本文主要探討雙驅動系統的內部參數 (彈簧阻尼係數) 系統鑑定，本文首先推 導雙驅動系統 (Dual-Stage Actuator system) 之數學模型，接著將本文之數學模型 以 Smith-McMillan Form 表示，並討論雙驅動系統之特性。經由實驗以不同赫茲 正弦訊號依序找出相對應赫茲下所產的振幅大小以及相位角度以找出實際系統波 德圖來換算出雙驅動系統的內部參數 (彈簧阻尼係數)，且利用獨立通道設計方法 (Individual Channel Design,ICD) 設計回授控制器來達到期望之追跡表現。文末以 實驗結果分析系統模型鑑定正確性與控制器參數追跡表現差異，並且提供結論與 討論未來研究之方向。

This thesis discusses the internal parameters (spring damping coefficient) system identification of an actual DSA system, as well as its mathematical model, utilizing a Smith-McMillan form to verify and discuss the characteristics of this DSA system. Through experimental verification, the amplitude and phase angle throughout the bandwidth at dif- ferent sinusoidal frequency are sequentially found in order to find the actual system Bode diagram, so to convert the internal parameters (spring damping coefficient), and by utiliz- ing the Individual Channel Design (ICD) Design feedback controller to achieve the desired tracking performance. Finally, the experimental results are used to analyze the correctness of the system model identification and the difference in the tracking performance of the controller parameters, and provide conclusions and discuss future research directions.

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