Since the piezo-actuating system has hysteresis nonlinearity and time-varying characteristics, it is difficult to establish an accurate dynamic model for designing a model-based controller.

• 摘要由于压电致动系统具有磁滞非线性及时变之特性，所以要建立系统确切之数学模式来进行需要数学模式为基础之控制器设计是不容易的。