本論文提出的方法主要以連續系統討論。在連續線性系統中，我們提出以時域的方式設計比例積分微分控制器；而在連續PID設計中，許多文獻提出使用Ziegler-Nichols方法、演算法，或以追蹤誤差設計控制器，但本論文利用線性變換及擴增系統矩陣的方式，設計出不需依賴經驗法則就能求出比例積分微分控制器的參數值。利用實數DNA演算法，透過選取適當的成本函數搜尋較合適的參數及控制器種類，進而使系統達到期望的表現。最後我們應用田口法以提升實數DNA演算法的效能，因此提出了HTRDNA演算法。在論文中亦針對外在未知擾動及系統不確定性，利用滑模控制理論來設計控制器及估測器，以補償干擾及系統不確定性的發生。

In this thesis, we mainly propose our method for continuous-time system. For the linear system, we design a PID controller by way of time domain. Besides, a multitude of approaches towards the design of PID controllers for the continuous system have been made use of Ziegler-Nichols tuning method, algorithm or based on tracking error. Our proposed method takes advantage of the combination of linear transformation and augmented system matrix to find out the parameters of PID controller without empirical law. To fulfill our desired requirement, we use real coded DNA algorithm. Thus, the suitable parameters and type of controllers are obtained through the proper cost function we choose. In addition, Taguchi method is applied to enhance the efficiency; therefore, hybrid Taguchi-real coded DNA (HTRDNA) algorithm is proposed. Against the external unknown disturbance and the system uncertainty, sliding mode control theory is applied to design a controller and estimator for compensating the occurrence of the above problems.

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