# 控制重構

## 重構問題

### 故障建模

${\displaystyle {\begin{cases}{\dot {\mathbf {x} }}&=\mathbf {A} \mathbf {x} +\mathbf {B} \mathbf {u} \\\mathbf {y} &=\mathbf {C} \mathbf {x} \end{cases}}}$

${\displaystyle {\begin{cases}{\dot {\mathbf {x} }}_{f}&=\mathbf {A} _{f}\mathbf {x} _{f}+\mathbf {B} _{f}\mathbf {u} \\\mathbf {y} _{f}&=\mathbf {C} _{f}\mathbf {x} _{f}\end{cases}}}$

1. 由{${\displaystyle \mathbf {u} ,\mathbf {y} }$}中選擇新的輸入及輸出信號以滿足控制目的。
2. 調整控制器內部狀態（包括其動態結構及參數）
3. 調整參考輸入${\displaystyle \mathbf {w} }$.

${\displaystyle {\begin{cases}{\dot {\mathbf {x} }}_{f}&=\mathbf {A} \mathbf {x} _{f}+\mathbf {B} \mathbf {u} +\mathbf {E} \mathbf {f} \\\mathbf {y} _{f}&=\mathbf {C} _{f}\mathbf {x} _{f}+\mathbf {F} \mathbf {f} \end{cases}}}$

1. 穩定
2. 還原平衡點
3. 還原輸出軌跡
4. 還原狀態軌跡
5. 還原暫態時間響應

## 延伸閱讀

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