{"id":60663,"date":"2022-12-06T13:30:36","date_gmt":"2022-12-06T05:30:36","guid":{"rendered":"https:\/\/ocw.nycu.edu.tw\/?post_type=course_page&#038;p=60663"},"modified":"2024-11-15T16:32:27","modified_gmt":"2024-11-15T08:32:27","slug":"%e9%9d%9e%e7%b7%9a%e6%80%a7%e6%8e%a7%e5%88%b6%e7%b3%bb%e7%b5%b1-nonlinear-control-system-%e6%a9%9f%e6%a2%b0%e5%b7%a5%e7%a8%8b%e5%ad%b8%e7%b3%bb-%e7%a8%8b%e7%99%bb%e6%b9%96%e8%80%81%e5%b8%ab","status":"publish","type":"course_page","link":"https:\/\/ocw.nycu.edu.tw\/?course_page=all-course\/college-of-engineering\/%e9%9d%9e%e7%b7%9a%e6%80%a7%e6%8e%a7%e5%88%b6%e7%b3%bb%e7%b5%b1-nonlinear-control-system-%e6%a9%9f%e6%a2%b0%e5%b7%a5%e7%a8%8b%e5%ad%b8%e7%b3%bb-%e7%a8%8b%e7%99%bb%e6%b9%96%e8%80%81%e5%b8%ab","title":{"rendered":"\u975e\u7dda\u6027\u63a7\u5236\u7cfb\u7d71 Nonlinear Control System | \u6a5f\u68b0\u5de5\u7a0b\u5b78\u7cfb \u7a0b\u767b\u6e56\u8001\u5e2b"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"60663\" class=\"elementor elementor-60663\">\n\t\t\t\t\t\t\t\t\t<section class=\"penci-section penci-disSticky penci-structure-10 elementor-section elementor-top-section elementor-element elementor-element-90a0113 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"90a0113\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"penci-ercol-100 penci-ercol-order-1 penci-sticky-ct    elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-78bf394\" data-id=\"78bf394\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"penci-section penci-disSticky penci-structure-20 elementor-section elementor-top-section elementor-element elementor-element-0025485 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"0025485\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"penci-ercol-50 penci-ercol-order-1 penci-sticky-ct    elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-0446ed9\" data-id=\"0446ed9\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-element elementor-element-2f5840a elementor-widget elementor-widget-penci-info-box\" data-id=\"2f5840a\" data-element_type=\"widget\" data-widget_type=\"penci-info-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div id=\"penci_info_box_44471\" class=\"penci-block-vc penci-info-box penci-ibox-float-left penci-view-default penci-shape-circle\">\r\n\t\t\t<div class=\"penci-ibox-inner\">\r\n\t\t\t\t\t\t\t\t<div class=\"penci-ibox-icon penci-ibox-icon--icon penci-icon penci-tibox-text\"><span class=\"penci-ibox-icon-fa\"><\/span><\/div>\t\t\t\t<div class=\"penci-ibox-content-wrap\">\r\n\t\t\t\t\t<div class=\"penci-ibox-stit\">Nonlinear Control System<\/div>\t\t\t\t\t<h3 class=\"penci-ibox-title\">\u975e\u7dda\u6027\u63a7\u5236\u7cfb\u7d71 <\/h3>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\r\n\t\t\t<\/div>\r\n\t\t<\/div>\r\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c6381f4 elementor-widget elementor-widget-eael-adv-tabs\" data-id=\"c6381f4\" data-element_type=\"widget\" data-widget_type=\"eael-adv-tabs.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <div id=\"eael-advance-tabs-c6381f4\" class=\"eael-advance-tabs eael-tabs-horizontal eael-tab-auto-active\" data-tabid=\"c6381f4\">\n            <div class=\"eael-tabs-nav\">\n                <ul class=\"eael-tab-inline-icon\">\n                                            <li id=\"home\" class=\"active-default 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       \n                                                            <span class=\"eael-tab-title  title-after-icon\">\u8ab2\u7a0b\u884c\u4e8b\u66c6<\/span>                            \n                                                    <\/li>\n                                    <\/ul>\n            <\/div>\n            \n            <div class=\"eael-tabs-content\">\n\t\t        \n                    <div id=\"home-tab\" class=\"clearfix eael-tab-content-item active-default\" data-title-link=\"home-tab\">\n\t\t\t\t        \t\t\t\t\t        <p><style type=\"text\/css\">\n.\u3002 {<br \/>\tfont-size: 18px;<br \/>}<br \/>.\u3002 {<br \/>\tfont-size: 18px;<br \/>}<br \/>.