Abstract
本論文將發展一套整合性的多變元系統設計方法----包含隨控佈局之受控體設計與最佳解耦合控制器設計。所謂隨控佈局設計是指在工程系統的初始設計階段，即融入控制性能的設計考量，避免或減緩受控體的本質限制，以有效提昇控制系統所能達到的性能；而非最小相系統的最佳解耦合設計方法之建立旨在補強隨控佈局未竟之設計。在本論文中吾人考慮之受控體的本質限制是指非最小相零點與異質狀態此二者，非最小相零點限制了系統的回授性質；異質狀態會造成系統標稱性能與強健性能設計上的衝突。為了發展整合性的多變元控制系統設計方法，並兼顧工程需求與一般適用性，本論文的研究需要完成下列三項子題:(1)明晰的零點指定設計並將輸入(出)矩陣參數化;(2)隨控佈局設計的問題規範與求解;(3)非最小相系統之最佳解耦合與強健穩定控制。本論文研究具有下列特色:(1)隨控佈局設計方法乃植基於現代控制理論對控制系統性能的分析技術，伴隨著控制器之整合設計，本方法將大幅提昇系統的性能；(2)隨控佈局設計方法結合了工程最佳化設計技術， 因此本論文的方法深具應用潛力。In the thesis, an integrated work on the design and control ofa linear multivariable system is investigated,including acontrol- configured-plant (CCP) design and an optimallydecoupled robust control design. By CCP design we mean thatthe design limita- tions imposed by NMP transmission zerosand poor plant condi- tioning are taken into account in theearly phase of designing an MIMO plant such that the ensuringplant is easier to control. However, the resultant plant of aCCP design may still be NMP owing to some crucial physicalconstraints. Accordingly we re- quire an effective controllerdesign method to deal with the un- stable/NMP plants. Toattain this goal, we conduct our research with the followingthree tasks in sequence. (1) To derive an explicitcharacterization of transmission zero assignment viaparameterizing the input (or output) matrix, which is preparedfor CCP design to serve as a constraint. (2) To develop ageneral approach to CCP design from a system-theoreticpoint of view, in which the general criteria for a `better'plant is explored and an optimal design problem is formulatedand solved. (3)To propose a controller design methodologytoward achiev- ing an optimally decoupled robust controlfor unstable / NMP multivariable plants with time delays. Thepresent approach has manifest advantages over tradition- aldesign through two demonstrated examples. The present ap-proach merits itself by two facts: (1)It is a systematicdesign methodology; (2)It is with the potential adaptabilitydue to the imployment of optimization techniques.