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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 |
93-1 |
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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 |
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 |
星期四2,3,4(9:10~12:10) |
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上課地點 |
綜201 |
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備註 |
系統控制知識領域選修 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/931me_fcw_Linear_Con |
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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.
Besides, we will also introduce some basic concepts on the frequency domain
control design, robust control and digital control.
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課程目標 |
This course covers four 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
(4) Digital Control
a) sample and data reconstruction, sampling theorem and aliasing.
b) z-transform, relations between s-plane and z-plane.
c) solutions of discrete-time state equations.
d) stability of discrete system.
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課程要求 |
預修課程 ： 自動控制（一）。
評分考試 ：作業&小考 30%, 期中考 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 |
每週五 13:30~15:30 |
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指定閱讀 |
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參考書目 |
使用書籍 ：
1.C.T. Chen, 3th Ed., Linear Systems, Theory and Design, Chapters 1-6, and 8,9.
2.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. Chapters 1-6.
3.Digital system control, B.C. Kuo, Chapters 1-5..
4.K. J. Astrom and B. Wittenmark, 3th Ed., Computer-Controlled Systems, Theory
and Design, Prentice-Hall, 1997. Chapters 1-10. |
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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. |
期中考 |
30% |
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2. |
期末考 |
40% |
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3. |
隨堂測驗 and 作業 |
30% |
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週次 |
日期 |
單元主題 |
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第1週 |
9/16 |
Introduction |
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第2週 |
9/23 |
Chapter 1: Writting State-Space Models |
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第3週 |
9/30 |
(continued)
Chapter 2: Solutions of state-space models |
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第4週 |
10/07 |
(continued) |
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第5週 |
10/14 |
Chapter 3: Stability |
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第6週 |
10/21 |
(continued) |
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第7週 |
10/28 |
(continued) |
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第8週 |
11/04 |
(continued)
Chapter 4: Controllability and Observability |
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第9週 |
11/11 |
(continued)
Chapter 5: State Feedback and Estimator Design. |
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第10週 |
11/18 |
(continued) |
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第11週 |
11/25 |
Chapter 6: Transfer Function Control Design. |
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第13週 |
12/09 |
Mid-Term Exam |
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