課程名稱 |
強韌控制 ROBUST CONTROL |
開課學期 |
96-2 |
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 |
星期四2,3,4(9:10~12:10) |
上課地點 |
工綜213 |
備註 |
總人數上限:40人 |
Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/962_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 were introduced in the course of Automatic
Control, in which most of the analysis and synthesis tools were presented by
transfer function methods. In Automatic Control II (or Mordern Control) and
Linear System Control courses we introduced modern control techniques where
the control problems were mostly illustrated and discussed in state-space
forms.
In this course (Robust and Multivariable Control) we will discuss the 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 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 |
|
Office Hours |
每週一 15:00~18:00 |
指定閱讀 |
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參考書目 |
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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 |
20% |
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2. |
期中考 |
40% |
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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 |
2/21 |
Introduction |
第2週 |
2/28 |
(Holiday) |
第3週 |
3/06 |
Norms for Signals and Systems |
第4週 |
3/13 |
Basic Concepts |
第5週 |
3/20 |
Uncertainty and Robustness |
第6週 |
3/27 |
Stabilization |
第7週 |
4/03 |
Design Constraints |
第8週 |
4/10 |
Loop Shaping |
第10週 |
4/24 |
(Mid-term Exam) |
第11週 |
5/01 |
Model Matching |
第12週 |
5/08 |
Design for Performance |
第13週 |
5/15 |
Stability Margin Optimisation |
第14週 |
5/22 |
Design for Robust Peformance |
第15週 |
5/29 |
Perturbation to Coprime Factors |
第17週 |
6/12 |
(老師出國開會, ACC 2008, Seattle, USA) |
第18週 |
6/19 |
(Term Exam) |
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