快速移動與精準定位為伺服定位系統(Servo positioning system)首重的要素，為達成此目標，模式切換控制律(Mode-Switching Control, MSC)已被廣泛採用，所謂的模式切換控制律包括許多個不同型式的控制器，以及一個切換函數(switching function)，切換函數依據某些條件在各控制器間做切換，針對各模式所著重的性能設計適當的控制器，藉由各模式之切換組合來達成所欲之性能。
本文應用模式切換控制於光碟機之聚焦與定軌伺服控制，並將初始值補償(IVC, Initial Value Compensation)方法融入其中以改善非零起始值造成之系統暫態響應；以嵌入式數位信號處理器(DSP, Digital Signal Processor)為主要的發展環境，運用組合語言來撰寫系統的各個控制器以更有效率地實現其演算法，另外，以嵌入式複雜型可程式邏輯元件(CPLD, Complex Programmable Logic Device)為輔，撰寫硬體描述語言(Hardware Description Language, HDL)完成其他特定重要數位電路模組之實現，融合DSP之高速運算能力與CPLD有效率之邏輯判斷特性來完整呈現模式切換控制律，以期達成既快速且準確的伺服控制性能。

In various servo positioning systems, both fast transient and precise positioning are required. To meet these demands, Mode-Switching Control (MSC) scheme has been used widely. A MSC will include several controllers with different structures, and a switching function that will switch from one controller to another according to a certain condition. Consequently, each controller of the MSC can be optimally designed to meet specifications.
This thesis presents a Mode-Switching Control applied to the focusing and tracking servo system of an optical disk drive. In addition, an initial value compensation (IVC) method is adopted to improve transient characteristics after switching. Establishing the master development environment based on the embedded Digital Signal Processor (DSP), assembly language is adopted to realize control law of the system in order to perform algorithms more efficiently, while the embedded Complex Programmable Logic Device (CPLD) is treated as a slave device, utilizing the Hardware Description Language (HDL) to implement other essential digital circuit modules, including servo signal acquisition and logic determination. By fusing the high-speed computation ability of a DSP and the powerful logic capability of a CPLD, a Mode-Switching control law design can achieve a fast and precise position control task. Experiments were performed to further validate its efficiency.

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