本研究綜合計算扭矩法與LQG/LTR對非線性機械手臂系統進行多變量強健控制設計，解決存在於系統內部的不確定性與受到隨機干擾情況下的非線性機械手臂系統之控制設計問題，使得非線性機械手臂控制系統具有良好的強健性與滿足性能要求。
文中首先使用計算扭矩法對非機械手臂系統中各項的估計值進行控制律的設計與回授線性化，並使用變異漸進法對回授系統進行適當的加權擴增；接著使用LQG/LTR設計，使得輸出回授控制器(Output Feedback Controller)能夠趨近於預先設計的目標回授迴路(Target Feedback Loop)。至於非線性機械手臂閉迴路系統在形成Lu’re-type問題後，可討論非線性項之穩定性容許在一定的上界與下界，根據多變數圓穩定準則理論(Multivariable Circle Criterion)探索此控制器之強健性能。
文末則以倒單擺模型與非線性機械手臂系統為範例，進行電腦模擬，來驗證所設計控制器的有效性與可行性。

In this thesis, the multivariable robust control of nonlinear manipulator systems based on the compute torque method and the LQG/LTR design procedure was proposed. This controller is able to handle the system that have modeling errors and external disturbances while it keeps the close-loop system robust and satisfies the prescribed performance.
In this research, the computed toque method is applied to design the proposed control law to form the main control structure by using the benefit of its feedback linearization strategy. The error dynamics of the plant is then formulated to the standard H_2/H_∞ control problem, which is easy to be applied by the LQG/LTR design procedure to find the optimal control gain and observer gains in the process of matching the target loop. With regard to the non-canceling nonlinear terms, the closed-loop system is formulated to the Lu're-type problem form with sector-bounded uncertainties, which is then analyzed by the Multivariable Circle Criterion to discuss the stability and robustness.
To verify the feasibility of proposed controller, two examples with various external disturbances and parameter uncertainties are made and their computer simulation results show the efficiency and feasibility of the proposed design methodology.

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