本論文旨在應用數位再設計的方法重新設計觀測/卡曼濾波器鑑別法得到線性追蹤器，本文利用數位再設計提升觀測/卡曼濾波器鑑別法的觀測器，對於未知的多輸入多輸出系統，可以設計線性控制器加以有效的控制追蹤。在這所設計線性模型可取代原未知系統，因而可由線性模型得觀測器跟控制器。新的觀測/卡曼濾波器鑑別法簡化原來複雜系統的控制追蹤器設計。控制追蹤中，不需複雜的估測模型與線性化過程，大大的降低在控制中的所需運算量。

The thesis aims at using digital redesign (DR) method to redesign Observer/Kalman Filter Identification (OKID) and to get observer-based digital redesign tracker. The thesis uses digital redesign to improve the observer of OKID. We can design linear controller to obtain effective track for unknown nonlinear MIMO systems. The linear model that be designed by OKID can replace the original system. Therefore we can get controller and observer from the linear model. The novel OKID is simplified the design tracker for complex system. We do not need complicated estimate and linearization in tracking process. The main purpose is to decide reducing process for control.

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