本文首先介紹電動機的基本原理，由電學方程式與力學方程式，寫出電動機之狀態方程式。在電動機之順向驅動模式下，對選用之DC馬達作負載分析，模擬電動機的特性曲線，分析廠商所提供的電動機參數是否正確。

　　接著將確認後的電動機參數，代入受控系統(plant)求解其數學模型。針對此受控系統所具有的不確定性(uncertainty)， 設計一個 控制器，來提升系統的強健性(robustness)。

　　文中H∞控制問題，吾人引用Doyle [2]與Hwang [3]所做的控制問題結論，藉由兩條黎卡提方程式(Riccati equation)求解控制器增益(Controller gain)與觀測器增益(Estimator gain)，再觀察控制器與觀測器的特徵方程式，判斷其根是否落在適當的位置。

　　最後，為了保持良好的追跡性能，吾人將針對權重函數、靈敏度函數與互補靈敏度函數做討論，之後將乘積不確定性與外在干擾引入控制系統，做模擬分析，驗證吾人所設計的控制器，可達到優異的效能。

　　In this research, a motor model including both the electric part and mechanic portion is derived. The load analyses of the motor given by EMBEST company are made to verify the correction of the given parameters.

　　In order to obtain a robust control law for motor, the -control methodology is used in this thesis to handle the plant uncertainties occurred in the motor. In the plant formulation process, some theorems in the research works of Doyle [2] and Hwang [3] are directly applied, and therefore the controller gains and the estimator gains can then be solved by using two Riccati equations respectively while assuring the closed-loop stability of the uncertain motor plant.

　　To achieve a good tracking performance, the weighting functions in the H∞-control formulation are carefully chosen in this research, and the sensitivity function and the complementary sensitivity function are also explored to guarantee the system robustness and stability. Computer simulation results reveal that the desired performance of the motor can be achieved in the presence of plant uncertainties and disturbances.

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