本研究針對日益廣泛應用的馬達控制領域，開發了一種基於雙端網路架構的強健控制馬達觀測器設計工具包，以提供使用者一套簡便的觀測器設計方法。首先，本研究基於成熟的鏈散射式描述法求解H∞/H2問題，並提出了利用轉移函數層級來理解閉迴路轉移函數特性的證明。在此基礎上，針對通用型問題、輸出注入問題和輸出估測問題進行了詳細分析，並為每一類型問題提供了符合各架構的馬達觀測器設計案例。最終，將解題所需工具與設計案例整合為設計工具包，並提供了友好的使用者介面。此外，結合雙端網路架構的模擬功能，使得使用者能夠通過此工具包輕鬆進行馬達觀測器的實務設計與模擬。本研究所開發的工具包為馬達觀測器的設計提供了一種高效且直觀的解決方案。

This study focuses on the development of a motor robust observer design toolkit based on the two-port framework, aiming to provide users with a simplified method for designing observers in the increasingly prevalent field of motor control. Initially, the study employs a well-established chain-scattering description approach to solve the H∞/H2 problems and introduces a proof for understanding closed-loop transfer function characteristics in the transfer function level. Based on these characteristics, detailed analyses are conducted for general problems, output injection problems, and output estimation problems, with corresponding motor observer design cases provided for each type. Ultimately, the necessary tools and design cases are integrated into a design toolkit, accompanied by a user-friendly interface. Furthermore, the toolkit incorporates simulation capabilities based on the two-port framework, enabling users to easily conduct practical design and simulation of motor observers. This study's toolkit offers an efficient and intuitive solution for the design of motor observers.

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