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課程名稱 |
適應控制
ADAPTIVE CONTROL |
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開課學期 |
94-2 |
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授課對象 |
工學院 機械工程學研究所 |
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授課教師 |
陽毅平 |
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課號 |
ME7131 |
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課程識別碼 |
522EM3210 |
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班次 |
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學分 |
3 |
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全/半年 |
半年 |
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必/選修 |
選修 |
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上課時間 |
星期三2,3,4(9:10~12:10) |
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上課地點 |
工綜B02 |
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備註 |
本課程以英語授課。 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/942adaptivecontrol |
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課程簡介影片 |
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核心能力關聯 |
核心能力與課程規劃關聯圖 |
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課程大綱
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為確保您我的權利,請尊重智慧財產權及不得非法影印
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課程概述 |
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課程目標 |
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課程要求 |
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預期每週課後學習時數 |
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Office Hours |
每週三 14:00~15:00 |
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指定閱讀 |
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參考書目 |
experiments are associated with Matlab/Simulink toolboxes.
Textbooks:
(1) K.J. and B. Wittenmark, Adaptive Control, 2nd ed., Addison-Wesley
Publishing Company, 1995.
(2) G.C. Goodwin and K. S. Sin, Adaptive Filtering, Prediction and Control,
Prentice-Hall, Inc., Englewood Cliffs, New Jersey, 1984.
References:
[1] Y. D. Landau, Adaptive Control - The Model Reference Approach, New
York, Marcel Dekker, 1979.
[2] L. Ljung, System Identification: Theory for The User, Prentice-Hall,
Inc., 1987.
[3] K. S. Narendra and A. M. Annaswamy, Stable Adaptive Systems, Prentice-
Hall International Ed., 1989.
[4] S. Sastry and M. Bodson, Adaptive Control - Stability, Convergence,
and Robustness, Prentice-Hall International Ed. 1989.
[5] B. D. O. Aderson, et al., Stability of Adaptive Systems --- Passivity
and Averaging Analysis, Cambridge, Mass.: MIT Press, 1986.
[6] T. and P. Stoica, System Identification, Prentice-Hall, Inc., 1989.
[7] B. Roffel, P. J. Vermeer and P. A. Chin, Simulation and Implementation
of Self-Tuning Controllers, Prentice-Hall, Inc., 1989.
[8] E. Mosca, Optimal, Prediction, and Adaptive Control, Prentice-Hall,
Inc., 1995.
[9] Every book and journal paper about adaptive control. |
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評量方式
(僅供參考) |
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No. |
項目 |
百分比 |
說明 |
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1. |
Homework |
40% |
Homework is normally due in one week after assignment, A4 papers |
2. |
Term Project |
30% |
Research-related or industry-related practical issues |
3. |
Paper Reading |
20% |
10 Journal Papers, each with a 2-page report |
4. |
attendance |
10% |
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週次 |
日期 |
單元主題 |
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Week 1 |
2/22 |
1. What is Adaptive Control? (A&W Ch. 1) |
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Week 2 |
3/01 |
1. What is Adaptive Control? (A&W Ch. 1) |
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Week 3 |
3/08 |
2. Parameter Estimation for Deterministic Systems (A&W Ch. 2, G&S Ch. 3) |
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Week 4 |
3/15 |
2. Parameter Estimation for Deterministic Systems (A&W Ch. 2, G&S Ch. 3) |
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Week 5 |
3/22 |
2. Parameter Estimation for Deterministic Systems (A&W Ch. 2, G&S Ch. 3) |
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Week 6 |
3/29 |
3. Adaptive Control of Linear Deterministic Systems (A&W Ch. 3, G&S Ch. 6) |
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Week 7 |
4/05 |
3. Adaptive Control of Linear Deterministic Systems (A&W Ch. 3, G&S Ch. 6) |
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Week 8 |
4/12 |
3. Adaptive Control of Linear Deterministic Systems (A&W Ch. 3, G&S Ch. 6) |
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Week 9 |
4/19 |
4. Model Reference Adaptive Control (A&W Ch. 5, Landau)
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Week 10 |
4/26 |
4. Model Reference Adaptive Control (A&W Ch. 5, Landau)
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Week 11 |
5/03 |
4. Model Reference Adaptive Control (A&W Ch. 5, Landau)
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Week 12 |
5/10 |
5. Auto-Tuning (A&W Ch. 8)
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Week 13 |
5/17 |
6. Adaptive Control with Lattice Filter -- Order Update (G&S Ch. 9)
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Week 14 |
5/24 |
6. Adaptive Control with Lattice Filter -- Order Update (G&S Ch. 9)
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Week 15 |
5/31 |
Applications |
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Week 16 |
6/07 |
Term project presentation |
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Week 17 |
6/14 |
no class |
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Week 18 |
6/21 |
no class |
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Week 19 |
6/28 |
no class |
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