基於李亞普諾夫穩定度理論，在本論文中利用適應性步階迴歸技術針對含有互聯項干擾之大型系統設計分散式區塊步階迴歸控制器以解決系統校準的問題。每一個子系統皆含有m個區塊，而在前m-1個區塊中分別設計虛擬輸入控制器，在第m個區塊設計強健控制器。在每個子系統的虛擬輸入和強健控制器中，加入適應增益來估測一些未知干擾的上界常數，如此一來，系統之擾動的上界即可不必事先知道。另外各個子系統亦不須滿足區塊嚴格回授之形式，而且所得之控制系統能達成漸近穩定。最後，本論文將提供一個數值範例及一個實際應用，以驗證本控制器的可行性。

Based on the Lyapunov stability theorem, a design methodology of adaptive
block backstepping decentralized controller is proposed in this thesis for a class
of large-scale systems with interconnections to solve regulation problems. Each
subsystem contains m blocks’ state variables, and m- 1 virtual input controllers
are designed from the first block to the (m - 1)th block. Then the proposed
robust controller is designed in accordance with the last block. Some adaptive
mechanisms are embedded in the backstepping controllers as well as virtual input
controllers in each subsystem, so that the upper bounds of interconnections
as well as perturbations are not required. Furthermore, the dynamic equations
of each subsystem do not need to strictly satisfy the block strict feedback form,
and the resultant controlled system can achieve asymptotic stability. Finally, a
numerical and a practical examples are given for demonstrating 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 Adaptive Backstepping Controllers 4
2.1 System Descriptions Problem Formulations 4
2.2 Design of Decentralized Backstepping Controllers 8
Chapter 3 Numerical Example and Application 35
3.1 Numerical Example 35
3.2 Practical Application 38
Chapter 4 Conclusions 61
Bibliography 62
Appendix A 66
Appendix B 69
Appendix C 71
Appendix D 75

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