本文針對駕駛模型具有參數不確定性及輸入延遲所造成的車輛駕駛轉向性能降低問題，提出發展一個可變結構適應性(variable structure model reference adaptive control)車輛轉向輔助控制器。控制器包含predictor及variable structure，其中predictor可抵銷輸入延遲對系統的影響，而variable structure可強化系統的穩健性。最後使用駕駛模擬器進行駕駛人模擬駕駛實驗，以驗證此控制器可否達到預期的效果。根據模擬與實驗分析結果顯示，發現適應性控制器在處理駕駛模型不確定性及輸入延遲所造成的駕駛轉向性能降低的問題上獲得成效，並具有穩健性。

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