本論文基於李亞普諾夫理論(Lyapunov Theorem)，針對具有時間延遲和干擾的多輸入多輸出動態系統提出一個輸出回授適應控制器。由於控制器引入調適機制，控制器將自動調適未知擾動上界，以致擾動上界的資訊是不需要的。一旦被控制的系統到達順滑面，不僅系統可以穩定，而且會迫使系統的狀態軌跡進入一個小的限制區域，其大小可經由設計參數去調整。最後，本論文提供二個數值範例以驗証控制器之可行性。

Based on the Lyapunov stability theorem, an adaptive output feedback controller is proposed in this thesis for a class of multi-input multi-output (MIMO) dynamic systems with time-varying delay and disturbances. With an adaptive mechanism embeded in the proposed control scheme, the controller will automatically adapt the unknown upper bound of perturbation, so that the information of upper bounded of perturbations is not required. Once the controlled system reaches the switching hyperplane, not only the dynamics of system can be stabilized, but also the state trajectories can be driven into a small bounded region whose size can be adjusted through the design parameter. Two numerical 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 . . . . . . . . . . . . . . . . . . . . . . . 4
Chapter 2 Design of Adaptive Output Feedback Controller. . . 5
2.1 System Descriptions and Assumptions . . . . . . . . . . . . . . . 5
2.2 Design of Switching Surface . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Design of Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Analysis of stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
2.5 Summary of Design Procedure . . . . . . . . . . . . . . . . . . . . . 20
Chapter 3 Simulations 21
Chapter 4 Conclusions 38
References 39
Appendix 43

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