\u3002 {<br \/>\tfont-size: 18px;<br \/>}<br \/><\/style><\/p><p style=\"margin-bottom: 10px; line-height: 28px; color: #101010; font-family: \u5fae\u8edf\u6b63\u9ed1\u9ad4, Arial; font-size: 16px;\">\u672c\u8ab2\u7a0b\u662f\u7531\u00a0<a href=\"https:\/\/me.nycu.edu.tw\/\" target=\"_blank\" rel=\"noopener\">\u570b\u7acb\u967d\u660e\u4ea4\u901a\u5927\u5b78\u6a5f\u68b0\u5de5\u7a0b\u5b78\u7cfb <\/a>\u63d0\u4f9b\u3002<\/p><p class=\"text\">The basics of nonlinear dynamic systems<br \/>Stability of nonlinear systems<br \/>Controller designs for nonlinear systems<br \/><br \/><\/p><p><span style=\"color: #3366ff; font-size: 16px;\">\u8ab2\u7a0b\u7528\u66f8\uff1a<br \/><\/span><span style=\"font-size: 16px;\">Applied Nonlinear Control, J.J. Slotine and W.P. Li, 1991.<br \/>Nonlinear Systems, McMillian H.K. Khalil, 3rd edtion.<br \/><\/span><\/p><p style=\"color: #ff00ff; font-size: 14px;\">\u70ba\u6c42\u5b78\u7fd2\u6210\u6548\u5b8c\u7f8e\uff0c\u8acb\u8cfc\u8cb7\u8ab2\u672c\uff01<br \/><br \/><\/p><table style=\"color: #101010; font-family: \u5fae\u8edf\u6b63\u9ed1\u9ad4, Arial; font-size: 16px;\" border=\"1\"><tbody><tr><th style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\" width=\"100\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"font-weight: 400; white-space: normal;\">\u6388\u8ab2\u6559\u5e2b<\/span><\/span><\/th><td bgcolor=\"#EEEEEE\" width=\"518\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\">\u00a0\u6a5f\u68b0\u5de5\u7a0b\u5b78\u7cfb \u7a0b\u767b\u6e56\u8001\u5e2b<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><tr><th style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"font-weight: 400; white-space: normal;\">\u8ab2\u7a0b\u5b78\u5206<\/span><\/span><\/th><td class=\"text\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\">\u00a03\u5b78\u5206<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><tr><th class=\"text\" style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"font-weight: 400; white-space: normal;\">\u6388\u8ab2\u5e74\u5ea6<\/span><\/span><\/th><td class=\"text\" bgcolor=\"#EEEEEE\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\">\u00a0106\u5b78\u5e74\u5ea6<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><tr><th style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"font-weight: 400; white-space: normal;\">\u6388\u8ab2\u5c0d\u8c61<\/span><\/span><\/th><td class=\"text\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\">\u00a0\u5927\u5b78\u90e8\u3001\u7814\u7a76\u6240<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><tr><th style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"font-weight: 400; white-space: normal;\">\u9810\u5099\u77e5\u8b58<\/span><\/span><\/th><td class=\"text\" bgcolor=\"#EEEEEE\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\">\u00a0Linear control systems<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><tr><th style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"font-weight: 400; white-space: normal;\">\u8ab2\u7a0b\u63d0\u4f9b<\/span><\/span><\/th><td class=\"text\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\"><span style=\"color: #313131; font-family: PT Serif, serif;\">\u00a0<a href=\"#video\">\u8ab2\u7a0b\u5f71\u97f3<\/a>\u00a0 \u00a0<a href=\"#syllabus\">\u8ab2\u7a0b\u7db1\u8981<\/a> \u00a0\u00a0<a href=\"#calendar\">\u8ab2\u7a0b\u884c\u4e8b\u66c6<\/a>\u00a0<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><\/tbody><\/table>\t\t\t\t                            <\/div>\n\t\t        \n                    <div id=\"video-tab\" class=\"clearfix eael-tab-content-item inactive\" data-title-link=\"video-tab\">\n\t\t\t\t        \t\t\t\t\t        <p>\n<table id=\"tablepress-172\" class=\"tablepress tablepress-id-172\">\n<thead>\n<tr class=\"row-1 odd\">\n\t<th class=\"column-1\">\u9031\u6b21<\/th><th class=\"column-2\">\u8ab2\u7a0b\u5167\u5bb9<\/th><th class=\"column-3\">\u8ab2\u7a0b\u5f71\u97f3<\/th>\n<\/tr>\n<\/thead>\n<tbody class=\"row-hover\">\n<tr class=\"row-2 even\">\n\t<td class=\"column-1\">\u7b2c\u4e00\u9031<\/td><td class=\"column-2\">\u8ab2\u7a0b\u4ecb\u7d39<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=60906\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-3 odd\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems (1\/2)<br \/>\n\u2500 Brief review of Linear Systems<br \/>\n\u2500 Phase Portraits<br \/>\n\u2500 Why Nonlinear Control Systems?