在本研究中，本文將針對一般的多變數線性系統中加入結構不確定性來設計 控制器，以增加系統的強健性能與穩定性，並輔以田口品質工程分析法選取一定範圍內之較佳權重函數參數，使系統更能符合強健穩定性。在一般線性系統中通常由非線性系統線性化而得，線性化過程中難免將部份不確定項忽略不計，而忽略不計的不確定性有時又以結構化方式存在所以µ理論的發展就是用來解決這類的問題。再者，µ理論的求解不易也是其發展的難題之一，所以本文中利用 控制理論來壓縮µ值以快速求得 控制器。在此，利用排除正交性假設的 控制理論比其它需正交性假設之 控制器更容易被使用在任何系統上。因此，以此為前提之下所設計的 控制器也更容易適用於系統中。本文電腦模擬結果顯示，本文中所設計之 控制器比純 控制器更具強健性，與實際系統上的應用性。

　In this research, a µ synthesis of robust controller for multi-input multi-output linear systems with structured uncertainties is proposed to improve the system structured stability and performance. This paper applies Taguchi methods to find the best combination of the setting parameters for different weighting functions. Linear systems can be obtained from the linearization process of nonlinear systems that contain structured uncertainties. The µ synthesis theory adopted in this study is used to solve the problems of structured uncertainties of nonlinear systems. However, since the µ theory is hard to be applied in constructing an actual controller, a µ- controller is therefore proposed in this research. The controller theory, which removes the limitation of the orthogonality assumptions, is adopted to suppress the structured singular value (µ) of the system to form the proposed µ- controller in this study. The control methodology, which removes the limitation of the orthogonality assumptions, will be easier to be applied in any system and thus the proposed µ- controller can easily be applied to most of the systems.
Computer simulation results reveal that the proposed µ- controller is better than the traditional controller in performance and the searching time of the µ- control low is shorter than the pure µ controller. Moreover, the simulations on ship collision avoidance system show that the proposed controller is robust and is able to achieve the prescribed specifications.

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