本論文針對非線性干擾之非方陣/方陣、非極小相位系統提出藉由整合滑動控制器設計跟零點配置法的新穎性強健追蹤器。一般而言，非極小相位系統架構下，其輸出響應會產生不如預期之軌跡，特別是在設計完控制器後，輸出響應依然無法得到有效的改善。為了克服這些問題，因此提出一種輔助系統，使得非極小相位系統轉換為擴增型的極小相位系統，由此設計控制器能有效改善其輸出響應之性能。當額外擾動對系統產生影響後，提出一幅射基底函數網路之滑動控制器設計，將擾動抑制並改善滑動控制器造成的不可預期抖動之現象，使得系統輸出響應取得預期之效果。本論文提出一些範例來說明該方法的成效。

This thesis presents a new approach by integrating the sliding model control and the zero assignment method for the robust tracker design for square/non-square non-minimum phase (NMP) multi-input multi-output (MIMO) systems with nonlinear disturbances. Generally, the output of the controlled NMP system cannot track an arbitrary reference trajectory as good as expected. To overcome this issue, we propose an auxiliary system to augment the originally controlled system in order to convert the NMP system to a minimum phase (MP) system. In order to cope with the external nonlinear disturbance and the undesired chattering phenomenon induced by the sliding model control, the radial basis function neural network (RBFNN)-based sliding mode control (SMC) is utilized in this paper. Some illustrative examples are given in this thesis to demonstrate the effectiveness of the proposed method.

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