本文之雙軸液壓疲勞測試機台個別以數位訊號處理器控制獨立驅動的單軸電液子系統，結合網路傳輸做網路監控，採用具有學習機構的自組織模糊控制器與自組織模糊滑動模式控制器，進行不同結構、不同頻率等之疲勞實驗，比較這兩種模糊控制器的控制特性。結果顯示，在低頻的範圍，這兩種具有自我學習特性的控制器，能精確的達到控制目的，在共振頻率及高頻時，自組織模糊滑動模式控制明顯的比自組織模糊控制有較高的控制精度。

In this reasearch, a double-axial fatigue testing machine is setup by two sets of single-axial electrohydraulic subsystems controlled by digital signal processors individually. The fatigue tested equipment is a beam-type structure. Then, via the internet, the testing data could be real-time displayed in a remote monitor. This system is basically a nonlinear coupled TITO system. By treating this system as a decoupled system, each subsystem has significant structure interactions, parametric uncertainties and nonlinearities. To compare with other control algorithms, the fuzzy control is the best option for this unpredictable system. Then, in order to associate with two-dimensional or one-dimensional self-learning fuzzy rules, the self-organizing fuzzy controller and the self-organizing fuzzy sliding mode controller are both developed and implemented in this system. Then, these fatigue experiments of variety structures are performed at different frequencies. The magnitude error ratio is defined to evaluate and compare their fatigue testing performances. Via plenty tests, the experimental results indicate that these two controllers can achieve the desired control objective precisely in the low frequencies. However, near to the structure resonance and in the high frequencies, magnitude error ratios of both SOFC and SOFSMC are significant, and magnitude error ratios of SOFSMC are slightly less than those of SOFC.

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