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課程名稱 |
非線性控制
Nonlinear Control |
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開課學期 |
113-1 |
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授課對象 |
工學院 機械工程學系 |
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授課教師 |
李 綱 |
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課號 |
ME5010 |
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課程識別碼 |
522 U5980 |
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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 |
星期二7,8,9(14:20~17:20) |
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上課地點 |
新505 |
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備註 |
總人數上限：40人 |
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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 covers the fundamental properties of nonlinear systems including the stability of nonlinear systems via Lyapunov’s direct method, and controllability and observability of nonlinear systems. In addition, controller design of nonlinear systems including feedback linearization and sliding mode control, design of nonlinear discrete and adaptive controllers, nonlinear observers and compensators are covered in this course. |
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課程目標 |
To develop analytical tools to predict the stability and performance of nonlinear systems and to develop an appreciation for the differences between linear and nonlinear systems, such as multiple equilibrium points, and initial condition dependent stability. To develop controller synthesis methods for nonlinear and uncertain dynamic systems. |
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課程要求 |
Automatic Controls |
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預期每週課後學習時數 |
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Office Hours |
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指定閱讀 |
1. Slotine, J.J., and Li. W.P., Applied Nonlinear Control, Prentice-Hall, 1991
2. Khalil, H., Nonlinear Systems, 3nd Ed., Macmillan, 2002
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參考書目 |
1. Song, B., and Hedrick, J.K., Dynamic Surface Control of Uncertain Nonlinear Systems: An LMI Approach, Springer, 2011
2. Isidori, A., Nonlinear Control Systems, 2nd Ed., Springer, 1989
3. Nijmeijer and Van der Schaft, Nonlinear Dynamical Control Systems, 1989
4. Graham and McRuer, Analysis of Nonlinear Control Systems, Dover Press, 1971
5. Guckenheimer and Holmes, Nonlinear Oscillations, Dynamical Systems, and Bifurcation of Vector Fields, Springer-Verlag, 1983
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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 |
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Introduction, General properties of linear and nonlinear systems |
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第2週 |
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Phase plane analysis, Equilibrium finding |
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第3週 |
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Qualitative analysis of nonlinear systems, The center manifold theorem |
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第4週 |
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Controllability & observability of nonlinear systems |
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第5週 |
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Stability of nonlinear systems: Lyapunov theorems |
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第6週 |
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Stability of nonlinear systems: Frequency domain criteria |
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第7週 |
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Stability of nonlinear systems: Small gain |
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第8週 |
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Feedback linearization control |
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第9週 |
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Feedback linearization control |
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第10週 |
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Sliding control theory: SISO, MIMO |
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第11週 |
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Sliding control theory: Adaptive |
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第12週 |
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Sliding control theory: Discrete |
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第13週 |
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Sliding control theory: A unified design methodology |
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第14週 |
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Nonlinear observers: Lyapunov, Differential geometry, Sliding, Compensators |
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第15週 |
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Describing function analysis |
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第16週 |
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Final exam |
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