離散可線性化系統之適應控制

Abstract

本文的主旨在於探討離散可回饋線性化系統之適應控制，所探討的系統是 由未知的系數和已知的非線性項所構成。我們的理論結果是 系統在可允 許的係數初值誤差內，其輸出誤差將會收斂至零，此係數初值誤差與系統 本身及初態有關。我們並將此控制律用於ＣＳＴＲ(連續攪拌反應槽)的控 制，用來驗證我們的定理。我們並將探討連續時間系統之適應回饋線性化 控制的可行性，以離散控制器去控制連續時間系統，使其較似於真實的控 制系統，並將與PID控制器做一比較。 The adaptive control of feedback linearizable discrete-time systems including SISO and MIMO cases with general relative degree is studied. The nonlinearities in the system are combinations of unknown linear parameters with known nonlinear functions. Although the unknown parameters appear linearly, the convergence result obtained is not global. The maximum allowable parameter error depends on the system characteristics and on the initial system states. Simulations show that the system diverges when the initial parameter error is too large. The thesis also uses feedback linearization techniques to control a chemical plant--the CSTR(continuous stirred tank reactor). The objective of the CSTR control is for the output values of the CSTR to track desired reference commands. The outputs will track the setpoints if the parameter error is not too large. Finally, we will give some studies about the implementation of the adaptive feedback linearization control on a inverse pendulum, and we will give some comparisons between adaptive feedback linearization control and PD control.