本篇論文主要分為四部分：
1.經由事先給定非線性系統的動態方程式，將此系統精確的轉換成 Takagi-Sugeno (T-S) 模糊模型。接著將系統轉成跳躍系統(jump systems)，設計動態輸出回饋控制器滿足Lyapunov定理來穩定連續及離散 T-S 模糊模型的穩定條件，再利用這些穩定條件推導出LMI(Linear matrix inequality)，歸納成一個定理。
2.提出一個廣義動態輸出回饋控制器，與本論文所設計的控制器做比較，討論兩者之間的差異，並對由廣義動態輸出回饋控制器退化成各個不同型態的控制器做探討。
3.針對一個包含外部干擾的系統~，設計動態輸出回饋控制器滿足Lyapunov定理來穩定連續及離散 T-S 模糊模型的穩定條件~，並且加入H-infinity的性能條件，推導出LMI，歸納成一個定理。
4.分別以混沌系統及倒單擺的例子進行電腦模擬分析，以圖形顯示模擬的結果，並與論文中所推導出的定理做驗證。
本篇論文將原非線性系統，
精確的轉換成 T-S 模糊系統。改變系統架構後，提供一套系統化的研究方法研究非線性系統的穩定性分析問題。當使用這套方法時，
由於控制器是根據 T-S 模糊模型所設計而非直接針對非線性系統做設計，
因此若非線性系統與 T-S 模糊模型間誤差為0，則此控制法則可用於非線性系統。
為確保系統與模型之間的誤差為零，本篇論文沿用一個將誤差以有界非線性項 (sector-bounded nonlinearities)的方法來表示，而後，
非線性系統即可精確的表達成 T-S 模糊模型。
針對 T-S 模糊模型，
本篇論文根據平行分散式補償器 (PDC) 的概念設計控制器。
控制系統中，當系統狀態無法完全獲知時，則必須採用估測器獲得所需的資訊或直接以輸出回饋做控制，本篇所討論的即是研究動態輸出回饋控制器的設計與分析。
在動態輸出回饋控制器設計方面，以往在推導穩定條件時均會有雙線性矩陣不等式 (BMI) 的問題，
而 BMI 無法如同 LMI 一般可輕易經由現有工具程式求解。而本篇論文所設計的控制器將成功的避開BMI的問題，所有在本篇論文所推導出的定理皆能直接轉成LMI進行電腦模擬求解。

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