本論文提出針對具有適用於具有輸入－輸出直接傳輸項及輸入飽和限制之未知系統的降階觀測器與NARMAX為基礎之自調式容錯追蹤器設計，以達到良好的追蹤性能。其主要貢獻如下：首先，針對具有輸入－輸出直接傳輸項之線性系統，本論文提出了一種全階/降階觀測器與追蹤器實現法，以克服因採用即時輸出與即時輸入，以預測即時狀態及決定當下輸入，所導致的觀測器與控制器具有互為因果關係的問題。所提方法不受限於輸入與輸出維度需相同的條件，且可以避免因系統具有輸入－輸出直接傳輸項，導致在設計類比降階觀測器時免不了的輸入微分項。第二，針對未知非線性隨機系統，提出基於改良式非線性自迴歸－移動平均－輸入變數模型的主動容錯狀態空間自調式控制器。應用離線的觀測器／卡爾曼濾波器鑑別方法，提供改良式非線性自迴歸－移動平均－輸入變數模型較佳的初始參數，以顯著地改善其遞迴推廣最小平方法的收斂速度。在系統輸入參數發生有突發式或漸進式的錯誤時，狀態空間自調式控制器也會同時做出適當的反應。最後，提出了適用於具有輸入－輸出直接傳輸項及輸入飽和限制之未知非線性隨機系統的降階觀測器為基礎之自調式容錯追蹤器。在本論文中，以多個例題來說明所提方法的有效性。

This dissertation proposes an input-constrained reduced-order observer-based adaptive tracker with fault tolerance for unknown nonlinear stochastic systems with an input-output direct feed-through term to obtain good tracking performance. The major contributions of this dissertation are stated as follows: Firstly, realization of causal current output-based optimal full/reduced-order observer and tracker for the linear sampled-data system with a direct transmission term from input to output is newly proposed. Furthermore, the time derivative of the control input existed in the continuous-time reduced-order observer can be avoided in the proposed one for the continuous-time system with an input-output feed-through term. Secondly, an active full-order fault tolerance tracker using the modified nonlinear autoregressive moving average with exogenous inputs (NARMAX) model for state-space self-tuning control (STC) of unknown nonlinear stochastic hybrid systems with a direct transmission term is proposed. For the system identification process, the initial parameters of the modified NARMAX model assigned by the off-line OKID and can speed up the convergence speed of the recursive extended least squares (RELS) method to determine a reliable dynamic model. Moreover, the modified state-space self-tuning control methodology due to the NARMAX model can quickly make an appropriate reaction to the variation of system parameters when the abrupt input fault and/or the gradual input fault occurs. Finally, an input-constrained reduced-order observer-based self-tuner with fault tolerance for unknown nonlinear stochastic systems with an input-output direct feed-through term has been proposed. Some illustrative examples are given to demonstrate the effectiveness of the proposed methodologies.

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