此論文提出適應性控制設計，並完成了追蹤和穩定於雙質量倒單擺系統。經由利用李亞普諾夫穩定性分析，所提出的控制器已經有效的被證明。另外，藉由電腦模擬和實驗也驗證控制器之可行性。

In this thesis, the development and implementation of an adaptive control scheme for tracking and stabilization of a two-mass inverted pendulum system has been presented. By utilizing Lyapunov-based stability analysis, the effectiveness of the proposed controller has been demonstrated. In addition, the feasibility of the controller is also demonstrated by computer simulation and experiments.

Contents
摘 要 I
Abstract II
Acknowledgments III
Contents IV
List of Tables VI
List of Figures VII
Nomenclature X
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Survey of Related Researches 2
1.3 Contribution of the Thesis 4
1.4 Organization of the Thesis 4
Chapter 2 Mathematics Model 5
2.1 Introduction 5
2.2 Derivation of Equations of Motion 5
Chapter 3 Adaptive Controller Design 8
3.1 Introduction 8
3.2 Model Formulation 8
3.3 Controller Design 10
Chapter 4 Simulation Results 15
4.1 PD Controller 15
4.2 Adaptive Controller 17
Chapter 5 Experimental Verification 32
5.1 Instrument Description 32
5.2 Experimental Results 37
Chapter 6 Conclusion 49
References 50
Appendix 56
Bio-Sketch of Author 58

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