控制系統

臺北科技大學 114-2 學期課程，課號 354064。

課程大綱

Feedback control is an interdisciplinary field in that control is applied to systems in every conceivable area of engineering. Consequently, control is an active field of research and hence there is a steady influx of new concepts, ideas, and techniques. Some of these elements develop to the point where they join the list of things every control engineer must know. This is the course where students, especially EE majors, begin to acquire both traditional and modern topics in the field of control systems. The core material covered in this course is to provide ample motivation, insight, and understanding in classical control. The goals of the course can be summarized as below: 〇 Master design as well as analysis techniques. Find good feedback control design with clear understanding. Moreover, seeing them used. 〇 Learn to solve problems by constructing effective algorithms in computer languages like Matlab and Simulink. The course is presented in a standard format of lectures, readings, and problem sets. In addition to a midterm and a final examination, there will be a number of homework quizzes equally spaced over the term, all in-class. The quiz questions are based on assigned problem sets in the textbook. All quizzes/examinations will be closed book. Class participation is evaluated through attendance (7 points) and class interactions (3 points). Full attendance students get 7 points. One point deduction per missing lecture. Each class interaction with correct answer gets 1 point. Maximum 3 points for class interactions. The lecture will be based mainly, but not entirely, on material in the textbook. Students are especially encouraged to read related textbooks in the field of control systems in addition to lecture notes of the course. Remarks 備註： 〇 Course lectures are offered in Chinese. 本課程為中文授課，惟教科書、講義、試題皆以英語呈現。 〇 Textbook should be purchased asap as it is a very good reference for study in robotics. 教科書應儘快購買。 〇 Course lecture notes can only be downloaded via iStudy website and are protected under the Intellectual Property law. Lecture notes are NOT freely distributed. 課程講義可於iStudy網站下載，請尊重智慧財產權，不可散布課程相關檔案及文件。 〇 All announcements will be made via iStudy website. Class group via Line will be established in the first class. 所有課程相關訊息將公告於北科i學園+、並於第一週上課時成立課程Line群組。

課程進度

Tentative schedule 暫定課程進度 1 02/25&02/26 課程簡介Introduction to control systems & Matlab/Simulink簡介Introduction to Matlab/Simulink 2 03/04&03/05 拉普拉斯轉換Laplace transforms & Matlab/Simulink簡介Introduction to Matlab/Simulink 3 03/11&03/12 動態模型Dynamic Models 4 03/18&03/19 系統建模圖 System modeling diagrams 5 03/25&03/26 基本控制方程式 Basic equations of control 6 04/01&04/02 時域規格&零點與額外極點的效應 Time-domain specifications & Effects of zeros and additional poles 7 04/08&04/09 系統類型System type 8 04/15&04/16 多項式輸入的穩態誤差控制 Control of steady-state error to polynomial inputs 9 04/22&04/23 期中考 Midterm examination 10 04/29&04/30 PID控制 PID control 11 05/06&05/07 穩定性Stability 12 05/13&05/14 根軌跡設計方法(1/3) Root-locus design method (1/3) 13 05/20&05/21 根軌跡設計方法(2/3) Root-locus design method (2/3) 14 05/27&05/28 根軌跡設計方法(3/3) Root-locus design method (3/3) 15 06/03&06/04 頻率響應設計方法(1/3) Frequency-responses design method (1/3) 16 06/10&06/11 頻率響應設計方法(2/3) Frequency-responses design method (2/3) 17 06/17&06/18 頻率響應設計方法(3/3) Frequency-responses design method (3/3) 18 06/24&06/25 期末考 Final examination PS: The contents and order of lectures will be adjusted according to actual needs上述授課內容及順序將因應實際狀況調整

評量方式

The final grade will be a weighted average of class participation 10%, homework quizzes 30%, midterms 30%, and final 30%.

教材

【遵守智慧財產權觀念，請使用正版教科書，不得使用非法影印教科書】 使用外文原文書：是 TEXTBOOK: Feedback Control of Dynamic Systems, Eighth Edition, Pearson Education, Inc. by Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini 總代理: 滄海圖書公司 Tel: 04-2708-8787 REFERENCES: Automatic Control Systems by B. C. Kuo; Control Systems by M. Gopal; Modern Control Systems by R. C. Dorf