| Summary: | 碩士 === 元智大學 === 電機工程學系 === 96 === The subject of this thesis is to design a robust adaptive Proportional-Integral-Derivative (PID) controller to deal with an uncertainty chaotic system tracking control. In this thesis, we first use sliding mode control method to control a multi-input multi-output system. Although the sliding mode control can achieve the final control results; it is far from ideal. Thus, we design an adaptive robust PID controller to mimic an ideal controller. The control gains KP, KI, KD of PID controller are adjustable parameters which can be updated online with an adequate adaptation mechanism to optimize the previously designed sliding condition. A nearly ideal controller surely can not eliminate an approximate error, thus a supervisory controller is necessarily added as a system compensated controller to reduce the approximate error. Finally, we applied the proposed control technique to a Chua’s chaotic circuit system. From the simulation results show the satisfactory control performance.
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