本文基於李亞普諾夫之穩定性定理(Lyapunov stability theorem) ，針對具有干擾之切換式系統，提出一種順滑模態控制的設計方法。系統的控制力被限制在二個不同值之間切換。針對控制器我們提出了一個新的順滑模態迫近條件使得受控系統能在有限時間內進入順滑模態。一旦系統進入順滑模態，則透過選擇一個適當地順滑平面即能保證系統的穩定度。此外，本文也提出一個方法可以減輕系統無窮切跳(infinite switching) 的現象。最後，本文提供一個數值模擬及一個實際的應用來驗證其控制方法的可行性。

Based on the Lyapunov stability theorem, a sliding mode control design methodology is proposed in this thesis for a class of perturbed switched systems. The control of the systems is rest restricted to switching between two different constant values. New sliding mode reaching conditions are proposed for the controllers so that the controlled systems can enter the sliding mode in finite time. Once the switched control system is in the sliding mode, the stability of the system is guaranteed by choosing a suitable sliding surface. In addition, a method for alleviating the infinite switching phenomenon is also provided in this thesis. Finally, a numerical and a practical example with computer simulation results are given for demonstrating the feasibility of the proposed control scheme.

Abstract i
List of Figures iv
List of Table vi
Chapter 1 Introduction 1
1.1 Motivation.................................. 1
1.2 Brief Sketch of the Thesis . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Chapter 2 Sliding Mode Control Design for Single-input Switched Systems 5
2.1 Sliding Mode Control Design for Single-input Non-perturbed Switched Systems ................................... 5
2.2 Sliding Mode Control Design for Single-input Perturbed Switched Systems 12
Chapter 3 Sliding Mode Control Design for Multi-input Switched Systems 16
3.1 Sliding Mode Control Design for Multi-input Non-perturbed Switched Systems ................................... 16
3.2 Sliding Mode Control Design for Multi-input Perturbed Switched Systems 20
3.3 Practical Consideration . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Chapter 4 Example and Application 26
4.1 Numerical example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.2 Practical Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Chapter 5 Conclusions 50
References 51

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