1
Z
1
Z
3
3
2
E
1
Z
2
E
3
!
g g g
- - =
g g g
+ =
g g g
- + =-
g g g
g
!
"
#$%&'()*
+,*+,#-
".
"/.
V2
+,0
V1
V
1
V
2
12
1
Z
1
Z
3
3
2
E
1
Z
2
E
3
" !#
"#$'3&4(5.()*
"1!ệ 6(
"
7+89:3&
;.<=>
3
? @
g
+
3 3
? @
g g g
- + + =-
3 3
g g
3
g g
=
+,2&'
"
A0%BC%3&
3
3
3 3
g g g
= -
3
g g
=
12
3
g
-
g
=
!
g
0BD
!"$%
"2E>3)6(
(5.
F06>G>H
I
I
I
J
K
J
?I@
g
=
=
=
å
"J
(1)
(2)
LM
N
=
"#$6>G>()*H
"0(%&'
%E>3)KG>
J
K
g g
-
?I@
J
K
g g
=
=
-
=
å
J
K
g g g
+ =
J
K
g g
g
-
=
g
=
O
J
K
g g
g
-
=
?I@
J
N ? K @
g g
=
=
- =
å
?I@ ?I@
J
?N @ ?N K @
g g
= =
= =
=
å å
J
?I@
?I@
? N @
K
N
g
g
=
=
=
=
=
å
å
(3)
?I@ ?I@
J
K N ?N @
g g
= =
= =
=
å å
(2)
g
=
J
K
g g
-
AP)P!
+/QI+
+
QR
o
g
=
Q
=
o
g
0%&
g
3)S9=TOU).BV
..%&%&3&3).
&#'(
)%
HW:!.
1C
=
=
=
∑
HW99
Z
1
Z
2
Z
n
Z
//
66
=
=
=
∑
1C
X Q Y
= =
= =
= +
∑ ∑
X QY= +
66 66
X QY= +
8'Z66
66
=
+
+/QI[
+\]Q^
+,
+]Q+
"
Q>'
+
"#
66
66
=
+
Q \_
? QI@?\ Q^@
66
\
−
+ −
=
o
*+,
"#
:!.
Q` \_ Q^ `_
Q \_
`
\
−
−
=
o o
o
Q^ I_
IIa=
o
Q \_
\
−
=
o
+
Z
1
Z
2
Z
//
b
r
X
L
X
C
U
P!K
c
+1[Y
b
+Y
#
+Ω
0
b
#
d
#
b
1e%f
#LB0Pg
b
#
- - -
∞
U
ur
#
r
b #
= +
r r r
= 0
66
=
+
66
Qh? Q@
Q Q
−
=
−
= ∞
+
+X/Q?Y
b
]Y
#
@
b
+QY
b
#
+"QY
#
./0*
./0
1234 56789:;%6< =8∆:
H !
:9>
+
+
+
N
= + +
Z
1
Z
2
Z
3
1
3
2
1
3
2
Z
12
Z
23
Z
31
= + +
= + +
U>:ij
+
+
+
∆
+
N
H !
:>
=
+ +
Z
1
Z
2
Z
3
1
3
2
1
3
2
Z
12
Z
23
Z
31
'
=
+ +
=
+ +
+
+
+
+
+
+∆
>:ij
+
+
+
Y
+
Z
3
∆
>?@=A
'Lk==lee.j%&.'g7
Pm89:n>%&.).-j3Co
=lee'g'p
B
g g g
= -
= − −
g g g
= − +
g g g
CD= !=E1A=1FGFH5
12
=?@ K K 9? @ K 9? @= + ω + ψ + ω + ψ
e
(t)
t
0 2 4 6 8 10 12 14
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
u
(t)
.= I
"#P)BDT.PZk==l
"b-(BDo=l).-%f
"q.%f.BV..r$F
H H
K
"L8
3k%js
H H
K
?@
?@
= =
=
=
=
∑
?@
H
?@
=
=
=
∑
"2&.'g
j3C
W#U
#
? @
#? @
Y
Y
ω
ω
=
- Chỉ xếp chồng đáp ứng u, i dưới dạng tức thời.
.$J
?@
H
?@
=
=
=
∑
?@
?@
= =
=
=
=
∑
"1C).- ω
Y
b?ω@
+Y
b?ω@
*K==%(L=E%L5MF=61
Q (
Q (
≠
= +
∑ ∑
.NO !1,=P6=1FGFH5
%
=
∫
)LttU
%
=
∑
∫
=
∑
%
=
∑
∫
?@
? @=
∑
K K=
∑
=
∑
F
"
P!X+\Ω[Y
b?ω@
+Ω[Y
#?ω@
+RΩ[
=?@ H9? @ H`9? @= + ω + ω
0?@d
X
b
#
=?@
?@
H#K
+4
H#=
4
Q^ `_
\ Q? R@
−
= + − =
o
A
Q
Q^ `_
−
=
o
o
g
Q
K =
o
g
*/#B03p
Q^ `_
=
o
+
-
#=
?@
+K
/=
/=
?@
H9? ^ `_@=> = ω +
d
.'u=%f
?@ H9? ^ `_@ H`9? ^ `_@= ω + + ω −
?@
H9? ^ `_@=> = ω +
Y
b
+Y
b
+R[Y
+Y
6+
Q^ `_
\ Q?R @ = + − =
o
?@
H`9? ^ `_@=> = ω −
!<=
= +
H#=
%f
Q
Q^ `_
Q^ `_
`
`
−
= =
o
o
o
g
`= +
+^J
*+,"#B0PgH
!
K
J
+1
A
OU9ϕ)
K
H0
K
0
K
Y
K
J
Y
X
X
J
J
K
=
Z
I
=
+
+?J@
+`/Q`Ω[
+/QIΩ[
+\]Q^Ω[
+?J@
J
K
=
Z
\ ^
=
+
TT:
K
Y
K
J
Y
X
X
J
"1;V
"9:.j
"<=>OU
F%v
LF0
/0#Q=%
r
59>=
J
K
ur
I
>'
j =
+`
\w
r
r
^
>'
\
j =
+^
`w
3BD'BC
J
K
ur
r
^
`w
r
`
\w
r
r
J
K
ur
= +
+^?J@
K
Y
K
J
Y
X
X
J
J
K
=
g
g
Q
QI
=
+
o
"/05MR=
Q
Q` \_
`
=
o
o
Q` \_
−
=
o
g
J
K
=
g
g
Q
\ Q^
=
−
o
Q
Q^ `_
−
=
o
o
Q^ `_
=
o
g
= +
g g g
Q` \_
−
=
o
Q^ `_
+
o
Q^= -
\ Q^+ +
+]Q
Q^ I_
^
o
g
-
=
K
Y
K
J
Y
X
X
J
J
J J
U O= +
#fJ
J
+X
/X
J
+H
/\H
+x
O
J
+Y
"Y
+IH
"^H
+1Ar
= +
+^1J
J J
U K =
J
J
U
K
=
^
=
+^J
/0S16TUTV
U O= +
K
Y
K
J
Y
X
X
J
#fJ
+X
/
J
+`H^
/
+I`x
I` `= +
+`a1J
U K =
U
K
=
`a
^
=
+``1
Hìm OU9ϕ)
O+Y
/O
J
O+`H^
/
+`1Ar
9
U
ϕ =
I`
`a
=
+aR