本文目的為討論磁流變阻尼器之控制系統設計與實踐應用，磁流變阻尼器是一種利用磁流變液所製成的阻尼裝置，應用在土木與機械工程之基底隔振上，調整輸入磁流變阻尼器的電壓可以改變阻尼器之特性，為一種可調變的智能阻尼裝置，但磁流變阻尼器內部為非線性遲滯動態，不易於系統建模及控制設計。
過去的文獻中，大多使用Bouc-Wen模型來建立磁流變阻尼器之數學模型，但是Bouc-Wen模型其方程式具有不連續性，較難使用現有的非線性理論分析穩定性及設計控制器，因此本論文使用一創新、連續且動態確定的Duffing-Like方程式，能夠有效的仿真磁流變阻尼器之遲滯動態行為，以建立一確定且系統化的模型，並利用此模型來進行參數識別、分析系統的穩定性及設計半主動控制方法，確實掌握磁流變阻尼器之輸出響應，來達到減振實務驗證。
本文最後的模擬與實驗中，利用Duffing-Like模型設計線性化回授控制器，並將控制器實踐在真實物理系統的磁流變阻尼器，線性化回授控制是一種非線性系統的控制方法，找出控制電壓與輸出之間的關係，由調變控制電壓的方式，來控制磁流變阻尼之輸出力以達到結構物減振；首先，在電腦Matlab中模擬，確認系統在經過控制器控制後的穩定性和追蹤性，再藉由混合測試實驗(Hybrid testing)，將磁流變阻尼器與數值結構物模型結合測試，並且利用狀態回授設計數值結構物模型所需之減振力，亦即磁流變阻尼器之參考力，透過力感測器回傳之力訊號，來驗證磁流變阻尼器經由線性化回授控制後之追蹤效果以及減振效果。

The purpose of this study is about Control design of Magnetorheological Damper. Magnetorheological Damper is a damper which contains magnetorheological fluid, usually be used in base-isolated structure in civil engineering and mechanical engineering, and the damper force can be adjusted by the control voltage. Magnetorheological Damper is an intelligent damping device, however, it is difficult to model and design controller due to the hysteresis and nonlinear dynamics of the Magnetorheological Damper.
According to the literature in the past, the Bouc-Wen model is often used in modeling Magnetorheological Damper. However, because the equation has discontinuous functions, it is hard to identity the system parameters, analyze the system stability and design the controller by using the nonlinear system theory. Therefore, this study uses the innovative and continuous Duffing-Like equation, which can express the hysteresis of Magnetorheological Damper and the parameters identification can be done in systematic way. Also, it is allowed to using the nonlinear system theory to analyze the stability and design the controller with the continuous Duffing-Like model. Above all, the damper force can be control to achieve the reduction of vibration.
At last, designing the controller of the Duffing-Like model by Feedback linearization, using Matlab to simulate the Magnetorheological Damper with the Duffing-Like model, and testing the real-time experiment by the hybrid testing. The tracking effect of the controller and the vibration reduction can be determined by the damper force.

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