國立陽明交通大學開放式課程(OpenCourseWare, OCW).

非線性控制系統 Nonlinear Control System - 課程介紹

課程首頁課程影音課程綱要課程行事曆

課程影音列表

周次	課程內容	課程影音
	課程介紹	線上觀看
	Nonlinear Control systems (1/2) ─ Brief review of Linear Systems ─ Phase Portraits ─ Why Nonlinear Control Systems? ─ Autonomous and Non-Autonomous Systems	線上觀看
	Nonlinear Control systems (2/2) ─ Brief review of Linear Systems ─ Phase Portraits ─ Why Nonlinear Control Systems? ─ Autonomous and Non-Autonomous Systems	線上觀看
Week 2	Nonlinear Control systems (1/2) ─ Brief review of previous lecture ─ Controllability - linear systems ─ Controllability - nonlinear systems	線上觀看
	Nonlinear Control systems (2/2) ─ Brief review of previous lecture ─ Controllability - linear systems ─ Controllability - nonlinear systems	線上觀看
Week 3	Nonlinear Control systems ─ Controllability - Linearized Systems ─ Stable, unstable, Asymptotically Stable ─ PD, PSD, ND, NSD ─ Lyapunov Theorem	線上觀看
	Nonlinear Control systems ─ Controllability - Linearized Systems ─ Stable, unstable, Asymptotically Stable ─ PD, PSD, ND, NSD ─ Lyapunov Theorem	線上觀看
Week 4	Nonlinear Control systems ─ Directional Derivatives ─ Lyapunov Theorem ─ Global, Semi-Global Local Stability ─ Lasalle’s Theorem	線上觀看
Week 5	Nonlinear Control systems ─ Invariant Set ─ Lasalle’s theorem ─ Radially unbounded functions ─ Nonautonomous systems Radially unbounded functions	線上觀看
Week 6	Nonlinear Control systems (1/2) ─ Radially unbounded functions ─ Nonautonomous systems ─ UUB (Uniformly ultimately bounded)	線上觀看
	Nonlinear Control systems (2/2) ─ Radially unbounded functions ─ Nonautonomous systems ─ UUB (Uniformly ultimately bounded)	線上觀看
Week 7	Nonlinear Control systems ─ Feedback Linearization ─ High gain controller	線上觀看
Week 8	Nonlinear Control systems ─ High gain controllers ─ High frequency controllers ─ Adaptive control ─ Summarization	線上觀看
Week 9	Nonlinear Control systems ─ Euler-lagrange systems ─ Controller design for tracking– with Exact Model Knowledge (EMK)	線上觀看
	Nonlinear Control systems (1/3) ─ Euler-Lagrange Systems ─ Robust Control ─ Adaptive Control	線上觀看
	Nonlinear Control systems (2/3) ─ Euler-Lagrange Systems ─ Robust Control ─ Adaptive Control	線上觀看
	Nonlinear Control systems (3/3) ─ Euler-Lagrange Systems ─ Robust Control ─ Adaptive Control	線上觀看
Week 10	Nonlinear Control systems ─ Backstepping (1/3)	線上觀看
	Nonlinear Control systems ─ Backstepping (2/3)	線上觀看
Week 11	─ Backstepping (3/3) ─ Mechatronic Systems ─ Without using Backstepping ─ Backstepping	線上觀看
Week 12	Nonlinear Control systems ─ Backstepping – Systems with Disturbance	線上觀看
Week 13	Nonlinear Control systems ─ Adaptive Backstepping	線上觀看
Week 14	Nonlinear Control systems ─ DCAL (Design Compensation Adaptive Law) (1/2)	線上觀看
	Nonlinear Control systems ─ DCAL (Design Compensation Adaptive Law) (2/2)	線上觀看
Week 15	Nonlinear Control systems 請參考Survey Paper：http://onlinelibrary.wiley.com/doi/10.1111/j.1934-6093.1999.tb00021.x/epdf	線上觀看
Week 16	Nonlinear Control systems ─ Robust Integral of Sign of Error (RISE) Control ─ RISE with Multilayer Neural Network (MNN)	線上觀看
	Nonlinear Control systems ─ Hybrid Systems ─ Switched Systems ─ Common Lyapunov Function ─ Switching between Unstable Systems ─ Multiple Lyapunov-Like Functions	線上觀看