本論文分析踩踏系統被動模式下，受到使用者下肢負載影響而造成的轉速漣波現象，利用希爾伯特-黃轉換分析漣波現象於時間尺度和位置尺度下之週期特性，確認轉速漣波與飛輪位置有關。此外，論文中使用兩種方式判斷週期性發生之時機，作為重複學習控制器之自啟動機制。確定週期特徵後，利用重複學習控制器進行漣波抑制。因實際應用會於不同轉速下進行訓練，於時間尺度之重複學習控制器加入判斷機制與週期更新設定，以配合轉速命令之切換；論文亦使用位置尺度之重複學習控制器，使對於不同轉速命令仍有穩定之轉速漣波抑制效果。由兩種控制結構之實驗結果，可以看出位置尺度具有較佳之控制效果。

This thesis is aimed at developing a control scheme of cycle ergometer for lower-limb rehabilitation in passive operation mode. As a result of the effect of lower-limb weight, there exists a significantly speed ripple, which is synchronous with the flywheel position. Base on the analysis of the pedaling speed by Hilbert-Huang transform (HHT) on either time space or position space, the period of the speed could be confirmed and thereby be used for the design of iterative learning control (ILC) and the self-start strategy for attenuating the periodic speed ripple. Moreover, time and flywheel position based ILC were used to enhance the speed accuracy. The conventional time-based ILC requires the updating information of period in accordance with the change of speed command. By contrast, the proposed position-based ILC utilizes the positional period of speed ripple, which remains constant regardless of the speed command. The effectiveness of speed ripple reduction of the proposed control scheme in this thesis is confirmed experimentally.

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