本文旨在對永磁式同步馬達直接驅動單軸機械臂系統設計非線性控制器以達到定
位控制之目的。 首先設計一漸近穩定之速度估測器， 接著利用 Integrator Backstepping
與非線性阻尼的技巧來設計一非線性控制律，然後將速度估測器與非線性控制律結合成一非
線性控制器，並利用遺傳演算法來搜尋及獲得最佳的控制器參數值。電腦模擬結果顯示此非
線性控制器具有良好的定位控制性能及強韌性。In this paper, a nonlinear controller is designed for a one-link robot
system directly driven by a permanent magnet synchronous motor to achieve a
desired position control. This nonlinear controller includes an asymptotic speed
estimator and a nonlinear control law that is designed by using an integrator
backstepping method and a nonlinear damping technique. Values of control
parameters of this nonlinear controller are automatically searched and obtained
by using a simply genetic algorithm with a fitness function that appropriately
describes the control objective. Results of computer simulation demonstrate the
effectiveness and the feasibility of the designed robust nonlinear controller
