{"id":60874,"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=60874"},"modified":"2022-12-07T15:04:23","modified_gmt":"2022-12-07T07:04:23","slug":"nonlinear-control-system-department-of-mechanical-engineering-prof-teng-hu-cheng","status":"publish","type":"course_page","link":"https:\/\/ocw.nycu.edu.tw\/?course_page=all-course-2\/college-of-engineering\/nonlinear-control-system-department-of-mechanical-engineering-prof-teng-hu-cheng","title":{"rendered":"Nonlinear Control System | Department of Mechanical Engineering Prof. Teng-Hu Cheng"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"60874\" class=\"elementor elementor-60874\">\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 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href=\"https:\/\/ocw.nycu.edu.tw\/\">Homepage<\/a><\/span><\/span><\/p>\t\t<\/div>\n\t\t\t\t<\/div>\n\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_14992\" 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\t\t\t\t\t<h3 class=\"penci-ibox-title\">Nonlinear Control System<\/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 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0-48-21.5-48-48V112c0-26.5 21.5-48 48-48h48V12c0-6.6 5.4-12 12-12h40c6.6 0 12 5.4 12 12v52h128V12c0-6.6 5.4-12 12-12h40c6.6 0 12 5.4 12 12v52h48c26.5 0 48 21.5 48 48zm-48 346V160H48v298c0 3.3 2.7 6 6 6h340c3.3 0 6-2.7 6-6z\"><\/path><\/svg>                                                            \n                                                            <span class=\"eael-tab-title  title-after-icon\">Course Calendar<\/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 \/><span style=\"color: #3366ff; font-size: 16px;\">Textbook\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;\">For perfect learning results, please buy textbooks!<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\">Instructor(s)<\/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;\">\u00a0Department of Mechanical Engineering Prof. Teng-Hu Cheng<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><tr><th style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\">Course Credits<\/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\u00a0Credits<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><tr><th class=\"text\" style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\">Academic Year<\/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 Academic Year<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><tr><th style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\">Level<\/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;\">\u00a0Graduate Student\u3001College Students<\/span><\/span><\/span><\/span><\/span><\/span><\/td><\/tr><tr><th style=\"text-align: center;\" nowrap=\"nowrap\" bgcolor=\"#FFF3DB\">Prior Knowledge<\/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\">Related Resources<\/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\">Course Video<\/a>\u00a0 \u00a0<a href=\"#syllabus\">Course Syllabus<\/a>\u00a0 \u00a0<a href=\"#calendar\">Course 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class=\"row-6 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">\u96fb\u5b50\/\u534a\u5c0e\u9ad4\u6750\u6599\u7c21\u4ecb<br \/>\n\u9673\u667a\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80818\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-7 odd\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">\u9676\u74f7\u6750\u6599<br \/>\n\u6731\u82f1\u8c6a\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80824\">\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\">\u5c16\u7aef\u6709\u6a5f\u53ca\u9ad8\u5206\u5b50(\u8edf\u6027)\u6750\u6599<br \/>\n\u6797\u5b8f\u6d32\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80834\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-9 odd\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">\u91d1\u5c6c\u6750\u6599<br \/>\n\u9ec3\u723e\u6587\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80840\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-10 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">\u591a\u529f\u80fd\u751f\u91ab\u6750\u6599\u5728\u91ab\u7642\u61c9\u7528<br \/>\n\u9673\u4e09\u5143\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80847\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-11 odd\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">\u5948\u7c73\u6750\u6599\u9818\u57df\u7c21\u4ecb<br \/>\n\u5f90\u5eb8\u93a3\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80853\">\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\">\u7269\u7406\u8207\u6750\u6599\u79d1\u5b78<br \/>\n\u66fe\u9662\u4ecb\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80859\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-13 odd\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">\u6750\u6599\u5fae\u7d50\u69cb\u5206\u6790<br \/>\n\u5433\u6587\u5049\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80865\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-14 even\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">\u6750\u6599\u79d1\u5b78\u8207\u6578\u5b78\u8a08\u7b97<br \/>\n\u9112\u5e74\u68e3\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80871\">\u7dda\u4e0a\u89c0\u770b<\/a><\/td>\n<\/tr>\n<tr class=\"row-15 odd\">\n\t<td class=\"column-1\"><\/td><td class=\"column-2\">\u80fd\u6e90\u6750\u6599<br \/>\n\u738b\u57ce\u4f51\u8001\u5e2b<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80878\">\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\">\u540d\u6821\u4e4b\u8def\u2500\u4ea4\u5927\u6750\u6599\u8207\u6211<br \/>\n\u5ed6\u63da\u9d3b\u540c\u5b78<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80884\">\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\">\u4f0a\u5229\u8afe\u5927\u5b78\u9999\u6ab3\u6821\u5340\u8207\u4ea4\u901a\u5927\u5b783+2(\u5b78\u58eb+\u78a9\u58eb)\u6750\u6599\u7cfb\u96d9\u806f\u5b78\u4f4d<\/td><td class=\"column-3\"><a href=\"\/?post_type=course_page&amp;p=80890\">\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\"><\/td><td class=\"column-3\"><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/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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Engineering<\/a><\/li>\n<li class=\"menu-item menu-item-type-post_type menu-item-object-course_page ajax-mega-menu menu-item-132738\"><a href=\"https:\/\/ocw.nycu.edu.tw\/?course_page=all-course-2\/college-of-life-sciences-en\" class=\"elementor-item\" tabindex=\"-1\">College of Life Sciences<\/a><\/li>\n<li class=\"menu-item menu-item-type-post_type menu-item-object-course_page ajax-mega-menu menu-item-141797\"><a href=\"https:\/\/ocw.nycu.edu.tw\/?course_page=all-course-2\/colege-of-medicine-en\" class=\"elementor-item\" tabindex=\"-1\">College of Medicine<\/a><\/li>\n<li class=\"menu-item menu-item-type-post_type menu-item-object-course_page ajax-mega-menu menu-item-118072\"><a href=\"https:\/\/ocw.nycu.edu.tw\/?course_page=all-course-2\/course-of-chinese-center\" class=\"elementor-item\" tabindex=\"-1\">Course of Chinese Center<\/a><\/li>\n<li class=\"menu-item menu-item-type-post_type menu-item-object-course_page ajax-mega-menu menu-item-120431\"><a href=\"https:\/\/ocw.nycu.edu.tw\/?course_page=all-course-2\/liberal-arts-college\" class=\"elementor-item\" tabindex=\"-1\">Forum Of Liberal Arts<\/a><\/li>\n<li class=\"menu-item menu-item-type-post_type menu-item-object-course_page ajax-mega-menu menu-item-123746\"><a href=\"https:\/\/ocw.nycu.edu.tw\/?course_page=all-course-2\/speech-of-general-education-center\" class=\"elementor-item\" tabindex=\"-1\">Contemporary Civilization<\/a><\/li>\n<li class=\"menu-item menu-item-type-post_type menu-item-object-course_page ajax-mega-menu menu-item-128240\"><a href=\"https:\/\/ocw.nycu.edu.tw\/?course_page=all-course-2\/reading-of-classic-masterpiece\" class=\"elementor-item\" tabindex=\"-1\">Reading of Classic Masterpiece<\/a><\/li>\n<li class=\"menu-item menu-item-type-post_type menu-item-object-course_page ajax-mega-menu menu-item-123745\"><a href=\"https:\/\/ocw.nycu.edu.tw\/?course_page=all-course-2\/course-of-general-education-center-2\" class=\"elementor-item\" tabindex=\"-1\">Course of General Education Center<\/a><\/li>\n<\/ul>\t\t\t<\/nav>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\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\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Nonlinear Cont&hellip;<\/p>\n","protected":false},"featured_media":60665,"parent":5300,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","format":"standard","meta":{"footnotes":""},"categories":[254],"tags":[341,3006,3044],"class_list":["post-60874","course_page","type-course_page","status-publish","format-standard","has-post-thumbnail","hentry","category-college-of-engineering-en","tag-label-all-course-en","tag-label-nonlinear-control-system-106-en-2","tag-label-college-of-engineering-en"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.8 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Nonlinear Control System | Department of Mechanical Engineering Prof. Teng-Hu Cheng - NYCU 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