自1970年以來，因為以磁場為導向的分析方法之建立可將馬達轉子磁通與轉速(或扭力) 解耦，而使得控制器的設計變得較為簡單。可是，這樣的控制效能對馬達參數變得非常敏感，特別是馬達時間常數會隨著環境溫度及電感的電磁飽和而變化。本論文中提出了以模式追隨為基礎之感應馬達 μ合成轉速控制器。簡而言之，其中模式追隨部分提供符合規格要求之參考模式，而 μ合成部分則提供系統合成控制器，使系統在不確定性及負載下仍能達成模式追隨的目的。

In 1970’s, by applying the field-oriented analysis method, the decoupling of motor speed (motor torque) and rotor flux is obtained. However, the performance is rather sensitive to the variation of motor parameters, especially the motor time constant, which varies with the temperature and saturation of magnetizing inductance. In this thesis, the model following based μ design for induction motor speed control is studied. Roughly speaking, the model following component provides a reference model with desired closed-loop performance and the μ component provides a systematic synthesis procedure so that, under practical uncertainty and load disturbance, the goal of asymptotic model following is achieved.

1. On the control of induction motor 1
1.1 Introduction 1
1.2 Vector control 2
1.3 Modeling of the induction motor 5
1.4 Motivation 9
1.5 Outline of the thesis 10
2. Background review 11
2.1 Model following design 11
2.2 μ-framework 15
2.2.1 μ-analysis 17
2.2.2 μ-synthesis 20
3. Robust control of induction motor 23
3.1 Selection of weighting functions 24
3.2 Model following based design 27
4. Simulation results 31
4.1 Evaluation of classical control design 32
4.2 Controller design using 35
5. Conclusions 47
Reference 51

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