臺灣博碩士論文加值系統

本論文主要是針對具匹配擾動之單一輸入單一輸出(SISO)非線性離散時間系統，提出2 種控制器設計。首先，在第2 章提出的強健控制器是由傳統狀態回授控制器內再加上單位向量控制型式(univector-control form)來處理不確定項.在本報告中，選擇匹配擾動當作不確定項的主要原因就是為了利用它的匹配條件特性，藉此單位向量控制型式才能發揮它的功用。
接著，在第3章部分我們針對同樣的系統，提出另一種控制器-滑動模式控制器。它的特色就是抖動的現象不會發生，而且擾動的上界也不需知道.不過擾動必須是有界的。有別於一般的滑動模式控制器,本控制器是在一個小範圍內切換的,而不是在滑動面上切.最後，對於所得到的理論結果，於每章節的最後以電腦模擬來驗證其可行性。

In this thesis, two controllers designed for the single-input single-output nonlinear discrete-time with matching perturbations are provided. First, the robust controller is composed of conventional state-feedback controller and univector-control from to deal with uncertainties. The major reason of choosing matching perturbations for uncertainties is to employ the properties of matching conditions. Then univector-control from can skill its utility by means of the reason. Next, for the same system, we provide another controller, sliding mode controller. The property of our proposed controller is that neither chattering phenomenon will occur nor the knowledge of upper bound of perturbations is required. But the perturbations must have bounded. Not like ordinary sliding mode controller, it switches in a small range but not sliding surface. Finally, some examples and simulation results are provided to illustrate the feasible the feasible of the proposed method.

ABSTRACT (CHINESE) I
ABSTRACT (ENGLISH) ⅡACKNOWEDGEMENT(IN CHINESE) ⅢCONTENTS ⅣLIST OF FIGURES Ⅴ
CHAPTER 1INTRODUCTION 1
1.1Discrete-time control system 1
1.2The nonlinear system with uncertainties 2
1.3Robust controller and sliding mode controller 3
1.4The organization of the report 4
CHAPTER 2ROBUST CONTROLLER DESIGN FOR NONLINEAR DISCRETE-TIME SYSTEM WITH MATCHING PERTURBATIONS 5
2.1Introduction 5
2.2Problem Formulation 6
2.3Design of control 12
2.4Robust properties of discrete-time matching perturbations system 12
2.4.1Discrete-time system with matching perturbations 14
2.4.2Illustrative example and simulation result 14
CHAPTER 3SLIDING MODE CONTROLLER DESIGN FOR NONLINEAR DISCRETE-TIME SYSTEM WITH MATCHING PERTURBATIONS 23
3.1Introduction 23
3.2Problem Formulation 24
3.3Design of control 28
3.4Illustrative example and simulation result 33
CHAPTER 4SIMULATION RESULTS 41
CHAPTER 5CONCLUSIONS 53
REFERENCES 54

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