• 作者： 呂有勝; 陳建祥
• 作者服務機構： 清華大學動力機械工程研究所
• 中文摘要： 本文提出一種強健滑動模式控制器的設計方法，並將它應用於磁浮循跡控制系統的設計。滑動模式的存在性是根據Lyapunov的第二法則證得。本文亦提出一個非線性瀘波器設計來達成減低抖震（Chattering alleviation）並同時提高循跡精度之目地。最後，藉由與傳統滑動模式控制器設計與邊界層（Boundary-layer method）減震法之實驗對比來進一步驗證所提控制法則的優越效能。
• 英文摘要： The design and implementation of a robust sliding-mode controller for a class of nonlinear systemis presented. To assure the existence of a sliding mode throughout an entire response, we propose a sliding-mode controller with robust pole assignment. A nonlinear filter that offers an advantage of maintainingcontrol precision while reducing chatter is also implemented. These schemes are then applied to a magneticlevitation system with unknown levitated mass and unmodeled coil-dynamics for experimental validation.From the experimental results, the proposed schemes show significant improvement in comparison withthe conventional sliding-mode control scheme and the boundary-layer scheme
• 中文關鍵字： sliding mode control; chattering alleviation; magnetic levitation
• 英文關鍵字： --