控制系統設計的目標，乃是在於使得受控系統能夠穩定，並且可以確實地追蹤所給予的命令，設計控制系統之前，必須先對受控廠進行系統辨識，以取得受控廠的動態模式參數，但本論文提出了以受控廠之開迴路測試數據，在受控廠的數學模式未知地情況下，直接進行控制器設計的方法。同時，系統的穩定與指令的追蹤，乃透過兩個控制迴路來分別達成，因此構成了一個雙迴路的控制系統設計。另外，閉迴路系統的穩定，乃是透過二次線性最佳化原理來達成。

The goal of a control design is to stabilize the system and to have the system output follows the given command. Normally, explicit knowledge of the plant dynamic model is needed for the control design. In this thesis, a method is proposed so that the control design is performed based only on the open-loop plant test data, when the plant model is not explicitly known. Moreover, stabilization argumentation and command following are achieved be means of two separate feedbacks loop. As a result, a two loop feedback structure is formed. Stability of the overall system is ensured by placing the closed-loop poles of the overall system using a linear quadratic optimization approach.

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