於李爾普諾夫理論的基礎下，本論文為解決強韌追蹤的問題提出兩種不同種類的控制器。第一個為參考模式調適順滑模式控制，其針對相對階數為一且分別在輸入端及輸出端含有相加性和相乘性的未建構不確定項之單輸入單輸出線性非時變系統進行設計。藉由在上述控制器中引入擾動估測器，因為只有擾動估測誤差需要被克服，所以切換現象可以被有效降低。第二個是最佳參考模式調適控制器，其針對具有輸入非線性之多輸入系統進行設計。且這些系統含有模組不確定項及時變延遲。

Based on Lyapunov theorem, two different types of control schemes for solving robust tracking problems are presented in this thesis. The first one is model reference adaptive sliding mode control, which is designed for a class of SISO LTI systems with relative degree one possessing additive and multiplicative unstructured uncertainties in the input and output channels. By introducing a perturbation estimation process embedded in the proposed control scheme, the chattering phenomenon can be reduced effectively since only the perturbation estimation error needs to be overcomed. The second one is optimal model reference adaptive control, which is designed for a class of multi-input systems with input non-linearity. These systems are subject to model uncertainties and time-varying delay.

Contents
Abstract i
List of Figures iv
Chapter 1 Introduction 1
1.1 Moivaion............................1
1.2 BriefSkechof heConens..................4
Chapter 2 MRASMC with Perturbation Estimation 5
2.1 SysemDescripionsandProblemFormulaions .......5
2.2 DesignofPerurbaionEsimaor...............9
2.3 Design of Controller and Analysis of Stability ........15
2.4 SummaryofDesignProcedure.................20
Chapter 3 Optimal Model Reference Adaptive Control 23
3.1 SysemDescripionsandProblemFormulaions .......23
3.2 OpimalConrolDesignforheNominalSysems ......27
3.3 Design of Robust Model Reference Adaptive Control Scheme 30
Chapter 4 Simulations 35
Chapter 5 Conclusions 48
References 50

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Prentice-Hall,Englewood Cli ffs,NJ,1989.
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