本論文提出三種控制器架構，分別是模糊比例積分微分(PID)控制器、模糊比例微分(PD)控制器及模糊比例積分(PI)控制器，結合模糊系統與適應控制機制以修正傳統比例積分微分控制器的比例、積分及微分增益參數，在未知受控系統的數學模式之下，使得所提之控制器能近似一理想控制器，以解決未知系統數學模式的控制問題。為了消彌近似誤差與保證閉迴路系統的穩定性，額外附加強健補償控制項。同時，為了確保所設計控制器參數的收斂性，因此，利用參數投影法，使得參數能夠在指定的範圍內運行。為驗證所提控制器架構，分別應用在混沌系統、倒單擺系統、范德堡系統以及電子驅動系統，以驗證所提之控制器性能，經由模擬結果顯示，所提之控制器確實能夠達到追蹤控制性能。最後，將所提方法實現在NIOS嵌入式系統晶片上，並應用於直流馬達轉速控制，經由實驗的結果顯示，在馬達轉速控制上都可以獲得滿意的輸出響應。

In the thesis, the conventional PD, PI, PID controllers integrated fuzzy theory are proposed, the fuzzy theory is used to tune the gain parameters of each proposed controller, so that the tracking problem can be solved in a class of nonlinear systems. The control laws of the proposed controllers (fuzzy PD, PI, PID controller) are respectively used to approximate an ideal control for nonlinear systems. In addition, a compensated controller is designed to assure the system stability. The control laws of the proposed controllers are derived from the Lyapunov stability analysis, so that the system tracking ability and the error convergence can be guaranteed in the closed-loop system. Finally, four nonlinear systems, an oscillation system, an inverted pendulum system, a Ven-Der-Pol system and an electric drive system, are respectively utilized to show the satisfactory performances of the proposed control schemes. Finally, the proposed control algorithms are realized by NIOS embedded system chip, then applied to DC motor speed control.

中文摘要
英文摘要
目次
表目錄
圖目錄
第一章 緒論
第一節 研究動機
第二節 文獻回顧
第三節 論文架構
第二章 理論背景
第一節 比例積分微分控制器
第二節 模糊控制
第三章 控制器設計
第一節 模糊控制器設計
第二節 適應比例積分微分模糊控制器
第三節 適應比例微分模糊控制器
第四節 適應比例積分模糊控制器
第五節 模擬結果
第四章 嵌入式控制系統晶片設計
第一節 嵌入式系統晶片設計流程
第二節 實驗結果與討論
第五章 結論
參考文獻
作者簡介

