本篇論文提出模糊邏輯控制器，將它應用在磁浮平台系統做動態控制驗證。此磁浮平台具有2個自由度，使用磁浮致動器來推動，同時透過模糊邏輯控制律，根據球的位置誤差與位置誤差的微分項，來決定控制的力道，使球滾到目標點。此外，利用Euler-Lagrange 方程式來推導球與平台的運動方程式。使用CCD camera 作為球的位置感測器，透過微處理器產生脈波寬度調變類型的控制訊號後，經由訊號放大器放大控制訊號後，來推動磁浮致動器。最後藉由位置的追蹤測試，來驗證磁浮平台的動態控制表現。

This thesis presents a fuzzy logic control (FLC) implementation on a ball and plate system for dynamic control verifications. A two degree of freedom (DOF) platform is constructed for experiments using four magnetic suspension (MS) actuators. The mathematical model of the ball and plate operation is derived through the Euler-Lagrange equation. Using CCD camera as a position sensor, a microcontroller is implemented on the proposed system to generate PWM current outputs to activate the MS actuators. The tests verify the position tracking performance on the MS ball and plate system.

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