臺灣博碩士論文加值系統

在過去，已經設計出許多有關於各類的參考模型控制系統的穩定的控制器，不
過這些參考模式控制系統常常侷限在沒有時間延遲的系統，只有少部分系統是有考
慮到時間延遲。
本文將針對具有死區非線性子之參考模式控制系統，利用複合控制器，促使整
個回授控制系統達到全域指數追蹤控制的目的，並且可以任意指定收斂的速度。同
時，此系統的追蹤時間亦可被估算出。此外我們亦將提出一例來說明此控制器之成
效。

In the past, there have been a number of interesting developments in searching the
model reference control for the stabilization of various model reference systems, but most
were restricted either to the model reference control systems without any delay argument
or to these with stable reference models with piecewise continuous bounded reference
inputs, only few to the model reference control systems with time delay
In this paper, the concept of tracking time, a measure of the transient behavior, for
model reference control systems (MRCS) is introduced. A model reference composite
control is proposed to guarantee the global exponential stability with any pre-specified
convergence rate for a class of model reference control systems with time-varying delay,
matched uncertainties, and deadzone nonlinearity. Moreover, an estimate of the tracking
time is derived for such systems. A numerical example is also given to illustrate our main
result.

第一章 前言…………………………………………………………………1
1-1 簡介………………………………………………………………1
1-2 符號定義…………………………………………………………1
第二章 非線性參考模型統…………………………………………… 2
2-1 非線性系統………………………………………………………3
2-2 自律(autonomous)系統和非自律(non-autonomous)系統…………4
2-3 非時變系統………………………………………………………………6
2-3-1 平衡點(equilibrium point)………………………………………6
2-3-2 穩定(stability)與不穩定(instability)…………………………8
2-3-3 局部穩定(local stability)與全域穩定(global stability…10
2-3-4 Lyapunov穩定理論……………………………………………………11
2-4 時變系統…………………………………………………………24
2-4-1 平衡點(equilibrium point)………………………………………24
2-4-2 穩定(stability)與不穩定(instability)………………………25
2-4-3 均勻穩定(uniformity stability)………………………………27
2-4-4 時變系統的Lyapunov穩定理論……………………………………29
2-5 死區非線性子(deadzone nonlinearity)……………………31
2-6 參考模型控制系統(model reference control system)…33
第三章 主要結論
3-1 系統描述…………………………………………………………35
3-2 主要結論………………………………………………………………36
3-3 範例以及模擬結果……………………………………………………43
第四章 結論以及未來研究
4-1 結論……………………………………………………………………46
4-2 未來研究方向…………………………………………………………46
參考文獻……………………………………………………………………………49

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