動態測試的目的是為了評估系統的功能表現並了解系統特徵與安全規範，保障工程系統的使用安全。動態次結構測試是混合測試的一種，其概念為將一完整受測母系統主要拆成「數值模型」與「物理原型」兩個次結構子系統，兩個子系統間透過軟硬體媒合裝置連結，為了使兩個子系統運行如同原本完整受測系統，數值次結構之輸出與媒合裝置之輸出的同步控制，是確保測試成功之重要因素。
本論文根據新型之「輸出基礎」的動態次結構框架，除了透過感測器直接量取「物理原型」中重點測試元件的響應輸出訊號，亦即藉由訊號量測來得到動態次結構系統中數值次結構與物理次結構相關聯耦合動態方程式的數值，另外更進而將「數值模型」的動態方程式視為一整體的訊號輸出，其目的是可以簡化動態次結構系統的動態方程式並簡化控制器的設計。本論文利用機械手臂的旋轉測試平台除了驗證「輸出基礎」動態次結構框架的可行性，並探討前饋控制器與閉迴路線性PI控制器以及非線性適應性控制器的設計及表現。
閉迴路控制器在模擬結果下的控制效能相較於開迴路控器制至少提升2倍，而從實驗結果來看：閉迴路控制器的效能卻下降2倍，推究其原因可能有(1)實測系統的轉移函數識別誤差造成；(2)實驗環境易受外在雜訊干擾。而本論文所設計之適應性控制器的表現不管是在模擬或者實測的結果都比較不理想，另外隨著適應性權重的增加，雖可加快其追隨同步控制訊號卻有易受環境的干擾的缺點，而且需要經過一段適應調適周期，適應性控制器才可使傳導系統的輸出追蹤數值次結構的輸入訊號，達到同步控制。

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