在控制系統中，為確保系統面對外擾仍具備穩定性，往往需設計具備相應能力之強健控制器。然而，傳統強健控制設計法須透過複雜的數學推導與矩陣運算求得控制器參數，不僅設計流程繁瑣，亦提高了實際應用與調整上的困難。為簡化控制器設計流程，本研究利用頻譜零點/J-頻譜零點的方式快速求解、預測閉迴路性能，並著重於探討控制器結構與閉迴路特性之間的對應關係，並透過op電路概念以建立具有物理意義之權重設計流程。本文針對特殊架構分析，並結合動態權重來探討誤差通道與控制輸出通道之加權方式對閉迴路系統的影響。相較於常見的狀態回授型架構，外擾前饋型架構能更明確地呈現權重設計對控制器極零點與閉迴路極點的影響，亦便於建構對應之解析解。

Robust controllers are widely used to maintain stability and satisfactory performance in the presence of external disturbances and model uncertainties. However, conventional H₂ and H∞ controller synthesis often requires complex mathematical derivations and matrix computations, making the design process less intuitive and complicating controller tuning and practical implementation. This thesis investigates two special control problems, namely state feedback (SF) and disturbance feedforward (DF) problems. Spectral zeros for H₂ control and J-spectral zeros for H∞ control are employed to establish a systematic and interpretable framework for analyzing the relationships among controller architectures, weighting functions, and closed-loop characteristics.
The effects of dynamic weighting functions are further analyzed in terms of their pole and zero configurations. By incorporating the physical characteristics of operational amplifier (op-amp) circuits, an intuitive procedure for selecting weighting functions is developed. The proposed approach also enables reduced-order analysis of the closed-loop transfer function, allowing the dominant low-frequency behavior and system bandwidth to be estimated directly from the synthesized controller.
Finally, the proposed methodology is applied to a motor speed control system and evaluated through numerical simulations. The results demonstrate that the proposed framework systematically connects controller architecture, dynamic weighting-function design, and closed-loop performance while providing a more intuitive approach to robust controller synthesis.

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