Nonlinear Control System

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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

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

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Instructor(s)	Department of Mechanical Engineering Prof. Teng-Hu Cheng
Course Credits	3 Credits
Academic Year	106 Academic Year
Level	Graduate Student、College Students
Prior Knowledge	Linear control systems
Related Resources	Course Video Course Syllabus Course Calendar

週次	課程內容	課程影音
	陳智主任 - 交通大學材料系指考甲組、乙組特色及優勢介紹	線上觀看
	基礎材料科學微課程簡介材料科學與工程學系學系陳智主任/老師	線上觀看
	交通大學材料科學與工程學系簡介陳智老師/主任	線上觀看
	材料科學與工程簡介陳智老師	線上觀看
	電子/半導體材料簡介陳智老師	線上觀看
	陶瓷材料朱英豪老師	線上觀看
	尖端有機及高分子(軟性)材料林宏洲老師	線上觀看
	金屬材料黃爾文老師	線上觀看
	多功能生醫材料在醫療應用陳三元老師	線上觀看
	奈米材料領域簡介徐庸鎣老師	線上觀看
	物理與材料科學曾院介老師	線上觀看
	材料微結構分析吳文偉老師	線上觀看
	材料科學與數學計算鄒年棣老師	線上觀看
	能源材料王城佑老師	線上觀看
	名校之路─交大材料與我廖揚鴻同學	線上觀看
	伊利諾大學香檳校區與交通大學3+2(學士+碩士)材料系雙聯學位	線上觀看

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