A simple technique of designing a robust discrete-time variable structure output tracking controller for a class of perturbed MIMO linear and nonlinear systems is proposed in this thesis. For linear systems, a model reference scheme is employed. Both an adaptive mechanism and a perturbation estimation process are embedded in the proposed control scheme. The information of the upper bound of the perturbation estimation error is not required due to the usage of adaptive mechanism. It is shown that the dynamics of the controlled systems will be driven into the vicinity of the designed switching surface, therefore the tracking error will be constrained in a small bounded region. Furthermore, the stability of the overall controlled system is guaranteed, and one can increase the tracking accuracy by adjusting the controller's parameters or by employing the perturbation estimation process.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0801101-170905 |
| Date | 01 August 2001 |
| Creators | Lai, Rong-Chih |
| Contributors | Chi-Cheng Cheng, Chih-Chiang Cheng, Wu-Chang Su |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0801101-170905 |
| Rights | restricted, Copyright information available at source archive |
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