<br \/>\n\u2500 Autonomous and Non-Autonomous Systems<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79756\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-4 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems (2\/2)<br \/>\n\u2500 Brief review of Linear Systems<br \/>\n\u2500 Phase Portraits<br \/>\n\u2500 Why Nonlinear Control Systems?<br \/>\n\u2500 Autonomous and Non-Autonomous Systems<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79762\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-5 odd\">\n\t<td class=\"column-1\">\u7b2c\u4e8c\u9031<\/td><td class=\"column-2\">Nonlinear Control systems (1\/2)<br \/>\n\u2500 Brief review of previous lecture<br \/>\n\u2500 Controllability - linear systems<br \/>\n\u2500 Controllability - nonlinear systems<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79772\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-6 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems (2\/2)<br \/>\n\u2500 Brief review of previous lecture<br \/>\n\u2500 Controllability - linear systems<br \/>\n\u2500 Controllability - nonlinear systems<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79778\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-7 odd\">\n\t<td class=\"column-1\">\u7b2c\u4e09\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Controllability - Linearized Systems<br \/>\n\u2500 Stable, unstable, Asymptotically Stable<br \/>\n\u2500 PD, PSD, ND, NSD<br \/>\n\u2500 Lyapunov Theorem<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79784\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-8 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Controllability - Linearized Systems<br \/>\n\u2500 Stable, unstable, Asymptotically Stable<br \/>\n\u2500 PD, PSD, ND, NSD<br \/>\n\u2500 Lyapunov Theorem<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79790\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-9 odd\">\n\t<td class=\"column-1\">\u7b2c\u56db\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Directional Derivatives<br \/>\n\u2500 Lyapunov Theorem<br \/>\n\u2500 Global, Semi-Global Local Stability<br \/>\n\u2500 Lasalle\u2019s Theorem<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79796\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-10 even\">\n\t<td class=\"column-1\">\u7b2c\u4e94\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Invariant Set<br \/>\n\u2500 Lasalle\u2019s theorem<br \/>\n\u2500 Radially unbounded functions<br \/>\n\u2500 Nonautonomous systems Radially unbounded functions<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79802\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-11 odd\">\n\t<td class=\"column-1\">\u7b2c\u516d\u9031<\/td><td class=\"column-2\">Nonlinear Control systems (1\/2)<br \/>\n\u2500 Radially unbounded functions<br \/>\n\u2500 Nonautonomous systems<br \/>\n\u2500 UUB (Uniformly ultimately bounded)<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79808\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-12 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems (2\/2)<br \/>\n\u2500 Radially unbounded functions<br \/>\n\u2500 Nonautonomous systems<br \/>\n\u2500 UUB (Uniformly ultimately bounded)<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79814\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-13 odd\">\n\t<td class=\"column-1\">\u7b2c\u4e03\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Feedback Linearization<br \/>\n\u2500 High gain controller<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79820\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-14 even\">\n\t<td class=\"column-1\">\u7b2c\u516b\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 High gain controllers<br \/>\n\u2500 High frequency controllers<br \/>\n\u2500 Adaptive control<br \/>\n\u2500 Summarization<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79826\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-15 odd\">\n\t<td