本文提出一個修改機械系統動態行為的方法，使其閉迴路輸出趨近於目標動態。在不需要加速規回授的情況下，以函數近似法設計一適應控制器，估測未知參數與加速度，以得到適當的閉路性能。並利用Lyapunov穩定理論得到適應更新律確保未知系統的動態修改。最後，將此方法實際應用於一維機械平台，做為本文之驗證。

This thesis proposes a methodology for dynamics modification of a mechanical system. The closed loop system can be regulated to achieve target dynamics without requiring exact system parameters and acceleration feedback. Stability is proved by using the Lyapunov-like technique. A one-dimensional mechanical system is designed to justify the feasibility of the proposed strategies with satisfactory performance.

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