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Nonlinear Control System

非線性控制系統

本課程是由 國立陽明交通大學機械工程學系 提供。

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 

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
 

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 systemsGeneral properites, phase plots, controllability, observability, etc
Stability of nonlinear systemsLyapunov first method, Lyapunov second method, etc.
Controller designs for nonlinear systemsFeedback 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2017/10/23Feedback 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
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