本論文主要探討雙驅動系統的追跡定位及抗干擾，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的正弦訊號輸入找出相對應的輸出振幅大小以及相位角度，構築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)對系統進行解偶。並對於不同特性的驅動器設計不同的控制器來達到期望之追跡表現。最後加入不同比重的干擾觀測器(DOB)抑制系統在追跡過程中所受到的干擾，並對於結果進行分析。文末提供結論與討論未來研究之方向。

This thesis focuses on the tracking and disturbance rejection of a dual-stage actuator system. The mathematical model of the dual-stage actuator system is derived and represented in the Smith-McMillan Form, allowing for the characterization of the system's properties. Through experiments using sinusoidal signals of varying frequencies, the corresponding amplitudes and phase angles are measured to construct the actual system's Bode plot and estimate the internal parameters of the dual-stage actuator system (spring and damping coefficients). The Individual Channel Design (ICD) method is employed to decouple the system by designing different controllers for actuators with different characteristics to achieve the desired tracking performance. Furthermore, the impact of incorporating disturbance observers with different weighting factors on suppressing disturbances during the tracking process is analyzed. The study concludes with a discussion of the findings and suggestions for future research directions.

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