臺灣博碩士論文加值系統

本論文提出一種適用於具有內部連結未知資料取樣大尺度線性延遲的奇異系統且具有閉迴路解耦特性的分散式線性觀測器與軌跡追蹤器設計方法。透過離線的觀測器/卡爾曼濾波器鑑別方法計算出包含有直接傳輸項的內部連結未知資料取樣大尺度線性延遲的奇異系統之適當階數(或低階)的分散式線性觀測器，然後基於一個含有直接傳輸項的對等分散式系統，以等效的系統來架構一個高增益的類比二次式觀察器和軌跡追蹤器。然後，利用數位再設計法則以得到一個實用的數位觀測器和軌跡追蹤器以控制資料取樣的系統。具有高增益的特性使分散式數位軌跡追蹤器在有內部連結的閉迴路系統具有解耦的特性。最後，藉由進化論演算法來獲得每一個適當的分散式觀測器的權重以增進追蹤性能。

Modeling of decentralized linear observers and trackers for the unknown sampled-data interconnected large-scale linear singular system with time delay and closed-loop decoupling property is proposed in this thesis. Through the off-line observer / Kalman filter identification (OKID), the appropriate (low-) order decentralized linear observers with direct transmission terms from input to output for the unknown sampled-data interconnected large-scale linear singular system with time delay are determined. Then, the high-gain linear quadratic suboptimal analogue observer and tracker are proposed based on the each decentralized equivalent regular system with a direct transmission term from input to output. Subsequently, the prediction-based digital redesign method is utilized to obtain practically implemental digital observer and tracker for the sample-data system. With the high-gain property, the decentralized digital-redesign trackers have the decoupling property for the closed-loop interconnected system. Finally, appropriate weighting of the each decentralized observer can be obtained to improve the performance of observer-based tracker by the evolutionary programming (EP).

中文摘要 I
Abstract II
Acknowledgments III
誌謝 IV
List of Contents V
List of Figures VII

Chapter
1. Introduction 1-1
2. ProblemDescription 2-1
3. Observer/Kalman Filter Identification for Unknown Sample- data Linear Singular System 3-1
3.1 Basic observer equation 3-2
3.2 Computation of observer Markov parameters 3-4
3.2.1 System Markov parameters 3-4
3.2.2 Observer gain Markov parameters 3-5
3.3 Eigensystem realization algorithm 3-5
4. Quadratic Suboptimal Tracker and Observer for Unknown
Sampled-data Linear Singular Systems 4-1
4.1 Observer–based tracker for the regular system 4-2
4.2 Prediction-based linear quadratic digital tracker 4-4
4.3 Prediction-based digital observer 4-6
5. Eolutionary Programming (EP) Based Quadratic Suboptimal
Tracker and Observer for Unknown Sampled-data Linear
Singular Systems 5-1
5.1 Quasi-random sequences (QRS) 5-2
5.2 Tuning the observer gain for the digital redesigned
adaptive tracker 5-2
6. Design Procedure 6-1
7. Illustrative Examples 7-1
7.1 The digital-redesign decentralized observer-based
trackers for the unknown sampled-data interconnected
linear singular system(for N=2) with time delay:
Digital-redesign observer without EP 7-1
7.2 The digital-redesign decentralized observer-based
trackers for the unknown sampled-data interconnected
linear singular system (for N=2) with time delay:
Digital-redesign observer with EP 7-13
8. Conclusion 8-1
References R-1

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