應用於離散系統之可變結構控制

Abstract

本篇論文最主要是探討應用於離散系統之可變結構控制。當發生相對階數為二或更大的情況時，這將會使我們在設計順滑模態控制器時產生一些問題，被使用來設計控制律的收斂條件不再可行。因此，本篇論文將專注於解決單輸入單輸出、非時變系統這類的問題上，並且提出一處理這類系統之結合單邊逼近和一步進入邊界層之可變結構控制的方法。 在把系統從連續時間狀態空間的數學形式轉換成離散時間的表示式後，此一可變結構控制的方法可以直接的被用來設計控制器，這方便我們用微處理器去實際的實現。除此之外，我們也做了些於不同條件下的數值模擬，並且從這些數值模擬結果去印證本論文所提出之可變結構控制方法的特性和優點。

This thesis discusses primarily about variable structure control applying to the discrete-time systems. As the occurrence of relative degree being two or more, it will lead to some problems during the procedures of the sliding mode controller design. The reaching condition utilized to design control law isn’t available any more. Therefore, this thesis will focus on solving this kind of problems for SISO and LTI systems, and a VSC scheme which combines the one-side approaching method and one-step method is proposed to deal with such kind of systems. After transforming the system’s continuous-time mathematical state space form into the discrete-time one, this method of the VSC is applied directly to design the controller. It is convenient for a practical implementation by using the microprocessor. Besides of that, some numerical simulations under several distinct conditions will also be shown, and the proposed method of the VSC in this thesis can demonstrate some features and advantages from these simulation results.