摘要
一般背向步進控制理論都是針對受控體數學模型來設計控制器。但是受控體的數學模型可能存在參數不確定性，即使所求得的參數正確，在隨著系統使用時間的增加，機械元件的磨損也會導致系統參數的改變。在本文中將利用鍵結圖來描述參數不確定性對多質量彈簧串接系統的影響。以鍵結圖模型為工具，結合系統本身的物理特性，利用能量的觀點來了解參數不確定性對受控系統的影響。以方便工程師在利用背向步進控制法設計控制器時，該如何估計系統參數，以確保系統穩定性。

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