非線性控制系統 Nonlinear Control System | 機械工程學系程登湖老師

Nonlinear Control System

非線性控制系統

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課程影音
課程綱要
課程行事曆

The basics of nonlinear dynamic systems
Stability of nonlinear systems
Controller designs for nonlinear systems

課程用書：
Applied Nonlinear Control, J.J. Slotine and W.P. Li, 1991.
Nonlinear Systems, McMillian H.K. Khalil, 3rd edtion.

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授課教師	機械工程學系程登湖老師
課程學分	3學分
授課年度	106學年度
授課對象	大學部、研究所
預備知識	Linear control systems
課程提供	課程影音課程綱要課程行事曆

每頁顯示個資料列

搜尋:

週次	課程內容	課程影音	課程下載
第一週	課程介紹	線上觀看	MP4下載
	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	MP4下載
	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	MP4下載
第二週	Nonlinear Control systems (1/2) ─ Brief review of previous lecture ─ Controllability - linear systems ─ Controllability - nonlinear systems	線上觀看	MP4下載
	Nonlinear Control systems (2/2) ─ Brief review of previous lecture ─ Controllability - linear systems ─ Controllability - nonlinear systems	線上觀看	MP4下載
第三週	Nonlinear Control systems ─ Controllability - Linearized Systems ─ Stable, unstable, Asymptotically Stable ─ PD, PSD, ND, NSD ─ Lyapunov Theorem	線上觀看	MP4下載
	Nonlinear Control systems ─ Controllability - Linearized Systems ─ Stable, unstable, Asymptotically Stable ─ PD, PSD, ND, NSD ─ Lyapunov Theorem	線上觀看	MP4下載
第四週	Nonlinear Control systems ─ Directional Derivatives ─ Lyapunov Theorem ─ Global, Semi-Global Local Stability ─ Lasalle’s Theorem	線上觀看	MP4下載
第五週	Nonlinear Control systems ─ Invariant Set ─ Lasalle’s theorem ─ Radially unbounded functions ─ Nonautonomous systems Radially unbounded functions	線上觀看	MP4下載
第六週	Nonlinear Control systems (1/2) ─ Radially unbounded functions ─ Nonautonomous systems ─ UUB (Uniformly ultimately bounded)	線上觀看	MP4下載
	Nonlinear Control systems (2/2) ─ Radially unbounded functions ─ Nonautonomous systems ─ UUB (Uniformly ultimately bounded)	線上觀看	MP4下載
第七週	Nonlinear Control systems ─ Feedback Linearization ─ High gain controller	線上觀看	MP4下載
第八週	Nonlinear Control systems ─ High gain controllers ─ High frequency controllers ─ Adaptive control ─ Summarization	線上觀看	MP4下載
第九週	Nonlinear Control systems ─ Euler-lagrange systems ─ Controller design for tracking– with Exact Model Knowledge (EMK)	線上觀看	MP4下載
	Nonlinear Control systems (1/3) ─ Euler-Lagrange Systems ─ Robust Control ─ Adaptive Control	線上觀看	MP4下載
	Nonlinear Control systems (2/3) ─ Euler-Lagrange Systems ─ Robust Control ─ Adaptive Control	線上觀看	MP4下載
	Nonlinear Control systems (3/3) ─ Euler-Lagrange Systems ─ Robust Control ─ Adaptive Control	線上觀看	MP4下載
第十週	Nonlinear Control systems ─ Backstepping (1/3)	線上觀看	MP4下載
	Nonlinear Control systems ─ Backstepping (2/3)	線上觀看	MP4下載
第十一週	─ Backstepping (3/3) ─ Mechatronic Systems ─ Without using Backstepping ─ Backstepping	線上觀看	MP4下載
第十二週	Nonlinear Control systems ─ Backstepping – Systems with Disturbance	線上觀看	MP4下載
第十三週	Nonlinear Control systems ─ Adaptive Backstepping	線上觀看	MP4下載
第十四週	Nonlinear Control systems ─ DCAL (Design Compensation Adaptive Law) (1/2)	線上觀看	MP4下載
	Nonlinear Control systems ─ DCAL (Design Compensation Adaptive Law) (2/2)	線上觀看	MP4下載
第十五週	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	MP4下載
第十六週	Nonlinear Control systems ─ Robust Integral of Sign of Error (RISE) Control ─ RISE with Multilayer Neural Network (MNN)	線上觀看	MP4下載
	Nonlinear Control systems ─ Hybrid Systems ─ Switched Systems ─ Common Lyapunov Function ─ Switching between Unstable Systems ─ Multiple Lyapunov-Like Functions	線上觀看	MP4下載

目前顯示第 1 至第 27 個資料列，總計 27 個資料列

課程目標

The basics of nonlinear dynamic systems
Stability of nonlinear systems
Controller designs for nonlinear systems

課程章節

章節	章節內容
The basics of nonlinear dynamic systems	General properites, phase plots, controllability, observability, etc
Stability of nonlinear systems	Lyapunov first method, Lyapunov second method, etc.
Controller designs for nonlinear systems	Feedback linearization, sliding mode control, adaptive control, robust control

課程書目

Applied Nonlinear Control, J.J. Slotine and W.P. Li, 1991
Nonlinear Systems, McMillian H.K. Khalil, 3rd edtion

評分標準

項目	百分比
作業	20%
第一次期中考	25%
第二次期中考	25%
期末報告	30%

本課程行事曆提供課程進度與考試資訊參考。

學期週次	上課日期	參考課程進度
第一週	2017/09/11	Brief review of Linear Systems Phase Portraits Why Nonlinear Control Systems? Autonomous and Non-Autonomous Systems
	2017/09/13
第二週	2017/09/18	Brief review of previous lecture Controllability - linear systems Controllability - nonlinear systems Limit Cycles Functions Existence and Uniqueness Stable, Unstable, Asymptotically Stable
	2017/09/20
第三週	2017/09/25	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
	2017/09/27
第四週	2017/10/02	Directional Derivatives Lyapunov Theorem Global, Semi-Global Local Stability Lasalle’s Theorem
	2017/10/04	中秋節
第五週	2017/10/09	放假
	2017/10/11	Invariant Set Lasalle’s theorem Radially unbounded functions Nonautonomous systems Radially unbounded functions
第六週	2017/10/16	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)
	2017/10/18
第七週	2017/10/23	Feedback Linearization High gain controller
	2017/10/25	第一次期中考
第八週	2017/10/30	High gain controllers High frequency controllers Adaptive control Summarization
	2017/11/01
第九週	2017/11/06	Euler-lagrange systems Controller design for tracking– with Exact Model Knowledge (EMK) Euler-Lagrange Systems Robust Control Adaptive Control
	2017/11/08
第十週	2017/11/13	Backstepping
	2017/11/15
第十一週	2017/11/20	Mechatronic Systems Without using Backstepping Backstepping
	2017/11/22
第十二週	2017/11/27	同學期中報告
	2017/11/29	同學期中報告 Backstepping – Systems with Disturbance
第十三週	2017/12/04	Adaptive Backstepping
	2017/12/06	校運會
第十四週	2017/12/11	DCAL (Design Compensation Adaptive Law)
	2017/12/13
第十五週	2017/12/18	Survey Paper： http://onlinelibrary.wiley.com/doi/10.1111/j.1934-6093.1999.tb00021.x/epdf
	2017/12/20	第二次期中考
第十六週	2017/12/25	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
	2017/12/27
第十七週	2018/01/01	放假
	2018/01/03	同學期末報告
第十八週	2018/01/08	同學期末報告
	2018/01/10