課程名稱 |
強韌控制 ROBUST CONTROL |
開課學期 |
94-2 |
授課對象 |
工學院 機械工程學研究所 |
授課教師 |
王富正 |
課號 |
ME7137 |
課程識別碼 |
522 M3500 |
班次 |
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學分 |
3 |
全/半年 |
半年 |
必/選修 |
選修 |
上課時間 |
星期三6,7,8(13:20~16:20) |
上課地點 |
工綜213 |
備註 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/942_fcw_robust |
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 |
課程大綱
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課程概述 |
Classical control techniques are introduced in Automatic Control I course, in
which most of the analysis and synthesis tools are presented by transfer
function methods. In Automatic Control II and Linear System Control courses we
introduce modern control techniques where the control problems are illustrated
and discussed in state-space forms.
In this course (Robust and Multivariable Control) we will discuss 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 variation or uncertainties. Thus whether the
controllers designed by the simplified mathematical models can work on the
real physical systems becomes a problem. In this course we will discuss the
ideas of norms, system uncertainties and robust stability/performance criteria
under system uncertainties.
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課程目標 |
Understand advanced control theorems.
Realise the problems encountered in practical control applications.
Able to use package software to perform robust controller design. |
課程要求 |
先修課程:自動控制(一)and 自
動控制(二)或線性控制系統 |
預期每週課後學習時數 |
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Office Hours |
每週三 18:00~19:00 |
指定閱讀 |
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參考書目 |
1.Feedback Control Theory, by J.C. Doyle, B.A. Francis and A.R. Tannenbaum.
Downloadable from:http://www.control.utoronto.ca/people/profs/francis/dft.html
2.Essentials of Robust Control, by K. Zhou and J.C. Doyle. Prentice Hall. 1998.
3.Linear Robust Control, by M. Green and D.J.N. Limebeer. Prentice Hall. 1995.
4.Robust and Optimal Control, by K. Zhou, J.C. Doyle and K. Glover. Prentice-
Hall. 1996.
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評量方式 (僅供參考) |
No. |
項目 |
百分比 |
說明 |
1. |
平時成績 |
30% |
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2. |
期中考 |
30% |
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3. |
期末考 & 報告 |
40% |
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週次 |
日期 |
單元主題 |
第1週 |
2/22 |
Introduction |
第2週 |
3/01 |
Norms for Signals and Systems |
第3週 |
3/08 |
Basic Concepts |
第4週 |
3/15 |
Uncertainty and Robustness |
第5週 |
3/22 |
Stabilization |
第6週 |
3/29 |
Design Constraints |
第8週 |
4/12 |
Loop Shaping |
第9週 |
4/19 |
(Mid-term Exam) |
第11週 |
5/03 |
Model Matching |
第13週 |
5/17 |
Design for Performance |
第14週 |
5/24 |
Stability Margin Optimisation |
第16週 |
6/07 |
Design for Robust Peformance |
第17週 |
6/14 |
Perturbation to Coprime Factors |
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