| Summary: | 碩士 === 大同大學 === 電機工程研究所 === 89 === In this thesis, a robust dynamic adaptive controller design algorithm for single-input single-output (SISO) nonlinear systems with unmatched uncertainties is provided. For many practical systems, the unmatched uncertainties are common in control practice. Further, sometimes these upper bounds of the uncertainties may not be easily obtained because of the complexity of structure of the uncertainties. Therefore the problem of controlling such systems becomes more complex, more difficult and more practical. We will propose a method to combine sliding mode with adaptation fuzzy law, approximate the upper bounds of the uncertainties. Adaptive control applies the parameter adaptive technique to robustify the parametric uncertainties for nonlinear systems with unknown parametric. They can easily overcome the parametric uncertainties. Some examples and simulation results are provided to illustrate the versatility and performance of the proposed method. Finally, the suggested controller is applied to the controlling of the Inverted pendulum system. Simulation results indicate its efficiency.
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