本論文內容主要是提出選擇權重函數的新方法來設計迴路整型強健控制器。在本文中，首先介紹SISO迴路整型的設計概念，其利用小增益理論來達到系統強健穩定，並發展出開路迴路函數L(=GK)與系統的強健性能和強健穩定之關係，這些概念可延伸至 迴路整型法。對於 迴路整型法，我們先介紹互質因子架構下的強健穩定問題及其原理，另外再討論穩定邊限與不同極零點分佈系統之間的關係。一般來說，迴路整型的控制理論主要是在系統穩定與性能之間作取捨。因為透過權重函數的選擇能使系統符合所要的性能需求，所以作者在 迴路整型法的架構下，針對MIMO的系統提出一選擇權重函數的新方法來設計 迴路整型控制器，並在本文最後利用新方法之設計結果與文獻結果做一比較。

This thesis mainly proposes a new method to design Hinf Loop Shaping Robust Controller by choosing Weighting Function. In the paper, the author first introduces the concept of SISO Loop Shaping design. It utilizes Small Gain Theorem to achieve robust stability of the system and
develops the relationship of Open Loop Transfer Function(L) to Robust Performance and to Robust Stability of the system.. These concepts can be extended to Hinf Loop Shaping method. As to Hinf loop shaping method, the author first introduces the problem of Robust Stability under the
framework of Coprime Factor and the theory of Hinf Loop Shaping, and then discusses the relationship between stability margin and the different pole-zero system. Generally speaking, the control theories of the Loop Shaping are mainly used for making appropriate adjustments between the stability and performance of the system. Because the system can conform to the performance requirement through the choice of Weighting Function, the author proposes a new method toward MIMO system to design Hinf Loop Shaping Controller by choosing Weighting Function under the framework of Hinf Loop Shaping.
Moreover, at the end of the paper,the author compares the result of the new method with that of the literature.

目錄…………………………Ⅰ
圖索引………………………Ⅳ
表索引………………………Ⅶ
論文摘要（中文）…………Ⅷ
論文摘要（英文）…………Ⅸ
符號表………………………Ⅹ
第一章 緒論 1
1.1. 前言 1
1.2. 文獻回顧 2
1.3. 研究動機 3
1.4. 文章架構 4
第二章 SISO迴路整型(圖形化迴路整型) 6
2.1. 頻域誤差模式的種類 6
2.2. 迴路系統穩定性 8
2.3. 為何要使用迴路整型(LOOP SHAPING)? 11
2.4. 開路迴路函數(L)與系統性能目標之關係 11
2.5. 選擇權重函數與系統性能指標之關係 16
2.6. SISO系統強健性之討論 19
2.7. 強健性能的充分條件 24
2.8. 強健性能的必要條件 27
2.9. 圖形化迴路整型之控制器設計過程 28
第三章 迴路整型法 30
3.1. 迴路整型法的基本理論與問題架構 30
3.1.1. 互質分解法 30
3.1.2. 正交化左互質因子擾動系統的強健穩定問題 31
3.2. 一般閉迴路轉移函數目標 40
3.3. Hinf迴路整型控制器設計過程 41
3.4. Hinf迴路整型法的理由與現象 44
3.4.1. 使用 LOOP SHAPING之理由 44
3.4.2. 退化現象 44
3.5. Hinf迴路整型法與傳統迴路整型法之差別 47
3.6. 穩定邊限之探討 47
第四章 實例說明 56
4.1. SISO穿隧式微加速度計系統 56
4.2. MIMO交流發電機系統 60
第五章 權重函數的選擇 69
5.1. 原始想法 69
5.2. 性能基準線 73
5.3. 選擇新權重函數的設計步驟 75
5.4. 結果討論與探討 75
第六章 實例設計與比較 79
6.1. 模型描述 79
6.2. 設計目標 79
6.3. 設計過程 80
6.4. 設計結果討論 84
第七章 結論與未來展望 86
7.1. 結果 86
7.2. 未來展望 87
參考文獻 89

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