class=\"column-1\">\u7b2c\u4e5d\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Euler-lagrange systems<br \/>\n\u2500 Controller design for tracking\u2013 with Exact Model Knowledge (EMK)<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79832\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-16 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems (1\/3)<br \/>\n\u2500 Euler-Lagrange Systems<br \/>\n\u2500 Robust Control<br \/>\n\u2500 Adaptive Control<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79838\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-17 odd\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems (2\/3)<br \/>\n\u2500 Euler-Lagrange Systems<br \/>\n\u2500 Robust Control<br \/>\n\u2500 Adaptive Control<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79844\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-18 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems (3\/3)<br \/>\n\u2500 Euler-Lagrange Systems<br \/>\n\u2500 Robust Control<br \/>\n\u2500 Adaptive Control<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79850\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-19 odd\">\n\t<td class=\"column-1\">\u7b2c\u5341\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Backstepping (1\/3)<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79856\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-20 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Backstepping (2\/3)<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79862\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-21 odd\">\n\t<td class=\"column-1\">\u7b2c\u5341\u4e00\u9031<\/td><td class=\"column-2\">\u2500 Backstepping (3\/3)<br \/>\n\u2500 Mechatronic Systems<br \/>\n\u2500 Without using Backstepping<br \/>\n\u2500 Backstepping<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79868\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-22 even\">\n\t<td class=\"column-1\">\u7b2c\u5341\u4e8c\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Backstepping \u2013 Systems with Disturbance<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79874\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-23 odd\">\n\t<td class=\"column-1\">\u7b2c\u5341\u4e09\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Adaptive Backstepping<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79880\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-24 even\">\n\t<td class=\"column-1\">\u7b2c\u5341\u56db\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 DCAL (Design Compensation Adaptive Law) (1\/2)<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79886\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-25 odd\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 DCAL (Design Compensation Adaptive Law) (2\/2)<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79892\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-26 even\">\n\t<td class=\"column-1\">\u7b2c\u5341\u4e94\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u8acb\u53c3\u8003Survey Paper\uff1ahttp:\/\/onlinelibrary.wiley.com\/doi\/10.1111\/j.1934-6093.1999.tb00021.x\/epdf<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79898\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-27 odd\">\n\t<td class=\"column-1\">\u7b2c\u5341\u516d\u9031<\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Robust Integral of Sign of Error (RISE) Control<br \/>\n\u2500 RISE with Multilayer Neural Network (MNN)<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79904\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-28 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">Nonlinear Control systems<br \/>\n\u2500 Hybrid Systems<br \/>\n\u2500 Switched Systems<br \/>\n\u2500 Common Lyapunov Function<br \/>\n\u2500 Switching between Unstable Systems<br \/>\n\u2500 Multiple Lyapunov-Like Functions<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=79910\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<!