基於李亞普諾夫穩定度理論，我們針對某類不具有嚴格回授的擾動大型系統提出分散式適應性步階迴歸追蹤控制器去解決追蹤問題。首先我們先把受控系統轉換成另一個具有半嚴格回授的動態系統，接著根據步階迴歸控制法則去設計分散式追蹤控制器，使得受控系統的輸出可以追蹤到參考模組的訊號。此外，由於在控制器中加入了適應機制，對於系統的干擾跟互聯項的上界可不必事先知道，這樣不僅能保障整個大型系統的穩定度，而且其追蹤的精準度也可以藉由設計的參數來調整。最後本論文提供一個數值範例和一個實際應用來驗證本控制器的可行性。

Based on the Lyapunov stability theorem, a decentralized adaptive backstepping tracking control scheme for a class of perturbed large-scale systems with non-strict feedback form is presented in this thesis to solve tracking problems. First of all, the dynamic equations of the plant to be controlled are transformed into other equations with semi-strict feedback form. Then a decentralized tracking controller is designed based on the backstepping control methodology so that the outputs of controlled system are capable of tracking the desired signals generated from a reference model. In addition, by utilizing adaptive mechanisms embedded in the backstepping controller, one need not acquire the upper bounds of the perturbations and the interconnections in advance. The resultant control scheme is able to guarantee the stability of the whole large-scale systems, and the tracking precision may be adjusted through the design parameters. Finally, one numerical and one practical examples are demonstrated for showing the applicability of the proposed design technique.

Abstract i
List of Figures iv
Chapter 1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Brief Sketch of the Contents . . . . . . . . . . . . . . . . . . . . . . . . 4
Chapter 2 Design of Decentralized Adaptive Backstepping Tracking Controllers 5
2.1 System Descriptions and Problem Formulations . . . . . . . . . . . . . . 5
2.2 State Transformation and Partition . . . . . . . . . . . . . . . . . . . . . 8
2.3 Design of Decentralized Adaptive Backstepping Controllers . . . . . . . 12
Chapter 3 Numerical Example and Application 23
3.1 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Practical Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Chapter 4 Conclusions 57
Bibliography 58
Appendix A 64
Appendix B 67

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