非線性控制

臺北科技大學 115-1 學期課程，課號 364241。

課程大綱

本課程主要探討非線性系統與線性系統之間的不同，並介紹Lyapunov stability及其相關觀念。除此之外，將介紹如何利用各種穩定性分析的觀念及各種方法探討非線性系統的穩定性，最後並介紹如何設計控制器使非線性系統穩定。 This course mainly explores the different between the nonlinear system and linear system, and introduces the concept Lyapunov stability. Besides, one wants to introduce how to utilize the concept and method of stability analysis to explore the stability of nonlinear system. Finally, the designs of nonlinear controllers are introduced to stabilize the nonlinear systems.

課程進度

1. 09/07 Introduction 2. 09/14 Two-Dimensional Systems 3. 09/21 Two-Dimensional Systems 4. 09/28 Legal Holiday 5. 10/05 Two-Dimensional Systems 6. 10/12 Stability of Equilibrium Points 7. 10/19 Stability of Equilibrium Points 8. 10/26 Legal Holiday 9. 11/02 Midterm Exam 10. 11/09 Time-Varying and Perturbed Systems 11. 11/16 Time-Varying and Perturbed Systems 12. 11/23 Passivity 13. 11/30 Passivity 14. 12/07 Input-Output Stability 15. 12/14 Input-Output Stability 16. 12/21 Input-Output Stability 17. 12/28 Paper Presentation (彈性學習週，遠距教學) 18. 01/04 Paper Presentation (彈性學習週，遠距教學) PS: The contents will be adjusted according to actual needs

評量方式

- Class participation: 15% - Assignments: 30% (No assignment turned in late will be accepted) - Midterm exam: 25% - Paper Presentation: 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 1. Nonlinear Control, 1st Edition, KHALIL, PEARSON, 2015. 2. Nonlinear Systems, 3rd Edition, KHALIL, PEARSON, 2002.