臺灣博碩士論文加值系統

本篇論文是要發展與改進一套現有的順滑與古典混合控制器(hybrid
sliding-mode-classical mode controller)設計法。其構想是定義一順
滑參數(sliding variable)，使系統進入順滑時，不但傳統控制器的特性
可顯現出來，並且在實現假分式(improper)之傳統控制器時，不會有雜訊
增強之現象。此種順滑與古典控制器的優點在於它能保持順滑模態控制器
與傳統控制器的優點，而也能去除兩者之缺點。在改進設計方法方面，我
們減少了順滑面微分的次數，並同時提供了有關處理雜訊的理論部份。此
新方法具有強健性並且能應用到非極小相位系統。最後，我們將此順滑與
古典混合控制器應用在實際的油壓系統上。

This thesis is concerned with the development and improvement
of an existing method for designing a hybrid sliding mode and
classical controller. The idea is based on defining the sliding
variable in such a way that once the system gets into sliding,
not only the classical controller transfer function can be
realized, but also the noise enhancement phenomena can be
eliminated when realizing an improper controller. The advantage
of this sliding-and-classical controller are that it can retain
all the merits of both types of controllers on one hand and
eliminates their respective limitations on the other. For the
improvement of the existing design method, the number of diffe-
rentiator of the sliding surface variable is reduced, and the
theoretical part of processing noise problem is also provided.
The proposed method is robust and can be applied to non-minimum
phase systems as well as systems with structural uncertainties.
Finally, the sliding-and-classical controller is applied to a
real electrohydraulic system.