本文旨在探討追蹤器的設計方法，以適應性觀測為基礎在於非線性時變系統，其在致動器含有未預知衰減因子和無法取得的系統狀態，設計原理的概念簡單且有效。而非線性系統在不穩定脈衝模組結合混沌，可得到對應的線性模組採用最佳線性化的觀念，此系統極具挑戰性相較於一般的線性系統。然而，利用數位再設計方法的優點，轉換設計類比控制器/觀測器至對應數位控制器/觀測器，可以快速地追蹤與觀測所給定的系統。接下來為了改善所提議方法的性能，利用遺傳基因演算法來調整系統的觀測增益。另外，考慮對於衰減系統被錯誤所影響，可以使用所提議的方法回授補償衰減系統。模擬結果顯示出追蹤的性能是好且有效。

　　This thesis proposes a state-space adaptive observer-based tracker scheme for nonlinear time-varying systems, which have unanticipated decayed factors in the actuators and inaccessible system states. The concept of the design method is very simple and efficient. The nonlinear system is mixed with chaos in unstable impulsive mode. The corresponding linear model can be obtained by the optimal linearization. It is more challenging for this kind of system. Then, we utilize the advantage of a digital redesign methodology to convert a designed analog controller/observer into its corresponding digital controller/observer. In order to improve the performance of adaptive observer-based tracker, we utilize evolutionary programming to tune its observer gain. In addition, we also consider the situation that when a system is influenced by the unanticipated actuator failures, then how to compensate for the decayed system. Simulation results show the tracking performance is good and efficient.

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