本論文研究連續時間、單一延遲、線性、非時變、正向系統之指定頻段H-infinity控制器設計問題，包括靜態輸出回授及動態輸出回授。本文考慮三個設計目標：正向特性、穩定性與指定頻段 性能。針對具不同輸出矩陣特質的系統，推導出線性矩陣不等式(linear matrix inequality, LMI)形式之充分有解條件，而且在若干情況，控制器可具指定的結構限制。相較於絕大多數合成研究聚焦於狀態回授，本論文提出創新的輸出回授設計概念、方法與成果，並且增添了指定頻段H-infinity性能的設計。最後，模擬結果證實了本文所提方法的確有效。

This paper is concerned with H-infinity output-feedback synthesis for continuous-time delay positive linear time-invariant systems in finite frequency domain. Both static and dynamic output feedbacks are considered. Closed-loop positivity, stability, and finite-frequency H-infinity performance are the design objectives under consideration. For the class of time-delay systems with different types of output matrices, sufficient solvability conditions are derived in terms of a set of linear matrix inequality (LMI). In some cases, the conditions are easily modified to deal with the case of structured controllers design. Compared to the most existing results which focus on state feedback issue, this work presents a novel output feedback design, which is technically new. Furthermore, compared to the usual design objectives in this context, i.e., closed-loop positivity and stability, an additional performance objective, finite-frequency H-infinity performance, is incorporated into the design. Finally, simulation is conducted that establishes the effectiveness of the proposed methods.

中文摘要  I
ABSTRACT II
目錄	 III
表目錄	 VI
圖目錄	 VII
第一章	緒論	1
1.1	文獻回顧	1
1.2	研究動機與研究目標	1
1.3	論文架構	3
第二章	背景知識	4
第三章	正向系統之指定頻段H-infinity靜態輸出回授設計	11
3.1	問題敘述	11
3.2	正向系統之有限頻段H-infinity靜態控制 (情況一)	14
3.2.1	有限頻段H-infinity性能設計條件	15
3.2.2	穩定性條件	23
3.2.3	正向特性設計條件	25
3.2.4	矩陣T之設計	30
3.3	正向系統之有限頻段H-infinity靜態控制 (情況二)	36
3.4	正向系統之有限頻段H-infinity靜態控制 (綜合情況)	47
3.4.1	結構化增益F之設計	47
3.4.2	常數矩陣T及變數Wpos設計	47
第四章	正向系統之指定頻段H-infinity動態控制器設計	50
4.1	系統狀態轉換	50
4.2	正向系統之有限頻段H-infinity動態控制器設計(情況一)	56
4.2.1	有限頻段H-infinity性能設計條件	56
4.2.2	穩定性條件	65
4.2.3	正向特性設計條件	68
4.3	正向系統之有限頻段H-infinity控制器設計(情況二)	78
4.4	正向系統之有限頻段H-infinity動態控制器設計(情況三)	95
第五章	模擬結果與討論	115
5.1	正向系統之指定頻段H-infinity靜態輸出回授設計	117
5.2	正向系統之指定頻段H-infinity動態控制器設計	133
第六章	結論與未來研究	146
參考文獻	148

 

表目錄

表1. 指定頻段 及相對應的 ……………………………………….9
表2. delta11、delta12、delta22在各頻段的選擇……………………………..….10
表3. 矩陣中於各頻段的選擇…………………………………………22
表4. 模擬例子對應情況……………………………………………..115

 

圖目錄

圖1. 波德圖(例子1)………………………………………………….119
圖2. 時域響應圖(例子1)………………….………………………...120
圖3. 波德圖(例子2)……………………..………………………..…124
圖4. 波德圖(例子3)……………………..………………………..…128
圖5. 波德圖(例子4)……………………..………………………..…131
圖6. 波德圖(例子5)……………………..………………………..…136
圖7. 波德圖(例子6)……………………..………………………..…140
圖8. 波德圖(例子7)……………………..………………………..…143
圖9. 時域響應圖(例子7)………………..………………………..…144
圖10.閉迴路系統與控制器之狀態(例子7) ………………………...145

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