本論文針對數位線性及非線性系統提出一種數位可變結構控制器。首先定義一誤差方程式，進而利用誤差方程式建構一順滑面，一旦被控制的系統進到順滑面的附近，系統的響應就能給予保證。然後利用李奧普諾夫穩定準則來設計具有擾動估測的調適控制器。由於調適控制器的使用，因此擾動估測誤差的上界並不需要知道。此控制器的使用可使追蹤誤差被限制在一個小範圍中，整個控制系統的穩定度亦能給予保證。控制器之控制精準度可藉由過去擾動資訊取得的多寡及調整設計參數來達成。

A simple technique of designing a robust discrete-time variable structure output tracking controller for a class of perturbed MIMO linear and nonlinear systems is proposed in this thesis. For linear systems, a model reference scheme is employed. Both an adaptive mechanism and a perturbation estimation process are embedded in the proposed control scheme. The information of the upper bound of the perturbation estimation error is not required due to the usage of adaptive mechanism. It is shown that the dynamics of the controlled systems will be driven into the vicinity of the designed switching surface, therefore the tracking error will be constrained in a small bounded region. Furthermore, the stability of the overall controlled system is guaranteed, and one can increase the tracking accuracy by adjusting the controller's parameters or by employing the perturbation estimation process.

Abstract i
List of Figures iv
Chapter 1 Introduction 1
1.1 Motivation............................ 1
1.2 BriefSketchoftheContents.................. 3
Chapter 2 Discrete-Time Model Reference Variable Struc-ture
Control for Linear Systems 4
2.1 SystemDescriptionsandProblemFormulations ....... 4
2.2 SwitchingSurfaceDesign.................... 6
2.3 DesignofControllers...................... 7
2.4 The Estimation of ¢P ..................... 17
Chapter 3 Variable Structure Controller Design for Dis-crete
Time Nonlinear Systems 20
3.1 SystemDescriptionsandProblemFormulations ....... 20
3.2 SwitchingSurfaceDesign.................... 21
3.3 DesignofControllers...................... 23
Chapter 4 Examples and Simulations 27
Chapter 5 Conclusions 57
References 57

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