本論文基於李亞普諾夫理論(Lyapunov Theorem)，針對具有非匹配時間延遲干擾系統提出一個順滑平面設計方法。利用調適機制應用在控制器及順滑面的方法，當系統處於順滑模態時，不但可以有效壓制非匹配的干擾，而且擾動的上界資訊就能不需事先知道。首先為了穩定降階系統(reduced-order system)根據系統設計含有虛擬控制器的順滑面，提出的控制法則所需的順滑模態的個數，由系統的維度和輸入個數之間的關係來決定。下一步是設計控制器使得系統軌跡在有限的時間內進入順滑面，當系統進入順滑模態之後不僅能有效抑制非匹配式擾動對於受授控系統之影響，且可以達到漸進穩定。最後，本論文提供數值範例及實際應用以驗證所提出的控制器的可行性。

Based on the Lyapunov stability theorem, an adaptive sliding mode control scheme is proposed in this thesis for a class of systems with mismatched state-delayed perturbations to solve regulation problems. The main idea is that some adaptive mechanisms are embedded both in the sliding surfaces and in the controllers, so that not only the mismatched perturbations are suppressed during the sliding mode, but also the information of upper bound of perturbations is not required. The sliding surface functions are firstly designed through the usage of designed pseudo controllers, which is capable of stabilizing the reduced-order systems. The number of the sliding surface functions required by the proposed control scheme depends on the relationship between systems's dimension and number of inputs. The second step is to design the controllers so that the trajectories of the controlled system are able to reach sliding surface in a finite time. Once the controlled system enters the sliding mode, the asymptotical stability is guaranteed. Two numerical examples and one practical experiment are given for demonstrating the feasibility of the proposed control scheme.

Contents
Abstract i
List of Figures iv
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Brief Sketch of the Contents 3
Chapter 2 Design of Controllers for time-delay Systems 4
2.1 System Descriptions and Problem Formulations 4
2.2 Design of Sliding Surface : n <= 2m 6
2.3 Design of Adaptive Sliding Mode Controllers: n <= 2m 12
2.4 Design of Adaptive Sliding Mode Controllers: n > 2m 17
2.5 Stability Analysis: n > 2m 28
Chapter 3 Examples and Applications 46
3.1 Simulation of the Case n <= 2m 46
3.2 Simulation of the Case n > 2m 49
3.3 Practical Application 51
ii
Chapter 4 Conclusions 72
References 73

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