運用傳統的極點配置法於順滑模態控制設計

Abstract

本論文主要利用順滑模態控制在具有匹配型干擾的多變數線性系統上面。首先，我們運用傳統的極點配置法在順滑向量選取，然而極點配置法是使用在原始的系統上，而不是在降階的系統，所以我們提出的順滑向量設計方法十分的簡單與直接，並且有許多的性質可運用在控制器的設計。當想要的順滑向量被選擇之後，兩種順滑控制方式，包括傳統的設計方法與積分型的順滑模態被提出。最後也利用模擬驗證所提出的方法。

The problem for multivariable linear systems with matched disturbance via sliding mode control design is investigated in this dissertation. First, based on the pole-assignment method, design techniques for choosing the sliding vector are proposed. Note that the pole-assignment method is applied to the overall closed-loop system but the system in the sliding mode. This aspect let the sliding vector design be simple and straightforward. Moreover, there exist some important properties being used in the controller design. Once the suitable sliding vector is selected, two kinds of sliding control algorithms are presented, which are conventional sliding control approach and the integral sliding mode control. The robustness to matched disturbances are verified by numeric examples with simulation results.