課程名稱 |
適應控制系統 ADAPTIVE CONTROL SYSTEMS |
開課學期 |
96-2 |
授課對象 |
電機資訊學院 電機工程學研究所 |
授課教師 |
傅立成 |
課號 |
EE7005 |
課程識別碼 |
921 M1380 |
班次 |
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學分 |
3 |
全/半年 |
半年 |
必/選修 |
選修 |
上課時間 |
星期三2,3,4(9:10~12:10) |
上課地點 |
博理214 |
備註 |
總人數限30人 總人數上限:30人 |
Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/962Adaptive |
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 is a course offered for graduate students, which will provide techniques that can help you to analyze linear or nonlinear systems with unknown parameters. And even more, you can use them to design the system controller you need for the desired tracking purpose. The course outline is as the following:
(1)Introduction
(2)Mathematical Preliminaries
(3)Identification
(4)Adaptive Control of Linear Systems
(5)Adaptive Control of a Class of Nonlinear Systems
(6)Robust Adaptive Control
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課程目標 |
To help graduate students to understand how to design controllers for systems with uncertain parameters or for systems with slowly varying dynamics. |
課程要求 |
Grading:
(1)Homework
(2)Final term-paper
(3)Final oral presentation
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預期每週課後學習時數 |
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Office Hours |
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指定閱讀 |
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參考書目 |
1. P. A. Ioannou & J. Sun, "Robust Adaptive Control,"
Prentice-Hall, Upper Saddle River, NJ, 1996 .
2. S. Sastry & M. Bodson, "Adaptive Control: Stability, Convergence, and
Robustness," Prentice-Hall, Englewood Cliffs, NJ, 1989 .
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評量方式 (僅供參考) |
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週次 |
日期 |
單元主題 |
Week 1 |
2/20 |
Introduction to adaptive control system |
Week 2 |
2/27 |
Model for dynamic systems |
Week 3 |
3/05 |
Stability (1) |
Week 4 |
3/12 |
Stability (2) |
Week 5 |
3/19 |
On-line parameter estimation (1) |
Week 6 |
3/26 |
On-Line parameter estimation (2) |
Week 7 |
4/02 |
On-Line parameter estimation (3) |
Week 8 |
4/09 |
Sufficiently rich signals and parameter convergence |
Week 9 |
4/16 |
Model reference adaptive control (1) |
Week 10 |
4/23 |
Model reference adaptive control (2) |
Week 11 |
4/30 |
Model reference adaptive control (3) |
Week 12 |
5/07 |
Adaptive pole placement control |
Week 13 |
5/14 |
Adaptive control of a class of nonlinear systems (1) |
Week 14 |
5/21 |
Adaptive control of a class of nonlinear systems (2) |
Week 15 |
5/28 |
Robust adaptive control (1) |
Week 16 |
6/04 |
Robust adaptive control (2) |
Week 17 |
6/11 |
Robust Adaptive Control (3) |
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