具有輸入及干擾延遲的線性離散系統之滑動模式控制器設計

SLIDING MODE CONTROLLER DESIGN OF LINEAR DISCRETE-TIME SYSTEMS WITH DELAYED INPUT AND DISTURBANCE

沈建榮(Chien-Jung Shen)

指導教授 ： 龔宗鈞

大同大學/電機資訊學院/電機工程學系所/碩士(2010年)

摘要

在本論文中，針對具有輸入延遲與干擾延遲的離散時間系統提出一個半滑動模式控制器。輸入延遲的問題將會造成系統不穩定。為了處理這個問題，我們使用狀態轉換的方法來轉換延遲問題。因此，轉換後的系統將不具有輸入延遲的現象。根據Lapunov穩定的原理，設計一個準滑動模式控制器，去驗證系統狀態軌跡能在期望的滑動面附近穩定的保持在一個小頻帶。最後，提出二個例子來驗證本文所提出的控制器對此系統的有效性。

關鍵字

時間延遲輸入與干擾 ； 半滑動模式控制 ； 狀態轉換方式

並列摘要

In this thesis, a quasi-sliding mode controller for discrete-time linear system with delay input and disturbance is proposed. By using the method of state transformation, a system with the input delay and disturbance delay is transformed to a delay free system. Based on Lyapunov stability theorem , a quasi-sliding mode controller is designed to ensure the system state trajectories were stable to remain in a small band around the desired sliding surface. Finally, two illustrative examples are provided to demonstrate the effectiveness of the proposed controller.

並列關鍵字

quasi-sliding mode control ； time-delay input and distrubance ； state transformation method

參考文獻

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