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研究生： 梁定輝
Liang, Ding-Huei
論文名稱： 基於觀測器/卡爾曼濾波器鑑別法與模型預測控制法的線上容錯控制
Observer/Kalman Filter Identification Method and Model Predictive Control Approach-Based On-Line Fault-Tolerant Control
指導教授： 蔡聖鴻
Tsai, Sheng-Hong Jason
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 電機工程學系
Department of Electrical Engineering
論文出版年： 2016
畢業學年度： 104
語文別： 英文
論文頁數： 54
中文關鍵詞： 輸入飽和限制 、觀測器/卡爾曼濾波器鑑別方法 、模型預測控制 、即時容錯控制
外文關鍵詞： Input constraint, Observer/Kalman filter identification, Model predictive control, Fault-Tolerant control
相關次數： 點閱：142  下載：2 
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    • 在本論文中，針對某些實際的物理系統，因其輸入是不允許為負值，且輸入有其上下限制，故本文提出一個修改版的線上觀測器/卡爾曼濾波器鑑別方法，利用此方法鑑別出其系統參數。然後針對這樣的隨機系統，利用模型預測控制軌跡追蹤器，滿足有輸入的限制，並且在有輸入限制時具有容錯的特性。

    In this thesis, inputs are not allowed to be negative for some physical systems, so we propose improved on-line observer/Kalman filter identification (OKID) method for unknown stochastic systems. Besides, we use the model predictive control tracker for unknown system. It satisfies input constraint and fault-Tolerant.

    中文摘要 ....... i Abstract….. ii Acknowledgement iii List of Contents…. iv List of Figures vi Chapter 1 Introduction 1 Chapter 2 Problem Description 2 Chapter 3 Observer/Kalman Filter Identification 3 3.1 Basic observer equation 4 3.2 Computation of Markov parameters 6 3.2.1 System Markov parameters 6 3.2.2 Observer gain Markov parameters 7 3.3 Eigensystem realization algorithm 7 3.4 Relationship to a Kalman Filter 9 Chapter 4 A Modified On-Line OKID 11 4.1 A Modified on-line OKID method 12 4.1.1 Formulation of the on-line OKID method 12 4.1.2 An improved on-line OKID method 16 4.1.3 Minimal realization of the OKID method in block observer-canonical form 19 Chapter 5 Model Prediction Control 24 5.1 Model prediction control 25 5.2 Input-constrained model prediction control 27 5.3 Modified observer-based model prediction control 29 5.3.1 OKID-based modified observer-based model predictive control 29 5.3.2 Input constraint design method based on the modified observer-based model predictive control 31 Chapter 6 An illustrative Example 34 Chapter 7 Conclusion 52 References 53

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