-- #tablepress-172 from cache -->\u00a0<\/p>\t\t\t\t                            <\/div>\n\t\t        \n                    <div id=\"syllabus-tab\" class=\"clearfix eael-tab-content-item inactive\" data-title-link=\"syllabus-tab\">\n\t\t\t\t        \t\t\t\t\t        <p class=\"title\"><strong>\u8ab2\u7a0b\u76ee\u6a19<\/strong><\/p><p class=\"text\">The basics of nonlinear dynamic systems<br \/>Stability of nonlinear systems<br \/>Controller designs for nonlinear systems<\/p><p class=\"title\"><strong><br \/>\u8ab2\u7a0b\u7ae0\u7bc0<\/strong><\/p><table border=\"1\" cellspacing=\"0\"><tbody><tr class=\"stitle\"><td bgcolor=\"#e4d8b0\"><strong> \u7ae0\u7bc0<\/strong><\/td><td bgcolor=\"#e4d8b0\"><strong> \u7ae0\u7bc0\u5167\u5bb9<\/strong><\/td><\/tr><tr><td style=\"padding: 5px;\"><span class=\"text\">The basics of nonlinear dynamic systems<\/span><\/td><td style=\"padding: 5px;\"><span class=\"text\">General properites, phase plots, controllability, observability, etc<\/span><\/td><\/tr><tr><td style=\"padding: 5px;\" bgcolor=\"#f2f2ec\"><span class=\"text\">Stability of nonlinear systems<\/span><\/td><td style=\"padding: 5px;\" bgcolor=\"#f2f2ec\"><span class=\"text\">Lyapunov first method, Lyapunov second method, etc.<\/span><\/td><\/tr><tr><td style=\"padding: 5px;\"><span class=\"text\">Controller designs for nonlinear systems<\/span><\/td><td style=\"padding: 5px;\"><span class=\"text\">Feedback linearization, sliding mode control, adaptive control, robust control<\/span><\/td><\/tr><\/tbody><\/table><p class=\"title\"><strong><br \/>\u8ab2\u7a0b\u66f8\u76ee<\/strong><\/p><p class=\"text\">Applied Nonlinear Control, J.J. Slotine and W.P. Li, 1991<br \/>Nonlinear Systems, McMillian H.K. Khalil, 3rd edtion<\/p><p class=\"title\"><strong><br \/>\u8a55\u5206\u6a19\u6e96<\/strong><\/p><table border=\"1\" cellspacing=\"0\"><tbody><tr class=\"stitle\"><td bgcolor=\"#e4d8b0\"><strong>\u9805\u76ee<\/strong><\/td><td bgcolor=\"#e4d8b0\"><strong>\u767e\u5206\u6bd4<\/strong><\/td><\/tr><tr><td style=\"padding: 5px;\"><span class=\"text\">\u4f5c\u696d<\/span><\/td><td style=\"padding: 5px;\"><span class=\"text\">20%<\/span><\/td><\/tr><tr><td style=\"padding: 5px;\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u7b2c\u4e00\u6b21\u671f\u4e2d\u8003<\/span><\/td><td style=\"padding: 5px;\" bgcolor=\"#f2f2ec\"><span class=\"text\">25%<\/span><\/td><\/tr><tr><td style=\"padding: 5px;\"><span class=\"text\">\u7b2c\u4e8c\u6b21\u671f\u4e2d\u8003<\/span><\/td><td style=\"padding: 5px;\"><span class=\"text\">25%<\/span><\/td><\/tr><tr><td style=\"padding: 5px;\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u671f\u672b\u5831\u544a<\/span><\/td><td style=\"padding: 5px;\" bgcolor=\"#f2f2ec\"><span class=\"text\">30%<\/span><\/td><\/tr><\/tbody><\/table>\t\t\t\t                            <\/div>\n\t\t        \n                    <div id=\"calendar-tab\" class=\"clearfix eael-tab-content-item inactive\" data-title-link=\"calendar-tab\">\n\t\t\t\t        \t\t\t\t\t        <p><span style=\"font-family: \u65b0\u7d30\u660e\u9ad4; font-size: 15px;\">\u672c\u8ab2\u7a0b\u884c\u4e8b\u66c6\u63d0\u4f9b\u8ab2\u7a0b\u9032\u5ea6\u8207\u8003\u8a66\u8cc7\u8a0a\u53c3\u8003\u3002<\/span><\/p><table style=\"font-style: normal; line-height: 20px; font-size: 15px; text-align: center;\" border=\"1\" cellspacing=\"0\"><tbody><tr><td bgcolor=\"#e4d8b0\" width=\"76\"><div style=\"text-align: center;\"><span style=\"color: #000000; font-weight: bold;\"><strong>\u5b78\u671f\u9031\u6b21<\/strong><\/span><\/div><\/td><td bgcolor=\"#e4d8b0\" width=\"135\"><div style=\"text-align: center;\" align=\"center\"><span style=\"font-family: 'Times New Roman'; font-weight: bold;\"><strong>\u4e0a\u8ab2\u65e5\u671f<\/strong><\/span><\/div><\/td><td bgcolor=\"#e4d8b0\" width=\"440\"><div style=\"text-align: center; font-size: 15px; font-weight: bold;\"><strong>\u53c3\u8003\u8ab2\u7a0b\u9032\u5ea6<\/strong><\/div><\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><p><span class=\"text\">\u7b2c\u4e00\u9031<\/span><\/p><\/td><td style=\"line-height: 20px; font-style: normal; font-size: 15px; text-align: center;\">2017\/09\/11<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\"><ul><li>Brief review of Linear Systems <br \/>Phase Portraits <br \/>Why Nonlinear Control Systems? <br \/>Autonomous and Non-Autonomous