[1]G.C. Goodwin, S.F. Graebe, and M.E. Salgado, Control system design, Prentice Hall, 2001.
[2]J.J.E. Slotine and W.P. Li, Applied nonlinear control, Prentice Hall, 1991.
[3]S.H. Zak, System and control, Oxford University Press, 2003.
[4]Y. Lee and J.Q. Gong and B. Yao and S.H. Zak, “Fuzzy adaptive robust control of a class of nonlinear systems,” Proceedings of the American Control Conference Arlington, VA June 25-27, 2001.
[5]Y. Lee and S.H. Zak, “Uniformly ultimately bounded fuzzy adaptive tracking controller for uncertain systems,” IEEE Transactions On Fuzzy Systems, vol. 12, no. 6, December 2004.
[6]J.Y. Chen, P.S. Tsai and C.C. Wong, “Adaptive design of a fuzzy cerebellar model arithmetic controller neural network,” IEE Proc.-Control Theory and Applications, vol. 152, no. 2, pp. 133-137, 2005.
[7]L.X. Wang, A course in fuzzy systems and control, Prentice Hall, 1997.
[8]C.W. Tao and J.S. Taur, “Design of fuzzy-learning fuzzy controllers,” in the Proc. of IEEE International Conference on Fuzzy Systems, vol. 1, pp. 416-421, 1998.
[9]C.S. Lin, and C.K. Li, “A sum-of-product neural network (SOPNN),” Neurocomputing, vol. 30, pp. 273-292, 2000.
[10]林家陽，“以模糊類神經網路做多導程心電圖病症分類辨識”，中原大學電子工程學系碩士論文，1999.
[11]S. Chiu, “Using fuzzy logic in control applications: beyond fuzzy PID control,” IEEE Control Systems Magazine, vol. 18, pp. 100-104, October 1998.
[12]M.J.E. Salami and Y.I. Bulale, “Design and implementation of fuzzy-based PID controller,” IEEE ICIT’02, IEEE International Conference on Fuzzy Systems, vol. 1, pp. 220-225, 2002.
[13]黎安華，“Fuzzy PID 控制器於小型柴油燃燒機之應用”，中原大學機械工程研究所碩士論文，2004.
[14]許安仁，“自調式類神經PID控制於超音波馬達之應用”，國立中央大學機械工程研究所碩士論文，2000.
[15]蔡名杰，“應用自調式類神經PID控制器於滾筒振動控制”，國立台灣科技大學纖維及高分子工程研究所碩士論文，2001.
[16]J.C. Shen, “Fuzzy neural networks for tuning PID controller for plants with underdamped responses,” IEEE Transactions on Fuzzy Systems, vol. 9, no. 2, April 2001.
[17]J.G. Ziegler and N.B. Nichols, “Optimum setting for automatic controllers,” ASME Trans., pp. 759-768, 1942.
[18]S. Tzafestas, and N.P. Papanikolopoulos, “Incremental fuzzy expert PID control,” IEEE Trans. Ind. Electron, pp. 365-371, 1990.
[19]Z.Y. Zhao, M. Tomizuka and S. Isaka, “Fuzzy gain scheduling of PID controllers,” IEEE Trans. on Systems, Man and Cybernetics, vol. 23, no. 5, September 1993.
[20]A. Visioli, “Fuzzy logic based set-point weight turning of PID controllers,” IEEE Trans. on Systems, Man and Cybernetics, vol. 29, no. 6, pp. 587-592, 1999.
[21]A. Visioli, “Tuning of PID controllers with fuzzy Logic,” IEE Proc.-Control Theory Appl., vol. 148, no. 1, pp. 1-8, January 2001.
[22] L. Yao and C.C. Lin, “Design of a self-turning fuzzy PID controller by the accumulated genetic algorithm,” IEEE ICIT’02, IEEE International Conference on Fuzzy Systems, vol. 1, pp. 649-654, 2002.
[23]C.H. Lee, Y.H. Lee, C.C. Teng, “A novel robust PID controllers design by Fuzzy neural network,” Proceedings of the American Control Conference Anchorage, vol. 2, pp.1561-1566, AK May 8-10, 2002.
[24]J. Xu and X. Feng, “Design of adaptive fuzzy PID tuner using optimization method,” IEEE Intelligent Control and Automation, vol. 3, pp. 2454-2458, June 15-19, 2004.
[25]L.A. Zadeh, “Fuzzy sets,” Information and Control, vol. 8, pp. 338-351, 1965.
[26]L.A. Zadeh, “Outline of a new approach to the analysis of complex systems and decision processes,” IEEE Trans. Systems, Man, Cybernetics, vol. 3, pp. 28-44, 1973.
[27] B.D. Liu, C.Y. Chen and J.Y. Tsao, “Design of adaptive fuzzy logic controller based on linguistic-hedge concepts and genetic algorithms,” IEEE Trans. on System, Man and Cybernetics, vol. 31, pp. 32-53, 2001.
[28]K. Fischle and D. Schroder, “An improved stable adaptive fuzzy control method,” IEEE Transactions on Fuzzy Systems, vol. 7, no. 1, February 2001.
[29]錢鉦津，“模糊控制之立體視覺影像追蹤系統”，中原大學機械工程研究所碩士論文，2004.
[30]鄭伯南，“模糊推論在保全系統中自動偵測與辨識入侵者之應用”，大同大學資訊工程研究所碩士論文，2002.
[31]莊智穎，“植基於模糊理論下車型可動式機器人之路徑規劃研究”，大同大學電機工程研究所碩士論文，2001.
[32]林國平，“模糊類神經系統於股市股價預測之應用”，大葉大學工業工程學系碩士論文，2002.
[33]E.H. Mamdani, “Application of fuzzy logic to approximate reasoning using linguistic synthesis,” IEEE Trans. Computers, vol. c-26, 1977.
[34]P.M. Larsen, “Industrial applications of fuzzy logic control,” Int. J.Man, Mach, Studies, vol. 12, no. 1, pp. 3-10, 1980.
[35]Y. Tsukamoto, “An approach to fuzzy reasoning method,” in advances in Fuzzy Set Theory and Applications, M.M. Gupta, R.K. Ragade, and R.R. Yager.
[36]孫宗瀛、楊英魁編著，Fuzzy 控制理論、實作與應用，全華科技圖書，1994.
[37]蔡樸生、謝金木、陳珍源編著，MCS-51 原理設計與產品應用，文京圖書有限公司，1995.
[38]潘松、黃繼業、曾毓編著，SOPC技術實用教程，清華大學出版社，2005.
[39]彭澄廉、陳澤文，周博等編著，挑戰SOC、基於NIOS的SOPC設計與實現，清華大學出版社，2004.
[40]蕭如宣編著，SOPC系統設計，儒林圖書公司，2003.
[41]陳慶逸、林柏辰編著，VHDL 數位電路實習與專題設計，文魁資訊有限公司，2003.