| Summary: | 碩士 === 國立交通大學 === 機械工程系所 === 97 === The purpose of this thesis is to use the design of the predictive disturbance observer for a class of delayed systems. Since time delay exists in many industrial processes, there are many time delay compensation methods. However most of the compensation methods can not attenuate disturbance effectively, especially for periodic disturbances. In this thesis, the concept of predictive control is utilized based on the characteristic of deterministic disturbances to eliminate time delay effect, hence the proposed design achieves better disturbance rejection which not only applies to step and ramp disturbances but also to periodic disturbances as well. This advantage is applied to SISO (single-input-single-output) unstable non-minimum phase delayed systems and TITO (two-input-two-output) stable delayed systems. Both proposed schemes have two degree of freedom in designing controllers for setpoint tracking and disturbance rejection respectively. Internal stability and robustness of the proposed closed-loop system are analyzed. Performances are compared via several examples in the case of nominal model and perturbed model, subjected to step, ramp and periodic disturbances.
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