教學大綱表 (114學年度 第1學期)
請遵守智慧財產權，勿使用非法影印教科書，避免觸法。
課程名稱
Course Title		 (中文) 控制系統
(英文) Control Systems 		開課單位
Departments		 電機工程學系
課程代碼
Course No.		 E2600
授課教師
Instructor		 呂虹慶
學分數
Credit		 3.0 必/選修
core required/optional		 選修 開課年級
Level		 大三
先修科目或先備能力(Course Pre-requisites)：電路學
課程概述與目標(Course Overview and Goals)：本課程由介紹自動控制的發展史及理念，逐步帶領學生進入課程領域的世界，課程中以繪製系統方塊圖、物理元件特性、系統轉移函數為經線，以穩定度分析、系統時域、頻域響應分析為緯線，構成一個完整而紮實的現代控制教學架構，以期學生能藉由方塊圖的繪製來簡化複雜物理系統，並了解如何分析、設計與控制機械系統的動態特性。
教科書(Textbook) F. Golnaraghi and B. C. Kuo, Automatic Control Systems, 10th edition
參考教材(Reference) G. F. Franklin, J. D. Powell, A. E. Naeini, Feedback Control of Dynamic Systems, 2nd Edition
課程大綱 Syllabus 學生學習目標
Learning Objectives		 單元學習活動
Learning Activities		 學習成效評量
Evaluation		 備註
Notes
序
No.		 單元主題
Unit topic		 內容綱要
Content summary
1 Introduction 1. Introduction
2. Feedback control systems 		1. Introduction
2. Feedback control systems		  
2 Mathematical foundation Mathematical foundation Mathematical foundation  
3 Transfer function 1. Transfer function
2. Block diagram
3. Signal-flow graphs
4. Gain formula for SFG
5. State diagram
6. Transfer function of discrete-data systems 		1. Transfer function
2. Block diagram
3. Signal-flow graphs
4. Gain formula for SFG
5. State diagram
6. Transfer function of discrete-data systems		 HW 1  
4 Transfer function 1. Transfer function
2. Block diagram
3. Signal-flow graphs
4. Gain formula for SFG
5. State diagram
6. Transfer function of discrete-data systems 		1. Transfer function
2. Block diagram
3. Signal-flow graphs
4. Gain formula for SFG
5. State diagram
6. Transfer function of discrete-data systems		 Quiz 1  
5 Transfer function 1. Transfer function
2. Block diagram
3. Signal-flow graphs
4. Gain formula for SFG
5. State diagram
6. Transfer function of discrete-data systems 		1. Transfer function
2. Block diagram
3. Signal-flow graphs
4. Gain formula for SFG
5. State diagram
6. Transfer function of discrete-data systems		  
6 State transition matrix and State transition equation 1, State transition matrix and State transition equation
2. Decomposition of transfer functions
3. Controllability and Observability 		1, State transition matrix and State transition equation
2. Decomposition of transfer functions
3. Controllability and Observability		 HW 2  
7 State transition matrix and State transition equation 1, State transition matrix and State transition equation
2. Decomposition of transfer functions
3. Controllability and Observability 		1, State transition matrix and State transition equation
2. Decomposition of transfer functions
3. Controllability and Observability		  
8 State transition matrix and State transition equation 1, State transition matrix and State transition equation
2. Decomposition of transfer functions
3. Controllability and Observability 		1, State transition matrix and State transition equation
2. Decomposition of transfer functions
3. Controllability and Observability		  
9 Stability 1. BIBO stability
2. Asymptotic stability
3. Routh-Hurwitz criterion 		1. BIBO stability
2. Asymptotic stability
3. Routh-Hurwitz criterion		 Mid-term Exam  
10 Stability 1. BIBO stability
2. Asymptotic stability
3. Routh-Hurwitz criterion 		1. BIBO stability
2. Asymptotic stability
3. Routh-Hurwitz criterion		 Quiz 2  
11 Stability 1. BIBO stability
2. Asymptotic stability
3. Routh-Hurwitz criterion 		1. BIBO stability
2. Asymptotic stability
3. Routh-Hurwitz criterion		 HW3  
12 Time-domain analysis 1. Steady-state error
2. Time-domain analysis 		1. Steady-state error
2. Time-domain analysis		  
13 Time-domain analysis 1. Steady-state error
2. Time-domain analysis 		1. Steady-state error
2. Time-domain analysis		 HW4  
14 Root-Locus Technique Root-Locus Technique Root-Locus Technique HW5  
15 Root-Locus Technique Root-Locus Technique Root-Locus Technique HW 6  
16 Frequency-domain analysis 1. Frequency-domain analysis
2. Polar plot
3. Bode plot
4. Nyquist stability criterion
5. Relation between the Root loci and Nyquist plot
6. Gain margin and phase margin 		1. Frequency-domain analysis
2. Polar plot
3. Bode plot
4. Nyquist stability criterion
5. Relation between the Root loci and Nyquist plot
6. Gain margin and phase margin		 HW 7  
17 Frequency-domain analysis 1. Frequency-domain analysis
2. Polar plot
3. Bode plot
4. Nyquist stability criterion
5. Relation between the Root loci and Nyquist plot
6. Gain margin and phase margin 		1. Frequency-domain analysis
2. Polar plot
3. Bode plot
4. Nyquist stability criterion
5. Relation between the Root loci and Nyquist plot
6. Gain margin and phase margin		  
18 Frequency-domain analysis 1. Frequency-domain analysis
2. Polar plot
3. Bode plot
4. Nyquist stability criterion
5. Relation between the Root loci and Nyquist plot
6. Gain margin and phase margin 		1. Frequency-domain analysis
2. Polar plot
3. Bode plot
4. Nyquist stability criterion
5. Relation between the Root loci and Nyquist plot
6. Gain margin and phase margin		 Final Exam  
彈性教學週活動規劃
序
No.		 實施期間
Period		 實施方式
Content		 教學說明
Teaching instructions		 彈性教學評量方式
Evaluation		 備註
Notes
1 起:2025-12-29 迄:2026-01-11 1.同步遠距教學 Synchronous distance learning 1. Frequency-domain analysis 2. Polar plot 3. Bode plot
2 起:2025-12-29 迄:2026-01-11 1.同步遠距教學 Synchronous distance learning 1. Nyquist stability criterion 2. Relation between the Root loci and Nyquist plo 3. Gain margin and phase margin 作業 請於 2024/1/12 前於 Tronclass 繳交彈性教學週之作業


教學要點概述：
1.自編教材 Handout by Instructor：
■ 1-1.簡報 Slids
■ 1-2.影音教材 Videos
□ 1-3.教具 Teaching Aids
■ 1-4.教科書 Textbook
□ 1-5.其他 Other
□ 2.自編評量工具/量表 Educational Assessment
□ 3.教科書作者提供 Textbook

成績考核 Performance Evaluation： 期末考：25%   期中考：25%   彈性教學：10%   平時考：20%   作業：20%  

教學資源(Teaching Resources)：
□ 教材電子檔(Soft Copy of the Handout or the Textbook)
□ 課程網站(Website)
扣考規定：https://curri.ttu.edu.tw/p/412-1033-1254.php