本篇論文主要在比較兩種不同的擾動估測方法;一種稱為時間延遲法，另一種稱為順滑模態技術。而在分析時間延遲法時，使用佩德近似法來近似一個具有時間變數的函數，同時由時域及頻域上來比較這兩種方法在擾動估測的優劣性，並且以兩個例子來顯示TDM的優點。

Two different perturbation estimation methodologies are compared in
this thesis. One is time delay method (TDM), the other is sliding mode
techniqueli (SMT). When analyzing the TDM, Pade approximation is used
to approximate a function with time-delay argument. The comparisons
of perturbation estimation accuracy resulted from TDM and SMT both
in time domain and frequency domain are addressed, and two numerical
examples are also given for demonstration.

Abstract I
List of Figures IV
Chapter 1 Introduction 1
1 .1 Motivation. .. . .. . . .. . .. . . .. . .. . .. . . .. . 1
1 .2 BriefSketchoftheThesis . . .. . . .. . .. . .. . . .. . 3
Chapter 2 Introduction of Robust Tracking Controller’s
Design 4
2.1 SystemDescriptionsandAssumptions . . .. . .. . . .. . 4
2.2 DesignofRobustTrackingController.. . .. . .. . . .. . 5
2.3 Analysis of System's Stability and Adjustment of Tracking
Accuracy. . .. . .. . . .. . .. . . .. . .. . .. . . .. . 8
2.4 EstimationofPerturbation. . .. . . .. . .. . .. . . .. . 9
Chapter 3 Comparison of Perturbation Estimation Accu-racy
3.1 PerturbationEstimationAccuracy-TDM.. . .. . . .. . 13
3.2 PerturbationEstimationAccuracy-SMT .. . .. . . .. . 19
3.3 Comparison of Perturbation Estimation Accuracy Resulted
from TDM and SMT. . .. . .. . . .. . .. . .. . . .. . 20
3.4 Comparison of Perturbation Estimation Accuracy in Fre-
quencyDomain... . . .. . .. . . .. . .. . .. . . .. . 26
Chapter 4 Examples and Simulations 29
Chapter 5 Conclusions 48
Reference 49
Appendix 53

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