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課程名稱 |
強韌控制
Robust Control |
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開課學期 |
109-2 |
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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 |
王富正 |
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課號 |
ME7137 |
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課程識別碼 |
522 M3500 |
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班次 |
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學分 |
3.0 |
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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 |
星期二6,7,8(13:20~16:20) |
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上課地點 |
工綜213 |
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備註 |
總人數上限：40人 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1092ME7137_ |
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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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課程概述 |
1. (Norms for signals and systems.
2. Uncertainty and robustness.
3. Design constraints.
4. Loopshaping.
5. Controller parameterization.
6. Design for robust performance.
7. μ synthesis
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課程目標 |
Classical control techniques were introduced in Automatic Control course, in which most of the analysis and synthesis tools were presented by transfer function methods. In Linear System Control courses we introduced modern control techniques where the control problems were mainly illustrated and discussed in state-space forms.
In this course (Robust and Multivariable Control) we will discuss so-called post-modern control techniques, robust control. As most of the mathematical models presented in control problems are simplification of physical systems, there will be some degrees of model variations and uncertainties for the physical systems. Thus, the controllers designed by the simplified mathematical models might not work for the real physical systems, in terms of internal stability and performance. In this course we will discuss the ideas of norms, system uncertainties and robust stability/performance criteria under system uncertainties.
After the lectures, the students are expected to understand the basic ideas of robust control, and to apply the fundamental techniques for their research. Computer-aided programs by Matlab will also be introduced to help the practical design. For further study, they are encouraged to take further study on their own, before we give further lectures on Robust Control II.
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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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指定閱讀 |
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參考書目 |
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評量方式
(僅供參考) |
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