處理控制問題時，實際模型和數學模型之間總有不可避免的差異。經由適當的控制器設計，便可將此差異減小或使其不受差異的影響而能達成控制目標。本論文針對為某一類的單輸入單輸出非線性時變系統提出控制法則，以容忍各種不確定性與干擾之影響。此控制法則融合了傳統的控制方法，其包含回授線性化、滑動控制、適應性控制與函數近似法。另外，此方法改善了傳統回授線性化在處理輸入通道有界不確定性時會產生的奇異點問題。

When dealing with control problems, there are inevitable discrepancies between the actual system and mathematical models. Through proper controller design, these discrepancies can be reduced or can have less influence, thus the control goal can be achieved. This research proposes a control methodology for a class of single input single output nonlinear time variant systems with various uncertainties and disturbances. This control methodology combines many traditional control strategies, such as feedback linearization, sliding control, adaptive control, and function approximation technique based adaptive control. On the other hand, this methodology alleviates the singularity problem that usually happen when the bounded uncertainties appearing on the input channel.

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