陳明新臺灣大學：機械工程學研究所吳岱融Wu, Tai-JungTai-JungWu2007-11-282018-06-282007-11-282018-06-282005http://ntur.lib.ntu.edu.tw//handle/246246/61323已知一Lyapunov函數，傳統上大家都使用sontage’s 公式。本篇論文使用了另外一種設計方法，利用滑順模式的設計原理。這種控制方法對於系統有干擾時，也能有效的將輸出控制到穩定的狀態，具有較強韌的特性，並且有連續且滑順的輸入。Given a control lyapunov function，a stabilizing control is usually obtained from the Sontage’s formula . This paper suggests a different control formula based on the sliding mode control design. This sliding mode approach has the advantages that it relaxes the condition of control Lyapunov function, and it facilitates the robust control design when there exist system uncertainties .Abstract-Chinese version I Abstract-English version II Index of Contents III Index of Figures IV Index of Contents 1. Introduction 2 2. The sliding mode re-design 3 Example 1 5 Example 2 6 3. The finite time sliding mode re-design 6 Example 3 7 4. The CLF for uncertain system 7 Example 4 9 Example 5 9 Example 6 10 5. Division controller. 10 Example 7 11 Example 8 11 6. Conclusions. 12 Reference 12 Figure 13 Index of Figures Figure 1 Time response of sliding variable b(x) 13 Figure 2. Time response of CLF 14 Figure 3 Time response of control input 15 Figure 4 Time response of sliding variable b(x)16 Figure 5 Time response of CLF 17 Figure 6 Time response of control input 18 Figure 7 Time response of sliding variable b(x) 19 Figure 8 Time response of CLF 20 Figure 9 Time response of control input 21 Figure 10 Time response of sliding variable b(x) 22 Figure 11 Time response of CLF 23 Figure 12 Time response of control input 24 Figure 13 Time response of sliding variable b(x) 25 Figure 14 Time response of CLF 26 Figure 15 Time response of control input 27 Figure 16 Time response of CLF 28 Figure 17 Time response of control input 29 Figure 18 Time response of sliding variable b(x) 30 Figure 19 Phase Portrait 31 Figure 20 Time response of V 32 Figure 21 Time response of sliding variable b(x) 33 Figure 22 Phase Portrait 34 Figure 23 Time response of V 35en-US滑順模式不確定性control lyapunov functionsliding mode controluncertaintythesis