本篇論文提出分別以進化演算法結合最速下降法以及線性規劃結合最速下降法為基礎之兩種用於未知非線性多輸入多輸出系統之適應性多變數PID容錯控制器。對於具有單調非線性的非線性系統，一個使用延伸型卡爾曼濾波器來調整權值的類神經網路被用來線上估測最精確的等價系統模型，之後使用最速下降法找出一個最佳控制，進化演算法或線性規劃則用來線上調整PID容錯控制器。

Based on the evolutionary programming (EP) combined with the steepest descent method and the linear programming (LP) combined with the steepest descent method respectively, two adaptive multivariable PID fault tolerant controller schemes for the unknown nonlinear multi-input multi-output (MIMO) systems are proposed in this thesis. In the case of nonlinear dynamic system, and for monotonic nonlinearity, a neural network adapted with the extended Kalman filter is created to estimate the most accurate equivalent system model online, then the EP or LP is used for on-line tuning the well-performed PID fault tolerant controller after using the steepest descent method to find an optimal control.

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