印表機產業乃為現今電腦週邊熱門產業之一，本論文的目標即為噴墨式印表機的三大電控系統之整合，使得單一的伺服控制晶片擁有完整的功能。三大電控系統包括：噴墨頭伺服控制系統、噴墨控制系統、以及進紙控制系統。
本文係以Lexmark Z42型噴墨式印表機為實驗載具，將相關控制器模組、訊號處理模組及馬達驅動電路模組以硬體描述語言（VHDL）應用於複雜型可程式邏輯元件（CPLD）內，整合噴墨印表機伺服控制系統所需之相關模組，並實機應用於噴墨頭伺服控制、列印、以及進紙上，以驗證控制晶片的功能。本文中介紹反覆式學習控制法則，應用此方法於印表機列印頭的速度控制，透過此控制機制，可以壓抑皮帶張力及摩擦力所造成的非線性問題。

目前在Z42機型的噴墨控制系統字型噴墨解析度為600 300 dpi。在本文提及的反覆學習控制配合鎖相迴路控制器控制架構下，透過直線列印對正的列印測試可以驗證其控制架構對於噴墨頭速度追蹤的性能改善。

In this thesis, an ink-jet printer system with enhanced printing quality has been designed and implemented by a CPLD. In the ink-jet printer servo controlled system, there are three major sub-systems including the print-head servo system, the ink-jet firing control system, and the paper-feed control system.
In the CPLD-based ink-jet servo design, the proposed scheme consists of two parts. One is a PLL controller as feedback controller to ensure the on-line stability, and the other is the off-line adjustment by iterative learning control. The experimental results indicate that the proposed scheme has shown a significant improvement in printing quality.

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