課程專區

第一週

• Brief review of Linear Systems
• Phase Portraits
• Why Nonlinear Control Systems?
• Autonomous and Non-Autonomous Systems

• Brief review of previous lecture
• Controllability - linear systems
• Controllability - nonlinear systems
• Limit Cycles
• Functions
• Existence and Uniqueness
• Stable, Unstable, Asymptotically Stable

• Controllability - Linearized Systems
• Stable, unstable, Asymptotically Stable
• PD, PSD, ND, NSD
• Lyapunov Theorem
• Controllability - Linearized Systems
• Stable, unstable, Asymptotically Stable
• PD, PSD, ND, NSD
• Lyapunov Theorem

• Directional Derivatives
• Lyapunov Theorem
• Global, Semi-Global Local Stability
• Lasalle’s Theorem

• 中秋節

• 放假

• Invariant Set
• Lasalle’s theorem
• Radially unbounded functions
• Nonautonomous systems Radially unbounded functions

• Radially unbounded functions
• Nonautonomous systems
• UUB (Uniformly ultimately bounded)
• Some Lemmas and Theorems
• UUB (Uniformly ultimately bounded)
• Barbalat’s Lemma (similar to Lasalle’s Theorem)

• Feedback Linearization
• High gain controller

• 第一次期中考

• High gain controllers
• High frequency controllers
• Adaptive control
• Summarization

• Euler-lagrange systems
• Controller design for tracking– with Exact Model Knowledge (EMK)
• Euler-Lagrange Systems
• Robust Control
• Adaptive Control

• Backstepping

• Mechatronic Systems
• Without using Backstepping
• Backstepping

• 同學期中報告

• 同學期中報告
•  Backstepping – Systems with Disturbance

• Adaptive Backstepping

• 校運會

• DCAL (Design Compensation Adaptive Law)

• Survey Paper：http://onlinelibrary.wiley.com/doi/10.1111/j.1934-6093.1999.tb00021.x/epdf

• 第二次期中考

第十六週

•  Robust Integral of Sign of Error (RISE) Control
• RISE with Multilayer Neural Network (MNN)
• Hybrid Systems
• Switched Systems
• Common Lyapunov Function
• Switching between Unstable Systems
• Multiple Lyapunov-Like Functions

第十七週

• 放假

• 同學期末報告

第十八週

• 同學期末報告