本論文針對磁浮球系統，提出動態模糊滑動模式控制和基於進化演算法之模糊滑動模式控制之架構與設計方法。首先，引用殊異擾動學之觀念建立非線性磁浮球系統數學模型，並配合實驗量測資料與獲得該系統之參數。其次，針對所獲得之磁浮球系統，利用口語化的方式和滑動模式來設計，傳統的滑動模式和模糊滑動模式設計控制器。接著，本論文提出動態因子模糊滑動模式控制和基於進化演算法則之模糊滑動模式控制，並應用在所建立的磁浮球系統上。在動態因子模糊滑動模式控制方面，其動態因子改變方式，係運用控制系統所能提供最大能量限制和已知的平衡點能量，針對模糊滑動控制器輸出尺度因子做即時的調整。在基於進化演算法則之模糊滑動模式控制方面，乃採用進化演算法將模糊滑動控制器之輸入和輸出尺度因子予以最佳化，並根據李亞普諾夫定理分析其穩定性。最後，本論文所提出磁浮球系統之設計法則，經電腦模擬驗證並與傳統控制法則在IAE、ISE及ISV等三方面相比較，均有更佳的性能。

In this dissertation, structures and design methodologies of the dynamic fuzzy sliding-mode control (FSMC) and an evolutionary programming (EP) based FSMC for magnetic ball levitation system are presented. Firstly, the nonlinear dynamic model of the magnetic ball levitation system is examined by using a singular perturbation method. The parameters in the dynamic model are determined by the experimental data. Secondly, the design schemes of traditional sliding-mode control (SMC) and FSMC for the magnetic ball levitation system are addressed by using the linguistic representation and control rules according to the sliding-mode concept. Finally, we present the dynamic FSMC and EP-based FSMC for the magnetic ball levitation system. In the dynamic FSMC, the scaling factor of the output variable for FSMC is tuned by the maximal energy of the system and by the equivalent control. In the EP-based FSMC, the EP is utilized to find the global optimization scaling factors of the input and output variables for the FSMC. The global asymptotic stability of the EP-based FSMC is confirmed by the Lyapunov stability theory. Computer simulations demonstrate that all the proposed control strategies are effective and can provide much better performance in comparison with traditional control schemes on the integral absolute-error (IAE), integral square-error (ISE), and integral square-voltage (ISV) points of view.

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