基於史密斯預測器架構與雙互質分解控制含有時間延遲之連續時間系統

Abstract

本論文主旨在於提出一控制架構，使其能夠應用於單輸入單輸出或是多輸入多輸出系統：穩定、不穩定、極小相位、非極小相位以及積分型式等時延系統。此架構修正史密斯預測器架構(Modified Smith Predictor)且加入雙互質分解合成的Vidyasagar’s架構，使其能夠追蹤訊號以及抑制干擾，並且在探討含有不確定性與系統之強健穩定性的情況下，利用小增益理論求得適當的控制器參數以控制系統。

This thesis presents a new structure which can be applied to stable, unstable, integrating minimum-phase or non-minimum-phase time delay system. This structure is combined modified Smith Predictor and doubly coprime factorization transformer structure: Vidyasagar’s structure. One can use this method to track performance and attenuate disturbance. Furthermore, if there is some uncertainty in the plant, one can deal with Small gain theorem and find a robustness controller to control the plant.