本論文旨在探討週期性外擾輸入訊號之特徵及相關重覆控制策略與實現，並進一步發展時變週期性訊號之重覆控制技術，應用於具有重覆性位置訊號之追蹤與消除，如凸輪及齒輪系統等具有位置週期性訊號的物理系統。論文提出位置延遲與位置暫存兩種方法去實現時變重覆控制，以期降低具時變週期之重覆性穩態誤差，其所提的方法不需執行複雜的域轉換或週期估測運算法則。另本研究以減震控制系統為應用例，在具時變週期性訊號外擾下，提出兩種減震策略；外擾前饋法與外擾抑制法，並透過自行設計及製作之實驗平台，驗證所提控制法則之可行性。從模擬及實驗結果得知，無論在時間週期訊號或位置週期訊號下，系統重覆誤差皆可快速於第一個週期後就可有效收歛。

Periodic reference signals are common in cam-follower systems, cam machining processes and the other corresponding tracking tasks. However, in many applications of cam machining to keep the removal rate constant for the cam finishing, the cam should be driven at a specified variable velocity. In the cases, the input signals are called the time-varying periodic signals, whose period defined in the angular position domain is constant but variable in the time domain. In practice, the conventional repetitive controller is not directly applicable for the time-varying periodic signals. Therefore, this research investigates a new repetitive control scheme for tracking time-varying periodic signals. The implementation and design of the plug-in type repetitive control system for the time-varying periodic signals is analyzed and derived to guarantee the stability and tracking performance. To illustrate the validity of the present method, two control strategies are considered, i.e., disturbance feed-forward control and disturbance rejection control. Experimental studies are conducted on a anti-vibration control system to verify the performances of the control strategies, where the real-time control algorithms are implemented using a floating-point digital signal processor (DSP). The results show that the derived repetitive controllers effectively eliminate the steady-state tracking errors within few cycles.

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