本論文針對含有匹配與非匹配雜訊之非線性系統分別提出三種不同的強健型控制策略。首先，第一種控制策略是針對具有半嚴格回授非線性狀態延遲擾動之非線性系統，設計新步階迴歸控制器，用來解決系統校準的問題。在每一層的虛擬控制器中也有調適機制的設計，將不滿足嚴格回授的項次累積到最後一層並利用擾動估測機制有效的壓制未知的擾動上界且減少微分運算，使受控系統能夠達到漸進穩定。接著，第二種控制策略是針對具有匹配和非匹配擾動的非線性系統，設計非奇異終端步階迴歸控制器，用以解決系統校準的問題。在設計控制器的過程中藉由引入適應機制及微分估測器的架構，進而不需要事先預知擾動及擾動估測誤差的上界，同時能解決奇異點問題的缺點。在此控制架構下，受控系統的狀態將在有限時間內達到零的效果。最後，第三種控制策略則是針對具有匹配與非匹配的多輸入多輸出的非線性系統提出適應性輸出回授可變結構控制器設計來解決系統校準的問題。在設計控制器的過程中，利用微分估測器來克服無法量測的狀態。於此控制架構下，受控系統的狀態將在有限時間內達到零的效果。
上述三種控制架構皆以李亞普諾夫定理為理論基礎，並針對本論文所提出之控制架構，提供數值範例來驗證其可行性。

In this dissertation three robust control strategies are proposed for nonlinear dynamic systems with matched and mismatched perturbations.
Firstly, a new backstepping control scheme was proposed so that it can be directly applied to systems with unknown multiple time-varying delays for solving regulation problems. The delay terms in the dynamic equations can be nonlinear state functions in non-strict feedback form and the upper bounds of the time delays as well as their derivatives need not to be known beforehand. By utilizing adaptive mechanisms and derivative estimation algorithm to estimate the perturbations in the designing of backstepping controller, not only one can further alleviate the problem of ``explosion of complexity', i.e., reducing the number of time derivatives of virtual inputs that the designers have to compute in the design of the traditional backstepping controller, but also the designers do not need to know the upper bounds of perturbations as well as perturbation estimation errors in advance. Furthermore, the property of asymptotic stability is guaranteed.
Secondly, a nonsingular terminal adaptive backstepping control with perturbation estimation scheme was designed for a class of multi-input systems with matched and mismatched perturbations to solve regulation problems. The main advantage of this control scheme is that, without knowing the upper bounds of perturbations, the controlled system is still capable of suppressing the perturbations so that the controlled states are able to reach zero within a finite time. Another advantage is that there is no singular problem at all.
Thirdly, an adaptive terminal output feedback variable structure control (OFVSC) scheme was developed for a class of multi-input multi-output (MIMO) nonlinear systems with matched and mismatched perturbations. A perturbation estimation algorithm is utilized in designing the presented control scheme in order to overcome the problem of unmeasurable states. The resultant control system is capable of driving all the states into zero within a finite time and guaranteeing global stability. Several numerical examples and practical applications are demonstrated for showing the feasibility of the proposed control methodologies.

Contents
[論文審定書 i]
[誌謝 ii]
[中文摘要 iii]
[Abstract iv]
[List of Figures ix]
[List of Table xii]
[Chapter 1 Introduction 1]
[1.1 Motivation 1]
[1.2 Brief Sketch of the Contents 7]
[Chapter 2 Design of Adaptive Block Backstepping Controllers with Perturbations Estimation for Nonlinear State-delayed Systems in Semi-strict Feedback Form 8]
[2.1 Introduction 8]
[2.2 System Descriptions and Problem Formulations 9]
[2.3 Design of Adaptive Backstepping Controllers 11]
[2.4 Stability Analysis 24]
[2.5 Numerical Example 28]
[2.6 Practical Application to Chemical Reactor Systems 33]
[Chapter 3 Design of Nonsingular Adaptive Terminal Backstepping Controllers with Perturbation Estimation for Nonlinear Systems in Semi-strict Feedback Form 39]
[3.1 Introduction 39]
[3.2 System Descriptions and Problem Formulations 40]
[3.3 Design of Nonsingular Adaptive Backstepping Controllers 41]
[3.4 Stability Analysis 44]
[3.5 Numerical Example and Practical Application 48]
[Chapter 4 Terminal Adaptive Output Feedback Variable Structure Control 55]
[4.1 Introduction 55]
[4.2 Systems Description and Problem Formulations 56]
[4.3 Design of Adaptive Output Feedback Controllers 57]
[4.4 Stability Analysis 61]
[4.5 Numerical Example 68]
[Chapter 5 Conclusions and Future Works 79]
[5.1 Conclusions 79]
[5.2 Future Works 81]
[Bibliography 82]
[Appendix 100]
[Appendix A 100]
[Appendix B 101]
[Appendix C 104]
[Appendix D 105]

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