本篇論文乃是針對在輸入及輸出端具有相加性與相乘性的未模式化不確定量之多輸入多輸出線性非時變系統，提出一個參考模式調適順滑模態控制器來解決強韌追蹤的問題。 此控制器的設計步驟共可分為三步驟。 第一步驟是設計順滑平面，第二步驟是設計擾動估測器，這些估測器可以用來估測追蹤誤差的高階微分項。 第三步驟是設計參考模式調適順滑模態控制器。 此控制器可保證系統的穩定性，並且不需要知道擾動的上界。 在某些特別的情況下，甚至可以達到漸進穩定。 最後，針對本論文所提出的控制設計法則，提出三個數值模擬來展示其可行性。

In this thesis a model reference adaptive sliding mode control scheme is proposed for a class of linear time-invariant MIMO systems with unstructured and
input, output uncertainties to solve the robust tracking problems. The designing
of the proposed control scheme is divided into three steps. The first step is to
design the sliding functions, the second step is to construct the estimators of the
lumped perturbation. These estimators are able to estimate the derivatives of the
tracking errors. The third step is to design the adaptive sliding mode controller.
The proposed control scheme is designed without requiring the information of
the upper bound of perturbations, and guarantee the stability of the controlled
system. In fact the asymptotical stability can be achieved for some special cases.
Finally, three numerical examples are presented to demonstrate 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 ... 5

Chapter 2 Model Reference Adaptive Sliding Mode Control with Perturbation Estimation ... 6

2.1 System Descriptions and Assumptions . . . 7

2.2 Problem formulations . . . 10

2.3 Design of the Control Scheme and Perturbation Estimation . . . 17

2.4 Stability Analysis of the Proposed Control Scheme . . . 27

2.5 Summary of Design Procedure . . . 33

Chapter 3 Simulations ... 35

Chapter 4 Conclusions ... 78

References ...79

Appendix A ...87

Appendix B ...94

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