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DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 顏家鈺(Jia-Yush Yen) | |
dc.contributor.author | Kuan-Chao Chu | en |
dc.contributor.author | 朱冠肇 | zh_TW |
dc.date.accessioned | 2021-06-15T14:07:16Z | - |
dc.date.available | 2020-08-25 | |
dc.date.copyright | 2015-08-25 | |
dc.date.issued | 2015 | |
dc.date.submitted | 2015-08-20 | |
dc.identifier.citation | [1] F.Merrikh-Bayat, and F.Bayat. Method for undershoot-less control of non-minimum phase plants based on partial cancellation of the non-minimum phase zero. 2013. [2] J.M. Maclejowski. Multivariable feedback design. Addison-Wesley, 1989. [3] J.C. Doyle, B.A. Francis, and A.R. Tannenbaum. Feedback control theory. Macmillan, 1992. [4] Huilbert Kwakemaak. Linear optimal control systems. Wiley,1972. Chapter 3.8. [5] T.Ishihara, H-J.Guo, and H.Takeda. Integral controller design based on disturbance cancellation: Partial LTR approach for non-minimum phase plants. Automatica, 41():2083-2089, 2005. [6] A.Saberi, B.M.Chen, and P.Sannuti. Theory of LTR for non-minimum phase systems, recoverable target loops, and recovery in a subspace. International Journal of Control, 53(5):1067-1115, 1991. [7] Santosh Devasia, Degang Chen, and Brad Paden. Nonlinear inversion-based output tracking. IEEE Transactions on Automatic Control, 41(7):930-942, July 1996. [8] S-J Liu, Z-P Jiang, and J-F Zhang. Global output-feedback stabilization for a class of stochastic non-minimum-phase nonlinear systems. Automatica, 44():1944-1957, 2008. [9] Swaminathan Gopalswamy and J.Karl Hedrick. Tracking nonlinear non-minimum phase systems using sliding control. International Journal of Control, 57(5):1141-1158, 1993. [10] Min-Shin Chen, Yi-Liang Yeh, and Jia-Yush Yen. Output Feedback Tracking Sliding Mode Control Based on the Robust LTR Observer. Submitted to International Journal of Control. [11] Yuri B. Shtessel, Simon Baev, Christopher Edwards, and Sarah Spurgeon. HOSM observer for a Class of Non-Minimum Phase Causal Nonlinear MIMO Systems. IEEE Transactions on Automatic Control, 55(2):543-548, Feb 2010. [12] L.Fridman, A.Levant, and J.Davila. Observation of linear systems with unknown inputs via high-order sliding-modes. International Journal of Systems Science, 38(10):773-791, 2007. [13] Min-Shin Chen, Chia-Hung Chen, and Fu-Yun Yang. An LTR-observer-based dynamic sliding mode control for chattering reduction. Automatica, 2007. [14] M-S Chen, K-C Chu, and J-L Chang. Lyapunov stability analysis of second-order sliding mode control and its application to chattering reduction design. Submitted to International Journal of Control. [15] Marco Tulio Angulo, Jaime A.Moreno, and Leonid Fridman. Robust exact uniformly convergent arbitrary order differentiator. Automatica, 49():2489-2495, 2013. [16] Arie Levant. Higher-order sliding modes, differentiation and output-feedback control. International Journal of Control, 76(9-10):924-941, 2003. [17] H.Rios, S.Kamal, Leonld M.Fridman, and A.Zolghadri. Fault tolerant control allocation via continuous integral sliding-modes: A HOSM-Observer approach. Automatica, 2014. [18] Yacine Chitour. Time-Varing High-Gain Observers for Numerical Differentiation. IEEE Transactions on Automatic Control, 47(9):1565-1569, 2002. [19] Vlad Ionescu, and Cristian Oara. Generalized Riccati theory and robust control. Wiley,1999. [20] Peter V. O’Neil. Advanced Engineering Mathematics. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/52079 | - |
