非線性控制系統
Nonlinear Control System
學期
107-1
學分
3
學分
當期課號
5274
永久課號
IME5567
開課單位
機械工程學系
授課教師
程登湖
校區
光復
類別
選修
上課時間表
| 節 | 週一 | 週三 |
|---|---|---|
3 10:10–11:00 | 非線性控制系統 EE229 2 節連堂 | 非線性控制系統 EE229 |
4 11:10–12:00 |
* 根據陽明交大上課時間表所列
概述
1. The basics of nonlinear dynamic systems 2. Stability of nonlinear systems 3. Controller designs for nonlinear systems
先修科目
1.Linear control systems
教學方式
1. Lecture TA: 李俊明, EE405, #55192, michael1874888@gmail.com Note that the lectures have been recorded videos at NCTU OCW. Video: https://www.youtube.com/playlist?list=PLj6E8qlqmkFvvcdMnd3s5IpmipuXtIO_T Slides: https://sites.google.com/a/g2.nctu.edu.tw/nonlinear-control-systems---2018-fall/course-materials
評分方式
1. Homeworks (20%) 2. Midterm1 (25%) 3. Midterm2 (25%) 4. Final report (30%)
課程大綱
- The basics of nonlinear dynamic systems
- Stability of nonlinear systems
- Controller designs for nonlinear systems
週次計畫
| 週次 | 主題 |
|---|---|
| 第 1 週 | Differences between linear and nonlinear systems: phase plane plots, limit cycles, chaos. etc. |
| 第 2 週 | Difference between linear and nonlinear systems: controllability |
| 第 3 週 | Differences between linear and nonlinear systems: observability |
| 第 4 週 | Stability of nonlinear systems: Lyapunov method |
| 第 5 週 | Midterm 1 |
| 第 6 週 | Nonlinear system stability: Circle criterion |
| 第 7 週 | Controller design: Feedback linearization |
| 第 8 週 | Controller design: Feedback linearization |
| 第 9 週 | Controller desgin: Sliding mode controls |
| 第 10 週 | Midterm 2 |
| 第 11 週 | Controller design: RISE control |
| 第 12 週 | Controller design: RISE control |
| 第 13 週 | Controller design: adaptive control |
| 第 14 週 | Controller design: adaptive control |
| 第 15 週 | Controller design: robust control |
| 第 16 週 | Controller design: robust control |
| 第 17 週 | Controller design: switched control |
| 第 18 週 | oral report |
教科書
1. Nonlinear Systems, McMillian H.K. Khalil, 3rd edtion 2. Applied Nonlinear Control, J.J. Slotine and W.P. Li, 1991
Office Hours
- 地點
- EE468
- 時間
- By appointment
- 聯絡方式
- Drop in or email