Systems<\/li><\/ul><\/td><\/tr><tr><td style=\"line-height: 20px; font-style: normal; font-size: 15px; text-align: center;\">2017\/09\/13<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u7b2c\u4e8c\u9031<\/span><\/td><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/09\/18<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><ul><li>Brief review of previous lecture <br \/>Controllability - linear systems <br \/>Controllability - nonlinear systems <br \/>Limit Cycles <br \/>Functions <br \/>Existence and Uniqueness <br \/>Stable, Unstable, Asymptotically Stable<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/09\/20<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><span class=\"text\">\u7b2c\u4e09\u9031<\/span><\/td><td style=\"text-align: center;\">2017\/09\/25<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\"><ul><li>Controllability - Linearized Systems <br \/>Stable, unstable, Asymptotically Stable <br \/>PD, PSD, ND, NSD <br \/>Lyapunov Theorem <br \/>Controllability - Linearized Systems <br \/>Stable, unstable, Asymptotically Stable <br \/>PD, PSD, ND, NSD <br \/>Lyapunov Theorem<\/li><\/ul><\/td><\/tr><tr><td>2017\/09\/27<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u7b2c\u56db\u9031<\/span><\/td><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/10\/02<\/td><td style=\"text-align: left; padding: 5px;\" bgcolor=\"#f2f2ec\"><ul><li>Directional Derivatives <br \/>Lyapunov Theorem <br \/>Global, Semi-Global Local Stability <br \/>Lasalle\u2019s Theorem<\/li><\/ul><\/td><\/tr><tr><td bgcolor=\"#f2f2ec\">2017\/10\/04<\/td><td style=\"text-align: left; padding: 5px;\" bgcolor=\"#f2f2ec\"><ul><li>\u4e2d\u79cb\u7bc0<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><span class=\"text\">\u7b2c\u4e94\u9031<\/span><\/td><td style=\"text-align: center;\">2017\/10\/09<\/td><td style=\"text-align: left; padding: 5px;\"><ul><li>\u653e\u5047<\/li><\/ul><\/td><\/tr><tr><td>2017\/10\/11<\/td><td style=\"text-align: left; padding: 5px;\"><ul><li>Invariant Set <br \/>Lasalle\u2019s theorem <br \/>Radially unbounded functions <br \/>Nonautonomous systems Radially unbounded functions<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u7b2c\u516d\u9031<\/span><\/td><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/10\/16<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><ul><li>Radially unbounded functions <br \/>Nonautonomous systems <br \/>UUB (Uniformly ultimately bounded) <br \/>Some Lemmas and Theorems <br \/>UUB (Uniformly ultimately bounded) <br \/>Barbalat\u2019s Lemma (similar to Lasalle\u2019s Theorem)<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/10\/18<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><span class=\"text\">\u7b2c\u4e03\u9031<\/span><\/td><td style=\"text-align: center;\">2017\/10\/23<\/td><td style=\"text-align: left; padding: 5px;\">Feedback Linearization <br \/>High gain controller<\/td><\/tr><tr><td style=\"text-align: center;\">2017\/10\/25<\/td><td style=\"text-align: left; padding: 5px;\"><ul><li>\u7b2c\u4e00\u6b21\u671f\u4e2d\u8003<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u7b2c\u516b\u9031<\/span><\/td><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/10\/30<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><ul><li>High gain controllers <br \/>High frequency controllers <br \/>Adaptive control <br \/>Summarization<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/11\/01<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><span class=\"text\">\u7b2c\u4e5d\u9031<\/span><\/td><td style=\"text-align: center;\">2017\/11\/06<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\"><ul><li>Euler-lagrange systems <br \/>Controller design for tracking\u2013 with Exact Model Knowledge (EMK) <br \/>Euler-Lagrange Systems <br \/>Robust Control <br \/>Adaptive Control<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\">2017\/11\/08<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u7b2c\u5341\u9031<\/span><\/td><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/11\/13<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\" bgcolor=\"#F2F2EC\"><ul><li>Backstepping<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/11\/15<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><span