臺灣博碩士論文加值系統

本論文主要是探討具有非線性輸入的參數不確定性時間延遲系統的控制器設計。其中，不確定項假設是時變且有界的。此非線性輸入項是一種具有扇形特性的一種非線性函數。由於截止區的特性在實際上是相當常見的，因此在本論文中的非線性輸入項，不僅僅包含了具有扇形特性的非線性函數而且也同時具有截止區的特性。
根據Lyapunove穩定度定理分析的觀念，我們設計一個具有積分項的滑動模式控制器,使得系統為漸進穩定。 此外，我們利用適應法則設計控制器來估測且克服系統整體的不確定性及擾動項。另一方面，我們又設計了一個具有積分項的滑動模式控制器,來處理系統延遲的問題。
此外，我們針對系統狀態變數無法量測時，設計一觀測器來估測系統狀態。 最後，我們提出一些的例子來驗證所提出的控制系統的有效性

In this thesis, the control design problem of stabilizing an uncertain time-delay system with nonlinear input.
The uncertainties are time-varying and bounded. The nonlinear input is a class of nonlinear continuous function with sector bounded. Because dead-zone characteristics are naturally originate from actuators in the system realization. Consequently, the nonlinear input in this thesis is containing not only sector bounded nonlinearities but also dead-zone. Base on Lyapunove stability theorem, we design a sliding mode controller with integral function to guarantee the system asymptotically stable. In addition, the use of adaptive technique is to estimate the unknown upper bound of perturbations.
When the state variables of the control system are not completely measurable, a robust state observer is designed to estimate the system states.
Finally, some examples are given to illustrate the feasibility of the proposed control methodology.

TABLE OF CONTENTS
ENGLISH ABSTRACT i
CHINESE ABSTRACT ii
ACKNOWLEDGEMENTS iii
TABLE OF CONTENTS iv
LIST OF FIGURES v
CHAPTER
I INTRODUCTION 1
II INTEGRAL SLIDING MODE CONTROLLER DESIGN 4
2.1 Problem Formulation 4
2.2 Integral Sliding Mode Controller Design 7
2.3 The Characteristic of Nonlinear Input 11
2.4 Sliding Mode Controller Design 15
III DESIGN OF ROBUST STATE OBSERVER 17
3.1 Robust Observer design 17
3.2 Controller Design with Robust State Observer 21
IV SIMULATION RESULTACTS 24
V CONCLUSION 48
REFERENCES 49

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