在本論文中，我們利用準滑動模式控制(QSMC)及李亞普夫穩定性理論，針對傳統的滑動模式控制系統中所存在的抖動現象進行研究。首先，我們透過連續控制的概念提出一個可變結構控制（VSC）法則，處理一個改良式蔡氏系統的同步問題。並且，將此同步系統應用於保密通訊系統，以確保被嵌入在發送端的訊息，可以成功的在接收端被解回。除此之外，為應用於高效能的通訊系統，我們利用隨機數位序列產生器（RDS）所產生的同步加密金鑰，提出了一種新的數位保密通訊系統。第二，我們提出一個新的準滑動模式控制概念，針對具有線性plus-cubic阻尼混沌的對稱性陀螺儀系統進行研究。透過準滑動模式控制應用，可以消除以往滑動模式控制所產生的抖動現象。即使在非線性輸入下，被控制的陀螺儀系統可以追蹤至任意狀態，並使得追蹤誤差可以被驅使至可預測之零附近。第三，我們提出準滑動模式控制概念，針對永磁式同步馬達系統（PMSM）之強健控制進行研究，在系統分别受到匹配擾動與不匹配擾動並具非線性輸入的影響下，系統狀態可以被穏定或是驅動到可預測之零的附近。除此之外，這種方法只使用單一控制器來達成混沌控制，因此可以降低實現上的成本和複雜性。

In this dissertation, problems of chattering phenomenon in conventional sliding mode control systems are investigated using the Quasi-sliding mode control (QSMC) and Lyapunov stability theory. First, we propose variable structure control (VSC) laws to cope with the synchronization problem of modified Chua’s systems via concept of continuous control. Then, we apply VSC to secure communication system to ensure that the message signal embedded in the transmitter can be recovered in the receiver. In addition, we propose a new digital secure communication system based on synchronized encryption keys generated for high performance communication by random digital sequences (RDS) generators. Secondly, a new concept of QSMC is introduced for the tracking control of chaotic symmetric gyros with linear-plus-cubic damping. In contrast to previous works on sliding mode control, based on the proposed QSMC, the chattering phenomenon can be eliminated. Furthermore, the controlled gyro system can track desired trajectories and tracking errors can be driven into a predictable neighborhood of zero, even when the input nonlinearity is present. Thirdly, the concept of QSMC is introduced for the robust control of a permanent magnet synchronous motor (PMSM) system subjected to matched uncertainties, and even with unmatched uncertainties and input nonlinearity. As expected, the system state can be stabilized and driven into a predictable neighborhood of zero. Also, this approach only uses a single controller to achieve chaos control, which reduces the cost and complexity of implementation.

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