本論文基於李亞普諾夫之穩定性定理(Lyapunov Theorem)，針對具有匹配式與非匹配式擾動的大型系統且含有死區輸入，提出一個分散式適應順滑模態控制器處理系統校準的問題。主要構想是利用順滑面及控制器中的調適機制，當系統處於順滑模態時，不但可以有效的壓制非匹配雜訊對系統之影響，而且擾動的上界資訊就能不需事先知道。首先為了穩定低階系統設計一個含有虛擬控制器的順滑面，下一步是設計控制器使得系統軌跡在有限時間內進入順滑面，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控系統之影響，且可以達到漸進穩定性能之要求。最後，本論文提供一個數值範例及實際應用以驗證所提出控制器的可行性。

Based on the Lyapunov stability theorem, a decentralized adaptive sliding mode control scheme is proposed in this thesis for a class of mismatched perturbed large-scale systems containing dead-zone input to solve regulation problems. The main idea is that some adaptive mechanisms are embedded both in the sliding surface 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 function is firstly designed through the usage of a pseudo controller which is capable of stabilizing the reduced-order systems. The second step is to design the controllers so that the trajectories of the controlled systems are able to reach sliding surface in a finite time. Once the controlled system enters the sliding mode, the asymptotical stability is guaranteed for each subsystem even the mismatched perturbations exist. A numerical example and a practical example are given to demonstrate the feasibility of the proposed design technique.

Abstract i
List of Figures iii
Chapter 1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Brief Sketch of the Contents . . . . . . . . . . . . . . . . . . . 3
Chapter 2 Design of Controllers for Large-Scale Systems 4
2.1 System Descriptions and Problem Formulations . . . . . . . . . 4
2.2 Design of Decentralized Sliding surface . . . . . . . . . . . . . 7
2.3 Design of Decentralized Adaptive Sliding Mode Controllers . . 14
2.4 Summary of Design Procedure . . . . . . . . . . . . . . . . . . 27
Chapter 3 Numerical Example 28
3.1 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2 Practical Application . . . . . . . . . . . . . . . . . . . . . . . 32
Chapter 4 Conclusions 49
References 50

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