摘要


本論文研究推導閉迴路靈敏度函數成型的概念，並且結合 設計的方法應用於結構化不確定性系統。閉迴路靈敏度函數成型設計是直接以閉迴路函數性能為指標，透過閉迴路頻率響應作權重函數調整，使系統具備強韌穩定性以及達到強韌性能的目標。

由於 迴路成型使用開路函數指標來設計閉迴路的強韌性能，可能導致閉迴路強韌性能無法達到設計者的要求，且 迴路成型難以針對結構化不確定性系統設計控制器，因此透過閉迴路函數指標，能直接將結構化不確定性納入閉迴路系統中，透過靈敏度成型的方式來達到成型的效果。

Abstract


This thesis presents that the closed-loop sensitivity function shaping combined with -synthesis applies to design the controller with structured uncertainties. The sensitivity function shaping is directly based on the indices of the closed-loop performances. The closed-loop frequency response and the robust stability for the system could approach the designed performances by adjusting weighting functions.

Since the robust performance of the closed-loop systems bases on the index of the open-loop function in the loop shaping, it may not accomplish the requirement of the designer. The loop shaping can’t be applied to design controllers for the system with structured uncertainties. Therefore, using the closed-loop sensitivity function shaping to design controller will contain the system with structured uncertainties and satisfy the closed-loop performance.

目錄

目錄 …………………………………………………………I
圖索引 ………………………………………………………III
符號表 ………………………………………………………VI
論文摘要 (中文) …………………………………………VIII
論文摘要 (英文) ……………………………………………IX
第一章 緒論 ………………………………………………1
1-1 前言……………………………………………………………1
1-2 文獻回顧………………………………………………………3
1-3 研究動機………………………………………………………5
1-4 文章架構………………………………………………………6
第二章 控制求次佳解……………………………………8
2-1 基本預備定理…………………………………………………9
2-2 頻域的誤差模式………………………………………………14
2-3 次佳化求解………………………………………………19
2-4 強韌穩定性問題………………………………………………24
第三章 迴路成型理論 …………………………………27
3-1 一般系統性能指標……………………………………………28
3-2 迴路成型概念…………………………………………………31
3-3 迴路成型…………………………………………………39
3-4 退化現象………………………………………………………43
第四章 靈敏度成型的概念 ………………………………47
4-1 迴路成型之缺點………………………………………………47
4-2 SISO之靈敏度成型……………………………………………49
4-3 MIMO之靈敏度成型……………………………………………56
第五章 靈敏度成型的探討 ………………………………61
5-1 SISO靈敏度成型的探討………………………………………61
5-2 MIMO靈敏度成型的探討………………………………………70
5-3 結構化不確定系統靈敏度成型的探討………………………76
第六章 結論與未來展望 …………………………………81
6-1 結論……………………………………………………………81
6-2 未來展望………………………………………………………82
參考文獻 ……………………………………………………83

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