本篇論文主要分成三個部分來說明:第一部分講述系統及即時觀測器的數學模型，針對模糊理論可以處理非線性系統，
將原始系統精確的轉換為 Takagi-Sugeno (T-S) 模糊模型，之後又將 (T-S)模糊系統模型轉換成含有跳躍的模糊系統架構;
第二部分根據第一部分得到的含有跳躍的模糊系統架構和即時觀測器模型，分別推導出使系統穩定和滿足 H_infinity 性能指標的條件;
第三部分則對推導出的結果作電腦模擬，設計即時觀測器。

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