國立清華大學動力機械工程學系 特聘教授
美國麻省理工學院機械工程學系 博士
| 【經歷】 | 國立清華大學88、98、102校傑出教學獎 |
| 【授課】 | 控制系統、電動機械、機器人學、訊號與系統 |
| 【專長】 | 自動控制、流體動力控制、磁浮系統、慣性平台技術 |
授課老師
課程試聽
葉廷仁 教授
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課程大綱
NTHU Open Courses Ware has planted a learning-material forest, now it’s waiting for you to explore! Now, go into the OCW forest, and taste the sweetest knowledge fruits.
【課程大綱】
【課程大綱】
Outline of this course
This course is a continuation of control systems (I). It particularly provides the students with basic knowledge in statespace design, digital control and nonlinear systems. As for the state-space design, it begins with reviewing linear-algebra fundamentals and introducing state-space description of linear systems. Students will then learn how to design full-state feedback and estimator of the control system. In digital control, ztransform will be introduced first and controller design using digital equivalents will then be covered. Finally, we will introduce some basic analysis and design tools for nonlinear control systems.
【先備知識】
Prerequisites
| ♠ | Engineering Mathematics (工程數學) |
| ♠ | Control Systems (I) (控制系統一) |
【課程內容】
Course Contents
| 1 | Mathematical Foundation – Linear Algebra |
| 2 | State-space Description of Linear Systems |
| 3 | Full-state Feedback and Estimator Design |
| 4 | Compensator Design |
| 5 | Z-transform |
| 6 | Design Using Discrete Equivalents and Discrete Design |
| 7 | Linearization |
| 8 | Analysis of Nonlinear Systems |
【指定用書】
Text Book
| ♠ | Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini, Feedback Control of Dynamic Systems, |
| 7th Edition, Prentice Hall, 2015. |
【參考用書】
References
References
| ♠ | Farid Golnaraghi, and Benjamin C. Kuo, "Automatic Control Systems", 9th edition, |
| John Wiley & Sons,Inc., 2009 | |
| ♠ | |
| 7th Edition, Prentice Hall, 2015. |
回頂端第一講內容(OCW網站)=第1R講內容(Youtube網站)
- Review of Linear Algebra
- State Space Design
- State Space Design II
- State Space Design IV & Digital Control
- Digital Control