class=\"text\">\u7b2c\u5341\u4e00\u9031<\/span><\/td><td style=\"text-align: center;\">2017\/11\/20<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\"><ul><li>Mechatronic Systems <br \/>Without using Backstepping <br \/>Backstepping<\/li><\/ul><\/td><\/tr><tr><td>2017\/11\/22<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u7b2c\u5341\u4e8c\u9031<\/span><\/td><td style=\"text-align: center;\" bgcolor=\"#f2f2ec\">2017\/11\/27<\/td><td style=\"text-align: left; padding: 5px;\" bgcolor=\"#f2f2ec\"><ul><li>\u540c\u5b78\u671f\u4e2d\u5831\u544a<\/li><\/ul><\/td><\/tr><tr><td bgcolor=\"#f2f2ec\">2017\/11\/29<\/td><td style=\"text-align: left; padding: 5px;\" bgcolor=\"#f2f2ec\"><ul><li>\u540c\u5b78\u671f\u4e2d\u5831\u544a <br \/>Backstepping \u2013 Systems with Disturbance<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><span class=\"text\">\u7b2c\u5341\u4e09\u9031<\/span><\/td><td style=\"text-align: center;\">2017\/12\/04<\/td><td style=\"text-align: left; padding: 5px;\"><ul><li>Adaptive Backstepping<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\">2017\/12\/06<\/td><td style=\"text-align: left; padding: 5px;\"><ul><li>\u6821\u904b\u6703<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u7b2c\u5341\u56db\u9031<\/span><\/td><td style=\"line-height: 20px; font-style: normal; font-size: 15px; text-align: center;\" bgcolor=\"#f2f2ec\">2017\/12\/11<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><ul><li>DCAL (Design Compensation Adaptive Law)<\/li><\/ul><\/td><\/tr><tr><td bgcolor=\"#f2f2ec\">2017\/12\/13<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><span class=\"text\">\u7b2c\u5341\u4e94\u9031<\/span><\/td><td style=\"line-height: 20px; font-style: normal; font-size: 15px; text-align: center;\">2017\/12\/18<\/td><td style=\"text-align: left; padding: 5px;\"><ul><li>Survey Paper\uff1a<br \/>http:\/\/onlinelibrary.wiley.com\/doi\/10.1111\/j.1934-6093.1999.tb00021.x\/epdf<\/li><\/ul><\/td><\/tr><tr><td>2017\/12\/20<\/td><td style=\"text-align: left; padding: 5px;\"><ul><li>\u7b2c\u4e8c\u6b21\u671f\u4e2d\u8003<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><span class=\"text\">\u7b2c\u5341\u516d\u9031<\/span><\/td><td style=\"line-height: 20px; font-style: normal; font-size: 15px; text-align: center;\" bgcolor=\"#f2f2ec\">2017\/12\/25<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\" bgcolor=\"#f2f2ec\"><ul><li>Robust Integral of Sign of Error (RISE) Control <br \/>RISE with Multilayer Neural Network (MNN) <br \/>Hybrid Systems <br \/>Switched Systems <br \/>Common Lyapunov Function <br \/>Switching between Unstable Systems <br \/>Multiple Lyapunov-Like Functions<\/li><\/ul><\/td><\/tr><tr><td bgcolor=\"#f2f2ec\">2017\/12\/27<\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><span class=\"text\">\u7b2c\u5341\u4e03\u9031<\/span><\/td><td style=\"line-height: 20px; font-style: normal; font-size: 15px; text-align: center;\">2018\/01\/01<\/td><td style=\"text-align: left; padding: 5px;\">\u653e\u5047<\/td><\/tr><tr><td style=\"line-height: 20px; font-style: normal; font-size: 15px; text-align: center;\">2018\/01\/03<\/td><td style=\"text-align: left; padding: 5px;\"><ul><li>\u540c\u5b78\u671f\u672b\u5831\u544a<\/li><\/ul><\/td><\/tr><tr><td style=\"text-align: center;\" rowspan=\"2\"><span class=\"text\">\u7b2c\u5341\u516b\u9031<\/span><\/td><td style=\"line-height: 20px; font-style: normal; font-size: 15px; text-align: center;\">2018\/01\/08<\/td><td style=\"text-align: left; padding: 5px;\" rowspan=\"2\"><ul><li>\u540c\u5b78\u671f\u672b\u5831\u544a<\/li><\/ul><\/td><\/tr><tr><td style=\"line-height: 20px; font-style: normal; font-size: 15px; text-align: center;\">2018\/01\/10<\/td><\/tr><\/tbody><\/table>\t\t\t\t                            <\/div>\n\t\t                    <\/div>\n        <\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d7723a8 elementor-widget-divider--view-line elementor-widget elementor-widget-divider\" data-id=\"d7723a8\" data-element_type=\"widget\" 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