陳明新臺灣大學：機械工程學研究所楊復云Yang, Fu-YunFu-YunYang2007-11-282018-06-282007-11-282018-06-282005http://ntur.lib.ntu.edu.tw//handle/246246/61550近年來，大多數對於包含未確定參數系統的控制都是使用狀態回 授。本篇論文考量使用輸出回授來作為未知系統的控制。對於系統的未確定參數，首先建立LTR 觀測器來作為系統估測，我們已知LTR 觀測器可將未確定向對於系統量測誤差的增益降至任意小的DB 值。接著建立一個輸出回授控制器，我們可以證明，隨著觀測器Riccati 方程式參數調至無限大，我們系統收斂的範圍可越趨近於0。Most previous studies on variable structure control of uncertain systems relied on state feedback. This paper considers an output feedback variable structure control for MIMO systems subject to large matched uncertainties. The proposed control utilizes an LTR observer for state estimation in the face of large matched uncertainties. The LTR observer is shown to reject almost completely the uncertainty’s adversary effect by achieving an arbitrarily small gain from the uncertainty to the state estimation error.One then utilizes the LTR observer to synthesize an observer-based state feedback variable structure control, achieving practical stability in the sense that the system state is asymptotically driven into a residual set containing the origin, with the size of the residual set approaching zero as a design parameter in the observer Riccati equation approaches infinity.1. Introduction........................................................................................................ 2 2. LTR Observer for Structured Uncertainties................................................... 4 3. Numerical Examples.......................................................................................... 7 Example 1 .......................................................................................................... 7 Example 2 .......................................................................................................... 7 Example 3 .......................................................................................................... 8 4. Output Feedback Variable Structure Control ................................................ 8 Example 4 ........................................................................................................ 12 5. Conclusions...................................................................................................... 13 Reference................................................................................................................. 13 Figure ...................................................................................................................... 16635920 bytesapplication/pdfen-US可變結構控制滑順模態控制輸出回授控制強韌觀測器LTR 觀測器variablestructure controlsliding mode controloutput feedback controlrobust observerLTR observerthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/61550/1/ntu-94-R92522804-1.pdf