本論文主要探討具有狀態變數濾波器之適應模糊積分型滑動模式控制器應用於並非所有的狀態均可被量測之未確定非線性系統。為了設計此一系統，我們首先架構非線性動態系統之輸入/出模糊模組。其次，運用觀察器去追蹤誤差向量，並使用模糊積分型滑動模式控制器去改善追蹤表現。接下來，將觀察得到之誤差向量交由狀態變數濾波器，以獲得過濾過的觀察誤差向量，並使用適應律去調整自由參數。最後，全系統依據Lyapunove穩定度定理加以分析。
我們應用具有狀態變數濾波器之適應模糊積分型滑動模式控制器去控制倒單擺系統，模擬的結果可以證明提出的控制方法具有強健性及消除穩態誤差的特性及良好的控制表現。

This paper proposes an adaptive fuzzy integral sliding mode controller with state variable filters for uncertain nonlinear systems that not all the states are available for measurement. To design the proposed controller, we first construct the fuzzy models to describe the input/output behavior of the nonlinear dynamic system. Next, an observer is applied to estimate the tracking error vector. Based on the observer, a fuzzy integral sliding model controller is developed for guaranteeing the tracking performance. Then, by passing the observation error vector to a set of state variable filters, a filtered observation error vector is obtained. With the filtered observation error vector, the adaptive laws for adjusting the free parameters of the fuzzy models can be designed. Finally, the stability of the overall system is analyzed based on the Lyapunov method.
We apply the adaptive fuzzy integral sliding mode controller with state variable filters to control an inverted pendulum system. The simulation results demonstrate the tracking performance of the proposed controller.

ENGLISH ABSTRACT I
CHINESE ABSTRACT II
ACKNOWLEDGEMENTS III
TABLE OF CONTENTS IV
LIST OF FIGURES V
CHAPTER I INTRODUCTION 1
II THE FUZZY INTEGRAL SLIDING MODE CONTROLLER 4
2.1 System Description for an nth Order Nonlinear System 4
2.2 The Observer-based Fuzzy Integral Sliding Mode Controller Design 5
III OBSERVER-BASED ADAPTIVE FUZZY INTEGRAL SLIDING 14
MODE CONTROLLER WITH STATE VARIABLE FILTERS
IV SIMULATION RESULTS 21
V CONCLUSION 35
REFERENCES 36

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