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研究生：	吳振胤 Wu, Chen-Yin
論文名稱：	新型觀測器/卡爾曼濾波器/控制器鑑別法與其應用於輸入限制控制及容錯控制 New Observer/Kalman Filter/Controller Identification Methods and Their Applications to Input-Constrained Control and Fault-Tolerant Control
指導教授：	蔡聖鴻 Tsai, Sheng-Hong Jason
學位類別：	博士 Doctor
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：	2015
畢業學年度：	103
語文別：	英文
論文頁數：	195
中文關鍵詞：	最小實現、即時容錯控制、輸入限制、數位重新設計、觀測器/卡爾曼濾波器鑑別法、觀測器/控制器鑑別法
外文關鍵詞：	Minimal realization, Fault-tolerant control, Input constraint, Digital redesign, Observer/Kalman filter identification, Observer/controller identification
相關次數：	點閱：112 下載：1
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考慮未知隨機系統，本論文藉由可觀測標準式，提出創新型最小實現之線上觀測器/卡爾曼濾波器鑑別法與改良型離線觀測器/控制器鑑別法，同時結合最佳化線性二次追蹤器設計以獲得良好狀態估測與追蹤性能，並分別應用於即時主動輸入限制容錯控制與被動容錯控制。首先，針對具有直接傳輸項的未知系統，基於當前之系統輸出量測值，提出一個新的輸入限制離散線性二次追蹤器。本子題主要貢獻包含定義新型輸入限制成本函數與相對應之黎卡提方程解、提出一種有系統的調整機制，以調整成本函數的權重值以及透過所提出的實現法來克服系統輸出與控制輸入之互為因果問題。其次，考慮具有直接傳輸項的未知系統，提出另一種基於數位再設計之當前觀測型輸入限制軌跡追蹤器。它的創新性包括分別針對連續和離散系統提出新的線性二次類比與數位追蹤器與提出另一種有系統的搜尋機制，以搜尋成本函數的權重值。再者，針對未知隨機系統的即時控制，一個新穎的線上最小實現觀測器/卡爾曼濾波器鑑別法在本論文中被提出，並應用於輸入限制之主動容錯控制設計。最後，一個新型離線最小實現典型式之觀測器/控制器鑑別法被提出，以補償既存未知控制器因故障所造成的追蹤性能不佳的缺點；補償運作不夠理想之既存控制器。在本論文中，以多個範例來說明所提出方法之有效性。

Via the observer-canonical form (O-CF), this dissertation proposes a novel minimal realization on-line observer/Kalman filter identification (OKID) method and an improved off-line observer/controller identification (OCID) method for unknown stochastic systems integrated with optimal linear quadratic tracker design to obtain good state estimation and tracking performances for real-time active input-constrained fault- tolerant control (FTC) and passive FTC, respectively. First, a new current-observer-based input-constrained discrete linear quadratic tracker (DLQT) for an unknown system with a direct transmission term is proposed. The main contributions of this sub-topic include (i) to formula a new input-constrained cost function and its corresponding Riccati equation, (ii) to propose a systematic mechanism for tuning the weighting matrix in the cost function, and (iii) to overcome the input-output causal problem by the proposed realization. Second, an alternative current-observer-based input-constrained tracker for an unknown system with a direct transmission term based on the digital redesign approach is proposed. Its novelties include (i) to propose a new linear quadratic analog tracker (LQAT) and a new linear quadratic digital tracker (LQDT) for the continuous-time and sampled-data systems, respectively, with a direct transmission term under input constraint and (ii) to propose an alternative tuning mechanism to select the weighting matrix in the cost function. Third, a novel on-line minimal realization OKID method is presented for real-time control of unknown stochastic systems, and it is applied for the design of a novel input-constrained active fault-tolerant tracker (FTT). Finally, a new off-line minimal-realization canonical OCID method is proposed, which is able to (i) compensate the degrading tracking performance of an existing unknown controller and/or (ii) compensate the undesirable operating controller. Some illustrative examples are given to demonstrate the effectiveness of the proposed methodologies.

