本文針對內部模型為基礎之控制器會有超越量(Overshoot)或振盪(Oscillation)的問題進行控制器初始值補償(Initial Value Compensation, IVC)設計。內部模型原理為基礎之控制器具有抑制已知干擾模型的優點，透過IVC之設計可降低超越量或振盪的產生，大大地提升控制器的性能；本文並利用數位訊號處理器(DSP)與可程式邏輯閘陣列(FPGA)實現於精密線性平台系統。
本文實驗平台之架構上，採用美國德州儀器公司(Texas Instruments, TI)所生產之TMS320C6713 DSP搭配具FPGA之自製擴充子板為實驗平台。在FPGA方面，以硬體描述語言(VHDL)撰寫Encoder, A/D與D/A等週邊界面程式；在控制器實現上，利用TI所提供的Code Composer Studio (CCS)環境下以C/C++撰寫控制器程式並下載到DSP上執行。經由實驗結果證實，透過初始值補償之控制器，能有效改善傳統控制器設計的缺點，改善系統的暫態響應，並且可以消除穩態誤差。

This thesis presents a solution to the overshoot and oscillation problem in Internal Model Principle-based (IMP-based) controllers by using the Initial Value Compensation (IVC). By using IVC the plant can smoothly, fast and accuarately reach the desired position.
The experimental system for IMP-based controllers consists of a commercially avariable single axis linear stage, a brushless servo motor and a DSP/FPGA system that is the control kernel. We use C language and very-high- speed hardware description language (VHDL) as tools for developing a servo control system. Experimental results confirm the effectiveness of the presented schemes.
Keywords: , oscillation, ,

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