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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 |
108-1 |
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授課對象 |
工學院 綠色永續材料與精密元件博士學位學程 |
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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 |
3.0 |
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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 |
星期三6,7,8(13:20~16:20) |
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上課地點 |
共104 |
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備註 |
系控組必修。先修科目：自動控制。
總人數上限：85人 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1081ME5220_ |
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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 |
This course is designed as the second control course, for both graduate and undergraduate students. In Automatic Control, we learned about the classical control methods, such as the root-locus, Bode plot, and Nyquist criterion. In this course, we will focus on the so-called modern-control (state-space) methods, such as controllability, Observability, State Feedback, Observer Design, and LQG control.
In addition, we will also introduce advanced transfer function methods, including the pole-placement and two-DOF design. At the end, we will discuss the basic concepts of 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。
Students are expected to spend at least 3 hours/week to review and
practice the materials. |
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預期每週課後學習時數 |
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Office Hours |
每週三 17:00~19:00
每週一 13:30~14:30 備註： 1.老師時間 2. 助教時間 |
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指定閱讀 |
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參考書目 |
1. C.T. Chen, Linear Systems, Theory and Design, 3rd Ed.
2. J. Dwight Aplevich, The Essentials of Linear State-Space Systems.
3. J.C. Doyle, B.A. Francis and A.R. Tannenbaum, Feedback Control Theory,
Downloadable from: http://www.control.utoronto.ca/people/profs/francis/dft.html
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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. |
小考 |
20% |
隨堂小考 |
2. |
第一次期中考 |
25% |
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3. |
第二次期中考 |
25% |
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4. |
期末考 |
30% |
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週次 |
日期 |
單元主題 |
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第1週 |
09/11 |
PART I. State-Space Methods (Modern Control)
//
Chapter 1: State-Space Models |
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第2週 |
09/18 |
Chapter 2: Solutions of state-space models |
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第3週 |
09/25 |
停課一次 |
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第5週 |
10/09 |
Chapter 3: Stability |
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第8週 |
10/30 |
Chapter 4: Controllability and Observability |
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第9週 |
11/06 |
第一次期中考 (subject to changes) |
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第11週 |
11/20 |
Chapter 5: State Feedback and Estimator Design. |
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第13週 |
12/04 |
PART II. Advanced Transfer Function Methods.
Chapter 6: Transfer Function Control Design. |
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第14週 |
12/11 |
第二次期中考 (subject to changes) |
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第16週 |
12/25 |
PART III. Robust Control. // Chapter 7: Introduction to Robust Control |
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第17週 |
2020/01/01 |
元旦放假 |
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第18週 |
01/08 |
期末考 |
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