)
xc nh ISS-CLF?
6. Mt hm ISS-CLF cn phi tha mn iu kin g ng vi n s c b iu khin
ISS phn hi trng thi mang tnh SCP.

DeThi LTDK LTDKNC

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

DeThi LTDK LTDKNC

Uploaded by

Copyright:

Available Formats

1.

Thi gian 90 pht, Khng c s dng ti liu,

v p dng li Gauss/Seidel vi cng im xut

. Chng minh rng

. . Chng minh rng iu kin cn tuyn tnh ha chnh xc

. Hy xc nh iu kin cho khu phi tuyn

. Hy xc nh iu kin cho khu phi

= , i =0, 1, 2 khi w( t ) =0.

l g? ngha ca n. Bi ton c thc hin

You might also like