基於李亞普諾夫穩定度理論 (Lyapunov Theorem)，在本論文中利用適應性步階迴歸技術針對含有非匹配雜訊之多輸入系統設計適應性區塊步階迴歸控制器。在設計的過程中，根據受控體的區塊個數(m個)，在前m-1個區塊中，每個區塊分別設計虛擬輸入控制器，最後，在第m個區塊設計強健控制器。在虛擬輸入和強健控制器中，加入適應增益來估測一些未知干擾的上界常數，如此一來，系統之非匹配雜訊的上界資訊即可不必事先知道，而且能獲得漸進穩定的特性。最後，本論文提供一個數值範例及一個實際應用的例子，以驗證本控制器的可行性。

Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping controller is proposed in this thesis for a class of multi-input systems with mismatched perturbations to solve regulation problems. According to the number of block (m) in the plant to be controlled, m-1 virtual input controllers are designed from the first block to the (m-1)th block. Then the proposed robust controller is designed from the last block. Adaptive mechanisms are employed in each of the virtual input controllers as well as the robust controller, so that the knowledge of the least upper bounds of mismatched perturbations is not required. The resultant control system can achieve asymptotic stability. Finally, a numerical example and a practical example are given for demonstrating the feasibility of the proposed control scheme.

Abstract i
List of Figures iv
Chapter 1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Brief Sketch of the Contents . . . . . . . . . . . . . . . . . . . 3
Chapter 2 Design of Adaptive Backstepping Controllers 4
2.1 System Descriptions and Problem Formulations . . . . . . . . . 4
2.2 Design of Adaptive Backstepping Controllers . . . . . . . . . . 5
Chapter 3 Numerical examples and Simulations 24
3.1 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . . 24
3.2 Practical Application . . . . . . . . . . . . . . . . . . . . . . . 26
Chapter 4 Conclusions 51
References 51
Appendix A 56
Appendix B 58
Appendix C 60
Appendix D 64
Appendix E 66
Appendix F 69

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