本論文基於李亞普諾夫理論(Lyapunov Theorem)，針對具有非匹配擾動大型系統提出一個分散式適應順滑模態控制器。在設計順滑面時導入虛擬控制器的增益，以使得當子系統進入順滑模態時，經由虛擬回授控制器使子系統達到穩定。並且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。最後，本論文提供一個數值範例以驗証控制器之可行性。

A novel design methodology of a decentralized adaptive sliding mode control scheme for a class of large-scale systems with mismatched disturbances and uncertainties in each subsystem and interconnections is proposed in this thesis. The main idea of this new method is that the design of the switching surface of each subsystem is through the design of a pseudo-feedback controller which can stabilize the dynamics when system is in the sliding mode. The feedback gain of the pseudo controller then becomes a important parameter of switching surface. The proposed controllers of each subsystem contain three parts. The first part is measurable feedback signals, and the second part is an adaptive control mechanism, which is used for overcoming the disturbances and uncertainties of each subsystem and interconnections among subsystems. The information of upper bound of those disturbances and uncertainties are not required. The third part of the decentralized controllers is used for adjusting the convergent rate of state variables of the controlled system. The asymptotical stability is guaranteed for each subsystem even if the mismatched perturbations exist when employing the proposed control scheme. An example is demonstrated for showing the feasibility of the proposed methodology.

Abstract i
List of Figures iii
Chapter 1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . 1
1.2 Brief Sketch of the Contents . . . . . . . . . . 3
Chapter 2 Control Design 4
2.1 System Descriptions and Problem Formulations . . 4
2.2 Design of Decentralized Switching Surface . . . 5
2.3 Stability in The Sliding Mode . . . . . . . . . 6
2.4 Design of The Adaptive Controllers . . . . . . . 15
2.5 Summary of Design Procedure . . . . . . . . . . 22
Chapter 3 Numerical Example 23
Chapter 4 Conclusions 40
References 41

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