Robust Variable-Structure Adaptive Controller Design for Discrete-Time Uncertain Dynamical Systems

• Main Authors: Yeung-Sen Su, 蘇永森
• Other Authors: Chiang-Chen Chiang
• Format: Others
• Language: en_US
• Published: 1993
• Online Access: http://ndltd.ncl.edu.tw/handle/03952534934435370833

碩士 === 大同工學院 === 電機工程研究所 === 81 === In this thesis, a robust variable-structure controller which is designed for discrete-time uncertain dynamical systems is proposed. In convention, the robust characteristics and stability of the uncertain dynamical systems mostly pay emphasis on the continuous-time dynamical systems. But, owing to the extensive digitalization in recent year as to the digitalization tendency in the future, there are many control devices are digitalized. If we use digital systems or computers to simulate or control continuous-time systems, we will meet some trouble about the sampling time; that is, the improper choice of the sampling time will lead to poor results even though the theory of the continuous-time system is correct. In addition, the uncertainty in the system can be decomposed into two parts: matched uncertainty and mismatched uncertainty. By satisfying the matching condition of sliding mode, we can suppress the affection of the matched uncertainty, and about the mismatched uncertainty, it can be resolved by the robust characteristics of the system which is designed by the proposed control law. In this thesis, we will consider two types of control models: one is the single input / single output (SISO) system; and the other is the large-scale system (LSS). Excepting the algorithm considered above, we also indicate the theory of adaptive algorithm, which is usually applied for the control system that the system parameters unknown in advance. At last, we will give some simulation results to indicate the good performance of the proposed robust variable- structure controller.