低階穩健控制器設計：使用次序最佳化

Abstract

本論文主要是考慮一具有雜訊輸入，並在各輸入輸出點考慮適當的權函數之單輸入單輸出回授控制系統，對此提出簡單的低階穩健控制器設計流程，藉著次序最佳化的方法來大量的減少搜尋空間，以便得到夠好系統參數解，使之能夠滿足低階穩健控制器參數。最後將設計完成之低階穩健控制器，與最佳化穩健控器做穩健規格與性能上的比較，以期能達到與最佳化穩健控制器相近的性能。 在我們所選定的低階控制器中，大都以一階或二階為主，目的是希望能實現相位超前、落後、PI及PID控制器形式，以達到實用的目的。此外我們發現所得到的低階穩健控制器無論是在頻域或是時域的性能上，雖說無法保證表現一定比 最佳化控制器好，但也相去不遠，如此便提供了一個使穩健控制器邁向更實用化的思考方向。

In this thesis, an SISO LTI system with weighting functions and disturbances is considered. We present a low-order robust controller design process by ordinal optimization to decrease the searching space in order to obtain good enough parameters of the system which satisfy the low-order robust controller. At last, we compare the robust specifications of our designed low-order robust controller with optimal robust controller hoping to achieve the similar robust specifications of optimal robust controller. We choose first-order or second-order robust controller mostly to realize the phase lead, phase lag, PI and PID controller form. In addition, we found that the low-order robust controllers have good performances in both time-domain and frequency-domain. Although the low-order robust controller doesn’t act better than optimal robust controllers, it has similar performance. We can obtain the feasibility and effectiveness of the low-order robust controller from simulation results.