課程名稱 |
線性控制系統 Linear Control Systems |
開課學期 |
109-1 |
授課對象 |
工學院 綠色永續材料與精密元件博士學位學程 |
授課教師 |
王富正 |
課號 |
ME5220 |
課程識別碼 |
522 U5040 |
班次 |
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學分 |
3.0 |
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 |
普202 |
備註 |
系控組必修。先修科目:自動控制。 總人數上限:85人 |
Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1091ME5220_ |
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 |
This course is designed as the second course for control engineering. The first course (Automatic Control) introduces the “classical control” methods employing transfer function techniques, such as root locus, Bode plot, and Nyquist criterion, phase-led and phase-lag control design. In this course, we will introduce the "modern control" methods employing state-space techniques, including state-space realization, state-space solutions, stability, controllability and observability, eigenvalue assignment, and observer design. The second part of the course will introduce the advanced transfer function methods, such as the pole assignment, internal model principle, and model matching (2 DOF) design. In the third part of the course, we will introduce the basic ideas of robust control. |
課程目標 |
This course consists of three parts:
PART I: Modern Control
(1) State-space realization, similarity transformation.
(2) Solutions of LTI, LTV systems.
(3) Stability of systems, Lyapunov stability theory.
(4) Controllability and observability.
(5) State feedback, eigenvalue assignment and LQ control.
(6) Observer design, Kalman filter and LQG control.
PART II: Advanced transfer function control design
(1) Pole placement
(2) Internal modeling principle.
(3) Model matching (2 DOF design).
PART III: Robust Control
(1) Robust stability and robust performance.
(2) Small-Gain theorem.
(3) Robust stability tests. |
課程要求 |
預修課程: Automatic Control (自動控制)
Students are expected to spend at least 3 hours/week to review and to
practice the materials. |
預期每週課後學習時數 |
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Office Hours |
每週三 18:00~21:00 每週一 13:30~14:30 備註: 1.老師時間 2. 助教時間 |
指定閱讀 |
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 |
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) |
No. |
項目 |
百分比 |
說明 |
1. |
期末考 |
30% |
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2. |
第二次期中考 |
25% |
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3. |
第一次期中考 |
25% |
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4. |
小考 |
20% |
隨堂小考 |
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週次 |
日期 |
單元主題 |
第1週 |
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PART I. Modern Control
Chapter 1: State-Space Models |
第2週 |
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Chapter 2: Solutions of state-space models |
第5週 |
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Chapter 3: Stability |
第8週 |
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Chapter 4: Controllability and Observability |
第9週 |
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第一次期中考 (subject to changes) |
第11週 |
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Chapter 5: State Feedback and Estimator Design. |
第13週 |
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PART II. Advanced Transfer Function Methods
Chapter 6: Transfer Function Control Design. |
第14週 |
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第二次期中考 (subject to changes) |
第16週 |
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PART III. Robust Control
Chapter 7: Introduction to Robust Control |
第18週 |
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期末考 |
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