摘要
本論文提出一個新的數位再設計錯誤容忍追蹤器在線性多輸入多輸出取樣資料系統的應用。這個錯誤容忍追蹤器不僅在正常的情況下可以穩定一個給定的系統且當感測器中的一個或致動器中的一個有某種程度的錯誤時，亦會使系統穩定。為了改善錯誤容忍追蹤器的性能，提出線性二次式調整設計。根據線性二次式調整設計，控制器的參數和受控廠的極點被最佳化地調整。數位再設計技術被用來離散化這個理論上設計良好的類比錯誤容忍追蹤器，因此具有錯誤容忍控制器的數位再設計閉迴路取樣資料系統的狀態近似於類比的狀態。為了更進一步改善錯誤容忍追蹤器的性能，混沌進化計算論被用來調整追蹤器。模擬的結果顯示出追蹤器的性能是好且有效。

Abstract
A new digital redesign-based fault tolerant tracker for the linear MIMO sampled-data system is proposed in this paper. The fault tolerant tracker can stabilize a given system not only in the nominal situation but also when one of the sensors or one of the actuators has a certain degree fault. In order to improve the performance of the fault tolerant tracker, the linear-quadratic-regulator (LQR) design is developed. Based on the LQR design, the parameters of the controller as well as the poles of the plant are optimally tuned up. A digital redesign technique is developed to discretize the theoretically well-developed analogue fault tolerant tracker, such that the states of the digitally redesigned closed-loop sampled-data system with the fault tolerant controller are close to analogue ones. In order to further improve the performance of the fault tolerant tracker, the chaos-evolutionary-programming algorithm is utilized for tuning the tracker. Simulation results show the tracking performance is good and effective.

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