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 本文基於傳統單位回授控制系統穩態誤差的方式，利用型式數的觀念，配合Kuo針對非單位回授控制系統之穩態誤差所提出的新誤差函數來分析單位回授控制系統與非單位回授控制系統的穩態誤差。一般分析非單位回授控制系統是利用轉換的方式將其轉換成單位回授控制系統，再分析其穩態誤差；在本文中則直接使用型式數的觀念來分析非單位回授控制系統的穩態誤差，傳統判別型式數的方式是依據順向路徑轉移函數 在 處的極點數目來決定(判斷 的分母)，而本文提出了新的型式數判別概念，利用函數 的零點數目來決定系統的型式數(判斷 的分子)，以此方式可同時分析單位回授控制系統與非單位回授控制系統的系統型式數，故可輕易地以型式數的觀念求得系統對於不同的參考輸入信號所得出的穩態誤差值。本文的方式可連貫單位回授控制系統與非單位回授控制系統，以相同的方式來分析系統的穩態誤差，可免除必須先行將非單位回授控制系統轉換成單位回授控制系統之步驟。
 This thesis is based on the method of analyzing the steady-state errors of the traditional unity feedback control systems. Combining the concept of type number and the new error function that is used to analyze the steady-state errors of nonunity feedback control systems by Kuo to analyze both unity and nonunity systems. The traditional method of analyzing the steady-state errors of nonunity feedback control systems is converting nonunity feedback control systems into equivalent unity feedback control systems. In this thesis, using the concept of type number can analyze the steady-state errors of nonunity feedback control systems directly. The traditional definition of type number is based on the Nth order poles when forward-path transfer function have at , but this thesis uses the new method of defining type number. It refers to the order of zeros of error function . Using the method can obtain type number of the systems not only unity feedback control systems, but also nonunity feedback control systems. Thus, this method can analyze the steady-state error by the same way for different systems, and the advantage of this thesis is decreasing the step to convert nonunity feedback systems into unity feedback systems.
 CONTENTCHINESE ABSTRACT……………………………………………………………… iENGLISH ABSTRACT……………………………………………………………… iiACKNOWLEDGEMENT…………………………………………………………… iiiCONTENT…………………………………………………………………………… ivLIST of TABLES……………………………………………………………………… viLIST of FIGURES…………………………………………………………………… viiChapter 1 Introduction………………………………………………………………… 11.1 Induction………………………………………………………………… 11.2 Motivation………………………………………………………………… 21.3 Organization……………………………………………………………… 3Chapter 2 Basic theorem of the steady-state error…………………………………… 42.1 Type number and the steady-state errors for unity systems……………… 42.2 Basic analysis of the steady-state errors for nonunity systems…………… 122.2.1 Analyses of the steady-state errors by Nise….……………….….… 122.2.2 Analyses of the steady-state errors by Dorf….………. .…………… 16Chapter 3 Definition of new type number…………………………………………… 183.1 Foundation of the new error function………………………….………… 183.2 New definition of type number…………………………………………… 233.3 The brief comparison…….………….……….…….……………………… 29Chapter 4 Analysis of the steady-state error………………………………………… 304.1 Analysis of the steady-state error by new error function………………… 304.2 Analysis of the steady-state error by Kuo…….…………………………… 344.3 The proof by using the traditional method………………………………… 37Chapter 5 Examples and Proofs……………………………………………………… 395.1 Example for unity feedback systems………………………………… 395.2 Example for nonunity feedback systems when KH is 1…………………… 455.3 Example for nonunity feedback systems when KH is not 1……………… 515.4 Comparison and discussion……………………………………………… 58Chapter 6 Analyses with H(s) has pth order zero at s=0……………………………… 656.1 Calculation with H(s) has pth order zero at s=0…………………………… 656.2 Example with H(s) has pth order zero at s=0……………………………… 73Chapter 7 Conclusions and future works……………………………………………… 777.1 Conclusions……………………………………………………………… 777.2 Future works……………………………………………………………… 78References……………………………………………………………………………… 79
 References[1] 牟善琦、許進浩、陳亙延、謝啟均，“以型式數觀念進行非單位回授控制系統之穩態誤差分析”，2005年中華民國自動控制研討會。[2] 吳駖 編著，MATLAB 6.X與基礎自動控制，文魁資訊股份有限公司，台北市，2006。[3] 夏恒泰，CNC 工具機加工性能最佳化系統之研究與開發，中原大學，機械工程學系，碩士論文，2004[4] 張碩，自動控制系統，鼎茂圖書出版股份有限公司，台北市，2001。[5] 黃振原，鋼板熱軋製程中溫度控制系統之圖控式模擬器及前饋控制律之設計，元智大學，機械工程研究所，碩士論文，1998。[6] 趙清風 編譯，基礎自動控制理論–使用MATLAB程式語言，全華科技圖書股份有限公司，台北市，2001。[7] B. C. Kuo, F. Golnaraghi, Automatic control systems, John Wiley ＆ sons, Inc, New Jersey, 2002.[8] Evans W. R, Control system dynamics, McGraw-Hill Book Company, New York,1954.[9] G. F. Franklin, J. D. Powell, A. Emami-Naeini, Feedback control of dynamic systems, Prentice Hall/Pearson Education, New Jersey, 2002.[10] G. C. Goodwin, S. F. Graebe, M. E. Salgado, Control system design, Prentice Hall, Upper Saddle River, New Jersey, 2001[11] J. V. Vegte, Feedback control systems, Prentice-Hall, 1994.[12] K. Ogata, Modern control engineering, Upper Saddle River, NJ :Prentice Hall, New Jersey, 2002.[13] N. S. Nise, Control systems engineering, John Wiley ＆ sons, Inc, New Jersey, 2004.[14] R. C. Dorf, R. H. Bishop, Modern control systems, Upper Saddle River, NJ :Prentice Hall, 2001.[15] R. H. Bishop, Modern control system analysis ＆ design, Addison Wesely Logngman, Inc, 1996.[16] S. E. Lyshevski, Control systems theory with engineering applications, Birkhauser, Boston, 2000[17] The Mathworks, “Control system toolbox for use matlab” Manual Ver.6[18] The Mathworks, “Using the control system toolbox” Manual Ver.6.[19] T. E. Djaferis, The power of feedback using MATLAB, Brooks/Cole Pub, Pacific Grove, 2000.[20] W. S. Levine, Control system applications, CRC Press, Boca Raton, Fla, 2000.[21] W. S. Levine, Control system fundamentals, CRC Press, Boca Raton, Fla, 2000.
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 1 鋼板熱軋製程中溫度控制系統之圖控式模擬器及前饋控制律之設計

 1 26.陸象豫、漆陞忠(1988)，蓮華池地區不同天然闊葉林枯枝落葉特性之研究，中華水土保持學報，19(1)：71-79。