| Summary: | 碩士 === 元智大學 === 電機工程學系 === 95 === The purpose of this thesis is to develop the adaptive robust cerebellar model articulation controller (CMAC) system by integrating CMAC with adaptive control and robust control technologies for the control application to uncertain nonlinear systems. According to Lyapunov synthesis approach, the adaptive tuning laws of CMAC can be derived and the system stability can be guaranteed. This thesis introduces the structures of CMAC first. Then, CMAC with optimal learning rate is developed for the single-input single-output (SISO) high voltage power supply (HVPS) system. Moreover, this thesis also proposes the robust CMAC control systems for the uncertain nonlinear MIMO systems. In this design, the developed multi-input multi-output (MIMO) control system is then applied to a nonlinear chaotic system. From the simulation results, the control schemes proposed in this thesis have been shown to achieve satisfactory control performance for the considered nonlinear systems.
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