1 he thong dieu khien bao gom 3 bo phan co ban:

- thiet bi dieu khien c(controller device)

-doi tuong dieu khien (object device)

-thiet bi do luong (measuring device)

u(t) tin hieu vao,e(t) sai lech dieu khien,x(t) tin hieu dieu khien, y(t) tin hieu ra,

z(t) tin hieu phan hoi.

2. cac nguyen tac dieu khien co ban:

-nguyen tac dk theo sai lech

-pp bu nhieu

-pp dk theo sai lech va bu nhieu.

3. phan loai he thong dieu khien tu dong:

a. pl theo nguyen ly xay dung:

-dk theo mach ho

- dk theo mack kin

-dk hon hop

b.pl theo tinh chat  cua luong vao:

- he thong on dinh tu dong, dieu chinh theo hang so.

-dieu chinh theo truong trinh

-he tu dong bam.

c.. pl theo dang tinh hieu su dung he thong:

-lien tuc

- gian doan.

d.. pl theo dang pt mo ta he thong

-dktd tuyen tinh

- dktd ko tuyen tinh

e... pl theo tinh chat cua cac tac dong ben ngoai:

f... pl theo so luong dai luong can dieu khien

- he 1 chieu

 - he nhieu chieu

4..qua trinh thiet lap 1 he thong dk

b1: chuyen doi ca yeu cau ki thuat thanh 1 he thong vat ly.

b2: ve so do khoi chuc nang

b3: thiet lap sodo nguyen ly.

b4: su dung so do nguyen ly thiet lap so do khoi hoac graph tin hieu hoac bieu dien ko gian trang thai.

b5: rut gon so do

b6: phan tich va thiet ke.

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;mot so ket luan'''''''''''''''''''''''''''''

1. diem cuc cua ham truyen dau vao he thong quyet dinh dang dap ung cuong buc.

2. diem cuc cua ham truyen he thong quyet dinh dang cua dap ung tu do.

3. dap ung dau ra co dang ham mu (e mu alfa t) neu co diem cuc nam tren truc thang.

4.diem cuc va diem ko quyet dinh bien do cua ca dap ung cuong buc va dap ung tu do.

...............su on dinh cua he thong........................

- he thong on dinh khi va chi khi tat ca cac nghiem cua p/tr dac tinh co phan thuc am(tat ca cac nghiem nam o phan ben trai mat phang phuc)

-he thong se o bien gioi on dinh khi p/tr dac tinh co it nhat 1 nghiem phuc co phan thuc am hay co it nhat 1 nghiem nam tren truc ao con cac nghiem con lai nam o nua traimat phang phuc.

-he thong ko on dinh neu p/tr dac tinh co it nhat 1 nghiem co phan thuc duong(1 ngiem nam phia phai mat phang phuc)