本文基於李亞普諾夫之穩定定理，針對具有匹配與非匹配干擾的線性動態系統，來提出一個適應順滑模態控制的設計方法。首先，在設計一個新的順滑平面函數時，利用一個虛擬的控制輸入，不僅可以抑制在順滑模式下的非匹配干擾，而且可以達到輸出追

Based on the Lyapunov stability theorem, a methodology of designing an adaptive sliding mode control (ASMC) scheme is proposed in this thesis for a class of linear dynamic systems with matched and mismatched perturbations. Firstly, by utilizing a pseudo control input in the design of a novel sliding surface function, one can not only suppress the mismatched perturbations in the sliding mode, but also achieve the objective of output tracking. In addition, the accuracy of output tracking can be adjusted through the designed parameter embedded in this pseudo controller. Then, a sliding mode controller is derived to guarantee the existence of the sliding mode in a finite time by using adaptive mechanism, which is used to overcome the lumped perturbations so that the upper bound of perturbations is not required. Finally, two illustrative examples are given to demonstrate the validity of the results.

Abstract i
List of Figures iii
Chapter 1 Introduction 1
1.1 Motivation ........................................ 1
1.2 Brief Sketch of the Contents . . . . . . . .... . . 3
Chapter 2 A Novel Sliding Surface Design 4
2.1 System Descriptions and Problem Formulations . .. . 4
2.2 Novel Sliding Surface Design . . . . . . . . . .. . 7
2.3 Design of Adaptive Sliding Mode Controllers . . . 12
2.4 Summary of Design Procedure . . . . . . . . . . . 16
Chapter 3 Example and Simulations 17
Chapter 4 Conclusions 32
References 33

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