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課程名稱 |
線性控制系統
Linear Control Systems |
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開課學期 |
100-1 |
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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 |
ME5220 |
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課程識別碼 |
522 U5040 |
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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 |
星期三6,7,8(13:20~16:20) |
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上課地點 |
新503 |
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備註 |
先修科目：自動控制。
總人數上限：65人 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1001_linear_fcw |
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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 |
This course is designed for both graduate and undergraduate students, as a continuation of Automatic Control I. In Automatic Control I, we learned about the classical control design methods, such as root-locus, Bode plot, Nyquist
criterion, etc. As the second course in control system, this course focuses
on the so-called `modern control` techniques, i.e. the state-space methods. In addition, we will also introduce some basic concepts on the frequency
domain control design, and robust control.
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課程目標 |
This course covers three parts:
(1) State-space control design
a) state-space realization of systems, operation on systems, similarity transformation
b) solutions of LTI, LTV systems.
c) stability of systems.
d) Lyapunov stability theory.
e) controllability and observability.
f) eigenvalue assignment control, and LQ control.
g) observer design, and Kalmen filter.
(2) Transfer function control design
a) pole placement control by Bezout identity.
b) internal modeling principle.
c) closed loop design specifications in frequency domain.
(3) Robust Control
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課程要求 |
預修課程 ： 自動控制（一）。
評分考試 ： 期中考(1) 30%, 期
中考(2) 30%, 期末考 40%.
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預期每週課後學習時數 |
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Office Hours |
每週一 13:00~16:00 |
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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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週次 |
日期 |
單元主題 |
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第1週 |
09/14 |
Introduction
(出國開會, 助教發課程簡介及投影片) |
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第2週 |
09/21 |
Chapter 1: Writting State-Space Models |
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第3週 |
09/28 |
Chapter 2: Solutions of state-space models |
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第5週 |
10/12 |
Chapter 3: Stability |
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第7週 |
10/26 |
Chapter 4: Controllability and Observability |
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第8週 |
11/02 |
第一次期中考 |
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第11週 |
11/23 |
Chapter 5: State Feedback and Estimator Design. |
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第12週 |
11/30 |
Chapter 6: Transfer Function Control Design. |
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第13週 |
12/07 |
第二次期中考 (subject to change) |
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第14週 |
12/14 |
Robust Control |
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第18週 |
01/11 |
期末考 |
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