本文之主要目的在建立一精確的磁滯模型，據以設計控制器以期達到系統高精度定位之要求。在建立磁滯模型方面，本文採用切換系統的觀念來描述Preisach型磁滯，將建模的過程系統化，使參數的選取定性化與步驟化，並配合RIP圖形解釋磁滯行為之輸出與輸入間的關係，使磁滯模型更加完備。本研究以壓電驅動平台為對象，由數值模擬與實驗結果比對，顯示本文提出之建模方法能精確的描述非對稱型之磁滯現象。在控制架構方面，本文以前饋控制架構並配合PD型式之回饋控制器，實現高精度之定位控制。

The main purpose of this study is to perform the high precision positioning control task of a hysteresis system by means of an accurate hysteresis modeling. In the hysteresis modeling, a concept of switched system is adopted to describe the Preisach type hysteresis. The systematic modeling procedure is established to obtain the hysteresis system’s parameters step by step. Besides, the geometry of RIP is composed to explain the relationships between the input and the output of a hysteresis system. This is a good compensated procedure for hysteresis modeling. In this study, a piezo driven stage is used to verify the modeling accuracy. Comparing the simulation and the experimental results, it shows the proposed model in this study has a great ability of describing the asymmetric hysteresis phenomena. A control structure includes a feedforward controller and a PD type feedback controller used to realize the high precision positioning control.

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