本篇論文提出一個適用於含直接傳輸項之未知系統並具有輸入飽和限制功能的新型二次數位軌跡追蹤器。它能有效限制控制力而使系統不發生過飽和現象，並盡可能保持良好的軌跡追蹤能力。首先利用離線的觀測器/卡爾曼濾波器鑑別方法計算出資料取樣系統之適當階數(或低階)的線性觀測器。為了克服模組誤差，應用一個具有高增益特性的數位再設計之線性觀測器，最後藉由鑑別出的觀測器來做為設計控制器的參數。為了考量真實系統可能無法承受過大的控制力，修改線性二次效能指標使之具有飽和限制的概念，並將之離散化。透過離散化後的線性二次效能指標，我們可以提出一個適用於含直接傳輸項之未知系統並具有輸入飽和限制功能的新型二次數位軌跡追蹤器。對於這最佳化設計過程，我們又稱為“一種另類的數位重新設計方法”。

This thesis proposes a new quadratic digital tracker under input constraint to efficiently restrict control input for the unknown system with a direct transmission term from input to output, without losing the good tracking performance as possible. First, the observer/Kalman filter identification (OKID) is utilized to identify the unknown linear/nonlinear system with a feed-through term into the equivalent mathematical model containing a feed-through term. The equivalent mathematical model is used as an analytic and designed tool for the controller and observer. The linear analogue quadratic performance index is modified to contain the term of input constraint. By discretizing the linear analogue quadratic performance index with input constraint into an equivalent discrete one directly, we propose a new quadratic suboptimal digital tracker under input constraint for the unknown system with a feed-through term. This design procedure is also called an alternative digital redesign approach. Further, the analog and digital observers are respectively proposed for the system when the system states are immeasurable. Illustrative examples demonstrate the effectiveness of the proposed design.

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