本文提出一個小波控制器應用在微型永磁同步電動機的控速及定位控制。文中提出一個小波控制器架構，藉由小波理論的多重解析特性，可將誤差訊號解析成為不同尺度頻寬的誤差量，並由小波理論適當地設計各種尺度的權重參數，以完成速度及位置迴路的小波控制器設計。藉以改善電動機的暫態響應、加載能力及追蹤能力。文中探討狀態估測器的使用，以改善微型編碼器的解析度不足的問題。
本文所研製的驅動系統使用德州儀器公司的數位訊號處理器TMS320F28335為控制核心，執行控制器、座標軸轉換及狀態估測器的運算，實測結果與電腦模擬相當符合，說明本文所提出方法的正確性及可行性。

The thesis proposes a wavelet controller of a speed-control system and a position-control system for micro permanent magnet synchronous motors. By using the multi-resolution analysis scheme, the error signal can be divided into different frequency bands. In addition, different weighted factors can be derived according to the wavelet theory. Both a wavelet controller for a speed-control system and a wavelet controller for a position-control system are designed. The proposed closed-loop system can provide fast responses, good load disturbance responses and good tracking responses. Moreover, a state estimator is used to improve the problem caused by the low resolution micro encoder.
A digital signal processor, TMS320F28335, is used to execute the control algorithms, coordinate transformation, and state estimating algorithm. Experimental results validate the simulated results to show the correctness and feasibility of the proposed method.

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