課程名稱 |
控制系統 Control Systems |
開課學期 |
107-2 |
授課對象 |
電機資訊學院 電機工程學系 |
授課教師 |
蔡坤諭 |
課號 |
EE3024 |
課程識別碼 |
901 43100 |
班次 |
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學分 |
3.0 |
全/半年 |
半年 |
必/選修 |
選修 |
上課時間 |
星期四2,3,4(9:10~12:10) |
上課地點 |
明達303 |
備註 |
總人數上限:24人 |
Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1072_EE_Control |
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 |
[Course description]
Control is the action of causing a system variable to approach some desired value. It is also a fundamental and universal problem-solving approach in many traditional and interdisciplinary fields.
A control system, in a very general sense, is a system with an (reference) input that can be applied per the desired value and an output from which how well the system variable matches to the desired value (e.g., errors) can be determined. It can be found in daily life, almost all engineering disciplines, and even biological and social studies. For examples, bicycle riding involves with a control system comprising of a bicycle and a rider, with inputs and outputs associated with the desired attitude, speed, and direction of the bicycle. Temperature control systems have applications in household, automobile, aerospace, office, factory, and agriculture environments. Motion control systems are critical to factory automation and precision instruments, such as industrial robots, atomic-force microscopes, and step-and-scan photolithography exposure systems. Many modern cameras equip with autofocus and vibration compensation systems to minimize image blur. Many kinds of circuits such as phase lock loops, operational amplifiers, and voltage regulators rely on control to ensure their functions and performance. A living body is a complex control system where many critical variables such as heart beat rate, blood pressure, and body temperature are regulated constantly for health. Central banks of most countries around the world set interest rates as a way to control inflation.
This undergraduate course is designed for junior and senior (3rd/4th yr.) students to apprehend basic modeling, simulation, analysis, and design techniques for control systems. It intends to cover fundamentals of “classical control” that primarily focuses on frequency domain feedback control approaches for single-input-single-output systems. When time permits, some essential elements in modern-day control engineering such as state-space approaches, discrete-time digital control, and numerical methods will also be introduced. |
課程目標 |
[Course goals]
Basic:
- Awareness of the strength and the importance of control systems, especially the effectiveness of feedback
- Ability of deriving dynamic models and simulating dynamic responses
- Ability of analyzing and designing feedback controllers for linear SISO systems in the frequency domain using root locus and frequency response techniques
Bonus:
- Awareness of some advanced control topics (e.g., state-space methods, digital control, and nonlinear systems)
- Development of technical writing skills in English |
課程要求 |
[Prerequisites]
Linear algebra, ordinary differential equations, Laplace transforms, fundamental circuit and mechanics analysis -- which should have been well covered by several freshman and sophomore (1st/2nd yr.) courses in most electrical and mechanical engineering curriculums. Prior exposure to the analysis of signals and systems will be beneficial but not absolutely required. |
預期每週課後學習時數 |
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Office Hours |
另約時間 備註: (Instructor: by email appointment; TA: by email appointment) |
指定閱讀 |
Presentation material and/or handouts will be distributed throughout the course. |
參考書目 |
1. [Dorf] R. C. Dorf, Modern Control Systems, 12th ed., 2010
2. [FPE] G. F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback Control of
Dynamic Systems, 6th ed., 2010, or 7th ed., 2015
3. The Mathworks, Inc., Control System Toolbox User's Guide
4. [FPW98] G. F. Franklin, J. D. Powell, and M. Workman, Digital Control of
Dynamic Systems, 3rd ed., 1998
5. [OW96] A. V. Oppenheim and A. S. Willsky, Signals and Systems, 2nd ed.
6. [OS99] A. V. Oppenheim and R. W. Schfer, Discrete-time Signal Processing,
2nd ed.
7. [SP96] S. Skogestad and I. Postlethwaite, Multivariable Feedback Control,
1996 |
評量方式 (僅供參考) |
No. |
項目 |
百分比 |
說明 |
1. |
Final exam |
50% |
Primarily based on lecture materials. Some on homework assignments.
Open-book, open-note, computer, web access; no “living collaborators". |
2. |
Homework |
0% |
Homework problems will be assigned but not graded. |
3. |
Final project |
50% |
Analysis and/or design and/or implementation of a control system of interest.
Proposal (20%), Report (80%)
Within each: Contents – story completeness (50%):; Format – typesetting and technical writing quality (e.g., follow IEEE journal/proceeding formats)(50%) |
4. |
Bonus project(s) |
20% |
Optional -- additional 20% max. Discuss with the instructor first at least one month before the final exam date.
Apply course learning to do anything interesting (e.g., real-time implementation); or, course materials improvements, clarification, …, etc. |
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週次 |
日期 |
單元主題 |
第1週 |
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Course info.; Ch. 1. Overview and History of Control |
第2週 |
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Ch 2. Dynamic Models |
第3週 |
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Ch 3. Dynamic Responses |
第4週 |
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Ch. 4. Basic Properties of Feedback |
第5週 |
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Ch. 5. Root Locus Techniques |
第6週 |
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Ch. 6 Frequency Response Methods |
第7週 |
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Ch. 7 State-Space Methodes |
第8週 |
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Symmetric Root Locus Technique* |
第10週 |
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Modern control example (LQG)*
("Servo system design of a high-resolution piezo-driven fine stage for step-and-repeat microlithography systems," by Kuen-Yu Tsai and Jia-Yush Yen, Industrial Electronics Society, 1999. IECON '99 Proceedings. The 25th Annual Conference of the IEEE v 1, 1999, 11-16, San Jose, California, USA, Nov. 1999) |
第11週 |
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Feedforward control example* ("Design of feedforward filters for improving tracking performances of existing feedback control systems," by Kuen-Yu Tsai*, Charles D. Schaper, and Thomas Kailath, Control Systems Technology, IEEE Transactions on, Volume 12, Issue 5, 742-749, Sept. 2004) |
第12週 |
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Matlab tutorial* (by TA) |
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