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 此篇論文主要是探討電伏式油壓缸並加入考慮摩擦力問題，將此一極度非線性之系統利用singular perturbation數學理論為主，Tikhonov理論為輔。在此相輔相承之下將油壓缸系統轉為perturbation系統做分析。而後利用此理論設計控制器設定控制器參數並做模擬測試。運用此方法將可克服多次微分的艱難問題並可得到以下四個優點：1. 追尋誤差軌跡將得到較小的誤差， 2. 將油壓缸流體容積係數的變化參數做強健， 3. 不需要用到活塞加速度的回授， 4. 不需要用到油壓缸的壓力氣室的微分。最後將此設計好的油壓缸系統以Lyapunov定理穩定分析做探討，確認我們所設計出來的控制器在套用之後依然使系統成為穩定狀態。
 This thesis presents the derivation, and simulation of a nonlinear tracking control for an electro-hydraulic system, as these devises must often follow prescribed motions. An analysis of nonlinear system equation is used in the derivation of a singular perturbed function that provides for exponentially stable force trajectory tracking. This control law is extended to provide position tracking, and employed hydraulic fluid bulk modulus a difficult to characterize quantity as a parameter. To overcome the difficulty, we have developed a controller design procedure that required no additional sensors, and is robust to variations in the bulk modulus. A dual approach of singular perturbation theory and Lyapunov techniques from the basis for the procedure. The simulation results show that the proposed derivation singular perturbed function and controller design will track a given smooth trajectory with small error.
 中文摘要.........................................................................................................................Ⅰ英文摘要.........................................................................................................................Ⅱ誌謝.................................................................................................................................III目錄.................................................................................................................................IV圖目錄.............................................................................................................................Ⅵ第一章 緒論...................................................................................................................11.1 前言....................................................................................................................11.2 研究動機與目的................................................................................................31.3 文獻回顧............................................................................................................41.4 論文架構............................................................................................................9第二章 液壓系統之模型建立.....................................................................................112.1 液壓伺服系統之模型建立..............................................................................142.2 系統建模與實際實驗結果之比較..................................................................24第三章 奇異擾動系統.................................................................................................26第四章 控制器設計.....................................................................................................294.1 奇異擾動理論設計控制器.............................................................................314.2 控制器模擬結果與討論.................................................................................37第五章 結論.................................................................................................................505.1 結論.................................................................................................................505.2 未來展望.........................................................................................................52參考文獻.........................................................................................................53附錄.................................................................................................................61