Bài tập kĩ thuật điều khiển tự động






 !
"#"$"%&'()#$* !+
,"*-./0"# 12'34 5*
"*"#+

65*"*"#7
•
8"*"#0&/50910.:5"#:00;"<
<4 ="*+
•
>?"*"#"*1"#55"#09559+




@+@+A-34 
B3"C"*
@+D+E/F34 "*"#
@+G24H"*
D+G24H"0%I
J+,%&"*
 !"#$"%&!' ()*+,-*.&/
 !"#$"%&!' ()*+,-*.&/
012134.56" !"#$"%1
01210 78
•

,#9K)#5 L"*<5"#9K"*<24H+
•
G9"'"M95+
•
NH %O4O24.+
P959519"#05+
9/!"%(8

 
:;!<$"/-= 78


0121>1 $
P9559)#0;+G95)#59Q
:4# C+
B3"C7

•
R?#!"%(8
•
,"#9K+
•
G"#S"'+
•
T "%&25U+
•
GL"%&4*# / /"'!+
•
@AB/!"%(881%("#(:99+
9/!"%(8


@+V+E.W"*34 
01C10"#$"%D="./8
G4XH"'5H95.W'
()1 C+
01C121"#$"%,"B,8
P2&-"*05"*4YU
01C1>1"#$"%E5,A; ,),FG"H#8
BF()24H4YZU"  %OU"2"'+
>13A; ,),(IJ
T[\
K[\
[\]T[\+K[\
>101>1"%(8
[\
K[\
^[\
_[\
`
>10121"%()8
[\
K[\
^[\
[\
E(s)=u(s) + x(s) – F(s)
>10101"8
>1016"DD;!<$"8
T@[\ TD[\
TJ[\
[\

K@[\
KD[\
[\
T@[\+
TD[\+
TJ[\
[\
[\
2.2.2. Rút gọn các khối song song:
T@[\
TD[\
TJ[\
[\
K@[\
KD[\
KJ[\
a
a
`
[\
T@[\a
TD[\`
TJ[\
[\
[\
 


>1>101KL M/)/$"""N,
>1>1O)/ #*PQ/F"N!R"D;!<$"

>1>121S"/#*%D= ,J"0$"
[\
^[\
_[\
[\
`
T[\
T[\
T[\
[\
^[\
[\
`
K@[\
KD[\
[\
^[\
[\
`
T[\
@
T[\
[\
^[\
[\
a
K[\
T[\
8[\
!!  

"! !
>1>1C1S"/#*%D= T)"0$"
>1>1U1S"/#*%!"%()FP,J"0$"
[\
^[\
[\
T[\
[\
[\
T[\
@
T[\
^[\
>1>1V1S"/#*%!"%()FPT)"0$"
[\
^[\
[\
T[\
[\
[\
T[\
@
T[\
^[\
!
!
#!$
>1>1W1KL M/Q/

0

XDY
`
a
XDY
[\
[\
^[\
[\
[\
T[\
@T[\+8[\
a
Z
XDY
[\
[\
^[\
`
a
[\
[\
T[\
@T[\
a
Z
>1>1[1KL M,J<"!;\
>1>1]1/^"#"#_5T=
 BF().09C!94XM9H"#Z95
[\
[\

^[\

0
XDY 
>
XDY
XDY
`
`
`
Vd:
 #*P.8^[\]b]c d"%&
[\]b ]c d"%&^
]c[\][\a^[\
 %&!'

>
XDY
0
XDY
[\
`
XDY


[\
T@[\+TD[\
XDY
[\



[\
T@[\TD[\
@aT@[\+TD[\+8[\
[\


[\

>
XDY

0
XDY
^[\
`
XDY

^
[\
a

>
XDY
a
0
XDY1XDY
^[\
a
^[\


>
XDY
0`
0
XDY>XDY1XDY

^
[\
^[\
(*) cho u(s) = 0



!
 
()*+,-&
>1>10b1 #*PQ//#
•
ef2
•
ef
•
g")"5*5H9/2[2/\
•
ef C
•
GdZ5h5h

>121O)/8

`
`
a

0
XDY 
>
XDY 
2
XDY

C
XDY
XDY
a
[\
[\
`
`
a

0
XDY 
>
XDY 
2
XDY

C
XDY

XDY
a[\
[\
0
>XDY
VD1:
[\
[\
TJ[\+TD[\aTD[\a@
TD[\
`
`

0
XDY 
>
XDY
XDY

0
XDY

>
XDY
XDY
[\
[\
TJ[\+TD[\aTD[\a@
TD[\
@aTD[\

`

0
XDY

>
XDY
TJ[\+TD[\aTD[\a@
TD[\
@aTD[\
+
+
8[\
[\
`
[\
i[\
8[\
[\
`
@ai[\+8[\
i[\
[\
[\
VD2

0
XDY

>

XDY

2
XDY

C
XDY

0
XDY
>XDY
`
`
`
a
[\
[\

0
XDY

>
XDY

2
XDY

C
XDY


0
XDY
>XDY
`
`
`
a
[\
[\

2
XDY

0
XDY

>
XDY

2
XDY`0

C
XDY

0
XDY
>XDY
`
`

`
[\
[\

2
XDY

0
XDY

>
XDY

2
XDY`0

C
XDY

0
XDY
>XDY
`
`
[\
[\
0`
>
XDY
2

XDY

0
XDY

>
XDY

2
XDY`0

C
XDY
>XDY
`
[\
[\
0`
>
XDY
2
XDY`>XDY1
0
XDY

0
XDY

>
XDY

c
2
XDY`0d

C
XDY
0`
>
XDY
2
XDY`>XDY1
0
XDY
+
+ +
>XDY
`
[\
[\
[\
eXDY
>XDY
`
[\
eXDY
0`eXDY
>
XDY
[\
[\

VD3:
[\
XDY
`
XDY
a
`
[\
[\
XDYa0
`
XDY
a
[\
XDY
[\
XDY
[\
`
XDY
0`XDY1XDY
[\
[\
B3"C5j42"M00k<'()" 2959
&4!+
A21'=2l%3d5=4d(Y%3
42" +
m%3420%3%3d5=45*
%3d5=4!" 5d9+

>1C13A; ,),F"NT6 )"8
>1C13A; ,),F"NT6 )"8
>1C101)""(8
,A; TfF"NT6 )"R g#)!AB/(IJAh"6 D=#8
