臺灣博碩士論文加值系統

本文是有關於強健追蹤控制器的設計問題。探討一線性、非時變系統面對某些系統擾動時，仍可保持內部穩定，以及具備步階輸入追蹤能力所需滿足的條件。在控制器的設計上，目標之一是要儘可能地擴大系統所能容忍的擾動範圍，以便增加控制系統追蹤能力的強健性。系統具有加成性擾動或相乘性擾動的情形皆在討論之列。

This paper is concerned with the design problem of robust tracking controllers. We investigate the necessary and sufficient conditions under which a linear time-invariant system can maintain internal stability and possess the capability of tracking a step input in the face of system uncertainties. On the synthesis part, one goal of the controller design is to enlarge as big as possible the stability margin of the perturbations in order to increase the robustness of tracking capability of the system. Both of the cases that the nominal system is subject to additive perturbations or multiplicative perturbations are discussed.

中文摘要…………………………………………………………………I
英文摘要…………………………………………………………………II
目錄……………………………………………………………………..III
第一章 緒論……………………………………………………………..1
第二章 背景知識………………………………………………………..3
2.1 追蹤性能充要條件…………………………………………3
2.2 強健穩定條件………………………………………………4
2.3 控制器設計方法………………………………………..6
第三章 強健追蹤控制器之設計(加法性模式誤差) ………………….12
3.1 問題敘述…………………………………………………..12
3.2 第一類受控體之控制器設計……………………………..14
3.2.1 強健追蹤分析………………………………………14
3.2.2 控制器設計…………………………………………15
3.2.3 數值例子……………………………………………17
3.3 第二類受控體之控制器設計……………………………..24
3.3.1 強健追蹤分析………………………………………24
3.3.2 控制器設計…………………………………………26
3.3.3 數值例子……………………………………………29
第四章 強健追蹤控制器之設計(相乘性模式誤差) ………………….41
4.1強健追蹤分析……………………………………………...41
4.2 控制器設計與數值例子…………………………………..45
4.2.1第一類受控體控制器設計與數值例子…………….45
4.2.2第二類受控體控制器設計與數值例子…………….53
第五章 結論……………………………………………………………63
參考文獻………………………………………………………………..64

參考文獻
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