本文旨在研究輸出回授積分式可變結構系統之設計。積分式可變結構系
統具有無穩態誤差的特色，然而對參數變動及外部干擾的抑制須藉著邊界
層的設計才能發揮功效，且採用的控制律頗為複雜不易運用。本文採用輸
出回授的方式，將系統輸出與積分器輸出的差值，當作變項以建立一不同
的滑動函數，並提出一非線性連續式控制律來克服此一問題。此一滑動函
數可產生平移式滑動面，俾進行連續滑動模式控制，使狀態點到達滑動面
的時間縮短。非線性連續式控制律大小隨著狀態點與滑動面間的距離成正
比的關係，狀態點可加速到達滑動面，在到達模式時可減低系統受參數變
動或外部干擾的影響。進入最終滑動面時控制律變小，可減弱進入滑動模
式時的顫動現象。經過理論推導與數位模擬得到如下的結論：狀態點到達
滑動面的時間較短，雖然連續滑動使系統的安定時間較長，但是輸出漸近
穩定且無穩態誤差。參數變動及外部干擾時，輸出變動程度較小，可提高
系統強健性。滑動函數變化範圍較小，顫動現象可減弱。對於多個輸入多
個輸出的情況，本文研究的設計方法亦可適用。

The purpose of this thesis is to study the design method of
output feedback integral variable structure system. Integral
variable stucture system has feature of no steady state error.
It suppresses the variation of parameters and external
disturbance by means of designing a boundary layer, adopts a
complicated control law which is not easy to operate. This
thesis adopts output feedback method, takes the difference
between system output and integrator output, builds a
different sliding function, also raises a nonlinear continuous
control law to overcome this problem.This sliding function can
generate shifting sliding surface to proceed continuous sliding
mode control. The time that state point reaches sliding
surface will be reduced. The magnitude of nonlinear continuous
control law is proportional to the distance between state
point and sliding surface. The speed that state point reaches
sliding surface will be accelerated. It decreases the influence
of variation of parameters and external disturbance when system
is in reaching mode. When state point goes into final sliding
surface, it becomes small so as to alleviate the chattering
phenomena in sliding mode.It gets followig conclusions by
digital simulation: The hitting time is reduced. Though it
makes the settling time is increased a little by
continuous sliding mode, but output is asymptotically stable and
no steady state error. System is more insensitive to variation
of parameters and external disturbance. As for multi-input/
multi-output condition, the proposed method also can be applied.
The purpose of this thesis is to study the design method of