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研究生：	胡念祖 Hu, Nien-Tsu
論文名稱：	一類未知資料取樣非線性時延系統分散式線性觀測器與追蹤器設計 Decentralized Linear Observer and Tracker Designs for a Class of Unknown Sampled-Data Nonlinear Time-Delay Systems
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：	2010
畢業學年度：	99
語文別：	英文
論文頁數：	138
中文關鍵詞：	分散式線性觀測器與追蹤器、資料取樣非線性時延系統、觀測器/卡爾曼濾波器鑑別、數位再設計方法、觀測器型軌跡追蹤器
外文關鍵詞：	Decentralized linear observer and tracker, sampled-data nonlinear time-delay systems, observer/Kalman filter identification, digital redesign approach, observer-based tracker
相關次數：	點閱：288 下載：0
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本論文針對一類未知資料取樣非線性時延系統，提出新的分散式線性觀測器與追蹤器，並具有閉迴路解耦特性。本論文的研究成果涵蓋了兩個主題。首先，本論文提出一種針對一類具有內部連結之未知大尺度資料取樣非線性系統的分散式模型化線性觀測器與軌跡追蹤器設計方法。利用離線的觀測器/卡爾曼濾波器鑑別方法，計算出資料取樣非線性系統之適當階數(或低階)的分散式線性觀測器，並進一步地以數位再設計方法來改善。然後，本論文提出具有高增益特性的分散式數位再設計之軌跡追蹤器設計方法，因此此閉迴路系統具有解耦的特性。本論文第二個主題，針對具有時延效應的系統，本論文利用具有人為的時延輸入與時延輸出的觀測器/卡爾曼濾波器鑑別方法，提出了新的觀測器型軌跡追蹤器。同樣地，利用離線的觀測器/卡爾曼濾波器鑑別方法，計算出資料取樣非線性時延系統之適當階數(或低階)的分散式線性觀測器，並進一步地以本論文提出的數位再設計方法來改善。本論文所提出的針對時延效應的觀測器型軌跡追蹤器，不僅比無時延效應的觀測器型軌跡追蹤器更廣義，同時進一步地提升了某些需要高度表現的控制系統。除此之外，本論文提出的分散式軌跡追蹤器仍保有了高增益特性，並使得閉迴路系統具解耦的性質。在本論文中的每個主題均以說明性的例題來驗證所提方法的有效性。

The new decentralized linear observer and tracker are proposed in this dissertation for a class of unknown sampled-data nonlinear time-delay systems with closed-loop decoupling property. It covers two topics. First, a new low-order modeling of decentralized linear observer and tracker are proposed for a class of unknown interconnected large-scale sampled-data nonlinear systems. The appropriate (low-) order decentralized linear observer is determined by the off-line observer/Kalman filter identification (OKID) methodology and has been further improved based on the digital redesign approach. Then, the decentralized digital redesign tracker with the high gain property is proposed, so that the closed-loop system has the decoupling property. Secondly, the delay effect is considered in above nonlinear systems for practical control systems. Based on this consideration, the new observer-based tracker via OKID methodology with the artificial delay input and the delay output is proposed. Similarly, the appropriate (low-) order decentralized linear observer determined by the OKID methodology has been further improved based on the proposed digital redesign approach. The proposed observer-based tracker for the time- delay case is of course more general than the observer-based tracker without time delay and significantly improves some controlled systems needed high performance. Besides, the proposed decentralized tracker remains the high gain property and makes the closed-loop system to have the decoupling property. Illustrative examples are given to demonstrate the effectiveness of the proposed scheme in each topic of the dissertation.

中文摘要	i
Abstract	iii
Dedication	v
Acknowledgements	vi
List of Table	xi
List of Figures	xii
Notation and Symbols	xx
List of Acronyms	xxi

Chapter 1	Introduction	1
1.1	Literature survey and motivation		2
	1.1.1  Large-scale system		2
	1.1.2  Decentralized control		2
	1.1.3  Delay effect		4
	1.1.4  System identification		5
	1.1.5  Digital redesign approach		6
	1.1.6  Motivation of the dissertation		7
1.2 	Organization of the dissertation		9

Chapter 2	Prediction-Based Digital Redesign for Sampled-Data Delay-Free
	Systems	10
2.1	Introduction		11
2.2	Linear quadratic analog tracker and observer designs		12
	2.2.1  Linear quadratic analog tracker design		12
	2.2.2  Observer-based linear quadratic analog tracker design		14
2.3	Derivation of the observer-based tracker for the sampled-data delay-free
system		15
2.3.1  Digital redesign of the linear quadratic analog tracker		15
2.3.2  Digital redesign of the observer-based linear quadratic analog
tracker		23
2.4	Summary		26

Chapter 3	Decentralized Control for the Unknown Interconnected Large-Scale
	Sampled-Data Nonlinear Delay-Free System	28
3.1	Introduction		29
3.2	Problem description		31
3.3	Observer/Kalman filter identification		32
	3.3.1  Basic observer equation		32
	3.3.2  Computation of observer Markov parameters		36
	3.3.2-1  System Markov parameters		36
	3.3.2-2  Observer gain Markov parameters		38
	3.3.3  Eigensystem realization algorithm		39
	3.3.4  Relationship to Kalman filter		42
3.4	Design procedure		43
3.5 	Illustrative examples		45
	3.5.1  An MIMO large-scale unknown linear system		45
	3.5.2  An MIMO large-scale unknown nonlinear system		54
3.6 	Summary		67



Chapter 4	Decentralized Control for the Unknown Interconnected Large-Scale
	Sampled-Data Nonlinear Time-Delay System	69
4.1	Introduction		70
4.2 	Problem description and preliminary result		71
	4.2.1  Problem description		72
	4.2.2  Preliminary result		73
4.3 	OKID-based decentralized modeling of the input-output time-delay system
	via some artificial inputs		74
4.4 	Derivation of the new optimal digital tracker and observer for the sampled-
 	data time-delay system		76
	4.4.1  The discretizations of continuous-time time-delay system and
performance cost function		76
	4.4.2  The new optimal digital tracker for the sampled-data time-delay
system		89
	4.4.3  The new observer-based tracker for the sampled-data time-delay
system		92
4.5 	An illustrative example		99
4.6 	Summary		116

Chapter 5	Conclusions	117
5.1	Conclusions		117
5.2 	Future research directions		118

Appendix A	Discrete Modeling of Continuous Time-Delay Systems	120
A.1	The derivation of the discrete time-delay model		120


Appendix B	The Principal nth Root of a Matrix, the Associated Matrix Sector
Function and Block Diagonalization of a System Matrix	124
B.1	The principal nth root of a matrix and the associated matrix sector
function		124
B.2	Block diagonalization of a system matrix		128

References	129
Biography	137
Publication List	138

                                    

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