本論文研究離散時間、線性系統的數據驅動、追蹤控制設計問題。有別於傳統基於模型的控制設計方法，需先對受控體建置數學模型，然後設計控制器，本論文所提供的方法，毋需系統建模，而可由受控體的開迴路實驗數據逕行設計，對於不易建模的受控體，是一個很好的選擇。本論文提供狀態回授以及動態輸出回授的數據驅動追蹤控制設計。數個數值例子模擬以及電路實驗證實所提供設計方法的確有效。

This thesis investigates the data-driven tracking control design for discrete-time linear systems. Contrary to the traditional model-based design where a mathematical model is identified for the plant and then a controller design follows, the proposed design does not need the step of system modelling. Instead, it can be done directly based on the experimental data collected from the plant. This provides a good alternative to the controller design for those plants that are difficult to identify their models. Data-driven tracking control design via state feedbacks and dynamic output feedbacks are considered. Simulation of several numerical examples and an electronic circuit experiment show the effectiveness of the proposed design.

中文摘要  I
英文摘要  II
目錄  III
圖目錄  V
表目錄  VII
第一章 緒論  1
	1.1文獻回顧與研究動機  1
	1.2論文架構  2
第二章 背景知識  3
第三章 狀態回授追蹤控制設計  5
	3.1前言  5
	3.2穩定控制設計  5
	3.3追蹤控制設計  8
第四章 動態輸出回授追蹤控制設計  11
	4.1前言  11
	4.2穩定控制設計  11
	4.3追蹤控制設計  14
第五章 模擬驗證  21
	5.1前言  21
	5.2 RC電路  22
	5.3彈簧聯結車  28
	5.4數值例子  34
	5.5模擬結果整理  38
第六章 硬體實現  40
	6.1前言  40
	6.2 RC電路  40
第七章 結論與未來研究方向  44
附錄  45
參考文獻  48
 
圖 3.1	加入積分器之狀態回授系統  8
圖 4.1	動態輸出回授系統(原架構)  12
圖 4.2	狀態回授系統(新架構)  12
圖 4.3	動態輸出回授系統之追蹤控制架構I  14
圖 4.4	動態輸出回授系統之追蹤控制架構II  14
圖 4.5	含積分器的狀態回授系統之追蹤控制架構  15
圖 4.6	動態輸出回授之追蹤控制架構III  15
圖 5.1	RC電路圖  22
圖 5.2	RC電路開迴路系統之控制訊號圖  23
圖 5.3	RC電路開迴路系統之狀態訊號圖  24
圖 5.4	RC電路閉迴路系統之狀態訊號圖  24
圖 5.5	RC電路閉迴路系統之輸出訊號圖(全階)  25
圖 5.6	RC電路閉迴路系統之輸出訊號圖(低1階)  25
圖 5.7	RC電路閉迴路系統之狀態訊號圖  26
圖 5.8	RC電路閉迴路系統之輸出訊號圖(全階)  26
圖 5.9	RC電路閉迴路系統之輸出訊號圖(低1階)  27
圖 5.10	RC電路閉迴路系統之輸出訊號圖(高1階)  27
圖 5.11	彈簧聯結車系統圖  28
圖 5.12	彈簧聯結車開迴路系統之控制訊號圖  29
圖 5.13	彈簧聯結車開迴路系統之輸出訊號圖  30
圖 5.14	彈簧聯結車閉迴路系統之輸出訊號圖(全階)  31
圖 5.15	彈簧聯結車閉迴路系統之輸出訊號圖(低1階)  31
圖 5.16	彈簧聯結車閉迴路系統之輸出訊號圖(全階)  32
圖 5.17	彈簧聯結車閉迴路系統之輸出訊號圖(低1階)  33
圖 5.18	彈簧聯結車閉迴路系統之輸出訊號圖(高1階)  33
圖 5.19	數值例子開迴路系統之控制訊號圖  35
圖 5.20	數值例子開迴路系統之輸出訊號圖  35
圖 5.21	數值例子閉迴路系統之輸出訊號圖(全階)  36
圖 5.22	數值例子閉迴路系統之輸出訊號圖(低1階)  36
圖 6.1	實體RC電路開迴路系統之控制訊號圖  40
圖 6.2	實體RC電路開迴路系統之狀態訊號圖  41
圖 6.3	實體RC電路閉迴路系統之狀態訊號圖  42
圖 6.4	實體RC電路閉迴路系統之輸出訊號圖(全階)  42
圖 6.5	實體RC電路閉迴路系統之輸出訊號圖(低1階)  43
圖 6.6	實體RC電路閉迴路系統之輸出訊號圖(高1階)  43
圖 B.1  動態輸出回授之追蹤控制架構III  46
 
表 5.1	模擬驗證結果(無雜訊)  38
表 5.2	模擬驗證結果(有人工雜訊)  38

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