dc.description.abstract | 對於一個非極小相系統而言,其具有的部份動態特性將額外地給予其系統頻率響應一些限制。在此類系統中,回饋控制器及狀態、輸入觀測器的效能會是受限的。此篇研究致力於一替代性的方法,可應用於改善非極小相系統之強韌觀測器設計,以及追蹤控制的效能。其背後的核心概念是為求解一帶有受迫項的不穩定常微分方程,以尋找特定的有界解。基於此求解工具,本研究提出具遞迴性的演算法,用來達成線上的狀態或輸入觀測機制,並適用於線性非極小相系統。有關此方法論的效能亦將利用數值模擬來達成評估。 | zh_TW |
dc.description.abstract | It is well-known that non-minimum phase systems have some special dynamic characteristics which impose constraints on its frequency response. For such systems, performance of feedback controllers and state/input observers is limited. This present research is devoted to an alternative approach for designing robust observers and tracking control for non-minimum phase systems. The key concept behind the proposed approach is finding the unique bounded solution of a forced unstable ordinary differential equation. A recursive algorithm is proposed based on this concept for devising on-line state or input observation mechanisms for linear non-minimum phase systems. Effectiveness of the proposed methodology is evaluated by several numerical examples. | en |
dc.description.provenance | Made available in DSpace on 2021-06-15T14:07:16Z (GMT). No. of bitstreams: 1 ntu-104-R02522817-1.pdf: 860716 bytes, checksum: cc0b1098e4f42ae99ca0bc79f098db95 (MD5) Previous issue date: 2015 | en |
dc.description.tableofcontents | 口試委員會審定書 # 致謝 i 中文摘要 iii Abstract iv Contents v List of Figures vii Chapter 1 Introduction 1 Chapter 2 Bounded Solutions of Unstable Forced Ordinary Differential Equations 4 2.1 Problem Formulation…………………………………………………….5 2.2 The Unique Bounded Solution… .………………………………………6 2.2.1 Approximate the Source Term by Finite Sum of Base Functions…7 2.2.2 Unstable ODE Solver…………………………………………… ..9 2.3 Existence and Uniqueness……………………………………..……….15 Chapter 3 Efficiency and Convergence of the Proposed Algorithm 18 3.1 Numerical Implementation……………………………………………. 19 3.2 Radius of Convergence……………………………..………………… 19 3.3 Time Domain Approach : Shrinking Phenomenon……………………. 22 3.4 Error Discussion (I) : Polynomial Estimation… …..…………………..25 3.5 Error Discussion (II) : Error in Modeling……………………………...28 3.6 Parameter Design…..………………………………………………… .29 Chapter 4 Applications: Control and Observation of Non-minimum Phase Systems 31 4.1 State Observer against Disturbance for NMP Systems ………………..32 4.1.1 Problem Formulations……………..……………………………..33 4.1.2 External State: HOSM Differentiator…………………………….35 4.1.3 Internal State: On-line Recursive Algorithm…………………… 37 4.1.4 Simulation Example……………………………………………...39 4.2 Output Feedback Tracking SMC for NMP Systems…………………….44 4.2.1 Problem Formulation…………………………………………….44 4.2.2 Process of Solution………………………………………………44 4.2.3 Simulation Example……………………………………………..46 4.3 Tracking Control Based on Frequency Shaping…………………………47 4.3.1 Problem Formulation……………………………………………..49 4.3.2 Process of Solution……………………………………………….49 4.3.3 Simulation Example……………………………………………..50 4.4 Disturbance Observer………………………………………………….. .55 4.4.1 Solving Procedure………………………………………………..56 4.4.2 Simulation Example……………………………………………...57 Chapter 5 Conclusions and Future Work 61 Bibliography 63 | |
dc.language.iso | zh-TW | |
dc.title | 基於求解不穩定微分方程之適用於非極小相系統的控制方法 | zh_TW |
dc.title | Control of Non-Minimum Phase Systems: An Alternative Method Based on Solving Unstable ODEs | en |
dc.type | Thesis | |
dc.date.schoolyear | 103-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 高崇堯,傅立成 | |
dc.subject.keyword | 非極小相系統,輸入及狀態觀測器,不穩定常微分方程式, | zh_TW |
dc.subject.keyword | non-minimum phase system,input and state observer,unstable ODE, | en |
dc.relation.page | 65 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2015-08-20 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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