在本論文中針對單一發電機連接無線匯流排之非線性系統設計出一種強健的電力系統追蹤控制器。此控制器是根據步階迴歸控制方法所設計，經由遞迴方式配合李亞普諾夫理論能分析發電機的電力角和相對速度所達到的穩定狀態。為了增進暫態穩定所應用的適應法則，使它也能估測未知的發電機參數和提升在模型誤差或干擾影響下的強健性。在設計過程中，能直接針對非線性模型而不須經由線性化的方法，避免忽略了非線性項對系統的影響，也增加控制系統的暫態穩定。為了增進控制法則的適用性，系統所遭受的擾動是被考慮，且適應法則被引入控制器設計，以至於系統擾動的上界不需預先知道。兩個數值實例可驗證所提出控制法則的可行性。

In this thesis a robust nonlinear tracking is proposed for a class of single machine connected to an infinite bus (SMIB) systems. Designing of the controller is based on the backstepping control technique, where designer interlaces the choice of L yapunov functions in order to design the controller and analyze the stability of the power angle and rotating speed of the generator. Nonlinear models are considered directly in the designing process, hence neglecting the effects of nonlinear terms in the plant can be avoided, which may also improve the robustness of controlled system’s transient stability. In order to enhance the applicability of the proposed control scheme, the perturbations that may encountered in the system are considered, and adaptive laws are embedded in the controllers so that the upper bound of perturbations need not to be known beforehand. Two numerical examples are given to illustrate the feasibility of the proposed control scheme.

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 the Robust Backstepping controllers for Power
Systems 5
2.1 Plantmodel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.1 Mechanical Dynamics of the Rotor . . . . . . . . . . . 7
2.1.2 Electrical Dynamics of the Rotor . . . . . . . . . . . . . 8
2.1.3 Dynamic Equations of Stator . . . . . . . . . . . . . . . 8
2.1.4 Torque Equations . . . . . . . . . . . . . . . . . . . . . 9
2.1.5 Systems of Exciter . . . . . . . . . . . . . . . . . . . . 9
2.1.6 External Networks . . . . . . . . . . . . . . . . . . . . 10
2.2 Problem Formulations and Assumptions . . . . . . . . . . . . . 12
2.3 Design of a Robust Nonlinear Excitation Controller . . . . . . . 13
Chapter 3 Numerical Examples and Simulations 21
3.1 Examples1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Example2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Chapter 4 Conclusions 42
References 43

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