近年來，位置定位系統在工業界上的應用非常廣闊，然而，一般的機械系統中，大多會有非線性特性存在機械伺服機構，而摩擦力就是影響定位精度的重要因素之一，因為它會造成系統追蹤誤差的產生，也會造成能量消耗等問題。在本論文中，主要的目的是發展控制法則，考慮以強健控制理論及模型預測控制針對位置定位系統的離散系統模型來做控制器設計，且針對位置定位系統的控制精度加以改良，並以模擬及實驗來實現對系統精度的改善，最後經由模擬及實驗結果得以驗證所設計之控制器確實能使具有摩擦力現象的系統穩定。

　　High-precision positioning control is in many industrial applications. However, the nonlinear characteristic in a servomechanical system may pose performance limitations. For example, the friction affects the tracking error of the system, resulting in a large tracking error and, sometimes, oscillatory control signal. In this thesis, control algorithms are developed, simulated, and tested. Digital controllers based on robust control and model predictive methods have been designed to improve the control accuracy of positioning systems. Moreover, through simulation and experiment, these controllers are evaluated and tested in an X-Y table. It is show that the friction effect can be stabilized from the preliminary results of simulation and experiment.

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