臺灣博碩士論文加值系統

本論文探討了可迴授線性化非線性系統之滑順控制邊界層設計。我們比較了三種不同的邊界層設計，包括了常數邊界層設計、隨時間收斂的邊界層設計以及與系統狀態相關的邊界層設計，在論文中我們分別了三種不同設計的穩定分析。在面對時間延遲和未模式化動態時，我們所提出的系統狀態相關的邊界層設計在減少震盪現象的表現比另兩種邊界層設計更好。

This thesis considers the boundary layer design in the sliding mode control for a feedback linearizable nonlinear system. We compare different boundary layer designs including constant boundary layer width, decaying boundary layer width, and state-dependent boundary layer width. We present a unified stability analysis for the above three different designs. It is shown that our proposed state-dependent design is superior to the other two designs in alleviating the chattering problem in the face of time delay and unmodeled dynamics.

1 Introduction1
2 Feedback Linearization of Nonlinear systems3
2.1 Input-Output Linearization3
2.2 Zero Dynamics4
2.3 System Description5
3 Switching Sliding Mode Control7
3.1 The External Part7
3.2 The internal Part10
3.3 Example11
4 Constant Boundary Layer Design13
4.1 Example15
5 Time-varying Boundary Layer Design17
5.1 Example20
6 State-Dependent Boundary Layer Design22
6.1 Example26
7 Effect of Unmodeled Dynamics on Chattering28
7.1 Parasitic Dynamics in Constant Boundary Layer Control28
7.2 Example30
8 Conclusion33
Reference71

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