• 作者： Chou, Yi-Shyong; Tsai, Sheng-Lung
• 中文摘要： 本文提出一種非線性系統含有輸入遲延的韌性控制器設計方法，此時延補償控制器設計策略主要乃利用類似史密斯預測器與參數轉換的技巧來刪除干擾和估測時延與真正時延的誤差，而達到控制器具有強韌性。本文的重點乃利用參數轉換的技巧使得控制的方法變成簡單的線上參數調節，當系統有不可量測或變動的干擾時，只要線上調節參數，即可達到或保持系統的控制效果。此控制設計方法最後應用到連續攪拌反應槽系統，模擬結果顯示控制效果令人滿意。
• 英文摘要： In this paper we propose a robust control design method for a class of nonlinear systems with a time delay in the manipulated input. The time delay compensation strategy based on the Smith-like predictor(SLP) and the parameter diffeomorphism is used as a technique to robustify the cancellation of disturbances and mismatches between the real deadtime and the estimated deadtime .In particular, the proposed control law with the approach of parameter diffeomorphism provides techniques for on-line adjustment of controller parameter to achieve or maintain a desired level of system performance when the disturbances are unknown or variable. The design method is applied to a continuous stirred tank reactor (CSTR) system. Computer simulation shows results with satisfactory performance.
• 中文關鍵字： 時間延遲系統; 非線性控制; 輸入輸出線性化
• 英文關鍵字： Time Delay System; Nonlinear Control; Input Output Linearization