c2d.pps
TRANSCRIPT
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H phi tuynH phi tuyn
V d 1: Bn nc
( ) ( ) ( )( )D
1y t ku t aC 2gy tA= &
H phi tuyn
bc 1
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H phi tuynH phi tuyn
V d 2: Cnh tay my
( ) ( ) ( ) ( )c2 2 2ml MlB 1t t g cos u tJ ml J ml J ml+ = +
+ + +&& &
H phi tuyn
bc 2
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7/21/2019 C2d.pps
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H phi tuynH phi tuyn
V d 3: H thn !i t"u
( ) ( ) ( ) ( )( ) ( ) ( )( )3
3
1 2 1 2 1 2
1 1 1 k t t t t t t = + + + &&&& && & &
H phi tuyn
bc 3
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7/21/2019 C2d.pps
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7/21/2019 C2d.pps
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p uy n np uy n n'((('(((
V d 1: Bn nc
( ) ( ) ( )( )D1
y t ku t aC 2gy tA
= &
9t 41t ; yt
( ) ( ) ( )
( )
D 1
1
aC 2gx t kx t u tPTTT: A A
y x t
= + =
&
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p uy n np uy n n'((('(((
V d 1: Cnh tay my
9
t
( )( )
( )( ) ( ) ( )
( )
2
c1 22 2 2
1
x tx t ml Ml B 1
PTTT: g cos x t x t u tJ ml J ml J ml
y x t
= + + + + + =
&
( ) ( ) ( ) ( )c2 2 2ml MlB 1
t t g cos u tJ ml J ml J ml
+ = +
+ + +&& &
( ) ( ) ( ) ( )1 2x t t , x t t= = &
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7/21/2019 C2d.pps
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(uyn tnh h)a h phi tuyn(uyn tnh h)a h phi tuyn4un Juanh +i*m !"m ic tInh4un Juanh +i*m !"m ic tInh
=>t h phi tuyn +,c m$ t% b-i '(((.au:( ) ( ) ( )( )
( ) ( ) ( )( )
x t f x t ,u t
y t h x t ,u t
=
=
&
Khai t/i*n (ay!0/ 67 " h7 4un Juanh
+i*m !"m ic tInh ta c) th* m$ t% h
thn bLn '((( tuyn tnh7( ) ( ) ( )
( ) ( ) ( )
x t Ax t Bu t
y t Cx t Du t
= +
= +
&% % %
% % %
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
x t x t x t
u t u t u t
y t y t y t , y t h x, u
=
=
= =
%
%
%
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(uyn tnh h)a h phi tuyn(uyn tnh h)a h phi tuyn4un Juanh +i*m !"m ic tInh4un Juanh +i*m !"m ic tInh
Cc ma t/n t/5n thi:
( )
1 1 1
1 2 n
2 2 2
1 2 n
n n n
1 2 n x,u
f f f
x x x
f f fx x xA
f f f
x x x
=
L
L
M M O M
L( )
1
n
n
x,u
f
u
fB u
f
u
=
M
( )1 2 n x,u
h h hC
x x x
=
L
( )x,u
hD
u
=
)
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7/21/2019 C2d.pps
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(uyn tnh h)a h phi tuyn(uyn tnh h)a h phi tuyn4un Juanh +i*m !"m ic tInh4un Juanh +i*m !"m ic tInh
V d 1: Bn nc
( ) ( ) ( )
( )
1
1
x t 0.35 x t 1.5u tPTTT:
y x t
= +
=
&
(uyn tnh h)a Juanh +i*m !"m ic yt
; 2Mcm N9i*m tInh:
( )
x 20
f x, u 0.35 20 0.!"5u 0 u 1.05"#
=
= + = =
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7/21/2019 C2d.pps
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)
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7/21/2019 C2d.pps
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(uyn tnh h)a h phi tuyn(uyn tnh h)a h phi tuyn4un Juanh +i*m !"m ic tInh4un Juanh +i*m !"m ic tInh
V d 2: Cnh tay my
( )( )
( )( ) ( ) ( )( )
2
1 2
1
x tx t
PTTT : 32.#cos x t 0.1111x t 22.2222u t
y x t
=
+ =
&
(uyn tnh h)a Juanh +i*m !"m ic yt
; OPQ /ad N9i*m tInh:
"x , u 1.2#0
= =
) h h) h hi
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(uyn tnh h)a h phi tuyn(uyn tnh h)a h phi tuyn4un Juanh +i*m !"m ic tInh4un Juanh +i*m !"m ic tInh
V d 2: Cnh tay my ttCc ma t/n t/5n thi:
[ ] [ ]
0 1 0
A , B1".35 0.1111 22.2222
C 1 0 , D 0
= = = =
Vy '((( Juanh +i*m y ; OPQ /ad:
( ) ( ) ( )
( ) ( )
x t Ax t Bu t
y t Cx t
= +
=
&% % %
% %
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p uy n np uy n n'((('(((
V d 3: Ch0 h bn nc +$i
( ) ( )
( ) ( ) ( )
1 1 $
2 2 1
% t 0.22"0 % t 0.2!"&
% t 0.015" % t 0.0051 % t
= + = +
&
&
(uyn tnh h)a
Juanh +i*m !"m ic R2 ;
1ScmN
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7/21/2019 C2d.pps
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p uy n np uy n n'((('(((
V d T: Ch0 hbn nc
( ) ( ) ( )( ) ( )
'n
2( t % t% t
31 3"% t % t=
+ +&
(uyn tnh h)a
Juanh +i*m !"m ic R ;
1ScmN