在本篇論文中，我們使用T-S模糊小腦模型控制器去追蹤控制因環境噪音而需要調整的音量大小。此控制器有下列幾項優點：
1. 利用LMI求出控制增益，使CMAC初始權重提升了準確性。
2. 基於LMI設計具有自適應能力的CMAC，允許時變參數在系統中。
3. 控制器能夠快速並且反覆的修正控制量。
最後在實驗階段，以FPGA做為實現的平台。將T-S模糊小腦模型控制器實現在FPGA上，並且應於蜂鳴器的音量控制。從實驗結果可知，系統表現良好的追蹤效能。

In this study, we use Takagi-Sugeno fuzzy cerebellar model articulation controller (T-S CMAC) for tracking volume which is need to adjusted due to environmental noise. This controller has the following advantages:
1. Using linear matrix inequalities (LMI) to calculate the control gain, it improves the accuracy which is CMAC of the initial weights.
2. In order to track the time-varying parameter in CMAC, we designed the controller via LMI which has strong adaptive ability.
3. It can quickly and repeatedly correction amount of control.
Finally, this study will use the field-programmable gate array (FPGA) to implement T-S CMAC algorithm in experiment. It will apply to adjust volume. In experiment results, we can see the tracking ability is well.

Contents
Abstract in Chinese I
Abstract in English II
Contents III
List of Figures V
List of Tables VII
1 INTRODUCTION 1
1.1 Research Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.1 Fuzzy system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.2 Linear matrix inequalities . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1.3 Cerebellar model articulation controller with T-S fuzzy model . . . . . 4
1.2 Literature Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3 Problem Formulation and Motivations . . . . . . . . . . . . . . . . . . . 13
1.4 Organization of Thesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2 HARDWARE/SOFTWARE CO-DESIGN PLATFORM         15
2.1 DE0-Nano Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 DE0-Nano Hardware/Software Co-design . . . . . . . . . . . . . . . . . . 18
3 TAKAGI-SUGENO FUZZY CEREBELLAR MODEL ARTICULA-
TION CONTROLLER                                            20
3.1 Nominal Tracking Controller . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2 Overall Controller Design . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4 SYSTEM FLOW AND HARDWARE CIRCUIT DESIGN      27
4.1 Sound Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.2 Analog-to-Digital Converter . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.3 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.4 PWM Module and Buzzer . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.4.1 PWM module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.4.2 Buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5 EXPERIMENT                                                 34
5.1 Experiment Environment . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.2 Experiment Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6 CONCLUSIONS AND FUTURE WORKS                     38
6.1 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
6.2 Future Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
References                                                        40

List of Figures
1.1 CMAC basic structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 CMAC separate each input to each memory region . . . . . . . . . . . 6
1.3 CMAC structure with T-S fuzzy model . . . . . . . . . . . . . . . . . . 7
1.4 Hardware architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1 The DE0-Nano board PCB and component diagram (top view) . . . . 17
2.2 The DE0-Nano board PCB and component diagram (bottom view) . . 17
2.3 SOPC design architecture . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.4 SOPC system design flow . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.1 Volume control architecture . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2 Sound sensor: (a) top view (b) bottom view . . . . . . . . . . . . . . . 28
4.3 Sound sensor circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.4 ADC signal conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.5 Range of human hearing . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.6 System Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.7 Magnetic buzzer (AC type) . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.8 Buzzer driving circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5.1 Tracking ability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
5.2 Response time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
5.3 Error value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.4 PWM signal in different situations . . . . . . . . . . . . . . . . . . . . 37

List of Tables
4.1 Electrical characteristics of buzzer . . . . . . . . . . . . . . . . . . . . . 33

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