本論文針對一磁浮系統，提出適應控制器，以處理其內部未知參數變動與外部時變干擾。由於傳統直立式磁浮架構不易對磁浮動子引入干擾效應，本文特以水平方式建構系統，並實現出時變干擾效應。由於此系統組態未見於文獻，因此本文詳細推導其運動方程式。因為該系統具有非對稱動態行為，使得控制器設計極具挑戰性。另外，系統內的非匹配未知項的存在，更大幅限制了控制器設計的有效性。本文以適應多面控制法，配合函數近似技術，來設計適應控制器。藉由嚴格的數學證明，可確保系統之穩定度。本文以實際的磁浮系統進行實驗，並與PID控制器比較性能，以彰顯控制器之優越性。

In this thesis, an adaptive controller is designed to a magnetic levitation system to cope with internal time-varying uncertainties and external disturbances. Since the traditional magnetic levitation design is not easy to give external disturbances to the payload, a horizontal design is realized in this study. To facilitate the analysis and controller design, the equation of motion is derived in detail. Due to the asymmetric nature of the magnetic loop, there is a big challenge in the controller design process. In addition, since some of the uncertainties enter the system in a mismatched manner, few control paradigms are feasible here. A multiple-surface sliding control law is proposed with the help of the function approximation technique to stabilize the closed loop system under various uncertainties and disturbances. A rigorous mathematical proof is given to verify the feasibility of the design. Experimental studies are conducted with the comparisons with the conventional PID design to clarify the performance of the proposed controller.

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