系統中的不確定性與外加干擾不但影響控制性能更會對系統產生不可預料的傷害，本論文基於上述問題分別針對伺服系統中的「摩擦補償」以及「皮帶驅動控制」進行研究。在摩擦補償方面，針對一具有非線性摩擦特性的一維移動平台，提出一FAT適應控制器，並輔以Lyapunov-like法則，以證明系統為穩定收斂，並探討函數近似誤差對系統穩定性之影響。其次設計適當的補償器，有效消除因為摩擦效應所產生的極限圈現象，並且在小位移與大位移皆可達到高速之精密定位，除無超越量之問題，更可達到頗佳之定位精度。在皮帶驅動控制方面，對於具有時變不確定性並承受外加干擾作用的非線性皮帶驅動伺服系統，探討其內部未知量與外部干擾對系統動態特性的影響。本研究提出一以FAT為基礎的滑模控制法則，並以Lyapunov-like法則證明出誤差是均勻最終有界。對具有不確定性與外加干擾的系統，相較於PID控制有更佳的暫態響應，能有效消除振動，並且平滑的將平台運送到目標位置，獲致良好的閉迴路穩定特性。

There are two parts of this dissertation: one is for the compensation of friction effects in a servo system, the other is the stabilization of a belt-driven servo system. The former designs an adaptive controller to cancel the nonlinear friction so that the limit cycle induced in traditional position regulation can be eliminated. The latter suppresses the flexibility in a belt-driven system such that a precise positioning can be achieved. Both of these approaches assume that the uncertainties and external disturbances are time-varying without knowing their variation bounds. The function approximation technique is employed to compensate for these quantities. The closed loop stability is ensured by using the Lyapunov-like analysis with consideration of the approximation errors in the adaptive loop.

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