1. Trng hp 1: cho xe n nh ta phi th khong cch zszr phi n nh trong khi zr tha! i" nhng khong cch n#! kh$ nh gi. %o &'!" ta c$ th ch(n khong cch zsz) *#+ o)tp)t &,i inp)t *# -a nhi.) *# zr s s s s ) s s ) a) ) s s ) s s ) t ) r a+ .z / .0z z 1 k .0z z 1 - 011+ .z / .0z z 1 k .0z z 1 k .0z z 1 - 021= += + && & &&& & & 34! *ap*ace 2 &5 011 021 ta c :2s s s s s s ) a0+ .s / .s k 1.z 0s1 0/ .s k 1.z 0s1 - 0s1 + + + = 2s s s ) s s t ) t r a0/ .s k 1.z 0s1 0+ .s / .s k k 1.z 0s1 k .z 0s1 - 0s1 + + + + + = 2s a s s s s s2) t r as s ) s s tz 0s1 - 0s1 + .s / .s k 0/ .s k 1z 0s1 k .z 0s1 - 0s1 0/ .s k 1 + .s / .s k k + + + = + + + + Ta 6t :2) s s s s2s s s s s t+ .s / .s k 0/ .s k 170/ .s k 1 + .s / .s k k + + += + + + + 89 :et 79 0+s.s2 ; /s.s ; ks1.0+s.s2 ; /s.s ; ks ; kt1 < 0/s.s ; ks122s a ) s s t s s2) t r a s s s s sz 0s1 - 0s1 + .s / .s k k 0/ .s k 1 1z 0s1 k .z 0s1 - 0s1 0/ .s k 1 + .s / .s k + + + + = + + + 2s a ) t s s t2 2) r s s s s tz 0s1 - 0s1 + .s k 0/ .s k 1.k 1z 0s1 z 0s1 + .s 0+ .s / .s k 1.k + + = + + =hi ta x>t i?) khin cng o -a0s1 ta 6t zr0s1 9 @ ta c :2s ) ) s t1az 0s1 z 0s1 0+ + 1.s k n)+pA 0s1- 0s1 :enp + += = =

=hi ta x>t i?) khin cng o zr0s1 ta 6t -a0s19 @ ta c : 2s ) s t2rz 0s1 z 0s1 + .k .s n)+:A 0s1z 0s1 :en: = = =

p*ant 9 n)+p:enpar- 0s1 n)+- n)+::en- B 0s1 n)+p= =Zr(S)n)+c:encn)+p:enpn)+-:en-fa(S)G1(S)X1 X2+controlle+r=0plant