霍爾感測器、編碼器與轉速計成本較昂貴且佔體積，因此本文採用轉子電流作為回授並建立狀態觀測器。並且利用了滑動模式觀測器來間接的量測速度，如此便可以省略掉速度感測器而直接以轉子電流作為量測的判斷，達到更經濟且更省空間的目的。接著整合滑動模式控制與步階迴歸技術來處理不匹配的不確定性干擾，本文提到不確定性的磨擦力項，可使用觀測器將系統的狀態及外部干擾觀測出來，並達成伺服馬達之速度控制目標。最後運用電腦模擬結果呈現本論文所提出方法之適用性及有效性。

This thesis deals with the mismatched uncertainties of a linear system by using sliding-mode control and backstepping control and applies the derived scheme to control the velocity of a servo motor system. At the same time, the sliding-mode observer is utilized to indirectly estimate the friction force and the speed of motor. SMC observer is designed on the basis of sensorless concept, where only the current signal of the servo motor system is adopted. Finally, computer simulations illustrate the validity and feasibility of the proposed controller.

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