中文摘要	i
Abstract	ii
Acknowledgement	iii
Contents	iv
List of Tables	viii
List of Figures	ix
Symbols and Abbreviations	xv
Chapter 1	Introduction	1
1	Literature survey	2
1.1 Anti-windup control	2
1.2 Digital redesign	2
1.3 System identification	3
1.4 Fault-tolerant tracker	4
2	Dissertation overview	5
Chapter	 2	A New Current-Observer-Based Input-Constrained DLQT for an Unknown System with a Direct Transmission Term	8
1	Introduction	9
2	Problem description	11
3	Traditional observer/Kalman filter identification	12
3.1 Basic observer equation	13
3.2 Computation of Markov parameters	15
3.2-1 System Markov parameters	15
3.2-2 Observer gain Markov parameters	16
3.3 Eigensystem realization algorithm	16
3.4 Relationship to a Kalman filter	19
4	The input-constrained DLQT for the plant with a direct transmission term	20
5	Current-output-based digital observer for the plant with a direct transmission 
term	27
5.1 Digital redesign of the current output-based observer	27
5.2 Realizable current output-based digital observer for the plant with a direct transmission term	29
6	Design procedure of the current-observer-based input-constrained DLQT for an unknown system with a direct transmission term	31
7	An illustrative example	36
8	Summary	40
Chapter 3	An Alternative Current-Observer-Based Input-Constrained Tracker for an Unknown System with a Direct Transmission Term: A Digital Redesign Approach	41
1	Introduction	42
2	Observer-based linear quadratic tracker for the sampled-data system with a direct transmission term under input constraint	45
2.1 Optimal linear quadratic analog tracker with input constraint	45
2.2 Prediction-based linear quadratic digital tracker for the sampled-data system with a direct transmission term under input constraint	52
3	Design procedure of prediction-based digital observer for the system with a direct transmission term under input constraint	54
4	Observations and discussions	61
4.1 MPC for this system with a direct transmission term	61
4.2 Input-constrained MPC for the system with a direct transmission term	64
4.3 A high-gain property anti-windup tracker for the system with a direct transmission term	68
5	Illustrative examples	73
6	Summary	80
Chapter 4	A Novel On-Line OKID and Its Application to Input- Constrained Active FTT Design for Unknown Stochastic Systems	81
1	Introduction	82
2	A novel on-line OKID method	86
2.1 Formulation of the on-line OKID method	87
2.2 Computational steps of the on-line OKID method	92
2.3 Minimal realization of the OKID method in observer-canonical form	95
3	Prediction-based digital-redesign observer for unknown deterministic sampled- data systems without input constraint	99
3.1 Digital redesign of the observer-based linear quadratic analog tracker	99
3.2 Discrete linear quadratic tracker design	102
4	An effective algorithm for the design of the input-constrained observer-based tracker	103
5	An active FTT for an unknown stochastic nonlinear time-varying system: An on-line OKID method	107
6	Comparison among three kinds of tuning mechanisms of weighting matrices for input constraint	111
7	Illustrative examples	121
8	Summary	136
Chapter	 5	A Novel Minimal-Realization Canonical OCID Method, Compensation Improvement, and Adaptive FTC: An OCID Approach	138
1	Introduction	139
2	A novel canonical observer/controller identification method	140
2.1 System description	141
2.2 System and gain Markov parameters	143
2.3 Eigensystem realization algorithm	145
2.4 The newly proposed minimal realization of the OCID method	147
2.4-1 Observer-canonical form	148
2.4-2 Controller-canonical form	151
3	OCID-based compensation for the unexpectedly faulty controller and/or compensation improvement	154
4	Illustrative examples	157
5	Summary	169
Chapter 6	Conclusions	170
1	Conclusions	170
2	Future research topics	172
References	173
Appendix A Optimal Pole-Placement	183
Appendix B Continuous-Time LQG/LTR Design Algorithms	187
Appendix C Anti-Windup Control Scheme for a Scalar Case of SISO System	189
Biography	193
Publication List	194

                                    

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校內：2019-07-20公開
校外：不公開電子論文尚未授權公開，紙本請查館藏目錄

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