| Summary: | 博士 === 元智大學 === 電機工程學系 === 90 === In this dissertation, the equivalent disturbance rejection (EDR) design method is introduced to achieve quantitative robust control performance. Using this design method, the maximum variations of the uncertain plant can be transferred to an equivalent disturbance, and the maximum variations of the system tolerance can be transferred to a specified output response. The quantitative specification is then formulated in the inverse Nichols chart by calculating the values of bound functions at some specified frequencies using the sensitivity concept. Previous EDR design method is extended to handle stable and unstable systems plus both minimum and non-minimum phase multivariable systems in this dissertation. Finally, by loop shaping in the inverse Nichols chart, a robust controller can be designed to achieve quantitative robust performance.
This dissertation also presents a design algorithm of involving robust decoupled control of uncertain multivariable feedback systems. For two-degree-of-freedom (2-DOF) system, quantitative feedback theory (QFT) is applied for feedback compensator design to achieve quantitative robustness. A decoupled model matching approach is employed for prefilter design to achieve input-output decoupling performance.
On the other hand, the synthesis methodology of multivariable quantitative robust linear quadratic optimal control system is developed. Wiener-Hopf linear quadratic optimal control is introduced and is then incorporated with quantitative feedback theory robust control design technique to achieve the quantitative robust optimal control.
Finally, an integrated control and diagnostic design method is proposed which uses the four-degree-of-freedom scheme. The robust controller presents a two-degree-of-freedom structure including the feedback controller and the prefilter. For failure diagnosis, the diagnostic filters are chosen to perform the fault detection. The adjoint technique is applied for threshold value determination to meet the diagnostic performance.
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